text:
|On World Water Day, PAHO Urges Greater Attention to Urban Water Management|
Access to Water, Sanitation Can Reduce Disease by 80 Percent
Washington, D.C., March 22, 2011 (PAHO) – On the occasion of World Water Day, the Pan American Health Organization/World Health Organization (PAHO/WHO) called on governments, organizations, communities and individuals to focus greater attention on urban water management, and especially on the impact of urban population growth, industrial growth, national disasters and instabilities related to climate change on urban water systems.
Photo PAHO/WHO David Spitz
Luis Augusto Galvão, manager of PAHO's Area of Sustainable Development and Environmental Health, said that access to water and sanitation services can reduce water-related diseases such as diarrhea and cholera by up to 80 percent.
"In Latin America and the Caribbean, some 105 million people have no access to basic sanitation, and the majority of these people are women, indigenous people or older adults living in rural areas or on the outskirts of major cities," Galvão said in a recorded message. Access to water and sanitation can reduce the incidence of diarrhea, for example, by 50 percent, he noted.
Regional Office for the Americas of the World Health Organization


text:
Uncertainties in cloud feedback remain stubbornly significant in global climate models, disrupting the credibility of climate projections. This study examined the impacts of the prognostic treatment of precipitation on cloud feedback using the Model for Interdisciplinary Research on Climate version 6 (MIROC6). In a prognostic precipitation scheme, precipitating hydrometers are explicitly predicted, allowing a more sophisticated representation of their microphysical and radiative effects than that of traditional diagnostic schemes. The introduction of the prognostic scheme in MIROC6 increases cloud feedback associated with the elevated altitude of clouds in warming climates. Moreover, the equilibrium climate sensitivity increases by about 20%. Because associated high-level clouds are better represented in the prognostic scheme, climate projections with larger altitude feedback are considered more credible. Additional analyses of Coupled Model Intercomparison Project models suggests that their altitude cloud feedback would be higher if their underestimation of high-level clouds were mitigated.
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)

source: openbmb/Ultra-FineWeb


text:
There was a question in the Sql Server Spatial/Katmai forums about why a straight line on a sphere didn't "look straight".
Katmai both have planar and spherical geometry types. The spherical type makes it easier to handle things like straight lines, distances and areas over large distances, and depending on which type you choose, you can get very different results.
Consider traveling on a straight line from Vancouver to Frankfurt. They are both located roughly at latitude 50°N. So the line would follow latitude 50°N right? Well that's true for a planar coordinate system:
So according to The Flat Earth Society (who actually believes the Earth is flat) the green line above shows the shortest distance between the two cities. But what we are actually seeing is an artifact of working with a planar coordinate system depicting a world that is not planar.
Using a spheric coordinate system, we get a different result. When looking at this line in a projected coordinate system, like the Mercator projection I've used here, the line doesn't look straight (left image below). However if we look at this in a 3D view (right image), it becomes apparent that the "curved line" is actually the shortest line between the two cities.
The difference between using the two geometry types gets really apparent when you try to find the shortest distance from New York to the line in the two coordinate systems. In the planar case, Quebec is approximately the point where the line is the closest to New York. In the spherical case, the line never gets closer to New York than from Vancouver where it started out.
Another way that I like to think of why following a latitude is not the shortest route, is imagining two guys standing a few feet from the North Pole with the pole between them. Which way is the shortest path between them: Walking straight over the pole or following the latitude at 89.999°N around it? Now imagine how this line would look on a map.
We can extend this further and have the two men go further and further away from each other. If one man gets a little further south than the other, the line wouldn't pass the pole, but go by just next to the it - it still wouldn't follow the latitude. Since the North Pole is just a point we humans "made up", we can abstract it and think of a pole in the ground anywhere on Earth. The bottom line is that the North Pole and the latitudes are all imaginary, and doesn't really exist, and definitely doesn't help describing the shortest distance.
Only at Equator would it be a good idea to follow the latitude, which is because this is the only latitude that is a great circle, and it so happens to be that any straight line between two points will describe parts of a great circle. Longitudes however are all great circles, and the line between the two men describe parts of a longitude. The reason we think that the horizontal line between Vancouver and Germany is the shortest path, is simply because we have to project the round Earth onto a flat piece of paper, and this causes all sorts of things to get distorted.

source: HuggingFaceFW/fineweb-edu


The Essence of Prashna Techniques
The essence of Prashna Techniques
copyright © 2015 Chandrashekhar Sharma
In Vedic astrology, there are many techniques of horary astrology which go under the generic name of Prashna. These range from "Daivagya Vallabha" of Varāha Mihira, to Kerala Ramal Prashna and encompasses in its fold, other systems like "Prashna Mārg" which derives some principles from Brihajjataka to varied forms of "nimitta" (incidents) and "shakuna" (omens) mentioned in Brihat Samhita, on to the Prashna Tājik system of astrology, which elaborates on the "Varshaphala" or annual horoscopy. Then there is the K.P. system of horary astrology that is also in vogue in modern times which is a combination of Sage Satyāchārya principles and Jātaka (natal), or Horā system of natal astrology with lordships of dashās (called subs) being allotted in proportion to their Vimshottari dashā periods.
An astrologer is justifiable confused as to which of this he should use should he need to answer a question when the birth details of the Jātaka are not available. He finds different people swearing by different systems as the final word in astrology and his confusion is compounded. I do not myself claim to be the final authority on Prashna, nor do I regularly predict on the basis of Prashna, though sometimes I do find it very useful, especially when the question is such that its answer using regular methods is difficult though not impossible to obtain and that too in a short time.
I am putting below the concept of Prashna astrology and shall try to spell out the logic, where I have been able to fathom the same for benefit of young astrologers who might want to delve deeper in to the science of Prashna. Let me reiterate here that I sometimes use one or the other system for Prashna and am not partial to one or other of them. I try to restrict myself to either of the Chart of the moment analyzed in a fashion similar to natal chart as indicated by Varāha Mihira, or Tājik system of a modified form and must confess that sometimes I do get mindboggling results. I also sometimes use nimitta system if some remarkable event happens at the time the question is asked.
The entire system of Prashna cannot be explained in one article, and there are many standard books available on the subject these are: "Daivagya Vallabha", Prashna Tantra (English translation of chapter on Prashna from Tājik, by B V Raman) or "Tājik Neelkanthi", "Prashna Mārg", "Narapati Jay Charchā", "Hāyana Ratna", "Kerala Ramala Paddhati", "Krishnamurthy Paddhati" primers, "Brihat Samhitā" and so on, which elaborate at length on the various systems and those desirous of delving deeper in the subject may like to read these and understand the subject in depth.
The basic concept behind Prashna is that formation of a Prashna (question) in the mind is akin to pregnancy, the question itself being similar to baby in womb, and asking of the question is similar to birth of the query. Therefore the chart cast at the time of asking of the question can be analyzed in a fashion similar to analysis of a natal chart to indicate the results of the question. This is generally followed in Daivagya Vallabha type of analysis of Prashna chart, where the Prashna chart (chart cast when a Prashna is asked) is analyzed in a manner similar to analysis of a natal chart.
Same principle can also be applied to the Tājik system of analysis. However some learned think that the chart be cast when the astrologer thinks about giving out the prediction for the question asked and the reason is the below shloka appearing in "Tājik Neelkanthi":
ऋजुरयमनृजुर्वाऽयं प्रष्टव पूर्ं परीक्ष्य लग्नबलवत्।
गणकेन फलं र्वच्यं दैर्ं तच्चित्तगं स्फुरच्चत॥१॥
ṛjurayamanṛjurvā'yaṁ praṣṭā pūrvaṁ parīkṣya lagnabalāt |
gaṇakena phalaṁ vācyaṁ daivaṁ taccittagaṁ sphurati ||1||
Meaning: The astrologer should first assess if the querent is honest or deceptive from the strength of the Lagna (ascendant) because the prediction that is to be given, arises in his mind.
The argument is that since the results arise in the mind of the astrologer, only when he wants to answer the question should the chart be cast and that might be applicable in the modern times when the query could be put through e-mail or on phone. There is only one small issue here and that is how will he analyze strength of the Lagna (Ascendant), without casting a chart at the moment of hearing of the Prashna? An astrologer may choose any of the methods that he thinks is right. I have seen either of the two methods (ie Daivagya Vallabha or Tājik) give somewhat fairly accurate results, when the astrologer is truly desirous of helping the querent in distress.
There is some difference in the two methods in analysis of the Prashna chart, as Daivagya Vallabha advises to look at the nimitta and shakuna observed at the time of query, as also the first letter of the question asked by the querent, and decide whether the result of the Prashna will be auspicious or inauspicious. Tājik systems opines that one should first find out if the querent is sincere in his query or is a deceptive person who is asking the question to mock the astrologer or test his knowledge and answer the query only if the querent is sincere. Those desirous of understanding the nimitta, shakuna and assessment from 1st letter of query can read about this in depth from Brihat Samhitā, Prashna Mārg, Kerala Ramal Paddhati etc.
If we look at the Tajik system, it is advised to first verify the sincerity of the querent through analysis of the Ascendant and certain methodology is prescribed. So, how is it to be understood whether the querent is honest in query, or deceptive, from lagna?
If Moon occupies the lagna as Saturn occupies any of the Kendras (squares) while Mercury is combust and Moon occupying the ascendant is aspected by Mars or Mercury with even aspect (7th house aspect). Mercury is combust in proximity of Sun so both Moon and Lagna will be under aspect of malefic whether Mars or Mercury aspect the Lagna with 7th house aspect and Saturn occupying the Kendra will be Paraspara (mutual) karaka to them thus making the Lagna extremely weak and so the question might not be sincerely put, or put to test the astrologer, then it should not be answered. Again if any of the Jupiter or Mercury aspecting the 7th lord with inimical aspect (ie square) would mean the querent is not sincere. If Lagna is occupied by a malefic the query should be thought to be put to test the astrologer.
My personal opinion is that, though indicative of intent of the querent, it can also be indicative of the results obtainable by the querent depending on placement of other planets. We can see that even the indications where answers should not be given are later on contradicted by combinations that indicate results of malefics placed in the lagna. Now if due to malefic in lagna one is not to answer the query, why should later on the Tājik texts talk of results obtained by the querent when malefic is placed in lagna? I think the astrologer should answer the query to the best of ability, if he thinks that it should be answered as the prediction is said to arise in the mind of the astrologer and which he is said to give out, as indicated in the shloka from "Tājik Neelkanthi", quoted earlier.
Let us now understand some of the principles used in both the systems of Prashna.
1) The lagna (ascendant) is assumed to be the querent or the person on whose behalf the question is being asked.
2) Rāshi rising by head in lagna are indicative of good results. Human rāshis in lagna also give good results, if aspected by benefics.
3) If the rising sign is a Chara (cardinal) sign the situation about which question is asked will change.
4) If the rising sign is a Sthira (fixed) sign, the situation queried about will not change.
5) If the sign rising is a Dwisvabhāva (dual) sign, the situation will change but with some difficulty.
6) If the Lord of the lagna and that bhāva about which


text:
Words Are Powerful
Speech -- the ability to convey ideas and feelings through words -- is unique to human beings. It can be a tremendous blessing, but it's also ripe for abuse.
The words our children choose to use in expressing themselves help create their personal window on the world.
Positive forms of expression can help our children grow into positive, optimistic people who view the world around them with generous and hopeful eyes. Negative forms of expression, such as defamatory, mean-spirited speech, will cultivate in them a negative, cynical view of the world.
Speech That Is Evil
It's easy to fall prey to a destructive pattern of speaking badly about others and gossiping -- to the point where it becomes a recreational activity! In order to enjoy the many people in our lives, we have to stop verbalizing the negativity and focus on their positive virtues. This takes a lot of effort but is essential in raising happy children.
If we're always finding fault, we will naturally be dissatisfied, disappointed and displeased, and so will be our children.
Raising happy children requires us to impart to our offspring the ability to look at everything positively --situations, places and material objects. Most important of all is how they view people.
Torah calls "evil language" anything negative, even if it's true.
The Hebrew term for speaking badly of others is called lashon hara, literally "evil language." Interestingly, the Torah calls "evil language" anything negative, even if it's true. (Slander -- malicious, false information is called motzi shem ra, literally "giving another a bad name.")
In sharp contrast to the Western adage about sticks and stones not hurting, Judaism looks very gravely upon misuse of speech. Our tradition teaches that lashon hara can destroy many lives, even unintentionally, in one fell swoop:
- the person speaking,
- the person spoken about,
- and the person spoken to.
Let's look at why.
- The person speaking: Although you briefly become the center of attention when you dish out a juicy piece of gossip, in the long run people start mistrusting you. "Gee, I wonder what she says about me when I'm not around." People don't trust gossips and will avoid confiding in you. In the end, you're killing your own reputation. Furthermore, because you are misusing the gift of speech that God gave you, you are also lessened in His eyes.
- The person spoken about: The person under discussion is, of course, being killed in everyone's eyes. Whether the information is true or false, it is hard to take back defamatory words already spoken and undo the character assassination already committed. That person's reputation is forever blemished.
- The person spoken to: Interestingly enough, this is the person who is the most culpable, even though s/he is seemingly the innocent one. All s/he did was listen! But the Talmud says that listening to lashon hara is even worse than speaking it; the person had the power to stop it and didn't. Now the transgression is complete.
Exceptions to the Rule
Of course, there are times we are all owed to speak share negative information about others; in fact, there are times it is an obligation to do so. For example - when a friend is about to be become financially involved with a person we know to be unethical, or seriously dating a person we know to be abusive or otherwise unsuitable. Or when a child has information that will prevent harm from occurring.
Beware of the excuses children and adults often use for speaking lashon hara:
- "But it's true!" Lashon hara specifically refers to sharing derogatory information when it is true. Spreading vicious lies is far worse!
- "If she were here I would say it to her face." Maybe you would, and maybe you wouldn't. In any case, it is still forbidden.
- "Everyone knows about it." Does this justify you adding fuel to the fire? Even if it is on the front page of the newspaper, you are still forbidden to speak about it.
Teaching our children to avoid speaking lashon hara takes a concerted effort. Experiment with the following tools:
- Teach by example. Showing children that it's a priority for you is perhaps the most important lesson. Don't let them hear your gossiping with your friends or relatives. Don't let them hear you laughing at other people's expense. Even better than "don't let them hear you" is not doing it -- whether they're in earshot or not.
- Discuss the importance of avoiding lashon hara. Help your children identify what is and isn't proper speech. Talk about how improper speech can hurt others and how it hurts the person speaking lashon hara. There are a number of excellent Jewish books that can help you.
- Discourage "tattling." When your kids come to "tell on" someone, tell them you aren't interested in reports of someone else's bad behavior, but that you're available if they need help or advice.
- Get in the habit of not using names. There's no need for you to know the names of problem students at school unless you'll have a direct role in addressing the issue. Focus the discussion on your child's feelings, worries and concerns. If he or she needs protection that requires your intervention, tell him or her that it is proper to tell you the name of the offending child.
- Don't fall into the trap of casual lashon hara. At dinner and at other family times, bring books to the table to discuss or talk about current events. When you discuss what happened in each person's day, focus on what they learned that day and how they felt. Show your children that there are more interesting things to talk about than other people's poor behavior.
- Give positive reinforcement. Be sure to commend your kids when they manage to tell you about school or neighborhood problems without mentioning who was involved. Let them know that you're proud of them - and that God is too.
- Reminders! Tape a reminder to the telephone: "No Lashon Hara!" Put up signs on the fridge and in other prominent locations around the house.
- Study it. Read a small section of the laws of lashon hara each day during dinner or at your Shabbat table. Encourage discussion and examples.


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Oracle 10g DB. I have a table called s_contact. This table has a field called person_uid. This person_uid field is a varchar2 but contains valid numbers for some rows and in-valid numbers for other rows. For instance, one row might have a person_uid of '2-lkjsdf' and another might be _PHONE_.
I want to return just the rows with valid numbers in person_uid. The SQL I am trying is...
select person_uid
from s_contact
where decode(trim(translate(person_uid, '_PHONE_','')), null, 'n', 'c') = 'n'
The translate replaces all numbers with spaces so that a trim will result in null if the field only contained numbers. Then I use a decode statement to set a little code to filter on. n=number, c=char.
This seems to work when I run just a preview, but I get an 'invalid number' error when I add a filter of...
and person_uid = 100
-- or
and to_number(person_uid) = 100
I just don't understand what is happening! It should be filtering out all the records that are invalid numbers and 100 is obviously a number...
Any ideas anyone? Greatly Appreciated!
share|improve this question
6 Answers 6
up vote 2 down vote accepted
Another alternative is to combine the predicates:
where case when translate(person_uid, '_PHONE_','')) is null
 then to_number(person_uid) end = 100
share|improve this answer
Unfortunately, the various subquery approaches that have been proposed are not guaranteed to work. Oracle is allowed to push the predicate into the subquery and then evaluate the conditions in whatever order it deems appropriate. If it happens to evaluate the PERSON_UID condition before filtering out the non-numeric rows, you'll get an error. Jonathan Gennick has an excellent article Subquery Madness that discusses this issue in quite a bit of detail.
That leaves you with a few options
1) Rework the data model. It's generally not a good idea to store numbers in anything other than a NUMBER column. In addition to causing this sort of issue, it has a tendency to screw up the optimizer's cardinality estimates which leads to less than ideal query plans.
2) Change the condition to specify a string value rather than a number. If PERSON_UID is supposed to be a string, your filter condition could be PERSON_UID = '100'. That avoids the need to perform the implicit conversion.
3) Write a custom function that does the string to number conversion and ignores any errors and use that in your code, i.e.
 RETURN to_number( p_arg );
 WHEN others THEN
and then my_to_number(PERSION_UID) = 100
4) Use a subquery that prevents the predicate from being pushed. This can be done in a few different ways. I personally prefer throwing a ROWNUM into the subquery, i.e. building on OMG Ponies' solution
WITH valid_persons AS (
 SELECT TO_NUMBER(c.person_uid) 'person_uid',
 ROWNUM rn
 WHERE REGEXP_LIKE(c.personuid, '[[:digit:]]'))
 FROM valid_persons vp
 WHERE vp.person_uid = 100
Oracle can't push the vp.person_uid = 100 predicate into the subquery here because doing so would change the results. You could also use hints to force the subquery to be materialized or to prevent predicate pushing.
share|improve this answer
1) Reworking the model it not an option. 2) I cant change the value being filtered on to be a string because it is actually an external system that is doing the filtering and it's dtype is a number. 3, 4) I will try the WITH clause. If that is not compatible with a view (which is actually where this SQL will end up) then I will give the custom to_number function a try. Thanks! Ill let ya know. – Nate Dec 4 '09 at 18:25
The WITH isn't special here, you'd get the same result with an inline view, either using regular expressions or using your translate logic. The critical bit is that you need to do something in the inline view to prevent the predicate from being pushed into the inline view. That can be a hint or, as I showed, by adding something like ROWNUM that prevents predicate pushing. – Justin Cave Dec 4 '09 at 19:58
When you add those numbers to the WHERE clause it's still doing those checks. You can't guarantee the ordering within the WHERE clause. So, it still tries to compare 100 to '2-lkjsdf'.
Can you use '100'?
share|improve this answer
An external system actually writes the value that will be filtered by and this value is always a number. Thus I need to convert the string to a number in this SQL which will be part of a view. Thanks though! – Nate Dec 4 '09 at 18:20
Are you saying that the 100 is provided by an external system? Then just change the query to: WHERE person_uid = CAST(_USER_ AS VARCHAR) – Tom H. Dec 4 '09 at 18:33
Another option is to apply a subselect
 select person_uid
 from s_contact
share|improve this answer
Unfortunately, this doesn't guarantee that the inner subquery is executed first and that only the rows with all numeric data are considered before applying the PERSON_UID filter – Justin Cave Dec 4 '09 at 18:05
Right, I had the same idea, but I still get the 'invalid number' error. Thanks for trying! – Nate Dec 4 '09 at 18:16
Regular expressions to the rescue!
where regexp_like (person_uid, '^[0-9]+$')
share|improve this answer
Use the first part of your query to generate a temp table. Then query the temp table based on person_uid = 100 or whatever.
The problem is that oracle tries to convert each person_uid to an int as it gets to it due to the additional and statement in your where clause. This behavior may or may not show up in the preview depending on what records where picked.
share|improve this answer
Unfortunately, this SQL is part of a view so I need this to be one statement. Thanks for the idea though! – Nate Dec 4 '09 at 18:19
Your Answer


Deploy a virtualized environment deprecated
From Grid5000
Jump to: navigation, search
All of this follows assumes the attendee knows how to reserve nodes and how to deploy environments.
The attendee will learn here how to deploy a xen hypervisor, how to connect and configure its virtual machines, how to tune its environments and how to record it for future deployments.
This practice uses Xen virtualization technology.
Find and deploy existing images
Where you will learn to locate environments and deploy them
Locate a suitable image
You should be able to browse through all available environments:
To deploy a virtualized environment, you must know its name registered in the Kadeploy database. This tutorial uses the lenny-x64-xen environment.
kaenv3 -l to have a look at the different environments available.
Deploy the environment
You should be able to deploy your environment as you do with other kadeploy3 environments as described on Deploy an environment
$ oarsub -I -t deploy -l nodes=2,walltime=2:00
$ kadeploy3 -e lenny-x64-xen -f $OAR_FILE_NODES -k pub_key_path
Without argument, the -k option will copy your ~/.ssh/authorized_keys.
Note.png Note
To have the -k option effective, you need generate a ssh key without password or with an agent enabled with this key. ssh-keygen -t rsa to create your public/private keys.
Initialize a simple connection to virtual machines
How to connect to one virtual machine
Where you learn how to connect to a virtual machine by usual methods... and discover automated tools
When deploying the lenny-x64-xen environment, a virtual machine is automatically started at boot. Connect as root on one node and see if it's running by the following command :
# xm list
Name ID Mem(MiB) VCPUs State Time(s)
Domain-0 0 977 4 r----- 37.9
domU 1 128 1 -b---- 5.6
In Xen terminology, a domU is a virtual host.
The parameters of this machine are described in /etc/xen/domU.cfg. They are defined by :
 - kernel and initrd : linux kernel and initrd with xen domU support.
 - memory : size (MB) of ram given to the node.
 - root : where is located /.
 - disk : which files contain the partitions on your virtual host.
 - name : the name of the hostname, as displayed by xm list and as given by the system itself.
 - dhcp : do we use dhcp ?
 - vif : the configuration of the network interfaces
 - on_poweroff on_restart on_crash : how should react xen hypervisor with domU
We use dhcp, it's easier to use it and to automate things. You can choose a static address, but your address will not be usable on another site when you want to deploy your environment on it.
On vif line, you will see :
 - a mac address defined under the form 00:16:3E:XX:XX:XX. It's in the Xen reserved mac range.
 - a bridge : nodes communicates with the network by a bridge created on the first network interface. You can list existing interfaces by ifconfig and know the bridge and involved interfaces details by brctl show command.
 - you can use other modes, such as router mode, see for details on network configuration.
How to know the ip given to my virtual node
In Xen terminology, a dom0 is the real host.
On the dom0, you can't discover the IP address given to your node by the dhcp server, even by network capture. But two components know this information :
 - the virtual node itself
 - the dhcp server
You can connect to the virtual node from the dom0 by use of the serial console automatically configured :
# xm console domU
To exit, it's CTRL + ]. There is no root password defined by default.
The dhcp server knows all leased IPs in its logs but is administratively restricted. dhcp-proxy (the name of the server created) parses the dhcp leases given using a grid'5000 protocol. To secure the connection with this server, a dedicated proxy named omapi-proxy is launched on the frontend and listens on 7910 port.
You can ask for the given mac address with netcat, as it :
# nc frontend 7910
00:16:3E:XX:XX:XX node-n-vm0.virtual
A script named xenconf has been created to do this job and automate the netcat processus : With the MAC-address argument, this script returns the IP address of the domU and a default hostname created as $node-$node_number-vm$vm_number.virtual.$
# xenconf 00:16:3E:XX:XX:XX node-n-vm0.virtual
A script named xenlist allows to get those informations for all of your domUs and creates a file with all IPs in it.
# xenlist
/etc/xen/domU.cfg node-n-vm0.virtual
# cat /tmp/iplist
Connect to the virtual host from dom0
The root domU account has been configured to be automatically accessible with the ssh key of root user. You can therefore connect to the domU from the dom0 :
# ssh ip_address
Connect to the virtual host from frontend
To connect from frontend, you can :
 - Define a password on the virtual nodes, and use the IP and or hostname given to it. You know how to do it from the dom0.
 - Add your public ssh key to the virtual node.
You need to copy your public ssh key on the dom0 and copy the file on the virtual node :
Terminal.png frontend:
scp ~/.ssh/ root@node:
Terminal.png dom0:
scp _EMAIL_:
Terminal.png dom0:
ssh _EMAIL_
Terminal.png domU:
cat >>.ssh/authorized_keys
You can also copy the key as an authorized_keys2 :
Terminal.png dom0:
scp _EMAIL_:.ssh/authorized_keys2
You can now connect from the frontend as root on your virtual node :
Terminal.png frontend:
ssh _EMAIL_
The xenkeys command allows to automatize those copies on all of your domUs. xenkeys command uses the previous iplist generated file.
Terminal.png dom0:
Note.png Note
all those commands are described on and written in ruby langage. Feel free to enhance them in your environments.
How to connect to all of your virtual machines
Where you discover an automated solution to resolve all those problems.
To configure and execute a command on all of your virtual nodes, you need to apply the following algorithm :
for each dom0
do for each domU
 do read mac address in /etc/xen/*.cfg
 ask for ip with the given mac address
 copy your public ssh key on the domU
 collect the list of ip in a file
create a file with all of your domU
This algorithm, in fact, is resumed to :
 for each dom0
 do xenlist
 add iplist file to a file
The command xennodefile, on the frontend, does this job. You need three arguments :
 - a path to a list of real nodes
 - a path to the public key to install
 - a path to a file which will store the virtual machines IP addresses
Terminal.png frontend:
xennodefile -f $OAR_FILE_NODES -k.ssh/ -o iplist
You have now a file listing your virtual machines. You can iterate with a for-loop on it if you want.
Terminal.png frontend:
for vm in 'cat iplist' ; do ssh root@$vm "apt-get update && apt-get install --yes vim" ; done
Or give a password to root user on vm with the passwd command.
Warning.png Warning
Currently, the dns name of your VMs (node-XX-vmYY) is only accessible from the local site.
Improve your environment
Where you learn how to add virtual hosts to your environment and how to reuse your environment
Create new domU images
You should be able to create new virtual machines by different methods. Those methods include :
 - create a new virtual machine by copying the existent one and by adapting it
 - create your virtual machine with xen-tools method
 - provide your own existing virtual machine
Note.png Note
You have to run automatic_xen_conf.rb in de dom0 before starting your VMs to get IP address in the appropriate range.
Copy the existing virtual machine
Create a directory where you can store your new disk images :
Terminal.png dom0:
mkdir -p /tmp/xen/domU2/
Ensure the virtual machine you are copying is not running :
Terminal.png dom0:
xm shutdown domU
Copy disk and swap to your new storage :
Terminal.png dom0:
cp /opt/xen/domains/domU/disk.img /tmp/xen/domU2/
Terminal.png dom0:
cp /opt/xen/domains/domU/swap.img /tmp/xen/domU2/
Copy the original configuration file to a new :
Terminal.png dom0:
cd /etc/xen
Terminal.png dom0:
cp domU.cfg domU2.cfg
Edit the new configuration file and


text:
Learn about the Chinese medicine differential diagnosis and treatment of Dermatitis.
What will you learn about in this self study course:
Learn about Inner pathological changes and how they manifest as external symptoms, and why external symptoms require inner observation; the Integration of local & whole body differentiated treatment. Learn about associated general distinctions & various of skin dermatitis cases and see how we can analyze the objectivity and subjectivity of the evidence. Master different syndromes & formulas from the Shang Han Lun. Gain insight about different pattern of syndrome formula families and much more.
This is what you get:
Download the E-Book: 54 pages
View our Free Introduction:


text:
Te Papa's Bush City is currently graced by a good display of sprays of the white, bell-like flowers of Jovellana sinclairii. If you're visiting, you can see them beside the waterfall, on the lower track.
Jovellana sinclairii is not a common plant in the wild. You're most likely to find this large herb beside streams and other wet places. But it makes a good garden plant, in damp, shaded areas.
There is one other species of Jovellana in New Zealand. The group of plants to which they belong (the Calceolariaceae) otherwise occurs in South America.
A recent study using DNA to investigate the relationships of these plants concluded that the ancestor of the New Zealand species had arrived from South America within the last few million years.


Edit Article
 - 37 Editors
 - Edited
Two Methods:To FailTo Pass
We all have choices in life. One of our choices is whether we want to do well in school, and have a chance for a successful career or if we want to play around, fail classes and end up with a not-so-successful career. Follow these directions and learn how to be either one or the other.
Method 1 of 2: To Fail
 1. Pass or Fail a Class Step 1.jpg
 Never do the assigned homework, and never study for a test.
 2. Pass or Fail a Class Step 2.jpg
 Always arrive late to class and make noise dropping books as you enter. It can be disturbing everyone else.
 3. Pass or Fail a Class Step 3.jpg
 Do not be prepared for class. Do not do the homework assignment, and always leave your books at home, so you are not able to follow the work as discussed during class.
 4. Pass or Fail a Class Step 4.jpg
 Never answer correctly when called up, complain and make up excuses why you do not know the right answer and act as if you do not care.
 5. Pass or Fail a Class Step 5.jpg
 Get an F in all your tests, classwork and homework. This will most certainly cause you to fail.
 6. Pass or Fail a Class Step 6.jpg
 If possible, stay up as late as possible, that way you can fall asleep in class.
 7. Pass or Fail a Class Step 7.jpg
 Fake being sick often to skip school.
 8. Pass or Fail a Class Step 8.jpg
 Never take your homework home or leave it at home.
 9. Pass or Fail a Class Step 9.jpg
 Play games on your computer and surf the internet for at least 5-6 hours a day.
 10. Pass or Fail a Class Step 10.jpg
 Act like an idiot and pretend to be 3 grades younger than you are (if you have a younger sibling then this should be easy)
Method 2 of 2: To Pass
 1. Pass or Fail a Class Step 11.jpg
 Bring your required books to class, with a notebook and pencil to take notes.
 2. Pass or Fail a Class Step 12.jpg
 Always study when you go home, and do your homework carefully. Make sure you place the homework in a school folder so you will not forget to bring it to class.
 3. Pass or Fail a Class Step 13.jpg
 Be attentive in class. Raise your hand if you need an explanation to what is being discussed. Do not leave without understanding the lesson.
 4. Pass or Fail a Class Step 14.jpg
 Respond correctly and intelligently when called upon to answer.
 5. Pass or Fail a Class Step 15.jpg
 Make sure you are early or on time for class. That means having your pencil, paper and book opened in front of you as soon as you sit at your desk.
 6. Pass or Fail a Class Step 16.jpg
 Never pass notes or chat in class. Listen and learn. That is what you are here for.
 7. Pass or Fail a Class Step 17.jpg
 Be polite and courteous to everyone.
 8. Pass or Fail a Class Step 18.jpg
 Get a good night's sleep so you are not tired when you go to school.
 9. Pass or Fail a Class Step 19.jpg
 Always show up to school.
 10. Pass or Fail a Class Step 20.jpg
 Bring writing utensils and other requirements, teachers hate when you forget them.
We could really use your help!
Can you tell us about
enjoying yourself?
Yes I can
enjoying yourself
how to entertain yourself
Can you tell us about
movie trailers?
Yes I can
movie trailers
how to make a movie trailer
Can you tell us about
managing employees?
Yes I can
managing employees
how to empower employees
Can you tell us about
Vans shoes?
Yes I can
Vans shoes
how to wear Vans with style
Thanks for helping! Please tell us everything you know about
Provide Details.
Don't say: Eat more fats.
 - If you have a 'who cares if I fail' attitude, you will never be a success in life. Remember instead of a teacher, you will have a boss to listen to.
 - Don't fail on purpose. It could result in you having to retake the course and maybe even graduating late.
Article Info
Categories: Improving And Maintaining Grades
Recent edits by: GeGeGeLL, Lutherus, Maluniu
Thanks to all authors for creating a page that has been read 31,654 times.
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From Wikipedia, the free encyclopedia
Jump to: navigation, search
Western Newts
Taricha torosa
Scientific classification
Kingdom: Animalia
Phylum: Chordata
Class: Amphibia
Order: Caudata
Family: Salamandridae
Genus: Taricha
Taricha granulosa
Taricha rivularis
Taricha torosa
Taricha is a genus of newts. There are only three species and four subspecies. They are called Western Newts and Pacific Newts. All newts are part of the family Salamandridae. The three species in this genus are California newt, the Rough-Skinned newt and the Red Bellied newt. They are all found in the west coast of the United States.
Species[change | change source]
Genus Taricha (Western Newts / Pacific Newts) - 3 species


Take the 2-minute tour ×
convert -append 1.jpg 2.jpg out.jpg
This command appends 1.jpg and 2.jpg vertically. What is the command to do this horizontally?
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1 Answer
up vote 5 down vote accepted
Instead of -append, use +append as follows:
convert +append 1.jpg 2.jpg out.jpg
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text:
blockade, use of naval forces to cut off maritime communication and supply. Blockades may be used to prevent shipping from reaching enemy ports, or they may serve purposes of coercion. The term is rarely applied to land sieges. During the Napoleonic wars, both France and Great Britain attempted to control neutral commerce through blockades and embargoes which neither could enforce with sufficient rigor. The Declaration of Paris (see Paris, Declaration of) proclaimed (1856) that blockades were henceforth to be announced to all affected parties and would be legal only if effectively enforced against all neutrals. In both World Wars blockades were made more effective by the employment, in addition to naval vessels, of mines and aircraft. North Vietnamese ports were mined and blockaded by the United States during later stages of the Vietnam War. Blockades have also occasionally been employed in times of peace as threats to implement diplomacy, as in the blockade of Cuba by the United States in 1962.
The Columbia Electronic Encyclopedia, 6th ed. Copyright © 2012, Columbia University Press. All rights reserved.
More on blockade from Fact Monster:
See more Encyclopedia articles on: Naval and Nautical Affairs


Title: The ARK Report: The Ark of the Covenant and the Tunnels of Israel, Author: Esther Cameron
Title: Making Sense of Change Management: A Complete Guide to the Models, Tools and Techniques of Organizational Change / Edition 5, Author: Esther Cameron
Title: Western Art and Jewish Presence in the Work of Paul Celan: Roots and Ramifications of the
Title: Facilitation Made Easy: Practical Tips to Improve Meetings and Workshops, Author: Esther Cameron
Title: Essential Leadership: Develop Your Leadership Qualities Through Theory and Practice / Edition 1, Author: Esther Cameron
Buy One, Get One 50% Off Books!
*While supplies last!
Title: Sheaths and Scabbards in England Ad400-1000, Author: Esther Cameron


Compressed Natural Gas (CNG) Engines
New gas and dual fuel engine developments for significant carbon dioxide reduction are focused on using compressed natural gas (CNG).
Especially direct injection of gas can deliver more torque at low rpm and offers high driving enjoyment.
The mixture formation of gas with fresh air is distinctively different compared to liquid fuels due to the mixture formation. Knowledge about high time-resolved air-fuel-ratio evolution within each cycle is necessary for optimizing gas engine parameters.
 - high efficient gas engines
 - dual fuel Diesel engines
LaVision provides measurement systems for
Variation of crank angle resolved air/fuel equivalence ratio %lambda% in gas engine recorded with ICOS-CNG.
Related Products


AGA Heritage
History of a
Design Classic
For over a century, AGA has built a reputation for iconic design, uncompromising quality and award-winning innovation. But what makes us proudest of all is how AGA is cherished as part of a family life the world over. To full understand why AGA products inspire so much affection, take a look back at our beginning. We draw on a long history, stretching back over 200 years starting at our Royal Leamington Spa factory.
The AGA Story
In 1803 John Flavel moved his operation to Leamington Spa. Generations of the Flavel family would become civic leaders in the town, while the factory itself became a major local employer. Then in 1833 the mighty Eagle Foundry was built. The new foundry enabled John's son, William, to expand and develop his epoch-making 1830 invention, the Kitchener range cooker.
Manufactured in cast iron and heated by solid fuel, the Kitchener could be used to boil, roast, bake, and warm - all from the same heat source. It was hailed as one of the greatest domestic institutions of the 19th Century.
Following the First World War, developments in gas and electricity paved the way for the next generation of range cookers, particularly AGA as we know it today.
Is Born
In 1922, Nobel Prize-winning physicist Dr. Gustaf Dalen invented the AGA. Confined to his home after an experiment cost him his sight, Dalen became aware of his wife's constant tending to the stove. He was determined to create an easier, more efficient cooking appliance guaranteed to create consistent results and capable of every culinary technique. And he did. The AGA range cooker was born.
Much of the historic cast iron technology from Kitchener was adopted by AGA as the sister company, passing to Alistar Darby's foundry at Coalbrookdale.
As Europe was gripped by war, an AGA cooker became a life-saver for many families. The British government placed orders for AGA cookers for canteens in munitions works, communal feeding centers and hospitals. Demand increased so dramatically that the waiting period rose to a staggering 27 weeks. A second manufacturing plant was opened in Shropshire. The Shropshire foundry In 1947, the majority of manufacturing moved to the landmark Coalbrookdale foundry in Shropshire. This little village in the Ironbridge Gorge was a very fitting home for AGA. It was here in 1709 that Abraham Darby first smelted iron with coke, a move that was to kick-start the Industrial Revolution.
Today, every AGA cooker is still manufactured by hand by skilled craftsmen. Molten iron is poured into casting moulds before every AGA cooker is given multiple coats of vitreous enamel. The process, which takes place over a period of three days, is a world away from the process used by most modern cooker manufacturers – a quick spray paint. Finally, every AGA component is individually inspected and color-checked. It is such craftsmanship that helps ensure the life on AGA cooker is measured in decades not years.
The decade started in style with AGA's 50th anniversary celebration. A lavish birthday party was thrown at the Royal Garden Hotel in London and was attended by advertising guru and lifetime AGA supporter David Ogilvy. The company continued to flourish, and its status as something of a national institution was recognized when Prime Minister Margaret Thatcher visited the Coalbrookdale foundry in 1981.


We love Thai food! Then again, who doesn't?
But much like Chinese food, there are serious differences between real Thai food, and the Thai food served in the West. The names are similar, but Western Thai food has been toned down and adjusted to Western palates. As a result, real Thai food can be a bit of a shock to first-time travelers to Thailand.
If you're planning a delicious lunch or dinner on a nice Thai restaurant, here are a few reality checks that might help you cope with the difference–and dig right into one of the most delicious cuisines on the planet!
Myth 1: All Thai food is great for vegetarians.
Fact: Some Thai dishes contain small amounts of meat.
This is one of the most persistent and erroneous ideas that the West has about Thai food. You might think going to Thailand is a perfect opportunity to go vegetarian, but you should think thoroughly before doing it.
The notion that most Thai food are vegetarian-friendly probably arises from its delicious vegetable dishes, and the fact that Thailand is a majority Buddhist country. It's true that most monks eat vegetarian diets, but in Thai Buddhism there is no proscription against laypeople eating meat. Animal ingredients are everywhere, from soup stock to fish sauce. Most dishes are prepared with a small portion of meat, with pork being the most common.
Good news is, the quantities of meat in Thai food are much smaller than your typical Western meal. The meat feels more like a flavor additive than a main ingredient. And of course, there also a LOT of Thai dishes that does not contain meet – which vegetarians can enjoy!
Myth 2: Thai food is really spicy.
Fact: It depends.
It's very rare that a dish in Thailand will melt your face right off. Thais use reasonable amounts of chili when cooking, and chili in various forms like powder, in vinegar, in fish sauce, or even fresh – is available as a condiment for you to spice things up just the way you want it. When preparing dishes that are notorious for being spicy–like som tam, or papaya salad. Thais themselves have variable tastes, which is why you won't find anything that's horrendously hot right off the wok.
If you want it hot, just say how you want it done. You'll probably have to defend your love of spicy food even then.
Myth 3: You eat Thai food with chopsticks.
Fact: Thais eat noodles with chopsticks, and everything else with spoon and fork.
Don't be offended if you sit down at a restaurant and are given a spoon and fork; that's actually what the Thais use themselves. Thais have been using utensils since the end of the nineteenth century, and prior to that, they did like in India and ate with their right hand. Sticky rice dishes is still eaten with the right hand, but that's about it.
To eat like the Thais, simply hold the spoon in your dominant hand and the fork in the other. Use the fork to push food unto the spoon, and eat with the spoon. Never stick anything with the fork, or use it to put food in your mouth: that's considered improper.
Thais use chopsticks only for noodle dishes, and they're considered a foreign utensil. Pad thai, even though it's a noodle dish, is considered enough of a Thai dish that it's eaten with a spoon and fork.
Myth 4: Thai street food is not safe.
Fact: Thai street food is among the safest in the world!
If you are traveling to Thailand, you need to throw away the stereotype that Thai street food is not safe. Because in fact, street food is a way of life in Thailand. There's nothing quite so Thai as to sit down on the curb and enjoy the hustle and bustle of a busy street stall.
What's more, Thai street food is among the safest and tastiest in the world. Vendors in general are very cautious with hygiene. You can tell that a given stall is trustworthy if you see many Thais eat there; chances are they are regulars, and they wouldn't come back if it made them sick.
For more info on eating Thai food, check out our latest blogs!
Do you agree or disagree with these? Do you have questions or comments about Thai food? Let us know!
If you're craving for some Thai dish, come and see what we have here in Yummy Thai Irving! You'll surely be delighted in our wide range of Thai dishes. Aroi mak mak!


text:
English 8 students finished chapter 4 in Nightjohn. We began a quiz that we'll finish up tomorrow.
English I Honors students finished up "Because You Asked About the Line Between Prose and Poetry" as our introduction to poetry.
Students should now have some idea of how we'll be looking at these poems through the rest of the unit.
- English 8 Studies: none.
- English I Honors:
- finish determining the part of speech of each word of the rest of the poem;
- finish your assessments by tomorrow;
- continue working on the final short story project;
- continue working on the extra credit opportunity as necessary.


What is the National Animal of Ireland?
The mountain hare, the national mammal of the country of the Ireland.
A national animal, just like any other state symbol, must have symbolic meaning in order to represent a country. To this Ireland is no exception. However, because the country was not partitioned until 1922 many national symbols represent the period of Ireland before the division.
The National Bird
In the year 1990, the Irish Wildlife conservancy declared the northern lapwing bird as the national bird of the Republic of Ireland, while the Eurasian oystercatcher acts as the national bird for Northern Ireland. This decision was made in 1961 albeit unofficially. Several birds have been put forward as suitable candidates for the national bird position. These birds have included species such as the peregrine falcon, Eurasian curlew, Bohemian waxwing, common swift, and northern pintail.
The national fish of Ireland is the Nothern pike. Fresh water fish have been described as Ireland's national fish. They are also called coarse fish. This category includes the likes of bream perch and carp.
Dog Breed
The national dog breed for the Republic of Ireland is the Irish Wolfhound though some people contest the idea, proposing the Kerry Blue Terrier as the substitute.
The national land animal is not very clear although the Irish Hare has been treated as the national animal. It can be noted that the hare was not the original idea for a national animal. Initially the Irish elk is what was defined as the national animal, an iconic mammal that was found in the whole of Northern Europe. Since this mammal no longer exists, the next possible contender for the spot was the red deer. This was not well received as its origin was also not very clear. Some people still consider the red deer as the national animal. It has faced extinction as its population reduced to such a point that a conservation project was created just to protect the species.
The mountain hare was agreed on as the national animal. This animal is unique to Ireland and not found in any other place. Despite their position of importance this sub species is sadly on a slow decline. The number of mountain hares has been reducing gradually to the concern of many in Ireland who love the animal. According to a survey that was carried out in farms around mountainous areas, the animal might need to be protected from consumption.
More in Society


text:
Details: The see-through design of this special training handcuff allows you to view what is really happening when a handcuff is being locked, unlocked, double-locked, etc. It is a fully functional handcuff that lets the student see and understand the inner mechanical workings of a handcuff. Both the strengths and weaknesses inherent in all handcuffs become apparent. Also a useful tool for learning unconventional handcuff opening methods, such as the shim pick. Includes standard handcuff key.
- See-through design allows understanding of how the handcuff locking mechanism works
- Fully functional handcuff with clear top
- Useful tool for learning unconventional handcuff opening methods
Publisher: Shomer Tec
Package Dimensions: 3.9 x 3.0 x 0.6 inches


text:
The perfect sunbeam weather occurs on humid, hazy, summer mornings that follow an evening or nighttime of showers or thunderstorms. The air is filled with fog and haze particles which makes sunlight visible by diffraction, reflection, and scattering of the light. Shadows from trees or clouds provide the contrast needed to highlight the individual rays of light.
Sunbeams are really crepuscular rays that can occur any time of year. They originate from clouds, trees, buildings, or even windows. On the morning of June 17, the crepuscular rays shining through the trees near Oakton, Virginia were particularly vivid and well-defined. Thunderstorms occurred the previous evening which was followed by light ground fog in the morning that set the stage for the light show.
Read below for more photos of the sunbeams from June 17.


text:
- 1. Roles
- 2. Accessing Messaging Application
- 3. User Administration
- 4. Tenant Administration
- 5. Trading Partner Administration
- 6. Channel Administration
- 7. Rules Administration
- 8. Services
- 8.1. Custom Services
- 8.2. Splitter Services
- 8.3. Meatadata extractor
- 8.4. Parser
- 9. Transactions/Mailbox messages
- Back to Learning Center
Create Channel (Connection)
Creating a Channel (connection) in messaging application.
Who can perform this function?
- Messaging Administrator – Can create channel for any Trading Partner
- Tenant Administrator – Can create channel for Trading Partner owned by their Tenant (Solution).
- Log into Messaging application.
- Verify that the Profile displayed in the top left corner of the screen is that which you wish to modify. (If it is not, select the appropriate profile from the Profile drop down menu).
- Click on Channel Tab and select Create channel sub menu option.
- Select manner of connection and click Continue.
- Select Channel Type and click on Continue.
- Enter required fields marked red.
- Click on Continue.
- Review selections and click on Submit Query.
Channel is successfully created.


text:
In a Nutshell: Just like other businesses, banks need extra cash on occasion. But a bank that takes out a loan can be perceived as being a weak institution, so banks generally try to conduct their borrowing activities behind the scenes. A recent paper, "The Quality of Banks at Stigmatized Lending Facilities," by Federal Reserve Board economist Sriya Anbil and Claremont McKenna College Economics Professor, Angela Vossmeyer, Ph.D., explores how an emergency lending facility that is not confidential can attract a different caliber of bank asking to borrow money. The researchers looked at two emergency lending facilities during the Great Depression — one that remained confidential and one that was exposed. Anbil and Vossmeyer's research concluded that an exposed emergency lending facility can impact the quality of banks that approach them.
Let's talk about bank loans. But not the kind you're probably thinking about. Let's talk about loans that banks get from other lending facilities.
The topic isn't something the average consumer likely thinks about very often. But, just like any other business, banks need an infusion of funds from time to time whether it's to meet the daily reserve requirement or to cover other unexpected expenses.
At the same time, banks can be (understandably) a little touchy about having to borrow money. The issue is more complex, but on the surface, the immediate question from consumers and other businesses may be "Who wants to do business with a financial institution that can't handle its own finances?"
It's like going to a department store to buy a shirt, but you discover the store is out of shirts. But the sales clerk runs to the store next door, borrows a shirt, then sells it to you. You probably wouldn't leave the store with a great impression of the business and probably wouldn't shop there again.
Similarly, banks try to avoid having such a stigma attached to them.
A recent academic paper explores this behind-the-scenes world of banks that take out loans from emergency lending facilities, and how the quality of the bank can be deduced by which lending facilities they turn to.
"The Quality of Banks at Stigmatized Lending Facilities" was written by Federal Reserve Board economist Sriya Anbil and Claremont McKenna College Economics Professor Angela Vossmeyer, Ph.D. We recently spoke with Vossmeyer about this impactful corner of the finance world.
Exploring the Stigma Associated with Lending Facilities
Banks generally take out loans behind the scenes in one of a variety of ways.
A bank's daily reserve requirement is the amount of liquid funds it must have on hand at the end of each day. When the bank does not meet the requirement, it may take out an overnight loan from another bank, or it may borrow funds from the Federal Reserve Discount Window.
The interest rate at the discount window is slightly higher than the rate from other banks. The Federal Reserve sets the rate higher because it would rather banks borrow from one another. Therefore, if a bank must borrow from the discount window, it may be seen as a weaker bank because it can't get a loan from a peer institution.
Because of this, some view the discount window as a stigmatized lending facility. Banks also use other emergency lending facilities, but again, once the facilities have been revealed they can have a stigma attached to them, which may make them less than ideal for banks with good reputations.
"Coming into this paper, I had written previous papers on one of the facilities — the Reconstruction Finance Corporation — and came up with some econometric models about how banks choose to go to a facility," Vossmeyer said. "And then, on the other end, how the central bank decides which banks are the best to bail out in a crisis."
This means that, when a financial crisis arises, the Federal Reserve may be able to assist some banks to keep them afloat. But in evaluating which banks are worthy of bailing out, it may consider how often a bank has needed to borrow from an emergency lending facility.
Vossmeyer said she and Anbil were discussing the topic after they met at a conference and realized that, even as economic experts, they still had a lot of questions surrounding the issue of banks, stigma, and emergency lending facilities.
"We really didn't know the answers to some really basic questions," Vossmeyer said. "We didn't know exactly how banks choose which facility to go to, or even just how many banks would go to all facilities. Why wouldn't you, if you needed help? Why wouldn't you go to them all? So, we said, 'Let's dig into this.'"
During the Great Depression, Some Banks Were Hesitant to Approach Stigmatized Lending Facilities
"With this paper, we basically wanted to know if and how that pool would change if the facility suffered from the stigma problem where banks feel reluctant to ask for assistance because it might be taken as a sign of financial weakness," Vossmeyer said.
In the paper, Anbil and Vossmeyer noted they were not able to study the recent financial crisis because the current standing facility, the discount window, was arguably already stigmatized when the 2008 crisis began.
Instead, Anbil and Vossmeyer looked back to the Great Depression — specifically, 1932.
"We study the two lending facilities available to banks during the Great Depression — the Reconstruction Finance Corporation (RFC) and the Federal Reserve's Discount Window (DW)," according to the paper. "Upon the RFC's establishment in February 1932, both facilities were confidential and engaging in collateralized lending."
But the authors note differences between the two lending facilities.
"First, the DW's interest rate of 3.5% was 1-1.5 percentage points lower than the RFC's; second, the RFC was both willing to accept worse collateral and more flexible in making its decisions," Anbil and Vossmeyer wrote.
In the first half of 1932, banks approached both facilities nearly equally, but they used their best collateral for a better rate at the discount window and their inferior collateral at the RFC.
"However, an unexpected event occurred on August 22, 1932, that changed the cost of approaching the RFC," according to the paper. "A partial list of bank names that had received RFC assistance was leaked and published in the New York Times, stigmatizing the RFC."
Through their research, Anbil and Vossmeyer were able to determine that after the leak, 44 banks approached the RFC, while twice as many approached the non-stigmatized discount window.
Conclusions Reveal That Stigma Can Impact the Caliber of Bank Clients
"So, what we're finding is that, once the second facility is no longer confidential, the type of bank that's approaching — and essentially how that bank is using the emergency assistance — is different from the original pool of banks," Vossmeyer said.
She said the banks that continue to go to the stigmatized facility are either unable or unwilling to maintain liquidity buffers, which means keeping a stock of safe assets on the balance sheet.
Vossmeyer noted it's not really possible to distinguish between the banks that were unable to maintain the buffer from the banks that were unwilling to do so. But, rather than buying safe assets, the unwilling category comprises banks that are taking assistance and generally operating at a level of much higher risk.
"It's very possible that that latter scenario is driving a lot of this because when we look at these banks, and we follow them over time, the confidential facility continues to have these very high levels of participation," she said.
Essentially, the facility that remained confidential continued to attract a pool of highand low-caliber banks at a normal rate, while the stigmatized facility saw lower participation numbers. And the banks that did approach the RFC could generally be perceived as being of lower quality because of their inability or unwillingness to maintain liquidity buffers.
"In this paper, we find that the quality of banks that approached a stigmatized facility is very different from that of banks that approached a facility that maintained confidentiality," according to the paper's conclusion. "Once stigma was introduced at the RFC, stronger banks reduced their participation while weaker banks continued borrowing. These weaker banks maintained smaller liquidity buffers, signaling to the regulator that they might require closer monitoring."
Anbil and Vossmeyer wrote that the paper's findings have implications for how emergency lenders should be designed in some cases.
"If the goal of a facility is to mitigate banking panics, our results suggest that a confidential lending facility will attract both stronger and weaker banks, allowing the lender to inject much of the banking sector with liquidity," according to the paper.
But, recent policy changes mandate that the Federal Reserve must release the names of borrowing banks, which means the standing facilities may always be stigmatized.
"Therefore, our results suggest that a stigmatized lending facility may help examiners identify weaker banks that require closer monitoring," wrote Anbil and Vossmeyer.


text:
The Stripping Of The Altars
This profoundly influential book re-examines events leading up to the Reformation in England and illuminates our understanding of the period. A prize-winning account, it recreates lay people's experience of the religion of the pre-Reformation church showing that late-medieval Catholicism was neither decadent nor decayed, but was a strong and vigorous tradition, and that the Reformation represented a violent rupture from a popular and theologically respectable religious system. For this edition, Duffy has written a substantial new introduction, including a discussion of the Lollards and reflecting on recent developments in Reformation studies.
Eamon Duffy is Professor of the History of Christianity at the University of Cambridge and President of Magdalene College. He is the author of Saints and Sinners: A History of the Popes and The Voices of Morebath: Reformation and Rebellion in an English Village, both available in paperback from Yale University Press.


When the drain is blocked, water is no longer fed into the suction line, causing the low pressure point or "vacuum" at the pump impeller to lengthen until it reaches the drain and holds down whatever is causing the blockage. Upon detecting a rise in vacuum, SVRS's and automatic pump shut-offs disable the pump by allowing air to enter the line or turning off the power, thereby equalizing pressure at the drain and releasing the entrapment victim.


text:
Education and Community
> WHAT IS_? OLD
WHAT IS_? Programme
WHAT IS_? is an information programme comprising talks, information booklets and web resources. The purpose of this programme is to introduce key concepts and themes in contemporary art to the general public. Series 1 comprises seven topics supported by a talk, booklet and resource material available to download
An additional series focusing on the 'Materials & Methodologies' of modern and contemporary art is being developed to complement Series 1 and to provide supplementary information to IMMA's collections and exhibitions programmes. What is Photography? is the first in this series of 'Materials and Methodologies'.
What is_ New?
What is Drawing?
Brian Fay, artist and lecturer in DIT, will give a talk about Drawing on Saturday 2 February 2013.
IMMA at Earlsfort Terrace.
Click here to book and for more information
Please click on the link to download the booklet
What is Drawing? (Adobe Acrobat Reader 6.0 pdf - 807KB)
Previous talks in the series and booklets to download
To download the booklets from the talks series please click on the following links:
What is Modern Art and What is Contemporary Art? November 2009
Francis Halsall and Declan Long, Department of Visual Culture, National College of Art and Design.
What is Modern and Contemporary Art? (Adobe Acrobat Reader 6.0 pdf - 455KB)
Please note new booklet will be available to download next week.
What is Conceptual Art? November 2009
Mick Wilson, Dean of the Graduate School of Creative Arts and Media (GradCAM)
What is Conceptual Art? (Adobe Acrobat Reader 6.0 pdf - 483KB)
What is New Media Art? January 2010
Maeve Connolly, Department of Film and Media, Dun Laoghaire Institute of Art, Design and Technology.
What is New Media Art? (Adobe Acrobat Reader 6.0 pdf - 440KB)
What is Participatory and Relational Art? April 2010
Brian Hand, artist, writer and lecturer
What is Participatroy and Relational Art (Adobe Acrobat Reader 7.0 pdf - 463KB)
What is Installation Art? June 2010
Niamh Ann Kelly, lecturer, Dublin Institute of Technology.
What is Installation Art? (Adobe Acrobat Reader 6.0 pdf - 401KB)
What is Public Art? December 2010
Clíodhna Shaffrey, curator and writer.
What is Public Art? (Adobe Acrobat Reader 6.0 pdf - 584KB)
What is Performance Art? Saturday 1 October 2011
Amanda Coogan, artist and PhD Student, University of Ulster and GradCAM.
What is Performance Art? (Adobe Acrobat Reader 6.0 pdf - 614KB)
What is Modern and Contemporary Art? at the Highlanes Gallery, Drogheda
In association with the Irish Museum of Modern Art, the Highlanes Gallery hosted a talk by Francis Halsall and Declan Long on modern and contemporary art on Saturday 29 January 2011 at 12:00noon.
Materials and Methodologies
What is Photography? Saturday 23 July 2011
Fiona Loughnane, art historian and lecturer
What is Photography? (Adobe Acrobat Reader 9.3pdf - 677KB)
Glossary of Art Terms
The following are a select number of terms relating to the subjects of Modern and Contemporary Art. This glossary is not comprehensive or exhaustive and is intended to be informative rather than definitive.
Glossary (Word doc 2003 - 90.5KB)
For further information, please contact Lisa Moran, Curator: Education and Community Programmes, Tel: 01-_PHONE_, Email _EMAIL_ or Sophie Byrne, Assistant Curator: Talks and Lectures Programme, Tel: 01-_PHONE_, Email: _EMAIL_


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by Torreele E, Bourdin Trunz B, Tweats D, Kaiser M, Brun R, Mazué G, Bray M A, Pécoul B. PLoS Negl Trop Dis, December 2010, 4(12). e923.
Summary: Human African trypanosomiasis (HAT) is a fatal parasitic disease caused by trypanosomes. Current treatment options for HAT are scarce, toxic, no longer effective, or very difficult to administer, in particular for the advanced, fatal stage of the disease (stage 2, chronic HAT). Here it is shown that fexinidazole, a 2-substituted 5-nitroimidazole rediscovered by the Drugs for Neglected Diseases initiative (DNDi) after extensive compound mining efforts, could be a short-course, safe and effective oral treatment for both acute and chronic HAT and that could be implemented at the primary health care level.


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Phytic acid (known as inositol hexakisphosphate (IP6), or phytate when in salt form) is the principal storage form of phosphorus in many plant tissues, especially bran and seeds. Phytate is not digestable to humans or non-ruminant animals, however, so it is not a source of either inositol or phosphate if eaten directly. Morever, it chelates and thus makes unabsorbable certain important minor minerals such as zinc and iron, and to a lesser extent, also macro minerals such as calcium and magnesium.
According to the American Cancer Society, scientists have found IP-6 can sometimes slow the growth of tumor cells in petri dishes. There is also evidence to suggest it may help prevent tumors from forming in specific organs in lab animals. At present, however, researchers do not know if it exhibits similar effects in humans. Moreover, high levels of dietary phytate can potentially bind and lock up certain minerals like calcium and zinc, preventing the body from absorbing them. It is recommended that if IP6 is taken as a supplement is should not be water and no food on an empty stomach since metals chelated in the stomach.


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text:
Data format: Shapefile
File or table name: LocCode_Public
Coordinate system: Geographic
Theme keywords: LocCodes, Codes, Public, Location, Boundary, Boundaries, Tax, Sales, Use District
Abstract: An intersection of Washington State counties, Incorporated cities, Regional Transportation Authority, Public Transportation Authority and Community Empowerment Zone boundaries depicting sales and use tax location code areas as polygons. Participating boundary datasets are updated quarterly as annexation and boundary change notices are received. This dataset is created as part of geoprocessing to generate quarterly updates. Dataset intended use is to determine applicable sales and use tax location code by location.
Metadata elements shown with blue text are defined in the Federal Geographic Data Committee's (FGDC) Content Standard for Digital Geospatial Metadata (CSDGM). Elements shown with green text are defined in the ESRI Profile of the CSDGM. Elements shown with a green asterisk (*) will be automatically updated by ArcCatalog. ArcCatalog adds hints indicating which FGDC elements are mandatory; these are shown with gray text.


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The profound lack of sustainable systems on our planet is of great concern to environmentalists, some of who are educators and some of who are permaculturists.
Many of the problems facing Earth and its inhabitants are caused by a lack of ecological literacy among much of the human population. Ecological literacy includes an understanding of the scientific principles of ecology, including the recognition of limits and possibilities. It also includes an attitude of care toward the environment and a commitment to act. Finally, it requires the ability to recognize interconnectedness; what some people call systems thinking.
Unfortunately, ecological literacy is not nurtured in most schools. At the same time, many science courses are taught in ways that turn too many students off to science.
Students complain that science is too hard, boring, and has no relevance to their lives. These complaints go hand in hand with a worldwide trend in science classes where students drop science after taking required courses. This trend concerns the scientific community. But it should also concern the environmental community because scientific literacy is a prerequisite for ecological literacy, especially regarding concepts such as carrying capacity, dynamic equilibrium, nutrient cycling, and the Laws of Thermodynamics.
Science teachers have a high degree of scientific literacy. However they don't always have a high degree of ecological literacy. Evidence suggests that many science teachers are teaching in ways that don't engage all students.
Considering all this, there's an opportunity to explore new ways to teach and learn science that could potentially engage more students in science while also developing their ecological literacy.
Those who identify themselves as Permaculturists are generally very ecological literate.
Most are individuals who apply their scientific knowledge to growing food sustainably and building energy-efficient dwellings. They're individuals who care about the health of the planet and act accordingly. And they tend to exhibit good systems thinking skills when looking at everything from the global economy to a worm farm.
Permaculturists are often people who connect the dots and ascribe to the precautionary principle. They're also eager to share ideas and enthusiasm with others.
Practicing permaculturists – those that have applied permaculture design to their homes and properties – can be called citizen scientists. They use both their understanding of scientific concepts and scientific thinking to do things such as growing food without the use of chemicals or high inputs of fossil fuel.
At times these citizen scientists conduct their own research, which can be as simple as applying a compost tea as a foliar feed to one of two plants in a garden bed and watching what happens. This is science in action. It's local, hands-on, relevant and solution oriented; many of the characteristics that the international literature on science education promote.
There are high school science classrooms all over the world.
There are also – after nearly 40 years as a movement – permaculture practitioners all over the world. Science teachers are professionals at teaching science, but they may not know very much about sustainability or ecological design. Permaculturists know a lot about sustainability and ecological design but are not professional educators.
On the surface, this may appear to be a perfect complimentary relationship, but it's not as easy as that. Common ground must be identified and a common purpose must be agreed. I submit that they are one and the same: improving students' science learning and their attitudes toward learning science in school.
While the science teacher's benefit from this complimentary relationship ought to be clear from a utilitarian perspective, the Permaculturists' benefit may be more ethically based. In other words, as a system of science and ethics, Permaculture asks of its practitioners to care for the Earth, care for people and share excess resources. For many Permaculturists, knowledge and enthusiasm are resources they hold in abundance, which they are ethically bound to share. Additionally, many Permaculturists recognize the need to invest their efforts in helping move their communities toward sustainability, not just their personal properties. Schools are a natural component of any community for Permaculturists to engage in such efforts.
Talking the walk
After establishing common ground and purpose, a common language is essential for a partnership between science teachers and Permaculturalists to succeed. That language should be easily accessible to the science teacher, a language that may not even include the word Permaculture, except in its identification as one of any number of approaches to ecological design.
In order to get the most possible science teachers on board, Permaculturists should learn to communicate in terms of science vocabulary, science skills and student learning.
Biology, chemistry and physics can all be explored through a Permaculture lens and in a Permaculture context.
Any Permaculture property can provide rich learning experiences outside of the classroom if designed and managed properly. The important thing is not to try to teach Permaculture! The key is to teach science, but in a Permaculture way. This requires considering student learning as a design challenge and applying the principles of Permaculture to it.
Like any Permaculture design, it should start with a sector analysis of the available resources and energy flows for a given science class. These would include the teacher's knowledge base and energy level, but also factors such as the school's educational philosophy, the national curriculum, the location of the school, the availability of funding or transportation, effective communication, and access to resources designed to help Permaculturists work with science teachers.
Only after a sector analysis for student learning has been completed can a high quality, local, hands on, relevant, solution oriented science learning experience be designed and delivered.
This is part of what I've been researching for the last three years in pursuit of finding effective ways to integrate environmental education into secondary schools and improve students' scientific and ecological literacy. I'll be presenting preliminary results at the New Zealand Association for Environmental Education conference in January, 2012, and at pre-conference workshops of the Australasian Permaculture Convergence in April, 2012. Both events are in the Central North Island region of New Zealand.
–Nelson Lebo III, Transition Voice


Scots, of which a descendent of one who essentially saved the Imperial Russian Army to fight another day at Borodino despite insultingly called a "German", and a Georgian who gave his life for the Empire.--mrg3105 (comms) ♠♣ 23:04, 4 April 2008 (UTC)
Let's not try to determine "logical" usage, just actual such! If I went to the bookshop and had a look at a book on Russian history, or attended a War Studies conference, etc, would I be more likely to see the term "Russian Imperial Guard", "Imperial Russian Guard", or something else? (For example, if the most common usage were just "Imperial Guard", the logical title would be "Imperial Guard (Russia)", though that's even further from the form mrg3105 favours.) Alai (talk) 01:13, 5 April 2008 (UTC)
I guess it depends on who was speaking ;o)
In my own library the "opinion" is almost evenly divided although at least half of it is from pre-1970s days, and therefore in my opinion not that reliable. I note that Boris Mollo, John Mollo do have a book on Uniforms of the Imperial Russian Army, and Bruce W. Menning makes the point in the title Bayonets Before Bullets: The Imperial Russian Army, _PHONE_. I also had a look in Google books, and found that Pertti Luntinen (a Finn) also uses The Imperial Russian Army and Navy in Finland, _PHONE_, no doubt because of Mannerheim where in absence of the article the link is given as Imperial Russian army. Albert Seaton who had written several books on the Russian Armies in the late 60s and 70s uses Imperial Russian Army also. Then there is the volume I do not have, M. Lyons' The Russian Imperial Army;: A bibliography of regimental histories and related works from the Hoover Institution bibliographical series published in the 1960s. Roger Reese wrote his The Russian Imperial Army _PHONE_ (The International Library of Essays on Military History), but N. T. Iziumchenko, Peter Brock, and John L. H. Keep wrote Life in a Penal Battalion of the Imperial Russian Army: The Tolstoyan N. T. Iziumchenko's Story both of which are currently in print. However a commonly accepted authority on the Russian Army, George F Nafziger (also a publisher), has the The Imperial Russian Army, _PHONE_, though its earliest version which I also have is simply called The Russian Army, _PHONE_. I would go with George though, and I don;t think you will find many military historians who will disagree because many use George as a source of reference! --mrg3105 (comms) ♠♣ 06:29, 5 April 2008 (UTC)
I'm not going to presume to try and pick and choose between your many sources there, but hopefully it's lots of food for thoughts for editors more familiar with milhisty things. Many thanks. Bear in mind that that it's Imperial Russian/Russian Guard that's at issue, not the Army as a whole, so the most specific sources on that would be preferable (though the pattern of usage is pretty likely to be similar, one would have thought). Alai (talk) 14:12, 5 April 2008 (UTC)


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What is urine therapy?
The basic definition of "urine therapy" is using (your own) urine internally or externally as a way to aid or sustain your heath. Urine therapy, which includes drinking, injecting, massaging with-, and/or bathing inurine, is an ancient practice that is used today, not only in times of sickness, but also in times of good health for preventive health maintenance. It has been claimed to have proven helpful in a great number of varying illnesses, ranging from a simple cold and a throat-ache, to tuberculosis and asthma, from minor skin problems such as itching to major skin problems such as eczema, psoriasis and even skin cancer. But you probably ask, "How can your own urine benefit your health? Besides, isn't it toxic?"
Urine as a lifesaver
During the NBC Nightly News on October 16, 1992, Tom Brokaw reported that, "In Egypt, rescue workers found a 37-year old man alive in earthquake rubble. He survived almost 82 hours by drinking his own urine. His wife, daughter and mother would not and they died". We've all heard stories of individuals who have either lived or died by being trapped in places without food or water for days. In those stories, the survivors were always the ones that drank their own urine. The ones that died probably could not overcome the misguided thoughts that urine is an unhealthy waste product of the body. But it's not; urine is simply a substance that the body does not need at the time, and a substance that the body secretes. And sometimes, it's a lifesaver.
What's in urine?
Urine, 95% of which is water, 2.5% of which is urea, and 2.5% of which is a mixture of minerals, salts, hormones, and enzymes, is not a toxic waste product. Urine is a blood byproduct and though it contains some body waste, it is non-toxic.
What happens when you consume your own urine?
The small amount of toxins that are found in urine are not abundant enough to be toxic to the body. When you drink your own urine, it does not go directly to the blood stream. First it goes into the digestive system where its ingredients are sorted out. Then, the useful ingredients are recycled while the toxins are rejected. When the level of toxins becomes too high, the toxins stimulate the intestines into flushing themselves out to eliminate any stagnated excrements accumulated in the colon. Although we could probably filter out the toxins before drinking the urine, the toxins are needed because they stimulate a cleansing reaction in the body. Urine, which remember, is a byproduct of our blood, becomes more purified the more it is recycled. Thus, the cleaner the blood is, the cleaner the urine is, and vice-versa. And this is how urine therapy advocates conclude that urine therapy has a cleansing effect on the blood.
A closer look at the details
The toxins of urine are also necessary to vaccinate and protect the body from future illnesses. The main theory behind urine therapy after all, isn't that it straight out cures diseases, but instead, it is geared more towards building immunity to diseases, much like vaccinations. The small amounts of possibly toxic substances which can be found in urine largely seem to have a positive effect on the immune system. An important task of the immune system is to rid the human body of diseased or unusable substances that have developed during the course of an illness, and when these substances reach healthy tissue, the blood becomes stronger, the activity of leukocytes (white blood cells) increases, and the patient probably recovers. This phenomenon is known as auto-inoculation or self-vaccination and can be seen as mother nature's method of healing an illness without external intervention. Urine therapy, therefore, can be seen as a form of self-vaccination: certain bodily substances which have been removed from the body, some of which may have been produced as a result of illness, are re-introduced into the body in small amounts. These substances are re-absorbed into the blood through either the intestines or the skin, and the immune system is then given the chance to react appropriately.
How to use urine therapy?
- Midstream urine should be used, the exception being in a fast where urine is being passed every ten to fifteen minutes. The first flow should always be midstream.
- Urine should be sipped like tea and not drunk like water. This will prevent excessive problems in the form of loose stools and other eliminative processes.
- The first flow of the day is the most important and the best time of the day to drink it is between three and four a.m..
- Drink at least one liter of water per day.
- Pungent and salty food as well as excessive protein should be avoided.
- Urine passed during the night before three a.m. should not be used.
- The quantity used is left up to the individual.
Initial adjustment phase:
- Prepare the mind by making a resolve to at lease attempt the process and examine your reactions, thoughts and feelings.
- When you feel mentally prepared to attempt the actual practice, collect some fresh urine and start by rubbing your hands with it. Feel its texture, smell it, and see whether it can actually clean your skin as well as some people claim. After about five minutes wash it off with cold water and feel the skin to see whether the urine has had an effect. Do not use soap after rubbing.
- The next phase of adjusting the body and mind is to put one drop onto the tongue. Taste and smell play an important part in assessing its nature.
- Eventually you should build up the quantity you take in until you can drink a full glass of midstream urine and feel neutral in body and mind. Then you will be ready to start more advanced curriculums.
What are the claims by urine therapy advocates?
So what does all of this information mean? According to urine therapy supporters, it means that urine is not only non-toxic, but it is also anti-bacterial, anti-fungal, and anti-viral. Supposedly, a renowned heart specialist of Bombay, India, once issued an appeal through a newspaper to members of the city, inviting them to write to him about their experience of urine therapy and especially about any cases of detrimental effects. The man's purpose was to demonstrate that drinking urine is harmful to one's body and ineffective medically. Shortly after, the man received hundreds of letters in response to his appeal; however, not a single letter of those hundreds reported negative effects.
Urine therapy advocates claim that to this day, despite the countless number of experiments performed using urine therapy, not a single case has been recorded finding unfavorable effects. In fact, they say that urine therapy might be a remedy for polio, rabies, and tuberculosis, AIDS, growths and cancers, fatigue, anemia, all sorts of urinary diseases, for weight-loss, colds and flu, candida, diabetes, heart disease, digestive problems, prostate trouble, arthritis, glaucoma, rheumatism, cataract, venereal disease, leukemia, malaria, diphtheria, chickenpox, scarlet fever, rheumatic fever, bronchial asthma, orchitis, bright's disease, jaundice, scurvy, dropsy, burns, rashes, warts, bed-wetting, menstruation trouble, kidney disease, mucus colitis, pyorrhea, gangrene, etc.. In fact, the list of diseases for which urine therapy is said to be effective is around 175 known diseases; an extraordinary amount for any type of medical practice.


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In some motion planning problems, you might not want just any valid path between your start and goal states. You might be interested in the shortest path, or perhaps the path that steers the farthest away from obstacles. In these cases you're looking for an optimal path: a path which satisfies your constraints (connects start and goal states without collisions) and also optimizes some path quality metric. Path length and path clearance are two examples of path quality metrics. Motion planners which attempt to optimize path quality metrics are known as optimizing planners.
In order to perform optimal planning, you need two things:
- A path quality metric, or optimization objective.
- An optimizing motion planner
You can specify a path quality metric using the
ompl::base::OptimizationObjective class. As for the optimizing planner, OMPL currently provides several planners that guarantee asymptotic optimality of returned solutions (see the list of available planners). You can find out more about asymptotic optimality in motion planning by checking out this paper by Karaman and Frazzoli.
CForest parallelization framework
OMPL includes support for the CForest parallelization framework, boosting the convergence of optimal planners. Learn more about CForest.
OMPL comes with several predefined optimization objectives:
- path length
- minimum path clearance
- general state cost integral
- mechanical work
Each of these optimization objectives defines a notion of the cost of a path. In OMPL we define cost as a value accrued over a motion in the robot's configuration space. In geometric planning, a motion is fully defined by a start state and an end state. By default, these objectives attempt to minimize the path cost, but this behavior can be customized. We also assume that the cost of an entire path can be broken down into an accumulation of the costs of the smaller motions that make up the path; the method of accumulation (e.g. summation, multiplication, etc.) can be customized.
OMPL also provides users with the ability to combine objectives for multi-objective optimal planning problems by using the
To maximize computational efficiency, OMPL assumes that the cost of a path can be represented with one
double value. In many problems one value will suffice to fully define the optimization objective, even if we're working with a multi-objective problem. In these cases, the cost of a path can be represented as a weighted sum of the costs of the path under each of the individual objectives which make up the multi-objective.
However, there are problems that cannot be exactly represented with this assumption. For instance, OMPL cannot represent a multi-objective which combines the following two objectives:
- minimizing path length
- maximizing minimum clearance
The reason why these two objectives cannot be combined is because we need more than one value to perform the accumulation of the path cost. We need one value to hold the accumulation of length along the path, and another value to hold the the minimum clearance value encountered so far in the path. Therefore, the multi-objective problems that cannot be represented in OMPL are those where the individual objectives do not share a cost accumulation function. We note that the above objective can be approximated by combining a path length objective with a state cost integral objective where state cost is a function of clearance.
Want to learn more?
Check out these tutorials:
and the optimal planning demo.


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Why: The goal of the event is to commemorate the AU Day of African Sport. This day recognises the role that African sport plays in communities and in people's lives. Sport can cross boundaries, defy stereotypes and inspire hope across nations. The event will bring together adolescents and young people to celebrate the day as well as demonstrate through football activity, the importance of sport/physical activity in their lives. The event will bring together boys and girls to compete in a 7-aside football tournament.
During the tournament, all the COVID-19 guidelines as prescribed by the Government of the Republic of Zambia, through the Ministry of Health will be adhered to.
Objective: This type of community tournament and health event utilizes soccer as a platform to:
- Provide linkage to services and mobilize communities and key stakeholders to challenge social norms that traditionally exclude adolescent girls and young women (AGYW) from sport;
- Mobilise communities around Sexual Reproductive Health and Rights (SRHR) and to provide key services (HIV Testing and STI screening, etc.) in non-clinical settings, such as high-volume soccer tournaments that double as community health events.
- These unique events are used to sensitize community members on SRHR and facilitate access to services in non-traditional, community-based settings, reaching individuals that may not typically seek care at health facilities.