Algorithms for Walking, Running, Swimming, Flying, and Manipulation
© Russ Tedrake, 2023
Last modified .
How to cite these notes, use annotations, and give feedback.
Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2023 semester. Lecture videos are available on YouTube.
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Our goals for this chapter are modest: we'd like to understand the dynamics of a pendulum.
Why a pendulum? In part, because the dynamics of a majority of our multi-link robotics manipulators are simply the dynamics of a large number of coupled pendula. Also, the dynamics of a single pendulum are rich enough to introduce most of the concepts from nonlinear dynamics that we will use in this text, but tractable enough for us to (mostly) understand in the next few pages.
The Lagrangian derivation of the equations of motion (as described in the appendix) of the simple pendulum yields: \begin{equation*} m l^2 \ddot\theta(t) + mgl\sin{\theta(t)} = Q. \end{equation*} We'll consider the case where the generalized force, $Q$, models a damping torque (from friction) plus a control torque input, $u(t)$: $$Q = -b\dot\theta(t) + u(t).$$
Let us first consider the dynamics of the pendulum if it is driven in a particular simple way: a torque which does not vary with time: \begin{equation} ml^2 \ddot\theta + b\dot\theta + mgl \sin\theta = u_0. \end{equation}
.You can experiment with this system in
These are relatively simple differential equations, so if I give you $\theta(0)$ and $\dot\theta(0)$, then you should be able to integrate them to obtain $\theta(t)$... right? Although it is possible, integrating even the simplest case ($b = u = 0$) involves elliptic integrals of the first kind; there is relatively little intuition to be gained here.
This is in stark contrast to the case of linear systems, where much of our understanding comes from being able to explicitly integrate the equations. For instance, for a simple linear system we have $$\dot{q} = a q \quad \rightarrow \quad q(t) = q(0) e^{at},$$ and we can immediately understand that the long-term behavior of the system is a (stable) decaying exponential if $a<0$, an (unstable) growing exponential if $a>0$, and that the system does nothing if $a=0$. Here we are with certainly one of the simplest nonlinear systems we can imagine, and we can't even solve this system?
All is not lost. If what we care about is the long-term behavior of the
system, then there are a number of techniques we can apply. In this
chapter, we will start by investigating graphical solution methods. These
methods are described beautifully in a book by Steve
Strogatz
Let's start by studying a special case -- intuitively when $b\dot\theta \gg ml^2\ddot\theta$ -- which via dimensional analysis (using the natural frequency $\sqrt{\frac{g}{l}}$ to match units) occurs when $b \sqrt\frac{l}{g} \gg ml^2$. This is the case of heavy damping, for instance if the pendulum was moving in molasses. In this case, the damping term dominates the acceleration term, and we have: $$ml^2 \ddot\theta + b\dot\theta \approx b\dot\theta = u_0 - mgl\sin\theta.$$ In other words, in the case of heavy damping, the system looks approximately first order. This is a general property of heavily-damped systems, such as fluids at very low Reynolds number.
I'd like to ignore one detail for a moment: the fact that $\theta$ wraps around on itself every $2\pi$. To be clear, let's write the system without the wrap-around as: \begin{equation}b\dot{x} = u_0 - mgl\sin{x}.\label{eq:overdamped_pend_ct}\end{equation} Our goal is to understand the long-term behavior of this system: to find $x(\infty)$ given $x(0)$. Let's start by plotting $\dot{x}$ vs $x$ for the case when $u_0=0$:
The first thing to notice is that the system has a number of fixed points or steady states, which occur whenever $\dot{x} = 0$. In this simple example, the zero-crossings are $x^* = \{..., -\pi, 0, \pi, 2\pi, ...\}$. When the system is in one of these states, it will never leave that state. If the initial conditions are at a fixed point, we know that $x(\infty)$ will be at the same fixed point.
Next let's investigate the behavior of the system in the local vicinity of the fixed points. Examining the fixed point at $x^* = \pi$, if the system starts just to the right of the fixed point, then $\dot{x}$ is positive, so the system will move away from the fixed point. If it starts to the left, then $\dot{x}$ is negative, and the system will move away in the opposite direction. We'll call fixed-points which have this property unstable. If we look at the fixed point at $x^* = 0$, then the story is different: trajectories starting to the right or to the left will move back towards the fixed point. We will call this fixed point locally stable. More specifically, we'll distinguish between multiple types of stability (where $\epsilon$ is used to denote an arbitrary small scalar quantity):
An initial condition near a fixed point that is stable in the sense of
Lyapunov may never reach the fixed point (but it won't diverge), near an
asymptotically stable fixed point will reach the fixed point as $t
\rightarrow \infty$, and near an exponentially stable fixed point will
reach the fixed point with a bounded rate. An exponentially stable fixed
point is also an asymptotically stable fixed point, but the converse is
not true. Attractivity does not actually imply Lyapunov
stability†
Our graph of $\dot{x}$ vs. $x$ can be used to convince ourselves of i.s.L. and asymptotic stability by visually inspecting $\dot{x}$ in the vicinity of a fixed point. Even exponential stability can be inferred if we can find a negatively-sloped line passing through the equilibrium point which separates the graph of $f(x)$ from the horizontal axis. The existence of this separating line implies that the nonlinear system will converge at least as fast as the linear system represented by the straight line. I will graphically illustrate unstable fixed points with open circles and stable fixed points (i.s.L.) with filled circles.
Next, we need to consider what happens to initial conditions which begin farther from the fixed points. If we think of the dynamics of the system as a flow on the $x$-axis, then we know that anytime $\dot{x} > 0$, the flow is moving to the right, and $\dot{x} < 0$, the flow is moving to the left. If we further annotate our graph with arrows indicating the direction of the flow, then the entire (long-term) system behavior becomes clear:
For instance, we can see that any initial condition $x(0) \in (-\pi,\pi)$ will result in $\lim_{t\rightarrow \infty} x(t) = 0$. This region is called the region of attraction (or basin of attraction) of the fixed point at $x^* = 0$. Basins of attraction of two fixed points cannot overlap, and the manifold separating two basins of attraction is called the separatrix. Here the unstable fixed points, at $x^* = \{.., -\pi, \pi, 3\pi, ...\}$ form the separatrix between the basins of attraction of the stable fixed points. In general, regions of attraction are always open, connected, invariant sets, with boundaries formed by trajectories.
As these plots demonstrate, the behavior of a first-order one dimensional system on a line is relatively constrained. The system will either monotonically approach a fixed-point or monotonically move toward $\pm \infty$. There are no other possibilities. Oscillations, for example, are impossible. Graphical analysis is a fantastic analysis tool for many first-order nonlinear systems (not just pendula); as illustrated by the following example:
These equations are not arbitrary - they are actually a model for one
of the simplest neural networks, and one of the simplest model of
persistent memory
Experiment with it for yourself:
As I've also provided the equations of an LSTM unit that you can also experiment with. See if you can figure it out!
Architectures like the Transformer for sequence modeling can also be understood through the lens of dynamical systems theory (as autoregressive models), but we will defer that discussion until later in the notes.
 In the neuron example, and in many dynamical systems, the dynamics were parameterized; in this case by a single parameter, $w$. As we varied $w$, the fixed points of the system moved around. In fact, if we increase $w$ through $w=1$, something dramatic happens - the system goes from having one fixed point to having three fixed points. This is called a bifurcation. This particular bifurcation is called a pitchfork bifurcation. We often draw bifurcation diagrams which plot the fixed points of the system as a function of the parameters, with solid lines indicating stable fixed points and dashed lines indicating unstable fixed points, as seen in the figure:
Our pendulum equations also have a (saddle-node) bifurcation when we change the constant torque input, $u_0$. Finally, let's return to the original equations in $\theta$, instead of in $x$. Only one point to make: because of the wrap-around, this system will appear to have oscillations. In fact, the graphical analysis reveals that the pendulum will turn forever whenever $|u_0| > mgl$, but now you understand that this is not an oscillation, but an instability with $\theta \rightarrow \pm \infty$.
You can find another beautiful example of these concepts (fixed points, basins of attraction, bifurcations) from recurrent neural networks in the exercise below on Hopfield networks.
Consider again the system $$ml^2 \ddot\theta = u_0 - mgl \sin\theta - b\dot\theta,$$ this time with $b = 0$. This time the system dynamics are truly second-order. We can always think of any second-order system as (coupled) first-order system with twice as many variables. Consider a general, autonomous (not dependent on time), second-order system, $$\ddot{q} = f(q,\dot q,u).$$ This system is equivalent to the two-dimensional first-order system \begin{align*} \dot x_1 =& x_2 \\ \dot x_2 =& f(x_1,x_2,u), \end{align*} where $x_1 = q$ and $x_2 = \dot q$. Therefore, the graphical depiction of this system is not a line, but a vector field where the vectors $[\dot x_1, \dot x_2]^T$ are plotted over the domain $(x_1,x_2)$. This vector field is known as the phase portrait of the system.
In this section we restrict ourselves to the simplest case when $u_0 = 0$. Let's sketch the phase portrait. First sketch along the $\theta$-axis. The $x$-component of the vector field here is zero, the $y$-component is $-\frac{g}{l}\sin\theta.$ As expected, we have fixed points at $\pm \pi, ...$ Now sketch the rest of the vector field. Can you tell me which fixed points are stable? Some of them are stable i.s.L., none are asymptotically stable.
You might wonder how we drew the black contour lines in the figure above. We could have obtained them by simulating the system numerically, but those lines can be easily obtained in closed-form. Directly integrating the equations of motion is difficult, but at least for the case when $u_0 = 0$, we have some additional physical insight for this problem that we can take advantage of. The kinetic energy, $T$, and potential energy, $U$, of the pendulum are given by $$T = \frac{1}{2}I\dot\theta^2, \quad U = -mgl\cos(\theta),$$ where $I=ml^2$ and the total energy is $E(\theta,\dot\theta) = T(\dot\theta)+U(\theta)$. The undamped pendulum is a conservative system: total energy is a constant over system trajectories. Using conservation of energy, we have: \begin{gather*} E(\theta(t),\dot\theta(t)) = E(\theta(0),\dot\theta(0)) = E_0 \\ \frac{1}{2} I \dot\theta^2(t) - mgl\cos(\theta(t)) = E_0 \\ \dot\theta(t) = \pm \sqrt{\frac{2}{I}\left[E_0 + mgl\cos\left(\theta(t)\right)\right]} \end{gather*} Using this, if you tell me $\theta$ I can determine one of two possible values for $\dot\theta$, and the solution has all of the richness of the black contour lines from the plot. This equation has a real solution when $\cos(\theta) > \cos(\theta_{max})$, where $$\theta_{max} = \begin{cases} \cos^{-1}\left( -\frac{E_0}{mgl} \right), & E_0 < mgl \\ \pi, & \text{otherwise}. \end{cases}$$ Of course this is just the intuitive notion that the pendulum will not swing above the height where the total energy equals the potential energy. As an exercise, you can verify that differentiating this equation with respect to time indeed results in the equations of motion.
The particular orbit defined by $E = mgl$ is special -- this is the orbit that visits the (unstable) equilibrium at the upright. It is known as the homoclinic orbit.
Now what happens if we add a constant torque? If you visualize the bifurcation diagram, you'll see that the fixed points come together, towards $q = \frac{\pi}{2}, \frac{5\pi}{2}, ...$, until they disappear. One fixed-point is unstable, and one is stable.
Before we continue, let me now give you the promised example of a system that is not stable i.s.L., but which attracts all trajectories as time goes to infinity. We can accomplish this with a very pendulum-like example (written here in polar coordinates):
Consider the system \begin{align*} \dot{r} &= r(1-r), \\ \dot\theta &= \sin^2 \left( \frac{\theta}{2} \right).\end{align*} This system has two equilibrium points, one at $r^*=0,\theta^*=0$, and the other at $r^* = 1,\theta^*=0$. The fixed point at zero is clearly unstable. The fixed point with $r^*=1$ attracts all other trajectories, but it is not stable by any of our definitions.
Although the equations are simpler in polar coordinates, it's useful to draw the vector field in Cartesian coordinates:
Take a minute to examine the vector field of this to make sure you understand. This example may seem contrived, but we will soon see this same phenomenon happen in practice when we introduce the energy-shaping swing-up controller for the pendulum in the next chapter.
Now let's add damping back. You can still add torque to move the fixed points (in the same way).
With damping, the downright fixed point of the pendulum now becomes asymptotically stable (in addition to stable i.s.L.). Is it also exponentially stable? How can we tell? One technique is to linearize the system at the fixed point. A smooth, time-invariant, nonlinear system that is locally exponentially stable must have a stable linearization; we'll discuss linearization more in the next chapter.
Here's a thought exercise. If $u$ is no longer a constant, but a function $\pi(\theta,\dot{\theta})$, then how would you choose $\pi$ to stabilize the vertical position. Feedback cancellation is the trivial solution, for example: $$u = \pi(\theta,\dot{\theta}) = 2mgl\sin\theta.$$ But these plots we've been making tell a different story. How would you shape the natural dynamics - at each point pick a $u$ from the stack of phase plots - to stabilize the vertical fixed point with minimal torque effort? This is exactly the way that I would like you to think about control system design. And we'll give you your first solution techniques -- using dynamic programming -- in the next lecture.
The simple pendulum is fully actuated. Given enough torque, we can produce any number of control solutions to stabilize the originally unstable fixed point at the top (such as designing a feedback controller to effectively invert gravity).
The problem begins to get interesting (a.k.a. becomes underactuated) if we impose a torque-limit constraint, $|u|\le u_{max}$. Looking at the phase portraits again, you can now visualize the control problem. Via feedback, you are allowed to change the direction of the vector field at each point, but only by a fixed amount. Clearly, if the maximum torque is small (smaller than $mgl$), then there are some states which cannot be driven directly to the goal, but must pump up energy to reach the goal. Furthermore, if the torque-limit is too severe and the system has damping, then it may be impossible to swing up to the top. The existence of a solution, and number of pumps required to reach the top, is a non-trivial function of the initial conditions and the torque-limits.
Although this system is very simple, obtaining a solution with general-purpose algorithms requires much of the same reasoning necessary for controlling much more complex underactuated systems; this problem will be a work-horse for us as we introduce new algorithms throughout this book.
In the specific case of the pendulum, we can give a satisfying hand-designed nonlinear controller based on our intuition of pumping energy into the system. We have already observed that the total energy of the pendulum is given by $$E = \frac{1}{2} m l^2 \dot\theta^2 - mgl\cos\theta.$$ To understand how to control the energy, let us examine how that energy changes with time: \begin{align*} \dot{E} =& ml^2\dot\theta \ddot\theta + \dot\theta mgl\sin\theta \\ =& \dot\theta \left[ u - mgl\sin\theta \right] + \dot\theta mgl\sin\theta \\ =& u\dot\theta. \end{align*} In words, adding energy to the system is simple - apply torque in the same direction as $\dot\theta$. To remove energy, apply torque in the opposite direction (e.g., damping).
To swing up the pendulum, even with torque limits, let us use this observation to drive the system to its homoclinic orbit, and then let the dynamics of the pendulum carry us to the upright equilibrium. Recall that the homoclinic orbit has energy $mgl$ -- let's call this our desired energy:$$E^d = mgl.$$ Furthermore, let's define the difference between our current energy and this desired energy as $\tilde{E} = E - E^d$, and note that we still have $$\dot{\tilde{E}} = \dot{E} = u\dot\theta.$$ Now consider the feedback controller of the form $$u = -k \dot\theta \tilde{E},\quad k>0.$$ I admit that this looks a bit strange; it was chosen for the simple reason that it turns the resulting "error dynamics" into something simple: $$\dot{\tilde{E}} = - k \dot\theta^2 \tilde{E}.$$ Think about the graphical analysis of this system if you were to draw $\dot{\tilde{E}}$ vs. $\tilde{E}$ for any fixed $\dot\theta$ -- it's a straight line separated from the horizontal axis which would imply an exponential convergence: $\tilde{E} \rightarrow 0.$ This is true for any $\dot\theta$, except for $\dot\theta=0$ (so it will not actually swing us up from the downright fixed point... but if you nudge the system just a bit, then it will start pumping energy and will swing all of the way up). The essential property is that when $E > E^d$, we should remove energy from the system (damping) and when $E < E^d$, we should add energy (negative damping). Even if the control actions are bounded, the convergence is easily preserved.
This is a nonlinear controller that will push all system trajectories to the unstable equilibrium. But does it make the unstable equilibrium locally stable? With only this controller, the fixed point is attractive, but is not stable -- just like our example above. Small perturbations may cause the system to drive all of the way around the circle in order to once again return to the unstable equilibrium. For this reason, to actually balance the system, we'll have to switch to a different controller once we get near the fixed point (an idea that we'll discuss more in the next chapter).
Take a minute to play around with the energy-shaping controller for swinging up the pendulum
Make sure that you take a minute to look at the code which runs during these examples. Note the somewhat arbitrary threshold for switching to the balancing controller. We'll give a much more satisfying answer for that in the chapter on Lyapunov methods.
There are a few things that are extremely nice about this controller. Not only is it simple, but it is actually incredibly robust to errors we might have in our estimate of the model parameters, $m,$ $l,$ and $g.$ In fact, the only place that the model enters our control equation is in the calculation of $\tilde{E} = \frac{1}{2} m l^2 \dot\theta^2 - mgl(1 + \cos\theta)$, and the only property of this estimate that impacts stability is the location of the orbit when $\tilde{E} = 0$, which is $\frac{1}{2}l\dot\theta^2 = g(\cos\theta + 1).$ Therefore, we could have used $\frac{E - E_d}{m} = \frac{1}{2} l^2 \dot\theta^2 - gl(1 + \cos\theta)$ in our controller and obtained the same result. This doesn't depend at all on our estimate of the mass, and only linearly on our estimates of the length and gravity (and if one cannot measure the length of the pendulum accurately, then a proper measuring device would make an excellent investment). This is somewhat amazing; we will develop many optimization-based algorithms capable of swinging up the pendulum, but it will take a lot of work to find one that is as insensitive to the model parameters.
If there is damping in the original system, of course we can cancel this out, too, using $u = -k \dot\theta \tilde{E} + b\dot\theta.$ And once again, the controller is quite robust if we have errors in the estimated damping ratio.
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Web Technology
Introduction
Web technologies related to the interface between web servers and their clients. This information includes markup languages, programming interfaces and languages, and standards for document identification and display. In general web technology incorporates tools and techniques for web development.
Web Development is a broad term for the work involved in developing a web site for World Wide Web. This can include web design, web content development, client liaison, client-side/server-side scripting, web server and network security configuration, and ecommerce development. However, among web professionals, "web development" usually refers to the main non-design aspects of building web sites: writing markup and coding. Web development can range from developing the simplest static single page of plain text to the most complex web-based internet applications, electronic businesses, or social network services.
Web design is a broad term used to encompass the way that content (usually hypertext or hypermedia) is delivered to an end-user through the World Wide Web, using a web browser or other web-enabled software is displayed. The intent of web design is to create a website—a collection of online content including documents and applications that reside on a web servers. A website may include text, images, sounds and other content, and may be interactive.
For the typical web sites, the basic aspects of design are:
The content: the substance, and information on the site should be relevant to the site and should target the area of the public that the website is concerned with.
The usability: the site should be user-friendly, with the interface and navigation simple and reliable.
The appearance: the graphics and text should include a single style that flows throughout, to show consistency. The style should be professional, appealing and relevant.
The structure: of the web site as a whole.
Internet and its Evolution:
Internet is a short form of the technical term internetwork, the result of interconnecting computer networks with special gateways or routers. The Internet is also often referred to as the Net. The Internet is a massive network of networks, a networking infrastructure. It connects millions of computers together globally, forming a network in which any computer can communicate with any other computer as long as they are both connected to the Internet. Information that travels over the Internet does so via a variety of languages known as protocols. The Internet is loosely connected compared with the randomized graph.
The Internet is a globally distributed network comprising many voluntarily interconnected autonomous networks. It operates without a central governing body. However, to maintain interoperability, all technical and policy aspects of the underlying core infrastructure and the principal name spaces are administered by the Internet Corporation for Assigned Names and Numbers (ICANN).
The history of the Internet starts in the 1950s and 1960s with the development of computers. This began with point-to-point communication between mainframe computers and terminals, expanded to point-to-point connections between computers and then early research into packet switching.
Since the mid-1990s the Internet has had a drastic impact on culture and commerce, including the rise of near instant communication by electronic mail, instant messaging, Voice over Internet Protocol (VoIP) "phone calls", two-way interactive video calls, and the World Wide Web with its discussion forums, blogs, social networking, and online shopping sites. (Just go through the brief history yourself)
World Wide Web:
WWW is a system of interlinked hypertext documents accessed via the Internet. The World Wide Web, or simply Web, is a way of accessing information over the medium of the Internet. It is an information-sharing model that is built on top of the Internet. The Web uses the HTTP protocol, only one of the languages spoken over the Internet, to transmit data. Web services, which use HTTP to allow applications to communicate in order to exchange business logic, use the Web to share information. The Web also utilizes browsers, such as Internet Explorer or Firefox, to access Web documents called Web pages that are linked to each other via hyperlinks. Web documents also contain graphics, sounds, text and video.
The Web is one of the services that runs on the Internet. It is a collection of textual documents and other resources, linked by hyperlinks and URLs, transmitted by web browsers and web servers. The Web is just one of the ways that information can be disseminated over the Internet, so the Web is just a portion of the Internet. In short, the Web can be thought of as an application "running" on the Internet
What is Hypertext?
Hypertext provides the links between different documents and different document types. In a hypertext document, links from one place in the document to another are included with the text. By selecting a link, you are able to jump immediately to another part of the document or even to a different document. In the WWW, links can go not only from one document to another, but from one computer to another


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The Walking Dead star rushed to hospital after being thrown off a horse
The Walking Dead’s former hero Chandler Riggs has been rushed to hospital after he was thrown off the back of a horse.
Don’t worry – he’s doing okay.
Taking to Instagram, the 20-year-old’s mum, Gina-Ann Riggs, shared a picture of her bambino looking slightly worse for wear as he threw his thumb up towards the camera from a hospital bed.
In the caption, the concerned parent updated fans, and wrote: ‘The call every mom hopes she never gets… Thankfully, he’s going to be ok and thankfully I’m here with him!
‘He was thrown off of his horse yesterday afternoon. Thank GOODNESS he was wearing a helmet. He has a pretty bad concussion and is in a lot of pain but no broken bones!’
She added: ‘I took the first flight out to LA and got here at around 9:30 last night. Keep him in your prayers!!
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‘Oh, and I had missed his episode so I stayed off of social media until I finally watched it this morning. Thank you for all of the kind words!!’
Fans were quick to comment and sent their well wishes to the Carl Grimes star.
‘Omg I hope he is okay now,’ one wrote while another added: ‘Praying for him. Glad all is okay.’
Someone else shared a string of heart emojis and said: ‘Feel better soon Chandler sending so much prayers and love.’
Chandler played a huge role in The Walking Dead, as viewers watched him grow up on screen in the character Carl Grimes.
But despite his tragic death, it seems the young actor is hoping to return to the role in the upcoming Rick Grimes movies.
Earlier this year, he was asked by TVGuide if he’d want to make a comeback in the highly anticipated trilogy.
And pleasing us no end, he confessed: ‘I hope so. That would be amazing. It’d be so much fun to get to work with Andy again. That’d be great.’
The Walking Dead’s midseason finale airs Sunday at 9pm on AMC and follows a day later on Fox UK.
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Banana Muffins with Chocolate
Ingredients
- 3 bananas
- 100 g / ½ cups butter
- 150 g / ¾ cups sugar
- 2 eggs
- 1½ tsp. cooking powder
- 260 g / 2⅛ cups wheat flour
- 50 g / 1¾ oz dark chocolate
- 50 g / 1¾ oz milk chocolate
- some vanilla sugar (optional)
Directions
- Peel the bananas and mush them together.
- Whip the two eggs and mix them with the sugar.
- Melt the butter, cut the chocolate into smaller pieces, and whip the eggs.
- Pour the butter into the bananas, then add the flour, then the cooking powder, the chocolate, the whipped eggs and sugar, and the optional vanilla sugar; stirring it all the time.
- Pour the mass into your muffin dish.
- Heat up the oven to 160 °C / 320 °F and bake the muffins for around 20-30 minutes in 170 °C / 340 °F.
Contribution
Recipe tags:
dessert
sweet
snack
cake
fasting


Intro
deep-selectors provides a really simple DSL and its really fast parser that return an array of test functions for traversal methods.
Both traversal methods accept as second argument a string selector. It will be parsed before use in traversal.
Warning For the moment it use dynamic function (aka new Function(...)) and so could not be runned under paranoiac environnements (as Adobe Air). More work will be done on it in a close future.
example
var r = deep.depthFirst({ a:{ b:12 }, c:{ b:14 }, d:{ e:{ f:true, g:"hello" }, h:{ f:false, g:"world" } } }, "b=12 | (f&g)"); deep.log(deep.utils.nodes.paths(r));
syntax
As simple as if you where typing it in JavaScript. But :
- Simple "=" for equality test.
- Simple "&" for conjonction.
- Simple "|" for disjonction.
- You could use any valid parenthesis block.
- No >, >=, <, <= for the moment.
- Use 'this' to test value itself e.g. "this=12".


This package contains one abstract class -- {@link com.programmerdan.minecraft.civspy.listeners.ServerDataListener} which must be the superclass of any Listener implementations you want automatically loaded by CivSpy.
You don't have to implement for both constructors; choose the one that suits your needs.
Listeners can be simple or complex, but I strongly recommend keeping them simple and lightweight, maintaining as little state as possible.
A quick introduction to listeners:
Data Listeners
A Data Listeners should contain one or more @EventListener annotated methods, that generate {@link com.programmerdan.minecraft.civspy.PointDataSample} POJOs.
- Although Listeners are free to generate any valid DataSample type, PointDataSample is recommended as it is specifically designed for Event-driven data sources, and is ready for aggregation.
- If, however, your listener generates low-volume data that shouldn't be aggregated (say, perhaps, a logout listener that computes session length) don't be shy to use {@link com.programmerdan.minecraft.civspy.PeriodicDataSample} POJOs.
Requirements
All implementations of DataListener must provide a shutdown
implementation. This simple method is a cleanup hook; CivSpy will make every attempt to call shutdown
on all listeners during CivSpy de-activation.
All implementations of DataListener must provide a constructor that takes a DataManager, Logger, String, and optionally a ConfigurationSection as input.
- The {@link com.programmerdan.minecraft.civspy.DataManager} is CivSpy system provided and your code should likely leave it alone to prevent abnormalities.
- The {@link java.util.logging.Logger} is put into protected variable
logger
and is available to subclasses to write exceptional circumstances to the log (do not log on every execution of your sampler!).
- The String is the value that will be returned by {@link com.programmerdan.minecraft.civspy.listeners.ServerDataListener#getServer}. Note while you don't have to pass this value along to the superclass, it is strongly recommended, and regardless the parameter must exist on your constructor.
- (optional) The {@link org.bukkit.configuration.ConfigurationSection} is the configuration for your Listener as defined in the
config.yml
file. The _simple name_ of your class determines which section to extract and pass along. So if you Listener is called PlayerMovementListener
then CivSpy attempts to give the config.yml root-level section of the same name to your Listener, if a constructor is found that accepts configuration sections.
Usage
DataSamples are POJOs -- just construct them via their constructor and don't worry about anything else, they just hold and pass along data.
One parameter on all DataSample constructors is "Server" -- you can get the plugin's configured "Server" name via getServer()
. Be sure toinclude the server name in your DataListener POJOs -- see the constructors on PointDataSample
and PeriodicDataSample
. If local or not specified in CivSpy config, this value will be the string literal "local".
When your listener has constructed a DataSample POJO, pass it along to the {@link com.programmerdan.minecraft.civspy.DataListener#record(com.programmerdan.minecraft.civspy.DataSample)} superclass method. This method handles actually alerting the DataManager of the new data to be aggregated or recorded.
That's basically it. Extend ServerDataListener, add some normal Bukkit Listeners, create some DataSamples and pass them along to record()
.


Getting Started
Server Installation
Securing Apps
Server Admin
Server Development
Authorization Services
Upgrading


My name is Ashley and I am currently a Graphic Designer and Digital Marketer. I studied Visual Arts at Fordham University in New York City and graduated with a BA. Since then, I have worked at Sotheby's International Realty on their marketing team and have moved to various brokerages around the country. I currently manage the Digital Marketing Team at Realogics Sotheby's Internatiional Realty which consists of four specialists who oversee 50+ client accounts.
I have been in Seattle for 4 years and love it here! I am currently enrolled at Code Fellows and am hoping to mix my background in design with development skills in order to create both visually stunning and highly functional programs and websites.


Why were cases against PFI withdrawn, asks CM
by Special CorrespondentTwo days after the attack on Congress MLA Tanveer Sait in Mysuru, Chief Minister B.S. Yediyurappa slammed Leader of the Opposition Siddaramaiah over the matter and asked him to clarify why he allegedly shielded Popular Front of India (PFI) activists by withdrawing cases against them when he was CM. There are allegations that a PFI activist was behind the attack on Mr. Sait in Mysuru.
Speaking to reporters, Mr. Yediyurappa said PFI activists were responsible for incidents of violence in Mysuru and Shivamogga that had claimed a life. “I want to ask Siddaramaiah today, why did you protect PFI goondas? Why did you withdraw cases against them? Now, the attack has taken place on Tanveer Sait. You are indirectly supporting them (PFI activists)” he said.
Reacting to Mr. Yediyurappa’s allegations, Mr. Siddaramiah tweeted, “We are not protecting any communal organization. Let the CM take action against any organizations taking part in communal activities. It’s not correct on the part of BSY to politicise the matter.”


Key Facts about Hypatia of Alexandria:
Life Events of Hypatia:
| Date | Event |
|---|---|
| 355 CE | Born in Alexandria, Egypt |
| 412 CE | The Bishop of Alexandria's Death, which lead to the end of the Library of Alexandria |
| March 415 CE | Died tragically by a mob |
For more information on Hypatia, please visit here.
Encyclopedia Brittanica does an excellent job in their source code of dividing different elements of their page with appropriate attributes and tags. They use very specific attributes for every line of code/tag.


I love cakes especially for celebrating birydays.
But my favorite cake is chocolate cake.
Here is different chocolate cake photograph.


I am software developer, with experienced in development with PHP, JavaScript, NodeJs, ReactJs and others. I like challenges and learn about new technologies.
Apart from being a web developer, I enjoy most of my time studing english or something to agregate on my personal and professionals skills. I like travel, play soccer and watch war movies.
I'm in love to javascript technologies, because is very simple and beautiful.
You can view my projects on Github or my profile on LinkedIn through links down.
Development and maintainability of the SIMEC - Integrated Monitoring, Execution and Control System. Working with PHP, PostgreSQL, JQuery, ajax.
Development and support of systems using the PHP frameworks Laravel and Yii2 JQuery and Ajax libraries, Docker, MySQL and PostgreSQL and CentOS server.
Development and maintainability of the Ministry of Culture SIMINC2(SIMEC) Budgetary, Financial and Parliamentary Amendments management project. Working with PHP, PostgreSQL, JQuery, ajax, Scrum and agile development.
Development and maintainability of the Ministry of Culture SIMINC2(SIMEC) Budgetary, Financial and Parliamentary Amendments management project. Working with PHP, PostgreSQL, JQuery, ajax, Scrum and agile development.
Non-profit software factory focused on learning and systems development for real customers. Development using Laravel, ReactJS, VueJS, Docker and various other technologies, using and putting into practice the knowledge and concepts of software engineering.


A filter menu forms the basis of the filter-menu-button module; we provide it here as a standalone version in the case it might be opened or rendered via other means (in a dialog for example).
A form version is also available. It uses the checkbox and radio modules to render checkboxes or radios instead of ARIA menu items. The form version must contain a submit button.


 There we have a new product for the Database!
Please do us a favour and provide as much information as possible.
But don't stress yourself. If you don't know or can't find certain
information, just skip it. 😉


|
Brief
Political Encounters in His Life
Politics always interested Balakrishnan. His real contact with politics
started in college. The freedom struggle had hottened up and took up his
interest and time in the place of studies. Participation in the Quit India
movement landed him in jail. The British treated political prisoners with
respect. He met people like C.Achutha Menon and K.Karunakaran (both were
to become Chief Ministers later) during his prison term. Though his formal
studies ended after 4 years in college, his interest and political activities
continued.
He then spent a few years as full time member of Prajamandalam, the Congress
unit of Cochin State which later split and formed the Kerala Socialist
Party under Mathai Manjoornan. He had strong convictions and he stood
by his beliefs. He soon found that these were not sound 'political' qualities
and finding politics unfit for him and himself unfit for politics, literally
ran away from it at the middle of the night with his meager belongings
tucked under his arm The net result of all this was a ruined academic
future.
He put to full use his capabilities as an orator and writer during this
period of political activity. He was the main person behind the weekly
'Azad' started in1947, which was the mouthpiece of the student Congress.
Later he edited the weekly of the Kerala Socialist party - 'Socialist'.
He wrote innumerable political articles during this period in these and
many other publications. He had established his reputation as a writer
by this time.
back
to top
|


{% extends "base.html" %} {% block content %}
Fantastic! Your user account has been successfully activated.
You are now ready to login and start listing your items...
{% else %}Sorry, we couldn't verify your Reyooz.org account for the following reason(s):
Please click on the link in the sign-up email you received in order to verify your account. If you are copying and pasting the link into your browser then ensure that the link is copied in full.
{% endif %}


Impact assessment
Full equality impact assessment: free school meals (FSM) pilot extensions and eligibility extensions
This was published under the 2010 to 2015 Conservative and Liberal Democrat coalition government
This document details the decision not to proceed with the extension of eligibility to free school meals and with the extension of pilots of universal free school meals for primary school pupils.
Documents
Ref:
DFE-32062-2012
PDF
,
1.01MB
,
5 pages
Details
This impact assessment relates to the decision not to proceed with the extension of the current universal free school meals (FSM) pilot at primary level to a limited additional number of local authorities (from 2 at present); and the extension of free school meals eligibility to all pupils in maintained nurseries and Key Stages 1 and 2 in England, whose parents are on Working Tax Credit with household incomes of up to £16,190.
Implementation of the extension was scheduled to begin in September 2010, on a phased basis, starting with pupils in maintained nurseries and Key Stage 1. Full extension to all maintained nursery and primary pupils was planned for September 2011. Implementation was subject to the necessary funding being available and the laying of regulations before Parliament.
Includes
-
description of the policy
-
the evidence base
-
what the evidence shows - key facts
-
challenges and opportunities


{{ partial "head" . }} {{ partial "nav" . }}
Got a tip for us? Want us to cover a topic on the next show? We'd love to hear from you!
Send us your feedback, favorite competitive Overwatch stories, and hopes and dreams about the future of the Overwatch League.
You can also use the form below for inquiries about getting on the show or scheduling interviews. Don’t be shy, drop us a line!
{{ partial "contact-form" . }}


Wbuffer enable
Parameters:
| enable - true to enable w-buffering rendering, false to disable. Defaults to true for 16-bit colour mode, false for 24-bit and 32-bit. |
Description:
| Enables or disables w-buffering. W-buffering is a technique used to draw 3D object in order of their depth - i.e. the ones furthest away from the camera first, then the ones closer to the camera, and so on. Normally, z-buffering is used to perform such a technique, but a z-buffer can be slightly inaccurate in 16-bit colour mode, for which the level of precision is less than in 24-bit or 32-bit colour modes. This means that in some situations, objects will appear to overlap each other when they shouldn't and so on. To compensate for this, you can use w-buffering. This is a slightly more accurate technique than z-buffering, although it may be less compatible on some set-ups than z-buffering. |
Example:
| None. |


GitHub creates a new file with no previous version history.


LockMutex()
Syntax
LockMutex(Mutex)Description
Waits until the mutex object is available (not locked by another thread) and then locks the object so no other thread can get a lock on the object.
After this function returns, it is assured that this thread is the only one with a locked state on the mutex. The thread can now freely access the shared resource that is protected by this mutex, as it is the only one with exclusive access to the mutex.
If another thread calls LockMutex() while this one has the lock, it will wait inside the LockMutex() function until this thread calls UnlockMutex() to release its lock on the mutex.
Note: Since the LockMutex() function waits until the mutex is available, it can easily lead to lockup situations if a UnlockMutex() call is forgotten.
See CreateMutex() for a code example.
Parameters
Mutex The mutex to lock.
Return value
None.
See Also
UnlockMutex(), CreateMutex()
Supported OS
All


Weihao ZHUANG
I am a PhD student at Kobe University (Japan), where I studying on deep learning, high performance computing, model compression, and computer vision, etc.
Gitub
Education
Apr 2021 -
D.Eng. student in Informantion Science at the Kobe University, Japan
Apr 2019 - Mar 2021
M.Eng. in Informantion Science at the Kobe University, Japan
Sep 2014 - Jul 2018
B.Eng. in Measurement Control Technology and Instruments at the Beijing Normal University, Zhuhai, China
Papers
- Learn to See Faster: Pushing the Limits of High-Speed Camera with Deep Underexposed Image Denoising
Weihao Zhuang, Tristan Hascoet, Ryoichi Takashima, Tetsuya Takiguchi
Arxiv Preprint paper
- Optical Flow Regularization of Implicit Neural Representations for Video Frame Interpolation
Weihao Zhuang, Tristan Hascoet, Xunquan Chen, Ryoichi Takashima, Tetsuya Takiguchi
Arxiv Preprint paper
- Convolutional Neural Networks Inference Memory Optimization with Receptive Field Based Input Tiling
Weihao Zhuang, Tristan Hascoet, Xunquan Chen, Ryoichi Takashima, Tetsuya Takiguchi
APSIPA Transactions on Signal and Information Processing
- Convolutional Neural Networks Optimization Inference with Splitting Image,
Weihao Zhuang, Tristan Hascoet, Ryoichi Takashima, Tetsuya Takiguchi, Yasuo Ariki
2020 IEEE 9rd Global Conference on Consumer Electronics (GCCE). IEEE, 2020.
- Convolutional Neural Networks with Skeleton Kernel
Weihao Zhuang, Tristan Hascoet, Ryoichi Takashima, Tetsuya Takiguchi, Yasuo Ariki
The 23st Meeting on Image Recognition and Understanding (MIRU2020)
- Optimizing the Computational Efficiency of 3D Segmentation Models for Connectomics
Weihao Zhuang, Hascoet Tristan, Ryoichi Takashima, Tetsuya Takiguchi and Yasuo Ariki
The 26th International Workshop on Frontiers of Computer Vision (IW-FCV2020)
- Layer-Wise Invertibility for Extreme Memory Cost Reduction of CNN Training
Tristan Hascoet, Quentin Febvre, Weihao Zhuang, Yasuo Ariki, Tetsuya Takiguchi
Proceedings of the IEEE International Conference on Computer Vision Workshops (pp. 0-0).
- Reducing the Memory Cost of Training Convolutional Neural Networks by CPU Offloading
Tristan Hascoet, Weihao Zhuang, Quenti Febvre, Yasuo Ariki1, Tetsuya Takiguchi
Journal of Software Engineering and Applications, 12(08), 307.
- Reduce GPU Memory Usage of Training Neural Network by CPU Offloading
Weihao Zhuang, Tristan Hascoet, Ryoichi Takashima, Tetsuya Takiguchi, Yasuo Ariki
The 22st Meeting on Image Recognition and Understanding (MIRU2019)
Awards
2022, Kobe University SPRING Scholarship Awardee
2020, Hyogo Scholarship for Privately Financed Foreign Students
2018, Students Graduated with Honors, Beijing Normal University, Zhuhai
2017, Second prize of the eighth "Blue Bridge Cup" national software competition (SCM design and development)
2017, First prize of The eighth "Blue Bridge Cup" national software competition of Guangdong Region(SCM design and development)
2017, National software/electronic industry talent certificate (senior)
2016, Third-prize scholarship(Top 10%), Beijing Normal University, Zhuhai
2016, Outstanding Student Cadres Award, Beijing Normal University, Zhuhai
2015, First prize of Mechanical modeling & second prize of personal all-round of the eigth
“Higher education cup” National Undergraduate Advanced mapping technology and product
information modeling innovation competition
2015, Community Contribution Award of BNUZ
2015, Special scholarship (Top 1%)


The cut of the ribbon ushered in a new High Court in Mpumalanga
It was a historic moment when President Cyril Ramaphosa officially opened the Mpumalanga Division of the High Court, last week Friday.
by Charl PienaarMBOMBELA – The province is the last of the nine to have its own High Court.
Ramaphosa was accompanied by minister of justice and constitutional development, Ronald Lamola, Patricia de Lille, minister of public works and infrastructure, deputy Chief Justice of the Constitutional Court, Justice Sisi Kampempe, Judge President of the Mpumalanga Division of the High Court, Francis Legodi and Premier Refilwe Mtshweni-Tsipane, on a walkabout of the 12-courtroom building.
ALSO READ: Mpumalanga High Court officially opened
Ramaphosa later added that Legodi had noted that there were benefits to being “last-born”, as this court is the most magnificent of them all. However, it came at a price.
The building, which started operations in May, was more than three years overdue, as it was initially set to be completed in October 2015, and cost double its original estimate of R600 million.
ALSO READ: Taxpayers coughed up R 1.1 billion for new Mpumalanga High Court
Moreover, it is not yet 100 per cent complete, as an additional access road still needs to be constructed.
De Lille told Lowvelder that her department was involved in securing the land and the upkeep of the building. The Independent Development Trust, although a parastatal of the Department of Public Works and Infrastructure (DPWI), contracted directly with the Department of Justice (DoJ) in the construction of the building and are mainly responsible for budget and the timeline of the construction.
She stated that the decision to change the first selected construction spot and the procurement of the land to start building caused some of the delays.
“During the construction period there were also some problems with the contractors and contractual obligations, but it is a long list of issues which gave rise to the court only being opened now.”
She responded that the DoJ had set aside R600 million, but the current budget for the construction is just over R1,2 billion.
De Lille added that investigations into the overruns by the Special Investigation Unit are underway.
Lowvelder reported in November 2017 that a local engineer described the access routes to the court as nonsensical, as it currently has only a left-in, left-out entrance from Samora Machel Drive.
Negotiations with the adjacent FET College to construct an alternative road through their property has been dragging on for years, though an agreement has finally been reached.
De Lille said that “when the plans were approved by the municipality, the municipality should have had picked it up and should have advised the applicants before approval to include some kind of access road to the court.”
She advised that contractors have been procured and that access route construction will take place early in 2020.
“We are making history here today, as we are bringing access to justice closer,” she added.
Joseph Ngala, the spokesman for the City of Mbombela Local Municipality, could not be reached for a reply on the DPWI minister’s comment on the role the City had to play in ensuring adequate access to the High Court.


Grand Strand Magazine: The Best Crab Cakes
October/November 2019
Grand Strand Magazine: The Best Crab Cakes
October/November 2019
“Using sustainable, organic suppliers, Murray crafts each dish with a local-first philosophy. The sauteed jumbo lump crab cake, served with spicy dill mustard sauce, is available as a starter or an entree. Southern history permeates The Parson's Table, and the menu is no exeption.”
Wine Spectator Magazine: Biography of a Wine List
August 2018
Wine Spectator Magazine: Biography of a Wine List
August 2018
“The Parson's Table, an Award of Excellence winner since 2003, is located in Little River, S.C., about 120 miles up the coast from Charleston. Today, the 235-selection list offers solid diversity and great value, which pleases Murray’s guests, who are more adventurous in their wine selection as ever.”
Southern Living Magazine: Know Before You Go
January 2018
Southern Living Magazine: Know Before You Go
January 2018
“If time permits on your trip, travel 20 miles to Little River to dine on farm-to-table cuisine (which is paired with a well-curated wine list) at The Parson's Table Restaurant & Bar. It’s housed in a converted 1885 church featuring a mix of salvaged elements from other decommissioned houses of worship across the South.”


Subscribe Form Sample
Description
There are following classes/types by default:
- name – the User's Name. Validation: digits are disallowed, not less than 2 symbols;
- email – the User's Email;

<input type="text" value="Enter Name:">

<input type="email" value="Enter Email:">

Also label tag mentioned above can contain nested span elements with class error, which include the error message in case the data in the field is specified incorrectly.

<input type="text" value="Enter Name:">
*This is not a valid name.

<input type="email" value="Enter Email:">
*This is not a valid email address.
Script Initialization
To activate the subscribe form you need to include subscribe form script in the  section of HTML file and copy "bat" folder to your website root folder. The "bat" folder should contain 1 file: MailHandler-sub.php

After this you should initialize your subscription form on the $(window).load() : event at the end of sForm.js file
$(window).load(function(){
$('#form1').sForm({
ownerEmail:'#',
sitename:'sitename.link'
})
})
Use the following parameters for initialization:
- ownerEmail – the Email address the data will be sent to;
- sitename – website address which maintains subscription form.
In case of successful subscription website owner and website visitor get two separate successful subscription confirmation emails. Website owner target email is grabbed from sForm.js file and website visitor email is an email specified during subscription.


FNET Graph/AJAX Demo
NOTE: This page gets the data from the server periodically with help of AJAX.
It is used JavaScript, CGI and JSON data format.


Building a Personal Website
A personal reflection
January 14, 2016
I'm so thankful that building a personal website was integrated into the curriculum at Dev Bootcamp. The process of building this website from scratch was difficult, time consuming, and so rewarding. And I don't plan to stop working on it once I've finished Dev Bootcamp.
Building this website without using Bootstrap or Jekyll really put my HTML and CSS skills to the test and I needed that as a beginner. But HTML and CSS were only a part of the challenge, designing the layout of the site was also a huge learning experience. It seems simple until you sit down with a blank wireframing template and start to design your site. Once I setted on a general layout for my site it was a lot of fun designing it and picking out fonts, colors, etc. I learned a lot about managing my time and creating a minimum viable product which I think is an important skill as a developer. This is an aspect of developing that I didn't think too much about until I really started getting into it and had real deadlines for assignments.
Creating a blog was also a big learning experience for me, not only as a developer but on a personal level as well. I'm an introvert by nature so it pushed me out of my comfort zone to write about concepts that were new to me and put them out there for anyone to read. I definitely see the benefits of blogging as a way to solidify concepts and give back to the community. This is also something I plan to continue throughout my career.
Moving forward I would like to continue to improve my website and get experience using a framework. I also plan to improve the responsiveness of my site on different screen sizes. I'm looking forward seeing the progression of my site as I continue to develop my skills.


PAUSE. REWIND.
Original mixtapes, saved digitally.
Pre-Y2K throwbacks, from rap to rock.
Classic boom-box fuzz.
Listen now
More about The Mixtape Compendium.


Your Assigned Projects
| {{ project.role.project_role }} :: {{ project.project.client }} {{ project.project.project_type }} ({{ project.project.codename }}) :: {{ project.start_date }} to {{ project.end_date }} |
| You are not assigned to any projects. |
Your Top Reporting Tasks
| {{ finding.title }} | {{ finding.report.project.codename }} |
| No reporting tasks. |
Recent Background Tasks
| SUCCESS | {{ task.group }} | {% else %}FAILED | {{ task.group }} | {% endif %}
| No completed tasks. |


| get.var {mgcv} | R Documentation |
This routine takes a text string and a data frame or list. It first sees if the
string is the name of a variable in the data frame/ list. If it is then the value of this variable is returned.
Otherwise the routine tries to evaluate the expression within the data.frame/list (but nowhere else) and if
successful returns the result. If neither step works then NULL
is returned. The routine is useful for
processing gam formulae. If the variable is a matrix then it is coerced to a numeric vector, by default.
get.var(txt,data,vecMat=TRUE)
txt |
a text string which is either the name of a variable in |
data |
A data frame or list. |
vecMat |
Should matrices be coerced to numeric vectors? |
The evaluated variable or NULL
. May be coerced to a numeric vector if it's a matrix.
Simon N. Wood<EMAIL_ADDRESS>http://www.maths.bris.ac.uk/~sw15190/
require(mgcv) y <- 1:4;dat<-data.frame(x=5:10) get.var("x",dat) get.var("y",dat) get.var("x==6",dat) dat <- list(X=matrix(1:6,3,2)) get.var("X",dat)


|
Part 1a | Create a webpage containing a form that displays an input text box, radio buttons, checkboxes, and select items; along with a script that executes form validation. Your script should validate whether the user has entered data in the input text box, has checked a radio button, has checked at least one checkbox, and has selected an option from the select items. Use a submit button to invoke the validation script, so that the form is processed only when the form fields are valid. If a field is invalid then display a message to the user. In your form statement, use method="post" and an action that can be a mailto or a webpage(displaying that the form has been processed), but be sure to use input type="submit" for your submit button. Alternatively you can leave out the form's action and method, but then you should use an input type="button", along with displaying any appropriate messages. |
| Part 1b | Create a 2nd webpage that contains a script that utilizes 2 pulldown menus. The first one should utilize an onchange event handler. The second should utilize a button with an onclick event handler to navigate to a page after an option is selected. Each pulldown menu should include at least 3 URL destinations |
| Part 2 | create a webpage that enables the user to enter a state name (full or abbreviated) and have the State Name, State Capital, and population appear in separate form text fields of the page. The user should be able to start the script by pressing the button, "State Info". Just use the states that are given in the following table for your array. Allow for the user to enter state info in either lower case or upper case letters. |
| Part 3 | Use a one-dimensional array to solve the following problem: A company pays its salespeople on a commission basis. The salespeople receive $200.00 per week plus 9% of their gross sales for that week. For example, a sales person who grosses $5000.00 in sales in a week receives $200.00 plus 9% of $5000.00, or a total of $650.00. Create a webpage with a script (using an array of counters) that obtains the gross sales for each employee through a form and determines how many of the salespeople earned salaries in each of the following ranges |
| Part 4 | Create a webpage that contains a script, using a one-dimensional array to solve the following problem: Read in 10 numbers, each of which is between 10 and 100. I suggest using and re-using one input text box and displaying a count of the number of numbers entered. Another alternative would be having 10 input text boxes. As each number is read, print it only if it is not a duplicate number that has already been read. Be sure to validate the input, that is, if the number is not between 10 and 100 then display an error message. |


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This article is the first on a series about complex variables and functions on them. In this instalment we provide an introduction to complex numbers, assuming no prior knowledge on the subject. Familiarity with real numbers, plots of real functions on the \(xy\)-plane, vectors in \(\R^2\) and polar coordinates will prove useful throughout the series.
What are complex numbers?

Perhaps you are wondering what the meaning of this new number \(i\) is. It is clear that \(i\) doesn't belong in \(\R\), for there is no real number such that its square is \(-1\). Instead of a number, you can think of \(i\) as a mere symbol, a placeholder, for which we have the rule \(i^2 = -1\). Using this new symbol, we can express the roots of other negative real numbers in a new way. For example, \(\sqrt{-9} = 3i\), for we have that \((3i)^2 = 3^2 i^2 = 9 \cdot (-1) = -9\).
Note that every real number \(r\) is also a complex number, since it can be written as \(r + i0\), so we can think of \(\C\) as an extension of \(\R\). In fact, if we think of \(\R\) as the real line, the addition of this imaginary unit creates a completely new dimension and so we can picture \(\C\) as the complex plane. Analogous to the \(xy\)-plane, we represent the value of \(a\) on the \(x\)-axis and the value of \(b\) on the \(y\)-axis. For some complex number \(z = a + ib\), these valued are called the real part of \(z\) (written as \(\re z\)) and the imaginary part of \(z\) (written as \(\im z\)), respectively.
Here is an interactive representation of the complex plane. You can left-click on it to plot a complex number. Use the mouse wheel to zoom and the middle button to pan (this can also be done using SHIFT + left button).
\(z = 1+i\)
As you can see, the similarities with the \(xy\)-plane are evident and it will often be useful to think of complex numbers as vectors in \(\R^2\). For this, we simply associate the vector \((a,b)\) and the number \(a+ib\).
Operations with complex numbers
As you might have expected, we can perform arithmetic with complex numbers. For addition and subtraction, this is done in a similar way to vectors in \(\R^2\).
- \(z + w = (a + ib) + (c + id) = (a+c) + i(b+d)\)
- \(z - w = (a + ib) - (c + id) = (a-c) + i(b-d)\)
Note how in our definition we had to specify that \(a, b, c, d \in \R\). The reason for this is that the representation \(z = a + ib\) is not unique if we let \(a\) and \(b\) be arbitrary complex numbers. For example, \(1 + 0i\) could also be written as \(0 + i(-i)\). For our purposes, however, we will always assume that, when we write \(z = a + ib\), \(a\) and \(b\) are taken to be real.
The case of multiplication is not so simple. We can't borrow multiplication from of vectors, plainly because there is no multiplication between two-dimensional vectors that yields another two-dimensional vector. Instead, we use the rule \(i^2 = -1\) to multiply two complex numbers algebraically.
At first sight, this definition has no apparent geometric meaning, but we will soon uncover the secrets of complex multiplication. For now, have a go at multiplying two complex numbers on the complex plane.
\(z=1\)
\(w=i\)
\(zw=i\)
Do you notice anything interesting? Try setting \(w\) to \(i\) and move \(z\) around. How about now? Perhaps visualising both \(z\) and \(zi\) in the same plot will help you see what's happening:
\(z=1\) and \(zi=i\)
It is easy to see the pattern now: multiplying by \(i\) rotates \(z\) by a right angle counterclockwise. In fact, complex multiplication has a lot to do with rotation, but in order to explain this relation we will need to introduce the system of polar coordinates. Before we do this, however, we will introduce two more operations on complex numbers.
z bar, as \(a - ib\).
Geometrically, the conjugate is the reflection of \(z\) about the \(x\)-axis. One of the most important properties of \(\bar{z}\) is that \(z\bar{z} = (a + ib)(a - ib) = a^2 - b^2 + i(ba - ab) = a^2 + b^2\) is always a real number. We can now use this fact to introduce division of complex numbers.
Polar coordinates
So far we have determined a point \(z\) on the complex plane by specifying its real and imaginary parts (\(x\) and \(y\) values if you wish), but there are other ways of uniquely defining a point on the plane. Seen as a vector, each complex number has a modulus (its distance to the origin) and it describes an angle with the \(x\)-axis, which we call its argument. These two properties are actually sufficient to determine a single point on the plane and thus we could use them as a coordinate system, which we call polar.
Note that \(\arg z\) is not unique; in fact, if we have such a \(\theta\) then \(\theta + 2\pi\) is also a valid value for \(\arg z\). It will sometimes be useful to restrict \(-\pi < \theta \leq \pi\), then this number is unique and we call it \(\Arg z\). We can then write \(z\) in polar form as \((r, \theta) = (|z|, \Arg z)\).


| LCS.class (args) |
Creates a class |
| LCS.class.final (args) |
Creates a final class. |
| LCS.class.static (args) |
Creates a static class. |
| LCS.is_A (thing, kind) |
Checks if nature of the given argument 'thing'. |
| [class] (args) |
Default class constructor used to instantiation. |
| [class]:extends (args) |
Returns a new class derived from class [class]. |
| [class]:getClass () |
Checks for a reference to the superclass of class [class] |
| [class]:getSubClasses () |
Checks for a list of all classes deriving from class [class] |
| [class]:new (args) |
Default class constructor used to instantiation. |
| [class]:super (method, ...) |
Calls a method defined in a parent of class [class] |
| [instance]:getClass () |
Checks for the reference to the class from which 'instance' was created |
| [instance]:is_A (aClass) |
Checks if instance [instance] was instantiated from a specific class. |
| [instance]:super (method, ...) |
Calls a methods defined in a parent of a class from which object 'instance' was created |
- LCS.class (args)
-
Creates a class
Parameters
-
args: [table] Optional.A key-index table to be the class members.
Usage:
LCS = require('LCS')
Vector = LCS.class { x = 0, y = 0}
Return value:
[table] A class
- LCS.class.final (args)
-
Creates a final class. They do not offer support for inheritance. So these classes cannot be derived.
Parameters
-
args: [table] Optional.A key-index table to be the class members.
Usage:
LCS = require('LCS')
myFinalClass = LCS.class.final()
Return value:
[table] A final class
- LCS.class.static (args)
-
Creates a static class. These classes cannot instantiate objects.
Parameters
-
args: [table] Optional.A key-index table to be the class members.
Usage:
LCS = require('LCS')
myStaticClass = LCS.class.static()
Return value:
[table] A static class
- LCS.is_A (thing, kind)
-
Checks if nature of the given argument 'thing'.
Parameters
-
thing: [table] The reference holding a supposed object or a supposed class to be tested
-
kind: [string] Optional. A string value to be either 'object' or 'class'. When not given, returns a string representing the nature of the given 'thing'
Usage:
LCS = require('LCS')
myClass = LCS.class()
myObject = myClass()
print(LCS.is_A(myClass,'class')) --> True
print(LCS.is_A(myObject,'object')) --> True
print(LCS.is_A(myClass)) --> 'class'
print(LCS.is_A(myObject)) --> 'object'
Return value:
[boolean] or [string] True if 'thing' matches string 'kind', or the string 'object' or 'class'
- [class] (args)
-
Default class constructor used to instantiation. Similar to [class]:new(). Assumes the calling class is not static.
Parameters
-
args: [table] Optional.A list of arguments in a specific order to init the new instance. Using args assumes the constructor [class]:init() have been implemented upon class definition.
Usage:
LCS = require('LCS')
Vector = LCS.class {x = 0, y = 0}
function Vector:init(x,y)
self.x = x
self.y = y
end
v1 = Vector(1,2)
print(v1.x,v1.y) --> 1,2
Return value:
[table] An instance of class [class]
See also:
- [class]:extends (args)
-
Returns a new class derived from class [class]. Assumes class [class] is not a final class.
Parameters
-
args: [table] Optional. A key-index table to be the class members.
Usage:
LCS = require('LCS')
Animal = LCS.class()
function Animal:yell()
print('Yelling!')
end
Dog = Animal:extends {name = nil}
function Dog:init(name)
self.name = name
end
puppet = Dog('waffles')
print(puppet.name) --> waffles
puppet:yell() --> Yelling!
Return value:
[table] A new class which inherits from class [class]
See also:
- [class]:getClass ()
-
Checks for a reference to the superclass of class [class]
Usage:
LCS = require('LCS')
Animal = LCS.class()
Dog = Animal:extends {name = nil}
print(Dog:getClass() == Animal) --> True
Return value:
[table] or [nil] Returns a reference to the superclass of class [class]. If [class] does not derives from a class, returns nil
See also:
- [class]:getSubClasses ()
-
Checks for a list of all classes deriving from class [class]
Usage:
LCS = require('LCS')
Animal = LCS.class()
Dog = Animal:extends {name = nil}
list = Animal:getSubClasses()
for i,class in ipairs(list) do
if class == Dog then print('True') end
end --> True
Return value:
[table] Returns an array list of all classes deriving from class [class]
- [class]:new (args)
-
Default class constructor used to instantiation. Similar to [class](). Assumes the calling class is not static.
Parameters
-
args: [table] Optional.A list of arguments in a specific order to init the new instance. Using args assumes the constructor [class]:init() have been implemented upon class definition.
Usage:
LCS = require('LCS')
Vector = LCS.class {x = 0, y = 0}
function Vector:init(x,y)
self.x = x
self.y = y
end
v1 = Vector:new(3,4)
print(v1.x,v1.y) --> 3,4
Return value:
[table] An instance of class [class]
See also:
- [class]:super (method, ...)
-
Calls a method defined in a parent of class [class]
Parameters
-
method: [string] A string refferring to the name of the function to be invoked.
-
...: Optional. The required arguments which will be passed to the method called, in proper order.
Usage:
LCS = require('LCS')
Dog = LCS.class {name = ''}
function Dog:init(name)
self.name = name
end
SuperDog = Dog:extends {power = 0}
function SuperDog:init(name,power)
self:super('init',name)
self.power = power
end
superPuppet = SuperDog('superPuppet',100)
print(superPuppet.name) --> superPuppet
print(superPuppet.power) --> 100
Return value:
[...] The result of expected from the method call.
See also:
- [instance]:getClass ()
-
Checks for the reference to the class from which 'instance' was created
Usage:
LCS = require('LCS')
Animal = LCS.class()
Dog = Animal:extends {name = nil}
puppet = Dog()
print(puppet:getClass() == Dog) --> True
Return value:
[table] Returns a reference tto the class from which 'instance' was created
See also:
- [instance]:is_A (aClass)
-
Checks if instance [instance] was instantiated from a specific class. This lethod should not be called from a class.
Parameters
-
aClass: [table] Optional. When given, tests if 'instance' was instantiated from aClass.
Usage:
LCS = require('LCS')
Animal = LCS.class()
thing = Animal()
print(thing:is_A(Animal)) --> True
print(thing:is_A() == Animal)--> True
Return value:
[boolean] or [table] Returns True if 'instance' was instantiated from aClass, either False. If 'aClass' is not given, returns a reference to the class from which 'instance' was created.
See also:
- [instance]:super (method, ...)
-
Calls a methods defined in a parent of a class from which object 'instance' was created
Parameters
-
method: [string] A string refferring to the name of the function to be invoked.
-
...: Optional. The required arguments which will be passed to the method called, in proper order.
Usage:
LCS = require('LCS')
Dog = LCS.class {name = ''}
function Dog:init(name)
self.name = name
end
function Dog:say(something)
print(something)
end
SuperDog = Dog:extends {power = 0}
function SuperDog:say(something)
print('Superdog says : '..something)
end
superPuppet = SuperDog()
superPuppet:say('Hello!') --> SuperDog says : Hello!
superPuppet:super('say','Hello!') --> Hello!
Return value:
[...] The result of expected from the method call.
See also:


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NOT ALL PRODUCTS ARE REGISTERED AND AVAILABLE IN EVERY STATE
1 McCoy J. Water quality and water sanitation. In: Owen R, ed. A practical guide for managing risk in poultry production. American Association of Avian Pathologists, 2011
Registrations may be pending, please visit our website or call to check availability in your state. Please check label for application rates and safety data sheets for safe use instructions. Statements made in this newsletter do not replace label rates. Articles used by permission are the property of the cited publisher and/or author.
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}
{{ "Powered by roslyn, support automatic recompile after source code changed." | trans }}
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|
Dynamic Finite Element Code for Beam Elements
1.0
|
Functions | |
| TEST (Setup, CreatesConfigFromJSON) | |
| TEST (Setup, CreatesNodesFromJSON) | |
| TEST (Setup, CreatesElemsFromJSON) | |
| TEST (Setup, CreatesBCsFromJSON) | |
| TEST (Setup, CreatesForcesFromJSON) | |
| TEST (Setup, CreatesColumnVectorFromJSON) | |
| TEST | ( | Setup | , |
| CreatesConfigFromJSON | |||
| ) |
| TEST | ( | Setup | , |
| CreatesNodesFromJSON | |||
| ) |
| TEST | ( | Setup | , |
| CreatesElemsFromJSON | |||
| ) |
| TEST | ( | Setup | , |
| CreatesBCsFromJSON | |||
| ) |
| TEST | ( | Setup | , |
| CreatesForcesFromJSON | |||
| ) |
| TEST | ( | Setup | , |
| CreatesColumnVectorFromJSON | |||
| ) |


Figure 1 Possible simulation domain for regional climate of southern Africa, showing political boundaries and contours of surface elevation at 60-km resolution [contour interval = 100 m]. The projection is Mercator with latitude circles and meridians marked by crosses (+). At 60-km resolution, this domain requires 81 x 71 gridpoints.
(Return to white paper on seasonal climate forecasting.)


To store data client-side, put it in a cookie. Cookies have a name and a value. There are some restrictions on what the name can be: stick with just alphabet characters and you'll be okay.
First, you have to send the cookie to the client:
(defmethod handle-request-response ((handler intro-handler) method request) (request-send-headers request :set-cookie (cookie-string "cookiename" "cookievalue")) (html-stream (request-stream request) `(html (body (p "Cookie set.")))))
Afterwards, this cookie value will be available via a call to REQUEST-COOKIE.
(defmethod handle-request-response ((handler show-cookie) method request) (request-send-headers request) (html-stream (request-stream request) `(html (body (p "The cookie value is: " ,(request-cookie request "cookiename"))))))
To set a new value for the cookie, re-send the cookie as above.
There are more parameters to cookie-string than shown here, they are all keyword parameters. To have the above be a session cookie (deleted when the browser is closed):
(cookie-string "cookiename" "cookievalue" :max-age 0)
To see the full parameter list:
(documentation 'cookie1:cookie-string 'function)
It is possible for another website to send your site a cookie without you being aware of it. If dan.example.com set a cookie like so:
(cookie-string "bad" "cookie" :domain ".example.com")
and your website was ann.example.com, you would receive that cookie.
If your web app does not use domain cookies, it's best to ignore them - which would ignore the above cookie.
(request-safe-cookie request "my" nil)
If you do use domain cookies, it's best to specify the domains you will accept explicitly.
(request-safe-cookie request "my" ".example.com")
This will not stop all instances, but it's a good start.
When you request a specific cookie, there is the possibility that it won't be found. Sometimes it's easier to assume the cookie is found, and set up a signal handler for when it isn't.
The REQUEST-COOKIE and REQUEST-SAFE-COOKIE methods take a keyword parameter that can enable signaling an error.
(handler-case (request-cookie request "mycookie" :on-fail :signal-condition) (cookie-not-found (condition) (format *trace-output* "Cookie not found! ~A" condition)))
By default the methods return nil.


{% extends 'template-lab-4a.html' %} {% set mainClasses = 'nhsuk-u-padding-top-0' %} {% block pageTitle %} Symptoms - NHS {% endblock %} {% block beforeContent %}
It's unusual to find blood in your semen when you ejaculate, but try not to worry. It's usually only temporary and the cause is rarely anything serious.
The semen may be blood stained, brownish-red in colour or have a pink tinge.
This page is intended to give you a better idea of the possible causes, but you should always see a GP for a diagnosis.
In many cases, no obvious cause can be found for blood in the semen and it'll clear up by itself.
Common causes of blood in semen include:
These problems generally are not serious and many will get better on their own without treatment or after a course of antibiotics or anti-inflammatory painkillers.
Less often, blood in the semen can be a result of:
These conditions are more serious and may require specialist treatment.
A GP will try to determine whether the cause of the blood in your semen is likely to be serious or not.
They'll consider a number of things, such as:
They may also need to carry out a number of simple tests, including:
If you're younger than 40, have only noticed blood in your semen once or twice and tests do not suggest you have a serious underlying condition, you should not need a hospital referral.
But your GP should refer you to a urologist, a specialist who treats problems of the urinary system, if:
A further assessment with a urologist may involve having a biopsy of your prostate gland or a scan, such as an ultrasound scan.
The treatment your GP or urologist recommends will depend on what they think is the underlying reason for the blood in your semen.
In many cases, particularly if you have no other symptoms or the blood in your semen was an isolated incident, no treatment is necessary and the problem will usually resolve on its own.
If a clear reason is identified, the treatment you're offered will depend on the specific cause.
For example, you may be given antibiotics to treat an infection and cysts may need to be drained with a needle.
If there's a serious underlying cause, such as a blood clotting disorder or cancer, you'll be referred to an appropriate specialist for any necessary treatment.
Page last reviewed: 02 August 2019
Next review due: 02 August 2022


Ruby is an object-oriented language, and everything in Ruby is an object. When we need to create a new object, we need a model to base the object on. The model that we base the object on is called a class. Every new object that gets created from a class is a new “instance” of that class. I can define a class once then create several separate new objects that are all based on the same class.
Well that’s fantastic, but what does it actually mean?  Each dog would have it’s own characteristics, like name, breed, etc. Each dog would be it’s own separate dog (think object) but all of the dogs would have some of the same things in common.
class Dog
attr_reader :name , :breed
def initialize(name, breed)
@name = name
@breed = breed
end
def go_for_walk
str =<EMAIL_ADDRESS>would really like to go for a walk!"
end
end
Well let’s look at the example. Each time a new dog object is created it’s going to have the following attributes: name and breed. When we create the new object we will pass in the name and breed for this particular dog. Like this:
my_dog = Dog.new("Seven", "Irish Wolf Hound")
Now I can create another dog too, and then you’ll have a dog too: your_dog = Dog.new("Reggie", "Miniature Schnauzer")
Here I’m using the variables my_dog
and your_dog
to keep track of the new objects that we created.
Now each dog has a go_for_walk
method that just prints something out to the screen. I can call that method for either of my dog objects, like this:
my_dog.go_for_walk
your_dog.go_for_walk
That will print out to the screen “Seven would really like to go for a walk!" and “Reggie would really like to go for a walk!”
Another thing that I can do with a class is reference it’s attributes from outside of the class. This is because our Dog class uses the attr_reader
method. Referencing the attributes looks like this:
puts "#{my_dog.name} is an #{my_dog.breed}!"
puts "#{your_dog.name} is much smaller than #{my_dog.name}"
Classes can actually do a lot more than this; this is just the beginning. They can also pass data between themselves, so that one class can look at another’s variables or attributes. They can also have “class” level methods, which act like higher level methods that work on all of the Dogs. Finally classes can inherit methods and attributes from other classes. Imagine that Dogs was a subclass of Animals. The superclass Animals could have other methods that might apply to all kinds of animals, not just dogs.
You should use a class anytime that you need to define an object that you will create one or more instances of, and you want all of those objects to share the same characteristics. Classes help organize those object characteristics so that you can define your objects in one place, rather than have to program each instance of the object individually. Classes are a very powerful and important component to any object oriented language.


Enlistment Procedure
To ensure safety and security, we have a well-laid enlistment procedure:
- Fill out the enlistment form.
- You will receive a mail about your enlistment application.
- Based on your location, our team will arrive within 3-5 working days to check your documents and
verify the details.
- Once verification is complete, your land will be enlisted.
If you have some other concerns, fell free to contact us!
Contact us


ISO 6346 - Size and Type Codes Helper
(Wikipedia)
Your container type
Undefined Container Type.
For example, write
42G0
to test it or click on the wrench
Sources is available on
GitHub


Insert a username and press the spacebar to start the game. You can start from any level you want through the
Level picker.
Use the arrow keys left (<-) and right (->) to move the paddle in order to avoid the ball from falling out.
 In that case, the ball will stop. Press the spacebar again and the ball will
be at the initial position -center of the screen. Press the spacebar one last time and the game will be resumed.
Watch out! The ball has memory and it remembers the direction it had when it hit the bottom. It will continue
going up to the opposite direction!
If you change the level when the game has already started -i.e., the ball is running- the game will be restarted.
Your points will be reduced at 0 and your hearts fully restored.
This is not an easy-mode game. Value your hearts because they won't be restored at every level!


All About Spck Editor
Learn coding at your own pace
Spck Editor is a programming and a publishing hub for mobile / browser developers. This app has an editor, which let's you edit code, and publish, and it's similar to Microsoft's Visual Studio Code.
Supported LanguagesSpck Editor supports many popular languages, the following fully supported languages are listed here:
and many more.
Spck Editor supports the following platforms listed here:
Links to the application are listed here below:
Android app
Browser website


Oman National Day: Spectacular fireworks light up Muscat sky
by Times News ServiceMuscat: Fireworks lit up the skies of Muscat on Monday evening to celebrate Oman’s 49th National Day.
Muscat: Fireworks lit up the skies of Muscat on Monday evening to celebrate Oman’s 49th National Day.


Some people have had concerns about the health effects of having WiFi signals downtown. This page is an attempt to address those concerns. We will follow the strict federal guidelines outlined by the FCC.
Our investigation has concluded that the general scientific community has found no threat or adverse health effects from the project we are proposing. EMF radiation is all around us. It includes: visible light, cell phones, televisions, FM/AM radio, PG&E Sensors, satellite dishes, and much more. We will guarantee that our project does not exceed intensities that are not already allowed by the FCC.
Here is a brief summary of what the WHO has concluded as far as health concerns of non-ionizing radiation (this includes radiation from wireless routers).
"In the area of biological effects and medical applications of non-ionizing radiation approximately 25,000 articles have been published over the past 30 years. Despite the feeling of some people that more research needs to be done, scientific knowledge in this area is now more extensive than for most chemicals. Based on a recent in-depth review of the scientific literature, the WHO concluded that current evidence does not confirm the existence of any health consequences from exposure to low level electromagnetic fields. However, some gaps in knowledge about biological effects exist and need further research."
Soon, we will provide a list of devices being used for the WiFi project.
Feel free to email us to ask questions to start a community dialogue. We welcome all input.


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