Algorithms for Walking, Running, Swimming, Flying, and Manipulation
© Russ Tedrake, 2023
Last modified .
How to cite these notes, use annotations, and give feedback.
Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Spring 2023 semester. Lecture videos are available on YouTube.
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My goals for this chapter are to build intuition for the beautiful and rich behavior of nonlinear dynamical system that are subjected to random (noise/disturbance) inputs. So far we have focused primarily on systems described by \[ \dot{\bx}(t) = f(\bx(t),\bu(t)) \quad \text{or} \quad \bx[n+1] = f(\bx[n],\bu[n]). \] In this chapter, I would like to broaden the scope to think about \[ \dot{\bx}(t) = f(\bx(t),\bu(t),\bw(t)) \quad \text{or} \quad \bx[n+1] = f(\bx[n],\bu[n],\bw[n]), \] where this additional input $\bw$ is the (vector) output of some random process. In other words, we can begin thinking about stochastic systems by simply understanding the dynamics of our existing ODEs subjected to an additional random input.
This form is extremely general as written. $\bw(t)$ can represent time-varying random disturbances (e.g. gusts of wind), or even constant model errors/uncertainty. One thing that we are not adding, yet, is measurement uncertainty. There is a great deal of work on observability and state estimation that study the question of how you can infer the true state of the system given noise sensor readings. For this chapter we are assuming perfect measurements of the full state, and are focused instead on the way that "process noise" shapes the long-term dynamics of the system.
I will also stick primarily to discrete time dynamics for this chapter, simply because it is easier to think about the output of a discrete-time random process, $\bw[n]$, than a $\bw(t)$. But you should know that all of the ideas work in continuous time, too. Also, most of our examples will take the form of additive noise: \[ \bx[n+1] = f(\bx[n],\bu[n]) + \bw[n], \] which is a particular useful and common specialization of our general form. And this form doesn't give up much -- the disturbance on step $k$ can pass through the nonlinear function $f$ on step $k+1$ giving rich results -- but is often much easier to work with.
When implementing stochastic systems in Drake, we aim to be rigorous about randomness, to facilitate advanced algorithms that are written against stochastic systems and to enable, e.g. random simulation roll outs but still enable deterministic replay (simulation is deterministic given the random seed).
Let's start by looking at some simple examples.
Let's consider (a time-reversed version of) one of my favorite
one-dimensional systems: \[ \dot{x} = x - x^3. \]
A reasonable discrete-time approximation of these dynamics, now with additive noise, is \[ x[n+1] = x[n] + h (x[n] - x[n]^3 + w[n]). \] When $w[n]=0$, this system has the same fixed points and stability properties as the continuous time system. But let's examine the system when $w[n]$ is instead the result of a zero-mean Gaussian white noise process, defined by: \begin{gather*} \forall n, E\left[ w[n] \right] = 0,\\ E\left[ w[i]w[j] \right] = \begin{cases} \sigma^2, & \text{ if } i=j,\\ 0, & \text{ otherwise.} \end{cases} \end{gather*} Here $\sigma$ is the standard deviation of the Gaussian.
When you simulate this system for small values of $\sigma$, you will see trajectories move roughly towards one of the two fixed points (for the deterministic system), but every step is modified by the noise. In fact, even if the trajectory were to arrive exactly at what was once a fixed point, it is almost surely going to move again on the very next step. In fact, if we plot many runs of the simulation from different initial conditions all on the same plot, we will see something like the figure below.
During any individual simulation, the state jumps around randomly for all time, and could even transition from the vicinity of one fixed point to the other fixed point. Another way to visualize this output is to animate a histogram of the particles over time.
You can run this demo for yourself:
Let's take a moment to appreciate the implications of what we've just observed. Every time that we've analyzed a system to date, we've asked questions like "given x[0], what is the long-term behavior of the system, $\lim_{n\rightarrow\infty} x[n]$?", but now $x[n]$ is a random variable. The trajectories of this system do not converge, and the system does not exhibit any form of stability that we've introduced so far.
All is not lost. If you watch the animation closely, you might notice the distribution of this random variable is actually very well behaved. This is the key idea for this chapter.
Let us use $p_n(x)$ to denote the
probability density function over the random variable $x$ at time $n$.
Note that this density function must satisfy \[ \int_{-\infty}^\infty p_n(x)
dx = 1.\] It is actually possible to write the dynamics of the
probability density with the simple relation \[ p_{n+1}(x) =
\int_{-\infty}^\infty p(x|x') p_n(x') dx', \] where $p(x|x')$ encodes the
stochastic dynamics as a conditional distribution of the next state (here
$x$) as a function of the current state (here $x'$). Dynamical systems that
can be encoded in this way are known as continuous-state Markov
Processes, and the governing equation above is often referred to as the
"master
equation" for the stochastic process. In fact this update is even
linear(!) ; a fact that can enable closed-form solutions to some impressive
long-term statistics, like mean time to failure or first passage
times
In fact, one does not actually need stochastic dynamics in order for
the dynamics of the distribution to be the meaningful object of study;
random initial conditions can be enough. One of the best examples comes
from perhaps the simplest and most famous example of a chaotic system: the
logistic map. This example is described beautifully in
Consider the following difference equation: $$x[n+1] = 4 x[n](1-x[n]),$$ which we will study over the (invariant) interval $x \in [0, 1]$.
It takes only a moment of tracing your finger along the plot using the "staircase method" to see what makes this system so interesting -- rollouts from a single initial condition end up bouncing all over the interval $(0,1)$, and neighboring initial conditions will end up taking arbitrarily different trajectories (this is the hallmark of a "chaotic" system).
Here's what's completely fascinating -- even though the dynamics of any
one initial condition for this system are extremely complex, if we study
the dynamics of a distribution of states through the system, they are
surprisingly simple and well-behaved. This system is one of the rare
cases when we can write the master equation in closed
form
For this system (and many chaotic systems), the dynamics of a single initial condition are complicated, but the dynamics a distribution of initial conditions are beautiful and simple!
Note: when the dynamical system under study has deterministic dynamics (but a distribution of initial conditions), the linear map given by the master equation is known as the Perron-Frobenius operator, and it gives rise to the Liouville equation that we will study later in the text.
The slightly more general form of the master equation, which works for multivariate distributions with state-domain ${\cal X}$, and systems with control inputs $\bu$, is \[ p_{n+1}(\bx) = \int_{\cal X} p(\bx|\bx',\bu) p_n(\bx') d\bx'. \] This is a (continuous-state) Markov Decision Process.
Continuous-time formulations are also possible -- these lead to the so-called Fokker-Planck equation.
In the example above, the histogram is our numerical approximation of the probability density. The logistic map example had the remarkable property that, although the individual trajectories of the system do not converge, the probability distribution actually does converge to what's known as a stationary distribution -- a fixed point of the master equation. Instead of thinking about the dynamics of the trajectories, we need to start thinking about the dynamics of the distribution.
The most important example of this analysis is for systems with linear dynamics and additive Gaussian noise; for this case we have closed-form solutions (in arbitrary dimensions). But to keep things simple, let's make sure we understand the scalar case first.
Let's consider the one-dimensional linear system with additive noise: \[ x[n+1] = a x[n] + w[n]. \] When $w[n]=0$, the system is stable (to the origin) for $-1 < a < 1$. Let's make sure that we can understand the dynamics of the master equation for the case when $w[n]$ is Gaussian white noise with standard deviation $\sigma$.
First, recall that the probability density function of a Gaussian with mean $\mu$ is given by \[ p_w(w) = \frac{1}{\sqrt{2 \pi \sigma_w^2}} e^{-\frac{(w-\mu)^2}{2\sigma_w^2}}. \] When conditioned on $x[n]$, the distribution given by the dynamics subjected to mean-zero Gaussian white noise is simply another Gaussian, with the mean given by $ax[n]$: \[ p(x[n+1]|x[n]) = \frac{1}{\sqrt{2 \pi \sigma_w^2}} e^{-\frac{(x[n+1]-ax[n])^2}{2\sigma_w^2}}, \] yielding the master equation \[ p_{n+1}(x) = \frac{1}{\sqrt{2 \pi \sigma_w^2}} \int_{-\infty}^\infty e^{-\frac{(x-ax')^2}{2\sigma_w^2}} p_n(x') dx'. \]
Now here's the magic. Let's push a distribution, $p_n(x)$, which is zero-mean, with standard deviation $\sigma_n$, through the master equation: \begin{align*} p_{n+1}(x) =& \frac{1}{\sqrt{2 \pi \sigma_w^2}}\frac{1}{\sqrt{2 \pi \sigma_n^2}} \int_{-\infty}^\infty e^{-\frac{(x-ax')^2}{2\sigma_w^2}} e^{-\frac{(x')^2}{2\sigma_n^2}} dx',\\ =& \frac{1}{\sqrt{2 \pi (\sigma_w^2+a^2 \sigma_n^2)}} e^{-\frac{x^2}{2(\sigma_w^2 + a^2 \sigma_n^2)}}. \end{align*} The result is another mean-zero Gaussian with $\sigma_{n+1}^2 = \sigma_w^2 + a^2 \sigma_n^2$. This result generalizes to the multi-variate case, too, and might be familiar to you e.g. from the process update of the Kalman filter.
Taking it a step further, we can see that a stationary distribution for this system is given by a mean-zero Gaussian with \[ \sigma_*^2 = \frac{\sigma_w^2}{1-a^2}. \] Note that this distribution is well defined when $-1 < a < 1$ (only when the system is stable).
The stationary distribution of the linear Gaussian system reveals the fundamental and general balance between two terms in the governing equations of any stochastic dynamical system: the stability of the deterministic system is bringing trajectories together (smaller $a$ means faster convergence of the deterministic system and results in a more narrow distribution), but the noise in the system is forcing trajectories apart (larger $\sigma$ means larger noise and results in a wider distribution).
Given how rich the dynamics can be for deterministic nonlinear systems, you can probably imagine that the possible long-term dynamics of the probability are also extremely rich. If we simply flip the signs in the cubic polynomial dynamics we examined above, we'll get our next example:
Now let's consider the discrete-time approximation of \[ \dot{x} = -x + x^3, \] again with additive noise: \[ x[n+1] = x[n] + h (-x[n] + x[n]^3 + w[n]). \] With $w[n]=0$, the system has only a single stable fixed point (at the origin), whose deterministic region of attraction is given by $x \in (-1,1)$. If we again simulate the system from a set of random initial conditions and plot the histogram, we will see something like the figure below.
Be sure to watch the animation. Or better yet, run the simulation for yourself by changing the sign of the derivative in the bistability example and re-running:
You can run this demo for yourself:
What is the stationary distribution for this system? In fact, there isn't one. Although we initially collect probability density around the stable fixed point, you should notice a slow leak -- on every step there is some probability of transitioning past unstable fixed points and getting driven by the unstable dynamics off towards infinity. If we run the simulation long enough, there won't be any probability density left at $x=0$.
One more example; this is a fun one. Let's think about one of the simplest examples that we had for a system that demonstrates limit cycle stability -- the Van der Pol oscillator -- but now we'll add Gaussian white noise, $$\ddot{q} + (q^2 - 1)\dot{q} + q = w(t),$$ Here's the question: if we start with a small set of initial conditions centered around one point on the limit cycle, then what is the long-term behavior of this distribution?
Since the long-term behavior of the deterministic system is periodic, it would be very logical to think that the state distribution for this stochastic system would fall into a stable periodic solution, too.
The explanation is simple: the periodic solution of the system is only orbitally stable; there is no stability along the limit cycle. So any disturbances that push the particles along the limit cycle will go unchecked. Eventually, the distribution will "mix" along the entire cycle. Perhaps surprisingly, this system that has a limit cycle stability when $w=0$ eventually reaches a stationary distribution (fixed point) in the master equation.
My favorite example of a meaningful source of randomness on a model
underactuated system is the rimless
wheel rolling down stochastically "rough" terrain
In our original analysis of the rimless wheel, we derived the "post-collision" return map -- mapping the angular velocity from the beginning of the stance phase to the (post-collision) angular velocity at the next stance phase. But now that the relative location of the ground is changing on every step, we instead write the "apex-to-apex" return map, which maps the angular velocity from one apex (the moment that the leg is vertical) to the next, which is given by: $$\dot\theta[n+1] = \sqrt{\cos^2\alpha \left( \dot\theta^2[n] + \frac{2g}{l}\left(1-\cos(\alpha + \gamma[n])\right)\right) - \frac{2g}{l}(1 - \cos(\alpha - \gamma[n]))}.$$
More coming soon. Read the paper
Sensor models. Beam model from probabilistic robotics. RGB-D dropouts.
Perception subsystem. Output of a perception system is not Gaussian noise, it's missed detections/drop-outs...
Distributions over tasks/environments.
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Kernel bandwidth:
Compute time:
Backend:
None
JavaScript
Asm.js
PNaCl
WebCL
WebSocket
WebCL Device:
None


What are forms?
First of all:
Forms are rather complex and we recommend that only advanced Ameol
users try them.
Forms are an extension to the rules in Ameol. Using a form is an extra action that can be triggered by a rule. Any message which matches the rule can instruct Ameol to e-mail a predefined mail message back to the sender of that message. Forms are not completely integrated into Ameol and support for them is done on a "best-effort" basis. This means the ultimate resolution to a problem may be "stop using forms." The use of forms is only supported in v2.12.1885 and above.
Mail forms are text files that are stored in the FORMS subdirectory in the Ameol base directory and must have the extension .afm. If any forms are found when Ameol is started up an extra entry, "Mail Form" will appear on the Edit Rule dialog (Settings|Rules|New).
Ameol reads the forms directly once only, when it starts up. If you add extra forms while Ameol is running you have to exit and restart Ameol before the new forms can be seen.
Examples
I can get e-mail to<EMAIL_ADDRESS>with a Subject line of 'Prices'. I set up a rule to match 'Prices' in the Subject field and to e-mail the sender the current price list in response. (N.B., This is an example and is not in real use.)
A sample mail form that would fulfill this function is:
To: $FROM$
Subject: Our price list
Thanks for your enquiry about our pricing. A price list is
enclosed below.
...
A mail form is divided into two parts. The header part contains instructions to fill the To:, CC:, Subject, and Reply To: fields of the outgoing mail message. Then a blank line separates the header from the text body part.
In the above example, the name of the recipient is picked up from the $FROM$ macro which is filled in with the sender of the message which matched the rule. In the example, if I e-mailed<EMAIL_ADDRESS>from an account called<EMAIL_ADDRESS>the $FROM$ macro will expand to<EMAIL_ADDRESS>$FROM$ does not use the Reply-To address of an incoming mail message.
The text body part also permits a macro called $INCLUDE$ which will pull in the contents of another file. Thus:
Thanks for your enquiry about our pricing. A price list is
enclosed below.
$INCLUDE$ C:\Ameol\Pricing\Pricing.txt
would retrieve the current price list from that location.
Even better, the pathname in the $INCLUDE$ macro can contain a macro. You can use this facility to set up an automatic help system. In this example, I can e-mail<EMAIL_ADDRESS>and specify a help topic in the subject field. The mail form created for the help folder in Ameol is as follows:
To: $FROM$
Subject: Help on $SUBJECT$
$INCLUDE$ C:\Ameol\Helpfiles\$SUBJECT$.TXT
Thus if I mail<EMAIL_ADDRESS>a message with a Subject of 'Features', the mail form will expand to:
To: author
Subject: Help on Rules
$INCLUDE$ C:\Ameol\Helpfiles\Features.txt
and will pull in the contents of Features.txt at this point in the message.
What happens if the user specifies a subject that doesn't match? If the $INCLUDE$ fails then Ameol will look for a file called !ERROR!.TXT in the given directory. This file can be set up to contain the following:
Sorry, there is no help on this subject. A full list of valid
subjects appear below:
...
If !ERROR!.TXT is not found, then an error is embedded in the outgoing form.
You can also return files via mail forms. The extra header field, Attachment, will attach a file in the mail message. If the recipient address is on CIX, the file is sent as binmail otherwise it is sent uuencoded/base64 depending on the option selected.
Here are two more examples. If you want to reject all e-mail from a particular person, create a rule to redirect all e-mail from that person
to another folder and create the following mail form on that folder:
To: $FROM$
Subject: Re: $SUBJECT$
I'm bored with listening to you. Please go away!
Or how about forwarding incoming e-mail to another address when you're on holiday?
To<EMAIL_ADDRESS>Subject: Fw: $SUBJECT$
---- Forwarded Message ----
$TEXT$
The $TEXT$ macro pulls in the contents of the message that matches. You also have $BODY$ that only pulls in the body and not the header.

1. Say you set up a rule and form similar to the "reject all email"
example above. Now imagine that the person you are ignoring email
from has set up a similar rule and form. The other person sends you
a message, which triggers your rule, sending a form email message
out. This then triggers their rule, sending you an email message,
which triggers your rule. The result is a mail loop, the two systems
spend all their time sending each other mail. If you do not detect
and fix this problem rapidly you can expect your ISP to cut off your
incoming email until you do fix it.
2. Be very careful setting up rules and forms which match the subject
field only. Say you set up a rule and form to match the subject line,
where if the subject contains "prices" your price list is sent. If
your form uses "Re: $SUBJECT$" then the CC of the outgoing mail
message with your price list in it will also match the rule, so you
will end up sending yourself mail for ever - another mail loop.
3. You should not create forms using versions of AmEdit earlier than
v1.04. If you are not able to use 1.04 or later you should use an
alternate editor.
Summary
-------
1. Forms must have the file extension .afm and must be saved in a Forms
sub-directory off your main Ameol directory.
2. The Forms folder is only read once per session, when Ameol is
started up. If you add a Forms directory or some new forms to the
Forms directory while Ameol is running you will need to quit and
restart Ameol before the changes will be apparent.
3. Valid lines in the header part of the form are:
To:
CC:
Reply-To:
Subject:
Attachment:
4. The header and body sections of a mail form are separated by one or
more blank lines.
5. Valid macros in forms are:
$FROM$ - expands to the full email address of the person who sent
the mail. This is taken from the From: field, not the
Reply-To: field.
$SUBJECT$ - expands to the subject of the incoming mail message
$TEXT$ - expands to the full text of the incoming message,
including the header
$BODY$ - expands to the full text of the incoming message,
excluding the header
$INCLUDE$ - used with a path and filename, includes that file in
the outgoing message


Analyze your online activity and share this data with the rest of the class.
Go to Firebase
Set up your personal firebase using the following naming convention
[your-github-id]-bigdata-hci.firebaseIO.com
for example
doubleshow-bigdata-hci.firebaseIO.com
Use Zapier to connect Trigger associated with your online accounts with a Firebase Action to create a child record under
[your-github-id]-bigdata-hci.firebaseIO.com/events
The online accounts include gmail, facebook, and anything you use regularly.
For example, each time you receive a new email to your gmail account, you want to write the “date” to your Firebase. On Zapier’s interface, you should see something like this:
After a few gmails events are detected, you want your Firebase control panel to look like this
Also, the data should be accessible as .JSON
http://doubleshow-bigdata-hci.firebaseIO.com/events.json
Note that you only want to write the timestamp (i.e., date). You don’t want to share other private information contained in your email.
Due: Friday Nov. 6, 11:59pm
Come up with ten interesting questions about yourself. Write code to analyze the events stored in your own Firebase.
Due: Friday Nov. 8, 11:59pm
Come up with ten interesting questions about yourself. Write code to analyze the events stored in everyone’s Firebase.


Catholic Crossroads
Home
Prayers
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Learning
The Douay-Rheims Bible
"Thy word is a lamp to my feet, and a light to my paths."
Ps. 118:105
Dei Verbum
("Word of God": Vatican II's Dogmatic Constitution on Divine Revelation)
Complete Douay-Rheims Bible (PDF)
Complete Douay-Rheims Bible (HTML)
New Testament (PDF)
New Testament (HTML)
Old Testament, Part 1 (PDF)
Old Testament, Part 1 (HTML)
Old Testament, Part 2 (PDF)
Old Testament, Part 2 (HTML)


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|
| | Project () |
| | Default constructor More...
|
| |
| | Project (string path) |
| | Initialize the project object by parsing its full path returned by Unity into a bunch of individual folder names and paths. More...
|
| |
| object | Clone () |
| | Create a new object with the same settings More...
|
| |
| void | updateNewName (string newName) |
| | Update the project object by renaming and reparsing it. More...
|
| |
| override string | ToString () |
| | Debug override so we can quickly print out the project info. More...
|
| |
◆ Project() [1/2]
| ParrelSync.Project.Project |
( |
| ) |
|
◆ Project() [2/2]
| ParrelSync.Project.Project |
( |
string |
path | ) |
|
Initialize the project object by parsing its full path returned by Unity into a bunch of individual folder names and paths.
- Parameters
-
◆ Clone()
| object ParrelSync.Project.Clone |
( |
| ) |
|
Create a new object with the same settings
- Returns
◆ ToString()
| override string ParrelSync.Project.ToString |
( |
| ) |
|
Debug override so we can quickly print out the project info.
- Returns
◆ updateNewName()
| void ParrelSync.Project.updateNewName |
( |
string |
newName | ) |
|
Update the project object by renaming and reparsing it.
Pass in the new name of a project, and it'll update the other member variables to match.
- Parameters
-
◆ assetPath
| string ParrelSync.Project.assetPath |
◆ autoBuildPath
| string ParrelSync.Project.autoBuildPath |
◆ libraryPath
| string ParrelSync.Project.libraryPath |
◆ localPackages
| string ParrelSync.Project.localPackages |
◆ name
| string ParrelSync.Project.name |
◆ packagesPath
| string ParrelSync.Project.packagesPath |
◆ projectPath
| string ParrelSync.Project.projectPath |
◆ projectSettingsPath
| string ParrelSync.Project.projectSettingsPath |
The documentation for this class was generated from the following file:
- D:/CS Projects/CS130/ProjectRepo/13/client/CS130_Team13/Assets/ParrelSync/ParrelSync/Editor/Project.cs


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+++ title = "Fish and Chips" slug = "fish-and-chips" date = 2007-10-22T16:00:00+10:00 tags = ["just-for-fun", "tasty", "crazy-consumptions"] locations = ["england/london"] draft = false summary = """
It's not much, but it's about all that England has to offer the world, as far as culinary delights go. And as with a cuppa tea, no visit here would be complete without at least one serving of Fish 'n' Chips. Deep fried. Smothered in vinegar. And served for take-away in a white cardboard box. Almost makes me feel like I'm back home in Oz. Except that the guy cooking it was a Pakkie, instead of a Greek.
""" +++It's not much, but it's about all that England has to offer the world, as far as culinary delights go. And as with a cuppa tea, no visit here would be complete without at least one serving of Fish 'n' Chips. Deep fried. Smothered in vinegar. And served for take-away in a white cardboard box. Almost makes me feel like I'm back home in Oz. Except that the guy cooking it was a Pakkie, instead of a Greek.


The_Man_in_the_High_Castle
The Man in the High Castle is a startling depiction of an alternate history as imagined by author Philip K. Dick in his best-selling novel; a world in which Nazi Germany and Japan were victorious in World War II. The year is 1962 and the Axis Powers occupy the United States, where fascism rules and the few surviving Jews hide under assumed names.


persons
Relationship Reading
Looking for insight into a relationship? Try this reading!
chevron_down-
Select the attribute you would like to evaluate:
-
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eye
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Discover new ways of seeing yourself, your capabilities and overall destiny.
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Heart's Desire
Learn about your deeper drives, motivations, and intentions.
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Insight into your personality type.
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Insight into the skills you possess, as well as any challenges you may need to overcome.
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Personal Year Number
Your Personal Year number provides a snapshot of the upcoming or past calendar years, helping you adapt to and interpret events.
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{% import 'partials/section.html' as section %} {% extends "layouts/_twocol.html" %} {% block page_title %}Something went wrong - ONS Business Surveys{% endblock %} {% block main %}
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| fkUtilities reference pages | |
apply2cell
synopsis
apply function element-wise to cell arrays
syntax
[out1,out2,...]=APPLY2CELL(fcn,argin,cellA,cellB,...)
description
[out1,out2,...]=APPLY2CELL(fcn,argin,cellA,cellB,...) applies a
function element-wise to a set of cell arrays, which all should have
the same dimensions. Argin should be a cell array with additional,
fixed arguments for the function. For each element in the cell arrays,
the function is called as: fcn( cellA(n), cellB(n), ..., argin{:} ).
example
X = { rand(10,1), rand(5,15) };
[Y, I] = apply2cell( @sort, {1, 'descend'}, X );
example
X = { 1, [5 10] };
Y = { rand(10,1), [-3 6] };
Z = apply2cell( @plus, [], X, Y );
| saveconfig | Toolbox page | fullpath |


The .map Method
The .map method is a method in that can be called on an array to create a new array with the modfications specified in the block. For example, if you wanted to make an identical copy of an array, you could do newarray = array.map{|e| e}, where e represents a single element in the array. This would essentially make a clone of the original array, equivalent to newarray = array.clone. If you want to make a modification that applies to every element in the array, the map method is easier than iterating with a loop and adding each element one at a time to the new array in the block.
Let's look at an example. One of the challenges this week involved writing a method that could decipher a code, like this:
Essentially, we need to create a hash for which the values are the letters a-z and the keys are the same series of characters, offset by 4, like this:
ALPHA_CODE = {"e"=>"a", "f"=>"b", "g"=>"c", "h"=>"d", "i"=>"e", "j"=>"f", "k"=>"g", "l"=>"h", "m"=>"i", "n"=>"j", "o"=>"k", "p"=>"l", "q"=>"m", "r"=>"n", "s"=>"o", "t"=>"p", "u"=>"q", "v"=>"r", "w"=>"s", "x"=>"t", "y"=>"u", "z"=>"v", "a"=>"w", "b"=>"x", "c"=>"y", "d"=>"z"} ["@","#","$","%","^","&","*"].each {|e| ALPHA_CODE[e] = " "}
The additional symbols added to the hash are keys for which all values will be a space.
The decode method takes a string as input. The string is then split into an array of characters using the .split method.
The .map method is the piece where the actual translating of the input occurs. For each element (character) e, the boolean method hash.has_key?(e) checks to see if the hash actually has a key the matches the character being iterated over. If it does, the value of that key (which is represented by hash[e]) is added to the decoded array. If the that key does not exist (such as would be the case if the character is a digit rather than a letter), the element itself is added to the array.
The array is then converted back into a string with the .join method. As a final step, if the string contants any digits, the integer value of that number is divided by 100 and replaced within the string.
The .map method is extremely convenient and concise in this case, replacing most of the if statements within the original code. It even allows for different modifications of the given element based on the condition (whether or not the key exists in the hash). The .map method can be used to replace .each in many cases that require changing all elements in an array. The method can also be used on ranges and other types within the Enumerable class.


PSR2 is a coding style guide maintained by the PHP Framework Interop(ability) Group
Magic Numbers are coding issue in which configuration information is littered throughout the code base, rather than being clearly defined as config.
Clean Code checks look for four things:
Whether all of these are appropriate for your code is a matter of some contention, particularly the ELSE rule.
This checks against a number of metrics including:
We check for unused code in the following:
This sometimes gives false positives, such as in situations where function names are passed, quoted, as parameters to other functions. (uasort is notorious for this.)
The SOLID checks test for a large number of things, from goto statements, to the use of print_r
In practice, we find the coding error it regularly catches is the use of assignments in if clauses. These are possible in PHP, but in our experience tend to happen when someone has typed = (assignment) instead of == (equality).
Code duplication is generally a sing of copy/paste, and tends to break the DRY principle.
By default, code duplication will be flagged if the number of duplicated lines is over 5 / the number of duplicated tokens is over 70.


When this option is enabled, Hudson will check for a generated nonce value, or "crumb", on any request that may cause a change on the Hudson server. This includes any form submission and calls to the remote API.
More information about CSRF exploits can be found here.


| DOSE: |
40 mg |
oral |
2C-T-2 |
(powder / crystals) |
| |
|
smoked |
Cannabis |
(plant material) |
To be quite honest, I didn't originally intend to take such a large amount. Upon a friend's suggestion (I still consider him a good friend) I consumed the aforementioned amount and chased with a substantial amount of water.
Unlike previous experiences with this particular chemical, the major effects did not wait 2 hours to hit. I was feeling a massive body high and having slight visuals at the 30 minute mark, and at the time this seemed troubling. If the effects were this strong at 30 minutes, I feared that maybe I had taken it too far. This thought was fleeting as myself and two unintoxicated observer/babysitters arrived at my house. The body high kept building for about 20 more minutes, but the visuals went unnoticed during this time because I was watching television. As soon as I switched off TV, the visuals came roaring from all angles, including patterning, warping of fixed objects, and tracers from lights and moving objects.
These became more and more intense in proportion to the body high, and I began sweating profusely and feeling slightly nauseous. I began removing articles of clothing beginning with my jacket, then my shoes, then my socks. I remember at that point pacing around my house, trying to keep my mind on a track to avoid the proverbial freak-out. I kneeled in a bedroom, looking at the carpet rippling outward from my feet like I was walking on water, and one of my observer buddies came to check on me. For some reason, still unclear to me at this time, I looked at myself in a mirror and the reflection of my face was horribly disfigured and askew. For some reason the presence of my friend combined with the horror in the mirror caused me to panic and flee the room.
In between perfectly cognicient thoughts were very irrational and animalistic urges which my body would act on without consulting my upper thought processes for confirmation. It was as if my entire ego dissolved, leaving only a primalized ape of a person, but I didn't even have enough thought capability to grasp this concept, I simply freaked out. I ran outside, stripping off my shirt as I went. The cold air was refreshing beyond my wildest dreams, it seemed to cleanse my soul with every biting gust.
As I stopped to feel the wind, my buddy who I had fled seconds before caught up with me, and I felt for a second that I had lost my mind. The realization of how close I came to this form of insanity was very sobering, and the immediate next realization that I was still there made me cry with happiness. By now my friend was fairly freaking out, thinking I was on the verge of going over the mental edge. He guided me back indoors before neighbors could freak out and call police, and told me to lay on the floor to grasp my bearings. The floor itself felt like it was bucking like the deck of a boat in the ocean. It was also cool to the touch, which was pleasing at the time.
My friend then put on a song which I will never think of the same after this time - Riders on the Storm by the Doors. I closed my eyes and drifted with the song. It now felt as if I was riding an iceberg on an ocean, with the delicate nuances of the song playing across the nerves of my body like raindrops hitting my skin. The song totally changed my mental state and calmed me considerably. From there on, it was like I was gently floating everywhere I went.
We later went on to another friends house to visit with some mutual acquaintances. A normally terse and short-spoken visit turned into a wonderful carnival of faces and voices and menthol cigarettes. Even dispite my obvious inebriation, I was still able to communicate very clearly, and for one of those rare moments, I felt I was the center of all activity in the universe - a truly novel feeling to say the least. We all sat down and smoked a few bowls of cannabis to calm the nerves (my nerves needed the most calming) and the feeling of the smoke in my lungs was not burning or painful as it is sometimes, but it felt like a wonderful rumbling massage of my chest. The night wound out shortly thereafter with my coming down completely.
That night I took the most 2-CT-2 I have ever taken in one night in my life, and I absolutely LOVED it.
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.


-
CHAZ LUKE
My name is Chaz Luke. I am 27 years of age and I play all 4 variants of the saxophone professionally with my main being the alto sax. I also play Tennis and compete in NRA 3 gun competitions as an expert marksman. I draw as well as paint with oils on canvas. I have 12 logged flight hours with the FAA so I guess you could say I can fly a small prop plane. I am also an armorer as I build and repair firearms. one goal of mine would be to complete this class with honor and to become a web designer. another goal would be to get my business .caldefense up and running properly.
-
SKILLS
- ENTREPRENEURSHIP
- WEB DEVELOPMENT
- BUSINESS DEVELOPMENT
-
HOBBIES
- FLYING
- MARKSMENSHIP
- SAXOPHONE
- TENNIS
-
GOALS
- BUILD MY COMPANY
- CCOMPLETE CLUBHOUSE CODE BOOTCAMP
- MASTER FULL-STACK WEB DEVELOPMENT


In serving the wicked, expect no reward, and be thankful if you escape injury for your pains.
A CARTER was driving a wagon along a country lane, when the wheels sank down deep into a rut. The rustic driver, stupefied and aghast, stood looking at the wagon, and did nothing but utter loud cries to Hercules to come and help him. Hercules, it is said, appeared and thus addressed him: "Put your shoulders to the wheels, my man. Goad on your bullocks, and never more pray to me for help, until you have done your best to help yourself, or depend upon it you will henceforth pray in vain."
Self-help is the best help.
A HARE one day ridiculed the short feet and slow pace of the Tortoise, who replied, laughing: "Though you be swift as the wind, I will beat you in a race." The Hare, believing her assertion to be simply impossible, assented to the proposal; and they agreed that the Fox should choose the course and fix the goal. On the day appointed for the race the two started together. The Tortoise never for a moment stopped, but went on with a slow but steady pace straight to the end of the course. The Hare, lying down by the wayside, fell fast asleep. At last waking up, and moving as fast as he could, he saw the Tortoise had reached the goal, and was comfortably dozing after her fatigue.
Slow but steady wins the race.


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Let's start by downloading the vraptor-blank-project from
http://vraptor.caelum.com.br/download.jsp . This blank-project has the required configuration on
web.xml
and the dependencies on WEB-INF/lib
that are needed to start using VRaptor.
As you can see, the only required configuration in web.xml
is the VRaptor filter:
<filter>
<filter-name>vraptor</filter-name>
<filter-class>br.com.caelum.vraptor.VRaptor</filter-class>
</filter>
<filter-mapping>
<filter-name>vraptor</filter-name>
<url-pattern>/*</url-pattern>
<dispatcher>FORWARD</dispatcher>
<dispatcher>REQUEST</dispatcher>
</filter-mapping>
You can also easily import this project on Eclipse, and run it right clicking on it and choosing Run as... / Run on server.... Choose a servlet container (or setup a new one) and then just go for http://localhost:8080/vraptor-blank-project/.
You can right click on the project name, go to Properties and in Web Project Settings you can change
the context name to something better, like onlinestore
. Now if you run
this example you should be able to access http://localhost:8080/onlinestore and see
It works! on the browser.
If you are using a servlet 3.0 container, you dont even need the web.xml
at all,
because VRaptor will configure the filter through the new web-fragments feature.
Let's start the system with a products registry. We need a class that will represent the products, and we'll use it to persist products on the database, with Hibernate:
@Entity
public class Product {
@Id
@GeneratedValue
private Long id;
private String name;
private String description;
private Double price;
//getter and setters
}
We also need a class that will control the products' register, handling web requests.
This class will be the Products Controller
:
public class ProductsController {
}
ProductsController will expose URIs to be accessed through web, i.e, will expose resources of your
application. And for indicate it, you must annotate it with @Resource
:
@Resource
public class ProductsController {
}
By using this annotation, all public methods of the annotated class will be reachable through web.
For instance, if there is a list
method on the class:
@Resource
public class ProductsController {
public List<Product> list() {
return new ArrayList<Product>();
}
}
Then, VRaptor will automatically redirect all requests to the URI /products/list
to this method.
The convention for URIs is: /<controller_name>/<method_name>
.
At the end of method execution, VRaptor will dispatch
the request to the jsp at
/WEB-INF/jsp/products/list.jsp
. The convention for the default view is
/WEB-INF/jsp/<controller_name>/<method_name>.jsp
.
The list
method will return a product list, so how can I get it on jsp? On VRaptor,
the method return value will be exported to the jsp by request attributes. In this case,
the name of the exported attribute will be productList
, holding the method returned value:
list.jsp

<c:forEach items="${productList}" var="product">

 ${product.name} - ${product.description}

</c:forEach>

The convention for the attribute names is pretty intuitive: if it is a collection, as it is the case,
the name will be <collection_type>List
; if it is any other type, the name will be the class name
with the first letter in lowercase, i.e, if the type is Product
, the name will be product
.
We will see further, in another chapter, that we can outject more than one object using
Result
, where we can also name each exposed variable to the JSP.
VRaptor widely uses the Dependency Injection and Inversion of Control concept. The whole idea is simple: if you need a resource, you won't create it, but will have it ready for you when you ask for it. You can get more information about it on the Dependency Injection chapter.
We are returning a hard coded empty list on our list method. It would be more helpful if we return a real list, for example all of registered products of the system. In order to do that, let's create a product DAO, for listing the products:
public class ProductDao {
public List<Product> listAll() {
return new ArrayList<Product>();
}
}
And in the ProductsController we might use the dao for listing products:
@Resource
public class ProductsController {
private ProductDao dao;
public List<Product> list() {
return dao.listAll();
}
}
We could create a new ProductDao inside the controller, but we can simply loose coupling by receiving it on the class constructor, and letting VRaptor do its Dependency Management Magic and provide an instance of ProductDao when creating our controller! And for enabling this behavior we only have to annotate the ProductDao class with @Component:
@Component
public class ProductDao {
//...
}
@Resource
public class ProductsController {
private ProductDao dao;
public ProductsController(ProductDao dao) {
this.dao = dao;
}
public List<Product> list() {
return dao.listAll();
}
}
We have a Products listing, but no way to register products. Thus, let's create a form for adding products. Since it is not a good idea to access the jsps directly, let's create an empty method that only redirects to a jsp:
@Resource
public class ProductsController {
//...
public void form() {
}
}
So we can access the form by URI /products/form
, and the form will be at
/WEB-INF/jsp/products/form.jsp
:
<form action="<c:url value="/products/adiciona"/>">
Name: <input type="text" name="product.name" />

Description:<input type="text" name="product.description" />

Price: <input type="text" name="product.price" />

<input type="submit" value="Save" />
</form>
This form will save a product using the URI /products/add
, so we must create
this method on the controller:
@Resource
public class ProductsController {
//...
public void add() {
}
}
Look at the input names: product.name, product.description and product.price.
If we receive a Product
named product
as parameter on add method, VRaptor will
set the fields name, description and price with the input values, using
the corresponding setters on Product. The product.price parameter will also be converted
into Double before being set on the product. More information on Converters chapter.
Thus, having the correct names on the form inputs, we can create the add method:
@Resource
public class ProductsController {
//...
public void add(Product product) {
dao.save(product);
}
}
Right after saving something on a form we usually want to be redirected to the listing
or back to the form. In this case we want to be redirected to the products listing.
For this purpose there is a VRaptor component: the Result
. It is responsible for
adding attributes on the request, and for dispatching to a different view. To get a Result
instance you must receive it as a constructor parameter:
@Resource
public class ProductsController {
public ProductsController(ProductDao dao, Result result) {
this.dao = dao;
this.result = result;
}
}
In order to redirect to the listing, you can use the result object:
result.redirectTo(ProductsController.class).list();
This code snippet can be read as: As result, redirect to the
list method in ProductsController. All redirect configuration is 100% java code,
with no strings involved! It's clear from the code that the result from your logic
is not the default, and which one you're using. There is no need to worry about
configuration files. Furthermore, if you need to rename the list
method, there
is no need to go through your entire application looking for redirects to this method,
just use your usual refactoring IDE to do the rename.
Our add
method would look like this:
public void add(Product product) {
dao.add(product);
result.redirectTo(ProductsController.class).list();
}
You can get more info on Result
at the Views and Ajax chapter.
It wouldn't make sense adding a nameless product in the system, nor a negative value for it's price. Before adding the product, we need to check if it is a valid product - which has a name and a positive price. In case it's not valid, we want to get back to the form and show error messages.
In order to do that, we can use a VRaptor component: the Validator. You can get it in your Controller's constructor and use it like this:
@Resource
public class ProductsController {
public ProductsController(ProductDao dao, Result result, Validator validator) {
//...
this.validator = validator;
}
public void add(Product product) {
validator.checking(new Validations() {{
that(!product.getName().isEmpty(), "product.name", "nome.empty");
that(product.getPrice() > 0, "product.price", "price.invalid");
}});
validator.onErrorUsePageOf(ProductsController.class).form();
dao.add(product);
result.redirectTo(ProductsController.class).list();
}
}
we can read the validation code as Validate that the name of the product is not empty and that the product's price is bigger than zero. If an error occur, use the ProductsController form page as the result. Therefore, if the product name is empty, the "name.empty" internationalized message will be added to the "product.name" field. If any error occurs, the system will get the user back to the form page, with all fields set, and error messages that can be accessed like this:
<c:forEach var="error" items="${errors}">
${error.category} ${error.message}

</c:forEach>
More information on Validation on, well, Validations chapter.
 Next sessions on this tutorial show the solution for some of the most frequent problems that lay on that 10% left.
[sectin Using Hibernate to store Products]
Let's make a real implementation of ProductDao, now, using Hibernate to persist products. You'll need a Session in your ProductDao. Using injection of dependencies, you'll have to declare you'll receive a Session in your constructor.
@Component
public class ProductDao {
private Session session;
public ProductDao(Session session) {
this.session = session;
}
public void add(Product product) {
session.save(product);
}
//...
}
But, wait, for VRaptor to know how to create that Session, and I can't simply put a @Component on the Session class because it is a Hibernate class. That's the reason why the ComponentFactory interface was created. More info on creating your own ComponentFactories can be found in Components chapter. You can also use the ComponentFactories available in VRaptor, as shown in the Utils chapter.
We often want to intercept as requests (or some of them) and execute a business logic, such as in a transaction control. That why VRaptor has interceptors. Learn more about them on the Interceptors' chapter. There is also an implemented TransactionInterceptor in VRaptor - learn how to use it on the Utils chapter.
If we want to make a shopping cart in our system, we need some way to keep cart items in the user's session. In order to do it, we can create a session scoped component, i.e., a component that will last as long as the user session last. For that, simply create a component and annotate it with @SessionScoped:
@Component
@SessionScoped
public class ShoppingCart {
private List<Product> items = new ArrayList<Product>();
public List<Product> getAllItems() {
return items;
}
public void addItem(Product item) {
items.add(item);
}
}
As this shopping cart is a component, we can receive it on the shopping cart's Controller's constructor:
@Resource
public class ShoppingCartController {
private final ShoppingCart cart;
public ShoppingCartController(ShoppingCart cart) {
this.cart = cart;
}
public void add(Product product) {
cart.addItem(product);
}
public List<Product> listItems() {
return cart.getAllItems();
}
}
Besides session scope, there is also the application scope and the @ApplicationScoped annotation. Components annotated with @ApplicationScoped will be created only once for the whole application.
On REST's ideal of URIs identifying resources on the web to make good use of the structural advantages the HTTP protocol provides us, observe how simple it is, in VRaptor, mapping the different HTTP methods in the same URI to invoke different Controllers' methods. Suppose we want to use the following URIs on the products' crud:
GET /products - list all products POST /products - insert a product GET /products/{id} - show product identified by id PUT /products/{id} - update product identified by id DELETE /products/{id} - delete product identified by id
In order to create a REST behaviour in VRaptor, we can use the @Path annotations - that changes the URI to access a given method. Also, we use the annotations that indicate which HTTP methods are allowed to call that logic - @Get, @Post, @Delete and @Put.
A REST version of our ProductsControler
would be something like that:
public class ProductsController {
//...
@Get @Path("/products")
public List<Product> list() {...}
@Post("/products")
public void add(Product product) {...}
@Get("/products/{product.id}")
public void view(Product product) {...}
@Put("/products/{product.id}")
public void update(Product product) {...}
@Delete("/products/{product.id}")
public void remove(Product product) {...}
}
Note we can receive parameters on the URIs. For instance, if we can the GET /products/5 URI,
the view
method will be invoked and the product
parameter will have its id set as 5
.
More info on that are on the REST Resources chapter.
Internationalization (i18n) is a powerful feature present in almost all Web frameworks nowadays. And it's no different with VRaptor3. With i18n you can make your applications support several different languages (such as French, Portuguese, Spanish, English, etc) in a very easy way: simply translating the application messages.
In order to support i18n, you must create a file called messages.properties
and make
it available in your application classpath (WEB-INF/classes
). That file contains
lines which are a set of key/value entries, for example:
field.userName = Username field.password = Password
So far, it's easy, but what if you want to create files containing messages in other
languages, for example, Portuguese? Also easy. You just need to create another properties
file called messages_pt_BR.properties
. Notice the suffix _pt_BR on the file name.
It indicates that when the user access your application from his computer configured with
Brazilian Portuguese locale, the messages in this file will be used. The file contents
would be:
field.userName = Nome do Usuário field.password = Senha
Notice that the keys are the same in both files, what changes is the value to the specific language.
In order to use those messages in your JSP files, you could use JSTL. The code would go as follows:

<fmt:message key="field.userName" /> <input name="user.userName" />

<fmt:message key="field.password" /> <input type="password" name="user.password" />
<input type="submit" />


thank you jl for the info
The vulnerability affects all Sudo versions prior to the latest released version 1.8.28, which has been released today, a few hours ago and would soon be rolled out as an update by various Linux distributions to their users.
So, if you use Linux, you are highly recommended to update sudo package manually to the latest version as soon as it is available.
(edited)


disabled
hidden
isNotChanged
Usually, inverting the boolean value and removing the negation from the name makes the code easier to understand.
boolean
Example:
boolean disabled = false;


Crypto Pets
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Insert wallet address or connect your wallet to get started
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Magister Sidra:
Welcome, friend of darkness. May Shilen come again! I am Dark Elf Magister Sidra. Age and gender matter little when it comes to learning and practicing. What would you like to learn?
Learn skills.
Ask about Skill Transfer.
Ask about Skill Enchanting.
Quest


Welcome to Fermata
Fermata simplifies testing and evaluating the email capabilities of software.
- Any email messages sent here will be saved and displayed.
- Test workflows involving multiple people, without checking someone else's mailbox.
- Verify only the emails that should be sent actually are.
An SMTP server is now running. Configure the software you want to test to send mail to this host, on port .
Messages, Recipients
Recent


R. Erik Spjut
Email<EMAIL_ADDRESS>or<EMAIL_ADDRESS>Website: erik.spjut.me
Office:<PHONE_NUMBER> FAX:<PHONE_NUMBER> Cell:<PHONE_NUMBER>
Work Address Home Address
Department of Engineering 6807 Portofino Court
Harvey Mudd College Rancho Cucamonga, CA 91701-8637
301 Platt Blvd.
Claremont, CA 91711-5901
Presently Union Oil Company Design Fellow
Professor of Engineering
Department of Engineering, Harvey Mudd College
Education Massachusetts Institute Of Technology, Cambridge, Massachusetts. Ph.D. degree in Chemical Engineering, January 1985.
University Of Utah, Salt Lake City, Utah. B.S. degree, magna cum laude, in Chemical Engineering, June 1981.
Academic Appointments
July 2000- Harvey Mudd College, Department of Engineering, Professor of Engineering.
Present
July 2010- Harvey Mudd College, Department of Engineering, Director, Engineering
June 2015 Clinic. Responsible for annually recruiting 25 outside-sponsored engineering projects. Annual budget just in excess of $1,000,000.
Sep. 2009- Olin College Of Engineering, Visiting Professor of Engineering
May 2010
Winter 2002 California State Polytechnic University, Pomona, Visiting Lecturer in Chemical Engineering
Fall 2001 California Institute Of Technology, Visiting Professor of Chemical Engineering
July 1992- Harvey Mudd College, Department of Engineering, Associate Professor
June 2000 of Engineering. Center for Design Education, Associate Director for Engineering Computing.
July 1988- Harvey Mudd College, Department of Engineering, Assistant Professor
June 1992 of Engineering.
Jan. 1985- Massachusetts Institute Of Technology, Department of Materials Science
June 1988 and Engineering, John Chipman Assistant Professor of Chemical Process Metallurgy
Consulting
2015- Glassimetal Technology Inc., Pasadena, CA. Ongoing assistance with
Present electrostatic levitator.
2004-2008 Pacific Scientific Corporation, Duarte, CA. Modeling of fluid flow.
2002-2004 Caliper Technology Corporation, Mountain View, CA. Assistance with materials and process aspects of product development.
1998-2004 Radiant Technology Corporation, Fullerton, CA. Assistance with optical modifications to rapid-thermal-processing furnace. Modeling of heat transfer within rapid-thermal-processing furnace.
1988-2000 Jet Propulsion Laboratory, Pasadena, CA. Assistance with design and construction of an electrostatic levitator. Construction of an optical pyrometer. Construction and programming of computerized data acquisition systems. Assistance with proposal and manuscript preparation.
1996-1997 Space Systems/Loral, Palo Alto, CA. Assistance with design and construction of small-sample high-temperature electrostatic levitator, in particular the position-detection system.
1986-1988 Advanced Energy Dynamics, Natick, MA. Evaluation of experimental data and recommendations for modification of a proprietary separation process. Assistance with proposal preparation.
Awards/ Honors
1985-1988 John Chipman Chair in Chemical and Process Metallurgy
Grants/Fellowships
2011-Pres. Union Oil Company Design Fellowship (Faculty chair in Engineering)
2010-2013 CCAO-Cam: A Remote-Access, Dual-Band (Optical/NIR) Adaptive Optics System for the Table Mountain 1-meter telescope,” under the direction of Philip I. Choi, Bryan E. Penprase, R. Erik Spjut, Scott A. Severson. NSF MRI. $637,138
2004 Boeing Phantomworks grant for correcting atmospheric disturbances in wireless power transmission. $28,534
1989-1995 SCE Center of Excellence grant for measurement of electrical properties of materials, $100,000 with Joseph A. King.
1985-1988 DOE Grant on plasma processing of materials. Multiple MIT PIs joint with INEL. $500,000 for JF Elliott and RE Spjut portion.
Invited Lectures
2001 “Containerless Processing of Materials in an Electrostatic Levitator” Caltech Chemical Engineering Seminar, 2001.
1991 “Multi-Ratio Pyrometry” Joint N.I.S.T.–A.S.T.M. workshop on advances in non-contact temperature measurement, N.I.S.T. Headquarters, Gaithersburg MD, May 1991.
1989 “Non-Contact Temperature Measurement,” Los Angeles Chapter, A.I.Ch.E., May 1989.
“Supercooling and Recalescence of Individual Metal Powder Particles,” Jet Propulsion Laboratory, Pasadena CA, March 1989.
“Non-Contact Temperature Measurement,” Engineering Seminar, Harvey Mudd College, March 1989.
“Advances in Multi-Color Pyrometry,” NASA workshop on Non-Contact Temperature Measurement Techniques, Pasadena Hilton, Pasadena CA January 1989.
1987 “Common but Unappreciated Sources of Error in One, Two, and Multiple Color Pyrometry,” NASA workshop on Non-Contact Temperature Measurement Techniques, NASA HQ, Washington DC April 1987.
1986 “High-Temperature Gas-Solid Kinetics in an Electrodynamic Thermogravimetric Analyzer,” Materials Engineering and Science Seminar Series, MIT, 1986.
Teaching
Experience
HMC Engineering Design (first-year level)
Engineering Design Representation and Realization (first-year level)
Beginning Swedish (first-year level)
Introduction to Systems & Signals (second-year level)
Chemical and Thermal Principles (second-year level)
Engineering Laboratory (second-year level)
Music Fundamentals (second-year level)
Materials Engineering (third-year level)
Advanced Systems & Signals (third-year level)
Digital Logic & Computer Engineering (third-year level)
Chemical Reaction Engineering (fourth-year level)
Preliminary Design (fourth-year level)
Heat Transfer (fourth-year level)
Advanced Engineering Thermodynamics (fourth-year level)
Engineering Clinic (capstone course, fourth-year level).
Olin Design Nature (first-year level)
Modeling and Control (first-year level)
Introduction to Sensors, Instrumentation and Measurement (co-developed, first-year level)
Senior Capstone Program in Engineering (SCOPE, fourth-year level)
Cal-Poly Stoichiometry Laboratory (second-year level)
Caltech Heterogeneous Kinetics (graduate level)
MIT Introduction to Solid-State Chemistry (first-year level)
Physical Chemistry of Materials (second-year level)
Chemical Metallurgy (fourth-year level)
Kinetic Processes in Materials (graduate level)
Teaching I am concerned with the pedagogy of engineering and design
Interests education, particularly with unorthodox but effective classroom and laboratory methods. I have developed courses utilizing the seminar-style case-study method, just-in-time learning, web-based video, and student-led course content. I have completely restructured our second-year-level engineering laboratory to include a final field experience where the students launch a fully-instrumented rocket and report on the comparison between the flight data and the flight modeling.
In addition to the subjects listed above under courses taught I would like to develop courses in one or more of the following areas: Advanced Rocketry (third-year/fourth-year level), Critical Thinking for Engineers and Scientists (first-year/second-year level), Principles of Embodiment and Detail Design (third-year/fourth-year level), Signal Processing in Digital Audio and Video (fourth-year level), Heterogeneous Reaction Engineering (fourth-year level), Chemical Processing of Materials (fourth-year level), Temperature Sensing and Radiative Heat Transfer (advanced fourth-year or graduate level), and Numerical Methods in Process Engineering (third-year/fourth-year level).
Research As of late, I have pursued active learning as applied to engineering. To
Areas support my principal laboratory for active learning, the rocketry-based Engineering Laboratory course, I have also pursued inertial measurement and Kalman filtering, vibrational system ID, the physics of rocket flight, MEMS and other sensors, data acquisition and error analysis.
I was also recently involved in the engineering of an adaptive-optics retrofit to the Table Mountain telescope operated by Pomona College. My principal areas were the structural integrity and vibration isolation.
My previous research was principally in the area of high-temperature processing of materials — both in fundamental science and engineering applications. My primary thrust was in heterogeneous reaction kinetics and diagnostics. Specific areas of research were the intrinsic and overall kinetics of solid or liquid aerosols reacting at high temperatures with a gas, e.g., carbon combustion, metal-oxide formation, carburization and metal-carbide formation, gaseous reduction of metal oxides and oxidation of metal sulfides. The morphologies of the products and of the solid reactants as controlled by the reaction kinetics are also of interest.
As an adjunct to the materials research, I have pursued the areas of containerless processing of materials, non-contact temperature measurement, computer-controlled experimental design, radiative scattering, absorption and emission from metallic and non-metallic aerosols, tribocharging and charge stability on heated aerosols, and supercooling of metals and ceramics. In addition, process-sensors and feedback-control are of great interest to me.
Service
Professional Proposals reviewed for the National Science Foundation, the Department of Energy, and NASA. Referee for the following publications: Journal of Metals, Review of Scientific Instruments, IEEE Transactions, and Conservation & Recycling. The Metallurgical Society of AIME (Secretary-Treasurer, Boston Chapter ’86-’87; Vice Chairman, Boston Chapter ’87-’88)
Departmental/College
2010-2015 Director, Engineering Clinic – Responsible for annually recruiting 25 outside-sponsored capstone projects.
2010-2015 Departmental Professional Development Committee
2014-2015 College Curriculum Committee
2014-2015 Departmental Engineering Resources Planning Committee
2013-2014 College Safety Committee
2007-2009 College Diversity Committee
2004-2008 College Assessment Committee
2008-2009 College Computing Committee
1995-1998 College Computing Committee
1997-1999 College Scholarly Standing Committee
1999-2002 College Teaching and Learning Committee
Professional Website development especially using LAMP (Linux, Apache, MySQL &
Skills PHP) and Dreamweaver, engineering numerical methods, LabVIEW, MATLAB & Simulink, Mathematica, Fortran, C (when necessary), engineering calculations using spreadsheets, Solidworks with Motion and Simulation, PCB design, PRO/II, music composition & audio production, CSound, video production.
Certifications Amateur Radio General License – KJ6ZAX
California Pyrotechnic Operator Rocket 3rd Class
Tripoli Rocketry Association Level 2
Responsible Person, Harvey Mudd BATF LEUP Permit
Languages Fluent Swedish, Rudimentary Spanish
Professional American Institute of Chemical Engineers
Memberships
Publications
Refereed Journal Articles
Rhim, W.K., Ohsaka, K., Paradis, P.F., Spjut, R.E., “Noncontact Technique for Measuring Surface Tension and Viscosity of Molten Materials Using High Temperature Electrostatic Levitation ,” Rev. Sci. Instrum., 70 (6), 2796-280 (1999)
Rhim, W.K., Chung, S.K., Rulison, A.J., Spjut, R.E., “Measurements of Thermophysical Properties of Molten Silicon by a High-Temperature Electrostatic Levitator,” Int. J. Thermophys., 18 (2), 459-470 (1997).
Bowman, R.C., Jr., Freeman, B.D., Ryba, E.L., Spjut, R.E., Liu, E.A., Penso, J.M., Lynch, F.E., “Performance testing of a vanadium hydride compressor,” Z. Phys. Chem. (Germany), 183, pt.1-2, 245-50 (1994)
Rhim, W.K., Chung, S.K., Barber, D., Man, K.F., Gutt, G., Rulison, A., Spjut, R.E., “An electrostatic levitator for high-temperature containerless materials processing in 1-g,” Rev. Sci. Instrum. 64 (10), 2961-2970 (1993).
DeVries, J., Wakisaka, S.S., and Spjut, R.E., “Measurement of the Work-Function of Y1Ba2Cu3O7–δ Under Ambient Conditions,” J. Mater. Res. 8 (7) 1497-1500 (1993).
Spjut, R.E., “Transient Response of Least-Squares Based Multiwavelength Pyrometers,” Optical Engineering, 32 (5), 1068-1072 (1993).
Bolsaitis, P.P., Spjut, R.E., and Elliott, J.F., “High-Temperature Pulses in Small Alumina Particles,” High-Temp.-High Pressures 21, 601-611 (1989).
Bar-Ziv, E., Jones, D. B., Spjut, R. E., Dudek, D. R., Sarofim, A. F., Longwell, J. P., “Measurement of combustion kinetics of a single char particle in an electrodynamic thermogravimetric analyzer,” Combustion and Flame 75 (1), 81-106 (1989).
Libera, M.R., Bolsaitis, P.P., Spjut, R.E. and VanderSande, J.B., “Liquid Supercooling and Droplet Cooling rates of Remelted Argon-Atomized Fe-30Ni Powder Particles,” J. Mater. Res. 3 (3) 441-452 (1988).
Fincke, J.R., Jeffery, C.L. and Spjut, R.E., “Measurement of the Emissivity of Small Particles at Elevated Temperatures,” Optical Engineering, 27 (8), 684-690 (1988).
Greene, W.M., Spjut, R.E., Bar-Ziv, E., Sarofim, A.F. and Longwell, J.P., “Photophoresis of Irradiated Spheres: Absorption Centers: errata,” Journal of the Optical Society of America B, 5, 866 (1988).
Spjut, R.E., “Transient Response of One- and Two-Color Optical Pyrometry Systems,” Optical Engineering, 26 (5), 467-472 (1987).
Spjut, R.E., Bar-Ziv, E., Sarofim, A.F. and Longwell, J. P., “Electrodynamic Thermogravimetric Analyzer,” Rev. Sci. Instrum. 57, 1604-1610 (1986).
Spjut, R.E., Sarofim, A.F. and Longwell, J.P., “Laser Heating and Particle Temperature Measurement in an Electrodynamic Balance,” Langmuir 1, 355-360 (1985).
Greene, W.M., Spjut, R.E., Bar-Ziv, E., Sarofim, A.F. and Longwell, J.P., “Photophoresis of Irradiated Spheres: The Complex Index of Refraction,” Langmuir 1, 361-365 (1985).
Greene, W.M., Spjut, R.E., Bar-Ziv, E., Sarofim, A.F. and Longwell, J.P., “Photophoresis of Irradiated Spheres: Absorption Centers,” Journal of the Optical Society of America B, 2, 998-1004 (1985).
Book Chapters
“Chapter 6 Design Modeling, Analysis and Optimization”, Engineering Design: A Project Based Introduction, 3rd Ed, C. Dym, & P. Little, with E. Orwin, & R.E. Spjut, Wiley, New York (2008)
“Chapter 7 Communicating the Design Outcome (I): Building Models and Prototypes”, Engineering Design: A Project Based Introduction, 3rd Ed, C. Dym, & P. Little, with E. Orwin, & R.E. Spjut, Wiley, New York (2008)
“Chapter 24. An Introduction to Signal Processing with Csound”, The Csound Book, Tutorials in Software Synthesis and Sound Design, R. Boulanger Ed., MIT Press (March 2000)
“Chapter 30. Convolution: Traditional and Novel Applications”, The Csound Book, Tutorials in Software Synthesis and Sound Design, R. Boulanger Ed., MIT Press (March 2000)
Conference Proceedings
S. A. Severson, P. I. Choi, K. E. Badham, D. Bolger, D. S. Contreras, B. N. Gilbreth, C. Guerrero, E. Littleton, J. Long, L. P. McGonigle, et al. Kapao first light: the design, construction and operation of a low-cost natural guide star adaptive optics system. In SPIE Astronomical Telescopes+ Instrumentation, pages 914839–914839. International Society for Optics and Photonics, (2014).
Severson, S.A.; Choi, P.I.; Contreras, D.S.; Gilbreth, B.N.; Littleton, E.; McGonigle, L.P.; Morrison, W.A.; Rudy, A.R.; Wong, J.R.; Xue, A.; Spjut, E.; Baranec, C.; Riddle, R. “KAPAO: a MEMS-based natural guide star adaptive optics system”, SPIE MOEMS-MEMS,<PHONE_NUMBER>09-10, International Society for Optics and Photonics (2013).
W. Rhim, K. Ohsaka, and R. E. Spjut. Undercooling limits and thermophysical properties in glass forming alloys. NASA Conference Publication, pages 547–552, (1999).
Ryba, E.L., Freeman, B.D., Bowman, R.C. Jr., Spjut, R.E., Liu, E.A., Budic, P., Okado, C.,“Assessment of a Hydrogen Joule-Thomson Expander and Vanadium Hydride Sorption Beds for 20K Cryocoolers”, 7th International Cryocooler Conference Proceedings, Phillips Laboratory, Kirtland A.F.B., NM (April 1993).
Spjut, R.E., and Bolsaitis, P.P., “Three Channel Optical Temperature Measurement of Laser-Heated Reacting Particles,” Materials Processing in the Reduced Gravity Environment of Space, MRS Symposia Proceedings, Vol. 87 Doremus, R.H., Nordine, P.C., ed., Materials Research Society (1987).
Spjut, R.E., Elliott, J.F., and Bolsaitis, P.P., “Thermogravimetric Measurements in an Electrodynamic Balance,” Materials Processing in the Reduced Gravity Environment of Space, MRS Symposia Proceedings, Vol. 87 Doremus, R.H., Nordine, P.C., ed., Materials Research Society (1987).
Conference Presentations
“KAPAO: a MEMS-based natural guide star adaptive optics system”, Scott A. Severson ; Philip I. Choi ; Daniel S. Contreras ; Blaine N. Gilbreth ; Erik Littleton, et al. , Proc. SPIE 8617, MEMS Adaptive Optics VII, 861709 (March 5, 2013);
“KAPAO: A natural guide star adaptive optics system for small aperture telescopes.” S. A. Severson, P. Choi, E. Spjut, D. Contreras, B. Gilbreth, L. McGonigle, W. Morrison, A. Rudy, A. Xue, C. Baranec, et al., In American Astronomical Society Meeting Abstracts# 220, volume 220, (2012).
“Kapao-alpha: An on-the-sky testbed for adaptive optics on small aperture telescopes.”, W. Morrison, P. Choi, S. Severson, E. Spjut, D. Contreras, B. Gilbreth, L. McGonigle, A. Rudy, A. Xue, C. Baranec, et al. In American Astronomical Society Meeting Abstracts# 220, volume 220, 2012.
“Remelting and Solidification of Individual Gas-Atomized Metal Powder Particles,” with M.R. Libera, P.P. Bolsaitis, J.B.VanderSande and J.F. Elliott, AAAR Annual Meeting, Chapel Hill NC, Oct. 1988.
“Combustion Kinetics of Spherocarb as Measured In an Electrodynamic Thermogravimetric Analyzer,” with D.B. Jones and A.F. Sarofim, AAAR Annual Meeting, Chapel Hill NC, Oct. 1988
“The Use of an Electrodynamic Thermogravimetric Analyzer to Measure Carbon Oxidation Kinetics,” with D.B. Jones and A.F. Sarofim, Eastern Section Combustion Institute, Bethesda MD, Nov. 1987
“The Use of an Electrodynamic Thermogravimetric Analyzer to Measure Carbon Oxidation Kinetics,” with D.B. Jones and A.F. Sarofim, AAAR Annual Meeting,Seattle WA, Oct. 1987
“High-Temperature Single-Particle Behavior of Alumina and Silica,”with P.P. Bolsaitis, and J.F. Elliott, TMS-AIME Annual Meeting, Denver CO, Feb. 1987.
“Design of Experiments for the Electrodynamic Thermogravimetric Analyzer,” with P.P. Bolsaitis, and J.F. Elliott, TMS-AIME Annual Meeting, New Orleans LA, March 1986.
“A High-Temperature Single Particle Thermogravimetric Analyzer,” with P.P. Bolsaitis, and J.F. Elliott, TMS-AIME Annual Meeting, New Orleans LA, March 1986
“The Application of an Electrodynamic Balance for measuring heterogeneous kinetics at High Temperatures,” with A.F. Sarofim and J.P. Longwell, ACS Annual Meeting, Philidelphia PA, August 1984.
Manuscripts in Preparation
Spjut, R.E., and Cardenas, M., “Teaching General Engineering Through Rocketry, Assessment of Revision of a Sophomore Engineering Laboratory,” (in preparation)
Other Publications
Spjut, R.E., “Report on the Multicolor Pyrometry Session,” in Proceedings of the Second NCTM Workshop , JPL Publication 89-16 , Pasadena CA, 1989 pp. 317-318.
Spjut, R.E., “Electrodynamic Thermogravimetric Analyzer,” Freshman Engineering Seminar, Harvey Mudd College, April 1989
Spjut, R.E., “Common but Unappreciated Sources of Error in One, Two, and Multiple Color Pyrometry,” in Non-Contact Temperature Measurement , NASA Conference Publication 2503, Washington DC, 1988 pp.182-213.
Jones, D. B., Spjut, R. E., Dudek, D. R., Sarofim, A. F., “Study of Oxidation Kinetics of Submillimeter Spherocarb in an Electrodynamic Balance,” Chem. Phys. Processes Combust., 23/1-23/4 (1987).
Spjut, R.E., Bolsaitis, P.P., and Elliott, J.F., “High Temperature Gas-Solid Reactions,” Proceedings, Proc. Process Technol. Conf., 6th, Iron Steel Soc.,Warrendale PA, (1986).
References
Professor Ziyad Duron
Professor of Engineering
Engineering Department
Harvey Mudd College
301 Platt Blvd.
Claremont, CA 91711
tel:<PHONE_NUMBER>
fax:<PHONE_NUMBER>
ziyad dot duron at gmail dot com
Professor Brian D. Storey
Professor of Mechanical Engineering
Franklin W. Olin College of Engineering
Olin Way
267 Milas Hall
Needham, MA 02492
brian dot storey at olin dot edu
tel:<PHONE_NUMBER>
fax:<PHONE_NUMBER>
Robert (Bob) Butterfield
Research Fellow
CareFusion
3750 Torrey View Court
San Diego
CA 92130
Tel:<PHONE_NUMBER>
Bob dot Butterfield at CareFusion dot com


* A funny profound road movie
today’s Very Short List:
culture 12 Mar 2014
Michael Jackson is a television producer and executive and a co-founder of Very Short List.
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* See a great film influenced by Il Sorpasso - the funny, poignant Alexander Payne/Jack Nicholson road movie
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About Me
My name is Brittany Huber and I am a Product Support Specialist at RE/MAX, LLC. In this position I help RE/MAX agents with technical issues they experience with our products. The job involves troubleshooting, while also providing a great customer experience.
I am also currently enrolled in a coding bootcamp at Denver University in which I am learning valuable skills to become a web developer. Some of the topics we will cover are HTML, CSS, Javascript, jQuery, MySQL, and others. In 6 months, after I have completed this course, I will be ready and excited to transition my career to the field of web development.
In my free time, I enjoy cooking, baking, doing makeup, and playing video games. I also have two cats, both of which are crazy, but adorable.


The number of drink and drug drivers in Renfrewshire goes up
Scottish Government stats show a 10 per cent increase over the last 12 months
by David CampbellPolice recorded more than 4,000 motoring offences in Renfrewshire in a year.
Statistics released by the Scottish Government for 2017/18 show cops in the region flagged 4,021 drivers.
Despite an overall fall of five per cent on the previous 12 months, figures show a ten per cent increase in the number of drivers getting behind the wheel under the influence of drink or drugs.
In 2016/17, police recorded 212 offences, rising to 233 last year, involving thoughtless drink and drug drivers.
Traffic cops pulled over 572 speeding drivers last year, down on the previous year.
Police Scotland kicked off a week-long safer driving campaign at the weekend, aimed at catching drivers speeding, using their mobile phones or not wearing seatbelts.
Led by the force’s Road Policing Unit and supported by Safety Camera Units, officers want to highlight the importance of wearing a seatbelt in the front and back seats, regardless of the type of vehicle you are in.
Wearing a seatbelt can prevent more serious injuries being inflicted, particularly if you are sitting in the rear of a vehicle.
Figures revealed that in 2017, 27 per cent of people who died in cars in Britain were not wearing a seatbelt.
Chief Inspector Simon Bradshaw said: “We know that using a mobile phone, driving while distracted, travelling at inappropriate speeds and not wearing a seatbelt are significant factors in fatal and serious injury crashes.
“This is why we take the matter seriously as they are avoidable, which makes it all the more tragic when people are killed in road crashes under these circumstances.
“Police Scotland works closely with other road safety agencies and partners to highlight the importance of driving safely but we cannot do this alone. We need motorists to take road safety seriously and to change their behaviour.
“We will interact with drivers through education to influence behaviour but where necessary, we will take enforcement action.”


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hp-timedate(1) User Manuals hp-timedate(1) NAME hp-timedate - Time/Date Utility DESCRIPTION Set the time and date on an HP Officejet all-in-one device using the PC time and date. SYNOPSIS hp-timedate [DEVICE_URI|PRINTER_NAME] [MODE] [OPTIONS] PRINTER|DEVICE-URI To specify a device-URI: -d<device-uri> or --device=<device-uri> To specify a CUPS printer: -p<printer> or --printer=<printer> MODE Run in interactive mode: -i or --interactive OPTIONS Set the logging level: -l<level> or --logging=<level> <level>: none, info*, error, warn, debug (*default) Run in debug mode: -g (same as option: -ldebug) This help information: -h or --help AUTHOR HPLIP (Hewlett-Packard Linux Imaging and Printing) is an HP developed solution for printing, scanning, and faxing with HP inkjet and laser based printers in Linux. REPORTING BUGS The HPLIP Launchpad.net site https://launchpad.net/hplip is available to get help, report bugs, make suggestions, discuss the HPLIP project or otherwise contact the HPLIP Team. COPYRIGHT Copyright (c) 2001-14 Hewlett-Packard Development Company, L.P. This software comes with ABSOLUTELY NO WARRANTY. This is free software, and you are welcome to distribute it under certain conditions. See COPY‐ ING file for more details. Linux 2.0 hp-timedate(1)


Egypt unveils animal mummies of lion cubs, crocodiles, cats
Cache of 75 statues as well as animal mummies found at Saqqara necropolis near Giza pyramids.
Egypt has unveiled a cache of 75 wooden and bronze statues as well as animal mummies - including cats, crocodiles and lion cubs - at the Saqqara necropolis near the Giza pyramids.
The Antiquities Ministry announced the find on Saturday at the foot of the Bastet Temple, dedicated to the worship of cats among ancient Egyptians.
More:
Antiquities Minister Khaled El-Enany described the discovery as "a [whole] museum by itself".
The Saqqara plateau hosted at least 11 pyramids, including the Step Pyramid, along with hundreds of tombs of ancient officials, ranging from the 1st Dynasty (2920 BC-2770 BC) to the Coptic period (395-642).
The Saqqara discovery is the latest in a series of new finds that Egypt has sought to publicise in an effort to revive its key tourism sector, which was badly hit by the turmoil that followed the 2011 uprising that toppled longtime ruler Hosni Mubarak.
Archaeologists also found wooden and bronze cat statues representing the ancient goddess Bastet [Khaled Desouki/AFP]
Mostafa Waziri, secretary-general of the Supreme Council of Antiquities, told reporters that among the mummified animals were two lion cubs. Radar scans were needed on three others to determine that the mummies were also lions.
Archaeologists frequently find mummified cats but the recovery of a lion is rare.
In 2004, the first lion skeleton was found in Saqqara, revealing the sacred status of the animal in ancient times.
Archaeologists also found wooden and bronze cat statues representing the ancient goddess Bastet and a rare large stone scarab, which Waziri described as "the largest all over the world".
Egypt has sought to publicise the findings to revive its key tourism sector [Khaled Desouki/AFP]
They also displayed two mummies of ichneumon, or the Egyptian mongoose, wrapped in linen bandages and wooden and tin-glazed statuettes of the goddess Sekhmet, represented as a woman with the head of a lioness. Scholars say Sekhmet (1390-1252 BC) was a goddess of war.
There were also strips of papyrus with depictions of the goddess Taweret depicted as a hippopotamus with the tail of a crocodile.
Markings on the displayed artefacts show that they date back to the Late Period (664-332 BC).
A rare large stone scarab was described as 'the largest all over the world' [Khaled Desouki/AFP]


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Believed to be the antithesis of the sacred nectar, one drop of this liquid could kill a grown man’s tastebuds for a whole year! Also it apparently can eat through solid steel.For some reason they named it after some woman named “Beverly?”


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Skip the Drive-Thru Window
Review of Home Fries (1998)
Seen on 11 December 1998 by myself at the UA 64th Street for $4.50
Somewhere in Hollywood it was decided that mix-and-match genre screenplays area good idea. Action-adventure? Comedy? Psychodrama? Taut mystery? Screwball romance? Honestly, just pick two and leave it alone. But that is not what director Dean Parisot and writer Vince Gilligan decide to do. The only mistake avoided was casting Valerie Bertinelli, always good for an unintentional laugh.
The oddly named and aimless *Home Fries* suffers a series of coincidences and motivations that baffles the moviegoing imagination. What is intended to draw in the audience and sustain our interest is merely annoying. I must admit, I was curious to see where it was going, and in reviewing it, I must warn you that I will give it all away.
Sally (Drew Barrymore) gives her married lover Henry the heave-ho, even though she is pregnant.  Scared to death (heart condition), but untouched by the weapons. Then we discover that the two men flying the copter, Dorian and Angus (Luke Wilson and Jake Busey, both of whom have mostly made forgettable films) are the stepsons of the dead man. So it was not just a "prank gone wrong." Then there's the matter of the people who might have heard them over their radio communications. It seems that Sally heard them talking (but didn't know what they were saying) on her fast-food radio headset. She works at the local franchise of a burger chain. So naturally, Angus insists that Dorian get a job there and figure out if they need to *kill* her to protect their butts and Mom's (played by Catherine O'Hara whose comedic talents go completely untapped in favor of sheer frenzy).
But then Dorian falls in love with the very pregnant Sally. But the increasingly murderous Angus wants to kill someone. What a pickle (no bun intended) for Dorian. How does he keep Sally from getting killed without telling her that he killed the father of her unborn baby, who happened to be his stepfather?
*Home Fries* goes on *further* to dabble in the possibility of a class-struggle story, with the rich Dorian romancing the utterly poor Sally.
Meanwhile, thoughout, there is some absolutely splendid filming (kudos to Jerzy Zielinski), and a dynamite soundtrack. If they had just decided to film the Texas scenery with the Chris Isaak music, I would have loved that. It was just the plot and the dialogue that got in the way.
PS: That's Shelley Duvall as Sally's mother. She may not be dead, but her career obviously is.
More movie reviews by Seth Bookey, with graphics, can be found at http://www.geocities.com/Athens/2679/kino.html
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Soft validation in an editor environment
Martin Middel, FontoXML
REMEMBER TO START DOCBOOK SERVER at 8080
Note: the original presentation contains a demo of the FontoXML docbook editor. A similar editor is available at dita.fontoxml.com
Fonto is an editor easily configured for most schemas
DiTa, TEI, HTML, office open xml, even docbook
This is fonto donfugred for docbook, in which i wrote my paper
This is fonto!
Our authors no not know XML, we guide them into writing schema valid
open the structure tab, then the source tab, press ctrl+b to make something bold.
Schematron
A set of queries for nodes
Followed by assertions and tests for them
An example schema
A paragraph must have a class
Most of you know schematron already. For those who don't: queries and asserts/tests
Schematron in Fonto
…
…
footnote must not occur in the descendants of footnote
Real life use case
This is the actual docbook.sch file
Note: the original presentation contains a demo of the FontoXML docbook editor. A similar editor is available at dita.fontoxml.com . At the moment of writing, this does not contain a schematron implementation though.
Open the soft validation panel, observe no errors.
If I open a footnote: new error.
Click on solve, press delete, observe: error gone.
Observe, no anymation, this is a development version for release next week
Performance
3500+ (generated) Schematron rules
Look like this:
rule: /chunk[@class="achievement"]/ chunk-body/descendant::ol [@class="achievement-list"]
assert: count(child::li[not(@class)]) < 1
One on our clients 3500+ rules.
Generated, so we can make them absolute.
We can give them an exit early
Not possible to run them every keystroke
Cant even run them every new element
We need a way to prevent re-running them
Options
Server side
Big Update Button
XPath 3.1 in the browser
How we did it
Parse the XPath expression
PegJS parser generator
Outputs an ast in JSON:
[
"absolutePath",
[
"path",
[
"descendant-or-self",
["kindTest", "node()"]
]
]
]
This is saved in 'indexedDB', no parser hit next time
We used PEGJS to generate a parser from a grammar
This grammar already drops unneeded levels
to a JSON ast
We do not want to re-parse every XPath
That is why we cache them
in a persistent storage, so that we can save them accross browser instances. Which is good, because our authors keepcoming back
Execute it
Parse the ast to JavaScript models
Resolve functions
Propagate variables on the dynamic context
Instant feedback
We need instant feedback
Remember: non-technical authors
Need to be guided
How to do it live
Optimize all the queries
Only run affected queries
We can make individual queries as fast as possible
Or we can less of them
We chose the latter, this introduces the need for dep track
Dependency tracking
class DependencyTrackingDomFacade {
getParentNode (node) {
addDep('childList', node.parentNode);
return node.parentNode;
}
getNextSibling (node) {
addDep('childList', node.parentNode);
return node.nextSibling;
}
getAttribute (node, name) {
addDep('attributes', node);
return node.getAttribute(name);
}
}
We catch all the (changeable) DOM accessors
This allows us to determine if a mutation could affect a query
MutationObserver
{
type: 'childList' | 'attribute' | 'characterData',
target: Node,
addedNodes: Node[],
removedNodes: Node[],
nextSibling: Node?,
previousSibling: Node?,
attributeName: String?,
oldValue: String?

Not nearly
Static analysis / optimization
Partial queries / result caching
Conclusion
Client is happy
Good editing performance
Next year: write your paper in Fonto