text:
"UN human rights investigators are trained to spot fraudulent submissions" Prince Zeid – How come UNHRC was mum on the 'doctored' forms sent by LTTE-TNA against Sri Lanka?
The new head of the UN Human Rights Council deems fit to insult a democratically elected UN Member country for bringing to the attention of the Human Rights world body the arrest of an unrehabilitated LTTE cadre collecting blank forms with signatures and handing them to a Tamil National Alliance member who hands these over to another party that enters bogus details incriminating the Sri Lankan Armed forces which are therein sent as 'genuine' submissions seeking 'witness protection' and confidentiality and used to declare Sri Lanka as guilty of war crimes and bring in command guilt against a targeted list of people. If UNHRC has investigators trained to spot fraudulent submissions why has the UNHRC not revealed it has been in receipt of such submissions before the arrest? If not for the discovery of blank forms with signatures we would not have known that a very systematic effort has been put in place to fix Sri Lanka with lies? This is the crux of the matter and this gives Sri Lanka every right to question the credibility of the UNHRC for despite having trained investigators to spot fraud the UNHRC Investigators have kept mum intentionally or they do not know how to detect forms signed by one party and details entered by another! The arrest has brought sweet justice to the injustice that would have taken place!
Thus, while UNHRC and the UN Secretary General deem fit to use very undiplomatic and uncouth language in an official statements attacking the Sri Lankan Government released to the international public accusing Sri Lanka what should not be forgotten is that it is the UNHRC and its Investigators that have been put into a very embarrassing situation for they had not disclosed receiving submissions that probably would have been signed by the same person over 100 times and entries done by some party elsewhere who are paid to enter lies to incriminate the Sri Lankan Army and set the pace for an argument that would enable the UN Investigators to charge the leaders for accountability!
That gameplan has now been blown into the open with the arrest and the information that is coming out from that arrest has unearthed the involvement of a plum set of players too – foreign envoys, diplomats, foreign embassies, Tamil lawyers, foreign funded NGOs writing the bogus submissions … a whole can of worms has now come out opening a pandoras box of lies and deceit to which UNHRC has nowhere to bury its head.
Without accepting guilt it is immoral and unethical for the UNHRC to attack the Sri Lankan state as it is now doing in a pre-emptive strategy to water down the embarrassment.
It is a challenge before the UNHRC to deny that they have received repeat signatures in the submissions received so far!
It is a challenge for the UNHRC to deny that they have accepted scores of submissions that were compiled by 3rd parties after signatures only were given.
It is a challenge for the UNHRC to admit whether they contemplated submissions being sent which had signatures by one party and entries made by others and whether they have a mechanism to detect these – if they have the UNHRC is guilty of withholding this information from the public because if not for the arrest Sri Lanka would not have been aware of a scheme being set up to frame charges against Sri Lanka's leaders and the Sri Lankan troops!
In the light of the UNHRC's own guilt and secrecy emerging as a major questionable offence, what right does the UNHRC head have to in a public statement say
This continuing campaign of distortion and disinformation about the investigation, as well as the insidious attempts to prevent possible bona fide witnesses from submitting information to the investigating team, is an affront to the United Nations Human Rights Council, which mandated the investigation".
If there is any continuing campaign of distortion and disinformation – it is done not be Sri Lanka but by all others trying to frame Sri Lanka.
What are the 'insidious attempts to prevent possible bonafide witnesses from submitting information' when it has now emerged that blank forms are being collected with only signatures (that too with repeat signatures) and another party is filling up bogus accounts!
The last part of the UNHRC Head's statement reads thus
The Government of Sri Lanka has point blank refused to cooperate with the investigation despite being explicitly requested by the Human Rights Council to do so." Such a refusal does not, however, undermine the integrity of the investigation set up by the Council—instead it raises concerns about the integrity of the government in question. Why would governments with nothing to hide go to such extraordinary lengths to sabotage an impartial investigation?"
Given that the UNHRC did not disclose that it has been in receipt of fraudulent submissions before the arrest of the LTTE with signatures on blank forms, the Sri Lankan Government has a key argument for refusing to cooperate with the investigation.
However, Sri Lankan Government not taking part certainly does not impede in the UNHRC investigators carrying out a clean and transparent investigation.
It is not the integrity of the Sri Lankan Government that is now put into question it is that of the UNHRC and the entire investigation itself.
It is not Sri Lanka that has something to hide, it is the UNHRC because Sri Lanka hasn't sabotaged the investigation, if at all it is the people giving false submissions who have, while UNHRC is guilty of accepting these false submissions as 'genuine bonafide witness' testimonies.
We know now and the UNHRC is embarrassed to now say so that they have been in receipt of such false submissions – the question is how many has the UNHRC received and how many have they accepted and based on how many false accounts has the final Report been written.
What a windfall for the Sri Lankans who believe in truth and fair play because the arrest of the LTTE, the involvement of the Tamil National Alliance, the foreign envoys, diplomats, foreign NGOs and others involved in this dirty gameplan have all now been exposed from this single arrest that has blown the UNHRC investigation in its face and the embarrassment is irreparable.
http://www.lankaweb.com/news/items/2014/11/14/unhrc-investigates-sri-lanka-what-happens-when-the-other-side-is-caught-collecting-blank-submission-forms-with-signatures/
http://www.onlanka.com/news/unhrc-investigation-on-sri-lanka-an-organized-fraudulent-submission-process-favours-tamils-and-not-sinhalese-or-muslim-victims.html
One Response to ""UN human rights investigators are trained to spot fraudulent submissions" Prince Zeid – How come UNHRC was mum on the 'doctored' forms sent by LTTE-TNA against Sri Lanka?"
It is not that they are not trained to spot fraudulent submissions, but attempting to accept knowingly fraudulent submissions. They know that the previous videos submitted to Darusman were doctored fully well. They also know LTTE are compulsive liars, but tHey support them. That's the truth.
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text:
DROELOE
www.facebook.com/droeloemusic
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www.soundcloud.com/droeloemusic...
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www.droeloe.com
Paul McQueen
droeloe_biography2018.pdf
droeloe_logo.zip
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Dutch producer Vincent Rooijers and visual designer Hein Hamers are DROELOE.
Hailing from The Netherlands, the duo's emphasis on their artistic strengths has seen them weave sonically and visually intricate stories through their music.
Their signature branded skull has quickly become synonymous with progressive music and breathtaking art highlighted by their impeccable percussion-heavy sound infused with the catchiest melodies and stunning use of visuals.
Early 2016 they caught the ear of San Holo , who brought them aboard his bitbird imprint, teaming up for a string of successful single releases. 'Make My Day ' accumulated over half a million SoundCloud streams, but it was follow-up single 'zZz ' which hit #1 on the Hype Machine where the duo really made their mark catching the ears of tastemakers all across the industry.
Since then, the duo has gone on to put together a string of successful official releases - remixes and singles alike. The world quickly took notice following their official remix of 'We Don't Talk Anymore ' by Charlie Puth and Selena Gomez which crossed 18 million Spotify streams and was premiered via Billboard. They followed this with the release of 'Shibuya ' on Elysian , which solidified their position in the bass realm before returning to their bitbird label home where they released 'Wake the Warrior '. A stunning audiovisual piece highlighted by a stunning self-directed music video for the single which showcased the duo's creativity imagined in a hyper realistic visual perspective.
They followed up with Monstercat label debut 'Bon Voyage ' on November 7th which has since accumulated over 1 million streams across all platforms and a feature in the 'Best of Monstercat' - 2016 compilation album once again cementing their growing reputation in the digital world. The release of the single was highlighted by a viral teaser campaign which featured the duo "hacking" into the Monstercat website, publicly defacing the Monstercat artist roster, and leaving encrypted messages within the code. When decoded, the messages revealed several altered previews of the song paired with stunning animations that revealed slightly more about the release with each video.
2017 saw them kick off the new year with another Hype Machine #1 and a Lowly Palace debut with 'In Time '. Once again, the duo showed off their visual prowess and knack for creating engaging visual content by digitally animating the shapes and textures within the single's artwork to bring the song's story to life.
With all of the hype building up, the duo debuted their first ever tour joining San Holo on the road through March across the United States. The experience on the road would prove a boon to both artists with some of the best works in their young careers coming following their travels.
April 2017 saw the duo return to their storytelling style of music with cinematic release 'See Through Me ' that once again topped the Hype Machine charts and quickly became a fan favourite closing in on 800,000 Spotify streams in under two months.
They also took their partnership with long-time mentor San Holo one step further teaming up for 'Lines of the Broken ' their biggest hit to date on bitbird. The single took the bass music world by storm crossing 1 million streams on both SoundCloud and Spotify in under a month. Once again, DROELOE showed off their aptitude for visual content by creating a 80's styled VHS lyric-video documenting their experiences on the road with San Holo.
From there, it's been all hits. The duo's debut EP 'A Moment In Time' was a vibrant work of storytelling art accompanied with five unique cover pieces and a beautiful visual storyboard which speaks to the depth and attention to detail the duo has become so well known for. Musically, the EP delivered as well with two Hype Machine chart toppers and over 10 million streams cross-platform winning critical acclaim from fans and their music industry counterparts alike cementing their place as electronic music's next big thing.
They followed up on that success with 'Kintsugi ', a whirling trap banger that's seen support from some of the biggest names in trap and bass enroute to five million streams before doing an about-face and wrapping up the year collaborating with fellow bitbird prodigy Taska Black and familiar faces CUT_ on 'Running Away ' to show off the duo's versatility and diverse production style.
All of that culminated in the duo's most successful tour run to date as they joined mentor San Holo on the road once again for a four month long tour forty-date tour across four continents culminating in festival appearances at Escape Halloween and Snowglobe Music Festival and marquee venues across the United States.
With 2018 kicking off, DROELOE is ready to dive headfirst into the world of solo touring while continuing to push their creative boundaries as audio and visual artists.

redpajama_set_name: RedPajamaCommonCrawl


text:
\section{Introduction}

In the conventional approaches to distributed multi-agent formation control, the target formation is defined by either inter-neighbor {relative position} or {distance} constraints.
In recent years, there has been a growing research interest in the bearing-based approach where the target formation is constrained by inter-neighbor \emph{bearings}.
The existing works on bearing-based formation control focused mainly on distributed stabilization of \emph{static} target formations using bearing-only \cite{bishop2010SCL,Eren2012IJC,Franchi2012IJRR,Cornejo2013IJRR,zhao2013SCLDistribued,Eric2014ACC,zhao2014TACBearing} or relative position measurements \cite{nima2009TR,bishopconf2011rigid,Antonio2012CDC,zhao2015ECC}.
In this paper we focus on distributed tracking control of \emph{maneuvering} target formations whose centroid and scale track given velocity references while the formation shape is maintained as desired.

In our previous work \cite{zhao2015ECC}, we proposed a linear bearing-based control law to stabilize static target formations in arbitrary dimensions.
When applied to the maneuvering case where the leaders have nonzero constant velocities, the control law proposed in \cite{zhao2015ECC} would result in constant tracking errors.
In order to eliminate the tracking errors, in this paper we adopt a proportional-integral (PI) formation control scheme, which has also been applied to solve the problem of distance-based formation maneuver control \cite{oshri2015ECC,oshri2014IACAS}.
The basic idea of the PI control scheme is to treat the constant leader velocities as an input disturbance and the impact of the disturbance can be eliminated by the integral action.
By following the PI control scheme, the stabilization control law in \cite{zhao2015ECC} can be viewed as a proportional control and an integral term of the proportional control can be added to obtain an effective formation maneuver control law.
In this paper, we show that there must exist at least two leaders and the leaders must collaborate to control the collective motion of the entire formation.

One advantage of the proposed bearing-based formation control law is that it provides a natural solution to formation scale control.
Formation scale control is a practically useful technique.
By adjusting the scale of the formation, the agents are able to dynamically respond to the environments including, for example, avoiding obstacles.
The relative position and distance based approaches have been applied to solve the formation scale control problem \cite{Coogan2012Scale,Park2014IJRNC}.
But since the inter-neighbor relative positions or distances are \emph{not} invariant to the formation scale, the two approaches lead to complicated estimation and control scheme \cite{Coogan2012Scale,Park2014IJRNC}.
As a comparison, the bearing-based approach provides a simple solution to formation scale control due to the invariance of the inter-neighbor bearings to the formation scale.
As shown in this paper, by assigning appropriate velocities to the leaders, the scale of the formation can be adjusted continuously while the formation shape can be maintained as desired.

\section{Notations and Preliminaries}\label{section_preliminary}

In this section, we present the notations and preliminaries to the bearing rigidity theory that will be used throughout the paper.

\subsection{Notations}

For any nonzero vector $x\in\mathbb{R}^d$ ($d\ge2$), define the orthogonal projection operator $P: \mathbb{R}^d\rightarrow\mathbb{R}^{d\times d}$ as
\begin{align*}
    P(x) \triangleq I_d - \frac{x}{\|x\|}\frac{x^T }{\|x\|}.
\end{align*}
For notational simplicity, we denote $P_x \triangleq P(x)$.
Note that $P_x$ is an orthogonal projection matrix that geometrically projects any vector onto the orthogonal compliment of $x$.
It can be easily seen that $P_x$ is positive semi-definite and satisfies $P_x^T =P_x$, $P_x^2=P_x$, and $\mathrm{Null}(P_x)=\mathrm{span}\{x\}$.

Denote $I_n\in\mathbb{R}^{n\times n}$ as the identity matrix, and $\mathbf{1}_n\triangleq[1,\dots,1]^T\in\mathbb{R}^n$.
Let $\mathrm{Null}(\cdot)$ be the null space of a matrix.
Let $\|\cdot\|$ be the Euclidian norm of a vector or the spectral norm of a matrix, and $\otimes$ be the Kronecker product.

\subsection{Preliminaries to Bearing Rigidity Theory}

Bearing rigidity theory provides a fundamental tool for the analysis of bearing-based formation control problems.
The results presented in the following can be found in \cite{zhao2014TACBearing}.

Consider a set of points $\{p_i\}_{i=1}^n$ in $\mathbb{R}^d$ ($n\ge2$ and $d\ge2$) and assume no two points are collocated.
Denote $p=[p_1^T ,\dots, p_n^T]^T \in\mathbb{R}^{dn}$.
Let $\mathcal{G}=(\mathcal{V},\mathcal{E})$ be an undirected graph that consists of a vertex set $\mathcal{V}$ and an edge set $\mathcal{E}\subseteq \mathcal{V} \times \mathcal{V}$.
Let $n=|\mathcal{V}|$ and $m=|\mathcal{E}|$.
The set of neighbors of vertex $i$ is denoted as $\mathcal{N}_i\triangleq\{j \in \mathcal{V}: \ (i,j)\in \mathcal{E}\}$.
A \emph{formation}, denoted as $\mathcal{G}(p)$, is a graph $\mathcal{G}$ with vertex $i$ in the graph mapped to the point $p_i$ for all $i\in\mathcal{V}$.

For a formation $\mathcal{G}(p)$, define the \emph{edge vector} and the \emph{bearing}, respectively, as
\begin{align*}
e_{ij}\triangleq p_j-p_i, \quad g_{ij}\triangleq e_{ij}/\|e_{ij}\|, \quad \forall(i,j)\in\mathcal{E}.
\end{align*}
The bearing $g_{ij}$ is a unit vector.
Note $e_{ij}=-e_{ji}$ and $g_{ij}=-g_{ji}$.
Assign a direction to each edge in $\mathcal{G}$ and express the edge vector and the bearing for the $k$th directed edge in the oriented graph as $e_{k}\triangleq p_j-p_i$, $g_{k}\triangleq {e_{k}}/{\|e_{k}\|}$, $\forall k\in\{1,\dots,m\}$, respectively.
Define the \emph{bearing function} $F_B: \mathbb{R}^{dn}\rightarrow\mathbb{R}^{dm}$ as
$$F_B(p)\triangleq [g_1^T ,\dots, g_m^T]^T.$$
The bearing function describes all the bearings in the formation.
The \emph{bearing rigidity matrix} is defined as the Jacobian of the bearing function,
\begin{align*
    R_B(p) \triangleq \frac{\partial F_B(p)}{\partial p}\in\mathbb{R}^{dm\times dn}.
\end{align*}
Let $\delta p$ be a variation of $p$.
If $R_B(p)\delta p=0$, then $\delta p$ is called an \emph{infinitesimal bearing motion} of $\mathcal{G}(p)$.
A formation always has two kinds of \emph{trivial} infinitesimal bearing motions: translation and scaling of the entire formation.
The next definition is one of the most important concepts in bearing rigidity theory.

\begin{definition}[{Infinitesimal Bearing Rigidity}]\label{definition_infinitesimalParallelRigid}
    A formation is \emph{infinitesimally bearing rigid} if all the infinitesimal bearing motions of the formation are trivial.
\end{definition}

The following are necessary and sufficient conditions for infinitesimal bearing rigidity.

\begin{theorem}[\cite{zhao2014TACBearing}]\label{theorem_IBR_NSCondition}
    For any formation $\mathcal{G}(p)$, the following statements are equivalent:
    \begin{enumerate}[(a)]
    \item $\mathcal{G}(p)$ is {infinitesimally bearing rigid};
    \item $\mathcal{G}(p)$ can be uniquely determined up to a translation and a scaling factor by the inter-neighbor bearings;
    \item $\mathrm{rank}(R_B)=dn-d-1$;
    \item $\mathrm{Null}(R_B)=\mathrm{span}\{\mathbf{1}_n\otimes I_d, p\}$.
    \end{enumerate}
\end{theorem}

\section{Problem Statement of Bearing-Based Formation Maneuvering}
Consider a formation of $n$ agents in $\mathbb{R}^d$ ($n\ge2$, $d\ge2$).
Let $p_i\in\mathbb{R}^d$ and $v_i \in \mathbb{R}^d$ be the position and velocity of agent $i \in \mathcal{V}=\{1,\dots,n\}$.
Suppose the velocity of the first $n_\ell$ agents are given.
Then the first $n_\ell$ agents are called \emph{leaders} and the rest $n_f$ agents are called \emph{followers}.
Note $0\le n_\ell \le n$ and $n_\ell+n_f=n$.
Let $\mathcal{V}_\ell=\{1,\dots,n_\ell\}$ and $\mathcal{V}_f=\{n_\ell+1,\dots,n\}$ be the index sets of the leaders and followers, respectively.
The dynamics of the leaders and followers are given by
\begin{align*}
\dot{p}_i(t)&=v^*_i(t), \quad  i\in\mathcal{V}_\ell,\\
\dot{p}_i(t)&=v_i(t), \quad i\in\mathcal{V}_f,
\end{align*}
where $\{v_i^*(t)\}_{i\in\mathcal{V}_\ell}$ are the velocity references assigned to the leaders, and $\{v_i(t)\}_{i\in\mathcal{V}_f}$ are the control inputs to be designed for the followers.
Denote $p_\ell=[p_1^T ,\dots, p_{n_\ell}^T ]^T $, $p_f=[p_{n_\ell+1}^T  ,\dots, p_{n}^T ]^T $, and $p=[p_\ell^T, p_f^T]^T $.
Furthermore, denote $v_\ell^*=[(v_1^*)^T  ,\dots, (v_{n_\ell}^*)^T ]^T $, $v_f=[v_{n_\ell+1}^T  ,\dots, v_n^T]^T $, and $v=[(v_\ell^*)^T , v_f^T]^T $.

Suppose the underlying information flow among the agents can be described by a fixed and undirected graph $\mathcal{G}=(\mathcal{V},\mathcal{E})$.
If $(i,j)\in\mathcal{E}$, then agents $i$ and $j$ can obtain the relative positions of each other.
Suppose a desired formation shape is defined by the constant inter-neighbor bearing constraints $\{g_{ij}^*\}_{(i,j)\in\mathcal{E}}$.
The problem of bearing-based formation maneuvering is stated as below.

\begin{problem}[{Bearing-Based Formation Maneuvering}]\label{problem_bearingFormationManeuver}
Consider a formation $\mathcal{G}(p)$ where the velocities of the leaders are assigned as $\{v_i^*(t)\}_{i\in\mathcal{V}_\ell}$.  Design the control input for each follower $v_i(t)$ ($i\in\mathcal{V}_f$) based on the relative position measurements $\{p_i(t)-p_j(t)\}_{j\in\mathcal{N}_i}$ such that the inter-neighbor bearings converge to the desired values, i.e., $g_{ij}(t)\rightarrow g_{ij}^*$ for all $(i,j)\in\mathcal{E}$ as $t\rightarrow \infty$.
\end{problem}

When the velocity of each leader is zero, Problem~\ref{problem_bearingFormationManeuver} would become the bearing-based formation stabilization problem studied in \cite{zhao2015ECC}.

In Problem~\ref{problem_bearingFormationManeuver} the formation is required to converge to a target formation that is jointly determined by the inter-neighbor bearings and the leaders.
This target formation is formally defined below.
\begin{definition}[Target Formation]\label{definition_targetFormation}
Let $\mathcal{G}(p^*(t))$ be the \emph{target formation} that satisfies the following constraints for all $t>0$:
\begin{enumerate}[(a)]
\item Bearing: $(p_j^*(t)-p_i^*(t))/\|p_j^*(t)-p_i^*(t)\|=g_{ij}^*, \forall (i,j)\in\mathcal{E}$,
\item Leader: $p_i^*(t)=p_i(t), \forall i\in\mathcal{V}_\ell$.
\end{enumerate}
\end{definition}

Since the leaders have nonzero velocities, the centroid and scale of the target formation are \emph{time-varying}.
The shape of the target formation is, however, \emph{fixed} since the bearing constraints are constant.
Based on the notion of the target formation $\mathcal{G}(p^*(t))$, Problem~\ref{problem_bearingFormationManeuver} can be equivalently stated as designing a control law such that the formation $p(t)$ can converge to the target formation $p^*(t)$, i.e., $p_i(t)\rightarrow p_i^*(t)$ for all $i\in\mathcal{V}_f$ as $t\rightarrow \infty$.

One key problem that follows the definition of the target formation is whether the target formation exists and is unique.
In fact, this problem is equivalent to the localizability problem in bearing-only network localization \cite{zhao2015NetLocalization}.
As shown in \cite{zhao2015NetLocalization}, a formation can be uniquely determined by the bearings and the leaders if and only if the formation is \emph{localizable}.
A variety of conditions for localizability have been proposed in \cite{zhao2015NetLocalization}.
One useful sufficient condition is that a formation would be localizable if the formation is infinitesimally bearing rigid and has at least two leaders.
This sufficient condition is intuitively easy to understand.
Specifically, if the formation is infinitesimally bearing rigid, then it can be uniquely determined up to a translation and a scaling factor by the bearings.
The translation and scaling ambiguity can be further eliminated by the introduction of at least two leaders.
Then the formation can be fully and uniquely determined.
Due to space limitations, we omit the details and simply make the following assumption.

\begin{assumption}\label{assumption_targetFormationUniqueExist}
The target formation $\mathcal{G}(p^*(t))$ is infinitesimally bearing rigid and has at least two leaders.
\end{assumption}

The mathematical condition implied by Assumption~\ref{assumption_targetFormationUniqueExist} will be given later (see Lemma~\ref{lemma_LffNonsingular}).
It is worth noting that the infinitesimal bearing rigidity is merely sufficient but not necessary to ensure the existence and uniqueness of the target formation.
For both necessary and sufficient conditions, please see \cite{zhao2015NetLocalization}.

\section{Proposed Control Law \\and Convergence Analysis}

In this section we first propose a distributed PI control law to solve Problem~\ref{problem_bearingFormationManeuver} and then prove the global formation stability under the control law.

\subsection{A Distributed PI Control Law}

For each follower, the proposed control law is
\begin{align}\label{eq_controlLaw_maneuver_element_PI}
    \dot{p}_i(t)
    &=-k_{\text{\scriptsize{P}}} \underbrace{\sum_{j\in\mathcal{N}_i} P_{g_{ij}^*} (p_i(t)-p_j(t))}_{\text{proportional}} \nonumber\\
    &\quad -k_{\text{\scriptsize{I}}} \underbrace{\int_0^t\sum_{j\in\mathcal{N}_i} P_{g_{ij}^*} (p_i(\tau)-p_j(\tau))\mathrm{d} \tau}_{\text{integral}}, \quad i\in\mathcal{V}_f,
\end{align}
where $P_{g_{ij}^*}=I_d-g_{ij}^*(g_{ij}^*)^T $, and $k_{\text{\scriptsize{P}}}$ and $k_{\text{\scriptsize{I}}}$ are positive constant control gains.
Control law \eqref{eq_controlLaw_maneuver_element_PI} is distributed because the control of each agent only requires the relative positions of its neighbors.
The control law consists of a proportional term and an integral term.
When $k_{\text{\scriptsize{I}}}=0$, the control law would become the one proposed in \cite{zhao2015ECC}.
If the velocities of the leaders are zero, the proportional control alone is able to stabilize the target formation.
But if the velocities of the leaders are nonzero, the integral control is required to eliminate the steady state tracking error.

By defining a new state for the integral term, control law \eqref{eq_controlLaw_maneuver_element_PI} can be rewritten as
\begin{align}\label{eq_controlLaw_maneuver_element}
    \dot{p}_i(t)&=-k_{\text{\scriptsize{P}}} \sum_{j\in\mathcal{N}_i} P_{g_{ij}^*} (p_i(t)-p_j(t)) -k_{\text{\scriptsize{I}}} \xi_i(t), \nonumber \\
    \dot{\xi}_i(t)&= \sum_{j\in\mathcal{N}_i} P_{g_{ij}^*} (p_i(t)-p_j(t)), \quad i\in\mathcal{V}_f.
\end{align}

We next derive the matrix expression of control law \eqref{eq_controlLaw_maneuver_element}, which will be useful for the convergence analysis.
Let $\L\in\mathbb{R}^{dn\times dn}$ be a matrix with the $ij$th block submatrix as
\begin{align*}
\left\{
  \begin{array}{ll}
      [\L]_{ij}=0_{d\times d}, & i\ne j, (i,j)\notin\mathcal{E}, \\
      {[\L]_{ij}}=-P_{g_{ij}^*}, & i\ne j, (i,j)\in\mathcal{E}, \\
      {[\L]_{ii}}=\sum_{k\in\mathcal{N}_i}P_{g_{ik}^*}, & i=j, i\in\mathcal{V}. \\
  \end{array}
\right.
\end{align*}
The matrix $\L$ can be interpreted as a matrix-weighted graph Laplacian.
We call $\L$ the \emph{bearing Laplacian} since it carries the information of both the underlying graph and the bearings of the formation.
Partition $\L$ into the following form
\begin{align*}
    \L=\left[
         \begin{array}{cc}
           \L_{\ell\ell} & \L_{\ell f} \\
           \L_{f\ell} & \L_{ff} \\
         \end{array}
       \right],
\end{align*}
where $\L_{\ell\ell}\in\mathbb{R}^{dn_\ell\times dn_\ell}$, $\L_{\ell f}=\L_{f\ell}^T \in\mathbb{R}^{dn_\ell\times d n_f}$, and $\L_{ff}\in\mathbb{R}^{dn_f \times dn_f}$.
Then, it is straightforward to see that the matrix expression of control law \eqref{eq_controlLaw_maneuver_element} is
\begin{align}\label{eq_controlLaw_maneuver_matrix}
    \dot{p}_f(t)&=-k_{\text{\scriptsize{P}}}\left(\L_{ff}p_f(t)+\L_{f\ell}p_\ell(t)\right)-k_{\text{\scriptsize{I}}} \xi(t), \nonumber\\
    \dot{\xi}(t)&=\L_{ff}p_f(t)+\L_{f\ell}p_\ell(t),
\end{align}
where $\xi(t)=[\xi_{n_\ell+1}(t)^T  ,\dots, \, \xi_n(t)^T ]^T \in\mathbb{R}^{dn_f}$.

\subsection{Convergence Analysis}

Define the tracking error for the followers as
\begin{align}\label{eq_error_follower}
\delta(t)\triangleq p_f(t)-p_f^*(t),
\end{align}
where $p_f(t)$ is the real position of the followers and $p_f^*(t)$ is the \emph{time-varying} expected position of the followers in the target formation.
The aim of the convergence analysis is to show that $\delta(t)$ converges to zero.
To that end, we need to first calculate $p_f^*(t)$.
The following two results on the bearing Laplacian are useful.

\begin{lemma}\label{lemma_LP=0}
Any formation $\mathcal{G}(p)$ that satisfies the bearing constraints $\{g_{ij}^*\}_{(i,j)\in\mathcal{E}}$ satisfies $\L p=0$ and $\L_{ff}p_f+\L_{f\ell}p_l=0$.
\end{lemma}
\begin{proof}
Note
\begin{align*}
\L p&=
\left[
         \begin{array}{cc}
           \L_{\ell\ell} & \L_{\ell f} \\
           \L_{f\ell} & \L_{ff} \\
         \end{array}
       \right]
       \left[
         \begin{array}{c}
           p_\ell \\
           p_f \\
         \end{array}
       \right]
=
       \left[
         \begin{array}{c}
           \vdots \\
           \sum_{j\in\mathcal{N}_i} P_{g_{ij}^*} (p_i-p_j)\\
           \vdots \\
         \end{array}
       \right].
\end{align*}
By the elementwise expression of $\L p$, it is obvious that $\L p=0$ if $\mathcal{G}(p)$ satisfies the bearing constraints, i.e, $(p_j-p_i)/\|p_j-p_i\|=g_{ij}^*$.
By the partitioned block matrix expression of $\L p$, it can be seen that $\L p=0$ implies $\L_{ff}p_f+\L_{f\ell}p_l=0$.
\end{proof}
\begin{lemma}[\cite{zhao2015NetLocalization}]\label{lemma_LffNonsingular}
The matrix $\L_{ff}$ is positive definite if Assumption~\ref{assumption_targetFormationUniqueExist} holds.
\end{lemma}

Since the target formation $p^*(t)$ satisfies the bearing constraints, it follows from Lemma~\ref{lemma_LP=0} that $\L_{ff}p_f^*(t)+\L_{f\ell}p_\ell(t)=0$.
Furthermore, since $\L_{ff}$ is positive definite by Lemma~\ref{lemma_LffNonsingular}, we have
\begin{align}\label{eq_expectedFollowerPosition}
{p}_f^*(t)=-\L_{ff}^{-1}\L_{f\ell}p_\ell(t).
\end{align}
Substituting \eqref{eq_error_follower} and \eqref{eq_expectedFollowerPosition} into \eqref{eq_controlLaw_maneuver_matrix} yields
\begin{align}\label{eq_delta_dynamics}
\dot{\delta}(t)&=-k_{\text{\scriptsize{P}}}\L_{ff}\delta(t) -k_{\text{\scriptsize{I}}} \xi(t) + \L_{ff}^{-1}\L_{f\ell}v_\ell^*(t), \nonumber \\
\dot{\xi}(t)&=\L_{ff}\delta(t).
\end{align}
The $\delta$- and $\xi$-dynamics given above can be written in a compact form as
\begin{align}\label{eq_deltaxi_dynamics}
\left[
  \begin{array}{c}
    \dot{\delta} \\
    \dot{\xi} \\
  \end{array}
\right]
=\underbrace{\left[
   \begin{array}{cc}
     -k_{\text{\scriptsize{P}}} \L_{ff} & -k_{\text{\scriptsize{I}}} I_{n_f} \\
     \L_{ff} & 0 \\
   \end{array}
 \right]}_{A}
 \left[
  \begin{array}{c}
    {\delta} \\
    {\xi} \\
  \end{array}
\right]
+\left[
  \begin{array}{c}
    \L_{ff}^{-1}\L_{f\ell} \\
    0 \\
  \end{array}
\right]v_\ell^*(t).
\end{align}

\begin{lemma}
The state matrix $A$ in \eqref{eq_deltaxi_dynamics} is Hurwitz for any $k_{\text{\scriptsize{P}}}, k_{\text{\scriptsize{I}}}>0$.
\end{lemma}
\begin{proof}
Suppose $\lambda$ is an eigenvalue of $A$. Then,
\begin{align*}
\det(\lambda I-A)
&=\det\left(\left[
   \begin{array}{cc}
     \lambda I+k_{\text{\scriptsize{P}}} \L_{ff} & k_{\text{\scriptsize{I}}} I \\
     -\L_{ff} & \lambda I \\
   \end{array}
 \right]\right) \\
&=\det\left(\lambda^2 I+k_{\text{\scriptsize{P}}}\lambda\L_{ff}+k_{\text{\scriptsize{I}}} \L_{ff}\right) \\
&=\det\left((k_{\text{\scriptsize{P}}} \lambda +k_{\text{\scriptsize{I}}})\left(\frac{\lambda^2I}{k_{\text{\scriptsize{P}}}\lambda+k_{\text{\scriptsize{I}}}}+\L_{ff}\right)\right).
\end{align*}
As a result, $\det(\lambda I-A)=0$ implies either $\lambda=-k_{\text{\scriptsize{I}}}/k_{\text{\scriptsize{P}}}<0$ or
\begin{align*}
\frac{\lambda^2}{k_{\text{\scriptsize{P}}}\lambda+k_{\text{\scriptsize{I}}}}=-\sigma,
\end{align*}
where $\sigma$ is the eigenvalue of $\L_{ff}$.
Since $\L_{ff}$ is symmetric positive definite, we know $\sigma$ is positive and real.
The solution to the above equation can be easily calculated and it can be shown that $\lambda<-k_{\text{\scriptsize{I}}}/k_{\text{\scriptsize{P}}}<0$.
\end{proof}

Since $A$ is Hurwitz, system \eqref{eq_deltaxi_dynamics} is stable.
When $v_\ell^*(t)$ is time-varying, the followers are not able to perfectly track the leaders.
The fundamental reason is that the followers do not have access to the time-varying velocities of the leaders.
When $v_\ell^*(t)$ is constant, the tracking error will globally converge to zero due to the integral action.

\begin{theorem}[Global Convergence]\label{theorem_mainConvergenceResult}
When $v_\ell^*(t) = {\bf v}_{\ell}^*$ is constant, $\delta(t)$ and $\xi(t)$ exponentially and globally converges to $\delta(\infty)=0$ and $\xi(\infty)=\L_{ff}^{-1}\L_{f\ell}{\bf v}_{\ell}^*/k_{\text{\scriptsize{I}}}$, respectively.
As a result,
\begin{align*}
p_f(t)&\rightarrow p_f^*(t)=-\L_{ff}^{-1}\L_{f\ell}p_\ell(t), \\
\dot{p}_f(t)&\rightarrow v_f^*=-\L_{ff}^{-1}\L_{f\ell}{\bf v}_{\ell}^*,
\end{align*}
as $t\rightarrow \infty$.
\end{theorem}
\begin{proof}
Since $A$ is Hurwitz and ${\bf v}_{\ell}^*$ is constant, $\delta(t)$ and $\xi(t)$ globally and exponentially converge to the steady state values of $\delta$ and $\xi$.
By letting $\dot{\delta}=0$ and $\dot{\xi}=0$, we can easily verify that the steady state values are $\delta(\infty)=0$ and $\xi(\infty)=\L_{ff}^{-1}\L_{f\ell}{\bf v}_{\ell}^*/k_{\text{\scriptsize{I}}}$.
It follows from $\delta(t)\rightarrow0$ and $\dot{\delta}(t)\rightarrow0$ that $p_f(t)\rightarrow p_f^*(t)$ and $\dot{p}_f(t)\rightarrow \dot{p}_f^*(t)=v_f^*$.
\end{proof}

By substituting $\xi(\infty)=\L_{ff}^{-1}\L_{f\ell}{\bf v}_{\ell}^*/k_{\text{\scriptsize{I}}}$ back into \eqref{eq_delta_dynamics}, it can be seen that the integral term $\xi$ finally eliminates the impact of the ``disturbance'' ${\bf v}_{\ell}^*$.

\subsection{Centroid and Scale Dynamics}

We next study how the leaders should move in order to realize the desired translational and scaling formation maneuvers under the action of the proposed control law.
In order to do that, we need to first define the centroid and scale of a formation and then analyze their dynamics.
Define the centroid $c(p^*(t))$ and the scale $s(p^*(t))$ of $p^*(t)$ as
\begin{align*}
c(p^*(t))&\triangleq\frac{1}{n}\sum_{i\in\mathcal{V}}p_i^*(t)=\frac{1}{n}(\mathbf{1}_n\otimes I_d)^T {p}^*(t),\\
s(p^*(t))&\triangleq\sqrt{\frac{1}{n}\sum_{i\in\mathcal{V}}\|p_i^*(t)-c(p^*)\|^2}\\
&=\frac{1}{\sqrt{n}}\|p^*(t)-\mathbf{1}_n\otimes c(p^*)\|.
\end{align*}

\newcommand{v_{\mathrm{c}}}{v_{\mathrm{c}}}

\begin{proposition}[Translational Maneuvering]\label{proposition_translationManeuver}
If the velocity of each leader is constant and satisfies
$$v_i^*={\bf v}_c, \quad i\in\mathcal{V}_\ell,$$
where ${\bf v}_c\in\mathbb{R}^d$ is a common velocity, then
\begin{align*}
\dot{c}(p^*(t))\equiv{\bf v}_c, \quad \dot{s}(p^*(t))\equiv0,
\end{align*}
which means the target formation $p^*(t)$ moves at the common velocity while the scale is fixed.
\end{proposition}
\begin{proof}
Since $v_i^*(t)={\bf v}_c, \forall i\in\mathcal{V}_\ell$, we have ${v}_{\ell}^*(t)=\mathbf{1}_{n_\ell}\otimes {\bf v}_c$.
It follows from $\L(\mathbf{1}_n\otimes {\bf v}_c)=0$ that $\L_{f\ell}(\mathbf{1}_{n_\ell}\otimes {\bf v}_c)+\L_{ff}(\mathbf{1}_{n_f}\otimes {\bf v}_c)=0$.
As a result, $$v_f^*=-\L_{ff}^{-1}\L_{f\ell}{v}_{\ell}^*=\mathbf{1}_{n_f}\otimes {\bf v}_c.$$
Consequently, $\dot{p}^*=[({v}_{\ell}^*)^T ,(v_f^*)^T ]^T =\mathbf{1}_n\otimes {\bf v}_c$.
Substituting $\dot{p}^*$ into $\dot{c}(p^*)$ and $\dot{s}(p^*)$ gives
\begin{align*}
\dot{c}(p^*)&=\frac{1}{n}(\mathbf{1}_n\otimes I_d)^T \dot{p}^*=\frac{1}{n}(\mathbf{1}_n\otimes I_d)^T (\mathbf{1}_n\otimes {\bf v}_c)={\bf v}_c, \\
\dot{s}(p^*)&=\frac{1}{\sqrt{n}}\frac{(p-\mathbf{1}_n\otimes c(p^*))^T }{\|p-\mathbf{1}_n\otimes c(p^*)\|}\dot{p}^*\\
&=\frac{1}{\sqrt{n}}\frac{(p-\mathbf{1}_n\otimes c(p^*))^T }{\|p-\mathbf{1}_n\otimes c(p^*)\|}(\mathbf{1}_n\otimes {\bf v}_c)=0.
\end{align*}
\end{proof}

\begin{proposition}[Scaling Maneuvering]\label{propostion_scaleManeuvering}
If the velocity of each leader is constant and satisfies
\begin{align}\label{eq_velocityForScale}
v_i^*=\alpha_i \frac{p_i^*(t)-c(p^*)}{\|p_i^*(t)-c(p^*)\|},\quad i\in\mathcal{V}_\ell,
\end{align}
where $\alpha_i\in\mathbb{R}$ is constant and satisfies $\alpha_i/\|p_i^*(t)-c(p^*)\|=\alpha_j/\|p_j^*(t)-c(p^*)\|$ for all $i,j\in\mathcal{V}_\ell$, then
\begin{align*}
\dot{c}(p^*(t))\equiv0, \quad \dot{s}(p^*(t))\equiv \mathrm{sgn}(\alpha_i)\sqrt{\frac{1}{n}\sum_{i\in\mathcal{V}}\alpha_i^2},
\end{align*}
which means the scale of the target formation $p^*(t)$ is continuously varying while the centroid is fixed.
\end{proposition}
\begin{proof}
Since $\alpha_i/\|p_i^*(t)-c(p^*)\|=\alpha_j/\|p_j^*(t)-c(p^*)\|$ for all $i,j\in\mathcal{V}_\ell$, there exists $k(t)$ such that
$$\alpha_i=k(t)\|p_i^*(t)-c(p^*)\|$$ and hence $v_i^*=k(t)(p_i^*(t)-c(p^*))$ for all $i\in\mathcal{V}_\ell$.
Then,  $v_{\ell}^*$ can be expressed as $v_{\ell}^*=k(t) (p^*-\mathbf{1}_{n_\ell}\otimes c(p^*))$.
It follows from $\L(p^*-\mathbf{1}_n\otimes c(p^*))=0$ that $\L_{f\ell}(p_\ell^*-\mathbf{1}_{n_\ell}\otimes c(p^*))+\L_{ff}(p_f^*-\mathbf{1}_{n_f}\otimes c(p^*))=0$.
As a result, $$v_f^*=-\L_{ff}^{-1}\L_{f\ell}v_{\ell}^*=k(t)(p_f^*-\mathbf{1}_{n_f}\otimes c(p^*)).$$
Consequently, $\dot{p}^*=[(v_{\ell}^*)^T ,(v_f^*)^T ]^T =k(t)(p^*-\mathbf{1}_{n}\otimes c(p^*))$.
Substituting $\dot{p}^*$ into $\dot{c}(p^*)$ and $\dot{s}(p^*)$ gives
\begin{align*}
\dot{c}(p^*)&=\frac{1}{n}(\mathbf{1}_n\otimes I_d)^T \dot{p}^*\\
&=\frac{1}{n}(\mathbf{1}_n\otimes I_d)^T (p^*-\mathbf{1}_{n}\otimes c(p^*))k(t)=0,
\end{align*}
and
\begin{align*}
\dot{s}(p^*)&=\frac{1}{\sqrt{n}}\frac{(p^*-\mathbf{1}_n\otimes c(p^*))^T }{\|p^*-\mathbf{1}_n\otimes
c(p^*)\|}\dot{p}^*\\
&=k(t)\frac{1}{\sqrt{n}}\frac{(p^*-\mathbf{1}_n\otimes c(p^*))^T }{\|p^*-\mathbf{1}_n\otimes c(p^*)\|}(p^*-\mathbf{1}_{n}\otimes c(p^*)) \\
&=k(t)\frac{1}{\sqrt{n}}\|p^*-\mathbf{1}_n\otimes c(p^*)\|\\
&=k(t)\sqrt{\frac{1}{n}\sum_{i\in\mathcal{V}}\|p_i^*(t)-c(p^*)\|^2}\\
&=k(t)\sqrt{\frac{1}{n}\sum_{i\in\mathcal{V}}\frac{\alpha_i^2}{k^2(t)}}
=\mathrm{sgn}(\alpha_i)\sqrt{\frac{1}{n}\sum_{i\in\mathcal{V}}\alpha_i^2}.
\end{align*}
\end{proof}

In Proposition~\ref{propostion_scaleManeuvering}, if $\alpha_i>0$, the velocity of each agent is pointing from the fixed centroid to the agent and hence the formation scale dilates; otherwise, if $\alpha_i<0$ the formation scale shrinks.
It should be noted that $v_i^*$ given in \eqref{eq_velocityForScale} is constant though $p_i^*(t)$ is time-varying.

When the velocity of the leaders is a linear combination of a translational and a scaling term, both the centroid and the scale of the formation will be time-varying.
Denote $c(p(t))$ and $s(p(t))$ as the centroid and the scale of the real formation $p(t)$, respectively.
By combining Theorem~\ref{theorem_mainConvergenceResult}, Propositions~\ref{proposition_translationManeuver}, and \ref{propostion_scaleManeuvering}, we obtain the following theorem.

\begin{theorem}\label{theorem_bothTransAndScale}
Under Assumption~\ref{assumption_targetFormationUniqueExist}, if the velocity of each leader is constant and there exist constant ${\bf v}_c\in\mathbb{R}^d$ and $\alpha_i\in\mathbb{R}$ such that $v_i^*$ can be decomposed to
\begin{align}\label{eq_vistart_transScale}
v_i^*={\bf v}_c + \alpha_i \frac{p_i^*(t)-c(p^*)}{\|p_i^*(t)-c(p^*)\|}, \quad \forall i\in\mathcal{V}_\ell,
\end{align}
where $\alpha_i$ satisfies $\alpha_i/\|p_i^*(t)-c(p^*)\|=\alpha_j/\|p_j^*(t)-c(p^*)\|$ for all $i,j\in\mathcal{V}_\ell$.
As a result,
\begin{align*}
\dot{c}(p^*(t))\equiv{\bf v}_c, \quad \dot{s}(p^*(t))\equiv\mathrm{sgn}(\alpha_i)\sqrt{\frac{1}{n}\sum_{i\in\mathcal{V}}\alpha_i^2}.
\end{align*}
Furthermore, $\dot{c}(p(t))$ and $\dot{s}(p(t))$ globally converge to $\dot{c}(p^*(t))$ and $\dot{s}(p^*(t))$, respectively.
\end{theorem}
\begin{proof}
Since the target formation $p^*(t)$ satisfies the bearing constraints, it follows from Lemma~\ref{lemma_LP=0} that $\L p^*(t)=0$, which implies $\L v^*(t)=0$.
Since the bearing constraints imply infinitesimal bearing rigidity, then $\mathrm{Null}(\L)=\mathrm{span}\{\mathbf{1}_{n}\otimes I_d, p^*\}$.
As a result, if $v^*$ is constant, it can always be expressed as a linear combination of $\mathbf{1}_n\otimes I_d$ and $p^*-\mathbf{1}_n\otimes c(p^*)$.
Therefore, equation \eqref{eq_vistart_transScale} holds.
The rest of the theorem directly follows from Theorem~\ref{theorem_mainConvergenceResult}, Propositions~\ref{proposition_translationManeuver}, and \ref{propostion_scaleManeuvering}.
\end{proof}

Two remarks on Theorem~\ref{theorem_bothTransAndScale} are given below.
Firstly, in order to achieve the desired translational or scaling maneuvering, the leaders must collaborate and share some global information like a common velocity and the centroid of the formation.
Secondly, $v^*_i$ given in \eqref{eq_vistart_transScale} is constant because the unit vector $({p_i^*(t)-c(p^*)})/{\|p_i^*(t)-c(p^*)\|}$ is invariant to translational and scaling maneuvers though $p^*_i(t)$ is not.

\section{Simulation Examples}

Figure~\ref{fig_sim_2DObstacle} and Figure~\ref{fig_sim_3DObstacle} give two comprehensive examples to demonstrate that the proposed control law can control the formation scale and translation to perform sophisticated maneuvers such as moving the formation through a narrow passage while maintaining the desired formation shape.
In each example, the target formation is infinitesimally bearing rigid and has two leaders.
The leader velocities are piecewise constant.
In the two examples, the leaders have a common forward velocity such that the entire formation always moves forward.
In order to adjust the formation scale, the leaders will have an additional velocity to move toward or away from each other to adjust the distance between them.
It is also worthwhile mentioning that although the tracking errors converge to zero only when the leader velocities are constant, the proposed control law can still give satisfactory performance in the cases where the leader velocities are piecewise continuous.

\begin{figure}
  \centering
  \subfloat[Formation trajectory (the leaders are marked by red and blue circles, and the followers by green circles).]{\includegraphics[width=0.9\linewidth]{fig_sim_2DObstacle_formation}}\\
  \subfloat[Leader velocity commands (both leaders, red and blue, have the same $x$-component input).]{\includegraphics[width=0.9\linewidth]{fig_sim_2DObstacle_leaderVelocity}}\\
  \subfloat[Bearing error: $\sum_{(i,j)\in\mathcal{E}}\|g_{ij}(t)-g_{ij}^*\|$]{\includegraphics[width=0.9\linewidth]{fig_sim_2DObstacle_error}}
  \caption{A 2D example to demonstrate the formation maneuver through a narrow passage in the plane.
  }
  \label{fig_sim_2DObstacle}
\end{figure}

\begin{figure}
  \centering
  \subfloat[Formation trajectory (the leaders are marked by red and blue circles, and the followers by green circles).]{\includegraphics[width=0.9\linewidth]{fig_sim_3DObstacle_formation}}\\
  \subfloat[Leader velocity commands (both leaders, red and blue, have the same y- and z-component inputs).]{\includegraphics[width=0.9\linewidth]{fig_sim_3DObstacle_leaderVelocity}}\\
  \subfloat[Bearing error: $\sum_{(i,j)\in\mathcal{E}}\|g_{ij}(t)-g_{ij}^*\|$]{\includegraphics[width=0.9\linewidth]{fig_sim_3DObstacle_error}}
  \caption{A 3D example to demonstrate the formation maneuver through a narrow passage.
  \label{fig_sim_3DObstacle}
\end{figure}

\section{Conclusion}
This paper studied the problem of bearing-based formation maneuver control in arbitrary dimensions.
A distributed PI control law has been proposed and its global stability has been proved.
It was shown that under the proposed control law the leaders can collaborate to control the translation and scale of the formation.
In this paper, we only considered the case where the underlying sensing graph is undirected.
Directed cases will be studied in the future.

{\small
\section*{Acknowledgements}
The work presented here has been supported by the Israel Science Foundation (grant No. 1490/13).
}

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ChemIDplus - 50-71-5 - HIMXGTXNXJYFGB-UHFFFAOYSA-N - Alloxan - Similar structures search, synonyms, formulas, resource links, and other chemical information.
domestic animals - goat/sheep LDLo intravenous 200mg/kg (200mg/kg) "Handbook of Toxicology," 4 vols., Philadelphia, W.B. Saunders Co., 1956-59Vol. 5, Pg. 6, 1959.
duck LDLo intravenous 250mg/kg (250mg/kg) "Handbook of Toxicology," 4 vols., Philadelphia, W.B. Saunders Co., 1956-59Vol. 5, Pg. 6, 1959.
mouse LDLo intraperitoneal 300mg/kg (300mg/kg) Proceedings of the Society for Experimental Biology and Medicine. Vol. 67, Pg. 154, 1948.
mouse LDLo intravenous 200mg/kg (200mg/kg) Proceedings of the Society for Experimental Biology and Medicine. Vol. 67, Pg. 154, 1948.
mouse LDLo subcutaneous 400mg/kg (400mg/kg) Proceedings of the Society for Experimental Biology and Medicine. Vol. 67, Pg. 154, 1948.
BEHAVIORAL: SOMNOLENCE (GENERAL DEPRESSED ACTIVITY) Proceedings of the Society for Experimental Biology and Medicine. Vol. 58, Pg. 31, 1945.
rabbit LDLo intravenous 300mg/kg (300mg/kg) American Journal of Clinical Pathology. Vol. 16, Pg. 257, 1946.
ENDOCRINE: DIABETES MELLITIS American Journal of Clinical Pathology. Vol. 16, Pg. 257, 1946.
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rat LD50 oral 5210mg/kg (5210mg/kg) "Prehled Prumyslove Toxikologie; Organicke Latky," Marhold, J., Prague, Czechoslovakia, Avicenum, 1986Vol. -, Pg. 862, 1986.


text:
Anthony James Morrissey is a London Irish, Punk Folk singer, songwriter and artist. He lives in East Anglia and is a regular performer on the Norfolk Folk Roots and acoustic music scene, and occasionally on the London Celtic Punks scene. Morra is second cousin to the English singer Morrissey.

Morra is part of the 'who's who of the London Irish scene and is often called upon to sing and play at significant events. It was at Morra's launch of his 2014 EP 'The Patriot' where a tribute to recovering Paul Mad Dog Mcguinness (of the famous Shane MacGowan and The Popes band lore) was held.

On January 1, 2020 Morro released 'Twenty' a compilation of 20 songs exclusively for download and streaming services. The songs originated from six physical (Vinyl /CD) releases produced earlier.

In April 2017 he played at the "Backward Glance" movie fundraiser for filmmaker David P. Kelly on the work of London Irish painter Bernard Canavan.

Also in 2017 Morra initiated a project to introduce 'folk music to the punks and punk to the folkies' through a four-piece band in Norfolk called the 'Punkfolkers'. The Punkfolkers headlined in 2018 at various UK folk festivals including King Lynn's  'Folk In the Town'.

Following his cappella (unaccompanied solo) at the Norwich Cathedral Centenary Service of Edith Cavell in October, 2015, Morra released his album on the famous martyr, "Patriotism is not enough" Staying with the English female martyrdom theme, Morra released his album  "Boudicca's Country" collaborating with Gareth Calway on lyrics.

References

External links
 Official website

English male singer-songwriters
Year of birth missing (living people)
Living people

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text:
Homelessness policy: are we stuck in a time warp?
Stephen Rylance
Liz Rutherfoord, Chief Executive
SHP was established 40 years ago as part of a move toward a more progressive approach to tackling homelessness. But how far have we really come, asks our Chief Executive Liz Rutherfoord - and what would the next great step forward look like?
Forty years ago today, Single Homeless Project opened its doors for the first time.
The foundations were laid in 1975, when Stuart Clark, a homeless man who had stayed in most of the London homeless shelters, managed to persuade a housing association to let him use a property in Pimlico to house himself and five other homeless men. Two years later, SHP was formally established and Stuart became our first paid employee.
The homeless services Stuart experienced in early 70s London had in some ways changed little since the turn of the century. Single homeless people were still routinely packed into large, dormitory-style night shelters or resettlement units, sleeping hundreds at a time. Dirty and noisy, with myriad regulations and little privacy, these relics of the Victorian workhouse era showed scant regard for the dignity or individual agency of the people in their care.
By 1975 Stuart and his friends had had enough, and decided to take matters into their own hands. In their small way, by emphasising the importance of self-help and the value of living in the community, our founders were prefiguring a wider shift in thinking about how accommodation and support services for single homeless people could and should be run.
It took until the early 80s before the government finally decided to replace the resettlement units with smaller hostels and supported housing projects. The subsequent rapid growth of SHP, as well as a number of other charities, was directly linked to this shift, as money was redirected into a more personalised and community-based response to homelessness.
Today it's remarkable to think that the doors of the notorious 'Spikes' - such as the huge former workhouse in Camberwell which accommodated some 1,100 men in its heyday - remained open as late as 1985.
Dealing with the symptoms of homelessness can only take us so far - to make a lasting difference it's necessary to deal with its underlying causes at a systemic level.
But how far have we really come? Is our current model of homelessness provision equal to today's challenges and those that are around the corner? And what would the next great step forward look like?
Statistically at least, we are sliding backwards. Rough sleeping – the visible tip of the homelessness iceberg - has more than doubled since 2010. In London alone, almost a thousand people sleep on the street on any one night. Factor in the 'hidden homeless' – those sleeping on friends' floors, in temporary accommodation or in hostels – and, according to Shelter, more than a quarter of a million people are now homeless in England.
And yet in 2017 there is still no national homelessness strategy. That means no national targets to reduce homelessness and no joined up, multi-agency plan to tackle the problem.
It's vital to support people in crisis. But practitioners have long understood that merely dealing with the symptoms of homelessness can only take us so far, and that to make a lasting difference it is necessary to deal with its underlying causes at a systemic level.
SHP is fortunate to work in partnership with a number of London councils that are investing in homelessness prevention, but the way services are funded and commissioned, both nationally and locally, is too often marked by expediency and short termism at the expense of the bigger picture. Last week, a damning report by the National Audit Office concluded that since 2010, councils have increased their spending on homelessness while simultaneously reducing spending on preventing it. Government austerity exacerbates the problem: local authorities, stretched to the limit by successive years of cuts, are unlikely to invest in early intervention and prevention if they are under pressure to pare services down to the bare bones.
Meanwhile, in key areas such as mental health, offending and substance misuse, support services remain for the most part poorly co-ordinated. Services that are focused on different needs tend to work in silos or even at cross purposes, with the result that homeless people or those at risk can fall through the gaps, or be passed from pillar to post. At its worst, this 'system maze' leads to people being treated as problems to be contained or risk-managed, rather than individuals with unrealised potential and the right to a say in their future.
Forty years ago, campaigners were calling on the government to sit up and take notice of homelessness. Today they are lobbying ministers to scrap or change policies that are actively contributing to it.
As for public debate on homelessness and social exclusion, it seems that here too, we have taken a regressive turn. When SHP was established in the mid-70s, there was a growing sense that public attitudes were changing. Between 1966, when Ken Loach's film Cathy Come Home sparked a national outcry, and 1977, when the ground-breaking Housing (Homeless Persons) Act was passed, homelessness came increasingly to be seen as primarily a housing problem - a social, rather than a personal, failing.
Today however, we seem all too ready to scapegoat marginalised groups or individuals while ignoring the social and economic factors behind the resurgent crisis. A perfect storm has arisen from the chronic shortage in social housing, the impact of welfare reforms, and the rise of insecure and low paid jobs, not to mention the fact that house prices have risen thirteen-fold since 1977, when the average London property cost £16,493 - or less than £72,000 in today's money. Since 2010 alone, the cost of private rented accommodation in the capital has increased a staggering eight times faster than earnings.
It's an irony that, whereas 40 years ago, campaigners were calling on the government to sit up and take notice of homelessness, today they are desperately lobbying ministers to scrap or change policies that are actively contributing to it.
Against such a background, we in the sector must continue to do all we can to raise awareness of the factors driving homelessness and to challenge the stigma and labels that society too often attaches to homeless or socially excluded people.
In our anniversary year we will redouble our efforts to promote the voices and perspectives of the people we work with. Drawing on the insights of our staff and the first hand experiences of our clients, we will work with others to campaign for a more proactive and strategic approach to preventing homelessness.
Forty years on, we're still working toward a society in which everyone has a place to call home and the chance to lead a fulfilling life.
Sign up here to join us on our journey.
Author: Stephen Rylance
40 years of SHP
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I did get the letter from them, and agreed to a follow up. I have not heard back from them as of today. Possibly they are only checking a given number of comments.
According to the sender, the survey is closed. The e-mail may be legit — they correctly identified my comment in the survey response form. I e-mailed the reporter/sender, but have received no response.
Optimistically, he may have just been overwhelmed with intelligent responses, or — less positively — may have realized that he wasn't going to be able to find a bunch of wild rants from deplorable Chattahoochee River "Deliverance" mouth-breathers.
Too bad. I would really have liked to actually have one of those "common-sense conversations" that the hoplophobes always claim to seek.
You are currently reading "WSJ Researching Bump Stock Ban Comments In Federal Register", entry #20137 on The Captain's Journal.
This article is filed under the category(s) Gun Control and was published October 18th, 2018 by Herschel Smith.


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Coinsquare Appoints Martin Piszel as New CEO to Lead the Next Phase of Acceleration in the Digital Asset Sector
Coinsquare • July 20, 2021
TORONTO — Coinsquare, Canada's leading digital asset and cryptocurrency trading platform, has announced that its Board of Directors appointed Martin Piszel as its new Chief Executive Officer. Piszel will also join the Coinsquare Board of Directors and Stacey Hoisak will assume her new role as President and Chief Legal Officer.
Piszel is an accomplished executive with more than 25 years of experience in the capital markets and electronic trading sectors, most recently as Head of Corporate Development at Tradelogiq Markets Inc.
"Coinsquare is entering a new phase in its development and growth as we move ever closer to regulation and to strengthening our position as Canada's leading digital asset trading platform," said Jason Theofilos, Chair of the Board. "Martin's extensive experience in regulated capital markets and the electronic trading space will bolster Coinsquare's already extremely strong leadership team, and drive further innovation and growth in this next phase of the company's journey."
Prior to TradeLogiq Piszel served as Head and Managing Director, Alternative Execution and Prime Brokerage at CIBC World Markets, and as a member of the Bank's Equities Management Committee. He also co-founded Alpha ATS, which was later sold to the Toronto Stock Exchange (TMX) and was Vice President, Sales and Marketing at E*Trade Canada.
"It's been my honour to lead Coinsquare through an exciting transitional phase that saw rapid growth and expansion in the Canadian market, strengthened regulatory alliances, and technological advancements in our trading platform and mobile apps," said Stacey Hoisak. "With significant progress made in realizing the company's vision to bring the digital currency revolution to all Canadians, it is the right time for this transition to the next leader of Coinsquare. I look forward to working closely with Martin and the rest of the leadership team on driving the implementation of Coinsquare's longer-term strategies."
"I am excited to join Coinsquare and its talented team. My extensive capital markets experience will help accelerate Coinsquare's ongoing goal towards being a fully regulated entity, and strengthen its market position as Canada's most trusted digital asset exchange. Canadian digital currency adoption still has a long way to go and Coinsquare is well positioned to lead and educate Canadians on this emerging asset class." said Martin Piszel.
"On behalf of the board I would like to thank Stacey for her leadership and significant contributions to Coinsquare, not least as CEO where she successfully steered the company through a significant period of growth and further down the path of full regulatory compliance," said Jason Theofilos. "Under her leadership, Coinsquare was able to leverage strong market conditions and strengthened partnerships, secure external capital investments and embark on a new phase of company expansion. As President and Chief Legal Officer, Stacey will continue to play a key role in the future of the Company, and we look forward to continuing to work alongside her."
The DeFi Hype: Why it matters
July 14, 2021 • Nakul Gupta
Focusing on the underlying use cases and real value of Defi
NFTs - A hype or a lasting new investment asset class?
July 8, 2021 • Joris Lochy
A comprehensive overview of Non Fungible Tokens
Ethereum and smart contracts
July 6, 2021 • Vivek Sahni
Ethereum is a global, open-source platform for decentralised applications. Some define ethereum as a new era of internet where everyone has access to an open financial system.
Fintech Advances and Financial Services – what does the post-covid road hold?
June 28, 2021 • Andreas Simou
Survey revealing the changing status of the industry
Tech savviness soars following pandemic but personal touch still key to customer experience
June 24, 2021 • Nuance
Over half of UK consumers will interact with brands more through digital channels post-pandemic, according to Nuance research
Fintech Infrastructure 1.0: Coming of Age
June 22, 2021 • Nakul Gupta
Peeling the fintech onion and why middleware stack is becoming so important


The business name is the name of the owner of the business, although the business can use a commercial name.
The business does not have its own legal status as an entity separate from its owner. Therefore the sole trader has unlimited liability in relation to the business activities, thus he/she is liable with all their personal assets.
There is no need to incorporate the business, just register with the Tax and Social Security authorities.
The main disadvantage of this legal form is that in the case of third party liability, if the business cannot meet all its obligations with all of its assets and, the sole trader would respond for the difference with their personal wealth.


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Coats of Arms from Ireland and around the World by Eddie Geoghegan
Featuring free coats of arms for over 12,000 surnames
This site is a gallery of coats of arms or heraldic graphics. It is FREE. You may browse as much as you want for as long as you want. No membership is required and there is no limit to how many coats of arms graphics you may view. I ask just a few simple things.
Observe my copyright and summary terms of use at the bottom of this page.
If you want to display a graphic on your website under the terms of use, do NOT link to this page, but copy it to your own site. Use your own bandwidth - not mine.
If you are in the market for heraldic services, graphics or products, please try www.araltas.com first. Araltas is the site where I ply my commercial wares.
Please don't email me with requests for free stuff. My time is limited and time is money. On this page you will find a request form if you want to ask for a particular graphic to be added. But remember, I am just another regular person trying to make a living, so if it comes to a choice between making you happy and making some money - guess what will win out. You will get my attention a lot quicker if you use my commercial services.
There are a few adverts on this site. These help defray the cost of hosting and are not meant to frustrate your browsing experience. Adverts are obvious and not hidden.
If you want to link to this site, that's great, but please link to this entry page http://www.heraldry.ws/index.html
On this site you will find . . .
Thousands of FREE coats of arms from Ireland and around the world in GIF/JPG format. Of necessity and quite deliberately, these are ofsmaller size and lower resolution than graphics I create to order. Use the alphabetical index on the left to navigate to the coat of arms of interest to you. If you cannot see the index, click here
Featured coat of arms. From time to time I add a new feature page for one family which includes a full graphic of the coat of arms and as much family history as I can find. Take me there
The Roll of Arms and a Gallery to display samples of the products I supply to order. Out of necessity, the graphics on this web site are of smaller size and lower resolution than those produced to order. They may also be incomplete in that they may not show a recorded crest or motto. To view samples of full size and high resolution, visit The Roll of Arms or The Gallery
Articles directly or indirectly relating to Heraldry / Surnames / Ireland / Scotland / etc. Take me there
The customs and practice of heraldry (otherwise known as Heraldry 101). Take me there
The Irish Language as I use it to display the Irish (Gaelic) version of surnames on coats of arms graphics. Take me there
WWW.ARALTAS.COM, the Internet Heraldry Shop, where you can order research, graphics, prints and other heraldic products including etched glass, plaques, watches and more, all based on my designs. Take me there
To request the addition of a particular coat of arms graphic to this site go here.
As you browse this site please keep a few points in mind.
Although there are thousands of coats of arms here, these represent only a small percentage of all those that have been used over the centuries. I have been compiling this collection for many, many years and will continue to add to it as time permits. I doubt very much, however, that it will ever approach completion. If you want a graphic of a coat of arms not on this site, please use my commercial services. For small fee, not only will you get a high resolution graphic, but it will also include additional features such as crest and motto, which are generally not included on the examples here.
Some people comment that many of the coats of arms here are similar to each other. There's a simple explanation for that. In the first place, many coats of arms are far from unique and the same arms are often borne by different families and individuals. Sometimes this is by design, for example in Poland, where many persons of different surnames bore the arms of their clan or szlachta. In Britain (and therefore also in Ireland) heraldry was regulated by Kings of Arms, who from a heraldic point of view administered their territories somewhat independently of their peers. For that reason the same coat of arms might well be granted in one jurisdiction without any regard for its current use in another. From my point of view, when I am drawing a coat of arms for one family, I often check if other families bore the same or similar arms and while I am creating the first graphic, I may also create a series of other, identical or similar ones that apply to other families. Similarly, visitors sometimes remark on the fact that I show more than one coat of arms for the same name. This is simply because individuals with the same surname, perhaps even within the same family, adopted distinct coats of arms. The next questions is usually, "well which one is mine?" The short answer (generally speaking) is that I don't know. If you really want to identify with a specific coat of arms, then you need to research your own genealogy and family history before you can even begin to answer that question. And, by the way, I am neither genealogist or family historian. Sometimes I will be able to give you a clue, especially in regard to Irish families. For example, if your name is Murphy and your ancestor came from Wexford, then, more than likely this is the most appropriate coat of arms for you and if you're a Murphy from Cork then this is what you want but if you are a Murphy from Donegal (and that's all you know) then your guess is as good as mine. If your name is Smith and you know nothing about your ancestry, then look forward to days, months and years of research. On this topic, while I have some knowledge regarding Irish families and their histories, as you drift further from this fair isle, my knowledge tapers of very rapidly. Another frequent question asks why the arms shown on my site are different from those shown on (an)other sites(s). There are many reasons. Artists differ - heraldry in not an exact science and much is left to the artist in drawing any coat of arms. The look of the symbols, shape of the shield, the level of ornamentation and even the shades of colour used can vary quite a bit. The other site may be displaying a different coat of arms for the same name, given that for many names, multiple coats of arms are on record. Finally the other site may be displaying a totally incorrect coat of arms (not an uncommon happening, especially when it comes to Irish coats of arms). Remember that many coats of arms sites use the same database of information and even the same graphics files, while I create my own. An error replicated across multiple websites is still an error, no matter how often it appears.
I am often asked where I find the coats of arms on this site. Let me state a few things in regard to this question. Every coat of arms I draw has been taken from a historical source. Some may argue that some of these sources may be less than totally accurate. While I tend to ignore those that are riddled with inaccuracies (for example the arms shown in "Irish Pedigrees" by O'Hart - which were added after the author's death and Paul Murtaugh's Arms in "Atlas Cyclopedia of Ireland") I generally assume these other sources to be accurate. Please don't ask for my source for a particular coat of arms. Often it takes as long to check it as it did to find it in the first place and I simply don't have the time. All requests for specific sources will be ignored unless submitted in writing on the back of a 50 euro (or other hard currency) note. If you want to look it up for yourself, I'm sure you local library will have a copy of the publications listed below. Here is a (non-exhaustive) list of my sources.
"Irish Families", Edward Mac Lysaght - First Chief Herald of Ireland
"The General Armory (of England, Scotland, Wales and Ireland)", Sir Bernard Burke - Ulster King of Arms 1884.
"Landed Gentry of Ireland (Genealogical and Heraldic History of the)". Sir Bernard Burke 1912.
"Landed Gentry of Great Britain and Ireland (Genealogical and Heraldic History of the)." John / Bernard Burke - a series started 1876.
"Armorial Families - A Directory of Gentlemen of Coat Armour" Arthur Charles Fox-Davies
"The British Herald or Cabinet of Armorial Bearings of the Nobility & Gentry of Great Britain & Ireland" by Thomas Robson 1830
"Ordinary of British Armorials" by John W. Papworth, completed by Alfred W. Morant. 1874.
"Armorial General" J.B. Rietstap, 1884.
"American Armory" by Charles Knowles Bolton.
"Crozier's General Armory" - William Armstrong Crozier
"Virginia County Records. Vol. V: Virginia Heraldica A Registry of Virginia Gentry Entitled to Coat Armor" - William Armstrong Crozier
"Fairbairn's Book of Crests of the Families of Great Britain and Ireland" - James Fairbairn
"Complete American Armoury and Blue Book" - John Matthews
"An Ordinary of Arms: Contained in the Public Register of All Arms and Bearings in Scotland" - Sir James Balfour Paul
"America Heraldica" Edited by E. de V. Vermont, 1965
"The Irish Book of Arms" by Michael C. O'Loughlin.
"Scottish Clan and Family Names - Their Arms, Origins and Tartans" by Roddy Martine revised edition 1992.
"American Armory and Blue Book." 1903 1907 1911-1923. By John Matthews.
"Dizionario storico - blasonico", by Crollalanza, G. B.
"Armorial de l'Association de la Noblesse Française"
"Armorial de France et d'Europe." Frédéric Luz
Hozier's "Armorial Général." 1696
"l'Armorial Universel" - Jouffroy d'Eschavannes
"Commoners of Great Britain and Ireland (A genealogical and heraldic history of the)". John Burke 1835.
"Encyclopoedia Heraldica - Dictionary of Heraldry". William Berry - College of Heraldry. 4 Volumes 1828-40.
"Grand Armorial de France" - Jougla de Morenas
"Sceaux Armoriés de Pays-Bays et de Pays Avoisinants" J.Th de Raadt 1898
The Heralds' Visitations. Records of the visitation of the heralds to various parts of the United Kingdom for the purpose of recording family coats of arms and pedigrees.
"Armaria Portugesa"
Enjoy your visit - Eddie
Copyright and summary terms of use.
The coat of arms graphics I create are copyright © Eddie Geoghegan, are subject to legal protection worldwide and may be used for non-commercial, personal purposes only. Furthermore, some of the artwork used in their creation is subject to third party copyright, which parties may rightfully require further restrictions as to their use. I have no objection to one or two of the graphics being used on a personal or family website (or Facebook or similar page) but would appreciate an acknowledgment of the source and a link back to this site. The images may not be used on any commercial site without permission including any sites with a commercial element. Neither may they be used to create physical items for sale or giveaway. While I appreciate the open nature of the Internet, these coats of arms represent decades of work, whose purpose was NOT to create content or products for others to exploit. If you need content or product please see my commercial site where you may purchase anything you need.
Although the vast majority of armorial bearings are hundreds of years old and not subject to regulation, certain coats of arms, badges, crests etc. may also be subject separate copyright restrictions. For example the copyright of national, regional, municipal and organizational arms may lie with a government, local government, organisation or other body. It is your responsibility to obey all national and international laws and regulations regarding the display of such graphics.
Keyword list, Heraldry, Coats of Arms, Coat of Arms, Coat, Genealogy, Family History, Ancestors, Arms, Blazon, Heraldic, Ireland, England, Scotland, Wales, English, Scottish, Welsh, Family, Crest, Irish, Eddie Geoghegan, eddiegeo, coat, arms, Europe, European, Code of Arms.


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Haunstrup: We Dealt With Plymouth Threats
Defender's delight at Fratton triumph
@Neil_Weld
Pompey had failed to win any of their past five meetings with Plymouth.
But Kal Naismith's first half finish – following a mistake from goalkeeper Remi Matthews – saw them come out on top at Fratton Park.
Three of those previous clashes had finished all square and all of them were extremely close contests.
So Brandon Haunstrup was delighted that the Blues were able to hold on to their slender lead to secure the points.
The left-back said: "We always seem to have tight matches against them and it was no different on this occasion.
"The last 10 minutes did see us come under a bit of pressure, but that was only to be expected in the circumstances.
"This match is one that probably gets talked about a bit more than others among the fans, but we just treated it as another game."
Brandon Haunstrup
"That ability to see games out when you're ahead is something we've needed to be better at – and we've worked on it.
"The long throw into the box is one of their strengths, although I felt that we dealt with it well in the end.
"This match is one that probably gets talked about a bit more than others among the fans, but we just treated it as another game and were able to come out on top."
It was an impressive performance from Haunstrup, who managed to keep arguably Argyle's s biggest threat quiet.
He said: "We knew that Graham Carey was one of their better players and wanted to keep him back as much as we possibly could.
"I just had to keep as tight to him as possible and he didn't really get at me in the second half, while they didn't feed him that much.
"We dealt with him really well and I suppose it's always a good sign when your opponent gets taken off."
Portsmouth vs Plymouth Argyle on 25 Nov 17


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Home Gay Stars The Amazing Neil Patrick Harris. Things you may not know about him
The Amazing Neil Patrick Harris. Things you may not know about him
After a long time and rough journey of fighting with himself he now embraces being gay, recognizing it as a wonderful and integrally important component part of the totality that is him.
At 40 years old, Neil Patrick Harris is one of the sexiest gay men alive! All actors have weird or unusual routines before performing, Neil does a series of breathing exercises and then amps up with a Red Bull. His gorgeous lover and longtime soulmate, David Burtka, also an actor, is a trained chef as well, which Neil quite enjoys. The lovers share a passion with their pre-school aged twins, Gideon and Harper, for the digital station Reedy Creek Radio He also has a side hobby as a food critic and tweets about all the "FoodPorn" he encounters.
Neil Patrick Harris is one of the sexiest gay men alive! – variety.com
Neil suffers from "sore" knees, he blames on his stent in the physically demanding part he played in the 1997 – 1998 production of Rent.
He keeps his hairstyle the same sexy as ever by using a large tube like product from Indonesia. As magical as his hair, Neil has a passion for magic and magic tricks. His favorite bit of magic is of a puppet that pulls objects such as eggs, a ringing phone, and a lit cigarette out of the zipper of his pants.
As magical as his hair, Neil has a passion for magic and magic tricks. – variety.com
Born and raised in Albuquerque, New Mexico, in times of stress he reverts in a culinary way to his home state using chips, enchiladas, margaritas and salsa. Which he states in one of his household's favorites.
Neil has a shrine of calming trinkets, in his "meditation corner" of his family home. He has a collection of rocks acquired from trips to Knott's Berry Farm, a collection of fortunes from fortune cookies, a bottle cap from the Magic Hat Brewing Company, and a Golden-Buddha statuette, against which lean the four wisdom teeth he had pulled from his own mouth in his teen years.
He likes to think, had he been a star in the '50's and compelled by the era to enter into a false marriage for publicity, he would have chosen Doris Day or Cyd Charisse as his wife, because they were both "femininely masculine".
He is afraid his fans from How I Met Your Mother will be alarmed by his pending weight loss, which will not be caused by any illness but for preparation for his role as Hedwig. He stated "As Barney I'm all shoulders and arms and chest, but as Hedwig I'll be all legs and butt and back, Like Cyd Charisse".
He is afraid his fans from How I Met Your Mother will be alarmed by his pending weight loss, which will not be caused by any illness but for preparation for his role as Hedwig. – recultured.com
Neil revealed in 2014 that it was a friendly kiss from Burt Reynolds, also an actor, that made the realization that he was gay.
He has a memoir called, Choose Your Own Autobiography, which describes the journey of acceptance for both him and his loved ones. The book apparently, grapples with the years Neil spent coming to terms with his own sexuality, during which he told people he was bisexual before revealing he was totally gay. After a long time and rough journey of fighting with himself he now embraces being gay, recognizing it as a wonderful and integrally important component part of the totality that is him.
His gorgeous lover and longtime soulmate, David Burtka, also an actor, is a trained chef as well. – tvline.com
READ MORE FROM Gay StarsMORE FROM AUTHOR
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American Gods 3×2: Shadow tries to settle in Lakeside (RECAP)
Image: Starz/Disclosure
The 3rd season of American Gods it's already getting talked about in the series universe! After all, Shadow's unanticipated journey has finally proved that, in this universe, not everything is what it seems in Lakeside. Soon, he wonders if the place might be his new home after Allison's disappearance.
Check out the full recap below!
More details of the American Gods 3×2 episode
At first glance, Lakeside looked like a welcoming place filled with generous people. However, the encounter with Marguerite makes things more tense. As tense as they can be when you have a gun pointed at your head!
It was only after they found out that Shadow had no involvement in Allison's disappearance that Marguerite finally relaxed. So she admits that the two started the wrong way.
Meanwhile, Wednesday considers Zorya's death beneficial. As much as Czernobog is not satisfied with this, they get even closer. However, Shadow becomes suspicious of Wednesday and Cordelia.
He knows how exhausting his father can be. So he tries to become friends with Cordelia, despite his suspicions.
At Zorya's funeral, Salim tries to understand why Jinn ran away. Wednesday advises to drop the subject and says he had no role in Jinn's decision. As much as he is not one of the main characters in American Gods, Salim's love story is still heartbreaking.
According to the 3rd season of American Gods advances, Ricky White becomes one of the most interesting characters. He's generous, smiles often, and is the classic suburban stereotype. So it's worth keeping an eye on him!
Also, we can't help but talk about how Zorya replaced the coin in Heaven to lighten Shadow's path. After all, magic is still an important part of the series and the symbolisms, both of the coin and the flamingo that Shadow found in the forest, are still mysteries that must be revealed over the next episodes.
It is Amazon Are you still sending orders?
Allison's disappearance also leaves many questions in the air. We still don't know why Wednesday chose Lakeside to be Shadow's new home and what happened to his wife. However, what we cannot deny is that this is already one of the best seasons of American Gods, even with only 2 episodes released!
What did you think of the new episode? Leave your opinion in the space below!
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In the midst of a health crisis, Amazon is the subject of much controversy
Main search engine positioning strategies for 2020
MacGyver: series final episode wins photos; check out!
[RUMOR] Warner Bros. Games planned unprecedented conference at E3 2020


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Rediff.com » News » Bhim Army chief released from Tihar Jail
Bhim Army chief released from Tihar Jail
Source: PTI - Edited By: Utkarsh Mishra
January 17, 2020 00:13 IST
IMAGE: Bhim Army Chief Chandrashekhar Azad raises slogans during a protest against Citizenship Amendment Act (CAA) at Jama Masjid. Photograph: Arun Sharma/PTI Photo
Bhim Army chief Chandra Shekhar Azad, who was arrested in connection with the violence during an anti-Citizenship Amendment Act protest in Old Delhi's Daryaganj, was released from Tihar Jail on Thursday night, officials said.
Azad's outfit had organised a march from Jama Masjid to Jantar Mantar against the amended citizenship act on December 20, without police permission.
He was sent to judicial custody on December 21.
On Wednesday, a Delhi court had granted bail to Azad, who was accused of inciting people during the anti-CAA protest at Jama Masjid.
The court also restrained Azad from visiting Delhi for four weeks and directed him not to hold any dharna till the elections in the national capital.
Additional Sessions Judge Kamini Lau had granted the relief to Azad on furnishing a bail bond of Rs 25,000.
While granting bail to Azad on Wednesday, the judge recited Rabindranath Tagore's famous poem 'Where the Mind is Without Fear' and said citizens have a fundamental right to peaceful protest which cannot be curtailed by the state.
"I am reminded of our reverend patriotic poet Rabindranath Tagore who is most relevant today.
"He during the colonial era in early 1900's when British followed the policy of Divide and Rule, visualised a nation where where there is no fear in the minds people and education is attained by all; people are enlightened and do not create walls of discrimination," she had said.
Source: PTI - Edited By: Utkarsh Mishra© Copyright 2020 PTI. All rights reserved. Republication or redistribution of PTI content, including by framing or similar means, is expressly prohibited without the prior written consent.
Related News: Bhim Army, Rabindranath Tagore, Chandra Shekhar Azad, PTI Photo, Old Delhi
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Q: Can graph_tool sort nodes? I have a DAG network and want to visualize it in python.
I chose graph_tool but any other library is fine.
I could not find a way to influence a node's position else then to create connections. Is there a way to sort nodes so that I do not need to pull out the nodes out of the mess by hand?
Or are there alternative libraries which have this feature?
I use python 2.7 on a Linux machine if that matters.
More importantly: I use the latest version (2.18) of graph_tool

A: Could you specify what you tried and the problem you found with the result? Your problem is not really clear to me.
graph-tool incorporates several tools to visualize graphs: have you looked at graph_draw and at the various layout that can be used? (detailed above on the same page)
If you already have an idea about where you want your nodes to be, you can also specify your own user-defined positions for them.

redpajama_set_name: RedPajamaStackExchange


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MANLIBNET was established in the year 1998 at the first convention jointly organized by the Indian Institute of Management Ahmedabad (IIMA) and Ahmedabad Management Association. The Association was established with the primary objective of providing a platform to improve the common understanding among management and business libraries and to promote effective collaboration and resource sharing.
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