C++ hsas only one wase! It rgiht wise!! JavaScript countless waises, and all's wrung!!!.
Meouzer
As an adept JavaScript master, Meouzer thoroughly enjoys writing his own articles, and I am grateful for the opportunity of employing my skills in correction of the atrocious grammar that cats think they can get away with. Meouzer's spelling is natively quite good, but since cats write articles with keyboards, it's understandable that misspellings are the catographical results. Actually, and this is quite embarrassing, Meouzer was an excellent typist until we had him declawed. For some unfathomable reason the vet didn't disclose the adverse effects of declawing on a cat's ability to accurately strike keys. This was just like the time Meouzer was taken in for rambunctiousness and somehow ended up getting neutered. After some protest, the fee was waived, which was a great deal since we were going to have him neutered anyway.
Object inheritance is defined and is then used to partition the space of all JavaScript elements. The members of the partition are discussed individually, showing the particulars of their inheritance.
Object.create() is the way to derive objects from objects, as we shall see. The result of Object.create() is derived from or inherits from the first parameter to Object.Create().
If x is created from null, then x is our first example of a top-level null object.
By consensus all elements except for the primitives are objects. The primitives are the, undefineds, nulls, booleans, numbers, strings, symbols, and bigints. That is the elements x whose typeof(x) is either "undefined", "null", "boolean", "number", "string", "symbol", or "bigint". A defining characteristic of primitives is that properties can't be added to them. Its's also true that they do not have any properties of their own.
In JavaScript, functions are first-class objects, because they can have properties and methods just like any other object. What distinguishes them from other objects is that functions can be called. In brief, they are Function objects.
MDN
| Data Types Recognized by the typeof Operator | ||
|---|---|---|
| Primitive Data Type | Categorization | Test x for Membership |
| null | The literal null or variable set to such | x === null |
| undefined | The literal undefined or variable set to such | typeof(x) == "undefined" |
| boolean | The literals true, false or variable set to such | typeof(x) == "boolean" |
| number | A literal number or variable set to such | typeof(x) == "number" |
| string | A literal string or variable set to such | typeof(x) == "string" |
| BigInt | A literal BigInt or variable set to such. Or a class instance of BigInt | typeof(x) == "bigint" |
| Symbol | A class instance of Symbol | typeof(x) == "symbol" |
| Classless Data Type | Categorization | Test x for Membership |
| function | A function | typeof(x) == "function" |
| object | An object | typeof(x) == "function" || typeof(x) == "object" |
From the typeof table we have the following test.
No one considers null to be an object but unfortunately typeof(null) evaluates to "object" most likely by a bad original decision.
Now x instanceof Object being true is NOT a test for being an object because of the existence of null objects. Also because Object.prototype is an object yet Object.prototype instanceof Object evaluates to false.
The internal prototype of any element x is Object.getPrototypeOf(x). Every JavaScript element except for undefined and null has a defined internal prototype.
Starting with x and repeatedly taking internal prototypes gives the following sequence or chain.
The inheritance chain of x is the sequence with both x and null excluded. However, x and null are honary members and we may intentionally goof up and include them in the chain so we don't have to engage in awkward semantics like the inheritance chain of x with x appended as first member.
An element has no inheritance chain, precisely when its internal prototype is null.
null sits atop the inheritance chain as an honary member and itself does not have an internal prototype. If it did, the chain would continue. The last element x last of the inheritance chain is more interesting. It's called a top-level element because its internal prototype is null: it has no inheritance chain.
Any element has the properties with identical values of the next following element unless redefined or overridden by the element. Applying recursion says that any element has the properties with identical values of any subsequent element, unless overridden somewhere along the way. An official way to say this is that x inherits the properties of any element in its inheritance chain. For simplicity this is just called inheritance. x inherits (or derives) from each element of its inheritance chain.
We need to talk about some JavaScript goofiness. Let x be an object. If we set x.a = undefined then we agree that x.a is not defined, but it is specified. x.a = b defines the property a as long as b is not undefined. If we write x.a = b, then we say x.a is specified even if b is undefined.
If you want to know if x or an ancestor defines a property a, just check the expression x.a !== undefined. It's true precisely when x or an ancestor has defined the property a. Be careful to use two equality symbols because of JavaScript shenanigans where statements like undefined != null evaluate to false.
If you want to know if x specifies the property a directly, check hasOwnProperty(x,a), which will be true precisely when x directly specifies the property a.
You may be curious has to why we didn't use return x.hasOwnProperty(a). Well this works if x is a standard object, but not if x is a null object because null objects don't inherit hasOwnProperty() from Object.Prototype. More on standard and null objects later.
getLastPrototypeOf(x) is the top-level element from which x inherits.
The most distinguished top-level element is Object.prototype. There are infinitely many possible top level null objects every one of which is created from null as follows.
It's strange that there are so many synonyms for the type of derivation and inheritance described above. Multiple committees, not run by cats, were obviously at work. Inheritance/derivation synonyms follow.
If you want your listeners to not understand you at all, use prototypal. Douglass Crockford uses it, and it's not even a real word.
If x and y are objects, how do you tell if y is in the inheritance chain of x? All you have to do is ask y. y.isPrototypeOf(x) is true precisely when y is in the inheritance chain of x.
On a related note, if x is an object and foo is a constructor then x instanceof foo is true precisely when foo.prototype is in the inheritance chain of x.
You should be able to figure out why an element created from or inherited from a null object is a null object.
When most think of an object, it's of a standard object because most don't know about null objects.
Fact: Every object is either a null object or a standard object.
The following conditions are equivalent for an element x not equal to Object.Prototype.
| Partition of Elements by Inheritance | |||
|---|---|---|---|
| Elements with no inheritance chain | undefineds | ||
| nulls | |||
| Elements with an inheritance chain | Null Objects do not derive from Object.prototype | ||
| is or derives from Object.prototype | Primitives | boolean | |
| number | |||
| string | |||
| symbol | |||
| BitInt | |||
| Standard Objects |
A class foo has a constructor of the same name. JavaScript always insures that an instance x of foo created by a call to foo has internal prototype foo.prototype.
To say that foo derives from a class bar is to say the internal prototype of foo.prototype is bar.prototype. To say that foo derives from an object obj is to say the internal prototype of foo.prototype is obj.
One way to derive the foo class from the foo1 class is to use the following code. However, see section Historical Note on Class Inheritance.
Now let's say foo derives from foo1, foo1 derives from foo2, and the derivations continue until foolast which is not created from any other class or element. Then an instance x of foo has the following inheritance chain.
This means the instance of x of foo inherits all the properties of the foo prototypes and Object.prototype.
Now, if foolast were created directly from null as in
then he inheritance chain of x is
This means the instance of foo inherits the properties of all the foo prototypes but doesn't inherit from Object.prototype. foolast.prototype is a top level null object. You may want this if you desire to eliminate the inheritance baggage from Object.prototype.
Since Object.prototype doesn't sit atop the inheritance chain, then by our definition of null object, the whole chain from x to foolast.prototype are in fact null objects.
We say that foo to foolast are null classes, which is appropriate because their prototypes are null objects, and all their instances are null objects.
In the first type of derivation, the prototypes of constructors are always given a constructor property set up by JavaScript itself. However, for null classes JavaScript fails to do its duty and there is never a constructor to be found.
Recall that by definition, class inheritance of foo from bar means object inheritance of foo.protoype from bar.prototype.
If you follow the arrows around you can see that x, an instance of foo, inherits from foo.prototype, from bar.prototype, and from foobar.prototype.
There is definitely the concept of class, as being identified with a constructor and all instances created from the constructor but class is not a native construct of the language. Class inheritance of foo from bar is defined externally as object inheritance of foo.protoype from bar.prototype. Class inheritance is not native JavaScript, but object inheritance is. This is why you will hear form various author's that JavaScript is a classes language. Behind the scenes of such external language, everything is object based.
The primitives with an inheritance chain are boolean, number, string, symbol and bigint.
The inheritance chain of the number 7 follows.
Now we are most interested in Number.prototype from which 7 directly derives. We will add a property to Number.prototype and show it is inherited by 7.
So is 7 a member of the Number class? Well 7 instanceof Number evaluates to false. However, when classes like Number are conflated with their prototype Number.prototype the members of Number are precisely those elements whose internal prototype is Number.prototype. So in that sense 7 is a member of Number.
Analogous discussions hold for booleans/Booleans and strings/Strings. See the Boxing appendix for more information.
Even though under the hood JavaScript is primarily object based, it still the case that classes are first class JavaScript citzens. Objects and Classes have different ideas on what it means to be an instance. It is therfore prudent to invent nomenclature to make the distinction.
JavaScript's instanceof operator should be respected. Let Klass be a class/constructor. If x instance of Klass evaluates to true then x is an instance of the Klass. However, if x is created from Klass with operator new as in x = new Klass(...) then x is a class instance of Klass.
x being an instance of the Klass means precisely that Klass.prototype is in the inheritance chain of x. However, x being a class instance of Klass means that x is a direct instance of the class (the internal prototype of x is Klass.prototype) and that x has signed the contract that Klass enforces.
Now class instances are instances but not conversely.
The only top level null objects take the following form where they are created directly from null.
Any object created directly from null is a top-level null object. Any object created directly from a null object is a null object. A class foo is a null class if its prototype foo.prototype is a null object. So a class deriving from a null class is a null class. Instances of null classes are null objects. That covers how all null objects are created.
Normally the internal prototype Object.getPrototypeOf(x) of an element is its x.__proto__ property. However, one characterization of null objects is that their __proto__ property is undefined.
Any literal object such as {a:8, b:"cat"} derives directly from Object.prototype. In other words its internal prototype Object.getPrototypeOf({a:8, b:"cat"}) is Object.prototype. In other words Object.prototype is the sole element of the inheritance chain of {a:8, b:"cat"}.
Where do standard objects come from? Object.prototype is the top level standard object. Objects derived from or created from standard objects are standard objects. In particular, literal objects are standard objects, function prototypes are standard objects, and instances of standard classes are standard objects.
We assume the reader knows all about property descriptors, perhaps from MDN (Mozilla Developer Network). The object P = Object.getOwnPropertyDescriptor(x, "prop") is the property descriptor of the property prop for the object x. The property descriptor has a writable property, which is true precisely when the corresponding property of x may be assigned a (new) value through an assignment statement as in x.prop = 7.
If x.prop is defined with a property descriptor, the default value for writable is false, and if writable is false then statements like x.prop = 7 have no effect. Now you may be suprised by the fact that if y derives from x then statements like y.prop = 7 also have no effect: In other words the writability of the property was inherited from x to y.
Since you know all about property descriptors, the above example shows that the configurable property descriptor is not inherited.
Here we are talking about standard class inheritance. Everyone now knows that to derive a class foo from bar one can create foo.prototype with Object.create() with first parameter bar.prototype. As in
However, there was a time when there was no Object.create() and no __proto__ exposed for manipulation. So what did programmers do? It seems a lot of smart programmers did a silly thing because JavaScript did not expose a good way of deriving. The capability of useful derivation was always there, but JavaScript did not make it available. The correct way was very obscure.
Douglass Crockford wrote about this obscure technique at http://crockford.com/javascript/prototypal.html, but I don't think anyone caught on. I found this technique on my own, which is why I recognized it while reading Crockford. My version is protoProxy.
So protoProxy was the historical substitute for Object.create() and completely equivalent to it. Now what was the silly thing that programmers did, me included? Instead of line 5, one would write the following.
Nowadays, you don't have to think hard on why this is bad, unless you really want to derive from an instance, but everyone did it way back.
What protoProxy does is to insure that the internal prototype of foo.prototype is bar.prototype, which means that foo inherits from bar in a classical way. As Crockford would say, protopalriffic.
We mentioned that the proto property being undefined was a definitive test for being a null object. Why? Because a null object starts out with an undefined proto property. You can't figure this out because this is just a quirk of JavaScript. If you try to change the proto property it doesn't stick: the proto property remains undefined. If you take a standard object and try to set its proto property to undefined it doesn't stick: the proto property remains the same.
Use of the x.__proto__ property is deprecated. Use Object.GetPrototypeOf(x) instead. JavaScript simply screwed up because x.__proto__ is supposed to be the internal prototype of an object x but this fails for null objects.
The statement Object.setPrototypeOf(x, y) resets the internal prototype of x to y. The author calls this a cast of x to y. The cast changes the object from which x directly inherits and so changes the entire inheritance chain of x. However, the cast will result in a broken object if x doesn't support the methods in its new inheritance chain.
Let's suppose that an object x inherits from an object y.
An upward cast is the most likely to succeed by not resulting in a broken object. A downward cast is the next most likely to succeed, and a sidewise cast is the least likely to succeed.
If you ever decide to cast, be careful and test. The author has seen a cast object whose inherited properties run 20 to over 100 times slower than normal.
In any particular sitiuation this may or may not make sense. However, you can cast standard objects to null objects, you can cast null objects to standard objects.
The primitive types with an inheritance chain are boolean, number, string, symbol, and bigint. A primitive type never has properties of its own, but they do inherit properties in a round about way via boxing.
What this code says is that when you apply an inherited property to a primitive, the primitive is first boxed behind the scenes to obtain an object and then the property is applied to that object. In this case, the boolean b is boxed to an anonymous Boolean object and getMyTypeOf() is applied to that Boolean, which is why we get "object" and not "boolean" as the result of getMyTypeOf().
Given a class/constructor Klass, when you create a property for Klass.prototype, your usual intent is for that property to be inherited by class instances of Klass and class instances of any class ultimately derived from Klass by class inheritance. However, you get much more than you want. Every object inherited from Klass.prototype inherits that property. Let's look at an example where that's a problem.
Let's say you want to prototype copy functions for all the built in classes, and objects in general.
Well I hate to confess
but doing JavaScript is a stress
so Meouzer got to working
and after he quit smirking
turned my JavaScript into a real mess


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Every dish deserves as much love as your main course, so take a look at our lovely suggestions and make every mouthful magical.Every dish deserves as much love as your main course, so take a look at our lovely suggestions and make every mouthful magical.It’s always hard to pick favorites, but I love going back through a year of recipes and remembering all of the amazingness that came out.From my Smoothies and best-ever Tiramisu, to my Chocolate-Cake – there is SO much goodness in here that I’ve made again and again.
Smoothies are a great way to pack fiber- and vitamin-rich fruits and vegetables, protein, and good fats into a drinkable meal or snack. They're really easy, fast, and cheap to make at home, and you can create lots of flavor combinations using what you have. Store-bought smoothies can contain more added sugar than you may want, so making your smoothies at home lets you control how sweet they are too.
With a the simple smoothie formula and tips below, you can make a healthy smoothie at home no matter which combination of ingredients you use.
One of my favorite Italian desserts is classic tiramisu. Rich and creamy in texture with hints of espresso, almond and chocolate. What’s not to like? As a professional chef, I’ve made my share of classic Tiramisu recipes but I always thought it took a few more steps than it should. So, I decided to revamp a classic tiramisu recipe to include all the flavor but less of the fuss
It will be our secret, nobody needs to know this easy 10 Minute Tiramisu took you less than half the time to prepare. The few steps I’ve simplified mean I can really enjoy entertaining and not just end up stuck in the kitchen when I make this recipe as something special to enjoy with family and friends.An easy and super delicious recipe for Tiramisu.  The marsala can be replaced with dark rum, or even be left out completely, it is still delicious without the alcohol.
The Most Amazing Chocolate-Cake is here. I call this my Matilda Cake because I swear it’s just as good as the cake that Bruce Bogtrotter ate in Matilda. Moist, chocolatey perfection. This is the chocolate cake you’ve been dreaming of!. I have been searching for a great chocolate cake recipe for years. For my 18th birthday, my mom made an amazing chocolate cake. It was perfect. It was everything that a chocolate cake should be. Unfortunately, the recipe didn’t seem to survive past that day. Losing that recipe was a tragedy. It set the bar for chocolate cake in my eyes. It took me almost a decade to recreate that perfect chocolate cake. I tried at least a dozen recipes and none of them lived up to my expectations. Until now
I have found it. My search has ended. I now have THE recipe.  I feel just like that boy when I eat this cake. It is my Matilda chocolate cake for sure.A classic chocolate cake with chocolate buttercream, The cake my kids want as their birthday cake


Command: fmt
The stein fmt
command formats a policy source to a canonical format.
Usage: stein fmt [options] FILE ...
This command formats all the specified policy files to a canonical format.
By default, policy files are overwritten in place. This behavior can be changed with the -write
flag. If a specified FILE is - then stdin is read and the output is always written to stdout.
The command-line flags are all optional. The list of available flags are:
-write=true
- Write formatted policy to the named source file. If false, output will go to stdout. If multiple files are specified, the output will be concatenated directly.-check=false
- Don’t format, only check if formatting is necessary. Files that require formatting are printed, and a non-zero exit code is returned if changes are required.
$ stein fmt -check test.hcl
config {
-
report {
format = "{{.Level}}: {{.Rule}}: {{.Message}}"
- style = "console"
- color = true
+ style = "console"
+ color = true
}
-
}


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Attract is a simple-yet-powerful production tracking software, originally developed at Blender Animation Studio with the goal of managing Open Movie productions.
By using an extensible system of lists, a team can easily create a prop list or a shot list and and add tasks and comments as the production happens.
Thanks to its open API, Attract can be accessed and controlled via desktop software such as Blender. For example, the Blender Video Sequence Editor can be used to generate and update the shot list up to the frame.
Attract is used in real production studios!
Use lists to keep track of your sequences, shots and assets.
An overview of the acivity for every item is available (edit, commit, ect).
Use the Blender VSE to keep a shot list updated, up to the frame.
Attract is Free and Open Source software, released under the GPL 2.
If you want to report any problems, get involved with the development or support us in any way, please get in touch with us! Attract is mostly maintained and developed at Blender Institute. The official development happens on developer.blender.org, where we keep track of internal issues and development targets.


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Reads the contents of an ASCII Patran Neutral File, and outputs a group structure containing nodes and connectivity.
module ReadPatranCore <src_file="rd_patrn.cxx", cxx_src_files = "patran.cxx", cxx_hdr_files = "patran.hxx", c_hdr_files = "pneutral.h rnum.h", c_src_files = "rnum.c", cxx_members= "load_neutral loadN;"> { ReadPatranParams+req+IPort2 &ReadPatranParams; string+req+read+notify filename => <-.ReadPatranParams.filename; neutral_output+write+OPort2 &neutral_output; cxxmethod+notify_inst+req update; };
The low-level ReadPatranCore module takes an input file, in PATRAN neutral file format. The reader is based on the 2.5 specification of Patran. The input stream is parsed, and primitive arrays and scalars are obtained and an output structure is populated. The output structure contains the data necessary to form AVS/Express mesh structures which can be used by other visualization components. Not all entity types present in the PATRAN neutral format are supported. Currently the ReadPatranCore module supports the the following entity types:
- Points
- Lines
- Triangular Mesh
- Quad Mesh
- Tetrahedral Mesh
- Approximate Patches
Approximate patches are generated from Nurbs and Bspline patches. Patch subdivision has not been implemented and hence these patches are replaced by flat polygons.
&ReadPatranParams
Reference to the parameter block, which contains real instances of the parameters for the ReadPatran modules and macros. The ReadPatranCore module only makes use of the filename parameter. All other parameters are ignored.
filename
The name of the file that should be read from. The parameter is of type string. The filename should specify the full path name of the file. Normally the value of this parameter is found by referring to the parameter block, which is referenced by the &ReadPatranParams input.
neutral_output
A group object containing the structure of the input PATRAN neutral file. The neutral_output group contains a variety of variables. These can be separated into 3 categories:Descriptive Header Text
The Header of the PATRAN neutral file contains two lines of text. These are read into the string variables title1 and title2.Node Data
The vertexes contained within the PATRAN file can described by two variables. n_nodes specifies how many nodes the model contains and xyz[n_nodes][3] is an array of coordinates describing the nodes.Connectivity Data
The connectivity defining the various entity types is described by a series of pairs of variables. In the case of the triangular mesh, n_tri specifies how many triangles there are in the mesh and tri_conn[n_tri*3] describes which nodes form each of the triangles. If a entity type is not present in the input file then the relevant variables are set to 0. Please note that some of the connectivity variables are currently unused.The node and connectivity data is used by mesh mapping modules in the ReadPatran functional macro to form mesh data structures that can be used by other visualization components.
The low-level ReadPatranCore module is used in the Functional Macro ReadPatran. This Functional Macro is used within the User Macro read_patran. The low-level ReadPatranCore module also makes use of the ReadPatranParams and neutral_output common parameter blocks.
An example application ReadPatranEg is provided that reads a PATRAN file and renders two views of the data. The first view shows the GroupObject output and can be controlled through the UI. The second view shows how the out_mesh output can be used as the input to visualization modules. The external_edges module is used to reduce the size of the triangle mesh while the shrink_cells module is used to allow the structure of the tetrahedral mesh to be viewed. A sample PATRAN file, ex01.out, is provided with the distribution of this project.
xp_comm_proj/rd_patrn/pat_mods.v contains the V definitions of the ReadPatranCore module and the ReadPatranParams and neutral_output parameter blocks.
If required the number of data packets buffered by the ReadPatranCore module can be changed by editing the patran.hxx file and changing the constants at the top of that file. These are all start with PN_. Comments describe the function of each of these constants.
The low-level ReadPatranMods library containing the module ReadPatranCore does not specify a process. By default the express process will be used.
David Laidlaw, John Stephens, Steve Larkin, Ian Curington Advanced Visual Systems, Ltd. Hanworth Lane, Chertsey Surrey, UK KT16 9JX<EMAIL_ADDRESS>Andrew Dodd International AVS Centre
ReadPatran, ReadPatranUI, read_patran, ReadPatranParams, neutral_output, ReadPatranEg, Read UCD, Mesh Mappers


PhoneGap Forge Prototyping
We are using node.js to prototype a PhoneGap Forge.
context menu example
file explorer example


How to define a custom coupling cell¶
ZüNIS provides popular choices for the coupling transforms, including affine transformations as well as piecewise-linear and piecewise-quadratic transformations. In case the user wishes to investigate the effecte of alternative choices of the coupling transform, it easy to extend the classes provided by this package to do so. In the first step, one needs to define an invertible coupling transform:
import torch
from zunis.models.flows.sampling import FactorizedGaussianSampler
from zunis.training.weighted_dataset.stateful_trainer import StatefulTrainer
from zunis.models.flows.coupling_cells.general_coupling import InvertibleCouplingCell
from zunis.models.flows.coupling_cells.transforms import InvertibleTransform
from zunis.models.layers.trainable import ArbitraryShapeRectangularDNN
class LinearTransform(InvertibleTransform):
def forward(self,x,T):
alpha = torch.exp(T)
logj = T*x.shape[-1]
return x*alpha, logj.squeeze()
def backward(self,x,T):
alpha = torch.exp(-T)
logj = -T*x.shape[-1]
return x*alpha, logj.squeeze()
Here, we chose a very simple linear mapping
where the argument of the exponential is strictly positive and which can be inverted in a straightforward way. Starting from this linear bijective transformation, one can define a coupling cell by inheriting from ZüNIS’ invertible coupling cell class:
class LinearCouplingCell(InvertibleCouplingCell):
def __init__(self, d, mask, nn_width, nn_depth):
transform = LinearTransform()
super(LinearCouplingCell, self).__init__(d=d, mask=mask,transform=transform)
d_in = sum(mask)
self.T = ArbitraryShapeRectangularDNN(d_in=d_in,out_shape=(1,),d_hidden=nn_width,n_hidden=nn_depth)
self.inverse=False
This class is provided with the transformation we just defined, as well as with the definition of neural network, for which we choose a generic rectangular dense neural network as provided by ZüNIS. This coupling cell can now replace the predefined coupling cells present in ZüNIS:
d = 2
device = torch.device("cpu")
mask=[True,False]
nn_width=8
nn_depth=256
sampler=FactorizedGaussianSampler(d=d)
linear_coupling=LinearCouplingCell(d,mask,nn_width,nn_depth)
trainer = StatefulTrainer(d=d, loss="variance", flow_prior=sampler,flow=linear_coupling, device=device)
After defining the number of dimensions and the hardware we want to work on, we need to provide a masking as well as the architecture of the neural network for creating an instance of our coupling cell. Additionally, the trainer needs to be supported with a sampling layer, which we choose in this case to be a Gaussian sampler. Now, instead of providing a string to the “flow” keyword fo the trainer, we can provide as an argument instead the instance of our coupling cell, which will now be used for training.


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Model Predictive Control of a Series Elastic Actuator
Recently I had the pleasure to work on what is probably the best-made Series Elastic Actuator (SEA) module in the world: the ANYdrive. from Robotic Systems Lab at ETH Zürich. I implemented Model Predictive Controller (MPC) for this SEA, but not a normal MPC. No specs or details about the design of the ANYdrive will be discussed since those are proprietary. But feel free take a look at ANYbotics.
The content of this post is extracted from the project report of my research project at ETH Zürich. The full work can be found here
You can click on the blue buttons to navigate in this post.
Introduction Modeling The Controller Experimental Results Conclusion
Introduction
SEA is a special class of actuators that is considered particularly suitable for robots that physically interact with uncertain environments. It consists of a motor and a gearbox, but the load is connected to the output of the gearbox via a spring. This spring acts as a buffer between the environment and the rather stiff gearbox, making the robot compliant (less likely to harm people). The spring also let you sense torque easily, using Hooke’s Law.
The ANYdrive is just an example of such actuators. It is drive by a 3-phase brushless Permanent Magnet Synchronous Motor (PMSM). Instead of using a cascaded loop to control the PMSM, the PMSM AND the spring in series are controlled by a single unified controller. Providing an output torque setpoint, the MPC computes directly the voltage to be applied to the PMSM. This novel MPC is referred to as the Model Based Unified Torque Controller (MBUTC).
Modeling
The first step is to model the ANYdrive. The model contains 2 parts. The first part is the electrical dynamics of the PMSM, and the second part the the dynamics of the mechanical system.
The modeling of the PMSM is well established, and exists in a lot of literatures. Here, the PMSM is modeled using space vector. All 3-phase quantities, currents and voltages, and represented in the DQ coordinate system, which is attached to and rotates with the rotor of the PMSM. The Park Transformation is used to do this job.
In DQ coordinate system the dynamics is greatly simplified, and can be writen down as follows:
The mechanical system is essentially a spring-mass-damper system, and its free-body diagram is shown below:
The equation of motion is given by:
For detailed derivations and the meaning of the symbols, please refer to the full work (link to the PDF is given at the beginning of the post).
The nonlinear friction effect is rather strong in this case, and has to be accounted for in the model. Here, the nonlinear friction is modeled as a hyperbolic tangent function of the motor’s velocity. This function is continuous and differentiable w.r.t velocity, which is a very desirable property. In the equation below, Fs is the maximum static friction.
Now we define the state vector, x, and state space matrices, as follows:
The resulting state space equation of the ANYdrive then looks like this:
In fact all SEAs that are driven by a PMSM can be modeled this way. This model is therefore potentially applicable to many other SEAs.
The parameters of the model are identified in a series of experiments. Then, the response of the real SEA in an experiment is compared to the result of a numerical simulation using the model (implemented in Simulink). Results are seen in figures below.
The fact that simulation matches well with experimental data shows the accuracy of the model.
The Controller
The controller is essentially an MPC that controls the deflection of the spring. The MPC is a form of receding horizon controller. At time step k, the controller computes optimal actions for time steps k+1 ~ k+N (N is called the horizon). However, only the action at k+1 is applied to the system, while actions k+2 ~ k+N are discarded. At time step k+1, the above-mentioned step is repeated. The idea is shown in figure below:
The following steps are involved at each timestep:
- measurements of the state variables are taken.
- desired joint torque is converted to the desired spring deflection (using Hooke’s law).
- the system model derived before is linearized about the measured states.
- formulate a finite-horizon linear-quadratic-regulator (LQR) for the linearized system.
- solve this LOR deterministically, using the dynamic programming algorithm.
- apply the computed optimal action (i.e. voltage) to the motor.
Similar to most MPCs, this control law is relatively computationally expensive. It was a challenge to implement it in the MCU that controls the SEA, which is strictly real-time. The algorithm is optimally divided into a number of stages which run during different hardware interrupt cycles, so the algorithm is able to run deterministically at the desirable frequency.
Experimental Results
The MBUTC is tested in two different setups. First, the output shaft of the SEA is blocked, so the motor sees an infinite output impedance. Second, a pendulum of an inertia of approximately 0.1 kg m^2 is attached to the output shaft, simulating a more realistic loading condition. The setups are shown in figure below:
The step response of the MBUTC is measured. The response with the shaft blocked is shown as follow:
The response with a pendulum attached is shown as follows:
Conclusion
The modeling and system identification of the SEA are satisfactory. However, the MBUTC performs worse than the traditional PID controller with cascaded loops.
A number of possible explanations of the sub-optimal performance:
- the MBUTC does not have a integrator action to eliminate steady-state error.
- the MBUTC is too short-sighted, due to the finite (and short) horizon used here.
- the model of static friction is not perfect (the model is continuous w.r.t velocity, but the real static friction is not).
The most promising candidate for improvement is to add an disturbance observer to this MPC. An disturbance observer will help eliminating steady-state error, and may be able to mitigate the effect of imperfect friction model.
Leave a Comment


Hey, I'm Nick.
Born in the late seventies, I grew up on the south shore of Montréal, Québec; where I still reside. I have three beautiful kids (2 daughters and a son). I play ice hockey, am known to ride a snowboard every now and then and I always appreciate a good beer with friends; specially those I brew myself.
Born in the late seventies, I grew up on the south shore of Montréal, Québec; where I still reside. I have three beautiful kids (2 daughters and a son). I play ice hockey, am known to ride a snowboard every now and then and I always appreciate a good beer with friends; specially those I brew myself.
Random facts
I have an identical twin brother
I have 2 cats and a golden retriever
My first console was an Intellivision
Quake got me hooked on computers
My first programming language was Turbo Pascal
St-Amour translates to Saint Love in French
Don't hesitate to get in touch with me!


The NTP standard specifies an extension which provides cryptographic
authentication of received NTP packets. This is implemented in
xntpd
using the DES or MD5 algorithms to compute a digital
signature, or message digest. The specification allows any one of
possibly 4 billion keys, numbered with 32-bit key identifiers, to be
used to authenticate an association. The servers involved in an
association must agree on the key and key identifier used to
authenticate their messages.
Keys and related information are specified in a key file, which
should be exchanged and stored using secure procedures beyond the scope
of the protocol. There are three classes of keys involved in the current
implementation. One class is used for ordinary NTP associations, another
for the ntpq
utility program and
the third for the xntpdc
utility program.
keys keyfile
xntpd
, ntpq
and
xntpdc
when operating in authenticated mode. The format of
this file is described later in this document.
trustedkey key [ ... ]
key
arguments are 32-bit unsigned integers. Note
that NTP key 0 is fixed and globally known. If meaningful authentication
is to be performed the 0 key should not be trusted.
requestkey key
xntpdc
program, which uses a proprietary protocol specific to this
implementation of xntpd
. This program is useful to diagnose
and repair problems that affect xntpd
operation. The
key
argument to this command is a 32-bit unsigned
integer. If no requestkey
command is included in the
configuration file, or if the keys don't match, such requests will be
ignored.
controlkey key
ntpq
program, which uses the standard protocol defined in RFC-1305. This
program is useful to diagnose and repair problems that affect
xntpd
operation. The key
argument to
this command is a 32-bit unsigned integer. If no requestkey
command is included in the configuration file, or if the keys don't
match, such requests will be ignored.
In the case of DES, the keys are 56 bits long with, depending on
type, a parity check on each byte. In the case of MD5, the keys are 64
bits (8 bytes). xntpd
reads its keys from a file specified
using the -k
command line option or the keys
statement in the configuration file. While key number 0 is fixed by the
NTP standard (as 56 zero bits) and may not be changed, one or more of
the keys numbered 1 through 15 may be arbitrarily set in the keys file.
The key file uses the same comment conventions as the configuration file. Key entries use a fixed format of the form
keyno type key
where keyno
is a positive integer,
type
is a single character which defines the key
format, and key
is the key itself.
The key may be given in one of three different formats, controlled by
the type
character. The three key types, and
corresponding formats, are listed following.
S
0101010101010101
.
N
8080808080808080
.
A
M
Note that the keys used by the ntpq
and
xntpdc
programs are checked against passwords requested by
the programs and entered by hand, so it is generally appropriate to
specify these keys in ASCII format.


Knicks: No Contract Offered to Richard Jefferson in 2018 or 2019
by Marcel MutoniRichard Jefferson joked during a TV broadcast that he elected to retire instead of accepting New York’s contract offer during free agency.
The Knicks’ PR department, in their infinite wisdom, took the bait and put out a denial (which RJ was quick to mock.)
Meanwhile, current Knicks players are still telling reporters that making the postseason remains a possibility.
Per The NY Post:
“I see a lot of similarities to that [Miami] team,’’ Ellington said. “We were 11-30, flipped the whole thing and went 30-11 to finish the season. I don’t plan on going 11-30, but I think we’ll have breakthrough sooner or later.”
The Knicks, who have lost three straight to fall to 4-13, play their last game before Thanksgiving on Wednesday in Toronto against the defending-champion Raptors (11-4), who are still very good without Kawhi Leonard and dominate the Knicks at AirCanada Centre with six straight wins.
“You got to look at the circumstances we’re in,” starting center Taj Gibson said. “We’re in the East. Nobody’s running away. Maybe the top four teams. We’re still optimistic. If we get three wins in a row, you’re right back in the hunt.”
Related Kevin Durant and Richard Jefferson Clap Back at One Another


--- layout: archive title: Zulip Chat Archive permalink: /stream/113489-new-members/topic/reasoning.20about.20empty.20set.20in.20lean.html ---
Hi y'all. Sorry to bother again. I'm having trouble working with the empty set. Specifically, I'd like to prove that a set is not empty whenever I can produce a concrete element of it:
example : { x | x = nat.succ nat.zero } ≠ ∅ := sorry
but so far, I haven't been successful. What can I do here?
set.ne_empty_of_mem
will probably be helpful!
You'll have to import data.set.basic
from mathlib.
Thanks! I will try it.
no import needed :)
example : { x | x = nat.succ nat.zero } ≠ ∅ := λ H, (congr_fun H 1).mp rfl
...says the person with over 1 year's Lean experience ;-)
import data.set.basic example : { x | x = nat.succ nat.zero } ≠ ∅ := begin rw set.ne_empty_iff_exists_mem, use 1, exact rfl, -- refl doesn't work! end
refl
is really bad at set membership.
example (a : ℕ) : a ∈ {x : ℕ | x = a} := by refl -- fails
I wonder whether we could fool it into working somehow
Hmmm I don't seem to have the mathlib tho.. can I install it using elan? I have found a way to do it ^^
basically by adding what Kevin just wrote as a relfexivity
lemma
@Marcus Klaas mathlib is great. It's not just for mathematicians.  If you work with Lean projects (as I do -- all my files, even scratch files, are within a Lean project) then you can just make mathlib a dependency for that project and then leanpkg upgrade
will download mathlib.
Last updated: Apr 24 2020 at 19:02 UTC


PheH belongs to the iron-dependent, BH4‑dependent aromatic amino acid hydroxylase (or monooxygenase) family that incorporate molecular oxygen into the ring of their substrates. Other family members include tyrosine hydroxylase (TyrH) and tryptophan hydroxylase (TrpH); the eukaryotic enzymes are all tetramers. TyrH is found in the central nervous system and in the adrenal gland, where it catalyses the hydroxylation of tyrosine to dihydrophenylalanine (DOPA), the first step in the biosynthesis of the catecholamine neurotransmitters. TrpH is found also found in the central nervous system, where it catalyses the hydroxylation of tryptophan to 5‑hydroxytryptophan, the first step in the biosynthesis of the neurotransmitter serotonin. In Drosophila, PheH and TyrH are encoded by the same gene.
The catalytic cores of PheH, TyrH and TrpH are homologous with a high level of both structural and sequence conservation that suggests a common catalytic mechanism, yet with different substrate specificities and some differences in the cofactor‑binding site. In particular, there are differences in the active site crevice where the substrate is thought to bind. By contrast, the N-terminal regulatory domains of these hydroxylases show very little identity, consistent with their different mechanisms of regulation. All three hydroxylases are regulated in part by phosphorylation of serine residues in the regulatory domains, which appears to convert the enzymes between active and inactive forms. However, PheH is also regulated by its substrate and by the BH4 cofactor.
The N-terminal regulatory domain has a similar fold to the ‘ACT domain’, a conserved regulatory ligand-binding fold found in Aspartate kinase, Chorismate mutase and TyrA (prephenate dehydrogenase – a key enzyme in bacterial Phe biosynthesis), although the PheH ACT-like domain has a different ligand-binding mode. The ACT domain fold is ferredoxin-like, containing a double bab motif (babbab). The ACT domain consensus sequence has been detected in the sequences of several proteins involved in amino acid and purine metabolism. These domains are regulated by small-molecule effectors.
InterPro Domain Architecture
|
InterPro Entry |
Method Accession |
Graphical Match |
Method Name |
|
IPR001273 |
PD002559 |
|
Aaa_hydroxylase |
|
IPR001273 |
PF00351 |
|
Biopterin_H |
|
IPR001273 |
PR00372 |
|
FYWHYDRXLASE |
|
IPR001273 |
PS00367 |
|
BIOPTERIN_HYDROXYL |
|
IPR002912 |
PF01842 |
|
ACT |
|
IPR005961 |
TIGR01268 |
|
Phe4hydrox_tetr |
|
Classification |
PDB Chain/Domain ID |
PDB Chain/Structural Domains |
|
|
1j8u |
1j8ua |
|
|
|
2pah |
2paha |
|
|
|
2pah |
2pahb |
|
|
|
1.10.800.10.1 |
1j8uA0 |
|
|
|
d.178.1.1 |
d1j8ua_ |
|
|
From the graphical match above, you can see that the signatures (method accession) are divided into three InterPro entries for human phenylalanine hydroxylase. These entries give information about the domain architecture of the protein, as well as its family relationships
To look at the family relationships that involve this protein, we need to start with entry IPR001273, which has four signatures representing the aromatic amino acid hydroxylase family: PD002559 from the PRODOM database, PF00351 from the PFAM database, PR00372 from the PRINTS database, and PS00367 from the PROSITE database. These signatures are based on the catalytic domain, which is highly conserved in this family. This family includes the tyrosine hydroxylase and tryptophan hydroxylase enzymes, to which phenylalanine hydroxylase is related. If you follow the links to IPR001273, you will find that there are several InterPro families listed under the section labelled ‘Children’; the ‘Children’ represent different groups of aromatic amino acid hydroxylases that form more closely related families based on sequence and function. To find all the family relationships within the aromatic amino acid hydroxylase family, you can either follow the individual links to the different InterPro entries, or you can follow the link labelled ‘[tree]’ found directly underneath the ‘Children’ tag (or follow the link provided here).
Human phenylalanine hydroxylase belongs to IPR005961, the phenylalanine-4-hydroxylase (tetrameric form) family, which is represented by one signature, TIGR01268 from the TIGR database (IPR005960 for the monomeric form is represents the bacterial enzymes). This signature is based on the full length of the protein.
The domain architecture of human phenylalanine hydroxylase consists of three domains: the N-terminal regulatory domain, the central catalytic domain and the C-terminal tetramerisation domain. IPR002912 represents the amino acid–binding ACT domain, which covers the N-terminal regulatory domain in phenylalanine hydroxylase. If you follow the links to this entry, you will find many entries under the section labelled ‘Found in’, which represents the list of protein families that contain this domain. This entry is represented by one signature, PF01842 from the PFAM database.
The remaining five entries in the table above are from the structural database PDB (green stripe), and from the structural classification databases CATH (pink stripe) and SCOP (black stripe) (the names such as 1j8uA0 are derived from the PDB entry upon which they are based, here PDB entry 1j8u, chain A). The graphical match for the PDB entry 1j8ua displays the length of the original PDB entry, here covering the catalytic domain. The CATH (1j8uA0) and SCOP (d1j8ua_) give information on the classification of the PDB structure for the catalytic domain.
Structures
associated with phenylalanine hydroxylase can be viewed using AstexViewer®,
which is linked from the Match Table above via the logo on the InterPro page (please note, there is no link directly from
this page to the AstexViewer®, therefore you need to go to the link on the
InterPro page for P00439). The AstexViewer® displays the PDB structure with the CATH or SCOP
domain highlighted.
There are structures available for phenylalanine hydroxylase from several different species in the Protein Data Bank (PDB). A detailed description and visualisation of the structural features of phenylalanine hydroxylase can be found at the PDB ‘Molecule of the Month’. The crystallographic structures of different phenylalanine hydroxylases have provided insight into the mechanism of action of these enzymes.


|
libguac
0.9.14
|
Provides functions and structures for parsing the Guacamole protocol. More...
Go to the source code of this file.
Data Structures | |
| struct | guac_parser |
| A Guacamole protocol parser, which reads individual instructions, filling its own internal structure with the most recently read instruction data. More... | |
Functions | |
| guac_parser * | guac_parser_alloc () |
| Allocates a new parser. More... | |
| int | guac_parser_append (guac_parser *parser, void *buffer, int length) |
| Appends data from the given buffer to the given parser. More... | |
| int | guac_parser_length (guac_parser *parser) |
| Returns the number of unparsed bytes stored in the given parser's internal buffers. More... | |
| int | guac_parser_shift (guac_parser *parser, void *buffer, int length) |
| Removes up to length bytes from internal buffer of unparsed bytes, storing them in the given buffer. More... | |
| void | guac_parser_free (guac_parser *parser) |
| Frees all memory allocated to the given parser. More... | |
| int | guac_parser_read (guac_parser *parser, guac_socket *socket, int usec_timeout) |
| Reads a single instruction from the given guac_socket connection. More... | |
| int | guac_parser_expect (guac_parser *parser, guac_socket *socket, int usec_timeout, const char *opcode) |
| Reads a single instruction from the given guac_socket. More... | |
Provides functions and structures for parsing the Guacamole protocol.
| guac_parser* guac_parser_alloc | ( | ) |
Allocates a new parser.
| int guac_parser_append | ( | guac_parser * | parser, |
| void * | buffer, | ||
| int | length | ||
| ) |
Appends data from the given buffer to the given parser.
The data will be appended, if possible, to the in-progress instruction as a reference and thus the buffer must remain valid throughout the life of the current instruction. This function may modify the contents of the buffer when those contents are part of an element within the instruction being read.
| parser | The parser to append data to. |
| buffer | A buffer containing data that should be appended to this parser. |
| length | The number of bytes available for appending within the buffer. |
| int guac_parser_expect | ( | guac_parser * | parser, |
| guac_socket * | socket, | ||
| int | usec_timeout, | ||
| const char * | opcode | ||
| ) |
Reads a single instruction from the given guac_socket.
This operates identically to guac_parser_read(), except that an error is returned if the expected opcode is not received.
If an error occurs reading the instruction, NULL is returned, and guac_error is set appropriately.
If the instruction read is not the expected instruction, NULL is returned, and guac_error is set to GUAC_STATUS_BAD_STATE.
| parser | The guac_parser to read instruction data from. |
| socket | The guac_socket connection to use. |
| usec_timeout | The maximum number of microseconds to wait before giving up. |
| opcode | The opcode of the instruction to read. |
| void guac_parser_free | ( | guac_parser * | parser | ) |
Frees all memory allocated to the given parser.
| parser | The parser to free. |
| int guac_parser_length | ( | guac_parser * | parser | ) |
Returns the number of unparsed bytes stored in the given parser's internal buffers.
| parser | The parser to return the length of. |
| int guac_parser_read | ( | guac_parser * | parser, |
| guac_socket * | socket, | ||
| int | usec_timeout | ||
| ) |
Reads a single instruction from the given guac_socket connection.
This may result in additional data being read from the guac_socket, stored internally within a buffer for future parsing. Future calls to guac_parser_read() will read from the interal buffer before reading from the guac_socket. Data from the internal buffer can be removed and used elsewhere through guac_parser_shift().
If an error occurs reading the instruction, non-zero is returned, and guac_error is set appropriately.
| parser | The guac_parser to read instruction data from. |
| socket | The guac_socket connection to use. |
| usec_timeout | The maximum number of microseconds to wait before giving up. |
| int guac_parser_shift | ( | guac_parser * | parser, |
| void * | buffer, | ||
| int | length | ||
| ) |
Removes up to length bytes from internal buffer of unparsed bytes, storing them in the given buffer.
| parser | The parser to remove unparsed bytes from. |
| buffer | The buffer to store the unparsed bytes within. |
| length | The length of the given buffer. |


Review:
THE THOMAS CROWN AFFAIR A movie review by Joe Barlow (c) Copyright 1999
STARRING: Pierce Brosnan, Rene Russo, Denis Leary, Ben Gazzara, Faye Dunaway DIRECTOR: John McTiernan WRITERS: Leslie Dixon and Kurt Wimmer RATED: R RELEASED: 1999
Thomas Crown is a man who has everything, but still finds his life unfulfilling. Although possessing nearly unlimited funds (witness his impulsive $100,000 bet on one hole of golf simply because it eradicates his boredom for a few fleeting seconds), Crown (Pierce Brosnan) lacks the ability to enjoy the simplest pleasures. Even though his house is staffed with a large live-in crew (including his lawyer!), he finds himself drowning in a pool of loneliness.
He does have one hobby, however: planning the perfect crime. More for a lack of something to do than any real desire to own it, Crown manages to liberate an invaluable Monet from his favorite art museum.
Crown's ploy is eventually discovered by Catherine Banning (a remarkably annoying Rene Russo), an insurance agent in charge of locating the missing painting, who spends most of the film trying to decide whether to capture the hero or hop into bed with him. You know, I think I saw this movie once already this year, only it was called Entrapment and was a heck of a lot better the first time.
The Thomas Crown Affair is a remake of the 1968 film of the same name, which I never saw, but I'm sure it's better than the present incarnation, simply because people remember it fondly. This version lacks any discernible entertainment value. Speeches are delivered without passion, actions are undertaken without urgency, and the story's most interesting subplot (Crown's theft of the painting and the repercussions of this action) are cheerfully jettisoned in favor of a formula romance so stale and unconvincing that it probably wouldn't have seemed fresh no matter what year the movie was released. There's a lot of tension and excitement during the opening and closing scenes, when the crime is at the forefront of the plot, but we sure have to wade through a swamp of sentamentality inbetween these bookending sequences.
But the one thing that hurts the film, that moves it from "mediocre" to "painful," is its leading lady. As portrayed by Rene Russo, the character of Catherine Banning is an unsympathetic Gillian Anderson-wannabe, so confident in her sexuality that she forgets to display a single redeeming characteristic throughout the course of the entire movie. She just expects her (if I may speak frankly) very limited sex appeal to carry her through the events in the story. Russo is a poor choice for the part: she has neither the dynamic personality, oozing sexuality, or magnetic screen presence required to make Banning convincing and likeable. It's not so much that she's a bad actress, but she's definitely miscast here. Imagine Kathy Bates in the Catherine Zeta-Jones role from The Mask of Zorro, and you'll understand what I mean.
Pierce Brosnan, on the other hand, fares somewhat better. With his rugged good looks and intense gaze, Brosnan demonstrates the same sort of charisma he's shown in the James Bond franchise: you may not like him, but it's hard not to watch whatever he's doing.
Unfortunately, that's hardly enough to make this movie terribly memorable. The film invites us to ponder what we'd do if we had everything. The execution of "The Thomas Crown Affair" leaves little doubt in my mind: I'd find a more interesting person to fall in love with, cut the last ten minutes of deadwood from my story, and spend less time straying from fascinating crime scenes into a mundane romance that no one cares about.
RATING: * 1/2 (out of a possible ****)
E-Mail<EMAIL_ADDRESS>Joe Barlow on Film: http://www.ipass.net/~jbarlow/film.htm
To receive my movie reviews by e-mail, write to<EMAIL_ADDRESS>---- "Average Joe" Barlow<EMAIL_ADDRESS>MiSTie #73097 Joe Barlow on Film: http://www.ipass.net/~jbarlow/film.htm
"The one good thing about the [life-size sticker of Jar Jar Binks on the door of Taco Bell] is you can pretty convincingly throw the SOB a roundhouse punch. I found it satisfying." --Renard A. Dellafave
The review above was posted to the
rec.arts.movies.reviews newsgroup (de.rec.film.kritiken for German reviews).
The Internet Movie Database accepts no responsibility for the contents of the
review and has no editorial control. Unless stated otherwise, the copyright
belongs to the author.
Please direct comments/criticisms of the review to relevant newsgroups.
Broken URLs inthe reviews are the responsibility of the author.
The formatting of the review is likely to differ from the original due
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Related links: index of all rec.arts.movies.reviews reviews


Company profile - Canadian Company Capabilities
Third-Party Information Liability Disclaimer
Some of the information on this Web page has been provided by external sources. The Government of Canada is not responsible for the accuracy, reliability or currency of the information supplied by external sources. Users wishing to rely upon this information should consult directly with the source of the information. Content provided by external sources is not subject to official languages, privacy and accessibility requirements.
McElhinney Consulting Inc
Legal Name:
McElhinney Consulting Inc
Operating Name:
Project Resolutions
Mailing Address:
3518 Lakeshore RdBURLINGTON, Ontario
L7N 1B7
Location Address:
3518 Lakeshore RdBURLINGTON, Ontario
L7N 1B7
Tel.:<PHONE_NUMBER>
Fax:<PHONE_NUMBER>
Company Profile
Provides construction claims, contract management and dispute resolution services to contractors, owners, engineers, architects and allied construction professions e.g., surety, legal, accounting, banking and insurance companies.
Full profile
Full profile
Contact information
Company description
Product / Service / Licensing
Market profile
Industry sector market interests:
- Construction
- Service Industry
Sector information
Key / Major clients:
Aluma SystemsAMEC
Atomic Energy of Canada Ltd (AECL)
B. Gottardo Construction Ltd.
Black and McDonald
Bracknell Corporation
Canadian Highways International (CHIC)
Capital Drywall
Comstock (an Emcor company)
Detra Builders
FM Sylvan Industrial
Foundation Company
Lockerbie & Hole (formerly Adam Clark)
Petro-Canada
Potash Corporation of Saskatchewan (PCS)
Premform / Verdi Construction
Roberts Onsite (Roberts Group)
Semford Contracting
SNC-Lavalin Capital
State Group
T-Demir Contracting
Toronto Transit Commission (TTC)
Totten, Sims, Hubicki (an AECOM company)
Toyota
Walbridge
Barry Spalding
Blakes (Blake, Cassels & Graydon)
BLG (Borden Ladner Gervais)
Capannelli Law
Cassels Brock
Cox & Palmer
Davis LLP
Dykema Gossett
Gowlings
Heenan Blaikie
Kerr, Russel & Weber
McCarthy Tetrault
Miller Thomson
Osler (Osler, Hoskin & Harcourt)
Paul Hastings
RZCD
Stieber Berlach
Torkin Manes
BBCG
Canadian General
CNA Surety
Cunningham Lindsey
DPIC
Guarantee Company
Lindsey Morden
London Guarantee
Marsh
Safeco
St. Paul Guarantee
Travelers
Zurich
Testimonial:
"Owen was instrumental in helping to process and settle claims for a major project. His extensive knowledge, experience and insight was invaluable and his calm and personable approach makes him a pleasure to work with." Deborah Lewis, Commercial Manager at CANDU Energy Inc."Owen is an extraordinarily capable professional. He excels at pulling together both the big picture and the fine details. He is entirely dependable and adds huge value to any complex matter. Would work with him any time without hesitation." Ahab Abdel Aziz, Partner at Heenan Blaikie LLP.
"Owen is a highly knowledgeable expert in construction claims. He knows the industry, has great contacts and connections, and has a practical approach to problems. He is effective and does not spin wheels. He has high personal integrity and expects the same of others." Kathryn Humphrey, Partner at Dykema Gossett LLP.
Third-Party Information Liability Disclaimer
Some of the information on this Web page has been provided by external sources. The Government of Canada is not responsible for the accuracy, reliability or currency of the information supplied by external sources. Users wishing to rely upon this information should consult directly with the source of the information. Content provided by external sources is not subject to official languages, privacy and accessibility requirements.
Contacts
Contact information
Description
Company description
Products, services and licensing
Product / Service / Licensing
Market
Market profile
Industry sector market interests:
- Construction
- Service Industry
Sector
Sector information
Key / Major clients:
Aluma SystemsAMEC
Atomic Energy of Canada Ltd (AECL)
B. Gottardo Construction Ltd.
Black and McDonald
Bracknell Corporation
Canadian Highways International (CHIC)
Capital Drywall
Comstock (an Emcor company)
Detra Builders
FM Sylvan Industrial
Foundation Company
Lockerbie & Hole (formerly Adam Clark)
Petro-Canada
Potash Corporation of Saskatchewan (PCS)
Premform / Verdi Construction
Roberts Onsite (Roberts Group)
Semford Contracting
SNC-Lavalin Capital
State Group
T-Demir Contracting
Toronto Transit Commission (TTC)
Totten, Sims, Hubicki (an AECOM company)
Toyota
Walbridge
Barry Spalding
Blakes (Blake, Cassels & Graydon)
BLG (Borden Ladner Gervais)
Capannelli Law
Cassels Brock
Cox & Palmer
Davis LLP
Dykema Gossett
Gowlings
Heenan Blaikie
Kerr, Russel & Weber
McCarthy Tetrault
Miller Thomson
Osler (Osler, Hoskin & Harcourt)
Paul Hastings
RZCD
Stieber Berlach
Torkin Manes
BBCG
Canadian General
CNA Surety
Cunningham Lindsey
DPIC
Guarantee Company
Lindsey Morden
London Guarantee
Marsh
Safeco
St. Paul Guarantee
Travelers
Zurich
Testimonial:
"Owen was instrumental in helping to process and settle claims for a major project. His extensive knowledge, experience and insight was invaluable and his calm and personable approach makes him a pleasure to work with." Deborah Lewis, Commercial Manager at CANDU Energy Inc."Owen is an extraordinarily capable professional. He excels at pulling together both the big picture and the fine details. He is entirely dependable and adds huge value to any complex matter. Would work with him any time without hesitation." Ahab Abdel Aziz, Partner at Heenan Blaikie LLP.
"Owen is a highly knowledgeable expert in construction claims. He knows the industry, has great contacts and connections, and has a practical approach to problems. He is effective and does not spin wheels. He has high personal integrity and expects the same of others." Kathryn Humphrey, Partner at Dykema Gossett LLP.


/* This scenario assumes xTimer has already been created and started. When an interrupt occurs, the period of xTimer should be changed to 500ms. */ /* The interrupt service routine that changes the period of xTimer. */ void vAnExampleInterruptServiceRoutine( void ) { BaseType_t xHigherPriorityTaskWoken = pdFALSE; /* The interrupt has occurred - change the period of xTimer to 500ms. xHigherPriorityTaskWoken was set to pdFALSE where it was defined (within this function). As this is an interrupt service routine, only FreeRTOS API functions that end in "FromISR" can be used. */ if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS ) { /* The command to change the timers period was not executed successfully. Take appropriate action here. */ } /* If xHigherPriorityTaskWoken equals pdTRUE, then a context switch should be performed. The syntax required to perform a context switch from inside an ISR varies from port to port, and from compiler to compiler. Inspect the demos for the port you are using to find the actual syntax required. */ if( xHigherPriorityTaskWoken != pdFALSE ) { /* Call the interrupt safe yield function here (actual function depends on the FreeRTOS port being used). */ } }
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Any and all data, files, source code, html content and documentation included in the FreeRTOSTM distribution or available on this site are the exclusive property of Real Time Engineers Ltd.. See the files license.txt (included in the distribution) and this copyright notice for more information. FreeRTOSTM and FreeRTOS.orgTM are trade marks of Real Time Engineers Ltd. |


My report page in the course DA377B VT20
My name is Martin Zannato.
 This is my third university. I do this only to avoid getting a job. I am a terrible person.  I am also trying to learn swedish but not really. I just go to SFI twice a week to keep the lie alive.  I wish humanity never developed conciousness.


git utimes
Change files modification time to their last commit date. Does not touch files that are in the working tree or index.
Part of `git-extras`.


I’ve successfully delivered and managed more than 30+ design related projects ranging from website, mobile apps, platform, both client side and server side. All are at the high standard of execution.
I’m a UX/UI designer in Taipei. I am strongly stimulated by Eastern and Western culture design sensibilities and logical thinking that allow me to work in a broad spectrum of styles and tasks. With my 13 years of working experience in the design field, I am good at user experience design, user interface, user research, analytics, and information architecture.
If you have any questions, please feel free to contact me. I'd love to talk to you soon.


Tempify is an app that allows workers and businesses to easily create employment agreements and schedule work. We're the employer, so we handle the paperwork and benefits. We enable our users to manage their work relationships as they've done in the past while behind the scenes we make sure both businesses and workers are compliant with laws and regulations.
Cordatas is a fully integrated toolset for companies working with computationally-heavy data!  In addition, we are also working to make our software compliant with the Cybersecurity Maturity Model Certification (CMMC) for the Department of Defense (DoD) allowing researchers to easily integrate our software for DoD contracts.


The execline program is only available when the --enable-multicall option has been given to the configure program at build time. In this configuration, execline is a multicall binary implementing the functionality of all the programs in the execline package; and the other programs, instead of being executables of their own, are symbolic links to the execline binary.
execline subcommand subcommand_arguments...
execline will run the subcommand with its arguments. For instance, execline cd / ls will run the equivalent of the cd program, so this command will list the contents of the / directory.
Alternatively, if execline is called with the name of an existing command, it will run the equivalent of that command. For instance, if the /usr/bin/cd file is a (hard or symbolic) link to the execline binary, /usr/bin/cd / ls will list the contents of the / directory.
The --enable-multicall option is a user-requested feature to save disk space. Its goal is purely to save disk space; functionality-wise, the execline package should be the exact same whether it has been built with --enable-multicall or not. That means: any execline script should work the exact same way.
Multicall binaries have a number of issues, most of them hidden from regular users. One user-visible issue is that their behaviour changes depending on how they are called, which is not good practice (it breaks naming agnosticism) despite being common in traditional Unix. Other, more important issues are only visible to software authors and maintainers: for instance, they make it difficult to add functionality to a software package without inadvertently blowing up the amount of RAM used by the software, and they encourage bad engineering practices to work around specific problems created by this configuration.
I am not a fan of multicall binaries at all.
However, it just so happens that the execline package already was a good candidate for a multicall configuration, and several users had been asking for it (and complaining about the amount of disk space that the traditional execline package uses). So I did an experiment, and it turned out that a multicall execline binary does save a huge amount of space. Depending on your shared/static library configuration and your libc, the gain in disk space on Linux can range from 66% to 87%! The results were contrary to my expectations — and simply too good to pass up.
So now, the multicall configuration is supported for execline. Do not expect anything similar for other skarnet.org packages such as s6, because they're not as good candidates and it would require a tremendous amount of work for less benefit.


Review: Next Stop Wonderland
Starring: Hope Davis, Alan Gelfant, Victor Arag, Jon Benjamin
Directed by Brad Anderson
There are some truly funny lines in Next Stop Wonderland that are caught up in a battle with forced, trendy screenwriting. It is hard to tell which comes out on top, and it only manages to provide some likable characters in an all-too-familiar situation. Erin (Davis) is a young woman who is shattered when her goofy, activist boyfriend leaves her because she doesn't support him. She then goes on a quest to meet Mr. Right by way of her mother placing a personal add against her will. Erin reluctantly ventures out into the singles world, makes headway, and eventually starts making sport of the situation.
The film bounces back and forth between two characters who never meet. Alan, a plumber who is working his way through school to become a marine biologist, is also not burning up the dating scene. The film is utterly predictable. We know all along that these two lonley souls are meant for each other, though they seem unable to meet. Sadly, most of Alan's screentime is dedicated to the film's subplot of political muscle, trying to destroy the local aquarium for its prime real estate. It involves the plans for a mausoleum and killing a balloonfish. Pretty silly.
The film reminds me quite a bit of Sliding Doors in a number of ways. Primarily, it deals with fate, Who are we supposed to spend the rest of our lives with? and, How will we meet this person? There is also some artsy but jarring camerawork and editing, but it dies down about a half hour into the film. Strangely, that is when the dialogue perks up.
Next Stop Wonderland is not a very intriguing film, though it has a step up on the more unique Sliding Doors in that the characters are more likable. Hope Davis is really a joy to watch. She has a very accessable beauty that makes the audience care about her, even if she is not being particularly charming each moment. There are some truly funny lines, but they are few and far between. Its a story of two people looking for romance in the wrong places. It has been my contention that Hollywood has done a poor job with romantic comedies in recent years, with, of course, a few exceptions. The indie film world has done only slightly better, but neither side has managed to produce a gem. Next Stop Wonderland falls short of the mark too.
* * 1/2 out of * * * * stars © 1998 Nick Amado email me at<EMAIL_ADDRESS>The review above was posted to the
rec.arts.movies.reviews newsgroup (de.rec.film.kritiken for German reviews).
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belongs to the author.
Please direct comments/criticisms of the review to relevant newsgroups.
Broken URLs inthe reviews are the responsibility of the author.
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Related links: index of all rec.arts.movies.reviews reviews


This is the offline version of the documentation. We recommend you to use the online documentation.
Game4Automation Installation
Install Unity
First install Unity ,if it is not already on your computer. In some cases Unity is free for private use, for commercial use you need a license. Please check on https://store.unity.com/ which version you need and install that.
This tutorial explains the first steps with Unity and Game4Automation:
Please make sure you are using Unity version 2018.3.10f1 and above, if you have already have an installed Unity version!
Create a new project
Start Unity and create an empty project by selecting new. Choose a Location and define a Project name for your new project. Then Create project.
It will now take a while for Unity to create the whole project structure. After the installation of Unity is finished you will get an empty Unity model:
Make sure that .Net4.0 is enabled
Usually, this should be the standard, but it might happen, if you integrate Game4Automation into an old project,that this setting is wrong. Please check, if you are not sure.
Go to the Player Settings by selecting Build Settings > Player Settings and change under Configuration the Scripting Runtime Version to .NET4.x Equivalent (see picture).
Get Game4Automation
Please go to the Unity Asset Store and puchase Game4Automation in the version Lite or Professional as required.
Import Game4Automation
Now we are ready to import the Game4Automation Package. You can do that directly over the asset store or manually download the asset.
For installing it manually please select from the main menu Assets > Import Package > Custom Package..:
This will show a new window with all the Game4Automation package contents:
Please select All and Import.
Check if a new menu is available
After the installation of the Game4Automation package you should see the additional game4automation folder in the project structure:
Also you will see a new Menu game4automation in the main menu bar.
Set standard settings
This step is not necessary because after the Game4Automation package import, all standard settings are applied automatically. The settings that are applied automatically are explained below.
Even while Game4Automation will work with default settings, we strongly recommend allowing Game4Automation to adjust the default settings. To apply the settings manualy, select game4automation>Standard Settings from the main menu.
This will create:
- standard layer naming (see Physics)
- standard physic collision matrix (see Physics)
- standard light settings
At this stage everything is installed and you are now ready to continue to examine the Demomodell, that is outlined in section Demomodel.
© 2019 in2Sight GmbH https://game4automation.com - All rights reserved. No part of this publication may be reproduced, distributed, or transmitted in any form or by any means, including printing, saving, photocopying, recording, or other electronic or mechanical methods, without the prior written permission of the publisher.


| Moon's Age | ||
|---|---|---|
| Right Ascension | ||
| Declination | ||
| In Constellation | ||
| Distance (Earth Radii) |
As the Moon orbits the Earth the portion we see illuminated changes from day to day. The start of each phase occurs with the new Moon in which the Moon does not appear illuminated from the Earth. The Moon takes 27.3 days to orbit Earth, but the lunar phase cycle (from new Moon to new Moon) is 29.5 days. This is because the Moon spends an extra 2.2 days "catching up" as the Earth travels about 45 million miles around the Sun during the time the Moon completes one orbit around Earth.
Astronomers often refer to a Lunar Calendar to track the phases of the Moon. Generally astronomers do not want to observe the night sky during those times the Moon is highly illuminated because moonlight can obscure the light from fainter objects such as stars, planets, and nebulae. Below is a sample Lunar Calendar for the current month. Happy Moon-gazing!
| | Home Page | The Night Sky | The Moon | The Planets | The Messier Objects | Stars | |