KRB5-CONFIG
Section: User Commands (1)Index Return to Main Contents
NAME
krb5-config - tool for linking against MIT Kerberos librariesSYNOPSIS
krb5-config [ --help | --all | --version | --vendor | --prefix | --exec-prefix | --cflags | --libs libraries ]DESCRIPTION
krb5-config tells the application programmer what special flags to use to compile and link programs against the installed Kerberos libraries.OPTIONS
- --help
- print usage message. This is the default.
- --all
- prints version, vendor, prefix and exec-prefix.
- --version
- prints the version of the installed Kerberos implementation.
- --vendor
- prints the vendor of the installed Kerberos implementation.
- --prefix
- prints the prefix with which Kerberos was built.
- --exec-prefix
- prints the exec-prefix with which Kerberos was built.
- --cflags
- prints the compiler flags with which Kerberos was built.
- --libs libraries
-
list compiler options required to link with libraries. Possible
values for libraries are:
krb5 Kerberos 5 application gssapi GSSAPI application with Kerberos 5 bindings kadm-client Kadmin client kadm-server Kadmin server kdb Application that accesses the kerberos database
SEE ALSO
kerberos(1), cc(1)
Index
This document was created by man2html, using the manual pages.
Time: 05:29:05 GMT, December 24, 2015


|
Padaria Baker
|
#include <bakery.h>
Public Member Functions | |
| Bakery (string address) | |
| Bakery (string address, vector< Employee * > employees, vector< Client * > clients) | |
| ~Bakery () | |
| int | getId () const |
| string | getAddress () const |
| vector< Client * > | getClients () const |
| vector< Employee * > | getEmployees () |
| vector< Order * > | getOrders () const |
| string | getInfo () const |
| void | addClient (Client *client) |
| void | addEmployee (Employee *employee) |
| void | removeEmployee (Employee *employee) |
| Employee * | searchEmployee (Employee *employee) |
| Employee * | lessBusyEmployee () |
| void | sortEmployees () |
| void | setAddress (string address) |
| void | receivedNewOrder (Order *order, Client *client) |
| void | distributeOrder (Order *order) |
| void | showClients () const |
| bool | operator== (const Bakery &b2) const |
Bakery Class This class represents a bakery object, with it's employees and clients
| Bakery::Bakery | ( | string | address | ) |
Bakery constructor
| address | A string that will be the address of the bakery |
| employees | A vector of pointers to employees, which will be the employees that work in that bakery |
| clients | A vector of pointers to clients, which will be the clients that buy in that bakery |
| Bakery::~Bakery | ( | ) |
| void Bakery::addClient | ( | Client * | client | ) |
| void Bakery::addEmployee | ( | Employee * | employee | ) |
| void Bakery::distributeOrder | ( | Order * | order | ) |
| string Bakery::getAddress | ( | ) | const |
| vector< Client * > Bakery::getClients | ( | ) | const |
| vector< Employee * > Bakery::getEmployees | ( | ) |
| int Bakery::getId | ( | ) | const |
| string Bakery::getInfo | ( | ) | const |
| vector< Order * > Bakery::getOrders | ( | ) | const |
| Employee * Bakery::lessBusyEmployee | ( | ) |
| bool Bakery::operator== | ( | const Bakery & | b2 | ) | const |
| void Bakery::removeEmployee | ( | Employee * | employee | ) |
| void Bakery::setAddress | ( | string | address | ) |
| void Bakery::showClients | ( | ) | const |
| void Bakery::sortEmployees | ( | ) |


Quickstart¶
Hopefully this tutorial can get you up and running fast.
PVMismatch¶
An explicit IV & PV curve trace calculator for PV system circuits
- Model chain
- Cell > Cell string > Module > String > System
- Key Model inputs
Cell technology characteristics
Effective Irradiance (suns)
Temperature (cell temperature)
Bypass device configuration
Cell string layout
Requirements¶
PVMismatch requires NumPy, SciPy and matplotlib. These packages are available from PyPI, Christoph Gohlke and Anaconda. You must install them prior to using PVMismatch.
Usage¶
Please see the documenation for tutorials and API. Bugs and feature requests can be reported on GitHub. The change history is also on GitHub.
Other Projects that use PVMismatch¶
System level mismatch loss calculator using PVMismatch tool (STC and Annual energy loss) https://github.com/SunPower/MismatchLossStudy
Citing PVMismatch¶
We appreciate your use of PVMismatch, and ask that you appropriately cite the software in exchange for its open-source publication.
Mark Mikofski, Bennet Meyers, Chetan Chaudhari (2018). “PVMismatch Project: https://github.com/SunPower/PVMismatch”. SunPower Corporation, Richmond, CA.
Example¶
In this example let’s make a PV system of 2 strings with 8 modules each using
standard 96 cell modules. You can enter these commands in the Python
interpreter, run them from a script or simply paste them in
IPython with %paste
.
>>> from pvmismatch import * # this imports everything we need
>>> pvsys = pvsystem.PVsystem(numberStrs=2, numberMods=8) # makes the system
>>> from matplotlib import pyplot as plt # now lets make some plots
>>> plt.ion() # this turns on interactive plotting
>>> f = pvsys.plotSys() # creates a figure with the system IV & PV curve
>>> pvsys.Vmp # max voltage [V]
434.78820171467481
>>> pvsys.Imp # max current [A]
11.821752935151656
>>>pvsys.Pmp # max power [W]
5139.9586997897668
>>> pvsys.FF # fill factor
0.78720728660102768
>>> pvsys.eff # efficiency
0.21824347997841023
>>> pvsys.Voc # open circuit voltage [V]
517.7428517321761
>>> pvsys.Isc # short circuit current [A]
12.611199981080691
Now lets shade the last row of the 1st module in the 1st string:
>>> pvsys.setSuns({0: {0: [(0.2, ) * 8, (11, 12, 35, 36, 59, 60, 83, 84)]}})
>>> f_shade = pvsys.plotSys()
How is this system doing now?
>>> pvsys.Vmp
402.2176762133148
>>> pvsys.Imp
11.782413660383165
>>> pvsys.Pmp
4739.0950426633335
>>> pvsys.FF
0.72444923136011019
>>> pvsys.eff
0.2020646802535036
>>> pvsys.Voc
517.5628797316385
>>> pvsys.Isc
12.63933841066166
That did a little damage - the system lost 400[W] about 8%. Let’s see what’s actually going on with those cells in the last row of the 1st module in the 1st string.
>>> pvsys.pvmods[0][0].pvcells[0] # let's see if they're actually shaded
<PVcell(Ee=1[suns], Tcell=298.15[K], Isc=6.3056[A], Voc=0.67444[V])>
>>> [pvsys.pvmods[0][0].pvcells[_] for _ in (11, 12, 35, 36, 59, 60, 83, 84)]
[<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>,
<PVcell(Ee=0.2[suns], Tcell=298.15[K], Isc=1.26112[A], Voc=0.630143[V])>]
>>> f_mod00 = pvsys.pvmods[0][0].plotMod() # plot that module
>>> f_mod00cells = pvsys.pvmods[0][0].plotCell() # plot all the cells
>>> import numpy as np # let's find the string current by interpolatign
>>> np.interp(pvsys.Vmp, pvsys.pvstrs[0].Vstring, pvsys.pvstrs[0].Istring)
5.624635929989247
Interpolation of string current from the system voltage yields 5.6[A]. Those shaded cells can only carry that current in reverse bias, so they must be hot! Let’s change their temperatures. In fact since the temperatures are still at 25[C], let’s update the normal cells too:
>>> pvsys.setTemps(50. + 273.15) # [K] normal cells
>>> pvsys.setTemps({0: {0: [(100. + 273.15, ) * 8, (11, 12, 35, 36, 59, 60, 83, 84)]}}) # [K] hot cells in RBD
>>> pvsys.pvmods[0][0].pvcells[0] # let's see if they're actually hot
<PVcell(Ee=1[suns], Tcell=323.15[K], Isc=6.36158[A], Voc=0.63443[V])>
>>> [pvsys.pvmods[0][0].pvcells[_] for _ in (11, 12, 35, 36, 59, 60, 83, 84)]
[<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>,
<PVcell(Ee=0.2[suns], Tcell=373.15[K], Isc=1.29471[A], Voc=0.497765[V])>]
>>> pvsys.Vmp
370.60261850573403
>>> pvsys.Imp
11.924151410534137
>>> pvsys.Pmp
4419.1217362027928
>>> pvsys.FF
0.71233263744268427
>>> pvsys.eff
0.1884217160847011
>>> pvsys.Voc
486.4780520368573
>>> pvsys.Isc
12.752339637569314
>>> f_hot = pvsys.plotSys()
Take note:
- For normal cells Voc decreases as expected when temperature is increased from 25[C] to 50[C] under the same 1[sun] conditions from 0.67444[V] to 0.63443[V]. The equivalent \(\beta V_oc = 0.15 \left[ V / C \right ]\) for 96-cells.


You need to enable JavaScript to run this app.
Demiguise
View project on GitHub
React component for showing messages in a row with fade transition.


The GAP package
A Library of irreducible soluble linear groups over finite fields
and of finite primivite soluble groups
- Author:
- Burkhard Höfling,
e-mail: firstinitial.lastname replacing ö by oe @tu-bs.de
- Current version:
- IRREDSOL_VERSION
- README file:
- README.txt
- Download and Online manual:
- IRREDSOL IRREDSOL_VERSION,
Other formats available from
the IRREDSOL page on the main GAP server.
Home page:
http://www.icm.tu-bs.de/~bhoeflin/irredsol/index.html
IRREDSOL manual
Available in
HTML format and
Adobe Acrobat PDF format
Development version
Accessible via GitHub repository
Bugs and suggestions
GitHub issue tracker or by e-mail to the author.
Author: Burkhard Höfling
Last modified: IRREDSOL_DATE


NOT RECOMMENDED FOR FULL-TEXT PUBLICATION
File Name: 10a0446n.06
No. 09-3438
FILED
UNITED STATES COURT OF APPEALS Jul 21, 2010
FOR THE SIXTH CIRCUIT LEONARD GREEN, Clerk
MING JUAN CHEN, )
)
Petitioner, )
) ON PETITION FOR REVIEW
v. ) FROM THE BOARD OF
) IMMIGRATION APPEALS
ERIC H. HOLDER, JR., Attorney General, )
) OPINION
Respondent. )
BEFORE: NORRIS, MOORE, and McKEAGUE, Circuit Judges.
McKEAGUE, Circuit Judge. Petitioner Ming Juan Chen appeals the decision of the Board
of Immigration Appeals. She argues that: (1) the Board erred in deferring to the Immigration Judge’s
adverse credibility finding; (2) the Board erred in adopting the Immigration Judges’s finding that she
would not face sterilization or be forced to undergo an abortion upon her return to China; (3) she was
denied due process based on her attorney’s ineffective assistance; and (4) she was denied procedural
due process. However, we are not persuaded and, consequently, we DENY her petition.
TRUE INTRODUCTION I. BACKGROUND
Chen is a native and citizen of the People’s Republic of China. She is a native of Changle
City in the Fujian Province. According to Chen’s testimony, in 1999 or early 2000, a mutual friend
introduced Chen to Tan Trung Le, a naturalized U.S. citizen. Le and Chen begin to talk on the
phone, and eventually met in person after a ten day visit by Le to China. After six months, and
continued phone conversations, Le proposed, Chen accepted, and on September 3, 2000, Chen
entered the United States on a K-1 fiancé visa. Chen did not marry Le as required by her visa and
stayed beyond the authorized period. After Chen’s engagement ended, she moved to Ohio, and took
a job at a restaurant there. Chen entered into a relationship with a co-worker and they had two
children: one boy and, a year and three months later, a girl. After the birth of her first child in
September 2002, a friend gave Chen a bible, which she started to read. After the birth of her second
child, Chen’s relationship with the father ended. In October 2006, after being encouraged by a
friend, Chen got to know a bible teacher and started regularly attending meetings of the Jehovah’s
Witnesses.
On November 20, 2006, Chen appeared before the Immigration Judge, and requested asylum,
withholding of removal, protection under the CAT and, in the alternative, voluntary departure. The
Immigration Judge scheduled the case for an individual hearing. On July 26, 2007, Chen had an
individual hearing, at which her application for asylum, withholding of removal, and protection
under the CAT was denied by the Immigration Judge, as was her request for voluntary departure.
Chen appealed the decision of the Immigration Judge. Chen’s appeal to the Board was dismissed
on March 20, 2009.
TRUE ANALYSIS II. ANALYSIS
If the Board adopts the Immigration Judge’s reasoning and supplements the Immigration
Judge’s opinion, then the Board’s supplemented opinion becomes the basis for review. Zhao v.
Holder,
569 F.3d 238, 246 (6th Cir. 2009) (citation omitted). However, “[w]here the BIA adopts the Immigration Judge’s reasoning, the Court reviews the Immigration Judge’s decision directly to
determine whether the decision of the BIA should be upheld on appeal.” Mapouya v. Gonzales,
487
F.3d 396, 405 (6th Cir. 2007).
TRUE PROCEDURE a) Procedure
This court reviews factual findings and credibility determinations for substantial evidence.
Zhao, 569 F.3d at 247 (noting that “[f]acts relevant to credibility determinations as applied to
withholding of removal and relief under the CAT are reviewed under this same standard”). Under
this standard, we will uphold the Board’s determinations as long as they are “supported by
reasonable, substantial, and probative evidence on the record considered as a whole.” Id. at 247
(citation omitted). Furthermore, “the court may not reverse the Board’s determination simply
because we would have decided the matter differently” but, rather, the Board’s findings of fact are
“conclusive” unless “any reasonable adjudicator would be compelled to conclude to the contrary.”
Id. (citations omitted). This court reviews legal conclusions de novo, but “it must defer to the BIA’s
reasonable interpretations of the INA.” Id. (citations omitted); see also INS v. Elias Zacarias,
502
U.S. 478 n.1 (1992) (“To reverse the BIA finding we must find that the evidence not only supports that conclusion, but compels it – and also compels the further conclusion that Elias-Zacarias had a
well-founded fear that the guerrillas would persecute him because of that political opinion.”).
To be eligible for withholding of removal under the INA, an alien must establish that “the
alien’s life or freedom would be threatened in [the proposed country of removal] because of the
alien’s race, religion, nationality, membership in a particular social group, or political opinion.” 8
U.S.C. § 1231(b)(3)(A). This requires the alien to establish a “clear probability of persecution”
which, if the applicant has not suffered past persecution,1 requires the alien to establish that “it is
more likely than not that the alien would be persecuted” on the basis of one of the protected grounds.
Fang Huang v. Mukasey,
523 F.3d 640, 651 (6th Cir. 2008) (quoting 8 C.F.R. § 1208.16(b)(2)). In the context of forced sterilization and forced abortion, a person who has a well founded fear that “he
or she will be forced to undergo such a procedure or [will be] subject to persecution for such failure,
refusal, or resistance shall be deemed to have a well founded fear of persecution on account of
political opinion.” 8 U.S.C. § 1101(a)(42).
TRUE LEGAL FRAMEWORK b) Legal Framework
Similarly, to prevail on a petition for withholding of removal under the CAT, the “burden
of proof is on the applicant . . . to establish that it is more likely than not that he or she would be
tortured if removed to the proposed country of removal.” 8 C.F.R. § 1208.16(c)(2) (noting that the
“testimony of the applicant, if credible, may be sufficient to sustain the burden of proof without
corroboration”); Kouljinski, 505 F.3d at 544. In making this determination, “all evidence relevant
to the possibility of future torture shall be considered” which includes:
(i) Evidence of past torture inflicted upon the applicant;
(ii) Evidence that the applicant could relocate to a part of the country of removal
where he or she is not likely to be tortured;
(iii) Evidence of gross, flagrant or mass violations of human rights within the country
of removal, where applicable; and
(iv) Other relevant information regarding conditions in the country of removal.
8 C.F.R. § 1208.16(c)(3).
2. Adverse Credibility Finding
1
The Immigration Judge noted that Chen conceded that she had not suffered past persecution,
and Chen does not present any evidence or argument to the contrary. (A.R. 27, 66.)
Chen first challenges the adverse credibility determination of the Board and the Immigration
Judge. The REAL ID Act of 2005, which applies to Chen’s petition, changed the standard for
credibility determinations, stating that those determinations may be made “without regard to whether
an inconsistency, inaccuracy, or falsehood goes to the heart of the applicant’s claim.” Amir v.
Gonzales,
467 F.3d 921, 925 (6th Cir. 2006) (quoting 8 U.S.C. § 1158(b)(1)(B)(iii)). Concerning
credibility determinations in general, 8 U.S.C. § 1158(b)(1)(B)(ii)-(iii) provides that:
(ii) Sustaining burden
The testimony of the applicant may be sufficient to sustain the applicant’s burden
without corroboration, but only if the applicant satisfies the trier of fact that the
applicant’s testimony is credible, is persuasive, and refers to specific facts sufficient
to demonstrate that the applicant is a refugee. In determining whether the applicant
has met the applicant’s burden, the trier of fact may weigh the credible testimony
along with other evidence of record. Where the trier of fact determines that the
applicant should provide evidence that corroborates otherwise credible testimony,
such evidence must be provided unless the applicant does not have the evidence and
cannot reasonably obtain the evidence.
(iii) Credibility determination
Considering the totality of the circumstances, and all relevant factors, a trier of fact
may base a credibility determination on the demeanor, candor, or responsiveness of
the applicant or witness, the inherent plausibility of the applicant’s or witness's
account, the consistency between the applicant’s or witness’s written and oral
statements (whenever made and whether or not under oath, and considering the
circumstances under which the statements were made), the internal consistency of
each such statement, the consistency of such statements with other evidence of record
(including the reports of the Department of State on country conditions), and any
inaccuracies or falsehoods in such statements, without regard to whether an
inconsistency, inaccuracy, or falsehood goes to the heart of the applicant's claim, or
any other relevant factor. There is no presumption of credibility, however, if no
adverse credibility determination is explicitly made, the applicant or witness shall
have a rebuttable presumption of credibility on appeal.
See also 8 U.S.C. § 1231(b)(3)(B) (extending these requirements to withholding of removal claims);
8 U.S.C. § 1229a(c)(4)(B)-(C) (extending nearly identical language to other applications from relief
for removal, including applications under the CAT).
The Immigration Judge found that Chen’s testimony regarding her involvement with
Christianity and the Jehovah’s Witnesses was not credible. The Immigration Judge noted that Chen
displayed little knowledge of either Christianity in general or of the particular tenets of the Jehovah’s
Witnesses. (A.R. 4, 64.) The Immigration Judge found this surprising since Chen claimed to have
been reading a bible for nearly five years and to have been involved on a regular and somewhat
intensive basis with a Jehovah’s Witnesses’ congregation for over eight months. Moreover, the
Immigration Judge was concerned that Chen claimed that she became a Christian in October of 2006,
well after being placed into removal proceedings and the same month that Chen was notified of her
first immigration hearing. (A.R. 4, 64.)2 The Immigration Judge also found Chen’s testimony was
not credible based on a number of factors. In particular, he found that Chen’s testimony was at odds
with the documents that she filed and with the testimony of other witnesses. The Immigration Judge
noted that Chen’s asylum application stated that her house was demolished, but Chen’s sister (who
lived in the house) and her father, testified that the house was not demolished; Chen’s sister testified
that only the front door was kicked in. The Immigration Judge also noted that Chen testified that
2
The Immigration Judge also questioned Chen’s credibility, as well as her father’s credibility,
because Chen’s father initially testified that Chen had no religion, then turned in the witness stand,
looked at his daughter, who mouthed some words, and then he said that she “believed in Jesus
Christ.” (A.R. 77.) The Immigration Judge remarked that this testimony was obviously coached
and, as far as Chen’s father was concerned, not true. (A.R. 62.)
when her future fiancé, Le, came to China for ten days and visited with her, she never saw him
smoke. Chen testified that Le was a chain smoker and that this was one of the main reasons that
their relationship was not successful in the United States. The Immigration Judge found that it was
not believable that a chain smoker like Le would not smoke in her presence during his visit.3
TRUE CLAIM c) Claim
We find that the Board and the Immigration Judge based their adverse credibility
determinations off of multiple inconsistencies, as they are entitled to under the REAL ID Act, and
we are not compelled to conclude that Chen’s testimony was credible. Consequently, we find that
the adverse credibility finding was supported by substantial evidence.
TRUE CLAIM 3. Chen’s coercive family planning practices claims
Chen also argues that she would face coercive family planning practices on her return to
China, since she has had two children outside of wedlock, and the first child was a boy. The Board
deferred to the Immigration Judge’s findings concerning her claims based on a fear of coercive
family planning practices.  (Petitioner’s Br. at 15-19.) In particular, Chen distinguishes her case based on
the fact that she is a single mother of two children and because she claims that she established that
3
The Board deferred to the Immigration Judge’s findings concerning her claims based on a
fear of coercive family planning practices, and those findings were based, in part, on the Immigration
Judge’s credibility assessment. However, regarding Chen’s claims based on her alleged conversion
the Board agreed that Chen’s claims were suspect and noted that: (1) Chen knew little about the
beliefs of Jehovah’s Witnesses or about how their beliefs differed from other Christian
denominations; and (2) it was suspicious that Chen claimed to have converted to Christianity in
October 2006, well after being placed into removal proceedings, and “coincidentally” the same
month that she was notified of her first immigration hearing.
there are population control policies in her province. (Id.) Because of her actions, she claims that
she faces penalties – including forced insertions of IUDs, forced abortions, fines that could amount
to ten times her annual salary, threats and/or destruction of property, mandatory submission to
periodic physical exams, forced sterilization, and detention – which rise to the level of persecution.
Other than her testimony, which was found to not be credible, Chen points to: (1) the 2006 Country
Reports; (2) documents and testimony provided by her father;4 and (3) her sister’s experience to
support her claims. However, this evidence does not show that Chen, who had two children while
in the United States, would be subject to coercive family planning practices on her return to China.
Initially, both the Board and this Court have rejected similar claims. In particular, the Board
found in In re C-C- that the State Department Reports did not address “the application of China’s
family planning policy to women returning to that country with children born abroad.” 23 I&N Dec.
899, 903 (BIA 2006). Furthermore, the Board noted that the Country Reports stated that central
government policy “formally prohibits the use of physical coercion to compel persons to submit to
abortion or sterilization,” although the Board noted that, “some reports of physical coercion to meet
birth targets continued.” Id. Based on these concerns, the Board concluded that the respondent in
that case could not even make out a prima facie case for withholding of removal or protection under
the CAT.5
TRUE TESTIMONY Chen's Father Testimony
4
Chen’s father testified that he went back to his village officials in China in November 2006
and talked with them and picked up documents describing family planning policies.
5
The Board also found that an affidavit provided by a retired demographer was unpersuasive
because it contained “no specific information on the application of the family planning policy to
Chinese citizens returning to the Zhejiang province with children born abroad.” In re C-C-, 23 I &
The Board reached a similar result in In re J-W-S-, 24 I&N Dec. 185, 195 (BIA 2007). There,
the court found that all the evidence, including the 2006 Country Reports and local documents from
the Fujian province, provided “insufficient evidence to indicate that the applicant has an objectively
reasonable well-founded fear of sterilization on account of his opposition to China’s one-child policy
if he is removed to China.” Id. at 188-95 (noting that the asylum application indicated that
respondent “resided in Fujian Province, Changle City,” but that he, like Chen, had not argued that
he “would necessarily have to return to Fujian Province”). The Board also noted that the evidence
suggested that, “if a returnee who has had a second child while outside of China is penalized at all
upon return, the sanctions would be fines or other economic penalties. Enforcement efforts resulting
in moderate economic impact would not, in general, prove a well-founded fear of future
persecution.” Id. at 191.
TRUE JURISDICTIONAL STATEMENT Jurisdictional Statement
We have also noted in a similar case that:
Like the petitioner in In re J-W-S-, Zheng has failed to establish with record evidence
that U.S.-born children will be counted under China’s one-child policy, or that the
parents of multiple U.S.-born children have any objective reason to fear they will be
persecuted or tortured. While there is some evidence that Zheng may face economic
penalties upon her return, there is no evidence that such penalties will be so
draconian as to rise to the level of persecution or torture.
Jin Zhou Zheng v. Holder, 339 F. App’x 592, 596 (6th Cir. Aug. 4, 2009) (involving a petitioner
born in the Fujian Province, who gave birth to two children within three years in the United States,
and argued that she faced coercive family planning practices upon her return to China); see also
N. Dec. at 901 (noting that it conflicted with the latest State Department reports and that it contained
“no evidence that returnees have been sterilized”).
Yang Lin v. Holder, 320 F. App’x 428, 435-37 (6th Cir. Apr. 9, 2009) (discussing In re J-W-S-,
noting that any remand would be futile because Lin was similarly situated to the petitioner in In re
J-W-S-, and the fact that he had two American-born children, in addition to a child born in China,
did not make a material difference) (per curiam); Fang Huang, 523 F.3d at 654.
In this case, the 2006 Country Reports that Chen relies on contain the same language formally
prohibiting (as national policy) the use of physical coercion to compel persons to submit to abortion
or sterilization and noting that Fujian province requires unspecified “remedial measures” to deal with
out-of-plan pregnancies, but (unlike other listed provinces), does not directly require the termination
of pregnancy if the pregnancy violates provincial family planning regulations. The 2006 Country
Reports also do not address the application of China’s family planning policy to women, including
single women like Chen, returning to that country with children born abroad.6 Consequently, these
reports do not show that Chen, returning to China with two children born in the United States, would
be subject to coercive family planning practices. The fact that she gave birth as a single woman does
not change this analysis since that, like the birth of her children, took place while she was living
abroad.
6
The 2006 Country Reports noted that: “Reports of forced sterilizations and abortions, in
violation of the national law, continued to be documented in rural areas. During the year officials
in Chongqing municipality and in Fujian Province reportedly forcibly sterilized women.” (A.R. 228
(emphasis added).) It appears that these actions were unauthorized.
In addition, the Immigration Judge found that the documents produced by Chen’s father, as
well as the testimony of Chen and her father, were not credible.7 The Immigration Judge’s finding
that the documents from Chen’s father were not credible was supported by substantial evidence.
Moreover, none of the documentary evidence provided by Chen’s father and made a part of the
record addressed the application of China’s family planning policy to women, including a single
woman like Chen, returning to China with children born abroad; therefore, these documents did not
provide the type of evidence that would support Chen’s claim. (A.R. 81-82.)
Finally, Chen’s sister’s experience – while terrible – represents an isolated incident and also
does not address the application of China’s family planning policy to a single woman, like Chen,
returning to China with children born abroad, since it took place while she was living in China.
Consequently, Chen has not shown that she will face persecution or torture because of coercive
family planning practices upon her return to China.
TRUE STATEMENT OF FACTS 4. Fact ofIneffective Assistance of Counsel
Chen also argues that she was denied due process because her counsel was ineffective and
incompetent. Initially, Chen’s ineffective assistance claim should be brought in a motion to reopen.
7
The Immigration Judge based this finding on the fact that, for at least one of the documents,
the translation given to the Government was different from the translation given to the court, which
the Immigration Judge felt made all the documents questionable. (A.R. 81.) The Immigration Judge
also found it hard to believe that Chen’s father simply picked up one of the documents while he was
in China in 2006. (Id.) The Immigration Judge noted an exchange between Chen and her father in
which her father initially testified that Chen had no religion, then turned in the witness stand, looked
at Chen, who mouthed some words, and then he said “Jesus Christ.” (A.R. 77, 151.) In response,
the Immigration Judge noted that Chen’s father’s testimony, “was very obviously coached. It was
very obviously, as far as he was concerned, not true.” (A.R. 62.) Indeed, Chen’s father gave a very
similar answer when asked about his eldest daughter. (A.R. 152.)
Sall v. Gonzales, 217 F. App’x 414 (6th Cir. Feb. 6, 2007); see also Sswajje v. Ashcroft,
350 F.3d
528, 533 (6th Cir. 2003) (“The proper avenue for raising ineffective assistance of counsel is by filing a motion to reopen proceedings with the BIA.”); Dokic v. I.N.S.,
899 F.2d 530 (6th Cir. 2009) (per
curiam). In Sall, the Immigration Judge denied the petitioner’s application for asylum and
withholding of removal, the Board dismissed his appeal, and he then retained new counsel and
appealed directly to the Sixth Circuit. Id. at 414-15. The court noted that the petitioner was
attempting to present his “ineffective-assistance-cum-due process claim to the Sixth Circuit without
having presented it to either the IJ or the BIA.” 217 F. App’x at 416 (emphasis in original). The
court in Sall noted that, “this court has held that ‘[i]neffective assistance of counsel violates an
alien’s due process rights’” but concluded that, “we lack jurisdiction over this claim because [the
petitioner] did not comply with the statutory exhaustion requirement.” Id. (quoting Hamid v.
Ashcroft,
336 F.3d 465, 468 (6th Cir. 2003)). Instead Sall noted that, “Sall may present his ineffective-assistance claim in a motion to reopen immigration proceedings” and “[s]pecifically,
[petitioner] may present his ineffective-assistance claim according to the three-step process of Matter
of Lozada.” Id. at 417 (citations omitted). The court recognized that “[i]t seems a motion to reopen
would now be time-barred” but nevertheless found that “[o]nly after allowing the BIA to consider
the issue might [petitioner] avail himself of this court’s review for abuse of discretion.” Id. at 417
n.3.
Similarly, in this case, Chen is attempting on an appeal from the Board’s denial of her
application to raise her ineffective assistance of counsel for the first time with this court. Neither
the Board nor the Immigration Judge have had a chance to consider this claim and, under Sall, this
claim should first be brought in a motion to reopen.
Furthermore, Chen has not complied with the procedural requirements put forth in Lozada
and she does not offer any persuasive explanation for her failure to do so. See Sako v. Gonzales,
434 F.3d 857 (6th Cir. 2006) (“A successful motion to reopen due to ineffective assistance of counsel before the BIA must satisfy two conditions. First, the claim must present the facts required by [Lozada]. . . . Second, the BIA requires that Sako ‘must also show that he or she was prejudiced
by the actions or inactions of counsel.’”). The requirements provided in Lozada are: “(1) that the
motion be supported by an affidavit detailing counsel’s failings, (2) that counsel be informed of the
allegations, and (3) that the motion show that disciplinary charges have been filed with the
appropriate authority.” Id. Consequently, we deny her claim for ineffective assistance of counsel.
TRUE STATEMENT OF FACTS 5. Fact ofDenial of Due Process
Chen also argues that she was denied procedural due process because the Immigration Judge:
(1) failed to properly schedule a hearing for the filing of her I-589 Asylum application; (2) allowed
her counsel to file a copy of the application the day of the initially scheduled individual hearing
while failing to inform Chen of the problems with her counsel during the next hearing; and (3) failed
to consider her evidence on the day of her hearing. (Petitioner’s Br. at 30.) However, Chen does not
cite to any case law establishing that any of these claims rise to the level of a denial of procedural
due process, nor does it appear that she raised these particular due process problems with the Board.
(A.R. 15-16.) The Fifth Amendment requires that aliens in deportation hearings receive a full and
fair hearing. Zadvydas v. Davis,
533 U.S. 678, 693-94 (2001); Huicochea-Gomez v. INS, 237 F.3d
696 (699) (6th Cir. 2001). Here, the Immigration Judge accepted Chen’s I-589 asylum application
and he did not need to inform Chen of any problems he may have had with her counsel.
Furthermore, evidence can be excluded based on late filing. See Hassan, 403 F.3d at 436 (noting
that the exclusion of an untimely filed letter did not amount to a violation of due process, that a
violation of due process only occurs when “the proceeding was so fundamentally unfair that the alien
was prevented from reasonably presenting his case,’” and that it is proper for the Immigration Judge
to make and keep deadlines for document filings). Finally, the board did not fail to consider any
evidence properly before it on the day of Chen’s hearing.8 Therefore, we deny Chen’s procedural
due process claims.
TRUE CONCLUSION V. CONCLUSION
8
Several pieces of evidence were excluded by the Immigration Judge. Chen submitted
photos, which were not considered. However, as the Government points out, these photos were not
submitted until the first day of her merits hearing, and they were not admitted into evidence because
this delayed filing violated the filing rules of the Immigration Court. (A.R. 102-03.) Chen has not
indicated that these photographs could not have been produced earlier.
Furthermore, there is a letter from Wei-Chung Truong listed as Exhibit N, which appears to
be a part of Exhibit 4. The letter is dated April 4, 2007 and, therefore, it was not a part of Chen’s
I-589 application, which was filed on January 22, 2007. (A.R. 94-95, 279.) The letter is addressed
“To: The Honor of the Court” and begins “Dear Honor.” At the April 5, 2007 proceedings, the
Immigration Judge refused to consider a letter in a sealed envelope that was personally addressed
to him after noting that he was: “not really inclined to read a letter personally addressed to me. I
don’t think that’s appropriate. Anything else?” (A.R. 103-04.) Since the letter was not properly
presented, it was excluded. Thereafter, Chen tried to present similar evidence to the Board in
affidavit form. The Board also rejected this affidavit after noting both that Chen had not filed a
motion to remand and that the Board was precluded from considering any new evidence presented
for the first time on appeal, 8 C.F.R. § 1003.1(d)(3)(iv), and that, even if she had filed a motion to
remand, she had not argued that the evidence could not have been provided at the time of Chen’s
hearing before the Immigration Judge, 8 C.F.R. § 1003.2(c). There was nothing improper about this
determination.
We find that the adverse credibility findings of Board and the Immigration Judge were
supported by substantial evidence and that Chen has not shown that she will face persecution or
torture because of coercive family planning practices upon her return to China. Furthermore, Chen
has not properly presented her ineffective assistance of counsel claim, and we are not persuaded by
her procedural due process claims. Consequently, we DENY her petition.


APR Report
Import Options
Download
Stream
Chunk
Worker thread
Header row
Dynamic typing
Fast mode
Skip empty lines
Pause on step
Log each step/chunk
Delimiter:
tab
Line Endings:
Auto
\n
\r
\r\n
Preview Lines:
Encoding:
Comment char:
LocalChunkSize:
RemoteChunkSize:

Choose Files
Parse


This application is designed to demonstrate how security vulnerabilities can be exploited by hackers
Logged in Username:


Lets check out some cool stuff flex-box can do!
The best thing about Flex-box, using margin: auto; to center an element horizontally and Vertically.
Another cool thing to do with flex-box, using they align-self property to align each item seperatly.
Now lets check out some cool things grid can do!


train_model
ComponentsR/train_functions.R
create_model.Rd
Add, edit, or remove the components of the train_model
function
create_model() add_input(model.obj, input) add_methods(model.obj, methods) remove_methods(model.obj, method_ids) add_train_method(model.obj, train_method) add_horizon(model.obj, horizon) build_model(model.obj) set_error(model.obj, error) add_xreg(model.obj, xreg) add_level(model.obj, level)
| model.obj | The train_model skeleton, created by the create_model function or edited by add_input, add_methods, remove_methods, add_train_method or add_horizon |
|---|---|
| input | A univariate time series object (ts class) |
| methods | A list, defines the models to use for training and forecasting the series. The list must include a sub list with the model type, and the model's arguments (when applicable) and notes about the model. The sub-list name will be used as the model ID. Possible models:
|
| method_ids | A character, defines the IDs of the model methods to be remove with the remove_methods function |
| train_method | A list, defines the train approach, either using a single testing partition (sample out) or use multiple testing partitions (backtesting). The list should include the training method argument, (please see 'details' for the structure of the argument) |
| horizon | An integer, defines the forecast horizon |
| error | A character, defines the error metrics to be used to sort the models leaderboard. Possible metric - "MAPE" or "RMSE" |
| xreg | Optional, a list with two vectors (e.g., data.frame or matrix) of external regressors, one vector corresponding to the input series and second to the forecast itself (e.g., must have the same length as the input and forecast horizon, respectively) |
| level | An integer, set the confidence level of the prediction intervals |
# NOT RUN { ### Building train_model function by adding its different components # Create a skeleton model md <- create_model() class(md) # Add input data(USgas) md <- add_input(model.obj = md, input = USgas) # Add methods methods <- list(ets1 = list(method = "ets", method_arg = list(opt.crit = "lik"), notes = "ETS model with opt.crit = lik"), ets2 = list(method = "ets", method_arg = list(opt.crit = "amse"), notes = "ETS model with opt.crit = amse"), arima1 = list(method = "arima", method_arg = list(order = c(1,1,1), seasonal = list(order = c(1,0,1))), notes = "SARIMA(1,1,1)(1,0,1)")) md <- add_methods(model.obj = md, methods = methods) # Add additional methods methods2 <- list(arima2 = list(method = "arima", method_arg = list(order = c(2,1,2), seasonal = list(order = c(1,1,1))), notes = "SARIMA(2,1,2)(1,1,1)"), hw = list(method = "HoltWinters", method_arg = NULL, notes = "HoltWinters Model"), tslm = list(method = "tslm", method_arg = list(formula = input ~ trend + season), notes = "tslm model with trend and seasonal components")) md <- add_methods(model.obj = md, methods = methods2) # Remove methods md <- remove_methods(model.obj = md, method_ids = c("ets2")) # Add train method md <- add_train_method(model.obj = md, train_method = list(partitions = 6, sample.out = 12, space = 3)) # Set the forecast horizon md <- add_horizon(model.obj = md, horizon = 12) # Add the forecast prediction intervals confidence level md <- add_level(model.obj = md, level = c(90, 95)) ### Alternatively, pipe the function with the magrittr package library(magrittr) md <- create_model() %>% add_input(input = USgas) %>% add_methods(methods = methods) %>% add_methods(methods = methods2) %>% add_train_method(train_method = list(partitions = 4, sample.out = 12, space = 3)) %>% add_horizon(horizon = 12) %>% add_level(level = c(90, 95)) # Run the model fc <- md %>% build_model() # }


--- layout: mocks title: Unit History -- Complex Waves --- Unit History 📖🎢 Complex Waves Describe the composition of complex sounds. 👂🏿 Follow 💬 Talk 🌳 Edit 2018 May 12 eileen updated the description to: Describe the composition of complex sounds. 2018 May 12 doris created this unit.
Unit History 📖🎢
Describe the composition of complex sounds.
2018 May 12
eileen updated the description to:
doris created this unit.


{% extends "base.html" %} {% load bootstrap3 %} {% block title %}welcome{% endblock title%} {% block content %}
This vote allows you to choose between the following choices:
For each of the following items:


Task2:
This task is about Data Bindings and Filters
- Find prepared mock data
- Change the product total value into a properly formatted price
- Click '' and '' to adjust the amount
- Click '' to remove a product
- Total price automatically recalculated if user removes a product or change its amount
- Amount can never go below zero
Target preview:
Your work:
| {{ item.name}} |
|
x{{ mockSelection[i]['amount'] }} |
|
{{ item.unitValue}} |
|
{{ item.unitValue*mockSelection[i]['amount'] | number : '1.2-2' }} |
Total: {{ calculateTotal() | number : '1.2-2' }}


Hi Bob,
With resrpect, i must disagree with Mr.Zinsser. We all know the most part of important part of any article is the title.Without a compelleing title, your reader won't even get to the first sentence.After the title, however, the first few sentences of your article are certainly the most important part.
Jornalists call this critical, introductory section the "Lede," and when bridge properly executed, it's the that carries your reader from an headine try at attention-grabbing to the body of your blog post, if you want to get it right on of these 10 clever ways to omen your next blog posr with a bang
Best regards,
Jason Muller


This can be useful if you want to prevent some long-running jobs (e.g. reports) starting because of every commit, but still want to run them periodic if SCM changes have occurred.
Note that this option needs to be supported by the SCM plugin, too! The subversion-plugin supports this since version 1.44.


{extend name="public:index"} {block name="title"}Financial Institutions{/block} {block name="index"}
Customers>Add Financial Institution
Name of the bank *
Street address *
City *
Province or state *
Country *
Postal or zip code *
submit
Back to Financial Institutions


A http://madhuera.blogspot.com blog.
A Ravi http://risingsun.bonakula.in blog.
Start today - A Python flask app.
Start today - A spring boot app
Wordpress java blog
mbpoints an wordpress site
pbindia blog
<EMAIL_ADDRESS><EMAIL_ADDRESS>lets start learning today .


I am an enthusiastic Python programmer with a professional passion for machine learning and Python, and an amateur passion for hockey, the outdoors, and film. You can see my portfolio on my GitHub page by clicking the GitHub icon below, and you can reach me via email, LinkedIn, or Twitter; I'd love to hear from you!
I currently work on miscellaneous contracts for General Assembly. I am now in my second iteration as Instructional Associate for a data science course training employees for an enterprise client data science skills. I also work on data science curricula and assessments, most recently developing 25 questions for an assessment to be used for internal and external talent evaluation by companies including Spotify and Bloomberg L.P.
I served as the lead instructor for General Assembly's (GA) 12-week data science immersive (DSI) course. In this role I had numerous responsibilites including giving lectures and review sessions covering topics from basic Python to exploratory data analysis, to machine learning and more to 13 adult learners. As lead instructor I also managed an assistant instructor, brought in weekly guest lectures to teach bonus topics, coordinated a hackathon with Deloitte LLC and a client project with a D.C. startup, TransitScreen. I used Python, Git, SQL, and Google Cloud Platform on a daily basis.
I taught two 12-week courses of DSI as assistant instructor for classes of 15 - 20 students. I gave 2-3 lecturs a week on a wide variety of data science topics including Pandas, bootstrapping, Google Cloud, and unsupervised learning. I also graded labs and projects, provided office hours, and spearheaded the migration of curriculum datasets to Google Cloud.
I spent approximately three months in Bolivia as an intern for Engineers Without Borders USA, a non-profit that oversees infrastructure projects for rural communities, mostly in developing countries. As the Bolivia Intern, I coordinated with a partner local NGO to conduct monitoring and evaluation on six ongoing projects and complete five community applications for projects. I also translated legal documents from Spanish to English.


Building Microservices: Designing Fine-Grained Systems
ISBN-13:<PHONE_NUMBER>357
ISBN-10:<PHONE_NUMBER>
Author: Sam Newman
Edition: 1
Binding: Paperback
Publisher: O'Reilly Media
Published: February 2015
List Price: $49.99
Best Rental Prices |
||||
|---|---|---|---|---|
| #1 |
Free shipping Ready to ship |
Notes |
||
| #2 |
Free shipping Ready to ship |
Notes |
||
| #3 |
+3.99 shipping Ships 2-3 days |
Notes |
||
| #4 |
+5.99 shipping Ready to ship |
Notes |


|
BitMagic-C++
|
SIMD target version definitions. More...
Go to the source code of this file.
Namespaces | |
| bm | |
Macros | |
| #define | BMVECTOPT |
| #define | BMVECTOPT |
Functions | |
| int | bm::simd_version () |
| return SIMD optimization used for building BitMagic More... | |
SIMD target version definitions.
Definition in file bmsimd.h.


Create a virtual Drum kit
Simple image editor using canvas
Adding effect to the image
Simple yet funny game which using mouse to hit the mole
Interacting with Asuna model using WebGL and Live2D
Modify video color webcam and take picture
Recognize your words when speaking


Tablo
pre-alpha
monitor
help
process
mysql
mongodb
CPU usage
Memory usage
Processes
user
pid
cpu%
mem%
vsize
rssize
tty
state
started
time
command
Databases
Processes
id
user
host
database
command
time
state
info
Disk usage
mongodb
This feature is a work in progress.


Create New Issue
Create New Issue
create new Issue to devloper
Project Name
UserType:
-- select an option --
Critical Bug
Major Bug
Minor Bug
Assigned By
Add Titile
Title of bug
Add description
Please assign detailed description of the Issue
Upload Bug Image
Select Image
Assign To
Reporting Officer
Add New Issue


Perception, Planning, and Control
© Russ Tedrake, 2020
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 Fall 2020 semester.
| Previous Chapter | Table of contents | Next Chapter |
The stage is set. You have your robot. I have a little red foam brick. I'm going to put it on the table in front of your robot, and your goal is to move it to a desired position/orientation on the table. I want to defer the perception problem for one chapter, and will let you assume that you have access to a perfect measurement of the current position/orientation of the brick. Even without perception, completing this task this requires us to build up a basic toolkit for geometry and kinematics; it's a natural place to start.
First, we will establish some terminology and notation for kinematics. This is one area where careful notation can yield dividends, and sloppy notation will inevitably lead to confusion and bugs. The Drake developers have gone to great length to establish and document a consistent multibody notation, which we call "Monogram Notation". The documentation even includes some of the motivation/philosophy behind that notation. I'll use the monogram notation throughout this text.
If you'd like a more extensive background on kinematics than what I provide
here, my favorite reference is still
Please don't get overwhelmed by how much background material there is to know! I am personally of the opinion that a clear understanding of just a few basic ideas should make you very effective here. The details will come later, if you need them.
The following concepts are disarmingly subtle. I've seen incredibly smart people assume they knew them and then perpetually stumble over notation. I did it for years myself. Take a minute to read this carefully!
Perhaps the most fundamental concept in geometry is the concept of a point. Points occupy a position in space, and they can have names, e.g. point $A$, $C$, or more descriptive names like $B_{com}$ for the center of mass of body $B$. We'll denote the position of the point as $p^A$; that's $p$ for position, and not for point, because other geometric quantities can also have a position.
But let's be more careful. Position is actually a relative quantity. Really, we should only ever write the position of two points relative to each other. We'll use e.g. $^Ap^C$ to denote the position of $C$ relative to $A$. The left superscript looks mighty strange, but we'll see that it pays off once we start transforming points.
Every time we describe the (relative) position as a vector of numbers, we need to be explicit about the coordinate system. All of our coordinate systems here will follow the "right-hand rule". We'll give a coordinate system, coordinate frame, or just frame, a name, too, like $F$. If I want to write the position of point $C$ relative to point $A$, expressed in frame $F$, I will write $[^Ap^C]_F$. The brackets come in because we'll sometimes what to refer to the elements of the position, e.g. $[^Ap_i^C]_F$ is the $i$th element.
That is seriously heavy notation. I don't love it myself, but it's the most durable I've got, and we'll have shorthand for when the context is clear.
There are a few very special frames. We use $W$ to denote the world frame. We think about the world frame in Drake using vehicle coordinates (positive $x$ to the front, positive $y$ to the left, and positive $z$ is up). The other particularly special frames are the body frames: every body in the multibody system has a unique frame attached to it. We'll typically use $B_i$ to denote the frame for body $i$.
Frames have a position, too -- it coincides with the frame origin. So it is perfectly valid to write $[^Wp^A]_W$ to denote the position of point $A$ relative to the origin of the world frame, expressed in the world frame. Here is where the shorthand comes in. If the position of a quantity is relative to a frame, and expressed in the same frame, then we can safely omit the brackets and the subscript. $^Fp^A \equiv [^Fp^A]_F$. Furthermore, if the "relative to" field is omitted, then we assume that the point is relative to $W$, so $p^A \equiv [^Wp^A]_W$.
Frames also have an orientation. We'll use $R$ to denote a rotation, and follow the same notation, writing $^BR^A$ to denote the rotation of frame $A$ relative to frame $B$. Unlike vectors, pure rotations do not have an additional "expressed in" frame.
A frame $F$ can be specified completely by a position and rotation
relative to another frame. Taken together, we call the position and
rotation a
spatial pose, or just pose. A spatial transform,
or just transform, is the "verb form" of pose. In Drake we use RigidTransform
to represent a pose/transform, and denote it with the letter $X$. $^BX^A$ is
the pose of frame $A$ relative to frame $B$. When we talk about the pose of
an object $O$, without mentioning a reference frame explicitly, we mean
$^WX^O$ where $O$ is the body frame of the object.
The Drake
documentation also discusses how to use this notation in code. In short,
$[^Bp_i^A]_C$ is written pi_BA_C
. It works, I promise.
Now that we have the notation, we can formulate our approach to the basic pick and place problem. Let us call our object, $O$, and our gripper, $G$. Our idealized perception sensor tells us $^WX^O$. Let's create a frame $O_d$ to denote the describe the "desired" pose of the object, $^WX^{O_d}$. So pick and place manipulation is simply trying to make $X^O = X^{O_d}$.
Clearly, programming this strategy requires good tools for working with these transforms, and for relating the pose of the gripper to the joint angles of the robot.
Here is where we start to see the pay-off from our heavy notation, as we define the rules of converting positions, rotations, poses, etc. between different coordinate frames. Without the notation, this invariably involves me with my right hand in the air making the "right-hand rule", and my head twisting around in space. With the notation, it's a simple matter of lining up the symbols properly, and we're more likely to get the right answer!
In practice, transforms are implemented using homogenous coordinates, but for now I'm happy to leave that as an implementation detail.
Imagine that I have a depth camera mounted in a fixed pose in my workspace. Let's call the camera frame $C$ and denote its pose in the world with $^WX^C$. This pose is often called the camera "extrinsics".
A depth camera returns points in the camera coordinates. Therefore, we'll write this position of point $P_i$ with $^Cp^{P_i}$. If we want to convert the point into the world coordinates, we simply have $$p^{P_i} = X^C {^Cp^{P_i}}.$$
This is a work-horse operation for us. We often aim to merge points from multiple cameras (typically in the world frame), and always need to somehow relate the frames of the camera with the frames of the robot.
The spatial algebra gets us pretty close to what we need for our pick and place algorithm. But remember that the interface we have to the robot reports measured joint positions, and expects commands in the form of joint positions. So our remaining task is to convert between joint angles and cartesian frames. We'll do this in steps, the first step is to go from joint positions to cartesian frames: this is known as forward kinematics.
Throughout this text, we will refer to the joint positions of the robot (also known as "configuration" of the robot) using a vector $q$. If the configuration of the scene includes objects in the environment as well as the robot, we would use $q$ for the entire configuration vector, and use e.g. $q_{robot}$ for the subset of the vector corresponding to the robot's joint positions. Therefore, the goal of forward kinematics is to produce a map: $$X^B = f_{kin}^B(q),$$ for any body $B$ (or any other frame we have attached to the scene). Our spatial notation and spatial algebra makes this computation relatively straight-forward.
In order to facilitate kinematics and related multibody computations,
the MultibodyPlant
organizes all of the bodies in the world
into a tree topology. Every body (except the world body) has a parent,
which it is connected to via either a Joint
or a "floating
base".
Drake provides some visualization support for inspecting the kinematic tree data structure. The kinematic tree for an iiwa is more of a vine than a tree (it's a serial manipulator), but the tree for the dexterous hands are more interesting. I've added our brick to the example, too, so that you can see that a "free" body is just another branch off the world root node.
Every Joint
and "floating base" has some number of
position variables associated with it -- a subset of the configuration
vector $q$ -- and knows how to compute the configuration dependent
transform across the joint from the outboard frame $M$ to the inboard
frame $F$: $^{F}X^{M}(q)$. Additionally, the kinematic tree defines the
(fixed) transforms from the child body frame to the joint frame,
$^{M}X^C$, and from the joint frame to the parent frame, $^PX^{F}$.
Altogether, we can compute the configuration transform between any one
body and its parent, $$^PX^C(q) = \left[^PX^F\right] \left[^FX^M(q)\right]
\left[^MX^C\right].$$
You might be tempted to think that every time you add a joint to the
MultibodyPlant
, you are adding a degree of freedom. But it
actually works the other way around. Every time you add a body
to the plant, you are adding many degrees of freedom. But you can then
add joints to remove those degrees of freedom; joints are
constraints. "Welding" the robot's base to the world frame removes all of
the floating degrees of freedom of the base. Adding a rotational joint
between a child body and a parent body removes all but one degree of
freedom, etc.
Interestingly, SceneGraph
(the geometry engine) does not
maintain any tree structure. All that SceneGraph
knows about
is a list of frames specified relative to the world frame, $W$, and a list
of geometries attached to each frame.
In order to compute the pose of the gripper in the world, $X^G$, we simply query the parent of the gripper frame in the kinematic tree, and recursively compose the transforms until we get to the world frame.
Let's evaluate the pose of the gripper in the world frame: $X^G$. We
know that it will be a function of configuration of the robot, which is
just a part of the total state of the MultibodyPlant
. The
following example shows you how it works.
The key lines are
Behind the scenes, the
gripper = plant.GetBodyByName("body")
pose = plant.EvalBodyPoseInWorld(context, gripper)
MultibodyPlant
is doing all of the
spatial algebra we described above to return the pose (and also some
clever caching because you can reuse much of the computation when if you
want to evaluate the pose of another frame on the same robot).
Consider the special case of having a MultibodyPlant
with exactly one body added, and no joints. The kinematic tree is
simply the world frame, the body frame, and they are connected by the
"floating base". What does the forward kinematics function: $$X^B =
f_{kin}^B(q),$$ look like in that case? If $q$ is already representing
the floating-base configuration, is $f^B_{kin}$ just the identity
function?
This gets into the subtle points of how we represent transforms, and
how we represent rotations in particular. There are many possible
representations of 3D rotations, they are good for different things, and
unfortunately, there is no one representation to rule them all. (This is
one of the many reasons why everything is better in 2D!) Common
representations include 3x3 rotation matrices, Euler angles (e.g.
Roll-Pitch-Yaw), axis angle, and unit quaternions. In Drake, we provide
all of these representations, and make it easy to convert back and forth
between them. In order to make the spatial algebra efficient, we use
rotation matrices in our RigidTransform
, but in order to
have a more compact representation of configuration we use unit
quaternions in our configuration vector, $q$.
As a result, for this example, the software implementation of the function $f_{kin}^B$ is precisely the function that converts the position $\times$ unit quaternion representation into the position $\times$ rotation matrix representation.
The forward kinematics machinery gives us the ability to compute the pose of the gripper and the pose of the object, both in world coordinates. But if our goal is to move the gripper to the object, then we should understand how changes in the joint angles relate to changes in the gripper pose. This is traditionally referred to as "differential kinematics".
At first blush, this is straightforward. The change in pose is related to a change in joint positions by the (partial) derivative of the forward kinematics: \begin{equation}dX^B = \pd{f_{kin}^B(q)}{q} dq = J^B(q)dq. \label{eq:jacobian}\end{equation} Partial derivatives of a function are referred to as "Jacobians" in many fields; in robotics it's rare to refer to derivatives of the kinematics as anything else.
All of the subtlety, again, comes in because of the multiple representations that we have for 3D rotations (rotation matrix, unit quaternions, ...). While there is no one best representation for 3D rotations, it is possible to have one canonical representation for differential rotations. Without any loss of generality, we can represent the rate of change in pose using a six-element vector for spatial velocity: $$^BV^C = \begin{bmatrix} ^B\omega^C \\ ^B\text{v}^C \end{bmatrix}.$$ $^BV^C$ is the spatial velocity of frame $C$ in frame $B$, $^B\omega^C \in \Re^3$ is the angular velocity (of frame $C$ in frame $B$), and $^B\text{v}^C \in \Re^3$ is the translational velocity. So there are actually many different kinematic Jacobians, depending on which representation of 3D orientation you are using on the right-hand side and on the left-hand side of equation \eqref{eq:jacobian}.
There is one more velocity to be aware of: I'll use $v$ to denote the generalized velocity vector of the plant. While a spatial velocity $^BV^C$ is six elements, a translational or angular velocity, $^B\text{v}^C$ or $^B\omega^C$, is three elements, the generalized velocity vector is whatever size it needs to be to encode the time derivatives of the configuration variables, $q$. For the iiwa welded to the world frame, that means it has seven elements. I've tried to be careful to typeset each of these v's differently throughout the notes. Almost always the distinction is also clear from the context.
The unit quaternion representation is four elements, but these must form a "unit vector" of length 1. Rotation matrices are 9 elements, but they must form an orthonormal matrix with $\det(R)=1$. It's pretty great that for changes in rotation, we can use an unconstrained three element vector, what we've called the angular velocity vector, $\omega$. And you really should use it; getting rid of that constraint makes both the math and the numerics better.
But there is one minor nuisance that this causes. We tend to want to
think of the generalized velocity as the time derivative of the
generalized positions. This works when we have only our iiwa in the
model, and it is welded to the world frame. But we cannot assume this in
general; not when floating-base rotations are concerned. As evidence,
here is a simple example that loads exactly one rigid body into the
MultibodyPlant
, and then prints its
Context
.
The output looks like this:
Context
--------
Time: 0
States:
13 continuous states
1 0 0 0 0 0 0 0 0 0 0 0 0
plant.num_positions() = 7
plant.num_velocities() = 6
You can see that this system has 13 total state variables. 7 of them are positions, $q$; we use unit quaternions in the position vector. But we have just 6 velocities, $v$; we use angular velocities in the the velocity vector. Clearly, if the length of the vectors don't even match, we do *not* have $\dot{q} = v$.
It's not really any harder; Drake provides the
MultibodyPlant
methods MapQDotToVelocity
and
MapVelocityToQDot
to go back and forth between them. But you
have to remember to use them!
You may hear the terms "analytic Jacobian", which refers to the explicit
partial derivative of the forward kinematics, and "geometric Jacobian" which
replaces 3D rotations on the left-hand side with spatial velocities. In
Drake's MultibodyPlant
, we have decided to err on the side of
clarity, and offer
CalcJacobianAngularVelocity
,CalcJacobianTranslationalVelocity
, andCalcJacobianSpatialVelocity
,Let's repeat the setup from above, but we'll print out the Jacobian of the gripper frame, relative to the world frame, expressed in the world frame.
There is important structure in Eq \eqref{eq:jacobian}. Make sure you didn't miss it. The relationship between joint velocities and end-effector velocities is (configuration-dependent) linear: $$V^G = J^G(q)v.$$ Maybe this gives us what we need to produce changes in gripper frame $G$? If I have a desired gripper frame velocity $V^{G_d}$, then how about commanding a joint velocity $v = [J^G(q)]^{-1} V^{G_d}$?
Any time you write a matrix inverse, it's important to check that the matrix is actually invertible. As a first sanity check: what are the dimensions of $J^G(q)$? We know the spatial velocity has six elements. Our gripper frame is welded directly on the last link of the iiwa, and the iiwa has seven positions, so we have $J^G(q_{iiwa}) \in \Re^{6x7}.$ The matrix is not square, so does not have an inverse. But having more degrees of freedom than the desired spatial velocity requires (more columns than rows) is actually the good case, in the sense that we might have many solutions for $v$ that can achieve a desired spatial velocity. To choose one of them (the minimum-norm solution), we can consider using the Moore-Penrose pseudo-inverse, $J^+$, instead: $$v = [J^G(q)]^+V^{G_d}.$$
The pseudo-inverse is a beautiful mathematical concept. When the $J$ is square and full-rank, the pseudo-inverse returns the true inverse of the system. When there are many solutions (here many joint velocities that accomplish the same end-effector spatial velocity), then it returns the minimum-norm solution (the joint velocities that produce the desired spatial velocity which are closest to zero in the least-squares sense). When there is no exact solution, it returns the joint velocities that produce an spatial velocity which is as close to the desired end-effector velocity as possible, again in the least-squares sense. So good!
Let's write a a simple controller using the pseudo-inverse of the
Jacobian. First, we'll write a new LeafSystem
that defines
one input port (for the iiwa measured position), and one output port
(for the iiwa joint velocity command). Inside that system, we'll ask
MultibodyPlant for the gripper Jacobian, and compute the joint
velocities that will implement a desired gripper spatial velocity.
To keep things simple for this first example, we'll just command a constant gripper spatial velocity, and only run the simulation for a few seconds.
Note that we do have to add one additional system into the diagram. The output of our controller is a desired joint velocity, but the input that the iiwa controller is expecting is a desired joint position. So we will insert an integrator inbetween.
I don't expect you to understand every line in this example, but it's worth finding the important lines and making sure you can change them and see what happens!
Congratulations! Things are really moving now.
There is a simple check to understand when the pseudo-inverse can give an exact solution (achieving exactly the desired spatial velocity): the Jacobian must be full row-rank. In this case, we need $\rank(J) = 6$. But assigning an integer rank to a matrix doesn't tell the entire story; for a real robot with (noisy) floating-point joint positions, as the matrix gets close to losing rank, (pseudo-)inverse starts to "blow-up". A better metric, then, is to watch the smallest singular value; as this approaches zero, the norm of the pseudo-inverse will approach infinity.
You might have noticed that I printed out the smallest singular value of $J^G$ in one of the previous examples. Take it for another spin. See if you can find configurations where the smallest singular value gets close to zero.
Here's a hint: try some configurations where the arm is very straight, (e.g. driving joint 2 and 4 close to zero).
Another good way to find the singularities are to use your pseudo-inverse controller to send gripper spatial velocity commands that drive the gripper to the limits of the robot's workspace. Try it and see! In fact, this is the common case, and one that will work hard to avoid.
Configurations $q$ for which $\rank(J(q_{iiwa})) < 6$ for a frame of interest (like our gripper frame $G$) are called kinematic singularities. Try to avoid going near them if you can! The iiwa has many virtues, but admittedly its kinematic workspace is not one of them. Trust me, if you try to get a big Kuka to reach into a little kitchen sink all day, every day, then you will spend a non-trivial amount of time thinking about avoiding singularities.
In practice, things can get a lot better if we stop bolting our robot base to a fixed location in the world. Mobile bases add complexity, but they are wonderful for improving the kinematic workspace of a robot.
I'm going to put my red foam brick on the table. Its geometry is defined as a 7.5cm x 5cm x 5cm box. For reference, the distance between the fingers on our gripper in the default "open" position is 10.7cm. The "palm" of the gripper is 3.625cm from the body origin, and the fingers are 8.2cm long.
To make things easy to start, I'll promise to set the object down on the table with the object frame's $z$-axis pointing up (aligned with the world $z$ axis), and you can assume it is resting on the table safely within the workspace of the robot. But I reserve the right to give the object arbitrary initial yaw. Don't worry, you might have noticed that the seventh joint of the iiwa will let you rotate your gripper around quite nicely (well beyond what my human wrist can do).
Observe that visually the box has rotational symmetry -- I could always rotate the box 90 degrees around its $x$-axis and you wouldn't be able to tell the difference. We'll think about the consequences of that more in the next chapter when we start using perception. But for now, we are ok using the omniscient "cheat port" from the simulator which gives us the unambiguous pose of the brick.
Take a careful look at the gripper frame in the figure above, using the colors to understand the axes. Here is my thinking: Given the size of the hand and the object, I want the desired position (in meters) of the object in the gripper frame, $$^{G_{grasp}}p^O = \begin{bmatrix} 0 \\ 0.12 \\ 0 \end{bmatrix}, \qquad ^{G_{pregrasp}}p^O = \begin{bmatrix} 0 \\ 0.2 \\ 0 \end{bmatrix}.$$ Recall that the logic behind a pregrasp pose is to first move to safely above the object, if our only gripper motion that is very close to the object is a straight translation from the pregrasp pose to the grasp pose and back, then it allows us to mostly avoid having to think about collisions (for now). I want the orientation of my gripper to be set so that the positive $z$ axis of the object aligns with the negative $y$ axis of the gripper frame, and the positive $x$ axis of the object aligns with the negative $z$ axis of the gripper. We can accomplish that with $$^{G_{grasp}}R^O = \text{MakeXRotation}\left(\frac{\pi}{2}\right) \text{MakeZRotation} \left(\frac{\pi}{2}\right).$$ I admit I had my right hand in the air for that one! Our pregrasp pose will have the same orientation as our grasp pose.
Here is a simple example of loading a floating Schunk gripper and a brick, computing the grasp / pregrasp pose (drawing out each transformation clearly), and rendering the hand relative to the object.
I hope you can see the value of having good notation at work here. My right hand was in the air when I was deciding what a suitable relative pose for the object in the hand should be (when writing the notes). But once that was decided, I went to type it in and everything just worked.
We're getting close. We have our desired gripper poses, and we know how to change the gripper pose instantaneously using spatial velocity commands. Now we need to specify how we want the gripper poses to change over time, so that we can convert our gripper poses into spatial velocity commands.
There are a number of ways one might represent a trajectory (mathematically or computationally). We have a pretty good collection of trajectory classes available in Drake. Many of them are implemented as splines -- piecewise polynomial functions of time.
First let's think about just the timing. We'll start everything at time, $t=0$, and list the rest of our times as absolute (time from zero). That's when the robot wakes up and sees the brick. Let's define $t_{pregrasp}$ next. How long should we take to transition from the starting pose to the pregrasp pose? A really good answer might depend on the exact joint speed limits of the robot, but we're not trying to move fast yet. Let's pick a conservative time that is proportional to the total Euclidean distance that the hand will travel, say $$t_{pregrasp} = 5.0 \left\|^{G_0}p^{G_{pregrasp}}\right\|_2.$$
The rest of the timeline can follow quickly. $t_{grasp} = t_{pregrasp} + 5.0,$ etc. Once we have the timeline, then the simplest strategy we can take is to simply linearly interpolate between the desired positions at each point in the timeline. That would be called a "first-order hold".
There are a number of ways to visualize the trajectory when it's connected to 3D. Plotted as a function of time. Plotted as a function of space. But my favorite is as an animation!
Colab
We had to move very slowly in the example above.
| Previous Chapter | Table of contents | Next Chapter |


--- layout: page title: "일정" icon: permalink: /schedules/ ---
| {% assign tracks = site.sessions | group_by: 'track' %} {% for track in tracks %} {% unless track.name contains "," %} | {{ track.name }} | {% endunless %} {% endfor %}|||
|---|---|---|---|---|
| {{ session.time }} |
{{ session.title }}
{% for speaker in session.speakers %}
|
|||
| {{ sessionSorted[0].time }} | {% for session in sessionSorted %}
{{ session.title }}
{% for speaker in session.speakers %}
|
{% endfor %}


You should be able to drag the following bookmarklet up to your bookmarks or favorites bar: Sync ⤴
You should be able to drag the following bookmarklet up to your bookmarks or favorites bar: Frame ⤴
content frame
manual URL:


minecraft how to videos! plz e mail me an idea you wish to watch! (off of you tube) but it saves you time!


The idea of JAGS was to create a grid system that could be used to rapidly consruct responsive, liquid grids that were consistent and would easily adapt to various device sizes.
What makes this one different?
Well, maybe nothing! There are lots of CSS grid systems out there, but at the time most seemed overcomplicated or lacked particular features/support. JAGS was created to use:
Liquid columns
Percentage widths make them liquid, so they will fill the space available. You can easily add fixed width to create a stepped layout if you wish.
Consistent HTML
Ever seen a large project with .col
, .column
, .grid
all doing the same thing?! JAGS loosely follows the BEM syntax to ensure your grid system is consistent.
CSS media queries
The CSS breakpoints (as well as the column gutters) can be customized allowing the grid to be configured to suite the content.
Legacy browser support…
JAGS will work with IE6+*, with a little help from Respond, and will gracefully degrade to a linear solution for browers that don't support media queries.
Usage
To get started you can either:
- Clone the repo:
git clone https://github.com/lawlesscreation/just-another-grid-system.git
- Or install with Bower:
bower install just-another-grid-system
Then it's just a case of adding the CSS file to your HTML:
<link rel="stylesheet" media="all" href="path/to/jags.css" />
Or import the SCSS file into your main SCSS project:
@import "path/to/jags.scss";
Finally, take a look at the different layouts to find the grid you require. You can nest the code to create even more complex grids!
If you need Internet Explorer support for IE7-IE8 you will need a JavaScript polyfill for the CSS media queries, such as Respond, which should be added to the <head>
:
<script src="js/respond/respond.min.js"></script>
Development
SCSS
If you need to change some of the defaults like the media query breakpoints, margins or borders you can do using the _vars.scss
and recompile the SCSS:
$ sass jags.scss:jags.css --style expanded
or compressed:
$ sass jags.scss:jags.min.css --style compressed
Some notes
There are a few things you might like to know…
Mobile-first
The media queries have been structured with a "mobile-first" approach from 0px up, but feel free to customise them if you wish!
Equal height columns
By default JAGS doesn't come with the equal height columns script that I'm using here, but feel free to use the one in the demo.
* Works in IE6?!
Yes and no. The grids work fine with the exception of the border variations because IE6's support for adjoining classes is a little flakey.


Contains all classes of JOML.
If you like to know more about JOML, please visit:
Its GitHub project page
Its site on GitHub Pages
The HTML version of this JavaDoc


Beep Boop
Enter a number and let the robot working behind the scenes offer you back a full range of numbers!
Please be aware that even robots make mistakes sometimes (although this one will do it's best to tell you when something is unable to be processed).


Introduction
One strategy to make our simulated datasets more realistic is to take input from data analysis experts.
After a few iterations, the cycle seems to happen as follows:
- Observation
- Either: experts look at a simulated dataset in IGV. They notice some (coarse grain) differences with what they are used to see from real datasets
- Or: they notice (large) differences in some metrics between a simulated dataset and real datasets
- Suggested action
- Either (most of the time): experts come up with the easiest possible implementation to make their observation become true in the simulated dataset
- Or (rarely): they come up with a precise, physically-based guess (or set thereof).
Problems with observations
- The observations are always very rough, imprecisely qualified (due to the random nature of the datasets, not because of the experts): for example "this mismatch rate value shouldn't be 4%, it should be around 0.5%" doesn't tell us whether 0.8% is acceptable or not.
- This makes the testing of the new implementation imprecise - both during development and for final testing.
- If the observation came from an observation in IGV, it is usually even harder to describe precisely: for example, "the errors seem to accumulate in some regions of the genome".
- Often, we (software engineers) are not even able to see the expert's observation, because we lack the knowledge of what is a "usual variation", necessary to identify those unexpected variations (of course we can see it when the expert shows it to us in one dataset, but we can't reliably identify it in new datasets, especially when the simulator improves and the difference becomes more and more subtle).
We would benefit from having a proper characterisation of each observation, measurable in an automated way: metrics.
Problems with suggested actions
Our knowledge of what we are simulating is poor. Even experts have difficulties explaining some coarse grain observations (e.g. "why is the error rate higher in this particular region?").
For this reason, our simulation was implemented at a very high level (with quality tables, mismatch tables).
Fitting the observations to our simulation (to make it more realistic), however, can be done either
- at this same high level, by adding "corner cases" for each observed feature, with an "appearance model" that can be anywhere between random and empirical values
- by refining some high level parts to more detailed lower level parts
The later is only possible if we have enough knowledge of the new lower level parts. It also requires more time and consideration to implement. On the other hand, if implemented correctly, those more detailed behaviours usually come together and lead to better results in unexpected cases.
The former is quick, but also short-term: corner cases eventually start conflicting with each other, destroying each other's "special behaviour". It is extremely rare to see a positive synergy coming out of corner cases.
We see that a big risk is that one implementation breaks a previous one. Regression testing would be possible if we had a proper characterisation of each observation, measurable in an automated way: metrics.
Strategy
As concluded from each "problems" section, metrics will save us! (TODO: liaise with this and that).
The other conclusion is that high level simulation will probably be necessary to integrate features quickly for short-term results, but in the long term we would benefit from moving to lower level simulation, provided we manage to understand the required details.
A last unknown concerns where in the random-to-empirical range we should model the high level simulation corner cases.
List of ...
- Error rate varies by region
- Low telomere coverage
- Centromeres: ?
- Homopolymer sequences often have indel errors introduced during sequencing
Error rate varies by region
Observation
Expert users: Adrian, Fiona, Nondas
In IGV, in real datasets, we notice that errors seem to accumulate more in some regions than others
Suggested action
Extract the position ranges of those regions by analysing a real dataset and;
Implement different quality tables for these regions than for the rest of the genome.
Metrics
Low telomere coverage
Observation
Expert user: Phil.
In IGV, in real datasets, we notice that telomeres always have a lower-than-average coverage.
Question to ask: Check what he meant by "telomeres" as the reference at the UCSC_gaps telomeres are full of 'N', so nothing would ever align there.
Suggested action
Metrics
Homopolymers
Observation
LJ: Every time I check a region with problems across multiple reads, it is due to a deleted or inserted base in a homopolymer.
Metrics
Action
Homopolymer filter (SAGE-118)


User
Submit Data
Write
Read
Submit Property
Your post data:
{{data}}
Your post 'read' =
{{propertyUser.readRights}}
Your post 'write' =
{{propertyUser.writeRights}}


Quantm-chemical calculations of diazonium salts
Scanning the surface of potential energy when changing the C
1
-N
1
distance for diazonium salts
Scanning the surface of potential energy when changing the C
2
-H distance for diazonium salts (DFT B3LYP 6-31G(d,p))
Scanning the surface of potential energy when changing the N
2
-X distance for diazonium salts (DFT B3LYP 6-31G(d,p))
Diazonium cations ant other
Structures of diazonium salts
Transition state of the de-diazonation reaction of diazonium salts
Structures of cluster DS in LC-MS experiment
Thermodinamics of desctruction DS
Molecular-Orbitals-Tracer
Video


A Magic 8-Ball is, in general, any tool that is used in order to gain advice or try to predict the future. It must be a prop or other physical object, since any characters would fall under Mentors or some other advice dispenser instead. It must be able to accept questions, and respond in turn.
In reality, a magic 8 ball is a classic toy consisting of a hollow plastic sphere containing blue liquid and a 20-sided die with different phrases printed on the sides. You would ask it a question, then flip it over and a random response would come up in the window built into it. As a result, there are various uses of the possible responses involved, as well as of the 8 ball itself. The details and phrases involved can be found on Wikipedia.
See also Ouija Board.
Examples:
- Fateball from the The Craptacular B Sides gets her name from her 8-ball that accurately tells the future with the occasional bit of snark.
- Woody consults one in Toy Story, hoping that Andy would take him to Pizza Planet since he's only allowed to bring one toy. The result: "Don't count on it".
- Used by a player in the 1994 version of Angels in the Outfield in an attempt to get a prediction on the outcome of the upcoming game. He hastily re-shakes it when it initially comes up negative.
- The Lord of the Rings parody Bored of the Rings. The mallomar (its version of the palantír) acts like one of these, including giving the answer "Reply Hazy, Ask Again Later".
- The Spell of the Eighth Sphere in The Legends of Ethshar series: A literally magical 8-Ball.
- In the John Bellairs novel The House With a Clock in Its Walls, the protagonists use a Magic 8-Ball to find the eponymous clock. Wizard Jonathan and witch Mrs. Zimmerman both try to use the 8-Ball without success. Eventually, Jonathan's nephew Lewis is able to get the 8-Ball to display the message "COAL BIN." (Like any magical object, the 8-Ball only works for its owner).
- In George Alec Effinger's short story "The Great God Quay" from the Star Wars anthology Tales from Jabba's Palace, the Weequay all carry totems resembling the Magic 8-Ball, and firmly believe that their god Quay can communicate with them through it. They don't always get an answer, but assume that Quay must be busy with someone else's totem, and will happily keep shaking the thing until they get a response.
- In Harry Turtledove's The Valley-Westside War, it is strongly implied that the Valley's king consults one of these to decide whether to go to war with the Westside and ultimately chooses to do so. Fridge Horror, especially when you consider that the 8-ball is significantly more likely to give an affirmative response than a negative one.
- In Diary of a Wimpy Kid: Hard Luck, Greg ends up with a Magic 8-Ball. It gives surprisingly accurate answers and good advice whenever he consults it. He gets in trouble when he uses it during a test and the teacher accuses him of bringing a cheating device. A more reasonable person has to point out that the 8-Ball is just a toy. The 8-Ball eventually breaks and Greg stops using it. Until the end of the book, when he tries to shake it one last time for fun, accidentally drops it, and while searching for it finds the Easter Egg with the diamond ring in it.
- In Gil's All Fright Diner, a teenage witch consults a spirit-inhabited Magic 8-Ball toy for information. Its responses are more varied than the original toy's options, but because the spirit doesn't like her much, it's not always much help.
- In an episode of Alfred Hitchcock Presents called "The Money", Hitch has a giant 8 Ball as a prop in the intro.
- In an episode of Seinfeld, Patrick Warburton's character, Puddy, buys a jacket with a giant 8-Ball logo on the back.
Elaine: Are you going to wear that all the time?
Puddy: [points at the back of his jacket] All signs point to yes. - On Friends when Ross is faced with either divorce or cutting Rachel out of his life he resorts to consulting an 8-ball. His friends think the idea is ludicrous (except for Phoebe), but they can't come up with anything better. It keeps displaying the "ask again later" message.
- In an episode of iCarly, Spencer relies on a "magic meatball" for all of his decisions. It makes him go through with several bad choices, e.g. drinking ketchup and buying an ostrich, but he finally tosses it when it won't tell him to take an offer to display his pop art sculptures in a gallery.
- An episode of Ned's Declassified School Survival Guide has Ned using a magic pyramid to figure out if he's going to fail a test or not. It gets smashed by the abrasive school counselor.
- In The Pretender episode "Past Sim", Jarod learns about the Magic 8-Ball, and near the end of the episode he leaves one for his pursuers, displaying the message "Don't count on it".
- In a Scrubs episode, J.D. has an Imagine Spot where Kelso uses Ted as a "human magic 8 ball"; he holds Ted's head between his hands, shakes it, then asks him a question.
Ted: Ask again later.
- After The Big Bang Theory cast builds a battle robot, Raj suggests using it to cut open a magic eight ball to discover what is inside it.
- On The King of Queens, the Mentalo toy from Doug's childhood (as well as its knockoff, Mental-Man) was a pull-string fortune-teller in a turban (or fez, respectively), but the character of its answers qualifies it as a variant of the eight-ball.
- Referenced in Big Wave Dave's. Dave has an important decision to make and he asks Richie about what he should do because Marshall (his usual go-to guy for this sort of thing) is out of town.
Richie: In that case why don't you ask your magic 8 ball?
Dave: I did, it always came back "ask again later." - Angel. Spoofed in "Players" with a literal Magic 8 ball that Lorne uses to tell fortunes.
- A ''Magic Billard-ball'' is available as a magic item in d20 Modern. It answers simple questions as if it were an Augury spell.
- Magic 8-Balls are in Homestuck, but there's a more powerful variant in the Magic Cue Ball, which gives perfect answers but has no window through which to see them. Vriska has an addiction to breaking actual Magic 8 Balls.
- An arc of Precocious parodied this with the "On Cue Ball," which didn't so much give advice as it ridiculed everything and everyone.
- The Foolamancer from Erfworld, Jack, wields a staff topped by a Magic 8-Ball, and occasionally consults it. He has also referenced the lines used by it when asked a question.
- Knights of the Dinner Table #170 had an ad on page 74 for "ThinkGeek's Magic d20 of Destiny".  It's a trap!"
- In this strip of Adventurers!, Karn obtains and consults a "Magic Eight Squall."
- Penny Arcade has an interesting subversion in the Magic Hate Ball. See it here.
- In Level 8 of Rusty and Co. the "8-bit 8-ball" is an artifact that predicts the future. It's easy to identify as a powerful magic item, since its mere presence makes the comic's picture all around it getting low-resolution, as in an 8-bit picture. It is artifacting.
- The Order of the Stick: When given the choice between a high-level Incarnum user, fortune cookies and a magic 8-ball to perform a divination, Redcloak orders to bring the cookies and keep the 8-ball on standby.
 The second panel reveals that he's holding a bowling ball.
- Parodied in Twitch Plays Pokémon, where the players keep checking the Helix Fossil every few minutes, asking it for guidance. It now has its own website.
- "Kurt Cobain's Magic Talking 8-Ball" was a page (defunct for years) where you could type in a question and be answered by a soundbite from the eponymous musician.
- Inspired by the then-current Miss Cleo infotainment ads, The Funday Pawpet Show's Herbie started having interview guests "Ask a question of Magic 8-Ball" at the end of interviews.
- SpongeBob SquarePants:
- The Magic Conch Shell.
- In the episode "Mr. Krabs Takes A Vacation", SpongeBob's eyes form the triangles seen in a magic 8 ball.
- On Rocko's Modern Life, Ed Bighead rises through the ranks at Conglom-O by following the advice of the Magic Meatball. Then it breaks and he ends up back where he started.
- The Simpsons:
- Milhouse gets a Magic 8-Ball for his birthday.
Bart: Cool! An oversized novelty billiard ball!
Milhouse: Yeah, you shake it up and it tells the future!note
Bart: Really?
Milhouse: Uh huh.
Bart: [takes it] Will I pass my English test? [shakes it, reads] "Outlook not so good." Wow, it does work! - Later in the episode, Bart uses the 8-Ball as a weapon when an enraged Milhouse attacks him; as he looks at its broken remains, he quips "Boy, I bet the 8-Ball didn't see that one coming."
- Milhouse gets a Magic 8-Ball for his birthday.
- There's a minor background character on The Venture Bros. named Manic 8-Ball, with this as his power. He's an underling of Baron Underbheit.
- An episode of The Angry Beavers had the Beavers use a "mystical seven ball" for advice on how to deal with a group of lumberjacks destroying their forest. At the end of the episode, where the Beavers have a Pyrrhic Victory due to the lumberjacks finally leaving (with all their timber), the ball shows up and mocks them for taking advice from a billiard ball replica.
Norb: Dag, get my hammer.
Dag: Ball-peen or framing?
Norb: Both.
Dag: Indeed. - The pilot of The Fairly OddParents had Timmy ask his "Magic 9 Ball" when his parents will come home from the movies. It responds, "Titanic: Director's Cut", suggesting that they'll remain absent for quite a while. A frustrated Timmy throws the ball at the wall, causing it to crack open and reveal Cosmo and Wanda.


Guidelines for language-specific documentation
See also How to contribute, especially the section Style guidelines.
The language-specific documentation is organized by sections. Swedish may serve as an example conforming to these guidelines.
overview/introduction.html
Short description of the treebank, size, types of texts, annotation/conversion process, etc.
Optional subheadings: “Acknowledgments”, “References”
overview/tokenization.html
Short description of the principles for word segmentation with references to additional documentation and/or standard tokenizers as appropriate. The description must state whether the treebank contains multiword tokens and, if so, describe the major cases in a separate subsection (see the Czech documentation for an example of this). It is also desirable to describe the heuristics how annotations of syntactic words should be recombined if a user chooses to work with surface tokens only.
Optional subheadings: “Multiword tokens”, “References”
overview/morphology.html
Short description of the use of universal tags and features making clear whether language-specific features have been added (but without describing them). Short description of language-specific tags if relevant.
Optional subheading: “References”
pos/index.html
List of universal tags with unused tags crossed out (see Finnish for an example). Each tag is linked to a subpage with a language-specific definition and examples. Minimally, this should be a restatement of the universal definition with at least one language-specific example added. Preferably, it should add more information, for example, about inflectional categories of a part of speech in the specific language (see Swedish ADJ documentation for an example).
feat/index.html
List of morphological features with unused universal features crossed out and language-specific features preceded by a + (see Finnish for an example). Each feature is linked to a subpage with a language-specific definition and examples. Minimally, this should be a restatement of the universal definition with at least one language-specific example added. It should also make clear which values are used for a given feature, since this may vary across languages (see Swedish Case documentation for an example).
overview/syntax.html
Short description of the use of universal dependency relations making clear whether language-specific subtypes have been added (but without describing them).
overview/specific-syntax.html
Optional description of specific constructions (see Finnish for examples). Ideally, this should be structured in the same way as the universal documentation, but since the latter is not very developed it seems hard to enforce this. If possible, use the main headings “Elements of a clause”, “Elements of a nominal”, “Adjectival and adverbial constructions”, and add additional headings as needed (for example, “Coordination”, “Compounding”, etc.) Use any subheadings that are appropriate.
dep/index.html
List of universal dependencies with unused relations crossed out and language-specific subtypes indented below their supertype (see Finnish for an example). Each relation is linked to a subpage with a language-specific definition and examples. Minimally, this should be a restatement of the universal definition with at least one language-specific example added.
Global list of language-specific features and relations
The owners of each language should also make sure that their language-specific features and relations are added to:
- http://universaldependencies.org/ext-feat-index.html
- http://universaldependencies.org/ext-dep-index.html
Discrepancies between the guidelines and the released data
Known discrepancies from the guidelines should be mentioned under the most relevant heading.
There should be a diffs section at the bottom as a hash-hash section, which would then be followed by a hash-hash-hash section for each individual treebank. E.g.:
## Diffs
### English Web Treebank
At present what is tagged PNOUN reflects the Penn Treebank annotation guidelines rather than
UD discussion and conventions.


{% extends "layout.njk" %}
{% set cssFile = '/assets/css/page/index.css' %}
{% set jsFile = '/assets/js/homepage.js' %}
{% set bodyClass = "home" %}
{% block content %}
{{ nav.active('home') }}
HR Policy, Onboarding Paperwork, Terminations, Claims Management & Compliance + MoreHire an HR Manager
For $99/month
5+ Years Experience
Supports All 50 States
HR Policy & Procedures
We’ll work with you to craft your internal HR policies that fit the way you run your business.

From sexual harassment & non-discrimination to PTO and employee handbooks, Bambee we'll help you create and enforce HR policy across your business.
From sexual harassment & non-discrimination to PTO and employee handbooks, Bambee we'll help you create and enforce HR policy across your business.
From sexual harassment & non-discrimination to PTO and employee handbooks, Bambee we'll help you create and enforce HR policy across your business.
All for less than the price of a utility bill


{% extends "bootstrap/base.html" %} {% block title %}Formula 1{% endblock %} {% block navbar %} F1 Add Driver Add Team Add Calendar View Drivers View Team View Calendar {% endblock %} {% block content %}
This page is all about Formula 1, including drivers, teams and tracks