Match Play. Red trails 4-5 to 7. Should Red double? If doubled, should White take?
pips Red=136 White=155
(CorrectAnswer= 0/0, ErrorScore= 0)
For money this would be no double/beaver but once again the score has a dramatic effect and it becomes a double. Of course, White has a trivial take.
The vast majority of players would not even consider doubling this position, but an expert will recognise the potential of the position. With eleven checkers in the attack zone there will be a fair few gammons to be had.
Technically, not doubling is an error.
The vast majority of players would not even consider doubling this position, but an expert will recognise the potential of the position. With eleven checkers in the attack zone there will be a fair few gammons to be had.
Technically, not doubling is an error.
Cube analysis 2-ply cubeless equity +0.053 (Money: +0.080) 0.495 0.246 0.009 - 0.505 0.156 0.009 Cubeful equities: 1. Double, take +0.319 2. Double, pass +1.000 (+0.681) 3. No double +0.278 (-0.041) Proper cube action: Double, take


Almost every program makes use of external libraries. On Windows, the most common one is kernel32.dll, because it allows one to access the majority of the Windows API. Procedures such as CreateProcess or VirtualAlloc are just a few of those exported by this library.
Static linking
Whenever a procedure is statically linked, the linker actually copies data from the library, embedding it into the executable. There are some advantages to this, one being portability, since the program can run even on systems that don't have the required library installed. Also, since the linking process doesn't take place at runtime, the program might have a slightly faster startup. An obvious disadvantage is the increase in memory consumption.
Dynamic linking
This method is very common. The DLL is loaded into memory once, and all the programs can get data from it. This saves a great deal of space, and it can be done either at load time or runtime.
Load-time dynamic linking
From the point of view of the programmer, this might be the most straightforward way to link a library.
The executables contains metadata about linked libraries and procedures. This information is used by the
dynamic linker,
which finds each library and locates inside it all the corresponding procedures. Then, for each imported procedure, it patches the image with the correct
address. In case of PE files, the data used by the linker is found in a structure called the
Import Table.
Because all this information is stored inside the executable, it gives away important metadata, which can be used to automate static analysis.
Let's take a look at a concrete example. In order to display a standard message box, one can use the
MessageBox
procedure, found inside user32.dll.
#include <Windows.h> int main() { MessageBox(NULL, "HIDDEN", NULL, MB_OK); ExitProcess(0); return 0; }
IDA shows me the following imports:
00402000 ExitProcess KERNEL32 00402008 MessageBoxA USER32
Because this information exists inside the executable, it is very easy to see that this program makes use of MessageBox
and ExitProcess
.
Building the minimum
When I build these examples, I used Visual Studio Community Edition 2015. Target was set to Release x86. In Project->Properties->Linker->Advanced->Entry Point set main as the entry point. Disable Safe SEH, Debugging, and DEP. This removes all the checks and security measures added by Visual Studio, keeping the executable as close as possible to the source code. These options are very useful for improving the security of the application, but the purpose here is to prevent the compiler from inserting additional imports.
Run-time dynamic linking
It is also possible to link procedures at runtime. This process requires a little bit more effort and care from the programmer. First of all, the library has to be loaded using LoadLibrary. During this step, the DLL module is mapped into the virtual address space of the process. Afterwards, you can start importing procedures from it. To do this, the library handle has to be passed to GetProcAddress, along with the name of a procedure. Finally, a procedure handle is obtained, which is used pretty much like a function pointer. Because this process happens at runtime, there will be no information about these procedures available in the Import Table. Notice how the code already looks more complicated due to use of function pointers.
#include <Windows.h> typedef int(*msg_box) (void *, char *, char *, unsigned int); int main() { HMODULE user32_dll = LoadLibrary("user32.dll"); if (!user32_dll) { ExitProcess(-1); } msg_box MsgBox = (msg_box)GetProcAddress(user32_dll, "MessageBoxA"); if (!MsgBox) { ExitProcess(-1); } MsgBox(NULL, "HIDDEN", NULL, MB_OK); ExitProcess(0); return 0; }
This time, the full name of the procedure is required. There is no MessageBox
procedure in fact,
there are MessageBoxW
(Unicode) and MessageBoxA
(ANSI). In case of load-time dynamic linking,
the compiler chooses one for you.
00402000 LoadLibraryA KERNEL32 00402004 GetProcAddress KERNEL32 00402008 ExitProcess KERNEL32
There are still a few functions imported from kernel32.dll. LoadLibrary
and GetProcAddress
must appear there in order to link other DLLs at runtime. Notice though that MessageBox is missing. Hence, the Import Table no longer shows
all the procedures used by the program, but there is still some information. These imports are clearly hinting that there might be more
happening at run-time. The problem is that in order to link a DLL at runtime, the Windows API is needed.
By completely removing the Import Table, the program no longer imports kernel32.dll. There is no
easy way to import stuff at run-time without using it.
No imports at all
The most important piece of the puzzle is the base address of kernel32.dll. But since there are
no imports whatsoever, how does one find it?
The answer lies on the stack. Let's put it this way: a running image is part of a process, and a process has
at least one running thread. When starting, the entry point of a thread is called from BaseThreadInitThunk,
which is an undocumented procedure located inside kernel32.dll.
When you double-click on an executable, Windows creates a new process, thus starting a new thread.
This means that BaseThreadInitThunk is called at some point before the actual program starts.
Underneath that lies a call
instruction. This, besides changing the EIP
, pushes the
address of the next instruction onto the stack.
When main
is called, an address from inside kernel32.dll is pushed onto the stack. Notice
the first DWORD on the stack when example3.EntryPoint is reached.
By knowing that address, it is possible to obtain the base address of the kernel32.dll module. In order
to extract it from the stack, some assembly is needed at the very beginning of main
.
mov eax, [esp + 0x4]; mov addr_inside_kernel32, eax;
Here are the first few instructions of main
as seen in the debugger:
PUSH EBP MOV EBP, ESP MOV EAX, DWORD PTR SS:[ESP + 4] MOV DWORD PTR DS:[163334], EAX
The compiler automatically adds the function prologue. The first instruction is push ebp
,
which puts a DWORD on top of the stack. This means that the return address we're looking for is actually
the second one in the stack and therefore we add 4 to esp in order to get it.
Once you know an address inside the library, you need to find the base address.
#define MZ 0x5a4d #define JUMP_LEN 0x10000 #define TRIM_4 0xffff0000 /* Given an address inside a module, find the module base address. */ unsigned int GetModuleBase(unsigned int addr) { unsigned int base = addr & TRIM_4; while (*(short *)base != MZ) { base -= JUMP_LEN; } return base; }
This code is not based on documented facts. It is rather based on
experiments. Nevetheless, it seems to work even on Windows 10, at least until Microsoft decides
to change something.
It begins by trimming the last four zeros from the given address (in hex). This is because
the base address of kernel32.dll always seems to end with 4 zeros, meaning that it's a multiple of
0x10000. As a matter of fact, when I was making that GIF with the debugger, the library's address happened to be 0x74b90000.
Therefore, only multiples of 0x10000 are checked. The right address is identified by checking if it references
the WORD 'MZ'. This is how any Portable Executable
starts. On the way to the base address, there might be some pages from which reading is not possible. To avoid
a possible crash, one could use an exception handler.
In the example above, the value of the addr
argument was 0x74ba8744. Trimming it results in
0x74ba0000. Since the kernel32.dll started at 0x74b90000, only two addresses were checked:
0x74ba0000 and 0x74b90000.
That was half the battle. The next step is to find the GetProcAddress procedure. Its address can be found in the Export Table of the library.
struct IMAGE_EXPORT_DIRECTORY { DWORD Characteristics; DWORD TimeDateStamp; WORD MajorVersion; WORD MinorVersion; DWORD Name; DWORD Base; DWORD NumberOfFunctions; DWORD NumberOfNames; DWORD AddressOfFunctions; DWORD AddressOfNames; DWORD AddressOfNameOrdinals; }
AddressOfFunctions
is the RVA of an array
containing the RVAs of exported funtions.
AddressOfNames
is the RVA of an array with pointers to strings,
which denote function names (these 'pointers' are in fact other RVAs).
AddressOfNameOrdinals
is used to correlate the two fields above.
For example, if the string "GetProcAddress" is located at
AddressOfNames[5], then the address of the function is found using AddressOfFunctions[AddressOfNameOrdinals[5]].
For more details about the Export Table you can look here.
/* Given the address of kernel32 module, find the address of GetProcAddress. */ GetProcAddress_t FindGetProcAddress(unsigned int kernel32_base) { /* PE Header */ unsigned int pe_header = kernel32_base + *(unsigned int *)(kernel32_base + E_LFANEW); if (*(unsigned int *)pe_header != PE_SIGNATURE) { return 0; } /* Export Directory */ unsigned int export_directory = kernel32_base + *(unsigned int *)(pe_header + 0x78); unsigned int number_of_names = *(unsigned int*)(export_directory + 0x18); unsigned int *address_of_names = (unsigned int *)(kernel32_base + *(unsigned int*)(export_directory + 0x20)); /* Search within exported functions. */ unsigned int index = 0; for (unsigned int index = 0; index < number_of_names; ++index) { if (strcmp((char *)(kernel32_base + address_of_names[index]), "GetProcAddress") == 0) { /* Found GetProcAddress. */ unsigned short *address_of_ordinals = (unsigned short *)(kernel32_base + *(unsigned int*)(export_directory + 0x24)); unsigned short ordinal = address_of_ordinals[index]; unsigned int *address_of_functions = (unsigned int *)(kernel32_base + *(unsigned int*)(export_directory + 0x1c)); return (GetProcAddress_t)(kernel32_base + address_of_functions[ordinal]); } } return 0; }
What remains now is to put together all the pieces of the puzzle. The complete code can be found here.
Conclusion
The examples shown here were small and focused on eliminating the Import Table. In real life, a clean application would have no reason to do that, unless it is a crackme or something made for didactic purposes. Malware authors usually don't use this technique alone, as it is not sufficient. Even though the imports are hidden, strings are still visible.
strings.exe example3.exe > strings.txt
Here are some of the strings:
GetProcAddress ExitProcess LoadLibraryA user32.dll MessageBoxA HIDDEN
They might use a packer or crypter to hide these, or simply xor all strings with some key. Either way, Procmon or other dynamic analysis tools will unveil these hidden calls to LoadLibrary, but in order analyse it dynamically, the executable has to be ran in a safe environment. When automated, static analysis is faster, but also more limited.


| Package | Description |
|---|---|
| org.usfirst.frc.team1736.lib.AutoSequencer |
Autonomous routine interface and event sequencer.
|
| org.usfirst.frc.team1736.lib.BatteryParam |
Classes to estimate battery electrical parameters.
|
| org.usfirst.frc.team1736.lib.Calibration |
Classes for creating tunable values in software.
|
| org.usfirst.frc.team1736.lib.CasserolePID |
Customized PID controller
|
| org.usfirst.frc.team1736.lib.CoProcessor |
Classes for interacting with other processors on the robot.
|
| org.usfirst.frc.team1736.lib.FalconPathPlanner |
Path Planning routines taken from team 2168, and updated for Casserole use.
|
| org.usfirst.frc.team1736.lib.Globals |
Global values used throughout robot Software
|
| org.usfirst.frc.team1736.lib.HAL |
Extra Hardware Abstraction Layer classes beyond the FRC standard libraries
|
| org.usfirst.frc.team1736.lib.Hourmeter |
Classes for measuring total runtime of the robot over its life.
|
| org.usfirst.frc.team1736.lib.LEDs |
LED strip interfacing classes
|
| org.usfirst.frc.team1736.lib.Logging |
MethodHandles-based and simple classes for logging runtime data values
|
| org.usfirst.frc.team1736.lib.MotorCurrentEstimators |
Processing and predicting motor current draw and behavior
|
| org.usfirst.frc.team1736.lib.PathPlanner | |
| org.usfirst.frc.team1736.lib.Sensors |
Sensor interfacing classes
|
| org.usfirst.frc.team1736.lib.SignalMath |
Mathematical manipulations for real-time signals
|
| org.usfirst.frc.team1736.lib.Util |
Miscellaneous utilities
|
| org.usfirst.frc.team1736.lib.WebServer |
Jetty WebServer for displaying state data, calibration data, etc.
|


UT3 - GAME CARO
SAVE
Task content goes here...
time
player1:
player2:
Ván mới
Create Player
Task content goes here...
Task content goes here...


Specifications
| Item | Specifications |
|---|---|
| Baud Rate | 7843 bps ~ 1 Mbps |
| Resolution | 0.29° |
| Running Degree | 0° ~ 300° Endless Turn |
| Weight | 52.9g |
| Dimensions (W x H x D) | 32mm x 50mm x 40mm |
| Gear Ratio | 32 : 1 |
| No Load Speed | 470rpm (at 12V, Wheel Mode) 54rpm (at 12.0V, Joint Mode) |
| Operating Temperature | -5°C ~ +70°F |
| Input Voltage | 9.0 ~ 12.0V (Recommended : 11.1V) |
| Command Signal | Digital Packet |
| Protocol Type | Half Duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) |
| Physical Connection | TTL Level Multi Drop Bus(Daisy Chain Type Connector) |
| ID | 0 ~ 253 |
| Feedback | Position, Temperature, Load, Input Voltage, etc |
| Material | Engineering Plastic |
Control Table
The Control Table is a structure of data implemented in the DYNAMIXEL. Users can read a specific Data to get status of the DYNAMIXEL with Read Instruction Packets, and modify Data as well to control DYNAMIXEL with WRITE Instruction Packets.
Control Table, Data, Address
The Control Table is a structure that consists of multiple Data fields to store status of the DYNAMIXEL or to control the DYNAMIXEL. Users can check current status of the DYNAMIXEL by reading a specific Data from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable users to control the DYNAMIXEL by changing specific Data in the Control Table. The Address is a unique value when accessing a specific Data in the Control Table with Instruction Packets. In order to read or write data, users must designate a specific Address in the Instruction Packet. Please refer to [Protocol] for more details about Instruction Packets.
Note
Two’s complement is applied for the negative value. For more information, please refer to Two’s complement from Wikipedia.
Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values when the DYNAMIXEL is turned on (Volatile). On the other hand, modified data in the EEPROM Area keeps their values even when the DYNAMIXEL is turned off (Non-Volatile). Data in the EEPROM Area can only be changed when the value of Torque Enable(64) is cleared to ‘0’.
Size
The Size of data varies from 1 to 4 bytes depend on their usage. Please check the size of data when updating the data with an Instruction Packet.
Access
The Control Table has two different access properties. ‘RW’ property stands for read and write access permission while ‘R’ stands for read only access permission. Data with the read only property cannot be changed by the WRITE Instruction. Read only property(‘R’) is generally used for measuring and monitoring purpose, and read write property(‘RW’) is used for controlling DYNAMIXEL.
Initial Value
Each data in the Control Table is restored to initial values when the DYNAMIXEL is turned on. Default values in the EEPROM area are initial values of the DYNAMIXEL (factory default settings). If any values in the EEPROM area are modified by a user, modified values will be restored as initial values when the DYNAMIXEL is turned on. Initial Values in the RAM area are restored when the DYNAMIXEL is turned on.
Control Table of EEPROM Area
| Address | Size(Byte) | Data Name | Description | Access | Initial Value |
|---|---|---|---|---|---|
| 0 | 2 | Model Number | Model Number | R | 300 |
| 2 | 1 | Firmware Version | Firmware Version | R | - |
| 3 | 1 | ID | DYNAMIXEL ID | RW | 1 |
| 4 | 1 | Baud Rate | Communication Speed | RW | 1 |
| 5 | 1 | Return Delay Time | Response Delay Time | RW | 250 |
| 6 | 2 | CW Angle Limit | Clockwise Angle Limit | RW | 0 |
| 8 | 2 | CCW Angle Limit | Counter-Clockwise Angle Limit | RW | 1023 |
| 11 | 1 | Temperature Limit | Maximum Internal Temperature Limit | RW | 70 |
| 12 | 1 | Min Voltage Limit | Minimum Input Voltage Limit | RW | 60 |
| 13 | 1 | Max Voltage Limit | Maximum Input Voltage Limit | RW | 140 |
| 14 | 2 | Max Torque | Maximun Torque | RW | 1023 |
| 16 | 1 | Status Return Level | Select Types of Status Return | RW | 2 |
| 17 | 1 | Alarm LED | LED for Alarm | RW | 36 |
| 18 | 1 | Shutdown | Shutdown Error Information | RW | 36 |
Control Table of RAM Area
| Address | Size(Byte) | Data Name | Description | Access | Initial Value |
|---|---|---|---|---|---|
| 24 | 1 | Torque Enable | Motor Torque On/Off | RW | 0 |
| 25 | 1 | LED | Status LED On/Off | RW | 0 |
| 26 | 1 | CW Compliance Margin | CW Compliance Margin | RW | 4 |
| 27 | 1 | CCW Compliance Margin | CCW Compliance Margin | RW | 4 |
| 28 | 1 | CW Compliance Slope | CW Compliance Slope | RW | 64 |
| 29 | 1 | CCW Compliance Slope | CCW Compliance Slope | RW | 64 |
| 30 | 2 | Goal Position | Target Position | RW | - |
| 32 | 2 | Moving Speed | Moving Speed | RW | - |
| 34 | 2 | Torque Limit | Torque Limit(Goal Torque) | RW | ADD 14&15 |
| 36 | 2 | Present Position | Present Position | R | - |
| 38 | 2 | Present Speed | Present Speed | R | - |
| 40 | 2 | Present Load | Present Load | R | - |
| 42 | 1 | Present Voltage | Present Voltage | R | - |
| 43 | 1 | Present Temperature | Present Temperature | R | - |
| 44 | 1 | Registered | If Instruction is registered | R | 0 |
| 46 | 1 | Moving | Movement Status | R | 0 |
| 47 | 1 | Lock | Locking EEPROM | RW | 0 |
| 48 | 2 | Punch | Minimum Current Threshold | RW | 32 |
Control Table Description
Model Number (0)
This address stores model number of the DYNAMIXEL.
Firmware Version (2)
This address stores firmware version of the DYNAMIXEL.
ID (3)
The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction Packet. 0~252 (0xFC) values can be used as an ID, and 254(0xFE) is occupied as a broadcast ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all connected DYNAMIXELs simultaneously.
Note
Please avoid using an identical ID for multiple DYNAMIXELs. You may face communication failure or may not be able to detect Dynamixels with an identical ID.
Baud Rate (4)
Baud Rate determines serial communication speed between a controller and DYNAMIXELs.
| Value | Baud Rate | Margin of Error |
|---|---|---|
| 1(Default) | 1M | 0.000% |
| 3 | 500,000 | 0.000% |
| 4 | 400,000 | 0.000% |
| 7 | 250,000 | 0.000% |
| 9 | 200,000 | 0.000% |
| 16 | 115200 | -2.124% |
| 34 | 57600 | 0.794% |
| 103 | 19200 | -0.160% |
| 207 | 9600 | -0.160% |
Note
Less than 3% of the baud rate error margin will not affect to UART communication.
Return Delay Time (5)
After the DYNAMIXEL receives an Instruction Packet, it delays transmitting the Status Packet for Return Delay Time (9). For instance, if the Return Delay Time(9) is set to ‘10’, the Status Packet will be returned after 20[μsec] when the Instruction Packet is received.
| Value | Description | |
|---|---|---|
| Unit | 2[μsec] | - |
| Range | 0 ~ 254 | Default value ‘250’(500[μsec]), Maximum 508[μsec] |
CW/CCW Angle Limit(6, 8)
The angle limit allows the motion to be restrained. The range and the unit of the value is the same as Goal Position(Address 30, 31). CW Angle Limit: the minimum value of Goal Position(Address 30, 31) CCW Angle Limit: the maximum value of Goal Position(Address 30, 31) The following two modes can be set pursuant to the value of CW and CCW.
| Operation Type | CW / CCW |
|---|---|
| Wheel Mode | both are 0 |
| Joint Mode | neither are 0 |
The wheel mode can be used to wheel-type operation robots since motors of the robots spin infinitely. The joint mode can be used to multi-joints robot since the robots can be controlled with specific angles.
The Highest Limit Temperature
Caution
Do not set the temperature lower/higher than the default value. When the temperature alarm shutdown occurs, wait 20 minutes to cool the temperature before re-use. Using the product when the temperature is high may and can cause damage.
Min/Max Voltage Limit
It is the operation range of voltage. 50 to 250 (0x32 ~ 0x96) can be used. The unit is 0.1V. For example, if the value is 80, it is 8V. If Present Voltage (Address42) is out of the range, Voltage Range Error Bit (Bit0) of Status Packet is returned as ‘1’ and Alarm is triggered as set in the addresses 17 and 18.
Max Torque
It is the torque value of maximum output. 0 to 1023 (0x3FF) can be used, and the unit is about 0.1%. For example, Data 1023 (0x3FF) means that Dynamixel will use 100% of the maximum torque it can produce while Data 512 (0x200) means that Dynamixel will use 50% of the maximum torque. When the power is turned on, Torque Limit (Addresses 34 and 35) uses the value as the initial value.
Status Return Level
It decides how to return Status Packet. There are three ways like the below table.
| Value | Return of Status Packet |
|---|---|
| 0 | No return against all commands (Except PING Command) |
| 1 | Return only for the READ command |
| 2 | Return for all commands |
When Instruction Packet is Broadcast ID, Status Packet is not returned regardless of Status Return Level.
Alarm LED / Alarm Shutdown
Dynamixel can protect itself by detecting errors occur during the operation. The errors can be set are as the table below.
| Bit | Name | Description |
|---|---|---|
| Bit 7 | 0 | - |
| Bit 6 | Instruction Error | When undefined Instruction is transmitted or the Action command is delivered without the reg_write command |
| Bit 5 | Overload Error | When the current load cannot be controlled with the set maximum torque |
| Bit 4 | CheckSum Error | When the Checksum of the transmitted Instruction Packet is invalid |
| Bit 3 | Range Error | When the command is given beyond the range of usage |
| Bit 2 | OverHeating Error | When the internal temperature is out of the range of operating temperature set in the Control Table |
| Bit 1 | Angle Limit Error | When Goal Position is written with the value that is not between CW Angle Limit and CCW Angle Limit |
| Bit 0 | Input Voltage Error | When the applied voltage is out of the range of operating voltage set in the Control Table |
It is possible to make duplicate set since the function of each bit is run by the logic of ‘OR’. That is, if 0X05 (binary 00000101) is set, both Input Voltage Error and Overheating Error can be detected. If errors occur, in case of Alarm LED, the LED blinks; in case of Alarm Shutdown, the motor output becomes 0 % by making the value of Torque Limit(Address 34, 35) as 0.
Torque Enable
| Value | Description |
|---|---|
| 0 | Keeps Torque from generating by interrupting the power of motor |
| 1 | Generates Torque by impressing the power to the motor. |
LED
| Bit | Description |
|---|---|
| 0 | Turn OFF the LED |
| 1 | Turn ON the LED |
Compliance Margin
It exists in each direction of CW/CCW and means the error between goal position and present position. The range of the value is 0~255, and the unit is the same as Goal Position.(Address 30,31) The greater the value, the more difference occurs.
Compliance Slope
It exists in each direction of CW/CCW and sets the level of Torque near the goal position. Compliance Slope is set in 7 steps, the higher the value, the more flexibility is obtained. Data representative value is actually used value. That is, even if the value is set to 25, 16 is used internally as the representative value.
| Step | Data Value | Data Representative Value |
|---|---|---|
| 1 | 0(0x00) ~ 3(0x03) | 2(0x02) |
| 2 | 4(0x04) ~ 7(0x07) | 4(0x04) |
| 3 | 8(0x08)~15(0x0F) | 8(0x08) |
| 4 | 16(0x10)~31(0x1F) | 16(0x10) |
| 5 | 32(0x20)~63(0x3F) | 32(0x20) |
| 6 | 64(0x40)~127(0x7F) | 64(0x40) |
| 7 | 128(0x80)~254(0xFE) | 128(0x80) |
Compliance is to set the control flexibility of the motor. The following diagram shows the relationship between output torque and position of the motor.
Goal Position
It is a position value of destination. 0 to 1023 (0x3FF) is available. The unit is 0.29 degree. If Goal Position is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is returned as ‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.
The picture above is the front view of Dynamixel
Note
If it is set to Wheel Mode, this value is not used.
Moving Speed
It is a moving speed to Goal Position. The range and the unit of the value may vary depending on the operation mode.
-
Join Mode 0~1023 (0X3FF) can be used, and the unit is about 0.111rpm. If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed. If it is 1023, it is about 114rpm. For example, if it is set to 300, it is about 33.3 rpm.
Note
Please check the maximum rpm of relevant model in Joint Mode. Even if the motor is set to more than maximum rpm, it cannot generate the torque more than the maximum rpm. -
Wheel Mode 0~2047( 0X7FF) can be used, the unit is about 0.1%. If a value in the range of 0~1023 is used, it is stopped by setting to 0 while rotating to CCW direction. If a value in the range of 1024~2047 is used, it is stopped by setting to 1024 while rotating to CW direction. That is, the 10th bit becomes the direction bit to control the direction. In Wheel Mode, only the output control is possible, not speed. For example, if it is set to 512, it means the output is controlled by 50% of the maximum output.
Torque Limit
It is the value of the maximum torque limit. 0 to 1023 (0x3FF) is available, and the unit is about 0.1%. For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used. If the power is turned on, the value of Max Torque (Address 14, 15) is used as the initial value.
Note
If the function of Alarm Shutdown is triggered, the motor loses its torque because the value becomes 0. At this moment, if the value is changed to the value other than 0, the motor can be used again.
Present Position
It is the current position value of Dynamixel. The range of the value is 0~1023 (0x3FF), and the unit is 0.29 degree.
The picture above is the front view of Dynamixel.
Caution
If it is set to Wheel Mode, the value cannot be used to measure the moving distance and the rotation frequency.
Present Speed
It is the current moving speed. 0~2047 (0X7FF) can be used. If a value is in the rage of 0~1023, it means that the motor rotates to the CCW direction. If a value is in the rage of 1024~2047, it means that the motor rotates to the CW direction. That is, the 10th bit becomes the direction bit to control the direction, and 0 and 1024 are equal. The unit of this value varies depending on operation mode.
-
Joint Mode The unit is about 0.111rpm. For example, if it is set to 300, it means that the motor is moving to the CCW direction at a rate of about 33.3rpm.
-
Wheel Mode The unit is about 0.1%. For example, if it is set to 512, it means that the torque is controlled by 50% of the maximum torque to the CCW direction.
Present Load
It means currently applied load. The range of the value is 0~2047, and the unit is about 0.1%. If the value is 0~1023, it means the load works to the CCW direction. If the value is 1024~2047, it means the load works to the CW direction. That is, the 10th bit becomes the direction bit to control the direction, and 1024 is equal to 0. For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque.
| Bit | 15 ~ 11 | 10 | 9 ~ 0 |
|---|---|---|---|
| Value | 0 | Load Direction | Data (Load Ratio) |
Note
CCW Load : Load Direction = 0, CW Load : Load Direction = 1
Note
Present load is an inferred value based on the internal output value; not a measured value using torque sensor, etc. Therefore, it may be inaccurate for measuring weight or torque. It is recommended to use it for predicting the direction and size of the force being applied to the joint.
Present Voltage
It is the size of the current voltage supplied. This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)
Present Temperature
It is the internal temperature of Dynamixel in Celsius. Data value is identical to the actual temperature in Celsius. For example, if the data value is 85 (0x55), the current internal temperature is 85°C.
Registered Instruction
| Value | Description |
|---|---|
| 0 | There are no commands transmitted by REG_WRITE |
| 1 | There are commands transmitted by REG_WRITE |
Note
If ACTION command is executed, the value is changed into 0.
Moving
| Value | Description |
|---|---|
| 0 | Goal position command execution is completed |
| 1 | Goal position command execution is in progress |
Lock
| Value | Description |
|---|---|
| 0 | EEPROM area can be modified |
| 1 | EEPROM area cannot be modified |
Caution
If Lock is set to 1, the power must be turned off and then turned on again to change into 0.
Punch
Current to drive motor is at minimum. Can choose vales from 0x20 to 0x3FF.
How to Assemble
Maintenance
Horn and Bearing Replacement
The horn is installed on the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back.
Installing the Horn
Place the thrust horn washer into the actuator before inserting the horn. You must carefully align the horn to the wheel gear serration by aligning dots.
Once alignment is properly done, gently push the center of the horn toward the actuator. Make sure that the horn washer is in place as you tighten the bolt.
Installing the Bearing Set
You may need to remove the bearing set from the previous actuator and reinstall it into the new actuator. The bearing set can also be purchased separately. As bearing set is rotating freely, therefore alignment is not required when assembling to DYNAMIXEL.
Reference
Note
Compatibility Guide


--- layout: default ---
I'm a New Zealand-American immigrant with Danish, Scottish, English and Tongan heritage.
I write software, build products and help other people do the same.
I moved to the United States in 2014 to help launch Dev Bootcamp in New York City.
I live in Brooklyn, New York, not to be confused with Brooklyn, Wellington.
Beautiful and meaningful software has the power to make the world better.


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Scoped Storage Demystified
Blog by theDroidLady
Introduction
Storage preventing apps from having unrestricted access to the filesystem and helping in reducing file clutter.
If I talk about the recent improvements in Android at the OS level, it is all about protecting the app & user data and providing access in a more organised form.
The reason for a change is good, but it means more work for developers.
With Android 11, Some major changes and restrictions are added to enhance user privacy, including the following:
-
Scoped storage enforcement: Access into external storage directories is limited to an app-specific directory and specific types of media that the app has created.
-
Permissions auto-reset: If users haven’t interacted with an app for a few months, the system auto-resets the app’s sensitive permissions.
-
Background location access: Users must be directed to system settings in order to grant the background location permission to apps.
-
Package visibility: When an app queries for the list of installed apps on the device, the returned list is filtered.
Recently, I deep dive into the concept of Scoped Storage to understand the intention and prepare my Android app for the change accordingly.
Storage Structure (Before Android 10)
Before going into the implementation part, Let’s first understand the way data was organised before Android 10:
-
Private Storage: All apps have their own private directory in internal storage, i.e Android/data/{package name}, not visible to other apps.
-
Shared Storage: Apart from private storage, the rest of the storage was called shared storage. This includes all the media and non-media files being stored and an app with storage permission can easily access them.
Any Problem with the Current Structure & Access?
Do you see any problem with this structure or anything you ever wanted Google to change?
Let me elaborate on some problems:
-
If I am an e-commerce app, which needs storage access only to ask the user to upload their profile picture, which means access to a certain file or file system. You can take another example as the chat application where you want to upload media or write a media file into the system. which means access to a single media file. So why am I asking for the whole storage access?
-
Have you ever got worried about your sensitive data like your doctor prescriptions or bank documents being getting accessed by all the apps installed on your device?
-
If I am uninstalling an application and needed the data/files related to it till the time I was using the application, Do we have any easy way to clear all the clutter?
I am sure this must have made you think about your app & data security, privacy and organisation.
Don’t worry, Google’s recent Android update related to storage comes to the rescue.
Scoped Storage
Idea
Google gives two valid reasons why it’s making this change: Security and to reduce leftover “app clutter.”
Application Sandboxing is a core part of Android’s design, isolating apps from each other. In Android Q, taking the same fundamental principle from Application Sandboxing, Google has introduced Scoped Storage.
These changes were originally slated to apply to every app on a phone running Android 10 or later, but because of developer backlash Google changed course and only required the use of Scoped Storage for apps that target Android API level 29, which is Android 10. But with Android 11 Scoped Storage is back, and Google isn’t likely to change its mind this time.
- Better Attribution: An app would be provided access to the storage blocks which has relevant data for the app.
Look at the Storage structure on Android 10 & above:
Now, Private Storage is the same as before but Shared Storage is further divided into Media & Download(Non-Media Files) Collection.
-
Reducing File Clutter: The system will bind storage to owner apps so that it becomes easier for the system to locate relevant files, corresponding to an app. It is useful when the App is uninstalled, so all the data related to the app is also uninstalled.
-
Preventing the abuse of READ_EXTERNAL_STORAGE permission: Granting this permission for an app today, gives access to the entire external storage where we save things like photos, private documents, videos, and other potentially sensitive files. With Scoped Storage enforced, apps only can see their own data folders plus certain media types like music files using other storage APIs.
Wow, Now this appears something cool, Isn’t it?
Being a user, I have more control over my files and to whom I am giving access. Also, It will bring more extra space available for my device if non-required files are getting deleted with the app itself.
Is there any change with permissions to access the files now?
Yes, we do have.
-
Unrestricted access to its individual app storage: App will have unlimited access to their internal and external storage for both reads & write operation. So, with Android 10, you don’t need to provide storage permission to write files to your own app directory on the SD card.
-
Unrestricted access to media files and download collections (Contributed): You have unrestricted access to contribute files to the media collections and downloads of your own app. So, no need to take permission if you want to save any image, video, or any other media file in the media collection. (as long as the file is stored in the organised collection.)
* Media collection contributed by other apps can be accessed using ‘READ_STORAGE_PERMISSION’ permission. ‘WRITE_STORAGE_PERMISSION’ permission will be deprecated from the next version and if used, will work the same as ‘READ_STORAGE_PERMISSION’.
- Non-media files contributed by other apps will need Storage Access Framework APIs for reading as well as write operations.
NOTE: If your app uses the legacy storage model and previously targeted Android 10 or lower, you might be storing data in a directory that your app cannot access when the scoped storage model is enabled. Before you target Android 11, migrate data to a directory that’s compatible with scoped storage. In most cases, you can migrate data to your app-specific directory.
Woohoo!! More specific permissions. I am happy and feeling more secured now. :-)
Is there any way to opt-out of this storage structure for apps targetting Android 10 and above?
To give developers additional time for testing, apps that target Android 10 (API level 29) can still request the requestLegacyExternalStorage attribute. This flag allows apps to temporarily opt out of the changes associated with scoped storage, such as granting access to different directories and different types of media files.
Any app that is targeted for Android 11 or later must use the new storage APIs, and that includes Scoped Storage. Changes to Google Play’s developer agreement say that starting August 1, 2020, all new apps submitted to Google Play must target Android 10 or later, and all updates to existing apps must target Android 10 or later as of November 1, 2020. Expect this same behaviour and next year apps will likely be required to target Android 11.
This is the time. Learn, understand and implement it :-)
Storage Operations
Let me brief out some frequently done storage operations and how to do them:
- Select a file: Use ACTION_OPEN_DOCUMENT which then opens the system’s file picker app to allow the user to choose the file to open. To show only the types of files that your app supports, specify a MIME type.
// Request code for selecting a PDF document.
const val PICK_PDF_FILE = 2
fun openFile(pickerInitialUri: uri) {
val intent = Intent(Intent.ACTION_OPEN_DOCUMENT).apply {
addCategory(Intent.CATEGORY_OPENABLE)
type = "application/pdf"
// Optionally, specify a URI for the file that should appear in the
// system file picker when it loads.
putExtra(DocumentsContract.EXTRA_INITIAL_URI, pickerInitialUri)
}
startActivityForResult(intent, PICK_PDF_FILE)
- Select a folder: Intent ACTION_OPEN_DOCUMENT can be replaced with ACTION_OPEN_DOCUMENT_TREE.
fun openDirectory(pickerInitialUri: Uri) {
// Choose a directory using the system's file picker.
val intent = Intent(Intent.ACTION_OPEN_DOCUMENT_TREE).apply {
// Provide read access to files and sub-directories in the user-selected
// directory.
flags = Intent.FLAG_GRANT_READ_URI_PERMISSION
// Optionally, specify a URI for the directory that should be opened in
// the system file picker when it loads.
putExtra(DocumentsContract.EXTRA_INITIAL_URI, pickerInitialUri)
}
startActivityForResult(intent, your-request-code)
}
Note: This access will be valid till user reboots device. If app wants to persist the access, while accessing URI using content resolver , content resolver has to call takePersistableUriPermission method.
Also, If you iterate through a large number of files within the directory that’s accessed using ACTION_OPEN_DOCUMENT_TREE, your app’s performance might be reduced.
- Create a file: Use ACTION_CREATE_DOCUMENT to save a file in a specific location.
Note: ACTION_CREATE_DOCUMENT cannot overwrite an existing file. If your app tries to save a file with the same name, the system appends a number in parentheses at the end of the file name.
// Request code for creating a PDF document.
const val CREATE_FILE = 1
private fun createFile(pickerInitialUri: Uri) {
val intent = Intent(Intent.ACTION_CREATE_DOCUMENT).apply {
addCategory(Intent.CATEGORY_OPENABLE)
type = "application/pdf"
putExtra(Intent.EXTRA_TITLE, "invoice.pdf")
// Optionally, specify a URI for the directory that should be opened in
// the system file picker before your app creates the document.
putExtra(DocumentsContract.EXTRA_INITIAL_URI, pickerInitialUri)
}
startActivityForResult(intent, CREATE_FILE)
}
Wait, I am not able to get the metadata i.e location of my image, is this changed ? How can I can get it?
Media location permission
If your app targets Android 10 (API level 29) or higher, in order for your app to retrieve unredacted Exif metadata from photos, you need to declare the ACCESS_MEDIA_LOCATION permission in your app’s manifest, then request this permission at runtime.
<uses-permission android:name="android.permission.ACCESS_MEDIA_LOCATION"/>
Caution: Because you request the ACCESS_MEDIA_LOCATION permission at runtime, there is no guarantee that your app has access to unredacted Exif metadata from photos. Your app requires explicit user consent in order to gain access to this information.
What if I am a file manager kind of back up app that needs to access everything?
We have a way out for this too. You need to follow these simple steps:
-
An app can request special app access called All files access from the user by doing the following:
- Declare the MANAGE_EXTERNAL_STORAGE permission in the manifest.
- Use the ACTION_MANAGE_ALL_FILES_ACCESS_PERMISSION intent action to direct users to a system settings page where they can enable the following option for your app: Allow access to manage all files.
Legitmitate apps need these special permissions.
- Once the user grants the permission to have broad access, then the user will get an unfiltered view of MediaStore that include non-media file.
- Only apps granted by Google will have complete access to storage. For that, submit the declaration form to Google Play. Now, these are only Whitelisted apps by Google.
What if my app uses custom file picker which displays exact data directories?
There is nothing you can do about it. You might want to use system picker from now on.
Is there anything which I should remember while implementing it?
-
Don’t use a static path. Lockdown the file path access.
-
Use MediaStore (recommended).
-
MediaStore should be used properly, for example, don’t put your music files in the picture directory.
-
Non-media files should be in the download directory (recommended).
-
To access non-media files by other apps, use System Picker with SAF( Storage Access Framework). Runtime permission will be requested for complete access to that app.
You can check the Github sample for the implementation.
References


Classes | |
| struct | littlefoot::NativeFunction |
| Defines a native function that the program can call. More... | |
| struct | littlefoot::Program |
| A reference to a block of memory which contains a complete program. More... | |
| struct | littlefoot::Runner< programAndHeapSpace, stackAndGlobalsSpace > |
| Loads a program, and lets the user execute its functions. More... | |
| struct | littlefoot::Runner< programAndHeapSpace, stackAndGlobalsSpace >::FunctionExecutionContext |
Namespaces | |
| littlefoot | |
Macros | |
| #define | LITTLEFOOT_DEBUG_TRACE 0 |
| #define | LITTLEFOOT_DUMP_PROGRAM 0 |
| #define | LITTLEFOOT_OPCODES(OP, OP_INT8, OP_INT16, OP_INT32) |
| #define | LITTLEFOOT_OP(name) name, |
| #define | LITTLEFOOT_OP(name) case OpCode::name: return 0; |
| #define | LITTLEFOOT_OP_INT8(name) case OpCode::name: return 1; |
| #define | LITTLEFOOT_OP_INT16(name) case OpCode::name: return 2; |
| #define | LITTLEFOOT_OP_INT32(name) case OpCode::name: return 4; |
| #define | LITTLEFOOT_PERFORM_OP(name) case OpCode::name: name(); break; |
| #define | LITTLEFOOT_PERFORM_OP_INT8(name) case OpCode::name: name ((int8) *programCounter++); break; |
| #define | LITTLEFOOT_PERFORM_OP_INT16(name) case OpCode::name: name (readProgram16()); break; |
| #define | LITTLEFOOT_PERFORM_OP_INT32(name) case OpCode::name: name (readProgram32()); break; |
Typedefs | |
| using | littlefoot::int8 = signed char |
| using | littlefoot::uint8 = unsigned char |
| using | littlefoot::int16 = signed short |
| using | littlefoot::uint16 = unsigned short |
| using | littlefoot::int32 = signed int |
| using | littlefoot::uint32 = unsigned int |
| using | littlefoot::FunctionID = int16 |
Enumerations | |
| enum class | littlefoot::OpCode : uint8 { littlefoot::LITTLEFOOT_OP , littlefoot::endOfOpcodes } |
| enum class | littlefoot::Type : uint8 { littlefoot::void_ = 'v' , littlefoot::int_ = 'i' , littlefoot::bool_ = 'b' , littlefoot::float_ = 'f' } |
| Available value types. More... | |
Variables | |
| const int | littlefoot::numBytesInType = 4 |
| #define LITTLEFOOT_DEBUG_TRACE 0 |
| #define LITTLEFOOT_DUMP_PROGRAM 0 |
| #define LITTLEFOOT_OPCODES | ( | OP, | |
| OP_INT8, | |||
| OP_INT16, | |||
| OP_INT32 | |||
| ) |
| #define LITTLEFOOT_OP | ( | name | ) | name, |
| #define LITTLEFOOT_OP | ( | name | ) | case OpCode::name: return 0; |
| #define LITTLEFOOT_OP_INT8 | ( | name | ) | case OpCode::name: return 1; |
| #define LITTLEFOOT_OP_INT16 | ( | name | ) | case OpCode::name: return 2; |
| #define LITTLEFOOT_OP_INT32 | ( | name | ) | case OpCode::name: return 4; |
| #define LITTLEFOOT_PERFORM_OP | ( | name | ) | case OpCode::name: name(); break; |
| #define LITTLEFOOT_PERFORM_OP_INT8 | ( | name | ) | case OpCode::name: name ((int8) *programCounter++); break; |
| #define LITTLEFOOT_PERFORM_OP_INT16 | ( | name | ) | case OpCode::name: name (readProgram16()); break; |
| #define LITTLEFOOT_PERFORM_OP_INT32 | ( | name | ) | case OpCode::name: name (readProgram32()); break; |


Class PrimaryBasedLogViewAdaptor<TLogView, TLogEntry, TSubmissionEntry>
A general template for constructing log view adaptors that are based on
a sequentially read and written primary. We use this to construct
a variety of different log-consistency providers, all following the same basic pattern
(read and write latest view from/to primary, and send notifications after writing).
Note that the log itself is transient, i.e. not actually saved to storage - only the latest view and some
metadata (the log position, and write flags) is stored in the primary.
It is safe to interleave calls to this adaptor (using grain scheduler only, of course).
Subclasses override ReadAsync and WriteAsync to read from / write to primary.
Calls to the primary are serialized, i.e. never interleave.
Inheritance
System.Object
PrimaryBasedLogViewAdaptor<TLogView, TLogEntry, TSubmissionEntry>
Assembly: Orleans.EventSourcing.dll
Syntax
public abstract class PrimaryBasedLogViewAdaptor<TLogView, TLogEntry, TSubmissionEntry> : ILogViewAdaptor<TLogView, TLogEntry> where TLogView : class, new ()where TLogEntry : class where TSubmissionEntry : SubmissionEntry<TLogEntry>
Type Parameters
| Name |
Description |
| TLogView |
The user-defined view of the log
|
| TLogEntry |
The type of the log entries
|
| TSubmissionEntry |
The type of submission entries stored in pending queue
|
Constructors
|
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PrimaryBasedLogViewAdaptor(ILogViewAdaptorHost<TLogView, TLogEntry>, TLogView, ILogConsistencyProtocolServices)
Construct an instance, for the given parameters.
Declaration
protected PrimaryBasedLogViewAdaptor(ILogViewAdaptorHost<TLogView, TLogEntry> host, TLogView initialstate, ILogConsistencyProtocolServices services)
Parameters
| Type |
Name |
Description |
| ILogViewAdaptorHost<TLogView, TLogEntry> |
host |
|
| TLogView |
initialstate |
|
| ILogConsistencyProtocolServices |
services |
|
Fields
|
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LastPrimaryIssue
Store the last issue that occurred while reading or updating primary.
Is null if successful.
Declaration
protected RecordedConnectionIssue LastPrimaryIssue
Field Value
|
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stats
Declaration
protected LogConsistencyStatistics stats
Field Value
| Type |
Description |
| LogConsistencyStatistics |
|
Properties
|
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Configuration
The current multi-cluster configuration for this grain instance.
Declaration
protected MultiClusterConfiguration Configuration { get; set; }
Property Value
| Type |
Description |
| MultiClusterConfiguration |
|
|
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ConfirmedVersion
Declaration
public int ConfirmedVersion { get; }
Property Value
| Type |
Description |
| System.Int32 |
|
|
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ConfirmedView
Declaration
public TLogView ConfirmedView { get; }
Property Value
| Type |
Description |
| TLogView |
|
|
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Host
The grain that is using this adaptor.
Declaration
protected ILogViewAdaptorHost<TLogView, TLogEntry> Host { get; }
Property Value
| Type |
Description |
| ILogViewAdaptorHost<TLogView, TLogEntry> |
|
|
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Services
The runtime services required for implementing notifications between grain instances in different cluster.
Declaration
protected ILogConsistencyProtocolServices Services { get; }
Property Value
| Type |
Description |
| ILogConsistencyProtocolServices |
|
|
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SupportSubmissions
Whether this cluster supports submitting updates
Declaration
protected virtual bool SupportSubmissions { get; }
Property Value
| Type |
Description |
| System.Boolean |
|
|
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TentativeView
Declaration
public TLogView TentativeView { get; }
Property Value
| Type |
Description |
| TLogView |
|
|
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UnconfirmedSuffix
Declaration
public IEnumerable<TLogEntry> UnconfirmedSuffix { get; }
Property Value
| Type |
Description |
| IEnumerable<TLogEntry> |
|
|
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UnresolvedConnectionIssues
returns a list of all connection health issues that have not been restored yet.
Such issues are observed while communicating with the primary, or while trying to
notify other clusters, for example.
Declaration
public IEnumerable<ConnectionIssue> UnresolvedConnectionIssues { get; }
Property Value
Methods
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BroadcastNotification(INotificationMessage, String)
Send a notification message to all remote instances
Declaration
protected void BroadcastNotification(INotificationMessage msg, string exclude = null)
Parameters
| Type |
Name |
Description |
| INotificationMessage |
msg |
the notification message to send
|
| System.String |
exclude |
if non-null, exclude this cluster id from the notification
|
|
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ConfirmSubmittedEntries()
Declaration
public Task ConfirmSubmittedEntries()
Returns
|
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CopyTentativeState()
Declaration
protected TLogView CopyTentativeState()
Returns
| Type |
Description |
| TLogView |
|
|
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DisableStatsCollection()
Declaration
public void DisableStatsCollection()
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EnableStatsCollection()
method is virtual so subclasses can add their own events
Declaration
public virtual void EnableStatsCollection()
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EnsureClusterJoinedAsync()
Block until this cluster is joined to the multicluster.
Declaration
protected Task EnsureClusterJoinedAsync()
Returns
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GetCaughtUpWithConfigurationAsync(DateTime)
Wait until this cluster has received a configuration that is at least as new as timestamp
Declaration
protected Task GetCaughtUpWithConfigurationAsync(DateTime adminTimestamp)
Parameters
| Type |
Name |
Description |
| DateTime |
adminTimestamp |
|
Returns
|
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GetConfirmedVersion()
Read version of cached global state.
Declaration
protected abstract int GetConfirmedVersion()
Returns
| Type |
Description |
| System.Int32 |
|
|
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GetCurrentBatchOfUpdates()
Declaration
protected TSubmissionEntry[] GetCurrentBatchOfUpdates()
Returns
| Type |
Description |
| TSubmissionEntry[] |
|
|
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GetNumberPendingUpdates()
Declaration
protected int GetNumberPendingUpdates()
Returns
| Type |
Description |
| System.Int32 |
|
|
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GetStats()
Declaration
public LogConsistencyStatistics GetStats()
Returns
| Type |
Description |
| LogConsistencyStatistics |
|
|
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InitializeConfirmedView(TLogView)
Set confirmed view the initial value (a view of the empty log)
Declaration
protected abstract void InitializeConfirmedView(TLogView initialstate)
Parameters
| Type |
Name |
Description |
| TLogView |
initialstate |
|
|
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IsMyClusterJoined()
Declaration
protected bool IsMyClusterJoined()
Returns
| Type |
Description |
| System.Boolean |
|
|
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LastConfirmedView()
Read cached global state.
Declaration
protected abstract TLogView LastConfirmedView()
Returns
| Type |
Description |
| TLogView |
|
|
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MakeSubmissionEntry(TLogEntry)
Create a submission entry for the submitted log entry.
Using a type parameter so we can add protocol-specific info to this class.
Declaration
protected abstract TSubmissionEntry MakeSubmissionEntry(TLogEntry entry)
Parameters
| Type |
Name |
Description |
| TLogEntry |
entry |
|
Returns
| Type |
Description |
| TSubmissionEntry |
|
|
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Merge(INotificationMessage, INotificationMessage)
Merge two notification messages, for batching. Override to handle notification subtypes.
Declaration
protected virtual INotificationMessage Merge(INotificationMessage earliermessage, INotificationMessage latermessage)
Parameters
Returns
|
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NotifyPromises(Int32, Boolean)
send failure notifications
Declaration
protected void NotifyPromises(int count, bool success)
Parameters
| Type |
Name |
Description |
| System.Int32 |
count |
|
| System.Boolean |
success |
|
|
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OnConfigurationChange(MultiClusterConfiguration)
Called when configuration of the multicluster is changing.
Declaration
protected virtual Task OnConfigurationChange(MultiClusterConfiguration next)
Parameters
| Type |
Name |
Description |
| MultiClusterConfiguration |
next |
|
Returns
|
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OnMessageReceived(ILogConsistencyProtocolMessage)
Handle protocol messages.
Declaration
protected virtual Task<ILogConsistencyProtocolMessage> OnMessageReceived(ILogConsistencyProtocolMessage payload)
Parameters
| Type |
Name |
Description |
| ILogConsistencyProtocolMessage |
payload |
|
Returns
| Type |
Description |
| Task<ILogConsistencyProtocolMessage> |
|
|
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OnMultiClusterConfigurationChange(MultiClusterConfiguration)
Called by MultiClusterOracle when there is a configuration change.
Declaration
public Task OnMultiClusterConfigurationChange(MultiClusterConfiguration newConfig)
Parameters
| Type |
Name |
Description |
| Orleans.MultiCluster.MultiClusterConfiguration |
newConfig |
|
Returns
|
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OnNotificationReceived(INotificationMessage)
Handle notification messages. Override this to handle notification subtypes.
Declaration
protected virtual void OnNotificationReceived(INotificationMessage payload)
Parameters
|
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OnProtocolMessageReceived(ILogConsistencyProtocolMessage)
Declaration
public Task<ILogConsistencyProtocolMessage> OnProtocolMessageReceived(ILogConsistencyProtocolMessage payLoad)
Parameters
| Type |
Name |
Description |
| ILogConsistencyProtocolMessage |
payLoad |
|
Returns
| Type |
Description |
| Task<ILogConsistencyProtocolMessage> |
|
|
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PostOnActivate()
Declaration
public virtual Task PostOnActivate()
Returns
|
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PostOnDeactivate()
Declaration
public virtual Task PostOnDeactivate()
Returns
|
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PreOnActivate()
Declaration
public virtual Task PreOnActivate()
Returns
|
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ProcessNotifications()
Process stored notifications during worker cycle. Override to handle notification subtypes.
Declaration
protected virtual void ProcessNotifications()
|
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ReadAsync()
Read the latest primary state. Must block/retry until successful.
Should not throw exceptions, but record them in LastPrimaryIssue
Declaration
protected abstract Task ReadAsync()
Returns
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RemoveStaleConditionalUpdates()
go through updates and remove all the conditional updates that have already failed
Declaration
protected void RemoveStaleConditionalUpdates()
|
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RetrieveLogSegment(Int32, Int32)
Declaration
public virtual Task<IReadOnlyList<TLogEntry>> RetrieveLogSegment(int fromVersion, int length)
Parameters
| Type |
Name |
Description |
| System.Int32 |
fromVersion |
|
| System.Int32 |
length |
|
Returns
| Type |
Description |
| Task<IReadOnlyList<TLogEntry>> |
|
|
Improve this Doc
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Submit(TLogEntry)
Declaration
public void Submit(TLogEntry logEntry)
Parameters
| Type |
Name |
Description |
| TLogEntry |
logEntry |
|
|
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SubmitRange(IEnumerable<TLogEntry>)
Declaration
public void SubmitRange(IEnumerable<TLogEntry> logEntries)
Parameters
| Type |
Name |
Description |
| IEnumerable<TLogEntry> |
logEntries |
|
|
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Synchronize()
Declaration
public Task Synchronize()
Returns
|
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TryAppend(TLogEntry)
Declaration
public Task<bool> TryAppend(TLogEntry logEntry)
Parameters
| Type |
Name |
Description |
| TLogEntry |
logEntry |
|
Returns
| Type |
Description |
| Task<System.Boolean> |
|
|
Improve this Doc
View Source
TryAppendRange(IEnumerable<TLogEntry>)
Declaration
public Task<bool> TryAppendRange(IEnumerable<TLogEntry> logEntries)
Parameters
| Type |
Name |
Description |
| IEnumerable<TLogEntry> |
logEntries |
|
Returns
| Type |
Description |
| Task<System.Boolean> |
|
|
Improve this Doc
View Source
WriteAsync()
Apply pending entries to the primary. Must block/retry until successful.
Should not throw exceptions, but record them in LastPrimaryIssue
Declaration
protected abstract Task<int> WriteAsync()
Returns
| Type |
Description |
| Task<System.Int32> |
|
Extension Methods


File upload demo
File upload demo along with POST data form
Add New File
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Next:
Surface differential operators
Up:
Flux coordinate system
Previous:
Magnetic field expression in
Radial differential operator
The form of the radial differential operator
in
coordinates is given by
(
167
)
(Refer to my notes ``tokamak_equilibrium.tm'' for the proof.)
yj 2015-09-04


Note: I am a spiritual person, and often use entheogens as a tool for enlightenment. I have frequently done TM while using entheogens, much to my delight. I am also rather experienced, and do not have a tendency to be overwhelmed or spun the wrong way. I decided to try Kratom for the first time. I hadn't seen it around my area much, but then it showed up, so I figured this would be a good time as any. I did my research first, then made a extract juice from the Kratom. Orange juice goes quite well, I could not notice the bitterness one bit. After gulping it down, I rinsed the cup with cold water and drank that too.
 I smoke the same amount every hour or so. I also put on some music, Umphrey's McGee live shows. I get a Mountain Dew from the fridge and drink that.
T+0:20 I get a charger of nitrous out and take it in one breath, making sure I'm carefully near soft things. The combination is obviously much different than cannabis and nitrous alone, which I found to be quite pleasurable. I inhale more chargers about every 15 minutes.
T+2:00 I am soaring on the Kratom right now. I know what the cannabis and nitrous are adding to it, so I can still focus on what its doing to me. I'm getting all the tell-tale signs: energy but sedation, fast thought and conversation, warm glow, etc. I guess the cannabis and nitrous are beginning to add up, because I am going into little 5 second OEVs and CEVs. Nothing too profound or anything, just patterning and whatnot. I've had 4 Mountain Dews now, and I don't oft drink caffeine.
 I split the pack 50/50 cannabis and 20x salvia extract. I know that salvia has worked for me before as a meditative agent, but I want to see the combinations it can make. I smoke the whole thing in 3 or 4 hits to make sure I held the most possible smoke for the salvia. After completing this, I rinsed out the piece and set it back where it belongs. I notice a bit of coordination loss, but shrug it off and continue to rock out to Umphrey's.
T+2:30 I take another nitrous and I almost immediately lose my mind. Up this point, I felt I had a grasp on what my mind was telling me, and thought I was learning substantial information. At this exact moment the nitrous hit my brain however, I lost it.
*Everything after this point was recorded after the event, so details may suffer as a result. Condolences.*
I got up to tell my roommate exactly what was going on with me, but the act of standing and walking over there made me nauseated. I rushed back to my bed, tossed the headphones in, and separated from my body.
I don't just mean got relaxed, I mean I felt myself exit my body and float up into another realm. I've had out of body experiences before, and this was completely different. At that time, I equated it to the feeling a dying person must have right as they pass. This made me freak out, since then I thought I was dead. I calmed myself down, even though I couldn't open my eyes to make sure I was still on earth.
T+2:45 After what seemed like a lifetime of struggle, I managed to get my eyes open for a split second, since the light is blinding. It reaffirms to me, however, that I am still alive. I close my eyes again and see vivid images of people I know doing very uncharacteristic things (Prude friend as a stripper, e.g.).
T+3:30 The music ends on my headphones, which leaves me in a dark place. So I open my eyes, throw the headphones to the ground, and roll onto my side. I had previously been on my back. I now live in this CEV world, and it doesn't bother me anymore. I should note that I have never had a bad trip before, so if this was one I didn't know. It felt disturbing to me, but not directly malevolent.
T+7:00 Apparently I was gone longer than I realized. I thought that I had only closed my eyes again for no more than 30-40 minutes, and here I am nearly four hours later.
At this point, I am nearly back to baseline, although still feeling a bit fuzzy and warm. I am going to sleep.
I woke up the next day with no hangover at all! I think that Kratom is a truly amazing thing. It took what I was already familiar with and made it all new to me.
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.


The data structure itself psb_desc_type
can be treated as an
opaque object handled via the tools routines of
Sec. 6 or the query routines detailed below;
nevertheless we include here a description for the curious
reader.
First we describe the psb_indx_map
type. This is a data
structure that keeps track of a certain number of basic issues such
as:
The descriptor contents are as follows:
psb_desc_type
structures is
as follows:
|


---
layout: archive
title: "Talk map"
permalink: /adjustableDynamics.html
author_profile: true
---
Abstract: Physically based simulation is often combined with geometric mesh animation to add realistic soft-body dynamics to virtual
characters. This is commonly done using constraint-based simulation whereby a soft-tissue simulation is constrained to geometric animation of a subpart (or otherwise proxy representation) of the character. We observe that standard constraint-based
simulation suffers from an important flaw that limits the expressiveness of soft-body dynamics. Namely, under correct physics,
the frequency and amplitude of soft-tissue dynamics arising from constraints (“inertial amplitude”) are coupled, and cannot
be adjusted independently merely by adjusting the material properties of the model. This means that the space of physically
based simulations is inherently limited and cannot capture all effects typically expected by computer animators. For example,
animators need the ability to adjust the frequency, inertial amplitude, gravity sag and damping properties of the virtual character, independently from each other, as these are the primary visual characteristics of the soft-tissue dynamics. We demonstrate
that independence can be achieved by transforming the equations of motion into a non-inertial reference coordinate frame, then
scaling the resulting inertial forces, and then converting the equations of motion back to the inertial frame. Such scaling of
inertia makes it possible for the animator to set the character’s inertial amplitude independently from frequency. We also provide exact controls for the amount of character’s gravity sag, and the damping properties. In our examples, we use linear blend
skinning and pose-space deformation for geometric mesh animation, and the Finite Element Method for soft-body constrained
simulation; but our idea of scaling inertial forces is general and applicable to other animation and simulation methods. We
demonstrate our technique on several character examples.


I feel like somebody has finally started to listen to students all across the country. The idea that school needs to be a singular effort- the idea that only you matter to your success- is no longer right. I'm not sure that it's ever been right. But it certainly isn't any more. Answers aren't just held in books, and grades shouldn't be dependent on what you can memorize. With Google, with Yahoo, with Bing, the answer to everything is only a search away. The world has changed- but the school system has not. We are not at a point where you should be expected to memorize everything - you should know how to find it.
Our school system does not accept learning. It accepts grades. This is why so many students feel the need to cheat. It doesn't matter what they have in their head, what matters is the grade at the top of the paper.
The idea in education that we can learn together- succeed together (and inevitably fail together) is revolutionary. The idea that we can work together instead of see others as a threat is amazing. Learning is an amazing thing. It allows people to move up in the world, to empathize with others, and to understand more. I love learning. But I didn't love school. I was never a good student. But I love reading. I spent, and continue to spend, way to much time on Wikipedia reading about anything that remotely interests me. And it's amazing the power that knowledge has. But it's not a power that schools teach you. But- DBC does. It's among the leaders of the pack that is revolutionizing the way we learn. It's amazing to be able to learn, not to memorize with the intention of getting an A.
This is only the beginning for me. And I'm already immensely proud to be a student of DBC. Purple Martins for life!


Preparation time
less than 30 mins
Cooking time
10 to 30 mins
Serves
Serves 10-15
Dietary
Nut roast doesn't have to be dry, leaden or worthy. These little patties have juicy, rich mushrooms and tasty macadamia nuts.
This meal, when served as 15 portions, provides 267kcal, 6g protein, 18g carbohydrates (of which 5g sugars), 18g fat (of which 1.5g saturates), 3.5g fibre and 0.4g salt per portion.
Preheat the oven to 200C/400F/Gas 6. Grease a baking tray with oil.
Soak the porcini mushrooms in the water in a small bowl for ten minutes.
Add the chestnut mushrooms, chestnuts, flageolet beans and macadamia nuts to a food processor. Blend for a short amount of time, until you have a rough paste with a little texture.
Drain the porcini, reserving the soaking liquid (use this for another dish, like mushroom risotto or soup). Add the porcini to the food processor and blend again.
Tip the contents of the food processor into a large bowl and mix in the egg, honey and soy sauce. Finally, add the breadcrumbs and stir well.
Shape into patties using your hands and place onto the oiled baking tray. Bake in the oven for 25-30 minutes, but watch them carefully.
Meanwhile cook the kale in a covered pan with a few tablespoons of the reserved porcini stock for five minutes, or until tender.
Serve the nut roast patties with the kale alongside.


if __name__ == "__main__": v = [2, 5, 3, 7, 11, 8, 10, 13, 6] print(LongestIncreasingSubsequenceLength(v))
if __name__ == "__main__": import doctest doctest.testmod()


A request was made to reset the password for {{ team_name }}. Please click the link below to reset your password:
{{ reset_link }}
Sincerely, {{ hunt_organizers }}


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