• 8 mins
My Macbook Air was acting up and I decided I had enough and proceeded to do a fresh install. This will be a step-by-step walkthrough on how I set up a new Mac. I plan to write up a nicer version to store on Github. Don’t forget most of these will be a matter of personal preference.
- Install updates. Best to do this first as there may be critical security patches waiting to be installed. And the fact that the notification number on the AppStore icon will bother me for eternity.
- Hide the dock. Because I need the screen real estate!
- Change scroll direction.
System Preferences -> Trackpad -> uncheck Scroll direction: Natural
. Because it’s not natural at all, especially if you’ve been using Macs (or even PCs) for a decade. - Organize the dock. Let’s get rid of the following apps that I don’t use:
- Siri
- Contacts
- iTunes (it’ll open on it’s own if I really need it!)
- Maps (does anyone actually use this?)
- iBooks
I’ll come back to this later once I have all my apps installed.
- Right click on the Dock and click on
Dock Preferences
. I turn the size down just a bit and turn on magnification to be slightly larger. It helps distinguish which app my mouse cursor is over. - Install Xcode from the Mac AppStore and then download the Xcode Command Line Tools. I develop web and iOS applications so this is essential. I like to let it download in the background while I set up everything else.
- Turn off notifications by scheduling 24/7 Do Not Disturb mode. I don’t need more distractions.
System Preferences -> Do Not Disturb
, I set mine from 3:00AM to 2:59AM. - Also turn off notifications in apps that I don’t use or want notifications from - Photos, Safri, Games. Set Calendar to only show notifications on the lock screen and turn off Badge app icon for FaceTime.
- I don’t use the sidebar so I’m going to remove the default apps.
- I use
cmd+shift+f
for searching Spotlight, so I will set that now.
System Preferences -> Keyboard -> Shortcuts -> Spotlight
. - I just found out System Preferences are supposed to sync via iCloud so let’s get that set up.
 Let’s start fixing that. Finder -> View -> Show Path Bar
andFinder -> View -> Show Status Bar
- Next, get rid of the useless All My Files.
- Now let’s find the hard drive. Luckily I have another Mac on my network so I can open
Show in Enclosing Folder
to get to the folder. Otherwise, I’d probably have to use Finder’s “Go To” menu option.
My sidebar now looks like this:- Macintosh HD
- AirDrop
- Desktop
- Applications
- Documents
- Downloads
- iCloud Drive
- Next add the
Library
folder fromMacintosh HD
to the sidebar, under Applications. - Open up
Macintosh HD -> Users
and add my user’s home directory to the sidebar, between Desktop and Applications. Quick note. I don’t think iCloud properly synced my System Preferences, at least not yet. I’ll have to set up the keyboard shortcuts and what not later. - Meanwhile, let’s download Google Chrome.
- Actually let’s set up Hot Corners first. Note: 227.8GB free right now. Xcode 9.2 is roughly 5.1GB and I had to download from the Apple Developer’s website since the newest version on the MacAppStore (9.3.1) isn’t supported on Sierra. Still too scared to update to High Sierra though.
- I normally use HyperDock for windows management but since I already bought it, I’m going to try and use Magnet exclusively. I don’t like how it’s a menu bar item though. One feature it seems to be missing is scrolling at the top to toggle between the current and last window sizes, and filling the screen (essentially becoming fullscreen without using that dreaded green icon in the corner).
- I’m emptying the trash a lot since I’m trying to keep things nice and organized clicking yes to that warning is getting annoying. Let’s disable it in the Finder’s advanced settings.
- Let’s start downloading all the apps I use. I will download the essentials first and reconsider others later.
- Backblaze - for cloud backup
- Bartender - because I like a nice and clean menu bar
- DaisyDisk - because it’s 2018 and I still only have 256 GB, granted it’s a SSD but still
- Dropbox - see ^
- Focus - because it’s hard to focus sometimes with so many distractions
- itsy calendar - replacing the default date & time in the menu bar with something more useful
- Jumpcut - last update was almost a decade ago (2009) but it still works
- licecap - for recording gifs, great for demoing projects
- Pixelmator - basic image editing
- RescueTime - because the Internet is an endless pit and I want to be aware of where my time is going
- Sketch - vector-based program similar to Adobe Illustrator, great wireframing
- Slack - because everyone is obsessed with it
- Soulver - it’s a calculator + notepad and it’s awesome!
- Sublime Text - my preferred text editor
- Synergy - 2 macs, 1 mouse + keyboard.
- VLC - for all my media playback. so versatile!
- Set up Dropbox and Backblaze. I am paying for Dropbox Professional exclusively for the Smart Sync feature (I was previous paying for 1TB of storage). Dropbox will take a few days and a lot of CPU but at least now I can go on to the next step.
- Set up Hot Corners:
- Top left: Application Windows
- Top right: Desktop
- Bottom left: Dashboard
- Bottom right: Mission Control
- Set up keyboard shortcuts
- Google Chrome - Task Manger:
⌘ + esc
- Preview - Adjust Size…:
⌥⌘I
- Notepad - Font…:
⌘T
- Google Chrome - Task Manger:
- Install two more apps
- OneNote - since Evernote got greedy and started charging PER device, not to mention it’s a resource hog.
- Evernote - despite the above, I still have at least 5 years worth of notes in here.
- Set up Chrome. Because I use Gmail and all the other Google services it now comes with, I just have to sign in and wait for everything to sync. Yes, that means the mess that is my Chrome set up (bookmarks & extensions) is coming to my fresh Mac install. Sad but true (and also necessary).
- Set up Terminal. I use the default app because it works. I just like to change the background color to something more Matrix/Hollywood like - aka the homebrew theme.
Now for the fun part - setting up the dev environment!
But first, I’m going to make a DMG backup of this setup so I don’t have to do it again in the near future. Of course, in a couple years it’ll all be irrelevant as macOS will probably have changed significantly by then, along with my workflow and the apps I use. But worst case scenario, it’s a good starting point.
-
Create a custom Sublime Text command to use in Terminal
ln -s /Applications/Sublime\ Text.app/Contents/SharedSupport/bin/subl /usr/local/bin/
Official instructions here - Customize Sublime Text. I have my settings back up to Github using git version control, so it’s simple as setting up the repo locally.
- Install Homebrew - a package installer for macOS. Must have for developers. Macports is a pouplar alternative.
- Set up Python*:
- Add
export PATH=/usr/local/bin:/usr/local/sbin:$PATH
to your bash profile. - Then install Python 3 using Homebrew,
brew install python
- http://docs.python-guide.org/en/latest/starting/install3/osx/
- Add
- Update Ruby. Until I need multiple Ruby versions, I will just use Homebrew to install the latest one. Then, following the instructions here, I can update my bash profile to point to the new directory: https://stackoverflow.com/questions/38194032/how-to-update-ruby-version-2-0-0-to-the-latest-version-in-mac-osx-yosemite
- Install node.js using Homebrew or the provided installer on the website. Note that Homebrew installed the Latest Version by default while the installer provides both LTS and Latest Version options.
- Install the JDK from the website. As of this writing, it’s version 1.8.x for Java 8.
- I think that’s it! At the end I ran the following to double check the version numbers:
python --version ruby --version java -version
I got the following values:
Python 3.6.3
ruby 2.5.1p57 (2018-03-29 revision 63029) [x86_64-darwin16]
java version "1.8.0_151"
Java(TM) SE Runtime Environment (build 1.8.0_151-b12)
Java HotSpot(TM) 64-Bit Server VM (build 25.151-b12, mixed mode)
Mission accomplished!
I went back and set up a few more things like keyboard input, Bartender, installing and setting up a few other apps, and other small things that came up. Now just waiting for Dropbox and OneDrive to sync!
*Originally I followed the steps below but since I used virtualenv
before, I will stick to it for now. Note there is a pyenv wrapper for virtualenv
but I found it unnecessary as I don’t actually use pyenv
.
- install
pyenv
using Homebrew:brew install pyenv
- use
pyenv install --list
to see which versions are available for install - install the latest version of Python 3
- set Python 3 to be the default global version (helpful blogpost)
- install pyenv-virtualenv using Homebrew:
brew install pyenv-virtualenv
- Helpful blog post part 1
- Helpful blog post part 2


Managing Director
Technology Director
Front-end Developer
Mobile Developer
Back-end Developer
Product Designer


The Qualified Terms category is the result of applying the Qualification Pattern [[LD-Patterns-QR]] to the simple (unqualified) relations available in the Starting Point and Expanded categories. The terms in this category are for users who wish to provide further details about the provenance-related influence among Entities, Activities, and Agents.
The Qualification Pattern restates an unqualified influence relation by using an intermediate class that represents the influence between two resources. This new instance, in turn, can be annotated with additional descriptions of the influence that one resource had upon another. The following two tables list the influence relations that can be qualified using the Qualification Pattern, along with the properties used to qualify them. For example, the second row of the first table indicates that to elaborate how an prov:Activity prov:used a particular prov:Entity, one creates an instance of prov:Usage that indicates the influencing entity with the prov:entity property. Meanwhile, the influenced prov:Activity indicates the prov:Usage with the property prov:qualifiedUsage. The resulting structure that qualifies the an Activity's usage of an Entity is illustrated in Figure 4a below.
Seven Starting Point relations can be further described using the Qualification Pattern. They are listed in the following normative table.
Seven Expanded relations can be further described using the Qualification Pattern. They are listed in the following normative table.
The qualification classes and properties shown in the previous two tables can also be found in the normative cross reference in the next section of this document. All influence classes (e.g. prov:Association, prov:Usage) are extensions of prov:Influence and either prov:EntityInfluence, prov:ActivityInfluence, or prov:AgentInfluence, which determine the property used to cite the influencing resource (either prov:entity, prov:activity, or prov:agent, respectively). Because prov:Influence is a broad relation, its most specific subclasses (e.g. prov:Communication, prov:Delegation, prov:End, prov:Revision, etc.) should be used when applicable.
For example, given the unqualified statement:
:e1 a prov:Entity; prov:wasGeneratedBy :a1; . :a1 a prov:Activity .
One can find that prov:wasGeneratedBy can be qualified using the qualification property prov:qualifiedGeneration, the class prov:Generation (a subclass of prov:ActivityInfluence), and the property prov:activity. From this, the influence relation above can be restated with the qualification pattern as:
:e1 a prov:Entity; prov:wasGeneratedBy :a1; prov:qualifiedGeneration :e1Gen; # Add the qualification. . :e1Gen a prov:Generation; prov:activity :a1; # Cite the influencing Activity. ex:foo :bar; # Describe the Activity :a1's influence upon the Entity :e1. . :a1 a prov:Activity .
The asserter can thus attach additional properties to :e1Gen
to describe the generation of :e1
by :a1
.
As can be seen in this example, qualifying an influence relation provides a second form (e.g. :e1 prov:qualifiedGeneration :e1Gen
) to express an equivalent influence relation
(e.g. :e1 prov:wasGeneratedBy :a1
).
It is correct and acceptable for an implementer to use either qualified or unqualified forms as they choose (or both),
and a consuming application should be prepared to recognize either form.
Consuming applications SHOULD recognize both qualified and unqualified forms, and treat the qualified form as implying the unqualified form.
Because the qualification form is more verbose, the unqualified form should be favored in cases where additional properties are not provided.
When the qualified form is expressed, including the equivalent unqualified form can facilitate PROV-O consumption, and is thus encouraged.
In addition to the previous two tables, Figure 4 illustrates the classes and properties needed to apply the qualification pattern to ten of the fourteen qualifiable influence relations. For example, while prov:qualifiedUsage, prov:Usage, and prov:entity are used to qualify prov:used relations, prov:qualifiedAssociation, prov:Association, and prov:agent are used to qualify prov:wasAssociatedWith relations. This pattern applies to the twelve other influence relations that can be qualified.
In subfigure a the prov:qualifiedUsage property parallels the prov:used property and references an instance of prov:Usage, which in turn provides attributes of the prov:used relation between the Activity and Entity. The prov:entity property is used to cite the Entity that was used by the Activity. In this case, the time that the Activity used the Entity is provided using the prov:atTime property and a literal xsd:dateTime value. The prov:atTime property can be used to describe any prov:InstantaneousEvent (including prov:Start, prov:Generation, prov:Usage, prov:Invalidation, and prov:End).
Similarly in subfigure j, the prov:qualifiedAssociation property parallels the prov:wasAssociatedWith property and references an instance of prov:Association, which in turn provides attributes of the prov:wasAssociatedWith relation between the Activity and Agent. The prov:agent property is used to cite the Agent that influenced the Activity. In this case, the plan of actions and steps that the Agent used to achieve its goals is provided using the prov:hadPlan property and an instance of prov:Plan. Further, the prov:hadRole property and prov:Role class can be used to describe the function that the agent served with respect to the Activity. Both prov:Plan and prov:Role are left to be extended by applications.
The following two examples show the result of applying the Usage and Association patterns to the chart-making example from Section 3.1.
The prov:qualifiedUsage property parallels the prov:used property to provide an additional description to :illustrationActivity
. The instance of prov:Usage cites the data used (:aggregatedByRegions
) and the time the activity used it (2011-07-14T03:03:03Z
).
{% include "includes/eg16-journalism-qualified-usage.ttl" %}
The prov:qualifiedAssociation property parallels the
prov:wasAssociatedWith property to provide an additional description about the :illustrationActivity
that Derek influenced.
The instance of prov:Association cites the influencing agent (:derek
) that followed the instructions (:tutorial_blog
).
Further, Derek served the role of :illustrationist
during the activity.
{% include "includes/eg16-journalism-qualified-association.ttl" %}
This section finishes with two more examples of qualification as applied to the chart-making example from Section 3.1.
The prov:qualifiedGeneration property parallels the prov:wasGeneratedBy property to provide an additional description to :bar_chart
. The instance of prov:Generation cites the time (2011-07-14T15:52:14Z) that the activity (:illustrationActivity
) generated the chart (:bar_chart
).
{% include "includes/eg16-journalism-qualified-generation.ttl" %}
The prov:qualifiedDerivation property parallels the prov:wasDerivedFrom
property to provide an additional description to :bar_chart
. The instance of prov:Derivation
cites the activity (:illustrationActivity
) and the Usages and Generations that the activity conduced to create the :bar_chart
.
{% include "includes/eg16-journalism-qualified-derivation.ttl" %}


Octree threejs demo - basic collisions with static triangle mesh
WASD to move, space to jump, use mouse to throw balls and move the camera.


Welcome to the Horse Management System API
this is the / route to this api A documentation will be made later


It was my birthday a week ago. My parents had organized a birthday party for me. I was partying happily with my friends. My aunt came and gave me an envelope which was having some cash in it. I quickly went to my room and placed it on my reading table there and went outside to enjoy my birthday party. After some time when the party was over and I was unwrapping my gifts it stuck to my mind that I had kept envelope having cash in my room unattended. I rushed to my room but couldn’t find it there. I was very worried. Luckily my two best friends who were still present at my home helped me in searching the envelope that had got misplaced and was lying under my reading table. There only we realized the importance of money and the idea of creating a website about money came into our mind.
We friends worked together as a team to create this website. Everyone contributed equally and our IT teacher also guided us. Though we faced certain hurdles while working on this website but finally were able to accomplish our task on time. The main idea behind creating this website is to make kids aware about the role and importance of money. We worked very hard on our website and the results were upto the mark.


MEET THE TEAM!
Melanie Chele
Web UI Developer
Anna Hangstefer
Front End Developer
Austin Healy
Front End Developer
Jennifer Weiner
Backend Developer
Eduardo Munoz
Front End Developer
Ricardo Leite
Project Lead
Sarah Lawrence
Front End Framework Developer


{% extends "dnd_base.html" %} {% block page_title %}Character Sheet: {{ character_name }}{% endblock page_title %} {% block content %}
You asked for a character named "{{ character_name }}".


Class is actually a subclass of Module
Classes and Modules are very similar at first look. Both are made up of different methods and constants, and can both use instance methods. Here is how the two look when coded:
As you can see, the two are very similar. The only difference is using the key word module instead of class.
So what's the difference?
Ok. So class and module at first glance look similar, and share similar attributes. The difference however, is the programmers intended use for them. Classes are used for the instantiation of objects and the corresponding instance methods. Modules are all about methods. Modules can also include instance methods, or more broader module methods, but cannotbe instantiate as an object. They also cannot inherit or be inherited from like classes. A big difference for modules, is that they can be included within classes.
This inclusion is a big reason to use a module.
Because you can include modules within a class, and you can use theses inclusions over multiple classes, you can reuse method code across multiple classes with a simple include call. This almost makes a module a small 'library' of methods which classes can access using include. Let's go back to the earlier example, this time with the class including the module.Here we can see the magic of modules. Our class has now had the module included within it so that we can utilize the modules methods with our instantiated class objects. This can be redone across many classes in order to reuse code as much as possible.


#include <usb11spec.h>
Public Attributes | |
| unsigned char | bmRequestType |
| unsigned char | bRequest |
| unsigned short | wValue |
| unsigned short | wIndex |
| unsigned short | wLength |
| unsigned char usb_device_request_t::bmRequestType |
| unsigned char usb_device_request_t::bRequest |
| unsigned short usb_device_request_t::wValue |
| unsigned short usb_device_request_t::wIndex |
| unsigned short usb_device_request_t::wLength |


The three most important aspects of my campaign are advocacy for and with international students, creating a fair and affordable environment, and bringing together the international community to focus on priorities and build meaningful connections. I believe that the international community in UVic is fragmented and distant from each other. I believe uniting the voices within the community will not only help in joining our goals but will also make the priorities of the community clear.
What has the previous board done well/not too well, and what would I do differently?
I want to take the work of the current board forward. Currently, the rules for fair housing needed to maintain the housing crisis in Saanich, are affecting many students, both domestic and international. However, I believe the current regulations affect international students disproportionately, as many are people of colour(POC). There have been reports of unfair restrictions placed based on biases.
The current board also has performed exceptionally on issues of divestment and making SUB greener. However, the outreach UVSS has with the student body, is something I believe that can be improved. My belief stems from the common knowledge that the SAGMs have not been meeting quorum for some time. To counteract this, I feel that involving more of our community members into the inner working of the Society, and engaging with more campus partners, will help us reach those goals.
Lastly, attention to affordability is profoundly needed. #Textbookbroke campaign has somewhat lost its momentum. Textbooks can be a real burden, and I will work and support campaigns in reducing the tremendous financial burden it places on students.
What compelled you to run in this election?
The problems that I have outlined facing students, I genuinely believe are the need of the hour. I have years of experience as a leader within different communities and clubs on campus. These experiences have coalesced into giving me the confidence and political acumen to understand various organizations and policies. Ultimately, the establishment of the International Student Relations Committee was the first step, but now it has to handle a lot of the ins and outs of UVSS Policies. Policies on advocacy, UVSS outreach and affordability are vital to creating a diverse yet tight-knit community with international students and the UVic community as a whole. Thus, it is for this vision of a united and engaged community that compelled me to run in this election.
What is the biggest issue facing students on campus, and how would you address it after elections?
I believe the most significant issue on the campus is the disconnect of students with organizations and between organizations themselves. There are numerous community organizations in UVic, but very few have collective events that serve the student body. However, I believe that if a forum was instituted for these groups to connect and engage each other, we could see meaningful discussion and action coming from the body.
Typically, only about 15 per cent of the student population vote in UVSS elections. How do you intend to raise student participation in student politics or events you would run on campus if elected?
I have talked a lot about bringing the community together. As the international rep on the board, my goal will be to get the news out. Many international students do not know about such a position on the UVSS board and that they have the right to vote. In the past, the position became tokenized. I will remake the role with significant positive change by creating real and effective outreach into the community. Once students feel like their voices are being heard and their opinion matters, they will take an interest.
What do you think is important for students to know about your campaign and the upcoming elections?
Their votes matter. It doesn’t matter whom they vote for, but no student society can be managed in the right way if students don’t come out and vote. UVSS represents the students and their interests. It lobbies on their behalf and attempts to make their time in UVic fruitful. Students many times, forget that they pay a significant fee to UVSS every term. UVSS uses this money to provide essential services for them and negotiates their interests in committees. Students can direct this money where it will go by exercising their right to vote; to them, I say vote!
If elected, I will work to unite voices within the international community into three core objectives:


All aspects of our processes are measured and recorded.
This provides your operation the opportunity to streamline efficiencies and reduce your cost per case
We provide your operation with a stable and available workforce, providing your operation with a successful catalyst of production
Our technology is changing the way logistics are handled.
We gives you a real-time look at what's happening at each dock door and
all the KPI's to measure your progress allowing greater productivity through continued process improvement.


| Methods |
public
|
join(
string $type,
string|Expression $table,
string|Closure|null $column = null,
string|null $on = null,
): QueryBuilder|BuildsJoins
Create a join clause.
|
#
|
public
|
makeJoin(
string $type,
string|QueryBuilder $query,
string $alias,
string|Closure|null $column = null,
string|null $on = null,
): QueryBuilder|BuildsJoins
Create join from a sub select.
Create join from a sub select.
Throws
|
#
|
public
|
leftJoin(string|Expression $table, string|Closure $column, string|null $on = null): QueryBuilder|BuildsJoins
Initiate a left join expression.
Initiate a left join expression.
|
#
|
public
|
rightJoin(string|Expression $table, string|Closure $column, string|null $on = null): QueryBuilder|BuildsJoins
Initiate a right join expression.
Initiate a right join expression.
|
#
|
public
|
innerJoin(string|Expression $table, string|Closure $column, string|null $on = null): QueryBuilder|BuildsJoins
Initiate an inner join expression.
Initiate an inner join expression.
|
#
|
public
|
crossJoin(
string|Expression $table,
string|Closure|null $column = null,
string|null $on = null,
): QueryBuilder|BuildsJoins
Initiate a cross join expression.
Initiate a cross join expression.
|
#
|


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Translator: Wonderxie
Many readers complain that there are too many tricks in the stock series problems on LeetCode. But if we really encounter such problems during the interview, we might not be able to think of those clever methods for a while. What should we do then? Therefore, this article rejects tricky methods, but instead with the steady ones, using only a general method to solve the problems.
This article uses the techniques of state machines to solve it, and it can be all submitted and accepted. Don’t think that this term is high-dimensional, it’s just a literary vocabulary, actually a DP table, you can understand it at a glance.
PS: This article is referenced from one solution on LeetCode。
Let’s take a look at one of others’ solutions:
int maxProfit(vector<int>& prices) {
if(prices.empty()) return 0;
int s1=-prices[0],s2=INT_MIN,s3=INT_MIN,s4=INT_MIN;
for(int i=1;i<prices.size();++i) {
s1 = max(s1, -prices[i]);
s2 = max(s2, s1+prices[i]);
s3 = max(s3, s2-prices[i]);
s4 = max(s4, s3+prices[i]);
}
return max(0,s4);
}
Can you get it? Can you do it? Impossible! It’s so normal that you get confused. Even if you barely understand, you can’t solve the next problem. Why can others write such a weird yet efficient solution?Because there is a framework for this kind of problem, but people won’t tell you. Because once they tell you, you learn it in five minutes, and the algorithm problem is no longer mysterious and will be vulnerable.
This article will tell you this framework, and then take you to solve the problem one by one. This article uses the techniques of state machines to solve it, and it can be all submitted and accepted. Don’t think that this term is high-dimensional, it’s just a literary vocabulary, actually a DP table, you can understand it at a glance.
These 6 problems are common, so we will concentrate on the fourth problem. Because this problem is one of the most generalized forms. The other problems are simplifications of this form.
Look at the problem:
The first problem is that only one transaction is performed, which is equivalent to k = 1. The second problem is that the number of transactions is unlimited, which is equivalent to k = +infinity (positive infinity). The third problem is that only two transactions are performed, which is equivalent to k = 2. The remaining two are also unlimited, but the additional conditions of the “freezing period” and “handling fee” for the transaction are actually variants of the second problem, which are easy to handle.
If you are not familiar with the topics, you can go to LeetCode to view the content of these topics. In order to save space, this article does not list the specific content of these topics. Let’s get back to business and start solving the problem.
I. Exhaustive Framework
First of all, always the same idea: how to exhaust? The exhaustive thinking here is not the same as the recursive idea of the previous article.
Recursion is actually in line with the logic of our thinking. It is advanced step by step. When we have something that can’t be solved, we can thrown it to recursion. It usually works and the readability is still good. The disadvantage is that once you make a mistake, you can’t easily find the cause of the error. For example, the recursive solution in the previous article definitely has computational redundancy, but it is not easy to find.
Here, we do not use recursive thinking for exhaustion, but use “state” for exhaustion. Let’s be specific to each day to see how many possible “states” there are, and then to find the “choice” corresponding to each “state”. We have to exhaust all “states”, and the purpose of exhaustion is to update the “state” according to the corresponding “choice”. It sounds abstract, just remember the words “state” and “choice”. It’s easy to understand by the following example.
for state1 in all values of
state1：
for state2 in in all values of
state2：
for ...
dp[state1][state2][...] = best_choice(choice1, choice2 ...)
For example, in this problem, there are three “choices” every day: buy, sell, and no operation. We
use buy
, sell
, rest
to represent these three choices. But the problem is that
you can’t do these three choices every day, because sell
must be after buy
, and
buy
must be after sell
. Then the rest
operation should be divided into two
states, one is rest
after buy
(holding the stock), and one is rest
after
sell
(not holding the stock). And don’t forget, we also have a limit on the number of transactions k,
which means that we can only operate on the premise that k > 0.
It’s complicated, but don’t be afraid. Our current purpose is just exhaustive. No matter how many states it has,
what we have to do is to list all of them. There are three “states” of this problem. The first is
the number of days, the second is the maximum number of allowed transactions, and the third is the current holding
state (That is, the state of rest
mentioned before. We can use 1 means hold, 0 means no hold). Then we
can use a three-dimensional array to hold all the combinations of these states:
dp[i][k][0 or 1]
0 <= i <= n-1, 1
<= k <= K
(n means the number of days, the uppercase K means the maximum number of allowed transactions)
This problem has a total of n × K × 2 states, and we can solve it
all by exhausting them.
for 0 <= i < n:
for 1 <= k <= K:
for s in {0, 1}:
dp[i][k][s] = max(buy, sell, rest)
And we can use natural language to describe the meaning of each state. For example, dp[3][2][1]
means:
Today is the third day. I can do 2 transactions so far. And I currently hold stocks. For another example,
dp[2][3][0]
: Today is the second day. I can do 3 transactions so far. And I don’t have any stocks in my
hand. It’s easy to understand, right?
The final answer we want to find is dp[n-1][K][0]
, which is the maximum number of K transactions
allowed on the last day and the maximum profit. The reader may ask why is it not dp[n-1][K][1]
? Because
“1” means that you still have stocks, “0” means that the stocks you have sold have been sold. Obviously, the latter
must get greater profits than the former.
Remember how to interpret “state”, and once you find it difficult to understand, translate it into natural language.
II. State Transition Framework
Now that we have completed the “state” exhaustion. We begin to think about what “choices” are there for each “state”, and how we should update the “state”. If we are just concerned with the “holding state”, we can draw a state transition diagram.
It is clear from this diagram how each state (0 and 1) is transferred. Based on this diagram, let’s write the state transition equation:
dp[i][k][0] = max(dp[i-1][k][0], dp[i-1][k][1] + prices[i])
max( choose rest , choose sell )
Explanation: I don’t hold stocks today. There are two possibilities:
1) Either I didn’t hold stocks yesterday, and then choose to rest today, so I still don’t hold stocks today.
2) Either I held stocks yesterday, but today I chose to sell, so I don't hold stocks today.
dp[i][k][1] = max(dp[i-1][k][1], dp[i-1][k-1][0] - prices[i])
max( choose rest , choose buy )
Explanation: Today I hold stocks. There are two possibilities:
1) Either I held stocks yesterday and chose to rest today, so I still hold stocks today.
2) Either I didn't hold stocks yesterday, but today I chose to buy, so today I hold stocks.
This explanation should be clear. If you buy, you need to subtract prices[i]
from the profit, and if
you sell, you need to increase prices[i]
to the profit. The maximum profit of today is the larger of
these two possible choices. And pay attention to the limitation of k. When we choose to buy, we reduce k by 1, which
is very easy to understand. Of course, we need also decrease by 1 when we choose to sell.
Now we have completed the most difficult step in dynamic programming: the state transition equation. If you can understand the previous content, then you can already deal with all the problems, just use this framework. But there is one last thing left, which is to define the base case, which is the simplest case.
dp[-1][k][0] = 0
Explanation: Because i starts at 0, i = -1 means it hasn't started yet, and the profit at this time is of course 0.
dp[-1][k][1] = -infinity
Explanation: Before the beginning, it was impossible to hold stocks, which is expressed as negative infinity.
dp[i][0][0] = 0
Explanation: Because k starts from 1, k = 0 means that trading is not allowed at all, and profit is of course 0 at this time.
dp[i][0][1] = -infinity
Explanation: It is impossible to hold stocks when trading is not allowed. This possibility is expressed by negative infinity.
Let’s summarize the above state transition equations:
base case：
dp[-1][k][0] = dp[i][0][0] = 0
dp[-1][k][1] = dp[i][0][1] = -infinity
state transition equation：
dp[i][k][0] = max(dp[i-1][k][0], dp[i-1][k][1] + prices[i])
dp[i][k][1] = max(dp[i-1][k][1], dp[i-1][k-1][0] - prices[i])
The reader may ask, how is this array index “-1” expressed programmatically, and how is negative infinity expressed? This is all a matter of detail, and there are many ways to achieve it. Now that the complete framework has been completed. Let’s start the materialization of the code.
III. Solve the problem
First Problem: k = 1
Set state transition equations directly. According to the base case, some simplifications can be done:
dp[i][1][0] = max(dp[i-1][1][0], dp[i-1][1][1] + prices[i])
dp[i][1][1] = max(dp[i-1][1][1], dp[i-1][0][0] - prices[i])
= max(dp[i-1][1][1], -prices[i])
Explanation：Base case of k = 0，so dp[i-1][0][0] = 0
Now we find that k is 1 and will not change, that is, k has no effect on the state transition. We can further simplify it with removing all k:
dp[i][0] = max(dp[i-1][0], dp[i-1][1] + prices[i])
dp[i][1] = max(dp[i-1][1], -prices[i])
Write the code directly:
int n = prices.length;
int[][] dp = new int[n][2];
for (int i = 0; i < n; i++) {
dp[i][0] =
Math.max(dp[i-1][0], dp[i-1][1] +
prices[i]);
dp[i][1] =
Math.max(dp[i-1][1], -prices[i]);
}
return dp[n - 1][0];
Obviously dp[i-1]
is illegal when i = 0. This is because we have not processed the base case of i. Can
be handled like this:
for (int i = 0; i < n; i++) {
if (i - 1 == -1) {
dp[i][0] = 0;
// Explanation：
// dp[i][0]
// = max(dp[-1][0], dp[-1][1] + prices[i])
// = max(0, -infinity + prices[i]) = 0
dp[i][1] = -prices[i];
// Explanation：
// dp[i][1]
// = max(dp[-1][1], dp[-1][0] - prices[i])
// = max(-infinity, 0 - prices[i])
// = -prices[i]
continue;
}
dp[i][0] =
Math.max(dp[i-1][0], dp[i-1][1] +
prices[i]);
dp[i][1] =
Math.max(dp[i-1][1], -prices[i]); }
return dp[n - 1][0];
The first problem is solved, but it is troublesome to handle the base case in this way. And pay attention to the state transition equation, the new state is only related to an adjacent state. So in fact, instead of the entire DP array, only one variable is needed to store the adjacent state, which can reduce the space complexity to O(1):
// k == 1
int maxProfit_k_1(int[] prices) {
int n = prices.length;
// base case: dp[-1][0] = 0, dp[-1][1] = -infinity
int dp_i_0 = 0, dp_i_1 =
Integer.MIN_VALUE; for (int i =
0; i < n; i++) {
// dp[i][0] = max(dp[i-1][0], dp[i-1][1] + prices[i])
dp_i_0 = Math.max(dp_i_0, dp_i_1
+ prices[i]); // dp[i][1] = max(dp[i-1][1], -prices[i])
dp_i_1 = Math.max(dp_i_1, -prices[i]);
}
return dp_i_0;
}
Both methods are the same, but this programming method is much simpler. But without the guidance of the previous state transition equations, it is definitely incomprehensible. Subsequent problems, we mainly write this kind of solution with O(1) space complexity.
Second Problem: k = +infinity
If k is positive infinity, then k and k-1 can be considered the same. The framework can be rewritten like this:
dp[i][k][0] = max(dp[i-1][k][0], dp[i-1][k][1] + prices[i])
dp[i][k][1] = max(dp[i-1][k][1], dp[i-1][k-1][0] - prices[i])
= max(dp[i-1][k][1], dp[i-1][k][0] - prices[i])
We find that k in the array has not changed, which means that we do not need to record the state of k:
dp[i][0] = max(dp[i-1][0],
dp[i-1][1] + prices[i])
dp[i][1] = max(dp[i-1][1],
dp[i-1][0] - prices[i])
Translate it directly into code:
int maxProfit_k_inf(int[] prices) {
int n = prices.length;
int dp_i_0 = 0, dp_i_1 = Integer.MIN_VALUE; for (int i = 0; i < n; i++) {
int temp = dp_i_0;
dp_i_0 = Math.max(dp_i_0, dp_i_1
+ prices[i]);
dp_i_1 = Math.max(dp_i_1, temp -
prices[i]); }
return dp_i_0;
}
Third Problem: k = +infinity with cooldown
We must wait one day after each sell to continue trading. Just incorporate this feature into the state transition equation of the previous problem:
dp[i][0] = max(dp[i-1][0], dp[i-1][1] + prices[i])
dp[i][1] = max(dp[i-1][1], dp[i-2][0] - prices[i])
Explanation: When we choose to buy on day i, the state of i-2 should be transferred instead of i-1.
Translate it into code:
int maxProfit_with_cool(int[] prices) {
int n = prices.length;
int dp_i_0 = 0, dp_i_1 = Integer.MIN_VALUE; int dp_pre_0 = 0; // variable representing dp[i-2][0]
for (int i = 0; i < n; i++) {
int temp = dp_i_0;
dp_i_0 = Math.max(dp_i_0, dp_i_1
+ prices[i]);
dp_i_1 = Math.max(dp_i_1,
dp_pre_0 - prices[i]); dp_pre_0 = temp;
}
return dp_i_0;
}
Fourth Problem: k = +infinity with fee
There is a fee for each transaction, so we need to substract the fee from the profit. Rewrite the equation:
dp[i][0] = max(dp[i-1][0], dp[i-1][1] + prices[i])
dp[i][1] = max(dp[i-1][1], dp[i-1][0] - prices[i] - fee)
Explanation: That means that the price of buying stocks has risen.
It's the same case that we substract it in the first formula, which is equivalent to reducing the price of the stock sold.
Translate it directly into code:
int maxProfit_with_fee(int[] prices, int fee) {
int n = prices.length;
int dp_i_0 = 0, dp_i_1 = Integer.MIN_VALUE; for (int i = 0; i < n; i++) {
int temp = dp_i_0;
dp_i_0 = Math.max(dp_i_0, dp_i_1
+ prices[i]);
dp_i_1 = Math.max(dp_i_1, temp - prices[i] -
fee); }
return dp_i_0;
}
Fifth Problem: k = 2
k = 2 is slightly different from the previous problem, because the above conditions are not very related to k. Either k is positive infinity, and the state transition has nothing to do with k. Either k = 1, close to the base case of k = 0, and there is no sense of existence in the end.
In the case where k = 2 and k to be described later are arbitrary positive integers, the treatment of k is highlighted. We write the code directly and analyze the reason as we write.
The original state transition equation, where there is no simplification
dp[i][k][0] = max(dp[i-1][k][0], dp[i-1][k][1] + prices[i])
dp[i][k][1] = max(dp[i-1][k][1], dp[i-1][k-1][0] - prices[i])
Following the previous code, we might take the following code for granted (wrong):
int k = 2;
int[][][] dp = new int[n][k + 1][2];
for (int i = 0; i < n; i++)
if (i - 1 == -1) { /* Deal with the base case */ }
dp[i][k][0] =
Math.max(dp[i-1][k][0], dp[i-1][k][1] +
prices[i]);
dp[i][k][1] =
Math.max(dp[i-1][k][1],
dp[i-1][k-1][0] - prices[i]); }
return dp[n - 1][k][0];
Why is it wrong? Aren’t we writing according to the state transition equation?
Remember the “exhaustive framework” summarized earlier? This means that we must exhaust all states. In fact, our previous solutions are all considering on exhausting in all states, but k has been simplified in the previous problem. For example, in the first problem when k = 1:
Since this problem does not eliminate the effect of k, we need also exhaust k:
int max_k = 2;
int[][][] dp = new int[n][max_k + 1][2];
for (int i = 0; i < n; i++) {
for (int k = max_k; k >= 1; k--) {
if (i - 1 == -1) { /* Deal with the base case */ }
dp[i][k][0] = max(dp[i-1][k][0],
dp[i-1][k][1] + prices[i]);
dp[i][k][1] = max(dp[i-1][k][1],
dp[i-1][k-1][0] - prices[i]);
}
}
// Exhaust n × max_k × 2 states, correct!
return dp[n - 1][max_k][0];
If you don’t understand, you can go back to the first point “Exhaustive Frame” and re-read it.
Here, the value range of k is relatively small, so we can directly list all the cases of k = 1 and 2 without a for loop:
dp[i][2][0] = max(dp[i-1][2][0], dp[i-1][2][1] + prices[i])
dp[i][2][1] = max(dp[i-1][2][1], dp[i-1][1][0] - prices[i])
dp[i][1][0] = max(dp[i-1][1][0], dp[i-1][1][1] + prices[i])
dp[i][1][1] = max(dp[i-1][1][1], -prices[i])
int maxProfit_k_2(int[] prices) {
int dp_i10 = 0, dp_i11 =
Integer.MIN_VALUE;
int dp_i20 = 0, dp_i21 =
Integer.MIN_VALUE; for (int price :
prices) {
dp_i20 = Math.max(dp_i20, dp_i21 + price);
dp_i21 = Math.max(dp_i21, dp_i10 - price);
dp_i10 = Math.max(dp_i10, dp_i11 + price);
dp_i11 = Math.max(dp_i11, -price); }
return dp_i20;
}
Guided by state transition equations and well-defined variable names, we believe you can easily understand them. In fact, we can make this more mystery and replace the above four variables with a, b, c, and d. This way, when someone sees your code, they will be frightened and respect you.
Sixth Problem: k = any integer
With the pavement of the previous problem k = 2, this problem should be no different from the first solution of the previous problem. However, a memory overflow error occurred. It turned out that the value of k passed in was very large, and the DP array was too large. Now think about, what is the maximum number of transactions k?
A transaction consists of buying and selling, which takes at least two days. Therefore, the effective limit k should not exceed n / 2. If it is exceeded, there is no constraint effect, which is equivalent to k = +infinity. This situation has been resolved before.
Reuse the previous code directly:
int maxProfit_k_any(int max_k, int[] prices) {
int n = prices.length;
if (max_k > n / 2)
return maxProfit_k_inf(prices);
int[][][] dp = new int[n][max_k + 1][2];
for (int i = 0; i < n; i++)
for (int k = max_k; k >= 1; k--) {
if (i - 1 == -1) { /* Deal with the base case */ }
dp[i][k][0] = max(dp[i-1][k][0],
dp[i-1][k][1] + prices[i]);
dp[i][k][1] = max(dp[i-1][k][1],
dp[i-1][k-1][0] - prices[i]);
}
return dp[n - 1][max_k][0];
}
So far, all 6 problems are solved by one state transition equation.
IV. Final Summarize
This article tells everyone how to solve complex problems through the state transition method. Using a state transition equation to kill 6 stock trading problems. Now think about it, it is not so difficult, right? But this kind of problems is already more difficult issue in dynamic programming.
The key is to enumerate all possible “states” and then think about how to exhaustively update these “states”. Generally, a multidimensional DP array is used to store these states, starting from the base case and moving backwards to the final state, which is the answer we want. Thinking about this process, do you understand the meaning of the term “dynamic programming”?
Specific to the problem of stock trading, we found three states, using a three-dimensional array, nothing more than exhaust and update. But we can say a bit more advanced, this is called “three-dimensional DP”. As soon as this term is said, it immediately appears that you are superior to others.


David's Statue
David is a marble statue by Michelangelo, first presented to the Florentine public on Signoria Square on September 8, 1504. It became a symbol of the Florentine Republic and of all mankind. Currently, the statues are in the Academy of Fine Arts in Florence.


--- layout: post status: publish published: true title: Angellore author: display_name: Tomas Restrepo login: tomasr email<EMAIL_ADDRESS>url: http://winterdom.com/ author_login: tomasr author_email<EMAIL_ADDRESS>author_url: http://winterdom.com/ wordpress_id: 181 wordpress_url: http://winterdom.com/2004/08/angellore date: '2004-08-30 18:46:01 +0000' date_gmt: '2004-08-30 18:46:01 +0000' categories: - Personal tags: [] comments: [] ---
"Angellore revered at dusk
For thee I rose, now descend all alone
Rise for me, soothe my heart
So wide a sea, may I overcome"
-- Angellore - Tristania


Connection Setup
Host
Port
Connect
Function Codes
Disconnect
FC 01
FC 03
FC 04
FC 05
FC 06
Read Coils (FC01)
Start
Count
Execute
Read Holding Registers (FC03)
Start
Count
Execute
Read Input Registers (FC04)
Start
Count
Execute
Write Single Coil (FC05)
Address
Value
Execute
Write Single Register (FC06)
Address
Value
Execute


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Our ‘loved up’ Valentine's Day menu
Prawn skewers with lemon aioli
Steak au poivre with potatoes & mushrooms
Fluffy chocolate mousse
… love it, cook it, share it!


Hi, i'm currently in 2nd year studying Computer Science at the University of Guelph. I have a passion for full stack web development
HTML - CSS - JS
HTML - CSS - JS - PHP - MySQL - Sketch
Photoshop


--- layout: post title: Change the logo in WebDrawer categories: [] tags: webdrawer status: publish type: post published: true meta: {} ---
The logo in the banner of WebDrawer is the HP logo and the text says 'HP Records Manager'. Maybe you want different branding? Changing this is quite simple.
The logo is actually two images which are embedded using IMG elements and shown/hidden using CSS. This is done to allow us to show a different image when WebDrawer is re-sized down to mobile phone size. You can see this HTML in Views\Shared\_Layout.cshtml, it looks like this:

I recommend you:
On WebDrawer upgrade don't forget to take a backup of _layout.cshtml (preferrably all files under the WebDrawer folder) so that you can re-apply any changes you made.


Dian Ariyanto
Wordpress Developer
Lived all my life on the top of mount Lawu, learning the way to be a Wordpress Dev.


Server Error
An internal server error has occurred. Please, try again later.
{% extends "webshop/base_template.html" %} {% block title %}Nintendo Game & Watch Shop - Server Error{% endblock %} {% block extra-scripts %}{% endblock %} {% block page-title %}Server Error{% endblock %} {% block sort-bar %}{% endblock %} {% block content %}
An internal server error has occurred. Please, try again later.


{% extends 'account/base.html' %} {% block title %}Register | {% endblock %} {% block try_oxd %}
Step 1
Complete!
Step 2
Complete!
Step 3
And you're done!
We're redirecting you now!
If you're not logged in automatically after three seconds, click here to log into your account
{% endblock %} {% block js %} {% endblock %}


Red Hat Quay is an enterprise-quality container registry. Use Quay to build and store containers, then deploy them to the servers across your enterprise.
Red Hat Quay can easily use NooBaa's data federation capabilities, by using it as a storage target.
Please follow the instructions below:
1. Navigate to Quay Super User Admin Panel.
2. Scroll down to the storage settings and provide your NooBaa system details (can be found here)
* In case you are using OpenShift, please use the command: oc get services
ping noobaa-services's external-ip and use the ip, not the DNS name for Rados server name.
**NOTE: This is a temporary workaround due to a known issue in Quay
Provide NooBaa system details here:
You are done


Hello world pale blue dot.
El portal de podcasts que explora el mundo de la programación y la tecnología. Nuevos episodios, todos los jueves cada 15 días
Episodios
De dónde venimos
Our posturings, our imagined self-importance, the delusion that we have some privileged position in the Universe, are challenged by this point of pale light.
Our planet is a lonely speck in the great enveloping cosmic dark. In our obscurity, in all this vastness, there is no hint that help will come from elsewhere to save us from ourselves.


Below the list of shares on the first page is a button which will make the current configuration active. This is done by stopping and starting the running NFS server processes.
If some directory and one of its sub-directories is exported, the options for the most specific directory will apply to clients. For example, if /usr and /usr/local are both exported, a client accessing /usr/local/bin will be effected by the options for the /usr/local export.


Shoppers split on whether Orchard Christmas light-up is merry or muted
by Jean IauA debate has lit up over the festive lights in Orchard Road, with some shoppers and merrymakers saying they seem to be less bright than before, while others are quite happy with them.
The number of lights is the same as last year's - but they have been stretched over a larger area as new roads have been added to the Christmas light-up. On Nov 16, this year's lights were switched on, and they will remain till Jan 1.
Some shoppers also miss the lights that usually arch over Singapore's main shopping belt.
Mr Wilmer Tay, a 27-year-old digital designer, was among those disappointed this year.
"I expected a lot more lights. Over the past few years, they extended the lights across the street and that was quite nice for people driving through," he told The Straits Times.
"Last year's (light-up) was more special and memorable with the Disney theme; this year's feels quite generic."
After last year's theme was criticised by some for drawing the focus away from the holiday's meaning, the Orchard Road Business Association (Orba) said this year's decorations would include staples such as Christmas trees and presents.
In response to queries from The Straits Times, Orba executive director Steven Goh said: "The Christmas street-light design is refreshed in a new showcase format, with the objective to create a more immersive pedestrian experience designed for visitors who walk along Orchard Road..."
Responding to the fact that some people found the lights more subdued this year, he said the length of LED lights has remained the same as last year's at 60.6km, and that the over-street lights have been removed to enhance the lights along the pedestrian walkway.
Others welcomed the focus on the pedestrian experience.
Singapore Polytechnic student Melody Mok, 17, was taking pictures of the Christmas lights near Takashimaya for a school assignment last week.
She said: "The dangling Santas from the trees are very creative. I like small details like that. They are nice and show that they put effort into the decorations."


Wraps the TF 1.x function fn into a graph function.
tf.compat.v1.wrap_function( fn, signature, name=None )
The python function fn
will be called once with symbolic arguments specified
in the signature
, traced, and turned into a graph function. Any variables
created by fn
will be owned by the object returned by wrap_function
. The
resulting graph function can be called with tensors which match the
signature.
def f(x, do_add): v = tf.Variable(5.0) if do_add: op = v.assign_add(x) else: op = v.assign_sub(x) with tf.control_dependencies([op]): return v.read_value() f_add = tf.compat.v1.wrap_function(f, [tf.TensorSpec((), tf.float32), True]) assert float(f_add(1.0)) == 6.0 assert float(f_add(1.0)) == 7.0 # Can call tf.compat.v1.wrap_function again to get a new trace, a new set # of variables, and possibly different non-template arguments. f_sub= tf.compat.v1.wrap_function(f, [tf.TensorSpec((), tf.float32), False]) assert float(f_sub(1.0)) == 4.0 assert float(f_sub(1.0)) == 3.0
Both tf.compat.v1.wrap_function
and tf.function
create a callable
TensorFlow graph. But while tf.function
runs all stateful operations
(e.g. tf.print
) and sequences operations to provide the same semantics as
eager execution, wrap_function
is closer to the behavior of session.run
in
TensorFlow 1.x. It will not run any operations unless they are required to
compute the function's outputs, either through a data dependency or a control
dependency. Nor will it sequence operations.
Unlike tf.function
, wrap_function
will only trace the Python function
once. As with placeholders in TF 1.x, shapes and dtypes must be provided to
wrap_function
's signature
argument.
Since it is only traced once, variables and state may be created inside the function and owned by the function wrapper object.
fn
: python function to be wrappedsignature
: the placeholder and python arguments to be passed to the wrapped
functionname
: Optional. The name of the function.the wrapped graph function.


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Pigs Dice
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wins
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BEFORE THE NATIONAL GREEN TRIBUNAL CENTRAL ZONAL BENCH, BHOPAL Original Application No. 52/2014 (CZ) CORAM: Hon'ble Mr. Justice Dalip Singh (Judicial Member) Hon'ble Mr. P.S. Rao (Expert Member) BETWEEN: 1. Nawab Khan S/o Shri Ibrahim Khan, Aged about 42 Years, R/o S-8 Chanakyapuri Colony, J.K. Road, Bhopal 2. Kashiram Patel S/o Shri Mardam Singh, Aged about 50 years, R/o S-1, Chanakyapuri Colony, J.K. Road, Bhopal 3. Saurabh Sahu S/o Shri S.P. Sahu, Aged about 33 years, R/o S-2, Chanakyapuri Colony, J.K. Road, Bhopal. 4. Sunil Pal S/o Late Shri R.K. Pal, Aged about S-15, Yojna Vihar, Chanakyapuri Colony, J.K. Road, Bhopal 5. Khujur Saha R/o R.K. Saha, Aged about 47 years, R/o S-16, Chanakyapuri Colony, J.K. Road, Bhopal. 6. S.N. Gour S/o Late Shri H.L. Gour, R/o S-17 & 18, Yojana Vihar, O.A. No. 52 of 2014 Page 1 of 8 Chanakyapuri Colony, J.K. Road, Bhopal 7. Shivaji, Aged about 45 years, R/o S-19, Chanakyapuri Colony, J.K. Road, Bhopal 8. Rupesh Kureel S/o Guru Dayal, Aged about 43 years, R/o S-104, Chanakyapuri Colony, J.K. Road, Bhopal. 9. Rakesh Sarathi S/o Shri Ramesh Sarathi, Aged about 35 years, R/o S-114, Chanakyapuri Colony, J.K. Road, Bhopal. 10. Shivaji Bheeyare S/o Shri Ramratan Bheeyare, Aged about 42 years, R/o S-19, Chanakyapuri Colony, J.K. Road, Bhopal. 11. Shri Batham S/o Shri R.K. Batham, Aged about 42 years, R/o S-22, Chanakyapuri Colony, J.K. Road, Bhopal. 12. Sunil Kumar S/o P.K. Kumar, Aged about 49 years, R/o S-107, Chanakyapuri Colony, J.K. Road, Bhopal. .....Applicants Versus 1. Department of Housing & Environment, State of Madhya Pradesh, Through its Principal Secretary, Vallabh Bhawan, Bhopal. 2. Department of Industries State of Madhya Pradesh, Through its Principal Secretary, O.A. No. 52 of 2014 Page 2 of 8 Vallabh Bhawan, Bhopal. 3. M.P. Pollution Control Board Through its Member Secretary, Paryavaran Parisar, E-5, Arera Colony, Bhopal. 4. Regional Office Bhopal Madhya Pradesh Pollution Control Board, Regional Office, Paryavaran Parisar, E-5, Arera Colony, Bhopal. 5. M/s M.M. Bajaj Packaging & Engineering Works Through its Owner Dr. Asha Bajaj, W/o Commander P.K. Bajaj, Plot No. 24-C, Sector D, Industrial Area, Govindpura, Bhopal. .......Respondents
Counsel for Applicant: Mr. Alkesh Agrawal, Advocate & Mr. Sambhav Sogani, Advocate Counsel for Respondent No. 1 & 2: Mr. Sachin Verma, Advocate Counsel for Respondent No. 3 & 4: Mr. Shivendu Joshi, Advocate for Mr. Purushaindra Kaurav, Adv.
Mr. R.R. Sengar, AE, MPPCB Counsel for Respondent No. 5 : Mr. Ajay Gupta, Advocate with Mr. Nishant Goel, Advocate Dated : April 29th , 2014 Delivered in open court by Hon'ble Mr. Justice Dalip Singh, Judicial Member
1. Heard learned counsel for the parties and perused the record. Reply submitted today by the Respondent Nos. 3 and 4 is ordered to be taken O.A. No. 52 of 2014 Page 3 of 8 on record. Copy of the same has been furnished to the learned counsel for the Applicant.
2. This application had been filed by the Applicant complaining about the pollution being caused by various units including that of Respondent No. 5 in the industrial area at Govindpura in Bhopal. As regards the Respondent No. 5, it was submitted that the said unit is operating sand blasting and short blasting at Plot No. 3, Sector-D of the Industrial Area of Govindpura and as a result of the aforesaid activity, since necessary precautionary measures had not been put into place, they were violating the provisions of the Air (Prevention & Control of Pollution) Act, 1981 and causing air pollution in the vicinity.
3. The Tribunal after receipt of the application directed issuance of notice vide order dated 13th March, 2014. After service of notice, the matter was taken up for hearing on 4th April, 2014. The learned counsel for the MPPCB submitted their reply and stated that inspections were being carried out in the premises of the Respondent No. 5 and notices with regard to the shortcomings in terms of the Air Act under Section 31(A) had been issued to the Respondent No. 5. It was further stated that as a result of the aforesaid notices, the Respondent No. 5 had closed the unit.
4. In the reply filed by the Respondent Nos. 3 and 4, it has been submitted that inspection of the unit of the Respondent No. 5 was carried out on 27th March, 2014 by the officers of the MPPCB and notice was issued. It has been submitted today by the learned counsel for the MPPCB that after the aforesaid notice was issued, the Respondent No. 5 had approached the Pollution Control Board stating that rectification had O.A. No. 52 of 2014 Page 4 of 8 been done and requested that an inspection may be taken up. Therefore, the Pollution Control Board again deputed its officers for inspection but it was found that the measures so adopted, were inadequate and as such permission to operate the unit had not been granted by the Pollution Control Board to the Respondent No. 5.
5. Learned counsel for the Respondent No. 5 submitted that other units located in the industrial area at Govindpura in Bhopal were also committing similar violations and they wre still being permitted to run and only the Respondent No. 5 has been targeted.
6. Learned counsel for the Respondent No. 3 submitted that the above fact is not correct and similar notices under the Air Act, 1981 have been issued to the other industries also which are found to be non-compliant and in case these fail to take satisfactory measures, the same shall also be ordered to be closed down.
7. Learned counsel for the Respondent No. 5 submitted that the Respondent No. 5 will be taking all the necessary measures and may be allowed to operate the unit once the said measures are put into place.
8. So far as the aforesaid prayer is concerned, we direct that the Respondent No. 5 shall be at liberty to approach the officials of the Regional Office of the Pollution Control Board at Bhopal and request them to carry out the inspection and on receipt of the aforesaid intimation from the Respondent No. 5, the officials of the Pollution Control Board shall carry out the inspection within a week thereafter and in case the measures taken by the Respondent No. 5 are found to be satisfactory, shall proceed in accordance with law for granting the consent to Respondent No. 5. O.A. No. 52 of 2014 Page 5 of 8 We may also add that after receiving the response of other units to whom notices have been issued, inspection shall be carried out and in case satisfactory measures are not in place, action with regard to closure of those units shall be initiated by the Respondent Nos. 3 and 4 including disconnection of the electricity and water supply to the said units.
9. While the grievance of the Applicant with regard to the present issue has been taken care of, we may add that this is the position prevailing in the Capital of the State of Madhya Pradesh where the headquarters of the Pollution Control Board itself is located and the Regional Office of the Pollution Control Board is also situated. It should not be left to the Applicants to come and complain against such violations and it is the duty of the officials of the Pollution Control Board to carry out a regular monitoring and inspection and as and when units are found to be non- compliant or polluting action in accordance with law shall be initiated against them.
10. Learned counsel for the Respondent Nos. 3 and 4 submitted that with the volume of the work as well as the available staff it is not possible for the Pollution Control Board to carry out inspection as would be expected out of them. It was submitted that this Tribunal had already issued directions to the State Government for increasing the sanctioned strength of posts in the Pollution Control Board and the aforesaid matter is still pending with the State Government.
11. Shri Sachin Verma, learned Standing Counsel for the State submitted that the State had already considered the aforesaid issue and even the Finance Department has given its concurrence however some O.A. No. 52 of 2014 Page 6 of 8 clarifications were sought from the Pollution Control Board and the matter rests at that.
12. Whatever be the problem with regard to compliance of the directions issued by this Tribunal in the Judgment dated 9th May, 2013 in the case of Cox India Ltd. Vs. M.P. Pollution Control Board , we direct that the Principal Secretary, Environment and Housing shall take up the issue with the Chairman, Pollution Control Board and all measures that are necessary shall be put into place and necessary government sanctions be issued for the revision of the sanctioned strength of the staff within two weeks and direction in the judgment dated 9th May, 2013 be complied with. The matter shall be listed on 15th May, 2014 before the Tribunal and by that date if the compliance is not made, the Principal Secretary, Environment and Housing shall appear personally along with the Chairman, Pollution Control Board to explain the issue and file necessary affidavits regarding the steps taken so far and show cause why the judgment dated 9th May, 2013 has not been complied with. In case, we do not find satisfactory explanation for the delay, the Tribunal shall hold the officers concerned personally liable and if necessary issue penal orders against them for non-compliance.
13. We make it clear that in case sanction orders are issued and compliance in the case of Cox India Ltd. (supra) is made before 15th May, 2014, the personal appearance of the aforesaid officers shall stand dispensed with and it would be sufficient to file the affidavits of the Principal Secretary, Environment & Housing and Chairman, MPPCB.
O.A. No. 52 of 2014 Page 7 of 8
14. Accordingly, this Application stands disposed of. The learned counsel for the State and MPPCB shall convey our order to the concerned officer. List on 15th May, 2014 for compliance.
(Mr. Justice Dalip Singh) Judicial Member Bhopal:
April 29th, 2014 (Mr. P.S.Rao) Expert Member O.A. No. 52 of 2014 Page 8 of 8


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Volume 1: Logical Foundations
Table of Contents
Index
Roadmap
Preface
Welcome
Overview
Logic
Proof Assistants
Functional Programming
Further Reading
Practicalities
System Requirements
Exercises
Downloading the Coq Files
Chapter Dependencies
Recommended Citation Format
Resources
Sample Exams
Lecture Videos
Note for Instructors
Translations
Thanks
Functional Programming in Coq (
Basics
)
Introduction
Data and Functions
Enumerated Types
Days of the Week
Homework Submission Guidelines
Booleans
Types
New Types from Old
Modules
Tuples
Numbers
Proof by Simplification
Proof by Rewriting
Proof by Case Analysis
More on Notation (Optional)
Fixpoints and Structural Recursion (Optional)
More Exercises
Testing Your Solutions
Proof by Induction (
Induction
)
Proof by Induction
Proofs Within Proofs
Formal vs. Informal Proof
More Exercises
Working with Structured Data (
Lists
)
Pairs of Numbers
Lists of Numbers
Reasoning About Lists
Induction on Lists
Search
List Exercises, Part 1
List Exercises, Part 2
Options
Partial Maps
Polymorphism and Higher-Order Functions (
Poly
)
Polymorphism
Polymorphic Lists
Polymorphic Pairs
Polymorphic Options
Functions as Data
Higher-Order Functions
Filter
Anonymous Functions
Map
Fold
Functions That Construct Functions
Additional Exercises
More Basic Tactics (
Tactics
)
The
apply
Tactic
The
apply
with
Tactic
The
injection
and
discriminate
Tactics
Using Tactics on Hypotheses
Varying the Induction Hypothesis
Unfolding Definitions
Using
destruct
on Compound Expressions
Review
Additional Exercises
Logic in Coq (
Logic
)
Logical Connectives
Conjunction
Disjunction
Falsehood and Negation
Truth
Logical Equivalence
Setoids and Logical Equivalence
Existential Quantification
Programming with Propositions
Applying Theorems to Arguments
Coq vs. Set Theory
Functional Extensionality
Propositions vs. Booleans
Classical vs. Constructive Logic
Inductively Defined Propositions (
IndProp
)
Inductively Defined Propositions
Inductive Definition of Evenness
Using Evidence in Proofs
Inversion on Evidence
Induction on Evidence
Inductive Relations
Case Study: Regular Expressions
The
remember
Tactic
Case Study: Improving Reflection
Additional Exercises
Extended Exercise: A Verified Regular-Expression Matcher
Total and Partial Maps (
Maps
)
The Coq Standard Library
Identifiers
Total Maps
Partial maps
The Curry-Howard Correspondence (
ProofObjects
)
Proof Scripts
Quantifiers, Implications, Functions
Programming with Tactics
Logical Connectives as Inductive Types
Conjunction
Disjunction
Existential Quantification
True
and
False
Equality
Inversion, Again
The Coq Trusted Computing Base
Induction Principles (
IndPrinciples
)
Basics
Polymorphism
Induction Hypotheses
More on the
induction
Tactic
Induction Principles for Propositions
Another Form of Induction Principles on Propositions (Optional)
Formal vs. Informal Proofs by Induction
Induction Over an Inductively Defined Set
Induction Over an Inductively Defined Proposition
Explicit Proof Objects for Induction (Optional)
Properties of Relations (
Rel
)
Relations
Basic Properties
Reflexive, Transitive Closure
Simple Imperative Programs (
Imp
)
Arithmetic and Boolean Expressions
Syntax
Evaluation
Optimization
Coq Automation
Tacticals
Defining New Tactic Notations
The
omega
Tactic
A Few More Handy Tactics
Evaluation as a Relation
Inference Rule Notation
Equivalence of the Definitions
Computational vs. Relational Definitions
Expressions With Variables
States
Syntax
Notations
Evaluation
Commands
Syntax
Desugaring notations
The
Locate
command
More Examples
Evaluating Commands
Evaluation as a Function (Failed Attempt)
Evaluation as a Relation
Determinism of Evaluation
Reasoning About Imp Programs
Additional Exercises
Lexing and Parsing in Coq (
ImpParser
)
Internals
Lexical Analysis
Parsing
Examples
An Evaluation Function for Imp (
ImpCEvalFun
)
A Broken Evaluator
A Step-Indexed Evaluator
Relational vs. Step-Indexed Evaluation
Determinism of Evaluation Again
Extracting ML from Coq (
Extraction
)
Basic Extraction
Controlling Extraction of Specific Types
A Complete Example
Discussion
Going Further
More Automation (
Auto
)
The
auto
Tactic
Searching For Hypotheses
Tactics
eapply
and
eauto
Constraints on Existential Variables
More Automation (
AltAuto
)
Coq Automation
Tacticals
A Few More Handy Tactics
Defining New Tactics
Decision Procedures
The Omega Tactic
Search Tactics
The
constructor
tactic.
The
auto
Tactic
The
eapply
and
eauto
variants
Postscript
Looking Back
Looking Forward
Resources
Bibliography (
Bib
)
Resources cited in this volume


| Package | Description |
|---|---|
| jakarta.annotation |
This package defines the common annotations.
|
| jakarta.annotation.security |
This package contains the security common annotations.
|
| jakarta.annotation.sql | |
| jakarta.ejb | |
| jakarta.ejb.embeddable | |
| jakarta.ejb.spi | |
| jakarta.enterprise.concurrent |
Classes and interfaces that make up the Jakarta Concurrency specification.
|
| jakarta.enterprise.concurrent.spi |
Interfaces for third-party providers of thread context to implement.
|
| jakarta.interceptor | |
| jakarta.jms | |
| jakarta.json.bind |
Provides JSON Binding API, which enables binding Java objects from and to
JSON documents.
|
| jakarta.json.bind.adapter |
Defines adapter related classes.
|
| jakarta.json.bind.annotation |
Defines annotations for customizing the mapping between Java program elements
and JSON documents.
|
| jakarta.json.bind.config |
Defines strategies and policies for customizing the mapping between Java program elements
and JSON documents.
|
| jakarta.json.bind.serializer |
Defines serializer depending classes.
|
| jakarta.json.bind.spi |
Service Provider Interface (SPI) to plug in implementations of JSON
Binding API
JsonbBuilder objects. |
| jakarta.jws |
This package defines annotations for light-weight web services programming model.
|
| jakarta.jws.soap |
This package defines annotations for SOAP binding definition within light-weight web services programming model.
|
| jakarta.persistence |
Jakarta Persistence is the API for the management for persistence and object/relational mapping.
|
| jakarta.persistence.criteria |
Jakarta Persistence Criteria API
|
| jakarta.persistence.metamodel |
Jakarta Persistence Metamodel API
|
| jakarta.persistence.spi |
SPI for Jakarta Persistence providers
|
| jakarta.resource |
The jakarta.resource package is the top-level package for the Jakarta™ Connectors specification.
|
| jakarta.resource.cci |
The jakarta.resource.cci package contains API specification for the Common
Client Interface (CCI).
|
| jakarta.resource.spi |
The jakarta.resource.spi package contains APIs for the system
contracts defined in the Jakarta Connectors specification.
|
| jakarta.resource.spi.endpoint |
This package contains system contracts for service endpoint interactions.
|
| jakarta.resource.spi.security |
The jakarta.resource.spi.security package contains APIs for the security
management contract.
|
| jakarta.resource.spi.work |
This package contains APIs for the Work Management, Generic and Security Work Context contracts.
|
| jakarta.security.enterprise |
The main Jakarta Security package.
|
| jakarta.security.enterprise.authentication.mechanism.http |
The HTTP authentication mechanism API package.
|
| jakarta.security.enterprise.authentication.mechanism.http.openid | |
| jakarta.security.enterprise.credential |
The Identity Store Credential API package.
|
| jakarta.security.enterprise.identitystore |
The identity store API package.
|
| jakarta.security.enterprise.identitystore.openid | |
| jakarta.servlet | |
| jakarta.servlet.annotation | |
| jakarta.servlet.descriptor | |
| jakarta.servlet.http | |
| jakarta.servlet.jsp | |
| jakarta.servlet.jsp.el | |
| jakarta.servlet.jsp.jstl.core | |
| jakarta.servlet.jsp.jstl.fmt | |
| jakarta.servlet.jsp.jstl.sql | |
| jakarta.servlet.jsp.jstl.tlv | |
| jakarta.servlet.jsp.tagext | |
| jakarta.transaction | |
| jakarta.websocket |
This package contains all the Jakarta WebSocket APIs common to both the client and server side.
|
| jakarta.websocket.server |
This package contains all the Jakarta WebSocket APIs used only by server side applications.
|
| jakarta.ws.rs |
High-level interfaces and annotations used to create RESTful service resources.
|
| jakarta.ws.rs.client |
The JAX-RS client API
|
| jakarta.ws.rs.container |
Container-specific JAX-RS API.
|
| jakarta.ws.rs.core |
Low-level interfaces and annotations used to create RESTful service resources.
|
| jakarta.ws.rs.ext |
APIs that provide extensions to the types supported by the JAX-RS API.
|
| jakarta.ws.rs.sse |
Server-Sent Events related API.
|
| jakarta.xml.bind |
Provides a runtime binding framework for client applications including
unmarshalling, marshalling, and validation capabilities.
|
| jakarta.xml.bind.annotation |
Defines annotations for customizing Java program elements to XML Schema mapping.
|
| jakarta.xml.bind.annotation.adapters |
XmlAdapter and its spec-defined
sub-classes to allow arbitrary Java classes to be used with Jakarta XML Binding. |
| jakarta.xml.bind.attachment |
This package is implemented by a MIME-based package processor that
enables the interpretation and creation of optimized binary data
within an MIME-based package format.
|
| jakarta.xml.bind.helpers |
Jakarta XML Binding Provider Use Only: Provides partial default implementations for
some of the
jakarta.xml.bind interfaces. |
| jakarta.xml.bind.tests | |
| jakarta.xml.bind.util |
Useful client utility classes.
|
| jakarta.xml.soap |
Provides the API for creating and building SOAP messages.
|
| jakarta.xml.ws |
This package contains the core Jakarta XML Web Services APIs.
|
| jakarta.xml.ws.handler |
This package defines APIs for message handlers.
|
| jakarta.xml.ws.handler.soap |
This package defines APIs for SOAP message handlers.
|
| jakarta.xml.ws.http |
This package defines APIs specific to the HTTP binding.
|
| jakarta.xml.ws.soap |
This package defines APIs specific to the SOAP binding.
|
| jakarta.xml.ws.spi |
This package defines SPIs for Jakarta XML Web Services.
|
| jakarta.xml.ws.spi.http |
Provides HTTP SPI that is used for portable deployment of Jakarta XML Web Services
in containers (for example servlet containers).
|
| jakarta.xml.ws.wsaddressing |
This package defines APIs related to WS-Addressing.
|


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Draw
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| Author | Title | Year | Journal/Proceedings | Reftype | DOI/URL |
|---|---|---|---|---|---|
| Del Prete, A., Nori, F., Metta, G. and Natale, L. | Prioritized motion--force control of constrained fully-actuated robots:``Task Space Inverse Dynamics'' [BibTeX] |
2015 | Robotics and Autonomous Systems Vol. 63, pp. 150-157 |
article | |
BibTeX:
@article{del2015prioritized, author = {Del Prete, Andrea and Nori, Francesco and Metta, Giorgio and Natale, Lorenzo}, title = {Prioritized motion--force control of constrained fully-actuated robots:``Task Space Inverse Dynamics''}, journal = {Robotics and Autonomous Systems}, publisher = {North-Holland}, year = {2015}, volume = {63}, pages = {150--157} } |
|||||
| Eljaik, J., Kuppuswamy, N. and Nori, F. | Multimodal sensor fusion for foot state estimation in bipedal robots using the Extended Kalman Filter [BibTeX] |
2015 | Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pp. 2698-2704 | inproceedings | |
BibTeX:
@inproceedings{eljaik2015multimodal, author = {Eljaik, Jorhabib and Kuppuswamy, Naveen and Nori, Francesco}, title = {Multimodal sensor fusion for foot state estimation in bipedal robots using the Extended Kalman Filter}, booktitle = {Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on}, year = {2015}, pages = {2698--2704} } |
|||||
| Latella, C., Kuppuswamy, N. and Nori, F. | Force and motion capture system based on distributed micro-accelerometers, gyros, force and tactile sensing [BibTeX] |
2015 | 2nd International Electronic Conference on Sensors and Applications | inproceedings | |
BibTeX:
@inproceedings{latella2015force, author = {Latella, Claudia and Kuppuswamy, Naveen and Nori, Francesco}, title = {Force and motion capture system based on distributed micro-accelerometers, gyros, force and tactile sensing}, booktitle = {2nd International Electronic Conference on Sensors and Applications}, year = {2015} } |
|||||
| Nori, F., Kuppuswamy, N. and Traversaro, S. | Simultaneous state and dynamics estimation in articulated structures [BibTeX] |
2015 | Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pp. 3380-3386 | inproceedings | |
BibTeX:
@inproceedings{nori2015simultaneous, author = {Nori, Francesco and Kuppuswamy, Naveen and Traversaro, Silvio}, title = {Simultaneous state and dynamics estimation in articulated structures}, booktitle = {Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on}, year = {2015}, pages = {3380--3386} } |
|||||
| Nori, F., Traversaro, S., Eljaik, J., Romano, F., Del Prete, A. and Pucci, D. | iCub whole-body control through force regulation on rigid non-coplanar contacts [BibTeX] |
2015 | Frontiers in Robotics and AI, pp. 18 | article | |
BibTeX:
@article{nori2015icub, author = {Nori, Francesco and Traversaro, Silvio and Eljaik, Jorhabib and Romano, Francesco and Del Prete, Andrea and Pucci, Daniele}, title = {iCub whole-body control through force regulation on rigid non-coplanar contacts}, journal = {Frontiers in Robotics and AI}, year = {2015}, pages = {18} } |
|||||
| Paikan, A., Traversaro, S., Nori, F. and Natale, L. | A Generic Testing Framework for Test Driven Development of Robotic Systems [BibTeX] |
2015 | Modelling and Simulation for Autonomous Systems, pp. 216-225 | incollection | |
BibTeX:
@incollection{paikan2015generic, author = {Paikan, Ali and Traversaro, Silvio and Nori, Francesco and Natale, Lorenzo}, title = {A Generic Testing Framework for Test Driven Development of Robotic Systems}, booktitle = {Modelling and Simulation for Autonomous Systems}, publisher = {Springer International Publishing}, year = {2015}, pages = {216--225} } |
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| Prete, A.D., Mansard, N., Ramos, O.E., Stasse, O. and Nori, F. | Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors [BibTeX] |
2015 | International Journal of Humanoid Robotics, pp. 1550044 | article | |
BibTeX:
@article{prete2015implementing, author = {Prete, Andrea Del and Mansard, Nicolas and Ramos, Oscar E and Stasse, Olivier and Nori, Francesco}, title = {Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors}, journal = {International Journal of Humanoid Robotics}, publisher = {World Scientific Publishing Company}, year = {2015}, pages = {1550044} } |
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| Pucci, D., Romano, D., Traversaro, S., Eljaik, J. and Nori, F. | Force Control of the iCub Humanoid for One-foot Balancing and Safe Interaction [BibTeX] |
2015 | Workshop at IEEE International Conference on Robotics and Automation | article | |
BibTeX:
@article{pucci2015force, author = {Pucci, Daniele and Romano, Daniele and Traversaro, Silvio and Eljaik, Jorhabib and Nori, Francesco}, title = {Force Control of the iCub Humanoid for One-foot Balancing and Safe Interaction}, journal = {Workshop at IEEE International Conference on Robotics and Automation}, year = {2015} } |
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| Pucci, D., Romano, F. and Nori, F. | Collocated Adaptive Control of Underactuated Mechanical Systems [BibTeX] |
2015 | Robotics, IEEE Transactions on Vol. 31(6), pp. 1527-1536 |
article | |
BibTeX:
@article{pucci2015collocated, author = {Pucci, Daniele and Romano, Francesco and Nori, Francesco}, title = {Collocated Adaptive Control of Underactuated Mechanical Systems}, journal = {Robotics, IEEE Transactions on}, publisher = {IEEE}, year = {2015}, volume = {31}, number = {6}, pages = {1527--1536} } |
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| Romano, F., Del Prete, A., Mansard, N. and Nori, F. | Prioritized optimal control: A hierarchical differential dynamic programming approach [BibTeX] |
2015 | Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 3590-3595 | inproceedings | |
BibTeX:
@inproceedings{romano2015prioritized, author = {Romano, Francesco and Del Prete, Andrea and Mansard, Nicolas and Nori, Francesco}, title = {Prioritized optimal control: A hierarchical differential dynamic programming approach}, booktitle = {Robotics and Automation (ICRA), 2015 IEEE International Conference on}, year = {2015}, pages = {3590--3595} } |
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| Romano, F., Pucci, D., Traversaro, S., Eljaik, J. and Nori, F. | Whole-body Force Control of the iCub Humanoid Robot for Balancing Tasks [BibTeX] |
2015 | Workshop at IEEE International Conference on Robotics and Automation | article | |
BibTeX:
@article{romano2015whole, author = {Romano, Francesco and Pucci, Daniele and Traversaro, Silvio and Eljaik, Jorhabib and Nori, Francesco}, title = {Whole-body Force Control of the iCub Humanoid Robot for Balancing Tasks}, journal = {Workshop at IEEE International Conference on Robotics and Automation}, year = {2015} } |
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| Stramandinoli, F., Tikhanoff, V., Pattacini, U. and Nori, F. | A Bayesian approach towards affordance learning in artificial agents [BibTeX] |
2015 | Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2015 Joint IEEE International Conference on, pp. 298-299 | inproceedings | |
BibTeX:
@inproceedings{stramandinoli2015bayesian, author = {Stramandinoli, Francesca and Tikhanoff, Vadim and Pattacini, Ugo and Nori, Francesco}, title = {A Bayesian approach towards affordance learning in artificial agents}, booktitle = {Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2015 Joint IEEE International Conference on}, year = {2015}, pages = {298--299} } |
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| Traversaro, S., Del Prete, A., Ivaldi, S. and Nori, F. | Inertial parameters identification and joint torques estimation with proximal force/torque sensing [BibTeX] |
2015 | Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 2105-2110 | inproceedings | |
BibTeX:
@inproceedings{traversaro2015inertial, author = {Traversaro, Silvio and Del Prete, Andrea and Ivaldi, Serena and Nori, Francesco}, title = {Inertial parameters identification and joint torques estimation with proximal force/torque sensing}, booktitle = {Robotics and Automation (ICRA), 2015 IEEE International Conference on}, year = {2015}, pages = {2105--2110} } |
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| Traversaro, S., Pucci, D. and Nori, F. | In situ calibration of six-axis force-torque sensors using accelerometer measurements [BibTeX] |
2015 | Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 2111-2116 | inproceedings | |
BibTeX:
@inproceedings{traversaro2015situ, author = {Traversaro, Silvio and Pucci, Daniele and Nori, Francesco}, title = {In situ calibration of six-axis force-torque sensors using accelerometer measurements}, booktitle = {Robotics and Automation (ICRA), 2015 IEEE International Conference on}, year = {2015}, pages = {2111--2116} } |


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