Vehicle No:
Select Device :
AAA
BBB
Vehicle Type:
Make :
serial_No:
Vehicle NP.:
NP. Exp. Dt
Issued RTO.
Insurance Date:
Insurance No :
Insurnace By
Exp.Date:
Odi. Meter:
Current Fuel:
Service(Km)
Service Dt.:
Owner :
Contact 1 :
Contact 2:
Email:
Address:
City:
Pin


Implementation of central schemes in Delhi is underwhelming: Hardeep Puri
"Delhi is on all (central government) schemes that I am aware of. It is underperforming and in many cases, it is a non-performing government
by Press Trust of IndiaUnion minister Hardeep Singh Puri on Monday attacked the Delhi government, claiming that it was "non-performing" in many cases when it came to the implementation of central scheme in the national capital.
Talking to reporters at an event, the union housing and urban affairs minister said, "Delhi is on all (central government) schemes that I am aware of. It is underperforming and in many cases, it is a non-performing government.


Please confirm your contribution of
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--- layout: post title: Chicken and Mushroom Risoni date: 2012-06-19 10:53:18.000000000 -04:00 categories: - Gastronomic Explosions - aka Yummy Food/Recipes tags: - 15 minute meal - Chicken and mushroom risoni - One pot meal - Quick and easy recipe - risoni recipe status: publish type: post published: true meta: aktt_notify_twitter: 'no' _edit_last: '1' dsq_thread_id: '1187903636' author: login: cint email<EMAIL_ADDRESS>display_name: Jacinta first_name: Jacinta last_name: '' ---
I'm all for quick and easy weekday meals. Especially when I know all the family will eat it without complaint. Risoni (rice shaped pasta) cooks quickly and this meal only takes about 15 minutes cooking time and it only uses one pot, so not too many dishes! I add a small dash of cream to the kids servings. I love pepper on mine. Parmesan cheese would go well with this dish too.
 Brown off chicken slightly then add the mushrooms and cook for approximately 1 minute. Then add tarragon, risoni, water and chicken stock powder. Stir well then cover the pan and reduce the heat. Stir regularly to avoid the risoni sticking. Cook until risoni is just tender. Dish up into individual bowls and add a dash of cream or parmesan cheese if desired.
Enjoy! Jacinta x


Re-using common properties when defining multiple datasources in Grails
tl;dr:
Avoiding code duplication when defining multiple datasources in Grails.
Long version
One of my Grails applications has to connect to seven database instances that share many characteristics like driver, dialect, username and password which were all copy pasted in my first version.
Example:
As you can see only the url parameter changes while the rest stays static and is wasted text.
Shorter version
To make it more compact and re-use the common part I found that you can define a closure which can be used to initialise each datasource entry.
As you can see I also included the url which I will override after the initialisation.
Using the closure this leaves us with the following version.
The final version can be download here.


--- layout: post title: 'Digital Storytelling: The Single Shot' date: 2015-09-24 18:33:01.000000000 -05:00 type: post published: true status: publish categories: - art - Resources - video tags: [] meta: _oembed_48b5d30f8f8b47cfdaa5169a438d780f: _oembed_8f960d3dca94886ec59b272c689ff5d5: _oembed_time_8f960d3dca94886ec59b272c689ff5d5: '1452817540' _oembed_e33ac3416a4f96746c28aeb146eda513: _oembed_time_e33ac3416a4f96746c28aeb146eda513: '1452817540' _oembed_1d6aa82b75addf44218f2a41c4c2f54e: _oembed_time_1d6aa82b75addf44218f2a41c4c2f54e: '1452817541' _oembed_669b7c52d04e31ba8cc91f68bc4bef37: _oembed_time_669b7c52d04e31ba8cc91f68bc4bef37: '1452817540' _oembed_time_48b5d30f8f8b47cfdaa5169a438d780f: '1452870203' _oembed_4935a9180ea3756483be19f768e4e2b5: _oembed_time_4935a9180ea3756483be19f768e4e2b5: '1452870203' _oembed_2a63ba30ebf4faf3bedab994431914f6: _oembed_time_2a63ba30ebf4faf3bedab994431914f6: '1452870203' _oembed_1c26732b3065a7c26def4c86bda970fb: _oembed_time_1c26732b3065a7c26def4c86bda970fb: '1452870203' _vc_post_settings: a:2:{s:7:"vc_grid";a:0:{}s:10:"vc_grid_id";a:0:{}} _header_toolbar: 'true' _featured_image: 'true' _meta: 'true' _portfolio_meta_next_prev: '-1' _portfolio_related_project: '-1' boxed_layout_shadow: 'false' _page_title_intro: none _page_title_fullHeight: 'false' _page_title_letter_spacing: '0' _breadcrumb_custom_color: '#ffffff' _breadcrumb_custom_hover_color: '#000000' textfalse: '' _wpb_vc_js_interface_version: '2' _wpb_vc_js_status: 'false' _mk_post_love: '0' _wpas_done_all: '1' _edit_last: '1' _layout: right _padding: 'false' _single_featured: '-1' _custom_bg: 'false' background_selector_orientation: full body_color: '#fff' body_source: no-image body_cover: 'false' page_color: '#fff' page_source: no-image page_cover: 'false' header_color: '#fff' header_source: no-image header_cover: 'false' banner_color: '#fafafa' banner_source: no-image banner_cover: 'false' footer_color: '#191919' footer_source: no-image footer_cover: 'false' _page_title_padding: '40' _page_title_align: left _page_title_size: '18' _breadcrumb_skin: dark _thumbnail_id: '21926' _jetpack_related_posts_cache: a:1:{s:32:"8f6677c9d6b0f903e98ad32ec61f8deb";a:2:{s:7:"expires";i:1444881722;s:7:"payload";a:3:{i:0;a:1:{s:2:"id";i:21037;}i:1;a:1:{s:2:"id";i:21598;}i:2;a:1:{s:2:"id";i:21204;}}}} _theme_options_build: '' _dynamic_styles: Tjs= author: login: wlftn email<EMAIL_ADDRESS>display_name: lauren first_name: Lauren last_name: '' ---
Teaching new media, I focus on Digital Storytelling, with the idea that creating stunning media begins with a solid written base of poetry, fiction, nonfiction or hybrid -- you name it. By starting with a powerful framework of well-written work, the media thrives.
We start with a few examples of short narrative films -- digital narratives. Many of the examples were made with effects and edits -- requiring a software editing program, but I will explain that all of that isn't necessary in making a quality piece of digital narrative. (Sometimes it even gets in the way.)
To demonstrate this, I tell them we are going to be making single shot films, in small groups. I divide the class up into groups of 4-5 students and hand out markers and a single sheet of paper to each student. Then I give them a prompt (something vague but accessible) like "describe the weather." They must each write a single line that fits on one side of the sheet.
Next I instruct them to create a single shot film that includes each line in the recording. (Each group will need a device to record with. I like to have them use a cell phone -- further evidence that the equipment they need to create is all around them. Also very helpful for uploading directly to You Tube for in-class viewing.)
There are many ways they can create the film -- I am always surprised by what they come up with! But the idea is basic: digital storytelling can be made simply. There is no need for programs, studios or expensive equipment. The quality of the work lies in the language and the creativity of the creators. We do this module for many reasons, but the main ones are: this is a project that gives them confidence, it can be completely in a single class period (or two) and it is fun. Also: collaboration!
After they are done, I have them upload the video to YouTube and then we share the films, right there, immediately. Instant gratification! And instant "digital" community building.
Below you will find examples from my class with the Between the Lines students.
https://www.youtube.com/watch?v=OS42ZUbteps
https://www.youtube.com/watch?v=5BdIrhmIc5w
https://www.youtube.com/watch?v=2tMjNnMdWic
https://www.youtube.com/watch?v=nXjov1NLjUo


Migrations
Just like you use version control systems such as Git to manage changes in your source code, you can use migrations to keep track of changes to the database. With migrations you can transfer your existing database into another state and vice versa: Those state transitions are saved in migration files, which describe how to get to the new state and how to revert the changes in order to get back to the old state.
You will need the Sequelize Command-Line Interface (CLI). The CLI ships support for migrations and project bootstrapping.
A Migration in Sequelize is javascript file which exports two functions, up
and down
, that dictate how to perform the migration and undo it. You define those functions manually, but you don't call them manually; they will be called automatically by the CLI. In these functions, you should simply perform whatever queries you need, with the help of sequelize.query
and whichever other methods Sequelize provides to you. There is no extra magic beyond that.
Installing the CLI
To install the Sequelize CLI:
npm install --save-dev sequelize-cli
For details see the CLI GitHub repository.
Project bootstrapping
To create an empty project you will need to execute init
command
npx sequelize-cli init
This will create following folders
config
, contains config file, which tells CLI how to connect with databasemodels
, contains all models for your projectmigrations
, contains all migration filesseeders
, contains all seed files
Configuration
Before continuing further we will need to tell the CLI how to connect to the database. To do that let's open default config file config/config.json
. It looks something like this:
{
"development": {
"username": "root",
"password": null,
"database": "database_development",
"host": "<IP_ADDRESS>",
"dialect": "mysql"
},
"test": {
"username": "root",
"password": null,
"database": "database_test",
"host": "<IP_ADDRESS>",
"dialect": "mysql"
},
"production": {
"username": "root",
"password": null,
"database": "database_production",
"host": "<IP_ADDRESS>",
"dialect": "mysql"
}
}
Note that the Sequelize CLI assumes mysql by default. If you're using another dialect, you need to change the content of the "dialect"
option.
Now edit this file and set correct database credentials and dialect. The keys of the objects (e.g. "development") are used on model/index.js
for matching process.env.NODE_ENV
(When undefined, "development" is a default value).
Sequelize will use the default connection port for each dialect (for example, for postgres, it is port 5432). If you need to specify a different port, use the "port"
field (it is not present by default in config/config.js
but you can simply add it).
Note: If your database doesn't exist yet, you can just call db:create
command. With proper access it will create that database for you.
Creating the first Model (and Migration)
Once you have properly configured CLI config file you are ready to create your first migration. It's as simple as executing a simple command.
We will use model:generate
command. This command requires two options:
name
: the name of the model;attributes
: the list of model attributes.
Let's create a model named User
.
npx sequelize-cli model:generate --name User --attributes firstName:string,lastName:string,email:string
This will:
- Create a model file
user
inmodels
folder; - Create a migration file with name like
XXXXXXXXXXXXXX-create-user.js
inmigrations
folder.
Note: Sequelize will only use Model files, it's the table representation. On the other hand, the migration file is a change in that model or more specifically that table, used by CLI. Treat migrations like a commit or a log for some change in database.
Running Migrations
Until this step, we haven't inserted anything into the database. We have just created required model and migration files for our first model User
. Now to actually create that table in database you need to run db:migrate
command.
npx sequelize-cli db:migrate
This command will execute these steps:
- Will ensure a table called
SequelizeMeta
in database. This table is used to record which migrations have run on the current database - Start looking for any migration files which haven't run yet. This is possible by checking
SequelizeMeta
table. In this case it will runXXXXXXXXXXXXXX-create-user.js
migration, which we created in last step. - Creates a table called
Users
with all columns as specified in its migration file.
Undoing Migrations
Now our table has been created and saved in database. With migration you can revert to old state by just running a command.
You can use db:migrate:undo
, this command will revert most recent migration.
npx sequelize-cli db:migrate:undo
You can revert back to initial state by undoing all migrations with db:migrate:undo:all
command. You can also revert back to a specific migration by passing its name in --to
option.
npx sequelize-cli db:migrate:undo:all --to XXXXXXXXXXXXXX-create-posts.js
Creating the first Seed
Suppose we want to insert some data into a few tables by default. If we follow up on previous example we can consider creating a demo user for User
table.
To manage all data migrations you can use seeders. Seed files are some change in data that can be used to populate database table with sample data or test data.
Let's create a seed file which will add a demo user to our User
table.
npx sequelize-cli seed:generate --name demo-user
This command will create a seed file in seeders
folder. File name will look something like XXXXXXXXXXXXXX-demo-user.js
. It follows the same up / down
semantics as the migration files.
Now we should edit this file to insert demo user to User
table.
module.exports = {
up: (queryInterface, Sequelize) => {
return queryInterface.bulkInsert('Users', [{
firstName: 'John',
lastName: 'Doe',
email: '[email protected]',
createdAt: new Date(),
updatedAt: new Date()
}]);
},
down: (queryInterface, Sequelize) => {
return queryInterface.bulkDelete('Users', null, {});
}
};
Running Seeds
In last step you have create a seed file. It's still not committed to database. To do that we need to run a simple command.
npx sequelize-cli db:seed:all
This will execute that seed file and you will have a demo user inserted into User
table.
Note: Seeder execution history is not stored anywhere, unlike migrations, which use the SequelizeMeta
table. If you wish to change this behavior, please read the Storage
section.
Undoing Seeds
Seeders can be undone if they are using any storage. There are two commands available for that:
If you wish to undo the most recent seed:
npx sequelize-cli db:seed:undo
If you wish to undo a specific seed:
npx sequelize-cli db:seed:undo --seed name-of-seed-as-in-data
If you wish to undo all seeds:
npx sequelize-cli db:seed:undo:all
Migration Skeleton
The following skeleton shows a typical migration file.
module.exports = {
up: (queryInterface, Sequelize) => {
// logic for transforming into the new state
},
down: (queryInterface, Sequelize) => {
// logic for reverting the changes
}
}
We can generate this file using migration:generate
. This will create xxx-migration-skeleton.js
in your migration folder.
npx sequelize-cli migration:generate --name migration-skeleton
The passed queryInterface
object can be used to modify the database. The Sequelize
object stores the available data types such as STRING
or INTEGER
. Function up
or down
should return a Promise
. Let's look at an example:
module.exports = {
up: (queryInterface, Sequelize) => {
return queryInterface.createTable('Person', {
name: Sequelize.DataTypes.STRING,
isBetaMember: {
type: Sequelize.DataTypes.BOOLEAN,
defaultValue: false,
allowNull: false
}
});
},
down: (queryInterface, Sequelize) => {
return queryInterface.dropTable('Person');
}
};
The following is an example of a migration that performs two changes in the database, using an automatically-managed transaction to ensure that all instructions are successfully executed or rolled back in case of failure:
module.exports = {
up: (queryInterface, Sequelize) => {
return queryInterface.sequelize.transaction(t => {
return Promise.all([
queryInterface.addColumn('Person', 'petName', {
type: Sequelize.DataTypes.STRING
}, { transaction: t }),
queryInterface.addColumn('Person', 'favoriteColor', {
type: Sequelize.DataTypes.STRING,
}, { transaction: t })
]);
});
},
down: (queryInterface, Sequelize) => {
return queryInterface.sequelize.transaction(t => {
return Promise.all([
queryInterface.removeColumn('Person', 'petName', { transaction: t }),
queryInterface.removeColumn('Person', 'favoriteColor', { transaction: t })
]);
});
}
};
The next example is of a migration that has a foreign key. You can use references to specify a foreign key:
module.exports = {
up: (queryInterface, Sequelize) => {
return queryInterface.createTable('Person', {
name: Sequelize.DataTypes.STRING,
isBetaMember: {
type: Sequelize.DataTypes.BOOLEAN,
defaultValue: false,
allowNull: false
},
userId: {
type: Sequelize.DataTypes.INTEGER,
references: {
model: {
tableName: 'users',
schema: 'schema'
},
key: 'id'
},
allowNull: false
},
});
},
down: (queryInterface, Sequelize) => {
return queryInterface.dropTable('Person');
}
}
The next example is of a migration that uses async/await where you create an unique index on a new column, with a manually-managed transaction:
module.exports = {
async up(queryInterface, Sequelize) {
const transaction = await queryInterface.sequelize.transaction();
try {
await queryInterface.addColumn(
'Person',
'petName',
{
type: Sequelize.DataTypes.STRING,
},
{ transaction }
);
await queryInterface.addIndex(
'Person',
'petName',
{
fields: 'petName',
unique: true,
transaction,
}
);
await transaction.commit();
} catch (err) {
await transaction.rollback();
throw err;
}
},
async down(queryInterface, Sequelize) {
const transaction = await queryInterface.sequelize.transaction();
try {
await queryInterface.removeColumn('Person', 'petName', { transaction });
await transaction.commit();
} catch (err) {
await transaction.rollback();
throw err;
}
}
};
The next example is of a migration that creates an unique index composed of multiple fields with a condition, which allows a relation to exist multiple times but only one can satisfy the condition:
module.exports = {
up: (queryInterface, Sequelize) => {
queryInterface.createTable('Person', {
name: Sequelize.DataTypes.STRING,
bool: {
type: Sequelize.DataTypes.BOOLEAN,
defaultValue: false
}
}).then((queryInterface, Sequelize) => {
queryInterface.addIndex(
'Person',
['name', 'bool'],
{
indicesType: 'UNIQUE',
where: { bool : 'true' },
}
);
});
},
down: (queryInterface, Sequelize) => {
return queryInterface.dropTable('Person');
}
}
The .sequelizerc
file
This is a special configuration file. It lets you specify the following options that you would usually pass as arguments to CLI:
env
: The environment to run the command inconfig
: The path to the config fileoptions-path
: The path to a JSON file with additional optionsmigrations-path
: The path to the migrations folderseeders-path
: The path to the seeders foldermodels-path
: The path to the models folderurl
: The database connection string to use. Alternative to using --config filesdebug
: When available show various debug information
Some scenarios where you can use it:
- You want to override default path to
migrations
,models
,seeders
orconfig
folder. - You want to rename
config.json
to something else likedatabase.json
And a whole lot more. Let's see how you can use this file for custom configuration.
To begin, let's create the .sequelizerc
file in the root directory of your project, with the following content:
// .sequelizerc
const path = require('path');
module.exports = {
'config': path.resolve('config', 'database.json'),
'models-path': path.resolve('db', 'models'),
'seeders-path': path.resolve('db', 'seeders'),
'migrations-path': path.resolve('db', 'migrations')
};
With this config you are telling the CLI to:
- Use
config/database.json
file for config settings; - Use
db/models
as models folder; - Use
db/seeders
as seeders folder; - Use
db/migrations
as migrations folder.
Dynamic configuration
The configuration file is by default a JSON file called config.json
. But sometimes you need a dynamic configuration, for example to access environment variables or execute some other code to determine the configuration.
Thankfully, the Sequelize CLI can read from both .json
and .js
files. This can be setup with .sequelizerc
file. You just have to provide the path to your .js
file as the config
option of your exported object:
const path = require('path');
module.exports = {
'config': path.resolve('config', 'config.js')
}
Now the Sequelize CLI will load config/config.js
for getting configuration options.
An example of config/config.js
file:
const fs = require('fs');
module.exports = {
development: {
username: 'database_dev',
password: 'database_dev',
database: 'database_dev',
host: '<IP_ADDRESS>',
port: 3306,
dialect: 'mysql',
dialectOptions: {
bigNumberStrings: true
}
},
test: {
username: process.env.CI_DB_USERNAME,
password: process.env.CI_DB_PASSWORD,
database: process.env.CI_DB_NAME,
host: '<IP_ADDRESS>',
port: 3306,
dialect: 'mysql',
dialectOptions: {
bigNumberStrings: true
}
},
production: {
username: process.env.PROD_DB_USERNAME,
password: process.env.PROD_DB_PASSWORD,
database: process.env.PROD_DB_NAME,
host: process.env.PROD_DB_HOSTNAME,
port: process.env.PROD_DB_PORT,
dialect: 'mysql',
dialectOptions: {
bigNumberStrings: true,
ssl: {
ca: fs.readFileSync(__dirname + '/mysql-ca-master.crt')
}
}
}
};
The example above also shows how to add custom dialect options to the configuration.
Using Babel
To enable more modern constructions in your migrations and seeders, you can simply install babel-register
and require it at the beginning of .sequelizerc
:
npm i --save-dev babel-register
// .sequelizerc
require("babel-register");
const path = require('path');
module.exports = {
'config': path.resolve('config', 'config.json'),
'models-path': path.resolve('models'),
'seeders-path': path.resolve('seeders'),
'migrations-path': path.resolve('migrations')
}
Of course, the outcome will depend upon your babel configuration (such as in a .babelrc
file). Learn more at babeljs.io.
Security tip
Use environment variables for config settings. This is because secrets such as passwords should never be part of the source code (and especially not committed to version control).
Storage
There are three types of storage that you can use: sequelize
, json
, and none
.
sequelize
: stores migrations and seeds in a table on the sequelize databasejson
: stores migrations and seeds on a json filenone
: does not store any migration/seed
Migration Storage
By default the CLI will create a table in your database called SequelizeMeta
containing an entry for each executed migration. To change this behavior, there are three options you can add to the configuration file. Using migrationStorage
, you can choose the type of storage to be used for migrations. If you choose json
, you can specify the path of the file using migrationStoragePath
or the CLI will write to the file sequelize-meta.json
. If you want to keep the information in the database, using sequelize
, but want to use a different table, you can change the table name using migrationStorageTableName
. Also you can define a different schema for the SequelizeMeta
table by providing the migrationStorageTableSchema
property.
{
"development": {
"username": "root",
"password": null,
"database": "database_development",
"host": "<IP_ADDRESS>",
"dialect": "mysql",
// Use a different storage type. Default: sequelize
"migrationStorage": "json",
// Use a different file name. Default: sequelize-meta.json
"migrationStoragePath": "sequelizeMeta.json",
// Use a different table name. Default: SequelizeMeta
"migrationStorageTableName": "sequelize_meta",
// Use a different schema for the SequelizeMeta table
"migrationStorageTableSchema": "custom_schema"
}
}
Note: The none
storage is not recommended as a migration storage. If you decide to use it, be aware of the implications of having no record of what migrations did or didn't run.
Seed Storage
By default the CLI will not save any seed that is executed. If you choose to change this behavior (!), you can use seederStorage
in the configuration file to change the storage type. If you choose json
, you can specify the path of the file using seederStoragePath
or the CLI will write to the file sequelize-data.json
. If you want to keep the information in the database, using sequelize
, you can specify the table name using seederStorageTableName
, or it will default to SequelizeData
.
{
"development": {
"username": "root",
"password": null,
"database": "database_development",
"host": "<IP_ADDRESS>",
"dialect": "mysql",
// Use a different storage. Default: none
"seederStorage": "json",
// Use a different file name. Default: sequelize-data.json
"seederStoragePath": "sequelizeData.json",
// Use a different table name. Default: SequelizeData
"seederStorageTableName": "sequelize_data"
}
}
Configuration Connection String
As an alternative to the --config
option with configuration files defining your database, you can use the --url
option to pass in a connection string. For example:
npx sequelize-cli db:migrate --url 'mysql://root:[email protected]_host.com/database_name'
Programmatic usage
Sequelize has a sister library called umzug for programmatically handling execution and logging of migration tasks.


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#include <pstreams.h> class outmemory: outstm { outmemory(int limit = -1); string get_strdata(); }
Use outmemory to write data to a dynamic memory buffer by means of the streaming interface. Outmemory is derived from outstm.
outmemory::outmemory(int limit = -1) creates an outmemory object. The memory buffer grows as data is written to the stream. You can optionally limit the size of the memory buffer to limit (-1 means unlimited).
string outmemory::get_strdata() returns data written to the stream as a dynamic string and closes the stream.


--- layout: archive title: Zulip Chat Archive permalink: /stream/116395-maths/topic/Isabelle.html ---
I just wanted to thank @Johannes Hölzl for this in Isabelle:
have "81 * exp(8 * ln 2/21) / 4 ≤ 80/3" by (approximation 8)
(where 80/3 is just some good upper approximation I chose for simplicity, accurate within 1%)
Thanks! How long did it take to figure out 8? And how long did you play around to find the expression which finally worked :-)
To chose a good upper approximation, I computed the continued fraction expansion of 81 * exp(8 * ln 2/21) / 4
and truncated it to some terms. To figure out the 8, I tried first with 5 but it failed, then 6, then 7, then 8, and it succeeded. Simple enough :) For another numerical approximation in the same file, I had to go up to approximation 17
(which I found by dichotomoy), but the proof is still almost instantaneous. That's a wonderful tool! (If I had to give a proof by hand, it would be super-tedious and certainly 100 lines long...)
Last updated: Apr 24 2020 at 19:02 UTC


Snehanshu Saha Sir from BITS Pilani
For Teaching the mathematical concepts and also showing with examples on how to develop a Neural Network.
For guiding in many ways and sharing his wisdom in the art of machine learning.
And for sharing a working Artificial MultiLayerPerceptron implementation in Python.
Ramachandran C - M.Tech Student of Snehanshu Saha Sir in BITS Pilani and Primary Author of Pyano.
A deep artificial neural network framework that utilizes back propagation for training. It has a total of 5 layers of neurons. The hidden layers have 4 each, the input layer has 3 and the output layer has 6 neurons (as per the number of distinct classes in the given dataset).
The Layers in the Neural Network consist of:
1. Single Input Layer with 3 neurons.
2. Three Hidden Layers with 4 neurons each.
3. Single Output Layer with 6 neurons.
It represents a 6 class classification problem.
Weights are initialized randomly.
The Activation function is a sigmoid.
The Dataset has samples with 3 features each.
Define and implement an Object-Oriented Deep Neural Network Framework (capable of implementing DNNs with multiple hidden layers) that predicts classes for a test set with decently accurate results.
Implement Back propagation algorithm to update weights.
Compute the forward and backward passes with error gradients for every input sample.
Repeat the process for every sample in the training set.


the
status
property
as
off
or
it
can
invoke
the
action
toggle
and
see
if
the
resulting
status
is
indeed
equal
to
off
.
Yet,
in
the
TD
example,
the
switch
state
is
not
directly
exposed.
Assuming
the
client
has
no
prior
knowledge
of
the
meaning
of
status
,
it
must
infer
possible
operations
from
the
semantic
annotations
available
in
the
TD
and
its
domain-specific
ontology,
that
includes
SAREF.
The
following
ontological
axioms
can
be
formulated
for
SAREF,
in
the
OWL
Manchester
syntax
[
owl2-manchester-syntax
]:
They
respectively
state
that
a
light
switch
must
have
an
on/off
state
and
that
a
toggle
command
must
act
on
some
on/off
state.
They
may
seem
intuitive
to
humans
but
it
is
only
possible
for
the
client
to
know
what
to
do
from
such
axioms.
If
we
assume
that
a
saref:GetCommand
always
exposes
the
state
of
the
Thing
,
the
client
can
then
automatically
infer
what
form(s)
to
submit
to
change
the
switch
state:
a
writeproperty
on
the
saref:GetCommand
or
an
invokeaction
on
the
saref:ToggleCommand
.
Note
that
the
result
of
the
operation
cannot
be
known
for
certain,
as
the
TD
does
not
expose
its
internal
state.
However,
by
selecting
certain
models
of
the
physical
world,
either
by
statistical
means
or
by
further
axiomatization,
clients
can
still
reach
a
certain
level
of
autonomy
with
an
ontological
approach.
descriptions
and
titles
Vocabulary
Terms
).
@language
to
declare
a
default
language
and
specified
how
to
infer
text
direction
in
human-readable
metadata.
InteractionPattern
Class
to
InteractionAffordance
.
@context
and
optional
@type
Vocabulary
Terms
to
the
Thing
Class
.
created
and
modified
Vocabulary
Terms
to
the
Thing
Class
to
provide
information
as
to
when
the
TD
instance
was
created
or
last
modified,
resp.
version
vocabulary
term
to
the
Thing
Class
to
provide
version
information.
readallproperties
,
writeallproperties
,
readmultipleproperties
,
and
writemultipleproperties
.
@type
Vocabulary
Term
to
the
InteractionAffordance
Class
to
make
semantic
annotations
part
of
the
Information
Model.
uriVariables
Vocabulary
Terms
to
InteractionAffordance
Class
to
describe
URI
Template
variables.
safe
and
idempotent
Vocabulary
Terms
to
the
ActionAffordance
Class
to
provide
information
about
the
safeness
and
idempotency
of
the
Action.
subscription
and
cancellation
Vocabulary
Terms
to
the
EventAffordance
Class
to
describe
data
that
needs
to
be
passed
upon
subscription
and
cancellation,
resp.
label
to
title
in
the
InteractionAffordance
Class
to
be
consistent
with
JSON
Schema.
security
and
scopes
Vocabulary
Terms
from
the
InteractionAffordance
Class
to
simplify
mechanism.
writable
vocabulary
term
from
the
PropertyAffordance
Class
and
made
Property
affordances
both
readable
and
writable
by
default;
this
can
be
overridden
using
the
op
vocabulary
term
of
the
Form
Class
.
mediaType
to
type
in
the
Link
Class
to
align
with
RFC
8288.
response
vocabulary
term
to
the
Form
Class
to
describe
possible
response
messages.
mediaType
to
contentType
in
the
Form
Class
to
reflect
that
request
might
need
to
set
also
media
type
parameters.
rel
to
op
in
the
Form
Class
to
resolve
perceived
conflicts
with
link
relations.
unobserveproperty
to
the
enumerated
values
for
the
op
vocabulary
term
.
@type
vocabulary
term
to
the
DataSchema
Class
to
make
semantic
annotations
part
of
the
Information
Model.
unit
vocabulary
term
to
the
DataSchema
Class
to
provide
unit
metadata.
oneOf
vocabulary
term
to
the
DataSchema
Class
to
allow
for
alternative
schemas.
format
vocabulary
term
to
the
DataSchema
Class
to
allow
for
pattern
validation.
@type
vocabulary
term
to
the
SecurityScheme
Class
to
make
semantic
annotations
part
of
the
Information
Model.
securityDefinitions
vocabulary
term
to
the
Thing
Class
to
declare
security
definitions.
security
vocabulary
term
in
the
Thing
and
Form
Classes
to
be
used
to
activate
declared
security
definitions.
securityDefinitions
and
security
configuration
is
mandatory.
Url
postfixes
from
security
scheme
Vocabulary
Terms
.
Changes from Second Public Working Draft are described in the Third Public Working Draft
The editors would like to thank Matthias Kovatsch, Michael Koster, Michael Lagally, Kazuyuki Ashimura, Ege Korkan, Daniel Peintner, Kawaguchi Toru, María Poveda, Dave Raggett, Kunihiko Toumura, Takeshi Yamada, Ben Francis, Manu Sporny, Klaus Hartke, Addison Phillips and Jose M. Cantera for providing contributions, guidance and expertise.
Also, many thanks to the W3C staff and all other active Participants of the W3C Web of Things Interest Group (WoT IG) and Working Group (WoT WG) for their support, technical input and suggestions that led to improvements to this document.


Even as I write this at 09:32 I feel strange. What an experience I had!!
My Salvia arrived yesterday. 5X Standardised extract, two grams. Cool beans! I couldnít wait to try it.
9:00am: My parents have left and I think I might give my stuff a go. My parents threw out my bong and I havenít received my jet lighter yet so I will have to try it using an ordinary lighter and a pipe. I donít have much hope that it will work but I might as well give it a go.
9:03am: Pipe prepared, bowl packed (about 1/15th of a gram), sitting in my comfy chair. I am ready to try. I expel all the air in my lungs, I light the bowl (holding the flame over the bowl for the duration of my inhalation) and I inhale deep. I hold it and begin counting.
By the time I reach 15 seconds I know something is happening. I feel a knocking sound. I donít exactly hear it but feel it. She has come, she is knocking, she says it is time to go??..
The following narrative was written after the experience. I have corrected the spelling mistakes although I will leave the words exactly as I wrote them, as with the punctuation.
Itís time to go. Everything, all the energy, every part, the grand design wants to take the energy that is ready into the infinite pattern of eternity. It looks like a real pattern, I can only see a small part, but everything around me is integrating into the pattern. I can see it and everything is unfolding but I am resisting. I am preventing the proper formation of the pattern; she pulls me. I feel the pull so strong. But I am not ready, I donít want to join. I hear myself say, ĎI donít want to goí. I repeat it, I try to tell the presence, whom I feel is the master of the eternity, that I am not ready. She lets me go. I stand but I am drawn back. I take another hit. I canít help it. She wants me to and I want to make her happy, I love her. I return, but I still donít feel ready to go, I am not ready. She pulls me in because deep down I know that I want to go and she knows that I do; she knows everything.
I try to tell her again. My words, I see them form in my mouth but I know that they are only movements of my lips and I have a doubt as to whether she can understand them. She canít, I will be trapped in the pattern, free in the pattern, free forever, but I cannot go now. She knows I am not willing and I fear she will punish me, but she does not. She understands and releases me. I stumble around not sure as to whether I am part of this world or still tied to the pattern. I AM of this world; I AM back, I AM Stevie G.
I then write what you have just read and go downstairs for a cigarette (I really needed one!). I feel strange; I fear the knowledge of the pattern will drive me mad, I fear that I will never be fully part of this world again. Once I finish the cigarette, I go into my living room to write the remainder of my thoughts.
What I am left with as I return to almost full reality and write this now is deep understanding and a sense of myself and of my connection to this pattern. It is comforting although humbling and awe-inspiring.
Everything is linked, and all energy in the infinite space that is far beyond our world and our universe is tied together. This world, Earth, our universe is merely a fold in the pattern. A small piece of irregularity that is not yet in sync with the regularity of the tapestry.
But I feel that when this world is over, when I die, my energy will become part of this grand design, the pattern.
I canít say whether the pattern is beautiful, I saw only a small part and even that was beyond my comprehension. I was resisting, everything around me was integrating but I was trying desperately to persist in my joy of chaos and the randomness of my world. I love my world like I never knew I did. Yet I accept the fact that soon I will join and leave and become a part of what is truly infinite and it doesnít scare me any more. When I am ready I will be happy to join. But not before. I appreciate the chaos of my world and need to finish enjoying it before I am ready to leave and contribute to the pattern of order and infinity.
Looking back at my experience, the strongest feeling was definitely the sense that I was resisting becoming a part of the pattern. It felt like I didnít belong, my strong sense of individuality that I have always cherished alienated me from the whole eternity of the design. It was a very powerful and scary feeling at the time but I have grown to understand and accept my experience.
Forgive me if some of what I have written doesnít make a lot of sense it was hard to describe and I was still feeling very strange when I wrote it.
Okay, its 10:05 now and I feel almost back to normal. That truly is an incredible plant. I have read back over what I have written and it only does about 0.00005% justice to my experience, so much was left out because the words to describe it just donít exist. Respect this stuff and bollocks to anyone that says you need a jet fuel lighter. I used an ordinary clipper and a pipe. Wow, that was cool. Scary, but cool.
Experience Reports are the writings and opinions of the individual authors who submit them.
Some of the activities described are dangerous and/or illegal and none are recommended by Erowid.


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Man dies following incident in Cloverhill prison
Gardaí are investigating the incident
A man (30s) has died following an incident in Cloverhill prison in Dublin.
Gardaí and emergency services were called by prison authorities following an incident involving two male prisoners in custody at the prison.
The man was treated by emergency services but was pronounced dead a short time later.
The body remains at the scene pending a technical examination.
The coroner has been notified and the services of the State Pathologist and Garda Technical Bureau have been requested.
Gardaí say they are following a definite line of enquiry and the investigation is ongoing.
More to follow


|
Arial 2020 Group 1
5
|
#include <gantry_control.h>
Public Member Functions | |
| GantryControl (ros::NodeHandle &node) | |
| Construct a new Gantry Control:: Gantry Control object. More... | |
| void | init () |
| void | initializeShelfConfiguration () |
| initialize the current configuration of the bottom shelves More... | |
| bool | pickPartLeftArm (part part) |
| Pick part with left arm. More... | |
| bool | pickPartRightArm (part part) |
| Pick the part with right arm. More... | |
| void | placePartLeftArm () |
| Empty parts from left arm to corresponding AGV. More... | |
| void | placePartRightArm () |
| Empty parts from right arm to corresponding AGV. More... | |
| bool | pickPartFromTrayLeftArm (part part, std::string agv_id) |
| A method to pick parts from the tray using left arm. More... | |
| bool | correctPosePartLeftArm (Part part, geometry_msgs::Pose target, std::string agv_id) |
| A method to correct the pose of the part in the tray using left arm. More... | |
| bool | pickPartFromTrayRightArm (part part, std::string agv_id) |
| A method to pick parts from the tray from right arm. More... | |
| bool | correctPosePartRightArm (Part part, geometry_msgs::Pose target, std::string agv_id) |
| A method to correct the pose of the part in the tray. More... | |
| bool | throwPartLeft (part part) |
| Throw part from left hand if faulty. More... | |
| bool | throwPartRight (part part) |
| Throw part from right hand if faulty. More... | |
| bool | sendJointPosition (trajectory_msgs::JointTrajectory command_msg) |
| Send command message to robot controller. More... | |
| void | goToPresetLocation (PresetLocation location) |
| Move gantry to a pre-defined location. More... | |
| void | rotateTorso (const double angle) |
| Rotate the TORSO by an angle. More... | |
| void | reachPartShelfLeftArm (part part) |
| Reach Shelf with left arm. More... | |
| void | reachPartShelfRightArm (part part) |
| Reach part with right arm. More... | |
| void | reachPartBinLeftArm (part part) |
| Reach the bin with left arm. More... | |
| void | reachPartBinRightArm (part part) |
| Reach bin with right arm. More... | |
| void | goToBottomShelfs () |
| Enter the bottom shelf. More... | |
| void | retriveFromBottomShelf () |
| Get back to the aisle after collecting the part. More... | |
| void | FKLeftArm (std::vector< double > joints) |
| Move left arm to the joint angles. More... | |
| void | FKRightArm (std::vector< double > joints) |
| Move right arm to the joint angles. More... | |
| void | FKGantry (std::vector< double > joints) |
| Move the gantry to a location. More... | |
| void | getProduct (product product) |
| Function to pick the part from the environment. More... | |
| void | flipProductsAGV (std::vector< Part > checkPartsToFlip) |
| Flips the parts in the AGV if required. More... | |
| bool | getPartConveyorLeftArm (product product) |
| flow to get a part from the conveyorbelt with the left arm More... | |
| bool | getPartConveyorRightArm (product product) |
| flow to get a part from the conveyorbelt with the right arm More... | |
| void | getLeftArmRoll () |
| Get the roll value of the Left Arm end effecor. More... | |
| void | getRightArmRoll () |
| Get the roll value for the Right Arm end effector. More... | |
| void | moveLeftArmRoll (double roll) |
| std::string | checkFreeGripper () |
| check which of the grippers are free More... | |
| std::string | getGantryLocation () |
| product | getProductLeftArm () |
| product | getProductRightArm () |
| std::vector< Product > | getProductsTray1 () |
| std::vector< Product > | getProductsTray2 () |
| void | set_product_left_arm_ (const product &product) |
| void | set_product_right_arm_ (const product &product) |
| void | setGantryLocation (std::string location) |
| void | activateGripper (std::string gripper_id) |
| Activate the gripper. More... | |
| void | deactivateGripper (std::string gripper_id) |
| Deactivate Gripper. More... | |
| nist_gear::VacuumGripperState | getGripperState (std::string arm_name) |
| Get gripper state. More... | |
| geometry_msgs::Pose | getTargetWorldPose (geometry_msgs::Pose target, std::string agv) |
| Gets the pose in pose of part in world frame. More... | |
| void | pickPartFromShelf5Aisle1 (product product) |
| Pick part from shelf 5 with or without obstacles. More... | |
| void | pickPartFromShelfAisle2 (product product) |
| Pick part from shelf 8 or shelf 5 without obstacles using Aisle2. More... | |
| void | pickPartFromShelfAisle3 (product product) |
| Pick part from shelf 8 or shelf 5 without obstacles using Aisle3. More... | |
| void | pickPartFromShelf11Aisle4 (product product) |
| Pick part from shelf 11 with or without obstacles. More... | |
| void | pickPartFromShelf8Aisle2 (product product) |
| void | pickPartFromShelf8Aisle3 (product product) |
| void | pickPartFromShelf8Aisle2Obstacles (product product) |
| Pick part from shelf 8 with obstacles when safe location only available in shelf row 1. More... | |
| void | pickPartFromShelf8Aisle3Obstacles (product product) |
| Pick part from shelf 8 with obstacles when safe location only available in shelf row 3. More... | |
| void | pickPartFromShelf8Aisle2ObstaclesSafe1 (product product) |
| Pick part from shelf 8 with obstacles when safe location only available in shelf row 2. More... | |
| void | placeProductLeftArmBin () |
| Method to place the products in empty bins using left arm. More... | |
| void | placeProductRightArmBin () |
| Method to place the products in empty bins using right arm. More... | |
Private Member Functions | |
| void | joint_states_callback (const sensor_msgs::JointState::ConstPtr &joint_state_msg) |
| Callback to get joint states. More... | |
| void | left_gripper_state_callback (const nist_gear::VacuumGripperState::ConstPtr &msg) |
| Callback to get gripper state. More... | |
| void | right_gripper_state_callback (const nist_gear::VacuumGripperState::ConstPtr &msg) |
| Callback to get gripper state. More... | |
| void | gantry_controller_state_callback (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg) |
| Callback to get gantry controller state. More... | |
| void | left_arm_controller_state_callback (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg) |
| Callback to get left arm controller. More... | |
| void | right_arm_controller_state_callback (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg) |
| Callback to get right arm controller. More... | |
| void | dynamic_obstacle_callback (const geometry_msgs::Point32::ConstPtr &msg, int obstacle_n) |
| Dynamic obstacle callback. More... | |
Private Attributes | |
| std::vector< double > | joint_group_positions_ |
| ros::NodeHandle | node_ |
| std::string | planning_group_ |
| moveit::planning_interface::MoveGroupInterface::Options | full_robot_options_ |
| moveit::planning_interface::MoveGroupInterface::Options | gantry_options_ |
| moveit::planning_interface::MoveGroupInterface::Options | left_arm_options_ |
| moveit::planning_interface::MoveGroupInterface::Options | right_arm_options_ |
| moveit::planning_interface::MoveGroupInterface::Options | left_ee_link_options_ |
| moveit::planning_interface::MoveGroupInterface::Options | right_ee_link_options_ |
| moveit::planning_interface::MoveGroupInterface | full_robot_group_ |
| moveit::planning_interface::MoveGroupInterface | gantry_group_ |
| moveit::planning_interface::MoveGroupInterface | left_arm_group_ |
| moveit::planning_interface::MoveGroupInterface | right_arm_group_ |
| moveit::planning_interface::MoveGroupInterface | left_ee_link_group_ |
| moveit::planning_interface::MoveGroupInterface | right_ee_link_group_ |
| double | left_ee_roll_ |
| double | left_ee_pitch_ |
| double | left_ee_yaw_ |
| std::array< float, 4 > | left_ee_quaternion_ |
| std::string | gantry_location_ |
| std::vector< Product > | products_to_flip_ {} |
| std::vector< Product > | products_kit_tray_1_ {} |
| std::vector< Product > | products_kit_tray_2_ {} |
| std::array< geometry_msgs::TransformStamped, 9 > | shelf_w_transforms_ {} |
| std::array< int, 3 > | shelf_configuration {0,0,0} |
| sensor_msgs::JointState | current_joint_states_ |
| nist_gear::VacuumGripperState | current_left_gripper_state_ |
| nist_gear::VacuumGripperState | current_right_gripper_state_ |
| control_msgs::JointTrajectoryControllerState | current_gantry_controller_state_ |
| control_msgs::JointTrajectoryControllerState | current_left_arm_controller_state_ |
| control_msgs::JointTrajectoryControllerState | current_right_arm_controller_state_ |
| ros::Publisher | gantry_joint_trajectory_publisher_ |
| ros::Publisher | left_arm_joint_trajectory_publisher_ |
| ros::Publisher | right_arm_joint_trajectory_publisher_ |
| ros::Subscriber | joint_states_subscriber_ |
| ros::Subscriber | left_gripper_state_subscriber_ |
| ros::Subscriber | right_gripper_state_subscriber_ |
| ros::Subscriber | gantry_controller_state_subscriber_ |
| ros::Subscriber | left_arm_controller_state_subscriber_ |
| ros::Subscriber | right_arm_controller_state_subscriber_ |
| ros::Subscriber | dynamic_obstacle_1_subscriber_ |
| ros::Subscriber | dynamic_obstacle_2_subscriber_ |
| ros::ServiceClient | left_gripper_control_client |
| ros::ServiceClient | right_gripper_control_client |
| GantryControl::GantryControl | ( | ros::NodeHandle & | node | ) |
Construct a new Gantry Control:: Gantry Control object.
| node |
| void GantryControl::activateGripper | ( | std::string | arm_name | ) |
Activate the gripper.
| arm_name | Left or right gripper |
| std::string GantryControl::checkFreeGripper | ( | ) |
check which of the grippers are free
| bool GantryControl::correctPosePartLeftArm | ( | Part | part, |
| geometry_msgs::Pose | target, | ||
| std::string | agv_id | ||
| ) |
A method to correct the pose of the part in the tray using left arm.
| part | Part whose pose has to be adjusted |
| target | Target Pose to which the part is to be moved |
| agv_id | AGV ID on which the part is present |
| bool GantryControl::correctPosePartRightArm | ( | Part | part, |
| geometry_msgs::Pose | target, | ||
| std::string | agv_id | ||
| ) |
A method to correct the pose of the part in the tray.
| part | Part whose pose has to be adjusted |
| target | Target Pose to which the part is to be moved |
| agv_id | AGV ID on which the part is present |
| void GantryControl::deactivateGripper | ( | std::string | arm_name | ) |
Deactivate Gripper.
| arm_name | Left or right |
|
private |
Dynamic obstacle callback.
| msg | Subscribed message |
| obstacle_n | Obstacle ID |
| void GantryControl::FKGantry | ( | std::vector< double > | joints | ) |
Move the gantry to a location.
| joints | Joint angles for gantry |
| void GantryControl::FKLeftArm | ( | std::vector< double > | joints | ) |
Move left arm to the joint angles.
| joints | Joint angles for the left arm |
| void GantryControl::FKRightArm | ( | std::vector< double > | joints | ) |
Move right arm to the joint angles.
| joints | Joint angles for the right arm |
| void GantryControl::flipProductsAGV | ( | std::vector< Part > | checkPartsToFlip | ) |
Flips the parts in the AGV if required.
| checkPartsToFlip |
|
private |
Callback to get gantry controller state.
| msg | Subscribed Message |
|
inline |
| nist_gear::VacuumGripperState GantryControl::getGripperState | ( | std::string | arm_name | ) |
Get gripper state.
| arm_name | Left or Right |
| void GantryControl::getLeftArmRoll | ( | ) |
Get the roll value of the Left Arm end effecor.
| bool GantryControl::getPartConveyorLeftArm | ( | product | product | ) |
flow to get a part from the conveyorbelt with the left arm
| product | which product to get |
| bool GantryControl::getPartConveyorRightArm | ( | product | product | ) |
flow to get a part from the conveyorbelt with the right arm
| product | which product to get |
| void GantryControl::getProduct | ( | product | product | ) |
Function to pick the part from the environment.
| product | Product to be picked |
|
inline |
|
inline |
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| void GantryControl::getRightArmRoll | ( | ) |
Get the roll value for the Right Arm end effector.
| geometry_msgs::Pose GantryControl::getTargetWorldPose | ( | geometry_msgs::Pose | target, |
| std::string | agv | ||
| ) |
Gets the pose in pose of part in world frame.
| target | Part Pose |
| agv | AGV ID |
ee_target_tf and world_target_tf are expressed in the same frame: "world" We want to find the relative rotation, q_r, to go from ee_target_tf to world_target_tf q_r = world_target_tf*ee_target_tf_inverse
| void GantryControl::goToBottomShelfs | ( | ) |
Enter the bottom shelf.
| void GantryControl::goToPresetLocation | ( | PresetLocation | location | ) |
Move gantry to a pre-defined location.
| location | PreSetLocation object |
| void GantryControl::init | ( | ) |
| void GantryControl::initializeShelfConfiguration | ( | ) |
initialize the current configuration of the bottom shelves
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Callback to get joint states.
| joint_state_msg | Subscribed Message |
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Callback to get left arm controller.
| msg | Subscribed Message |
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Callback to get gripper state.
| gripper_state_msg | Subscribed Message |
| void GantryControl::moveLeftArmRoll | ( | double | roll | ) |
| void GantryControl::pickPartFromShelf11Aisle4 | ( | product | product | ) |
Pick part from shelf 11 with or without obstacles.
| product | Product to be picked |
| void GantryControl::pickPartFromShelf5Aisle1 | ( | product | product | ) |
Pick part from shelf 5 with or without obstacles.
| product | Product to be picked |
| void GantryControl::pickPartFromShelf8Aisle2 | ( | product | product | ) |
| void GantryControl::pickPartFromShelf8Aisle2Obstacles | ( | product | product | ) |
Pick part from shelf 8 with obstacles when safe location only available in shelf row 1.
| product | Product to be picked |
| void GantryControl::pickPartFromShelf8Aisle2ObstaclesSafe1 | ( | product | product | ) |
Pick part from shelf 8 with obstacles when safe location only available in shelf row 2.
| product | Product to be picked |
| void GantryControl::pickPartFromShelf8Aisle3 | ( | product | product | ) |
| void GantryControl::pickPartFromShelf8Aisle3Obstacles | ( | product | product | ) |
Pick part from shelf 8 with obstacles when safe location only available in shelf row 3.
| product | Product to be picked |
| void GantryControl::pickPartFromShelfAisle2 | ( | product | product | ) |
Pick part from shelf 8 or shelf 5 without obstacles using Aisle2.
| product | Product to be picked |
| void GantryControl::pickPartFromShelfAisle3 | ( | product | product | ) |
Pick part from shelf 8 or shelf 5 without obstacles using Aisle3.
| product | Product to be picked |
| bool GantryControl::pickPartFromTrayLeftArm | ( | part | part, |
| std::string | agv_id | ||
| ) |
A method to pick parts from the tray using left arm.
| part | Part tobe picked |
| agv_id | AGV ID of the part |
| bool GantryControl::pickPartFromTrayRightArm | ( | part | part, |
| std::string | agv_id | ||
| ) |
A method to pick parts from the tray from right arm.
| part | Part tobe picked |
| agv_id | AGV ID of the part |
| bool GantryControl::pickPartLeftArm | ( | part | part | ) |
| bool GantryControl::pickPartRightArm | ( | part | part | ) |
| void GantryControl::placePartLeftArm | ( | ) |
Empty parts from left arm to corresponding AGV.
| void GantryControl::placePartRightArm | ( | ) |
Empty parts from right arm to corresponding AGV.
| void GantryControl::placeProductLeftArmBin | ( | ) |
Method to place the products in empty bins using left arm.
| void GantryControl::placeProductRightArmBin | ( | ) |
Method to place the products in empty bins using right arm.
| void GantryControl::reachPartBinLeftArm | ( | part | part | ) |
Reach the bin with left arm.
| Part | part object |
| void GantryControl::reachPartBinRightArm | ( | part | part | ) |
Reach bin with right arm.
| part | Part object |
| void GantryControl::reachPartShelfLeftArm | ( | part | part | ) |
Reach Shelf with left arm.
| part | part object |
| void GantryControl::reachPartShelfRightArm | ( | part | part | ) |
Reach part with right arm.
| part | Part object |
| void GantryControl::retriveFromBottomShelf | ( | ) |
Get back to the aisle after collecting the part.
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Callback to get right arm controller.
| msg | Subscribed Message |
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Callback to get gripper state.
| gripper_state_msg | Subscribed Message |
| void GantryControl::rotateTorso | ( | const double | angle | ) |
Rotate the TORSO by an angle.
| angle | Angle to rotate |
| bool GantryControl::sendJointPosition | ( | trajectory_msgs::JointTrajectory | command_msg | ) |
Send command message to robot controller.
Send joint to a position.
| command_msg | Joint trajectory message |
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| bool GantryControl::throwPartLeft | ( | part | part | ) |
Throw part from left hand if faulty.
| part | Part object of the faulty part |
| ptype | Type of the part obtained from the orders list. |
| bool GantryControl::throwPartRight | ( | part | part | ) |
Throw part from right hand if faulty.
| part | Part object of the faulty part |
| agv1 GantryControl::agv1_ |
| PresetLocation GantryControl::agv1_90_ |
| agv2 GantryControl::agv2_ |
| PresetLocation GantryControl::agv2_90_ |
| aisle1 GantryControl::aisle1_ |
| PresetLocation GantryControl::aisle1_90_ |
| aisle2 GantryControl::aisle2_ |
| PresetLocation GantryControl::aisle2_90_ |
| bins GantryControl::bins_ |
| PresetLocation GantryControl::conveyor_left_ |
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| std::array<float, 4> GantryControl::obstacle_1_pos |
| std::array<float, 4> GantryControl::obstacle_2_pos |
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| product GantryControl::product_left_arm_ |
| product GantryControl::product_right_arm_ |
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| tf2::Quaternion GantryControl::q_left_ee_link_part |
| tf2::Quaternion GantryControl::q_right_ee_link_part |
| PresetLocation GantryControl::rail_1_ |
| PresetLocation GantryControl::rail_2_ |
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| PresetLocation GantryControl::safe_spot_1_ |
| PresetLocation GantryControl::safe_spot_2_ |
| PresetLocation GantryControl::safe_spot_3_ |
| shelf1 GantryControl::shelf1_ |
| shelf2 GantryControl::shelf2_ |
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| PresetLocation GantryControl::ssi1_ |
| PresetLocation GantryControl::ssi2_ |
| PresetLocation GantryControl::ssi3_ |
| PresetLocation GantryControl::ssi4_ |
| PresetLocation GantryControl::ssi5_ |
| PresetLocation GantryControl::ssi6_ |
| start GantryControl::start_ |
| PresetLocation GantryControl::start_90_ |
| tray1_left_negative GantryControl::tray1_left_negative_ |
| tray1_left_positive GantryControl::tray1_left_positive_ |
| tray1_right_negative GantryControl::tray1_right_negative_ |
| tray1_right_positive GantryControl::tray1_right_positive_ |
| tray2_left_negative GantryControl::tray2_left_negative_ |
| tray2_left_positive GantryControl::tray2_left_positive_ |
| tray2_right_negative GantryControl::tray2_right_negative_ |
| tray2_right_positive GantryControl::tray2_right_positive_ |


Joe Lunardi Updates ESPN Bracketology After Chaotic Start To Season
by Tzvi MachlinThree NCAA blue bloods suffered their first loss of the season in the very first week of the 2019-20 college basketball season last week. It has had a huge effect on the latest edition of ESPN Bracketology.
No. 1 Michigan State and No. 2 Kansas both lost their season-openers to Kentucky and Duke respectively. Then, after claiming the No. 1 ranking for themselves, Kentucky suffered the first huge upset of the season, getting upset at home by Evansville.
As of now, it looks like the top of the upcoming polls will have a strong ACC flavor. Duke, Louisville, North Carolina and Virginia emerged from the week undefeated, and will all be ranked in the top ten next week.
Today, ESPN’s Joe Lunardi updated his Bracketology to coincide with some of the big results.
It may be early in the season, but the teams that lost all have plenty of time to reassert themselves in the months to come.
Here is what the top four seed lines look like, from ESPN:
East Region (New York City):
- Duke
- Ohio State
- Oregon
- Villanova
Midwest Region (Indianapolis):
- Louisville
- Kentucky
- Maryland
- Seton Hall
South Region (Houston):
- Michigan State
- North Carolina
- Texas Tech
- Florida
West Region (Los Angeles):
- Kansas
- Virginia
- Gonzaga
- Arizona
That’s a pretty compelling list of teams to be sure. Half of those teams have made at least one Final Four appearance in the last three years alone. They’ve also combined for seven of the last ten NCAA titles (eight if we count Louisville’s vacated 2013 title).
But the season is still very young and the past few years have taught us that a good start is little indicator of how the top teams will finish.
The NCAA Tournament is four months away, but the contenders are slowly beginning to make their presence known.
[ESPN]


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--- layout: post title: Chrome for web development date: 2010-03-17 23:10:07.000000000 +01:00 type: post published: true status: publish categories: - Coding tags: - chrome - extensions - firefox - tools meta: _edit_last: '1' bfa_ata_body_title: Chrome for web development bfa_ata_display_body_title: '' bfa_ata_body_title_multi: Chrome for web development bfa_ata_meta_title: '' bfa_ata_meta_keywords: '' bfa_ata_meta_description: '' _sexybookmarks_shortUrl: http://b2l.me/atxqhp _sexybookmarks_permaHash: f9fc6aecc0e9aa05b99327d3fa42acf7 dsq_thread_id: '147231089' author: login: bbWebdesign email<EMAIL_ADDRESS>display_name: Bob first_name: Bob last_name: Belderbos ---
Apart from Firefox I started using Chrome. It's very neat and fast, but sometimes you note it's still new and doesn't have the years of experience of Firefox. You have to get used a bit (I disabled automatic Google search), but once you're set it might happen you don't open Firefox for days ..
.. till you need to build / debug a website - where are firebug and the web developer toolbar please? Well.. chrome has some interesting extensions as well. I just got the 5 URLs in my inbox (I subscribed to the sitepoint newsletters). I summarize them here, because I think they are a must use for every designer deciding to give Chrome a chance:
Let's see the coming weeks if it really holds up against the web developer toolbar and Firefox' firebug.


The source code for all the Tah smartphone apps is open source and is hosted on GitHub. If you are looking to contribute to our efforts of making Tah an awesome platform for building amazing things using Bluetooth, join us !
Each app has been developed for iOS and Android, though some are still in the works. We have a git repo on GitHub for each app, with the iOS and Android source codes as git submodules.
Submodules allow you to keep a Git repository as a subdirectory of another repository
So for example, you'll find the source code for the Tah-iOS and the Tah-Android apps inside a repository called Tah.
You will notice that the above repository also has a folder called ArdSCL. This consists of the sketch that will be uploaded on the Tah when using the Tah app (iOS or Android).
To contribute begin by forking the repo that you want to contribute to.
A copy of this repository will be created in your account. You can now make changes to it.
Clone this repo and you can make changes to the source code.


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Mobile phones deliver the apocalypse to millions of unsuspecting humans by wiping their brains of any humanity, leaving only aggressive and destructive impulses behind. Those without cell phones, like illustrator Clayton Riddell and his small band of "normies," must fight for survival, and their journey to find Clayton's estranged wife and young son rockets the book toward resolution.
The event that came to be known as The Pulse began at 3:03 p.m., eastern standard time, on the afternoon of October 1. The term was a misnomer, of course, but within ten hours of the event, most of the scientists capable of pointing this out were either dead or insane. The name hardly mattered, in any case. What mattered was the effect.