Kent Bazemore is a player for the Atlanta Hawks, and recently agreed to a five-year extension on his endorsement contract with Under Armour.
While not a star player, Bazemore has become an integral member of the Under Armour brand, particularly behind the scenes.
With with the Golden State Warriors in 2012-13 and 2013-14, Bazemore helped convince Stephen Curry to leave Nike and sign with Under Armour.
Curry then soared to NBA MVP and championship-winning heights while endorsing the brand, which aided the company's rise as a basketball power. He's like the biggest spokesperson for the brand, Curry told ESPN's Sherwood Strauss last year.
Signing Bazemore keeps the biggest proponent of the brand around the NBA in-house, to the surprise of few. Under Armour has not come out with a Bazemore
brand of clothing, nor are they likely to, but providing him with merchandise and paying him to be a spokesperson for the company has already paid dividends
beyond their dreams.


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org.picocontainer.injectors.AbstractInjector$AmbiguousComponentResolutionException: class < Something Here > needs a '< Something Here >' injected, but there are too many choices to inject. These:[class < Something Here >, class < Something Here >], refer http://picocontainer.org/ambiguous-injectable-help.html at org.picocontainer.parameters.BasicComponentParameter.getTargetAdapter(BasicComponentParameter.java:270) at org.picocontainer.parameters.BasicComponentParameter.resolveAdapter(BasicComponentParameter.java:205) at org.picocontainer.parameters.BasicComponentParameter.isResolvable(BasicComponentParameter.java:136) at org.picocontainer.parameters.ComponentParameter.isResolvable(ComponentParameter.java:132) at org.picocontainer.injectors.ConstructorInjector.getGreediestSatisfiableConstructor(ConstructorInjector.java:105) at org.picocontainer.injectors.ConstructorInjector$1.run(ConstructorInjector.java:155) at org.picocontainer.injectors.AbstractInjector$ThreadLocalCyclicDependencyGuard.observe(AbstractInjector.java:262) at org.picocontainer.injectors.ConstructorInjector.getComponentInstance(ConstructorInjector.java:192) at org.picocontainer.injectors.AbstractInjector.getComponentInstance(AbstractInjector.java:103) at org.picocontainer.DefaultPicoContainer.getInstance(DefaultPicoContainer.java:559) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:526) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:538)
Or possibly a CyclicDependencyException like this:
org.picocontainer.injectors.AbstractInjector$CyclicDependencyException: Cyclic dependency: [class < Something Here >, class < Something Here >, class < Something Here >] at org.picocontainer.injectors.AbstractInjector$ThreadLocalCyclicDependencyGuard.observe(AbstractInjector.java:257) at org.picocontainer.injectors.ConstructorInjector.getComponentInstance(ConstructorInjector.java:192) at org.picocontainer.behaviors.AbstractBehavior.getComponentInstance(AbstractBehavior.java:65) at org.picocontainer.behaviors.Stored.getComponentInstance(Stored.java:85) at org.picocontainer.behaviors.AbstractBehavior.getComponentInstance(AbstractBehavior.java:61) at org.picocontainer.DefaultPicoContainer.getInstance(DefaultPicoContainer.java:559) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:526) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:516) at org.picocontainer.parameters.BasicComponentParameter.resolveInstance(BasicComponentParameter.java:146) at org.picocontainer.parameters.ComponentParameter.resolveInstance(ComponentParameter.java:119) at org.picocontainer.injectors.SingleMemberInjector.getMemberArguments(SingleMemberInjector.java:89) at org.picocontainer.injectors.ConstructorInjector.getMemberArguments(ConstructorInjector.java:199) at org.picocontainer.injectors.ConstructorInjector$1.run(ConstructorInjector.java:162) at org.picocontainer.injectors.AbstractInjector$ThreadLocalCyclicDependencyGuard.observe(AbstractInjector.java:262) at org.picocontainer.injectors.ConstructorInjector.getComponentInstance(ConstructorInjector.java:192) at org.picocontainer.behaviors.AbstractBehavior.getComponentInstance(AbstractBehavior.java:65) at org.picocontainer.behaviors.Stored.getComponentInstance(Stored.java:85) at org.picocontainer.behaviors.AbstractBehavior.getComponentInstance(AbstractBehavior.java:61) at org.picocontainer.DefaultPicoContainer.getInstance(DefaultPicoContainer.java:559) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:526) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:516) at org.picocontainer.parameters.BasicComponentParameter.resolveInstance(BasicComponentParameter.java:146) at org.picocontainer.parameters.ComponentParameter.resolveInstance(ComponentParameter.java:119) at org.picocontainer.injectors.SingleMemberInjector.getMemberArguments(SingleMemberInjector.java:89) at org.picocontainer.injectors.ConstructorInjector.getMemberArguments(ConstructorInjector.java:199) at org.picocontainer.injectors.ConstructorInjector$1.run(ConstructorInjector.java:162) at org.picocontainer.injectors.AbstractInjector$ThreadLocalCyclicDependencyGuard.observe(AbstractInjector.java:262) at org.picocontainer.injectors.ConstructorInjector.getComponentInstance(ConstructorInjector.java:192) at org.picocontainer.behaviors.AbstractBehavior.getComponentInstance(AbstractBehavior.java:65) at org.picocontainer.behaviors.Stored.getComponentInstance(Stored.java:85) at org.picocontainer.behaviors.AbstractBehavior.getComponentInstance(AbstractBehavior.java:61) at org.picocontainer.DefaultPicoContainer.getInstance(DefaultPicoContainer.java:559) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:526) at org.picocontainer.DefaultPicoContainer.getComponent(DefaultPicoContainer.java:538)
And you say to your self something like, "What the heck happened?!?!?!?"
The situation here is not as scary as it seems. We'll examine what causes the errors one at a time.
Here's a test case that shows what can cause a CyclicDependencyException:
@Test public void testCircular() { MutablePicoContainer mpc = new PicoBuilder().build(); mpc.addComponent(List.class, ArrayList.class); mpc.addComponent(Set.class, HashSet.class); List l = mpc.getComponent(List.class); //Throws a CircularDependencyException }
Upon first glance at the code, you might think "Yeah, so?". But the problem here is that PicoContainer tries to satisfy the greediest constructor; or in other words, it looks for the constructor with the most arguments first. In this case, there is a constructor ArrayList(Collection src), and since it has the most arguments, PicoContainer uses this one.
Unfortunately, this results in the following situation:
And so on until we either run out of stack space or this document increases to 2 Gb in size explaining the recursion. Fortunately, PicoContainer is smart enough to know where there is a recursive satisfaction like this and throws an exception rather than going into infinite recursion.
That is what causes the Cyclic Dependency Injection.
So how do you solve it? Well, lets back up see what causes the AmbiguousComponentResolutionException first and then we'll talk about how to fix it. (We promise! We won't let you down!)
Here's a test case that shows what can cause AmbiguousComponentResolutionException:
@Test public void testAmbiguous() { MutablePicoContainer mpc = new PicoBuilder().build(); mpc.addComponent(List.class, ArrayList.class); mpc.addComponent(Set.class, HashSet.class); mpc.addComponent(Collection.class, TreeSet.class); List l = mpc.getComponent(List.class); //Throws a AmbiguousComponentResolutionException }
The only difference between this example and the CyclicDependencyException example is the introduction of a new object that can satisfy the java.util.Collection requirement.
Review
Pico will automatically grab the argument that has the most arguments that can be satisfied.
So what happens here?
Rather than try to guess which one the developer intended to use. (And frankly, knowing us developers, Pico would guess wrong), we throw an AmbiguousComponentResolutionException instead.
So, what we really need is a way to specify that PicoContainer uses the exact constructor we want with the exact arguments. Making sure that PicoContainer understands which constructor to use in a situation like this is called "Disambiguation". PicoContainer provides several methods to disambiguate registrations.
Careful examination of MutablePicoContainer.addComponent() will show an optional last object that takes a variable number of org.picocontainer.Parameter objects. Without going into the specifics yet, the general rule is that if you specify three parameter objects in your addComponent() registration, then you will use the constructor that takes three parameters in your object. Use Parameter.ZERO to force the default constructor.
There are two main types of Parameter objects: (Others are possible... hey, this is an interface we're talking about here.)
With these options, it is time to revisit the AmbiguousComponentResolutionException example and modify it with our new found knowledge:
@Test public void testAmbiguous() { MutablePicoContainer mpc = new PicoBuilder().withCaching().build(); mpc.addComponent(List.class, ArrayList.class, Parameter.ZERO); //Force Default Constructor mpc.addComponent(Set.class, HashSet.class, new ConstantParameter(33)); //Equiv to new HashSet(33) mpc.addComponent(Collection.class, TreeSet.class, new ComponentParameter(List.class)); //Equiv to new TreeSet(mpc.getComponent(List.class)). Collection c = mpc.getComponent(TreeSet.class); }
So how do the Parameters modify the construction?
Note:
In this example, we turned on Caching. Because of this, the collection instances are shared. So the following code would work:
List myList = mpc.getComponent(List.class); myList.add("This is a test"); Collection c = mpc.getComponent(Collection.class); assertEquals("This is a test", c.iterator().next());Because of caching, the results of myList are shared with the TreeSet retrieved by mpc.getComponent(Collection). Also note, however that because the constructor HashSet(Collection) makes a copy of the passed in collection, the following code would NOT work:
List myList = mpc.getComponent(List.class); myList.add("This is a test"); Collection c = mpc.getComponent(Collection.class); myList.add(0, "Another test"); assertEquals("This is a test", c.iterator().next()); //FAILS. The result of the evaluation is "Another Test"
With PicoContainer 2.0 we are able to leverage the parameter names of constructors and methods in order to remove the ambiguity on dependencies.
public class Store { public Store(StockManager workingDayStockManager, StockManager afterHoursStockManager) { // etc } }
pico.as(Characteristics.USE_NAMES).addComponent(Store.class);
Access to parameter names was dropped from JDK 6.0 and it is uncertain whether it will be added as a feature in another release, so PicoContainer relies on another open source library called Paranamer, without requiring a dependency on its Jar. In other words, PicoContainer has the same classes from Paranamer in its jar.
This works the same as Guice. Namely you make an annotation that extends our 'Bind' annotation and mark it in your constructor or method's signature like so.
@Retention(RetentionPolicy.RUNTIME) @Target({ElementType.FIELD, ElementType.PARAMETER}) @Bind public static @interface WorkingDayStockManager { } @Retention(RetentionPolicy.RUNTIME) @Target({ElementType.FIELD, ElementType.PARAMETER}) @Bind public static @interface AfterHoursStockManager { } public class Store { public Store(@WorkingDayStockManager StockManager workingDayStockManager, @AfterHoursStockManager StockManager afterHoursStockManager) { // etc } }
Making PicoContainer leverage binding annotations if present is automatic.
Binding annotations can be specified for constructor parameters (as shown above), method injection parameters as well as field injection.


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Ideal client guide
With this guide, you can easily construct your cold email campaigns that get responses. Everyone who needs to reach out to someone they don’t know directly can profit from this e-book.
A Quick and Dirty Guide to Cold Emailing
Cold emailing is a vital sales and marketing tactic. This direct and bold approach can help many experts from many industries and niches, opening up new business and career chances. Let’s delve into the weeds of this evergreen technique.
How to thrive at cold outreach?
Let’s review some basic guidelines to avoid having your cold emails marked as spam or garbage.
Define your target market. This manner, you may tailor your copy to your recipients’ interests. In sales, building your Ideal Customer Profile is essential.
Do your homework. Cold email automation is essential for efficiency. But you must also be effective. So getting to know your recipients better will help you to target them more precisely. To learn more about folks you wish to cold email, use the internet, social media, and other means.
Build your name and power. Your recipients will be more likely to open your cold email if they recognize your name. To advertise oneself, write blogs, hold webinars, use social media, and record podcasts.
Get referrals. In your cold outreach, include names. A shared interest can help break the ice.
Work on your topic line. The topic line is important. Attract your audience’s attention with fascinating content. It’s vital to A/B test your subject lines (and every other email element).
Simple is best. Today’s crowd is frantic. They don’t have time to read your life narrative, so keep it brief.
Observe! Do it forever. Persistence (but not pushiness) is key to increasing open, click, and response rates. Expect no one who sees your name in their email to think you have something to say.
Observe, improve, repeat. Monitoring your cold outreach results will show you what works and what doesn’t. Learn HOW to improve your next cold email campaign.
Define Your Audience
Understanding your target audience’s wants, preferences, and pain areas is critical to your outreach’s success. By identifying your target market, you can tailor your pitch to their needs. But, how? Here are some handy tips.
Ideal Client Type
When starting a business, getting as many clients as possible is critical.
The more prospects know about you, the better, but that doesn’t mean your marketing activities should be wide and broad. You’ll waste time, money, and energy on the wrong opportunities if you try to do too much. In other words, you need to narrow your target and connect with fewer sales-worthy prospects. Those are perfect customer profiles. These profiles of perfect-fit types of firms interested in purchasing your solutions should include the following information:
- Industry it is self-explanatory why you should define your company’s sector or specialization. It’s best to start with one industry and then fine-tune as needed.
- Company size, the number of employees, revenue, existing clients, or some other statistic can all be used to determine a company’s size.
- Location. Knowing where your target customers are located is critical to understanding their needs.
- Pain points. This is a crucial part to develop because knowing your prospective clients’ concerns will help you meet their demands and focus on the features of your product or service that will benefit them specifically.
- How long this company has already been in business.
- What is the biggest reason they won’t buy your product? If your product is not usable by this particular company, try to find any impediments or unfavorable variables that could affect their decision to do business with you.
- What is the key reason they should buy your product? Determine your product’s strengths and a unique selling feature that will appeal to the organization in question.
- What can your product do for them?
- So, what goods or solutions are they using now to attain that goal?
These details help you focus your efforts on attracting, cultivating, and engaging organizations that fit the above description.
Buyer Personas
An ideal customer persona is based on market research and real data about existing customers. It contains customer demographics, preferences, motivations, and goals.
A single ideal customer profile can have many buyer personas. They assist you understand your target audience’s qualities and motives, allowing you to better develop your marketing message.
When creating buyer personas, identify their personal traits, values, story, and wants. Here are some questions to help you build your buyer personas:
- What does your buyer persona do? This helps you tailor your approach and know what to expect from your target audience. Establish a consumer persona’s education level, abilities, expertise, and professional interests to further refine the data.
- What does your buyer persona do? How long do they work?
- Do they prefer email or phone communication? What social networking sites do they use? What stuff do they enjoy? What are their daily duties? The answers to these questions will help you choose the communication channel and build your marketing message.
- Where do you live? Married or not? Is it a city? Apart from demographics, B2B organizations must incorporate organizational graphs in their buyer personas, indicating their industry, size, and department.
- The main pain issues of your buyer persona? It’s also helpful to know what motivates them to hunt for a solution and how frustrated they are when they decide to buy from you.
- What influences your buyer persona’s decision-making process? Is it the product’s features and benefits that drive them, or is it urgency?
- What do they see as common sales roadblocks? Is it your product’s pricing that’s out of their budget? Is their senior management unwilling to work with you?
- Then what are their long-term goals? How can you help them? Make a plan to help your buyer persona achieve their goals and explain how your product may help.
Now that you have your buyer personas, it’s time to prioritize.
Create a scale and rank your personas based on their alignment with your solution, budget, and organizational impact.
Begin contacting the highest ranked prospects.
Segmentation
While many people may be interested in your products and services, their motives and reasons may vary greatly.
You wouldn’t send the same message to a CEO and a manager, just as applying for two identical jobs necessitates different emails.
This means that your target audience can be separated into categories based on shared traits.
You can use the following six traits to segment your list and target your outreach:
**1. Location. **This is one of the simplest ways to segment your target market. If your business operates in multiple cities, states, or regions, it makes sense that you wouldn’t deliver the identical offer to customers in New York and Chicago.
Unless you’re presenting your event online, don’t email your Canadian prospects that you’re hosting a conference in San Francisco. Your target audience will not pay much attention to your email since they will believe that what you say is irrelevant to them.
**2. Demographics. **Age, gender, income level, title, education level, industry, or corporate position can all be used to segment audiences.
The more you know about your possibilities, the better. But finding so many details can be challenging because consumers dislike filling out forms when signing up for your business.
Customer surveys can help you refine data about your prospects, but they only work if you reward them. Incentives will get you a lot of useful information.
**3. New Subscribers. **Never undervalue new subscribers. Greeting them with a welcome email, or even better, an email sequence , will keep them warm and interested.
This strategy works well with various segmentation factors.
**4. Past Purchases and Recommendations. **One of the most effective ways to segment your audience is by past purchases. Remind customers of upcoming refills or warranty expiration.
Obviously, automatic recommendations and reminders can be tremendous money producers.
**5. Inactive Customers. **Not all clients who made one purchase or visited your website will return. A simple email inquiring why they stopped visiting your site or reminding them of the product or service they added to their shopping cart but never purchased is one way to reach this category and gain their attention.
Social evidence, such as a product link with customer feedback, can be quite powerful here. If a subscriber hasn’t logged in for more than two months, ask if they still want to be a part of your community.
Disqualifying leads is as crucial as qualifying them in terms of keeping your list current and relevant.
**6. The Amount Spent. **While every penny counts, it’s still vital to segment your email list by wealth.
So you can’t offer a $1,000 item to someone who hasn’t spent $1,000 in your store. You can keep track of how different customers react to discounts, in addition to defining multiple price ranges and sending targeted communications.
Specifically, high-end buyers prefer exclusive deals above discounts. However, discounts are important buying motivators for others.
No matter how hard you attempt to adapt and personalize your outreach, there’s still a chance you’ll run with some unsuitable prospects.
Stats show that 50% of your prospects don’t meet the criteria. Trying to cultivate them can squander time and money, as well as lose out on certain chances.
True, we usually discuss persistence as a key component of your outreach success. No matter how diligent you are, pursuing a bad loan will yield no results.
Better to acknowledge your prospect is a dud early on.
Here are some red indicators to assist you identify and eliminate these incompatible prospects:
- They miss scheduled meetings. If this is an isolated incident, give them a chance. But if it’s a habit, stop it.
- They’re just looking. You may either quietly tell them to contact you when they’re ready to buy, or you can continue to hope that they will buy from you after learning more about your product’s benefits.
- No real necessity. If your prospect has the budget, authority, and desire for your product but lacks the need, they are unlikely to buy from you.
- No urgency. If your prospect isn’t in a hurry and can’t explain why, you can assume they’re not in a hurry.
- They don’t do homework. If your prospect doesn’t execute the required tasks, they aren’t serious about buying.
- No decision maker. In other words, they’re hiding something and assessing their alternatives.
- No price cut. Is this happening before your prospect has fully grasped the value of your product?
- They want insider information. Your opponents may try to discover your plans. Be wary if your prospect asks plenty of inquiries but doesn’t reveal much about themselves.
- They aren’t engaged. If your prospect still doesn’t understand your product after a demo and all your resources, they aren’t engaged. The same goes for ambiguous messages and non-responsive decision-makers in their firm.
- There is no pain. Some prospects’ quirks can harm your offer or complicate the entire process. Prospects that micromanage from the outset or are impossible to satisfy might be nightmares. Consider if you’re ready to work with them.
More Templates
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Cold Email Templates
Some great showcases
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Long-term Profit with Good Email Communications
The Complete Guide to Creating a Long-term Profit with Good Email Communications.
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How to Warm Up Your Cold Email List and Increase Deliverability
Introduction: Why Cold Emails Fail & The Dos and Don’ts of Sending an Effective Cold Email
-
Ideal client guide
With this guide, you can easily construct your cold email campaigns that get responses. Everyone who needs to reach out to someone they don’t know directly can profit from this e-book.
-
Emails With a Profile Photo in Gmail
The Complete Guide to Displaying Your Profile Photo in Gmail
-
10 Tips To Improve Your Cold Emails
Rather than cold-contacting people for their business, think out how to give value to their life first.
-
How to Prepare an Email Account for Cold Email Sending
How to Prepare an Email Account for Cold Email Sending


Man arrested for string of offences in Radford including possession of a firearm
'Offences like these can have a huge impact on victims'
by Phoebe RamA man has been arrested after a string of incidents including possession of a firearm, assault and witness intimidation.
Officers arrested the 31-year-old man on suspicion of possession of a firearm and other offences in connection with multiple incidents.
All the incidents happened in Radford throughout November 2019.
On Saturday, November 9 a witness intimidation report was made to Nottinghamshire Police after an incident in St Peter's Street, Radford.
The firearms offence relates to a report of a man possessing a firearm in Radford on Sunday, November 17.
On November 19, officers were called to Midland Way in Radford after reports of assault following a theft in the same street.
The theft from motor vehicle offence is in connection with a report of a man allegedly taking the tailgate off of a Mitsubishi L200 in Manston Mews, Radford on Monday, November 25.
Inspector Ruby Burrow, of Nottinghamshire Police, said: “Offences like these can have a huge impact on victims and we are committed to investigating all reports of crime thoroughly as a result.
“It’s important that we find those responsible for violent crime as soon as possible to make sure that appropriate action is taken.”
With the General Election approaching we want to give you all the results and reactions as they happen. Join our new WhatsApp service to receive breaking news alerts throughout the night by texting ELECTION to<PHONE_NUMBER>2. The first messages will go out December 12 after polls close.


T3A04-web-Aaden.html
Google
Plain text
Bold
and
Italic
can you put them togeather
Bold and Italic
This is an image
This is
a span
This is an orfered list of foods
Pasta
Steak
Taco
Bread
Hotdog
This is an un-oredered list of countries
Canada
America
China
Japan
Africa
A box is a box with a box in a box
cool kids cool kids
Babeba
Idk about you this box rocks


STEP COACHING CLASS
PHYSICS YOUTUBE VIDEOS
Lever
Pulleys
Wheels & Axles
Inclined Planes
Working Together
Phases of Moon
Laws of Reflection
Atmospheric Pressure : 55 Gallon Steel Drum Crush
Barometer
Atmospheric Pressure Drinking Liquid with a straw
Electromagnetic Induction
Flemming Left Hand Rule
Hydraulic Lift
Hydraulic Press
Snell's Law of Refraction
Sound : Bell Jar Experiment
Transverse Waves of Spring in Slow Motion
Longitudinal Waves of Spring in Slow Motion
Plotting a Magnetic Field
Longitudinal Waves of Spring in Slow Motion
Longitudinal Waves of Spring in Slow Motion
Longitudinal Waves of Spring in Slow Motion
Longitudinal Waves of Spring in Slow Motion
Longitudinal Waves of Spring in Slow Motion
Longitudinal Waves of Spring in Slow Motion


| DOSE: |
40 mg |
insufflated |
AMT |
(powder / crystals) |
| |
60 mg |
insufflated |
AMT |
(powder / crystals) |
I recently got my hands on some pure AMT and decided to experiment with it.
Experiment #1. ~40 mg insufflated
While pilling it up into 40 milligrammes pills, I licked my fingers at the end of the ordeal and snorted what I couldn't get into the pills. I am guessing I ingested about 40 milligrammes.
Visuals were weak, but very beautiful. I felt like I was rolling and was drinking lots of water. Music sounded wonderful and my conversations were very flowing and honest. After a few hours, I went home and while lying in bed trying to sleep, I had movies playing in my mind that were so real, more than twice I had to reconvince myself that I was in my bed and by myself. Truly a neat experience.
Experiment #2. Snorted 60 milligrammes.
I do not reccommend this. The burn was intense and lasted more than 30 minutes. I vomited. The only cool thing was that visuals started about one minute after insufflation. The visuals were stronger this time and I was over at a friend's house while everyone else was drinking. I felt like I had eaten about 100 milligrammes of MDMA and taken one hit of acid.
Talking was very enjoyable and I was grinding my teeth quite a bit. I was very honest and open and empathetic to everyone. Same thing happened when I went to bed that night.
Experiment #3. Ate 60 milligrammes.
Wow. Eating is the way to do it. I felt the effects about twenty minutes later and went up for easily almost two hours straight. I watched Moonstruck during that time and my visuals were stronger than five hits of acid. I felt like I was blowing up hard. The bad part was that I wanted to throw up as if I had eaten some mescaline. I held it down and by the time the movie was half-way over, the nausea was gone.
I had a really good conversation with my brother about our family life. I went out to smoke a cigarette and then went to bed after about two more hours of talking.
While in bed this time, I was listening to music, which was incredible this time. I was listening to oldies about young love and the like, and the songs were becoming structured in three dimensions in my brain. There really is no way to describe this concept except that I felt that I finally was understanding both sides of the love relationships in all of the songs, as if each line of lyrics built on or responded to the last one. It was the best experience I can describe with music.
AMT is truly a great substance, but is most definitely a social drug and must be used in that context. Having a bad trip with AMT seems impossible and having a good time is almost inevitable. Nausea is the main problem and trisma can be annoying. Drink lots of water and have some cigarettes if you're into that (they're a must). And make sure that someone can give you a back rub; they feel great.
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.


MATT BRIGIDA
Associate Professor of Finance (SUNY Polytechnic Institute)
Click the following links to see the code, authors of this presentation.
If you would like to make any additions or corrections to this presentation, visit our GitHub repository page to learn more about how to contribute.


Bus ticket booking during the offline era posed various difficulties to the customers as well as the bus operators. Offline ticket booking reduced the scope of customers to choose different options based on their travel criterion (Gayathry, 2013). It also increased the franchising cost for the bus operators. At the same time, the bus operators were also finding it difficult to monitor their bus seat filling information. Many small and medium bus service organizations do not have their own online bus ticket booking system. Online Bus ticketing system web portal is a total internet ticketing operations offering the benefit of total in-house management of bus schedules, ticket bookings, ticket sales, report generation, and other business functions associated with ticket sales (Melisa, 2007). It also offers the power of decision making to customers to make a ticket booking through bus operators’ popularity, performance and ranking. This powerful Internet based ticket booking system that allows a full control of not only on the ticketing inventory, but also the site’s content. According to Melisa (2007), stated the basic components of an Online Bus Ticketing System web portal that provides enhanced service to the bus operators and customers consist of the following: • Capture of customer information such as name, address, phone number and e-mail address • Price list • Bus operators ranking • Seating chart • Loyalty Points/Redemption • Search engine • Payment information • Organization's advertisement/slogan, phone number, fax number, and address • Comments and suggestions section / option • Reports
email<EMAIL_ADDRESS>tel: +234-802-973-7471
Swift online booking
Cheap pricing
Ease and convinience


Data structure¶
Neuroimaging experiments generate a complex set of data that can be organized in many different ways. For many years, the research community has been trying to find a way to effectively store and manage the data collected from the fMRI scanner.
Brain Imaging Data Structure¶
Brain Imaging Data Structure (BIDS) was originally designed to describe and apply consistent naming conventions to raw data (Gorgolewski et al., 2016).
Derivatives of the raw data (other than products of DICOM to NIfTI conversion) MUST be stored separately from the raw data to protect the raw data from accidental changes.
Structuring your data according BIDS also enables to use automatic analysis tools such as fMRIPrep or other BIDS Apps.
Figure 1. From unstructured data (left) to a BIDS-structured dataset (right).
To understand the organization of files and their format, refer to the BIDS documentation.
Create a BIDS compatible dataset¶
Here we summarize the steps necessary to create a BIDS-compatible dataset as described by Gorgolewski et al., 2016.
Convert DICOM files to NIfTI
Data collected with an fMRI scanner are initially stored in DICOM format. In the first step, we have to convert our data from DICOM to NIfTI format.
See also
To perform such file conversion, we recommend using dcm2niix format, which is an open-source software that runs on macOS, Linux, and Windows, typically without requiring any third-party dependencies. At the bottom of the documentation available on GitHub, you can find other linked alternatives, e.g. HeuDiConv which may facilitate the process of creating BIDS validate datasets and additionaly, this converter does integrate with DataLad by placing converted and original data under git/git-annex version control system.
Create folder structure
BIDS relies on a particular folder structure and naming scheme of files. We start with creating the folder structure with one folder for each participant named ‘sub-01’, ‘sub-02’ and so on. When we have multiple scanning sessions, as in longitudinal fMRI studies, each subject subfolder should contain a ‘ses-<label>’ subfolder, where label coresponds to the ID of a session. Inside each subject/session folder, we create subfolders such as: ‘anat’ for anatomical scans, ‘dwi’ (for diffusion scans),‘func’ (for task fMRI) and ‘fmap’ for field mapping. After creating the base folder structure, we have to move specific scans to an accurate folders and rename it.
Rename files
Besides organizing your folders, you have to change names of your neuroimaging data files (.nii.gz) according to BIDS convention.
When data have been collected in several sessions for each subject, the name of the filename must start with the string
sub-<label>_ses-<label>
.If the session level is omitted from the folder structure, the filename must begin with the
sub-<label>
, without theses-<label>
.
sub-<label>
corresponds to an entity, where <label>
corresponds to that entity’s unique identifier, for example 01. The same goes for a session entity with its ses-
key and <label>
value.
sub-01
∟ anat
#data type
∟ sub-01_run-01_Tww.nii.gz
#entities, suffix and exntension
Every folder and file name has to be renamed following the BIDS standard. See more information here.
Add remaining data
We need to provide details on the experimental paradigm for modality-specific files. To see possibilities, go here.
BIDS aspires to describe a majority of datasets, but acknowledges that there will be cases that do not fit the present version of BIDS.
Add missing metadata
You have to provide the name of each task, but it is optional to add information such as task instructions and description. Also, it is recommended to include external ontology such as Cognitive Atlas or Cognitive Paradigm Ontology to clarify research purposes.
Validate the dataset
BIDS Validator has been developed to easily check whether a dataset accurately follows the BIDS standard. Once the dataset is organized into BIDS format, the BIDS Validator can be used to check if any of the required or recommended metadata are missing.
Note
We recommend using the Web version of BIDS validator with no need to install additional software. To validate your data:
Open Google Chrome or Mozilla Firefox (the only supported browsers).

If the validator seems to work longer than a couple of minutes, open developer tools and report the error in the designated place.
The BIDS validator performs the validation on the client side (no data is uploaded or shared) so it is suitable for sensitive datasets that are not intended to be publicly shared.
Data format conversion¶
Developers created python toolkit BIDScoin that converts raw neuroimaging datasets to .nifti/.json /.tsv format, organised following the BIDS standard. All information about installation and processing datasets can be found on readthedosc.io. Issues can be reported on GitHub repository.
BIDScoin requires the data source to be organized according to a BIDS folder structure standard. However, data collected in folders can have various formats.
Having your data structurized, you can start converting data according to BIDS standard. It can be done through (1a) the bidsmapper
, (1b) the bidseditor
, (2) the bidscoiner
, command-line tools.
The bidsmapper starts by making a map of the different kind of datatypes (scans) in your source dataset with so-called bidsmap, which tells how exactly to convert specific data format into a BIDS data.
To check how the command-lines work, visit the BIDScoin workflow.
Note
After the successful run of BIDScoin there are couple more steps to take. Even though, there are only few of them and they require you to:
Adding missing meta-data (i.e. refill
dataset_description.json
andREADME
files) to fulfill your dataset.Examine data sharing utilities, such as multi-echo combination (echos separation) and defacing.
Make sure that your dataset meet the requirements with BIDS Validator.
BIDScoin’s documentation allow you to go through the demonstration of using the tool, so do not hesitate to make sure that you are doing everything in a right way.


Introduction
CS 148 is an introduction to core topics in the modeling and control of autonomous robots. This course focuses on the development of “brains for robots”. That is, given a robot as a machine with sensing, actuation, and computation, how do we develop programs that allow the robot to function autonomously? Such programs involve the robot's perception of its world, decision making towards some objective, and transforming decided actions into motor commands. These are functions commonly used in modern robotics, such as for the PR2 (below).
This year, CS148 projects will model and control robots through projects written in JavaScript/HTML5. These projects will be supported by the 3jsbot code stencil, which uses threejs for in-browser 3D rendering, and 2D simulation code stencils using the jsfiddle development environment. We will roughly follow software models from the Robot Operating System (ROS) robot middleware framework, such as the URDF kinematic modeling format. Projects will cover basic physical simulation, proportional-integral-derivative control, 3D geometric transforms, compositions of matrix transforms, forward kinematics, axis-angle rotation by quaternions, inverse kinematics, simple collision detection, and RRT motion planning, along with coverage of potential field navigation, Monte Carlo localization, and Newton-Euler dynamics.
Instructor
Chad Jenkins
Office: CIT 327
Office Hours
Monday 1-2:30
Thursday 1-3 (when not conflicting with travel)
Meeting time/place
Monday 3:00-5:20 (M Hour) in CIT 368
Mailing list
Prerequisites
Any one of the following: CS15, CS17, CS19, or permission from the instructor
CS 15, 17, or 19 should provide an adequate programming background for the projects in this course. In addition, motivated students who have taken CS 4 should consult with the instructor before enrolling in CS148. Interested students who have not taken any of these courses at Brown, but have some other strong programming experience should consult with course instructor.
Highly Recommended: Linear alegebra
Recommended: Differential equations, Computer graphics, Computer vision, Artificial Intelligence
I will do my best to cover the necessary material, but no guarantees. Linear algebra will be used extensively for representing 3D geometric transforms. Computer graphics is helpful for under-the-hood understanding of threejs. Computer vision and AI share common concepts with this course. Differential equations are used to cover modeling of motion dynamics and inverse kinematics, but not explicitly required.
Textbook
Robot Modeling and Control
Mark W. Spong, Seth Hutchinson and M. Vidyasagar
Wiley, 2005
Available at Amazon
Optional texts
JavaScript: The Good Parts
Douglas Crockford
O'Reilly Media / Yahoo Press, 2008
Principles of Robot Motion
Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun
MIT Press, 2005
Projects and Grading
There will be 8 projects in CS148: 7 programming assignments and 1 oral/written assignment. CS 148 projects are graded as “checked” (completed) or “not checked” (incomplete). To receive an A grade in the course, you must have all assignments checked by the end of reading period. For a B grade, 6 assignments must be checked. Less than 6 checks will result in no credit for the course. The timing and due dates for these projects will be announced on an ongoing basis. Git repositories will be used for project implementation, version control, and submission. Project implementations are submitted as branches in your assigned repository. These branches must be submitted prior to the due date for each assignment. Your implementation will be checked out and executed by the course staff. You will be notified by the course staff whether your implementation is sufficient for checking off the assignment. If your assignment is insufficient for receiving a check, your group is allowed one regrade (per assignment) with 2 weeks of notification. If deemed necessary, the course staff may require an interactive demonstration of your implementation and/or a web-based written report.
Final Grading
All grading will be finalized on May 11, 2015. Regrading of specific assignments will be done upon request during office hours. No regrading will be done after grades are finalized.
Repositories
The course staff will provide a git repository (through github) for each student group to check in project source code and reports, unless you request using separate service or repository. Please refer to this tutorial for an in-depth introduction to git and version control. Although it has a coarse language choice, this is also a great and accessible tutorial. We expect students to use these repositories for collaborative development as well as project submission. It is the responsibility of each student group to ensure their repository adheres to the Collaboration Policy and submission standards for each assignment. Submission standards and examples will be described for each assignment.
Late Policy
Do not submit assignments late. The course staff reserves the right to not grade late submissions.
200-Level Credit
CS148 cannot be taken for 200-level (graduate) credit. Please direct questions about policies and procedures for graduate credit to the CS Director of Graduate Studies.
Collaboration Policy
This policy covers all course material and assignments unless otherwise stated. Course material, concepts, and documentation may be discussed with anyone. Assignments may be discussed with the other cs148 students at the conceptual level. Discussions may make use of a whiteboard or paper. Discussions with others (or people outside of your assigned group) cannot include writing or debugging code on a computer or collaborative analysis of source code that is not your own. You may take notes away from these discussions, provided these notes do not include any source code. The code for your implementation may not be shown to anyone outside of your group, including granting access to repositories or careless lack of protection. You do not need to hide the screen from anyone, but you should not attempt to show anyone your code. When you are done using any robot device such that another group may use it, you must remove all code you have put onto the device. You may not share your code with others outside of your group. At any time, you may show others the implemented program running on a device or simulator, but you may not discuss specific debugging details about your code while doing so. Should you fail to abide by this policy, you will receive no credit for this course. Brown also reserves the right to pursue any means necessary to ensure compliance. This includes, but is not limited to prosecution through Brown University’s Student Conduct Procedures, which can result in your suspension or expulsion from the University.
Tentative Schedule (subject to change)
- Introduction, Motors and Sensors, Basic JavaScript (Chapter 1) Slides
- Assignment 1 out: Getting started
- Lagrangian equations of motion for simple pendulum, Linear alegbra refresher Slides (Refresher)
- Numerical integrators: Euler, Verlet, Runge-Kutta 4, Lagrangian equations of motion for simple double pendulum, Slides (Dynamics)
- Assignment 1 due: Getting started
- Assignment 2 out: Simple pendulum
- Basic motion control, Proportional-Integral-Derivative control Slides (Controls)
- Generalized coordinates and joint angles Particle simulation with optimized constraints Spring and ground constraints Slides (Dynamics/Constraints)
- No class. Long weekend break.
- Assignment 2 due: Simple pendulum
Assignment 3 out: Pendularm- Robot Kinematics, URDF, 2D transforms, 3D transforms (Chapter 2) Forward Kinematics, Matrix Stack (Chapter 3), Quaternions; Not covered: D-H notation Slides (Forward Kinematics)
- Assignment 4 out: Forward kinematics: draw robot
- Forward Kinematics (continued)
Assignment 3 due: Pendularm- Inverse kinematics, Geometric Jacobian, Pseudo Inverse (Chapter 4) Slides (Inverse Kinematics)
- Assignment 4 due: Forward kinematics: draw robot
- Assignment 5 out: Forward kinematics: quaternions
- Robot Decision Making, Motion Planning, Bug Algorithms, Probabilistic Roadmaps, RRT Connect (Chapter 5), Axis-aligned collision detection, Finite State Machines, Subsumption Architecture, Potential Fields
- Handout: RRT-Connect: An Efficient Approach to Single-Query Path Planning by Kuffner and LaValle, ICRA 2000.
- No class. Spring Break.
- Decision Making and Motion Planning (continued) Slides (Decision Making and Motion Planning)
- Assignment 5 due: Forward kinematics: quaternions
- Assignment 6 out: Inverse kinematics
- Potential Fields (Chapter 5), Lagrangian multipliers, Generalized coordinates and joint angles, Particle simulation with optimized constraints, Spring and ground constraints Slides (Dynamics/Constraints)
- Robot Perception, Monte Carlo Localization, Simultaneous Localization and Mapping, Range Sensing, 2.5D Point Clouds, Moving Least Squares
- Assignment 6 due: Inverse kinematics
- Assignment 7 out: Motion planning
- Robotics Lab Demos, Regrading and makeup session
- Assignment 8 out: Best use of robotics?
- Robot Middleware, rosbridge and Robot Web Tools, Quad rotor helicopter programming Regrading and makeup session
- Assignment 7 due: Motion planning
- Student presentations
- Assignment 8 due: Best use of robotics?
- Grading finalized
Week 1
Week 2
Week 3
Week 4
Week 5
Week 6
Week 7
Week 8
Week 9
Week 10
Week 11
Week 12
Week 13
Week 14
Week 15
Week 16
Slides from this course borrow from and are indebted to many sources from around the web. These source include a number of excellent robotics courses:
Assignment 1: Getting familiar with 3jsbot
Due 9am, Monday, February 2, 2015
In this assignment, you should clone the 3jsbot_stencil repository as your working repository for the course. 3jsbot_stencil contains a code stencil for this assignment as well as all projects in the course. If you open "home.html" in this repository, you should see the jittering disconnected pieces of a robot (described in "robots/br2.js"), similar to the follwing snapshot:
Your task is to make these objects responsive to keyboard commands, specifically to move upward and stop/start jittering (although more is encouraged). To do this, you will modify "home.html" within the sections delimited by "// CS148: INITIAL GETTING FAMILIAR CODE". These sections also include code examples meant to be a quick (and very rough) introduction to JavaScript, assuming programming competency in another language.
To ensure proper submission of your assignments, please do the following:
- email the course instructor (ojenkins addrsign brown) with your name, email address, and pointer to your repository,
- ensure the course instructor knows what repository you are using, and your branch is created and not modified past project deadlines
- ensure the instructor has read/commit access to your repository, which can be confirmed/addressed through email or office hours
For turning in your assignment, create a branch in your repository labeled "Assignment-1". The "Assignment-1" branch is essentially a tag and should not be merged back into the master. You should work from the master.
Assignment 2: Simple pendulum
Due 9am, Monday, February 16, 2015
UPDATE: Due 9am, Thursday, February 19, 2015
To get a sense of physical dynamics and control, your task is to implement a physical simulator and servo controller for a frictionless simple pendulum with a rigid massless rod, and then control this system as a 1 DOF robot with a single motor. The code stencil for this pendulum example has been placed in the 3jsbot_stencil repository.
For physical simulation, you will implement two numerical integrators (Euler's Method and Velocity Verlet) for a pendulum with parameters specified in the code stencil. The numerical integrator will advance the state (angle and velocity) of the pendulum in time given the current acceleration (generated from the pendulum equation of motion). If implemented successfully, this ideal pendulum should oscillate about the vertical (where the angle is zero) proportional to the pendulum's initial angle.
For motion control, you will implement a proportional-integral-derivative controller to control the system's motor to a desired angle. This PID controller should output control forces integrated into the system's dynamics. You will need to tune the gains of the PID controller for stable and timely motion to the desired angle for pendulum with parameters: length=2.0, mass=2.0, gravity=9.81.
For user input, you should be able to use the 'q' and 'e' keys to decrement and increment the desired angle of the 1 DOF servoed robot arm, and hold down the 's' key zero the robot's controls and allow it to swing uncontrolled.
For turning in your assignment, create a branch in your repository labeled "Assignment-2".
Assignment 3: Pendularm
CANCELLED
Due 9am, Monday, March 2, 2015
Due to the scheduling issues imposed by weather conditions, this assignment has been cancelled for the current semester. If you are interested in implementing this assignment (because it is cool), please see the course instructor.
For turning in your assignment, create a branch in your repository labeled "Assignment-3".
Assignment 4: Forward Kinematics: Draw Robot
Due 9am, Monday, March 16, 2015
UPDATE: Due 9am, Monday, March 9, 2015
In this assignment, you will render the forward kinematics of a robot, given its kinematic specification (in the "robots" subdirectory). To render the robot properly, you will compute matrix transforms for each link and joint of the robot based their hierarchical configuration. We will assume the joints will remain in their zero position, saving joint motion for Assignment 3. Each file in the robots subdirectory contains code to create a robot data object and initializes this object with the kinematic description of a robot (as well as some meta information and rendering geometries). This kinematic description defines a hierarchical configuration of the robot's links and joints. This description is a subset of the Unified Robot Description Format (URDF), as described in this tutorial. From this initialization, you should extend the robot object to:
- complete the kinematic hierarchy to specify the parent and children of each link, by modifying the init_robot_joints() function in home.html.
- include "3jsbot_forward_kinematics.js" and "3jsbot_matrix.js" in home.html
- invoke traversal of forward kinematics, by uncommenting robot_forward_kinematics() in my_animate() in home.html
- implement matrix support routines in 3jsbot_matrix.js
- implement recursive traversal of joints and links 3jsbot_forward_kinematics.js, starting from robot_forward_kinematics(), to compute transformation matrices for:
- robot.origin.xform: global position and orientation of robot
- robot.links[xx].xform: transform of link in global coordinates
- robot.joints[xx].origin.xform: transform of joint origin in global coordinates
- robot.joints[xx].xform: transform resulting from joint rotation in global coordinates.
- For this assignment, robot.joints[x].xform equals robot.joints[x].origin.xform times the identity matrix (i.e., no rotation of the joint)
- for each link and joint, set its transformation for rendering by coverting the transform to the threejs format and applying it to the associated threejs geometry (.geom), such as:
var tempmat = matrix_2Darray_to_threejs(robot.joints[xx].xform); simpleApplyMatrix(robot.joints[xx].geom,tempmat);
If implemented properly, the robot_urdf_example.js example should produce the following rendering:
The robot_br2_example.js should produce the following:
Additionally, a correct implementation will be able to interactively highlight joints by uncommenting the following in 3jsbot.js:
/*
// initialize the active link/joint for control
active_link = robot.base;
active_joint = robot.links[active_link].children[0];
//robot.links[active_link].geom.material.wireframe = false;
//robot.links[active_link].geom.material.opacity = 0.5;
robot.joints[active_joint].display_geom.material.wireframe = false;
robot.joints[active_joint].display_geom.material.opacity = 0.5;
*/
This will allow you to move up and down the kinematic hierarchy with the "k" and "j" keys, respectively. You can also move between the children of a link using the "h" and "l" keys.
For turning in your assignment, create a branch in your repository labeled "Assignment-4".
Assignment 5: Forward Kinematics: Quaternions
Due 9am, Monday, March 23, 2015
UPDATE: Due 9am, Monday, March 30, 2015
For this assignment, you will now add motor rotation to your robot from the previous assignment along with PID control from earlier assignments. You will implement angular rotation about each joint axis using quaternions for axis-angle rotation. You should create an "angle" property for each joint that is initialized as zero for rotation about the normal vector specified in the "axis" field. The rotation due to joint angles should be accounted for in the robot's forward kinematics and implemented as quaternions in "3jsbot_quaterion.js". Remember to uncomment the include of "3jsbot_quaterion.js" in "home.html" and the joint rendering cylinder rotation in "3jsbot.js".
Once joint axis rotation is implemented, you will implement movement controls and PD control for the robot. You should create an "control" property for each joint and global DOF that is initialized as zero, and a "servo" property with PD gains and desireds. In "home.html", you should uncomment the function call to robot_apply_controls() and code segment around robot_pd_control(), and implement these functions respectively in "3jsbot_controls.js" and "3jsbot_pd_control.js".
robot_apply_controls(): Assuming simple non-Newtonian physics, robot_apply_controls() should simply add the controls to the joint angle state (contained in the robot.joints[x].angle fields) and global pose (contained in the robot.origin field) of the robot. Assume the base of the robot will be restricted to the ground plane. The following patch can be used in your main FK routine (such as through the compute_and_draw_heading() function) to create the rendering geoms for the robot's forward and lateral directions in the ground plane:
if (typeof heading_geom === 'undefined') {
var temp_geom = new THREE.CubeGeometry(0.3, 0.3, 0.3);
var temp_material = new THREE.MeshBasicMaterial( {color: 0x00ffff} )
heading_geom = new THREE.Mesh(temp_geom, temp_material);
scene.add(heading_geom);
}
if (typeof lateral_geom === 'undefined') {
var temp_geom = new THREE.CubeGeometry(0.3, 0.3, 0.3);
var temp_material = new THREE.MeshBasicMaterial( {color: 0x008888} )
lateral_geom = new THREE.Mesh(temp_geom, temp_material);
scene.add(lateral_geom);
}
The placement of these geoms can then be set using simpleApplyMatrix():
simpleApplyMatrix(heading_geom,heading_mat);
simpleApplyMatrix(lateral_geom,lateral_mat);
Note: this is not the most elegant way to show the robot's heading and lateral, but does give a reasonable visual indication.
robot_pd_control(): For controlling the joint angles, robot_pd_control() should implement a simple proportional-derivative controller that updates to the desired angle of all joints based on the seconds of the system clock. This controller provides a simple means to test that controls for all joints are working. The following code snippet shows how to get the current system time and seconds, and scale this value to span the range (0..2*Math.PI).
var curdate = new Date();
curdate.getSeconds()/60*2*Math.PI;
For user input, you should be able to use the 'u' and 'i' keys to decrement and increment the rotation angle the selected joint, 'wasd' keys to move the robot on the ground plane, 'q' and 'e' keys for lateral base movement, and hold down the 'o' key to servo based on the system seconds.
For turning in your assignment, create a branch in your repository labeled "Assignment-5".
Assignment 6: Inverse Kinematics
Due 9am, Monday, April 13, 2014
For this assignment, you will now control your robot to reach to a given point through inverse kinematics for position control of the robot endeffector. Inverse kinematics will be implemented through both the Jacobian Transpose and Jacobian Pseudoinverse methods, although only one will be invoked at run-time. The core of this assignment is to complete the robot_inverse_kinematics() function invoked from home.html. This function will be called with three arguements: the variable ik_target (used by 3jsbot_userinput.js) to specify the IK target location in the world frame, the name of the joint directly connected to the endeffector, and the location of the endeffector in the local joint frame. The following is an example of invoking robot_inverse_kinematics():
robot_inverse_kinematics(ik_target, "forearm_right_yaw", [[0],[0],[0.5],[1]]);
The top level of robot_inverse_kinematics is provided below, and is the beginning of your implementation in the file 3jsbot_inverse_kinematics.js:
function robot_inverse_kinematics(target_pos, endeffector_joint, endeffector_local_pos) {
// compute joint angle controls to move location on specified link to Cartesian location
if (update_ik) {
iterate_inverse_kinematics(target_pos, endeffector_joint, endeffector_local_pos);
endeffector_geom.visible = true;
target_geom.visible = true;
}
else {
endeffector_geom.visible = false;
target_geom.visible = false;
}
update_ik = false;
}
This code stub contains clauses to handle rendering of the endeffector (endeffector_geom) and target (target_geom) geometries and when to perform IK iterations (which occurs while holding down the 'p' key through 3jsbot_userinput.js). Both endeffector_geom and target_geom have been previously created by 3jsbot, so your code only needs to set the transform using simpleApplyMatrix() for proper rendering. Further, the 'r'/'f' keys will move the target location up/down, respectively.
In implementing this IK routine, please remember the following:
- Computation of the Jacobian should only occur with respect to the joints along the chain from the endeffector joint to the robot base
- The location of the endeffector needs to be computed using transforms resulting from the robot's forward kinematics
- Matrix inversion can be invoked by using the provided routine numeric.inv(mat), available through numericjs
- The computed velocity in configuration should be applied to the robot through the joint.controls field of each joint
- This assignment is only for positional control of the robot endeffector with respect to computing IK error
For turning in your assignment, create a branch in your repository labeled "Assignment-6".
Assignment 7: Motion Planning
Due 9am, Wednesday, April 29, 2015
For this assignment, you will now implement a collision-free motion planner to enable your robot to navigate from a random configuration in the world to its home configuration (marked by the "X" on the world floor). Motion planning will be implemented through the RRT-Connect algorithm (described by Kuffner and LaValle). The core of this assignment is to complete the robot_rrt_planner_init() and robot_rrt_planner_iterate() in the provided 3jsbot_rrt_connect.js stencil. For successful execution, your implementation of RRT-Connect, the provided collision detection system, and a single specification of world geometry will need to be included in home.html:
<--
-->
To ensure these worlds are rendered in the display, the geometries of the world are added to the threejs scene by calling robot_set_planning_scene() in home.html at the end of the init_robot() function:
function init_robot() {
...
// set scene for planner
robot_set_planning_scene();
}
Note: your planner should be constrained such that the search does not consider configurations where the base is outside the X-Z plane. Specifically, the base should not translate along the Y axis, and should not rotate about the X and Z axes.
First step: add collision detection
Your RRT-Connect implementation will depend on detection of collisions (provided by the function robot_collision_test() in 3jsbot_collision.js) with respect to a specified world geometry. Worlds are specified as a rectangular boundary and sphere obstacles. A collection of worlds are provided in the "worlds/" subdirectory of 3jsbot_stencil. The collision detection system performs two forms of tests: 1) testing of the base position of the robot against the rectangular extents of the world, and 2) testing of the robot configuration against spherical objects. Configuration collision testing is performed by AABB/Sphere tests that require the bounding box of each link's geometry in the coordinates of that link. This bounding box is computed by adding the following within the loop inside init_robot_links_geoms() in 3jsbot.js:
// bounding box of robot link in local link coordinates
robot.links[x].bbox = new THREE.Box3;
robot.links[x].bbox = robot.links[x].bbox.setFromPoints(robot.links[x].geom.geometry.vertices);
Even before your planner is implemented, you can use the collision system interactively with your robot. The provided robot_iscollision() function will test the the current configuration of the robot. If a collision occurs, the base of the robot will be displayed as a solid red. The call to robot_iscollision() should be placed within my_animate() in home.html:
// show if robot is currently in collision
robot_iscollision();
Updating 3jsbot_collision for your implementation
You will need to modify the forward kinematics calls in 3jsbot_collision.js. 3jsbot_collision.js uses matrix and quaternion calls based on the reference implementation (i.e., my code). Your matrix and quaternion calls likely have a different structure to the function arguments and returned data structures. You should either:
- 1) modify calls to matrix/quaternion routines to fit your functions, or
- 2) use a modified version of your own FK with the collision test added to the link traversal function (remember: you need the inverse of the matrix stack for collision testing in a link frame)
Also, you can feel free to use numeric.inv() instead of matrix_invert_affine(). Affine transforms can be inverted (in constant time) through a much simpler process than the generic matrix inversion, which is O(n^3) for Gaussian elimination.
If successful to this point, you should be able to see the collision world of the robot, move around this world, and see the base display solid red when a collision occurs.
Invoking the planner
Your planner will be invoked interactively by first moving the robot to an arbitrary non-colliding configuration in the world and then pressing the "m" key. The "m" key will request the generation of a motion plan. While the planner is working, it will not accept new planning requests. Thus, you can move the robot around while the planner is executing.
Invokation of the planner is implemented by adding the following code segments to:
- init_robot() in home.html:
// initialize flags for executing planner generating_motion_plan = false; generate_motion_plan = false;
- my_animate() in home.html:
// configuration space motion planning if ((generate_motion_plan) && (!generating_motion_plan)) { robot_rrt_planner_init(); generating_motion_plan = true; generate_motion_plan = false; } if (generating_motion_plan) { //robot_rrt_connect(q_desired); rrt_result = robot_rrt_planner_iterate(); if (rrt_result === "reached") { //alert("home: reached"); generating_motion_plan = false; } }
- user_input() in 3jsbot_userinput.js:
// generate motion plan if ( keyboard.pressed("m") ) generate_motion_plan = true; else generate_motion_plan = false;
Planner output
The output of your planner will be a sequentially ordered array (named robot_path[]) of RRT vertices, where each RRT vertex contains a robot configuration (.vertex), an array of edges (.edges), and a threejs indicator geometry (.geom). The 3jsbot_rrt_connect.js stencil has provide routines that describe how new vertices can be added to the RRT. One a viable motion plan is found, this path can be highlighted by changing the color of the RRT vertex geom indicators, similar to the following:
robot_path[i].geom.material.color = {r:1,g:0,b:0};
The user should should be able to interactively move the robot through the found plan. After adding the following code below to user_input() in 3jsbot_userinput.js, the "n" and "b" keys to move the robot to the next and previous configuration in the found path, respectively.
// traverse generated motion plan
if ( keyboard.pressed("n") | keyboard.pressed("b")) {
if (typeof robot_path !== 'undefined') {
// increment index
if ((keyboard.pressed("n"))&&(robot_path_traverse_idx < robot_path.length-1))
robot_path_traverse_idx++;
if ((keyboard.pressed("b"))&&(robot_path_traverse_idx > 0))
robot_path_traverse_idx--;
// set angle
robot.origin.xyz = [
robot_path[robot_path_traverse_idx].vertex[0],
robot_path[robot_path_traverse_idx].vertex[1],
robot_path[robot_path_traverse_idx].vertex[2]
];
robot.origin.rpy = [
robot_path[robot_path_traverse_idx].vertex[3],
robot_path[robot_path_traverse_idx].vertex[4],
robot_path[robot_path_traverse_idx].vertex[5]
];
for (x in robot.joints) {
//q_names[x] = q_start_config.length;
robot.joints[x].angle = robot_path[robot_path_traverse_idx].vertex[q_names[x]];
}
}
}
Note: we are NOT using robot.controls to execute the found path of the robot. Although this can be done, the collision system does not currently test for configurations that occur due to the motion between configurations.
Testing
Make sure to test from a reasonable set of robots and initial configurations within all of the provided worlds, ensuring that:
- a valid non-colliding path is found and can be traversed
- the robot does not to take steps longer than 1 unit
- the robot base does not move outside the X-Z plane. Specifically, the base should not translate along the Y axis, and should not rotate about the X and Z axes.
The "br2" robot should be able to navigate all of the provided worlds.
Optional: HTML5 Canvas Stencil
Using the browser for as a development environment has many benefits. However, when coding mistakes occur, it will make the browser lock up and be completely unusable. This becomes even worse when the overhead of rendering with threejs is involved.
To help you get started, the code stencil also has a "rrt_canvas" directory where you can implement your RRT in 2D worlds with provided routines for visualization and collision. Because the RRT is invariant across configuration spaces, an RRT developed for the 2D Canvas world should easily port to the N-D threejs world, with minor changes for invoking drawing routines.
For turning in your assignment, create a branch in your repository labeled "Assignment-7".
Assignment 8: The best use of robotics?
Due 3pm, Monday, May 4, 2015
Scenario: An investor is considering giving you 3 million dollars (cold hard USD cash, figuratively). This investor has been impressed by work with 3jsbot and other accomplishments while at Brown. They are convinced you have the technical ability to make a compelling robot technology... but, they are unsure how this technology could produce something useful. Your task is to make a convincing pitch for a robotics project that would yield a high return on investment.
You will get 2 minutes to make a pitch to develop something useful with robots. Consider the instructor and your classmates as the people that need to be convinced. As a guideline, your pitch should address an opportunity (presented by a need or a problem), your planned result (as a system, technology, product, and/or service), and how you will measure successful return on investment. Return on investment can be viewed as financial profit (wrt. venture capital), good for society (wrt. a government program), creation of new knowledge or capabilities (wrt. a grant for scientific research). Remeber, the purpose is to convince and inspire about what is possible, rather than dive into specifics.
The last scheduled class period (Monday May 4th, 3-5pm) will be dedicated to student presentations to pitch ideas on the best use of robotics. Please email your slides to the instructor before 9am on April 30th with the subject line ("cs148 asgn8 pitch slides"). OS X Keynote will be used as the sole means of slide presentation, and will be timed and controlled by the instructor. As such, slide materials can be accepted as Keynote, Powerpoint (no guarantees on conversion), PDF, and common image and video formats (JPG, PNG, MP4, FLV, etc.).
The pitch judged to be the most convincing will get first dibs.


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The goal of this study is to learn more about travel patterns and to promote sustainable travel habits. We aim to determine the extent in which mobile applications influence people's behaviors. Ultimately, we wish to make sustainable transportation a natural part of our daily lives.
Does the app need to be on the entire time?
Yes, although you don't need to be using it the entire time, the app needs to be open in the background in order for it to track your data. This means that you should NOT force-kill the app.
Where will my data be used?
This research study is monitored by the UCB IRB. Your personally identifiable information will only be used for the purpose of this study and will not be distributed in any way. Your data is being put to good use, helping us better the way humans travel.
We are an open source project. To learn and see how we analyze your data, you can find our code on our Github.
When will we receive our Amazon gift cards?
10 winners will be selected among participants and will be emailed shortly after the study ends. The study period will end on May 7th, 2018.


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