text:
\section{Introduction}

We have studied in \cite{Ch17} about tracking controller synthesis for systems defined on manifolds via  embedding into Euclidean space, transversal stabilization, and linearization.  The main idea of this method is as follows. Given a control system on a manifold $M$, first embed $M$ into  Euclidean space ${\mathbb R}^n$ and then extend the control system dynamics from $M$ to ${\mathbb R}^n$ in such a way that $M$ becomes an invariant attractor of the extended or ambient system in ${\mathbb R}^n$, thus securing the transversal stability of $M$ in the extended dynamics. As a result, we can conveniently design controllers using one single global Cartesian coordinate system in ${\mathbb R}^n$ for the original system on $M$. In particular, the linearization of the system dynamics along a reference trajectory on $M$ can be carried out {\it globally}, without relying on multiple local charts,  in a Cartesian coordinate system in ${\mathbb R}^n$ to easily design tracking controllers for the system on $M$. This methodology for controller synthesis is well illustrated with the fully actuated rigid body system in \cite{Ch17}. We refer the reader to \cite{Ch11,ChJiPe16} for other applications of the embedding technique in the context of optimal control and geometric numerical integrations.

In this paper, we continue the program of embedding into Euclidean space, transversal stabilization, and linearization in order to  construct state observers and observer-based tracking controllers  for systems defined on manifolds. Given a system on a manifold $M$, we embed it into  Euclidean space ${\mathbb R}^n$ in such a way that $M$ becomes an invariant attractor of the embedded system in ${\mathbb R}^n$, and then design both controllers and observers for the system through linearization along a given reference trajectory on $M$ in one single global Cartesian coordinate system in ${\mathbb R}^n$ after which these observers and controllers are combined to produce observer-based controllers for the original system on $M$; any other observer design technique in ${\mathbb R}^n$ can be utilized  although linearization is employed in this paper for its simplicity but high utility.  Thanks to the use of one single global Cartesian coordinate system, there is no need of change of coordinates along the reference trajectory. Also, all the conditions for (local) exponential stability of the linear time varying (LTV) observer laid out in \cite{Ka60,KaBu61} can be verified  {\it a priori} globally along the reference trajectory on $M$.

This paper is organized as follows. The program of  embedding into Euclidean space, transversal stabilization, and linearization is first reviewed and then the method for designing observers and observer-based tracking controllers is developed in the context of this program. Two kinds of Kalman-type observers are constructed:  one is LTV observers that estimate the tracking error and the other is high-gain observers that estimate the state of the system, both of which utilize Kalman's theory of linear systems \cite{Ka60,KaBu61}. The observer-based tracking controller design procedure is illustrated with the fully actuated rigid body system and a good tracking and state observation performance of the controller for  large initial tracking/observation errors is demonstrated with a simulation.  In addition to the two Kalman-type observers, a non-Kalman-type  observer is  constructed for the rigid body system.  For the sake of completeness of the paper and convenience to the reader, the theory of LTV systems is briefly reviewed in a modified but improved form in the Appendix.

\section{Main Results}

\subsection{Review}
\subsubsection{Embedding and Transversal Stabilization}
We here review  the thechnique of embedding and transversal stabilization from \cite{Ch17}. Let $M$ be a regular manifold in some ${\mathbb R}^n$. Consider a control system $\Sigma_M$ on $M$ given by
\begin{equation}\label{Sigma:M}
\Sigma_M: \quad \left \{
\begin{array}{l}
 \dot x = X(x,u), \quad x \in M, u \in {\mathbb R}^{k},\\
 y= h(x)  \in {\mathbb R}^p.
\end{array}
\right .
\end{equation}
where $x$ is the state, $u$ the control,  and $y$ the output of the system.  Here we assume that the function $h$ is defined on ${\mathbb R}^n$. It is understood that $X(x,u) \in T_xM$ for all $(x,u) \in M\times {\mathbb R}^{k}$.
Suppose that there is a control system  $\Sigma_{{\mathbb R}^n}$ in ${\mathbb R}^n$  given by
\begin{equation}
\Sigma_{{\mathbb R}^n}: \quad \left \{
\begin{array}{l}
 \dot x = X_e(x,u), \quad x \in {\mathbb R}^n, u \in {\mathbb R}^{k},\\
 y= h(x)  \in {\mathbb R}^p,
\end{array}
\right .
\end{equation}
where it is assumed that
\[
X_e(x,u) = X(x,u) \quad \forall x\in M, u \in{\mathbb R}^{k},
\]
which means that $\Sigma_{{\mathbb R}^n}$ is an extension of $\Sigma_M$ to ${\mathbb R}^n$, and $\Sigma_M$ is a restriction of $\Sigma_{{\mathbb R}^n}$ to $M$.

Suppose that there is a non-negative function $\tilde V$ on ${\mathbb R}^n$ such that $M = \tilde V^{-1}(0)$ and
\begin{equation}\label{tilde:V:X}
\nabla \tilde V (x) \cdot X_e (x,u) =0
\end{equation}
for all $(x,u) \in {\mathbb R}^n \times {\mathbb R}^{k}$.
Consider the following system
\begin{align}\label{Sigma:tilde}
\tilde \Sigma_{{\mathbb R}^n}: \quad \left \{
\begin{array}{l}
 \dot x = \tilde X_e(x,u), \quad x \in {\mathbb R}^{n}, u \in {\mathbb R}^{k},\\
 y= h(x)  \in {\mathbb R}^p,
\end{array}
\right .
\end{align}
where
\[
\tilde X_e(x,u) :=X_e(x,u) -\nabla \tilde V(x) \quad \forall x\in {\mathbb R}^n, u \in{\mathbb R}^{k}.
\]
Since the minimum value $0$ of $\tilde V$ is attained on $M$, the gradient $\nabla \tilde V$ identically vanishes on $M$, which implies that $\tilde \Sigma_{{\mathbb R}^n}$ coincides with $\Sigma_M$ on $M$,  and that $M$ is an invariant manifold of the new system $\tilde \Sigma_{{\mathbb R}^n}$. A sharp distinction between the two systems $\tilde \Sigma_{{\mathbb R}^n}$ and $\Sigma_{{\mathbb R}^n}$ is that $M$ is a stable  invariant manifold of $\tilde \Sigma_{{\mathbb R}^n}$ due to the added term $-\nabla \tilde V$. The following new theorem provides a sufficient condition for asymptotic stability of $M$ in the transversal direction for the system $\tilde \Sigma_{{\mathbb R}^n}$.
\begin{theorem}\label{theorem:attractive:M}
If there are positive numbers $b$  and $r$ such that $
b  \tilde V (x) \leq  \| \nabla \tilde V(x) \|^2 $
for all $x \in \tilde V^{-1}([0,r))\subset {\mathbb R}^{n}$, then $\tilde V^{-1}([0,r))$ is positively invariant for $\tilde \Sigma_{{\mathbb R}^n}$ and every flow of $\tilde \Sigma_{{\mathbb R}^n}$ starting  in $\tilde V^{-1}([0,r))$ converges to $M$ as $t\rightarrow \infty$. In particular, $\tilde V(x(t))  \leq \tilde V(x(0)) e^{-b t} $ for all $t\geq 0$ and $x(0) \in \tilde V^{-1}([0,r))$.
\end{theorem}

\subsubsection{Tracking Controller Design via Linearization in Ambient Euclidean Space}
We review from \cite{Ch17} the technique of tracking controller design via linearization in ambient Euclidean space after embedding.
Consider a reference trajectory $x_0: [0,\infty) \rightarrow M$ for the system $ \Sigma_M$ on $M$ driven by a control signal $u_0: [0,\infty) \rightarrow {\mathbb R}^{k}$, so that
\[
\dot x_0(t) =  X(x_0(t), u_0(t)) \quad \forall t\geq 0.
\]
Our goal is to construct tracking controllers for this trajectory for the system $\Sigma_M$.
By the construction of $\tilde \Sigma_{{\mathbb R}^n}$, this reference trajectory also satisfies the dynamics of $\tilde \Sigma_{{\mathbb R}^n}$, i.e.
\[
\dot x_0(t) =  \tilde X_e(x_0(t), u_0(t)) \quad \forall t\geq 0.
\]
Hence, we take the  strategy to design  tracking controllers for the ambient system $\tilde \Sigma_{{\mathbb R}^n}$ in ${\mathbb R}^n$ and then restrict them to $M$ to come up with  tracking controllers for  $\Sigma_{M}$.
For convenience, assume that both $x_0(t)$ and $u_0(t)$ are bounded signals.
Let
\begin{align}
\Delta x &= x - x_0(t) \in {\mathbb R}^n,\label{def:Delta:x}\\
 \Delta u &= u - u_0(t) \in {\mathbb R}^{k}, \label{def:Delta:u}\\
\Delta y &= y - h(x_0(t)) \in {\mathbb R}^p. \label{def:Delta:y}
\end{align}
Then, they satisfy
\begin{subequations}\label{tracking:dyn}
\begin{align}
\Delta \dot x &= \tilde X(x_0(t) + \Delta x,u_0(t) + \Delta u ) -\tilde X(x_0(t),u_0(t)),\label{tracking:dyn:a}\\
\Delta y &=  h( x_0(t) + \Delta x) - h(x_0(t)) \label{tracking:dyn:b}
\end{align}
\end{subequations}
or
\begin{subequations}\label{tracking:dyn:lin}
\begin{align}
\Delta \dot x &= A(t) \Delta x+  B(t)\Delta u + O(\|\Delta x\|^2,  \|\Delta u\|^2)\label{tracking:dyn:lin:a} \\
\Delta y &=  C(t) \Delta x + O(\|\Delta x\|^2)\label{tracking:dyn:lin:b}
\end{align}
\end{subequations}
where
\begin{align*}
A(t) &= \frac{\partial \tilde X}{\partial x}(x_0(t),u_0(t)), \,\,B(t) = \frac{\partial \tilde X}{\partial u}(x_0(t),u_0(t)),\\
C(t) &= \frac{\partial h}{\partial x}(x_0(t)).
\end{align*}
It is understood that the big Oh $O (\cdot )$ also depends explicitly on  $t$. The following theorem is a simple application of the Lyapunov linearization method.
\begin{theorem}\label{thm:tracking:review}
If there is a time-varying gain $K(t)$ such that the LTV system
\begin{equation}\label{LTV:z}
\dot z = (A(t) - B(t)K(t))z
\end{equation}
is exponentially stable, then  the linear controller $\Delta u_0 = -K(t) \Delta x$ makes $\Delta x = 0$ an exponentially stable equilibrium point for the nonlinear closed-loop tracking error dynamics \eqref{tracking:dyn}. In consequence, the linear controller
\begin{equation}\label{stable:LTV:controller}
u = u_0(t) - K(t) (x- x_0(t))
\end{equation}
 enables the system $\tilde \Sigma_{{\mathbb R}^n}$ in \eqref{Sigma:tilde} to  exponentially track the reference $x_0(t)$ for any initial state $x(0)$ in a neighborhood of $x_0(0)$ in ${\mathbb R}^n$.  Furthermore, the same controller  \eqref{stable:LTV:controller}, if restricted to $M$, enables the system $\Sigma_M$ to exponentially track the reference $x_0(t)$ for any initial state $x(0)$ in a neighborhood of $x_0(0)$ in $M$.
\end{theorem}

\subsection{Observer-Based Tracking Controllers}
We build observer-based tracking controllers for the system $\Sigma_M$ for the reference $(x_0(t),u_0(t))$ by designing observer-based tracking controllers for the ambient system $\tilde \Sigma_{{\mathbb R}^n}$ in ${\mathbb R}^n$ for the same reference trajectory and then restricting them to $M$.

\subsubsection{Linear Observer-Based Tracking Controllers}
We build a linear observer for the tracking error $\Delta x$.  Consider the following observer for the tracking error dynamics \eqref{tracking:dyn} or \eqref{tracking:dyn:lin}:
\begin{equation}\label{linear:obs:M}
\dot z_{\rm o} = A(t) z_{\rm o}+  B(t)\Delta u - L(t) (C(t)z_{\rm o}- \Delta y),
\end{equation}
where $z_{\rm o}\in {\mathbb R}^n$ is the estimate of the tracking error $\Delta x$;  $\Delta u$ and $\Delta y$ are defined in \eqref{def:Delta:u} and \eqref{def:Delta:y}; and the observer gain $L(t)$ is given by
\begin{equation}\label{gain:L}
L(t) = P(t)C^T(t)R^{-1}(t),
\end{equation}
where $P(t)$ is the solution to
\begin{align}
\dot P &= PA^T(t) + A(t) P  - PC^T(t)R^{-1}(t) C(t)P + Q(t), \label{Riccati:P:obs}
\end{align}
where $R(t) =R^T(t)>0$ and $Q(t) =Q^T(t)\geq 0$ are to be chosen. Let
\[
e_{\rm o} = \Delta x - z_{\rm o},
\]
which satisfies
\begin{equation}\label{eo:dynamics}
\dot e_{\rm o} = (A(t) - L(t)C(t)) e_{\rm o} + O(\|\Delta x\|^2, \|e_{\rm o}\|^2, \|\Delta u\|^2).
\end{equation}
Apply  to the system $\tilde \Sigma_{{\mathbb R}^n}$ a controller of the form
\begin{equation}\label{obc}
u = u_0(t) - K(t) z_{\rm o}.
\end{equation}
Then the tracking error dynamics \eqref{tracking:dyn:lin} and the observation error dynamics \eqref{eo:dynamics} can be written together as
\begin{align}
\begin{bmatrix}
\Delta \dot x \\
\dot e_{\rm o}
\end{bmatrix} &= \begin{bmatrix}
A(t) - B(t)K(t) & B(t)K(t) \\
0 & A(t) - L(t)C(t)
\end{bmatrix}
\begin{bmatrix}
\Delta x \\
e_{\rm o}
\end{bmatrix} \nonumber \\
&\quad + O(\|\Delta x\|^2, \|e_{\rm o}\|^2).\label{total:error:dynamics}
\end{align}
\begin{theorem}\label{thm:main:obs}
Suppose that $K(t)$ is chosen such that the LTV system \eqref{LTV:z} is exponentially stable, that $B(t)K(t)$ is bounded, and that all the hypotheses  in Theorem \ref{thm:observer} in the Appendix hold true. Then, $(\Delta x, e_{\rm o}) = (0,0)$ is an exponentially stable equilibrium point for \eqref{total:error:dynamics}.  In consequence, the trajectory $x(t)$ of the system $\Sigma_M$ on $M$ exponentially tracks the reference $x_0(t)$ with the observer-based controller that consists of  \eqref{obc} and \eqref{linear:obs:M} -- \eqref{Riccati:P:obs}.

\begin{proof}
{\rm It follows from Theorem \ref{thm:observer} in the Appendix and Theorem \ref{thm:tracking:review} above.}
\end{proof}
\end{theorem}

\begin{corollary}\label{cor:main:obs}
Suppose that $K(t)$ is chosen such that the LTV system \eqref{LTV:z} is exponentially stable, that $B(t)K(t)$ is bounded, and that all the hypotheses in Corollary \ref{cor:observer} in the Appendix hold true. Then, the same conclusion as that in Theorem  \ref{thm:main:obs} holds.

\begin{proof}
{\rm It follows from Corollary \ref{cor:observer} in Appendix and Theorem \ref{thm:tracking:review} above.}
\end{proof}
 \end{corollary}

\begin{remark}{\rm
1. Although  Kalman's theory is here used to design the observer gain $L(t)$, one can alternatively use any other method to produce $L(t)$ as far as the system $\dot e_{\rm o} = (A(t) - L(t)C(t)) e_{\rm o} $ is exponentially stable. For the rigid body system, we will build an observer of a non-Kalman type.

2. It is easy to verify that the signal defined by $
x_{\rm est}(t) = x_0(t) + z_{\rm o}(t)$
 converges to $x(t)$ as $t$ tends to infinity. In this sense, \eqref{linear:obs:M} can be regarded as a state observer for $\tilde \Sigma$.
}\end{remark}

\subsubsection{Nonlinear Observer-Based Tracking Controllers}
Consider the following state observer  for $\tilde \Sigma_{{\mathbb R}^n}$:
\begin{equation}\label{non:observer}
\dot {\hat x} = \tilde X(\hat x, u) - L(t) (h(\hat x) - y),
\end{equation}
where $\hat x$ denotes the state estimate of $x$, and   $y$ is the output of $\tilde \Sigma_{{\mathbb R}^n}$. The observer gain $L(t)$ in \eqref{non:observer} is given in \eqref{gain:L} and obtained via \eqref{Riccati:P:obs}.
  Let
\[
e_{\rm o} = x - \hat x
\]
denote the  error of observation of $x$. It is straightforward to show that it satisfies \eqref{eo:dynamics}.  Apply a controller of the form
\begin{equation}\label{obc:non}
u = u_0(t) - K(t) (\hat x - x_0(t))
\end{equation}
to the system $\tilde \Sigma_{{\mathbb R}^n}$. Then the tracking error dynamics \eqref{tracking:dyn:lin} and the observation error dynamics \eqref{eo:dynamics} satisfy \eqref{total:error:dynamics}.
\begin{theorem}\label{thm:main:obs:2}
Suppose that $K(t)$ is chosen such that the LTV system \eqref{LTV:z} is exponentially stable, that $B(t)K(t)$ is bounded, and that all the hypotheses  in Theorem \ref{thm:observer} in the Appendix hold true. Then, $(\Delta x, e_{\rm o}) = (0,0)$ is an exponentially stable equilibrium point for \eqref{total:error:dynamics}.  In consequence, the trajectory $x(t)$ of the system $ \Sigma_M$ on $M$ exponentially tracks the reference $x_0(t)$ with the observer-based controller that consists of  \eqref{obc:non}, \eqref{non:observer} and \eqref{gain:L} -- \eqref{Riccati:P:obs}.
\end{theorem}

\begin{corollary}\label{cor:main:obs:2}
Suppose that $K(t)$ is chosen such that the LTV system \eqref{LTV:z} is exponentially stable, that $B(t)K(t)$ is bounded, and that all the hypotheses in Corollary \ref{cor:observer} in the Appendix hold true, Then, the same conclusion as that in Theorem  \ref{thm:main:obs:2} holds.
 \end{corollary}

\begin{remark}{\rm
1.  The difference between \eqref{linear:obs:M} and \eqref{non:observer} is that \eqref{linear:obs:M} estimates the tracking error $\Delta x = x - x_0(t)$ whereas  \eqref{non:observer} estimates the state $x$.   However, the underlying error dynamics share the same first-order approximation as shown in  \eqref{total:error:dynamics}.

2.  It is noteworthy that the {\it high-gain} observer  \eqref{non:observer} is here linearized along the reference trajectory $x_0(t)$.  Since the reference $x_0(t)$ is chosen first, it is possible to verify the conditions in Theorems \ref{thm:main:obs} and \ref{thm:main:obs:2} and Corollaries \ref{cor:main:obs} and \ref{cor:main:obs:2} in advance, which also allows to design the time-varying observer gain $L(t)$ in advance by integrating \eqref{Riccati:P:obs}.
}\end{remark}
\section{Application: The Fully Actuated Rigid Body System}

\subsection{Review of  the Embedding, Transversal Stabilization and Linearization of the Rigid Body System}
We  review the embedding of the rigid body system from $\operatorname{SO}(3) \times {\mathbb R}^3$ into ${\mathbb R}^{3\times 3} \times {\mathbb R}^3$; refer to \cite{Ch17} for more detail.   Let $\operatorname{SO}(3) = \{ R\in {\mathbb R}^{3\times 3} \mid R^TR = I, \det R >0 \}$ be the set of all $3 \times 3$ rotation matrices and ${\mathfrak so}(3) = \{A \in {\mathbb R}^{3\times 3} \mid A = -A^T\} $ the set of all $3\times 3$ skew symmetric matrices.  The hat map $\hat{} : {\mathbb R}^3 \rightarrow \mathfrak{so}(3)$ is defined as follows:
\[
\hat \Omega = \begin{bmatrix}
0 & -\Omega_3 &\Omega_2 \\
\Omega_3 & 0 & -\Omega_1\\
-\Omega_2 & \Omega_1 & 0
\end{bmatrix}
\]
for  all $\Omega = (\Omega_1, \Omega_2, \Omega_3) \in {\mathbb R}^3$.
The hat map satisfies the identity, $\hat x y = x \times y$ for all $x,y \in {\mathbb R}^3$.  The inverse map of the hat map is called the vee map and denoted by $\vee$ so that $(\hat{\Omega})^\vee = \Omega$ for all $\Omega \in {\mathbb R}^3$.  We use the inner product $\langle A, B \rangle = \operatorname{tr}(A^TB)$ for $A,B\in {\mathbb R}^{n\times n}$, and $\| \cdot \|$ denotes the norm induced from this inner product on ${\mathbb R}^{n\times n}$. The symbol  $[\, , ]$ denotes the usual matrix commutator: $[A,B] = AB - BA$  for all $A,B\in {\mathbb R}^{n\times n}$. The operators $\operatorname{Sym}$ and $\operatorname{Skew}$ denote the symmetrization operator and the skew-symmetrization operator, respectively, on square matrices, i.e.
\[
\operatorname{Sym} (A) = \frac{1}{2}(A+A^T), \quad \operatorname{Skew} (A) = \frac{1}{2}(A-A^T)
\]
for any square matrix $A$.

The equations of motion of the fully actuated rigid body system are given by
\begin{subequations}\label{rigid:original}
\begin{align}
\dot R &= R\hat \Omega, \\
\dot \Omega &= {\mathbb I}^{-1} ( {\mathbb I} \Omega \times \Omega) + {\mathbb I}^{-1} u,\\
y &= R,
\end{align}
\end{subequations}
where $(R,\Omega) \in \operatorname{SO}(3) \times  {\mathbb R}^3 \subset {\mathbb R}^{3\times 3} \times {\mathbb R}^3$ is the state vector consisting of a rotation matrix $R$ and a body angular velocity $\Omega$; $u \in {\mathbb R}^3$ is the control torque;  $\mathbb I$ is the moment of inertial matrix of the rigid body; and $y$ is the output of the system.  The above dynamics naturally extend to ${\mathbb R}^{3\times 3} \times {\mathbb R}^3$ as they are, by considering $R$ as a $3\times 3$ matrix.
Consider a   function $\tilde V$ on $\operatorname{GL}^+(3) \times {\mathbb R}^3\subset { \mathbb R}^{3\times 3} \times {\mathbb R}^3$ that is defined by
\[
\tilde V(R,\Omega) = \frac{{k_{\rm e}} }{4}\|R^TR - I\|^2,
\]
where ${k_{\rm e}} >0$ and $\operatorname{GL}^+(3) = \{ R\in {\mathbb R}^{3\times 3} \mid \det R >0\}$. It satisfies  $\tilde V^{-1}(0) = \operatorname{SO}(3)\times {\mathbb R}^3$  and \eqref{tilde:V:X} for all $(R,\Omega,u) \in \operatorname{GL}^+(3)  \times {\mathbb R}^3 \times {\mathbb R}^3$.  The gradient $\nabla \tilde V = (\nabla_R \tilde V, \nabla_\Omega \tilde V)$ is computed as
\[
\nabla_R \tilde V = -{k_{\rm e}} R(R^TR - I), \quad \nabla_\Omega \tilde V = 0.
\]
With this function $\tilde V$,  the system corresponding to \eqref{Sigma:tilde} is
\begin{subequations}\label{rigid:tilde:eq}
\begin{align}
\dot R &= R\hat \Omega - {k_{\rm e}} R(R^TR - I), \label{R:s:eq}\\
\dot \Omega &= {\mathbb I}^{-1} ( {\mathbb I} \Omega \times \Omega) + {\mathbb I}^{-1} u,\\
y&=R,
\label{Omega:s:eq}
\end{align}
\end{subequations}
where $(R,\Omega) \in {\mathbb R}^{3\times 3} \times { \mathbb R}^3$. It is straightforward to show that Theorem \ref{theorem:attractive:M} holds for \eqref{rigid:tilde:eq}, so   $\operatorname{SO}(3) \times {\mathbb R}^3$ is an exponentially stable invariant manifold of \eqref{rigid:tilde:eq}. It is trivial to see that the system \eqref{rigid:tilde:eq} reduces to \eqref{rigid:original} on $\operatorname{SO}(3) \times {\mathbb R}^3$.

Take a reference trajectory $(R_0(t), \Omega_0 (t)) \in \operatorname{SO}(3) \times { \mathbb R}^3$ and the corresponding control signal $u_0(t)$ such that
\begin{subequations}
\begin{align}
\dot R_0(t) &= R_0(t)\hat \Omega_0 (t), \label{ref:traj:rigid:a} \\
\dot \Omega_0 (t) &= {\mathbb I}^{-1} ( {\mathbb I} \Omega_0(t) \times \Omega_0(t)) + {\mathbb I}^{-1} u_0 (t) \label{ref:traj:rigid:b}\\
y_0(t) &:= R_0(t)
\end{align}
\end{subequations}
for all $t\geq 0$. Assume that  $(R_0(t), \Omega_0(t))$ and $u_0(t)$ are bounded  over the time interval $[0,\infty )$. The paper \cite{Ch17} provides several tracking controllers for this type of reference trajectories.
Let
\begin{align*}
&\Delta R(t)= R(t)-R_0(t) \in {\mathbb R}^{3\times 3}, \\
&\Delta \Omega(t)= \Omega(t)-\Omega_0(t) \in { \mathbb R}^3,\\
&\Delta u(t)=u(t)-u_0(t) \in{\mathbb R}^3,\\
&\Delta y = y - y_0(t) = R - R_0(t)  \in {\mathbb R}^{3\times 3}
\end{align*}
denote tracking errors. Then, the tracking error dynamics can be written as
\begin{subequations}\label{rigid:tracking:error:dyn}
{\small
\begin{align}
\Delta \dot R  &= \Delta R \hat \Omega_0  + R_0  \Delta \hat \Omega -2 {k_{\rm e}} R_0  \text{Sym} (R_0^T \Delta R) + O(2), \\
\Delta \dot \Omega  &= {\mathbb I}^{-1} ( {\mathbb I} \Delta \Omega \times \Omega_0+{\mathbb I}  \Omega_0 \times  \Delta \Omega) + {\mathbb I}^{-1} \Delta u + O(2),\\
\Delta y &= \Delta R,
\end{align}}
\end{subequations}
where  $O(2)=O(\|\Delta R\|^2, \|\Delta \Omega\|^2, \|\Delta u\|^2)$.
Introduce a new matrix variable $Z$ to replace $\Delta R$ as follows:
\[
Z = R_0(t)^T \Delta R.
\]
 Let
\[
Z_s = \operatorname{Sym} (Z), \quad Z_k=\operatorname{Skew} (Z)
\]
such that $Z = Z_s + Z_k$.
Then,  the tracking error dynamics are transformed to
\begin{subequations}\label{Zs:Zk:Om:tv}
{\small
\begin{align}
\dot Z_s &= [Z_s, \hat \Omega_0] - 2{k_{\rm e}} Z_s + O(2),\label{Zs:Zk:Om:tv:a}\\
\dot Z_k^\vee &= Z_k^\vee \times \Omega_0 + \Delta \Omega +O(2), \label{Zs:Zk:Om:tv:b}\\
\Delta \dot \Omega &=  {\mathbb I}^{-1} ( {\mathbb I} \Delta \Omega \times \Omega_0+{\mathbb I}  \Omega_0 \times  \Delta \Omega) + {\mathbb I}^{-1} \Delta u   +O(2),
 \label{Zs:Zk:Om:tv:c}\\
 \Delta y &= R_0(t)(Z_s + Z_k),
\end{align}
}
\end{subequations}
where $
O(2)=O(\|Z\|^2, \|\Delta \Omega\|^2, \|\Delta u\|^2). $
Since the reference $R_0(t)$ is known, the output $\Delta y$ can be replaced with $(\Delta y_s, \Delta y_k)$ that are defined by
\begin{subequations}\label{output:sk}
\begin{align}
\Delta y_s  &= \operatorname{Sym}(R_0(t)^T\Delta y) = Z_s \in \operatorname{Sym} ({\mathbb R}^{3\times 3}),\label{output:sk:s}\\
\Delta y_k &= \operatorname{Skew}(R_0(t)^T\Delta y)^\vee = Z_k^\vee \in {\mathbb R}^3. \label{output:sk:k}
\end{align}
\end{subequations}

\subsection{Observer-based Tracking Controller Design}

We choose to use the linear tracking error observer \eqref{linear:obs:M} to build an observer-based tracking controller for the rigid body system with the measurement of $R$.  The linear part of \eqref{Zs:Zk:Om:tv:a} is already exponentially stable and decoupled from the rest of the dynamics, so there is no need to stabilize it. So, we have only to focus on exponentially stabilizing the linear part of \eqref{Zs:Zk:Om:tv:b} and \eqref{Zs:Zk:Om:tv:c}. Hence, it suffices to build an observer for $(  Z_k^\vee, \Delta \Omega)$ with the output $\Delta y_k$.  In view of the linear part of \eqref{Zs:Zk:Om:tv:b} and \eqref{Zs:Zk:Om:tv:c}, the linear observer corresponding to  \eqref{linear:obs:M} is written as
\begin{equation}\label{full:linearized:rigid}
\dot z_{\rm o} = A(t) z_{\rm o} + B \Delta u + L(t) (C z_{\rm o} - Z_k^\vee),
\end{equation}
where
\[
z_{\rm o} = (Z^\vee_{k,\rm est}, \Delta \Omega_{\rm est}) \in {\mathbb R}^3 \times { \mathbb R}^3
\]
 is the estimate of  $(Z_k^\vee, \Delta \Omega) \in { \mathbb R}^3 \times {\mathbb R}^3$,
and
\begin{align*}
A(t) &= \begin{bmatrix}
-\hat \Omega_0(t) &  I \\
0 & {\mathbb I}^{-1}( \widehat{{\mathbb I} \Omega_0(t)} -\hat\Omega_0(t) { \mathbb I })
\end{bmatrix}\!\!, B = \begin{bmatrix}
0 \\ {\mathbb I}^{-1}
\end{bmatrix},\\
C &= \begin{bmatrix} I & 0 \end{bmatrix}.
\end{align*}

\begin{lemma}\label{lem:ucb}
If $\Omega_0(t)$ is periodic, then $(A(t), C)$ is uniformly completely observable.
\end{lemma}

\begin{lemma}\label{lem:ucb:2}
If $\Omega_0(t)$ is periodic, then the pair $(A(t),I_{6\times 6})$ is uniformly completely controllable.
\end{lemma}

By Theorem II.5 in \cite{Ch17}, any  controller of the form
\begin{align*}
u &= u_0- ({\mathbb I} \Delta \Omega)\times \Omega_0 - ({\mathbb I }\Omega_0) \times \Delta \Omega \nonumber \\&\quad - {\mathbb I }(k_P Z_k^\vee +K_D\Delta \Omega)
\end{align*}
with $k_P>0$ and $K_D = K_D^T \in {\mathbb R}^{3\times 3}$ positive definite,
exponentially stabilizes the tracking error dynamics \eqref{Zs:Zk:Om:tv}. This form of controller leads to the following observer-based tracking controller:
\begin{align}\label{ob:tracking:rigid}
u &= u_0- ({\mathbb I} \,\Delta \Omega_{\rm est})\times \Omega_0 - ({\mathbb I } \Omega_0) \times\Delta \Omega_{\rm est} \nonumber \\
&\qquad - { \mathbb I } (k_P Z^\vee_{k,\rm est} +K_D\Delta \Omega_{\rm est})
\end{align}
where $(Z^\vee_{k,\rm est}, \Delta \Omega_{\rm est}) = z_{\rm o} $ is obtained from \eqref{full:linearized:rigid} and
\[
L(t)  = P(t)C^T {\tilde R}^{-1}(t)
\]
where $P(t)$ is the solution to
\begin{align}\label{rigid:observer:Riccati}
\dot P &= PA^T(t) + A(t) P  - PC^T\tilde R^{-1}(t) CP(t) + Q(t),
\end{align}
where $\tilde R(t) =\tilde R^T(t)>0$ and $Q(t) = Q^T(t)\geq 0$ are chosen such that there are positive numbers $\gamma_i$, $i =1,\ldots, 4$ such that
\[
\gamma_1 I \leq Q(t) \leq \gamma_2 I, \quad \gamma_3 I \leq \tilde R(t) \leq \gamma_4 I
\]
for all $t\geq 0$. Here, we intentionally put a tilde over $R$ in the above three equations since $R$ is reserved for rotation matrix in this section. From  Theorem \ref{thm:main:obs} and Lemmas \ref{lem:ucb} and \ref{lem:ucb:2}, we obtain the following theorem:
\begin{theorem}
The  controller \eqref{ob:tracking:rigid} exponentially stabilizes the tracking error dynamics \eqref{Zs:Zk:Om:tv} or \eqref{rigid:tracking:error:dyn} if $\Omega_0(t)$ is periodic.
\end{theorem}
\begin{remark}
Notice that we only need
\[
\Delta y_k = \operatorname{Skew} (R_0(t)^T\Delta R)^\vee =  \operatorname{Skew} (R_0(t)^T R)^\vee
\]
for the observer designed above, instead of   full information on the rotation matrix $R$.
\end{remark}

We now build a non-Kalman type observer gain $L(t)$   which does not require the periodicity of $\Omega_0(t)$.
\begin{lemma}\label{lemma:nonKalman:obs}
Let
\[
L(t) = \begin{bmatrix} L_1(t) \\ L_2(t) \end{bmatrix},
\]
where
\begin{align*}
L_1(t) &= -\hat\Omega_0(t) + {\mathbb I}^{-1}( \widehat{{\mathbb I} \Omega_0(t)} -\hat\Omega_0(t) { \mathbb I }) + M_1,\\
L_2(t) &= -({\hat{\dot \Omega}}_0(t) + \dot L_1(t)) + (\hat \Omega_0(t) + L_1(t))^2 \\
&\quad - M_1 (\hat \Omega_0(t) + L_1(t)) + M_2
\end{align*}
with   any constant $3\times 3$ positive definite symmetric matrices $M_1$ and $M_2$.  Then, the observation error dynamics $
\dot e_{\rm o} = (A(t) - L(t)C) e_{\rm o}$
for the observer \eqref{full:linearized:rigid} is exponentially stable.  Here, $e_{\rm o} = (Z_k^\vee, \Delta \Omega) - (Z^\vee_{k,\rm est}, \Delta \Omega_{\rm est})$.
\end{lemma}
\begin{theorem}
The  controller \eqref{ob:tracking:rigid} with the observer gain provided in Lemma \ref{lemma:nonKalman:obs} exponentially stabilizes the tracking error dynamics \eqref{Zs:Zk:Om:tv} or \eqref{rigid:tracking:error:dyn}.
\end{theorem}
\subsection{Simulation}
The moment of inertia matrix of the system is given by $
{\mathbb I } = \operatorname{diag}[3,2,1]$.
The parameter ${k_{\rm e}}$ in \eqref{R:s:eq} is set to 1, and
the control parameters in \eqref{ob:tracking:rigid} are chosen as $k_P=4$ and  $ K_D = 4I$.
The reference trajectory $(R_0(t), \Omega_0(t)) \in \operatorname{SO}(3) \times {\mathbb R}^3$ with the reference control signal $u_0(t) \in { \mathbb R}^3$ are
\begin{align*}
R_0(t)  &\\
&\!\!\! \!\!\!\!\!\! \!\!\!\!{\footnotesize = \begin{bmatrix}
\cos^2 t & - \sin t & \cos t\sin t \\
\sin^2 t + \cos^2 t\sin t & \cos^2 t & \cos t \sin^2 t - \cos t \sin t \\
\cos t \sin^2t - \cos t \sin t & \cos t \sin t & \cos^2t + \sin^3t
\end{bmatrix}},\\
\Omega_0 (t)&= [
\cos^2 t - \sin t,  1-\sin t,  (1+  \sin t) \cos t)]^T,\\
 u_0(t) &= {\mathbb I} \dot \Omega_0 - {\mathbb I} \Omega_0 \times \Omega_0=
{\small  \begin{bmatrix}
-(3+6\sin t + \cos^2t )\cos t \\ -2(2+\sin t)\cos t \sin^2t \\ -(2\sin t  - \cos^2 t)\sin t
\end{bmatrix}. }
\end{align*}
which satisfy \eqref{ref:traj:rigid:a} and  \eqref{ref:traj:rigid:b}. The initial condition is given by $
R(0) = \exp (0.9\pi \hat e_2)$, and  $\Omega (0) =  (1,1,1)$,
where $R(0)$ is a rotation around $e_2 = (0,1,0)$ through $0.9\pi$ radians. We then have the initial attitude tracking error $\|R(0) - R_0(0)\| = 2.7936$ which is  fairly close to $2\sqrt 2 = 2.8284$, the magnitude of  maximum possible tracking error. The initial state for  the tracking error observer is set to $
Z_{k, \rm est}^\vee (0) =(0,0,0)$ and $ \Delta \Omega_{\rm est} (0) = (1,2,1)$.
We choose the following values of observer parameters in \eqref{rigid:observer:Riccati}: $
 Q (t)\equiv 100 I$, $\tilde R (t) \equiv 0.01I$,  $P(0) = 100I$.
The simulation results are plotted in Figure \ref{figure.tracking:rigid}, where it can be seen that both the tracking error and the observation error converge to zero as time tends to infinity.
\begin{figure}[tb]
\vspace{-3mm}
\begin{center}
\includegraphics[scale = 0.23]{simu1.eps}
\end{center}
\vspace{-3mm}
\caption{\label{figure.tracking:rigid} The tracking and observation errors.  }
\end{figure}

redpajama_set_name: RedPajamaArXiv


China's Spider to Apple's Fly: Will You Walk into My Parlour?
mericans are historically and by nature optimists; this is also a fair description of most technology executives. Like many of our members, I would plead guilty to this bias on both counts. Even so, there are more problems than usual afoot in the world, and not without reason. While some would take the relatively ignorant view that all things are relative, nothing changes, and the world is as it always has been, I don't see things that way. I believe that actions have consequences, and we are currently paying the piper.This is not bad news, as different actions, or actions remedied, can also often turn threats into positive outcomes. But for this to happen, we must first recognize what these threats - and their causes - are. The markets, and the media, are full of fear these days. The best way to overcome fears is to face them, understand them, and then deal with them. Here, then, are what I consider to be the gravest threats facing the world today, and what it would take to turn them around.
It turns out that, with the proper grid storage systems, revenues also rise for both the vendors and the utilities, without need for government subsidies or tax incentives. Finally, these integrated systems are perfectly suited to emerging national economies, where we may soon expect to see the kind of leapfrogging typical of new technology, even as the more established countries wrestle with politics and spending issues.
I expect that SNS members interested in the requirement for an accelerated deployment of alternative energies will be cheered to see that there is, indeed, at least one technology and company prepared to provide scalable, safe, integrated, grid-scale energy storage for the smart grids of tomorrow, today. - mra.
A KPLU "The Digital Future" interview with Mark Anderson on all that carbon could be used to make fuel, chemicals, and other products.
Chief Environmental Strategist, Microsoft Corp.


text:
A New Era for Philanthropy in the Global South
Homeeconomically weakerA New Era for Philanthropy in the Global South
By Maria Amalia Souza, CASA Socio-Environmental Fund
If you are a social actor from the Global South, you may have already asked yourself if conventional philanthropy isn't possibly missing the beat of changes in our societies. While the field has undoubtedly been key to helping develop important elements of the social movements in our region, some fixed habits and established procedures seem not to follow the new times, and continue to leave us out of the decisions on how funding is allocated in our countries. Philanthropic publications and networks have consistently urged philanthropy to acknowledge that our work can be more effective, resources better and more cost-effectively used, if local groups and communities have a say in how they are spent. Many articles urge Northern funders to become more participatory and inclusive in their procedures, to involve, consult and listen to the vulnerable and excluded communities they aspire to support. But, with the best of intentions, how much can a structure based in the Northern hemisphere do, when it is not part of the societies and systems it is hoping to improve?
For many years before developing the Casa Fund structure and systems of grantmaking, this was our main question: why don't resources reach the most excluded and vulnerable communities in the vast and biodiversity-rich biomes and ecosystems of the world? People of under-privileged communities everywhere, in rural areas or urban peripheries, in the remote mountains, deserts, forests or wetlands, are entirely excluded from the benefits of philanthropy, because they are just too hard to reach, and pretty much invisible to conventional funders. Even when some funders reach some of them — at most a handful of groups — it isn't in a completely systemic way that can really affect local realities in a broad sense. In essence, community-based groups in remote regions are left out. They don't know our field exists, so they are unable to ask for support.
With these considerations in mind, Casa Fund set out to create another way of distributing resources that uses a reverse logic from most structures. We asked ourselves two questions: (1) what needs to be done?, and only then, (2) what is the disbursement mechanism necessary to respond to the actual needs of these territories?
An important characteristic is that we, the founders of Casa Fund, are all actors in the socio-environmental field of South America —and the term socio-environmental is key here! We have always believed that people need to be full participants in the solutions to restoring, preserving and protecting life on earth. There are important integral biomes like forests and wetlands to be protected, but in truth, wherever people live, there are ways to act more responsibly — like improving food production methods, restoring soil and fresh water, protecting the oceans, improving life in the cities, and so on.
And being local actors, the last thing we wanted was for other social actors to see us as 'the money holders', the 'gatekeepers' to financial resources. So we needed to figure out a system that put the real importance elsewhere, not on the holders of cash, but in a system that recognized the true power is in the actions of people. Besides that, we needed everyone to know that there would be no gatekeepers at all, no one with power over the money — that distribution would be so transparent and objective that anyone could reach it when they were ready, with a system, of course, but a clear and accessible one.
Based on these principles, the Casa Fund started building upon the relationships we already had, and then more. For over 15+ years, we have developed a vast web of trust networks, made up of thousands of people, and their relationships, and on from there. Between our over 2000 grantees in 9 countries, plus the dozens of thematic and territory-focused networks, we have tapped into an incredibly rich source of wisdom and guidance. And we have developed a truly horizontal granting mechanism that avoids any individual or group having the power over how the money we raise is distributed.
Basically this is how it works:
Casa Fund raises money from all kinds of different sources, national and international.
Based on agreements with the funder, we develop a document with criteria and guidelines.
A call for proposals is developed and shared throughout all our networks working on the themes and in the regions agreed upon by Casa and the funder – and the word is out!
There are many of these calls during the year, shaped to different regions and public, according to the funds we are able to secure.
Once the call is out, a 'ranking matrix' is developed that assures that proposals received are aligned with the criteria we agreed with our funding partner.A NOTE IS IN ORDER HERE: Foundations in general have always relied on the figure/expertise of program officers to help them select the best proposals to fund. Normally POs are hired for their expertise in their fields. They get allotted a portfolio (and corresponding funds) and the job to look for groups that fulfill these criteria. Casa Fund decided to use a different mechanism. We realized we needed "networkers" instead. Our staff is each responsible for coordinating one or two programs as agreed with our funders. Their main role is to inform our wide network of partners that resources are available for specific regions or themes. They gather responses and proposals that arrive, and process them according to our agreed contracts, criteria and matrix. The difference is that they don't make any decisions on how money is allocated. They technically review each proposal and rank them to present to the team.
So, proposals come in and are ranked. This ranking will have a cut-off line when the funds are used up. An Excel spreadsheet with summaries of who applied, what the proposal is, how it arrived in our hands, how much they correspond to the criteria developed in the beginning, and a personal recommendation by the reviewer, is prepared for conversations with the rest of the team (first) and then go for ratification of the Governing Board (second) who form our legal decision-making body. This board is made up of experienced leaders in all kinds of fields pertaining to Casa Fund's mission. They help us understand the broader scenarios, the priority themes and regions, and serve as political stewards to the organization. We also have an Advisory Board which is convened when their expertise is needed.
Contracts are prepared and the funds are transferred to each group. The team monitors development and analysis reports and the amazing stories of empowerment that come back.
Over the years, our funding partners have been growing in numbers and amount of funds committed. This year we will be donating almost US$5 million, a record for us. And we have also helped independent local socio-environmental funds to get started in seven other countries so far- Argentina, Paraguay, Bolivia, Colombia, Peru, Ecuador and Mozambique. All of them are local actors, who have dedicated their lives to their causes, who understand and share our philosophy of open-source social technology of grant-making — which we are making available to anyone interested anywhere in the Global South, East, West … and North, for that matter.
economically weaker
Previous Post |

redpajama_set_name: RedPajamaCommonCrawl


text:
Q: System design: multiple database clients or proxy and less database connections Suppose I have a system where around 1000 machines will generate data from a sensor and they have to send it to a central system where this will get stored in a SQL table.
My question is if it'd generally be better to have each system connect directly to the database and insert (this is the only operation needed) data, or send it to the server using a messaging server like ie. HornetQ, and have a single (or few) instance of a software  consuming data from HornetQ and writing it to the database system?
I'd like to know how the two approaches compare in terms of CPU/memory cost and scalability, specially at the server side of the system (ie, are database systems designed to handle a lot of clients).

A:
We have a system more or less like yours.
We have hundreds of data producer.
And we are writing those data to mysql database with so many writers.
Having 1000 concurrent writer clients for a database is not a good idea in any world. From my experience I definitely suggest you to use a message queue in your case. It will be a buffer between your data producer and consumer.  So in case of any problem on your database side -and believe me there will be- you don't have to don't anything about that on your producer side. You may stop your consumers, do your maintenance and fixes etc. without touching your producers.
About number of consumer it is completely up to you and your system requirements. You can use one or more consumers as you want and need.
There is a couple of gotcha here. If you need to write too much data means you need write-scalability you may need to use sharding but as I said it is related to size of data and number of transaction you need.
You may also need to be careful about some stuff like not using auto-increment id field etc.

A: The advantages of using a messaging queue in between are:

*

*being able to increase the number of machines generating messages and never mind about scaling your database servers.

*control the queue consumption to keep your database healthy.

*In case of database maintenance or crash, your machines data will not be lost.

I don't want to be too verbose, there are other advantages but I think you get the picture.

redpajama_set_name: RedPajamaStackExchange


Thread: 2 head pole? 2 IES files?
We're trying to run some site lighting calculations for the first time using Revit and ElumTools, but from our search through manufacturer's websites, none seem to offer (proper BIM files to begin with) a fixture that can have 2-heads.
Are there any that do? Moreover, how would they deal with the two heads photometrics? Is there someone out there that provides that but I haven't found them yet?
Make the heads a nested, Shared family, and put the IES file in them. Load them in to the pole family, then load in to project.
That will get you two heads (what's a head?) but, unless each has its own IES file it won't be correct. IES files are typically of an entire fixture and, in my experience, don't go nearly far enough (typically only one size, power, color, down/up in the same fixture blocked by geometry, etc.).
It'll be correct if the IES file is for each individual head, which seemed to be what the OP was asking about.
True that. How have you addressed the other issues with IES files? I ended up creating essentially nested light bulbs for the various color/power combinations. No small amount of work but a type catalog from Excel makes it manageable.
Last edited by GMcDowellJr; June 18th, 2016 at 09:16 PM.
That's what I ended up doing, though not my favorite approach since I can't change IES files on the fly through ElumTools while working on the project. But it seems like the only solution. Thanks.
That's an interesting approach to deal with multiple variations of the same/similar fixture type. How did you do that exactly? And I'm guessing the IES files would be found within those nested light bulbs?
No, manufacturers typically only make one IES file per fixture due to costs. Often they're 48" fixtures so if you have a 24" what do you do? If you have a 96" you can argue the use of 2 of the 48" and that will probably get you close enough for a photometric calc but not for a rendering. Light distrubution from a 96" fixture is different than a 48" fixture. I'm just using the built in parameters to contol power/color/etc. It generates about the right light but not necessarily the right distribution. I'm just as curious how others manage this as you.
Sorry had to jump around on other projects.
But by "shared" you mean this kind of thing: Revit OpEd: Connecting Parameters in Nested Families ?
Electrical Fixture with double pole switches?
Revit browser pole - i-Drop IE only?


Do you have a child who has shown interest in cooking??
will pepare and cook a delicious and nutrious meal!!!
Cooking Supplies will be provided for each party guest. The is no minium for the number of guests, but there is a maximum of 10. Small groups work best....but I never want to leave anyone out....if you have more than 10.....we will work together to create the perfect party!
Each child will receive a pre baked 6" pizza crust to make and customize to their liking.
Your choice of cupcakes or cookies. Your choice will be delivered with choice of color frosting (up to 3 colors) along with a varity of sprinkles, sugars and candy toppers. This package also comes with a veggie/fruit platter and your choice of dip.
Are you looking to plan or host a small intimate dinner party or the wedding of your dreams....Please inquire!!! Don't stress over every detail! No party is too small, no event is too big!
Service fees for event party planning are based on each clients' needs. Hourly rates and Flat Fees are available.
Grill Service also available for your next event!!!! $200 plus the cost of items you wish to grill.


You gotta hand it to the IE team for turning their lemon of a reputation into lemonade. On the viral front there's The Browser You Loved to Hate, currently tickling my nostalgia with a #childofthe90s campaign. They've also teamed up with Atari and ZeptoLab via Cut the Rope to put its newer browser versions on display.
But despite a long-needed push to abandon version 6 for good, IE still has to straddle the past, present, and future. IE 10 is the must-have, but it had to go through 7 to 9 first, and so must front-end developers. modern.IE steps in to help with that: the page scanner detects red flags that might be causing problems on the browser, as well as advice and testing tools.
They're sponsoring three months free on BrowserStack, which gives you access to different Operating Systems, devices, and browsers inside the browser. I've tried it a few times and while it's expectedly slow, it's sometimes more convenient than virtualization. Sometimes even faster.


This sword is part of a group of very similar swords. Some are shorter double swords, other single swords, some large, like this one. What they all have in common are blades with extensive overlays in silver, sometimes also with copper and brass. The decor always incorporates figures, sanskrit symbols, constellations, and a reign mark, all contained within a framed border following the contours of the blade.
The reign mark is in zhuanshu (seal script) that says 大清乾隆年制 ( Da Qing Qianlong nian zhi ) or "Great Qing Qianlong Period Manufacture". The Qianlong emperor's long reign lasted from 1736-1796. When looking at the style and workmanship of the swords in this group however, they seem to date to the late 19th to early 20th century. More specific, probably around 1890 - 1920.
The Royal Armories sword in Osprey's Late Imperial Chinese Armies 1520 - 1840.
Our sword is laid out on top of the book.
It is rare to find a reign mark on an antique Chinese weapon, let alone one that doesn't correspond to its date of manufacture. It is not without precedent, though. Some 19th century rebel groups marked their weapons with Ming dynasty reign marks, harking back to the last period the Han were ruled by Han, and not by Manchus as had been the case in the Qing from 1644 onwards. It was an act of rejecting the present Qing, and idealizing a distant past.
compared to a real Qianlong period imperial piece (right).
The lesson here for the student of antique arms and armor is to always keep questioning. Museums descriptions, books, auctioneers, long-time collectors, they can all be wrong from time to time. Museums in particular are often held in high regard by the layman, but they too make mistakes. Their collections span thousands of items and there is only so much expertise in-house. A curator with a master's on Japanese lacquerware may be appointed in a position where he's head of Chinese arms as well. Some museums do a great job cooperating with experts from many fields to increase their understanding, while other institutions, large and small, find it hard to change something even when it is pointed out to them again and again. It is down to us, the arms and armor community as a whole, private and institutionalized, to keep studying and sharing to raise the level of our understanding.
1. C.J. Peers; Late Imperial Chinese Armies 1520 - 1840 , Osprey Publishing, Oxford, 2005 reprint, page 33. The accession number in the publication is XXVI-90s, which is perhaps an older accession number because today the exact same sword turns up under XXVIS.190.
2. See: Kate Hunt, Demystifying Chinese reign marks — everything you need to know to get started.
Materials: Steel, iron, silver, brass, bone. Scabbard: wood, ray-skin, brass.
Now we have established what it is not, let's now focus on what it is: An exceptionally large and heavy Chinese straightsword of the late Qing dynasty, possibly even early Republic. For this period, it's actually quite a nice piece. Most were of much simpler manufacture with little to no attempts to decorate them at all.
The most striking feature of the piece is, of course, the blade. It is crosshatched to form a background to which silver wire would adhere when hammered on. Using this method, the blade is decorated in full with a framing border around its contours. Within the border we find on each side a Qianlong reign mark, two sanskrit characters, four figures, a dragon, and a constellation.
Four figures on one side of the blade are women in Chinese dress that we can identify as the "Four Great Beauties" (四大美女) of Chinese folklore. They were allegedly so beautiful that one, Xi Shi, made fish forget how to swim, Wang Zhaojun made the birds forget how to fly, Diachan eclipsed the moon, and the last, Yang Guifei brought flowers to shame.
The four figures on the other side are the probably Heruka or "Blood Drinkers" of Tibetan Buddhism. These are considered enlightened and fierce protectors, known as "Enlightened Kings" (明王) in Chinese. The one on the top is hard to identify. The second from above is easily identifiable as Vajrayana or "The King of knowledge having conquered three worlds" (降三世明王). The third, sitting on a lotus, is probably Yamantaka (大威德金剛) "The Defeater of Death" while the fourth, standing figure is Kuṇḍali (軍荼利明王), dispenser of the nectar of immortality.
Near the tip the blade has, on each side, a dragon and seven stars of the big dipper, a constellation that was very important in traditional Chinese thought, among others in Daoism. It represented the seat of the celestial king around which all revolves, and it was the constellation in which the time of death was determined. This constellation is often seen on antique Chinese swords, primarily straightswords but sometimes sabers, spearheads, and other weapons.
All in all, the decor is eclectic. The mark of an illustrious emperor, harking back to the most prosperous times the Chinese empire had ever had until then. Four beauties from Chinese folklore. Four fierce deities, protectors of Tibetan Buddhism, a religion practiced by the Qianlong emperor himself and many of his Tibetan, Mongol and Manchu subjects. Add to that constellations most prominent in another religion, Daoism. Finally, a five clawed dragon on each side depicted just like it is on the Chinese flag of the last decades of the Qing. It is almost as if the sword is trying to commemorate "the good old days", a testament of the greatness of Chinese culture in a time that everything was falling apart. Despite all the decoration, the blade shows hints of a forge-folded construction, possibly with inserted hardened edge, yet was never sharpened.
The hilt consists of an "ace of spades" style guard, typical for the late Qing, with matching lobed pommel. The fittings are engraved with designs of archaic dragons. The bone handle is engraved on both sides, one side showing what looks to be a monk in fighting pose, possibly Bodhidharma, who brought Chan Buddhism to China, which in turn spread to Japan and is now known as Zen. The other side shows an underwater scene with fish, snail and shrimp. Original peening at the pommel intact. There is also some play in the handle.
It comes in its original wooden scabbard, covered in ray-skin, dyed green and polished. Ray-skin in great condition, no losses. Its brass fittings pierced and with dragon engravings. A section of the band of the upper shield is missing.
The most common description given for them is ceremonial, yet to my knowledge the only Chinese ceremony that uses a straightsword is a Daoist ceremony. Swords used in these ceremonies typically have a strictly Daoist theme in their decoration. This leads to the conclusion that they were probably made as purely decorative pieces, possibly aimed at a predominantly foreign market.
As mentioned, several of these swords, either in sets or as large, single swords, circulate. Most of them are in private hands and those I've tracked have changed hands for as little as $100 and as much as $20.000 in the last decade or so.
One nearly identical example, mentioned in the introduction, is in the Royal Armories in Leeds under accession number XXVIS.190. It is remarkably similar, the only difference is that ours has a ray-skin covered scabbard and the one in the Royal Armories has a black lacquered scabbard. It is still represented as Qianlong era sword on the website and was published in a variety of publications. The Royal Armories note: "There are numerous examples from the same series; for example, those in the collection of Prof. Dr. W Uhlmann, Gerbrunn, Germany, no. 229; Mr M Watts, Crawley Down, West Sussex. "
Other notable published examples include a set and a single sword, published in Alex Huangfu's Iron and Steel Swords of China (中國刀劍), pages 208, 209, and the foldout in the back. In this book he describes both the set and the single long sword as "Qing Qianlong period ceremonial court dress swords" (清乾隆款宫廷礼仪佩剑). As evidence for this attribution he makes he reproduces a photo of the Royal Armories example , and a photo of the sign with which it was displayed.
A good, representative example of a type of Chinese sword that is widely thought to date from the Qianlong reign. Its many misrepresentations aside, these are quite interesting items in their own right. It remains somewhat unclear why they were made, but I suspect they were made as presentation pieces for foreigners, or items intended for the curio trade.


text:
Q: How to obtain file permissions if I denied myself, but I have admin rights? Let's say I created file abc.txt as User1
I gave ownership of that file to User2 and then in Security tab I gave deny read/write/exec to User1
Now I want to programmatically change that, so User1 will be owner and have read/write/exec again (I'm running app as User1!)
I'm running the app with Administrator rights
and the problem is that I'm not even able to do File.GetAccessControl(path) because

System.UnauthorizedAccessException: An attempt was made to perform an unauthorized operation.

But, when I click it via GUI -> right -> properties -> security -> advanced
there's button (that requires Administrator rights)

Click continue in order to attempt to perform that operation with administrator rights

and also

Change file owner (admin rights required)

And I'm able to do it easily via GUI
But, how exactly I'm supposed to regain my permissions programmatically?
Here`s my current code:
//Get Currently Applied Access Control
var fileSecurity = File.GetAccessControl(file.FullName);

//Update it, Grant Current User Full Control
var cu = WindowsIdentity.GetCurrent().User;
fileSecurity.SetOwner(cu);
fileSecurity.SetAccessRule(new FileSystemAccessRule(cu, FileSystemRights.FullControl, AccessControlType.Allow));

//Update the Access Control on the File
File.SetAccessControl(file.FullName, fileSecurity);


text:
Skip to main content D.C., Md. & Va. The District Maryland Virginia Local Crime & Public Safety Local Education Obituaries Local Transportation Weather
Raw sewage floods neighborhood after rain
By Robert Samuels
Robert Samuels
National political enterprise reporter who focuses on the intersection of politics, policy and people
Email Bio Follow
From his basement condominium, Jared Moffett heard the trouble during Tuesday's downpour.
"It sounded like a manhole exploded," the 30-year-old recalled.
Then he saw it: backwater gurgling up from his toilet. And then he smelled it: raw sewage from underground swimming atop his black shag carpet.
"A friend and I were trying to scoop and shovel out the water, but there was no way we could get ahead of it," said Moffett, who lives in the 500 block of Florida Avenue NW. "Gallons and gallons just coming in at a time."
The heavy rain that rolled through the region Tuesday evening was no derecho, but the flash flood, more than two inches in some areas, still unfurled a heap of damage in neighborhoods along Rhode Island and Florida avenues NW, including Bloomingdale and LeDroit Park.
For many residents, the pools of dirty water came as no surprise: Once a year or so, they find themselves displaced from their homes and shelling out thousands of dollars for repairs.
The continued flooding has come as a result of an area that has a unique set of problems: As new homeowners have flocked to the neighborhoods' remodeled rowhouses, one of the city's oldest sewage and piping systems is showing signs of strain. The neighborhoods are also among the city's lowest lying.
"When you have a downpour like you had last night, when you get that much water, at that quick of time, the system is not going to be able to handle it," said Terry Ballamy, director of the city's transportation department.
City officials said there are a number of initiatives to tackle water-flow problems, from adding more trees and "green" roofs to reduce rainwater runoff to a multibillion-dollar project to upgrade the city's underground plumbing.
For residents such as Moffett, those changes cannot come soon enough. The LeDroit Park civic association plans to meet with D.C. officials Monday to encourage the city to quicken the pace. Because of past flooding, Moffett has already made his changes: His furniture is made of metal frames, and he placed his couch on risers to prevent water damage.
Still, Moffett, who had yet to return home after the flooding, worried that those measures wouldn't prevent damage to his computer and carpets from the rising sewer water.
Evidence of the flooding's impact could be seen throughout the neighborhood. A woman set out at least three sodden pairs of boots on her porch. Smelly, soaking carpets were taken outside to dry. Sandbags, meant to stop the flow of water, sat on sidewalks outside basement windows.
Larry Holeman stood at his front step, watching as a cleaning crew tried to carry his carpet from the basement.
"This is going to take $6,000 to fix, and my insurance says they won't cover it," said Holeman, 65. "It's happened so regularly that it's become a big headache."
Tim Craig contributed to this report.
Robert Samuels Robert Samuels is a national political enterprise reporter at The Washington Post who focuses on the intersection of politics, policy and people. He previously told stories about life in the District for The Post's social issues team. Follow


On this date in 2009 prior to the start of the 8th inning at Comerica Park, a small boy races to the pitcher's mound and grabs a baseball intended for Tigers reliever Brandon Lyon. The youngster is helped back into the stands on the visitors' side. He is allowed to keep the ball after a discussion between the boy's uncle and ballpark security. The discussion reveals that the six-year old boy misunderstood a suggestion to go to the railing to try to get a ball from one of the Blue Jays players.
These verses from 1Chronicles are the words that King David gives to his son and heir Solomon. He reminds his son to follow God with his whole heart and a willing mind. God will search every heart and will see the motives behind his thoughts and actions. God today is still interested in our serving Him with our whole hearts and minds. God also wants us to serve Him with the right motives. God wants us to seek Him and to do the work He has in store for us to accomplish for Him. We can only do the work god has for us when we follow Him with every ounce of our being and do so with the right motives!
1. What are our motives for serving God? Remember he knows.
2. Why must we serve God with all our being?
3. Why does God deserve our best when we serve Him?
When we serve God with all our hearts and minds with the right motives in our hearts great things can be accomplished for the Kingdom.
I visited your site to check out the thlnoegiaos against tithes and I would like to add two names of great preachers who have podcast and radio call in shows here in the West of the United states.Greg Koukl and Steve Gregg both oppose Church tithing. I have come to love these two radio call in shows. My former favorite was the Bible Answer Man with Hank Hannagraph however my great brother Hank supports Church tithing somewhat.


text:
José Gabriel dos Santos Silva (born 21 January 1999), commonly known as Zé Gabriel, is a Brazilian professional footballer, who plays as either a defensive midfielder for Vasco da Gama.

Professional career
Zé Gabriel played at the base of the Corinthians Between 2013 and 2017, and moved to the base of the Internacional in 2018, And for the professional in 2019.  Zé Gabriel made his professional debut for Internacional on 3 August 2019, losing for 2-1 by Fluminense, at the Campeonato Brasileiro Série A.

References

External links

 Internacional Profile

1999 births
Living people
Sportspeople from Sergipe
Brazilian footballers
Association football defenders
Association football midfielders
Sport Club Internacional players
CR Vasco da Gama players
Campeonato Brasileiro Série A players

redpajama_set_name: RedPajamaWikipedia


text:
Unique bed & breakfasts, guesthouses, and hotels | be inspired by what's on
← Back to search results
Katestone@gagesmill.co.uk
Gages Mill Country Guest House
Buckfastleigh Road, Ashburton, Devon, TQ13 7JW, United Kingdom
see all 6 images
Double room-Ensuite
Guest bedrooms have been tastefully decorated with their own individual colours and furnishings. All rooms are en-suite and have open countryside views. In all bedrooms you will find Tea & Coffee making facilities, Hairdryers and digital Alarm Clock radio's. All bedrooms are centrally heated.
Internet hotspot
Enter dates to find rates and availability
Twin room-Ensuite
Family room-Ensuite-2 Adults & 1 Child
(266 Guest Reviews) 98% Would Recommend
Friendliness 5.0
Review Overall Rating
Gages Mill Country Guest House Information
Gages Mill is a Grade 2 listed 14th century former Wool Mill situated at the Southern Gateway to the Dartmoor National Park, one mile from the centre of the ancient Stannary Town of Ashburton and only minutes from the A38. Gages Mill stands in over an acre of beautiful mature gardens surrounded by trees and farmland, and has ample guest parking spaces. The building has been carefully converted to retain its original character, whilst offering every modern comfort. All 7 guest bedrooms are en-suite and have open countryside views. Plymouth and Exeter City Centres are within 25 minutes and the coast can also be reached 25 minutes. Dartmoor National Park is within half a mile of Gages Mill. Our Guest TV Lounge has a wonderfully cosy feel with comfortable seating, original granite walls and a real flame fireplace. A Granite arch leads through to the dining room which has an additional seating area. Breakfast is served in the dining room where you can help yourself to Cereals, Fruit Juices and fresh Fruit before we serve you tea or coffee and a full English breakfast with all food locally sourced. Vegetarian options are also offered. We also have a licensed bar. Guest bedrooms have been tastefully decorated with their own individual colours and furnishings. All rooms are en-suite and have open countryside views. In all bedrooms you will find tea & coffee making facilities, hair-dryers and digital alarm clock radio's. All bedrooms are centrally heated.
Bike lock-up
Animal watching
Shopping - boutique
No Accessibility Information available at this time.
Check in: 17:00 till 22:00
Early check-in available on request
Late check-out available on request
Child Policy: Children welcome
Smoking Policy: No smoking
Accommodation type: Guest house
Booking Terms and Conditions Privacy and cookie policy
Road from Exeter (20.0 miles)
Take the A38, following the signs to Plymouth. After 18 miles you will see the first turning to Ashburton called LINHAY exit. Go past this, and after one mile you will see the second turning to Ashburton called PEARTREE. Leave the A38 here and follow the sign to Ashburton. This will take you over the A38, where you will see a Shell garage. Turn left in front of the garage in the direction of Buckfast Abbey and Buckfastleigh. Gages Mill is the first property on the left, about 400 metres up.
Properties in Ashburton have put their prices up in the last 24 hours, book now to secure the best price
This website is edited by eviivo Limited, 154 Pentonville Road, London, N1 9JE, United Kingdom. We use cookies to ensure you have the best experience and any personal data shared during your visit is protected by our privacy policy


I just made a trip to Utah to learn more about our oils. Our plane had boarded and I was seated, waiting on the plane to take off. A young woman in the row behind me was on the phone with her mom. The girl was openly weeping and I was very concerned about her. We'd had a somewhat rough flight to Denver from Atlanta, the plane shuddering and jolting a little as we passed through what the mild-mannered pilot called "a bit of weather."
The young lady was alone and frightened. I felt terrible for her. And a little camaraderie, too. Flying is not my favorite thing, either. In fact I found myself, usually a pretty calm person, having somewhat irrational worries and feeling claustrophobic on the flight to Denver. "What if I throw up?" "What if I throw up and can't STOP throwing up?" "What if I go screaming down the aisle?" "What is Death?" "What if the plane is suddenly filled with snakes? And finally ... "In the name of all things holy, WHERE is Samuel L. Jackson when you NEED him??"
Okay, maybe totally irrational. I relied heavily on my oils to get me through that flight.
When she got off the phone with her mom, I leaned over the seat (she was still quietly sniffing) and asked if she was okay. We talked a while and commiserated about the flight. After a while I asked her if she'd ever tried essential oils and gave her a bottle of our Wild Orange. I told her to sniff it from the bottle or put a drop or two in her palms, rub together and breathe it in. She was thrilled and took the bottle, happily.
As we progressed through the final leg of the trip from Denver to Salt Lake City, we'd occasionally hit a rough patch. Several times through the flight I caught a slight whiff of citrus.
As we de-planed in Salt Lake, she was all smiles. I asked her if the Wild Orange helped, although I really already knew the answer. She loved it -- said it really helped a lot and she'll never fly again without Wild Orange.
Wild Orange is one of many oils that are calming. It's our top recommendation, actually. I know people who won't go anywhere without their Wild Orange to help with anxious feelings and even with high stress situations!
Love that. Simple. Effective. Smells good.
Sharing is caring! Please share and "like" this post -- thank you!


"From styling pop-stars like clown babies to creating kawaii-punk accessories for her friends and fans, Stella's name has always been ringing in the ears of the industry. Now, with her full clothing line launch in collaboration with Print All Over Me, all eyes are on her too."
"However, the winner of the collection would have to be the backpack, featuring Saint Clair's No Thank You graphic, there to help you to tell street harassers how you really feel. "
"Designer Stella Rose Saint Clair has created a beautiful beret that we need right now! The NYC-based artist has a super cute line of hair adornments and accessories, and hats are the latest addition to the collection."
"Designer Stella Rose was such an early adopter of millennial pink, it was still just known as pink when she took interest in it. Whatever you call it now, the hue is the first thing you notice when you get a glimpse of her abode in Brooklyn, New York—that, and the never-ending trinkets that adorn the walls.
"It's easy to get halfway through NYFW and still not see a single thing you'd want to actually wear. We're here to fix that with 17 of the coolest female designers in New York City. You'll want to wear all their clothes AND be their bestie.
"If you live in New York City and you pass someone on the street who can best be described as "visual napalm," chances are you walked by professional spectacle Stella Rose Saint Clair. "
"With champagne wildly flowing, "Superstisia stars four girls, including burlesque star Raquel Reed, who'er all letting loose in campy pasties and sequins at a wild cocktail party that feels almost like a seance."


If you prefer to send your nominees in by email, send your suggestions to Karen Kirsch, Events Chair: events@milwaukeedems.org. All nominations received by Sunday, January 17, 2016, will be considered.
Nominate someone for a Lifetime of Service Award.
You can nominate someone for this award and briefly explain why you think your nominee is especially worthy. Or you can proceed to the next category.


Finished in a dark antique brass, the Vienna Floor Lamp by RV Astley features a striking linear design with a contrasting cream oval lampshade. Brass lines are positioned in graduated drops to create a statement design that will bring a touch of Hollywood glamour to your home. Mounted on a solid square base, this floor lamp will bring a welcoming ambience to a hallway or living space. Style with Art Deco accents such as metallics, geometric patterns and luxurious textures for a decadent scheme. Get in touch with our team of experts for more advice and information.


text:
import { Image as BaseImage, ImageProps, Box } from "@artsy/palette"
import { useRef, useState } from "react"
import styled from "styled-components"
import { isTouch } from "Utils/device"

type Position = number | null

interface Positions {
  x: Position
  y: Position
}

interface MagnifyImageProps extends ImageProps {
  scale?: number
  scaleDuration?: number
}

const ENTER_TIMEOUT_DELAY = 300
const DEFAULT_SCALE = 1.75
const DEFAULT_SCALE_DURATION = 0.15

export const MagnifyImage: React.FC<MagnifyImageProps> = ({
  scale = DEFAULT_SCALE,
  scaleDuration = DEFAULT_SCALE_DURATION,
  ...rest
}) => {
  const containerRef = useRef<HTMLDivElement | null>(null)
  const timeoutRef = useRef<ReturnType<typeof setTimeout> | null>(null)
  const [zoomed, setZoomed] = useState(false)
  const [positions, setPositions] = useState<Positions>({
    x: null,
    y: null,
  })

  const onMouseOver = () => {
    if (isTouch) {
      return
    }

    timeoutRef.current = setTimeout(() => {
      setZoomed(true)
    }, ENTER_TIMEOUT_DELAY)
  }

  const onMouseOut = () => {
    if (isTouch) {
      return
    }

    if (timeoutRef.current) {
      clearTimeout(timeoutRef.current)
    }

    setZoomed(false)
  }

  const onMouseMove = (e: React.MouseEvent<HTMLDivElement, MouseEvent>) => {
    if (!containerRef.current || isTouch) {
      return
    }

    const containerRect = containerRef.current.getBoundingClientRect()
    const x = e.clientX - containerRect.left
    const y = e.clientY - containerRect.top

    setPositions({
      x,
      y,
    })
  }

  return (
    <Box
      position="relative"
      overflow="hidden"
      onMouseOver={onMouseOver}
      onMouseOut={onMouseOut}
      onMouseMove={onMouseMove}
      width="100%"
      height="100%"
      ref={containerRef as any}
    >
      <Image
        {...rest}
        title={undefined} // don't display a tooltip when hovering over the image
        style={{
          ...rest.style,
          transformOrigin: getTransformOrigin(positions),
          transition: `transform ${scaleDuration}s ease, transform-origin 100ms ease, opacity 0.25s`,
          transform: zoomed ? `scale(${scale})` : `scale(1.0)`,
        }}
      />
    </Box>
  )
}

const Image = styled(BaseImage)`
  display: block;
  width: 100%;
  height: 100%;
`

const getTransformOrigin = (positions: Positions) => {
  if (positions.x === null && positions.y === null) {
    return "center center"
  }

  return `${positions.x}px ${positions.y}px`
}

redpajama_set_name: RedPajamaGithub


text:
Hartford Multifactor Developed Markets (ex-US) ETF - Get News & Ratings Daily
Enter your email address below to get the latest news and analysts' ratings for Hartford Multifactor Developed Markets (ex-US) ETF with our FREE daily email newsletter:
41,985 Shares in Hartford Multifactor Developed Markets (ex-US) ETF (RODM) Purchased by Newman Dignan & Sheerar Inc.
April 10th, 2019 - Comments Off on 41,985 Shares in Hartford Multifactor Developed Markets (ex-US) ETF (RODM) Purchased by Newman Dignan & Sheerar Inc. - Filed Under - by Kyle Jackson
Filed Under: Investing - SEC Filing Articles
Newman Dignan & Sheerar Inc. acquired a new position in Hartford Multifactor Developed Markets (ex-US) ETF (NYSEARCA:RODM) in the first quarter, Holdings Channel reports. The institutional investor acquired 41,985 shares of the exchange traded fund's stock, valued at approximately $1,183,000.
Other hedge funds and other institutional investors have also recently bought and sold shares of the company. First PREMIER Bank acquired a new position in Hartford Multifactor Developed Markets (ex-US) ETF in the 1st quarter valued at $254,000. Centric Wealth Management acquired a new stake in shares of Hartford Multifactor Developed Markets (ex-US) ETF in the fourth quarter valued at about $274,000. WealthPLAN Partners LLC grew its position in shares of Hartford Multifactor Developed Markets (ex-US) ETF by 5.1% in the fourth quarter. WealthPLAN Partners LLC now owns 829,442 shares of the exchange traded fund's stock valued at $23,092,000 after purchasing an additional 40,519 shares during the last quarter. Executive Wealth Management LLC bought a new position in shares of Hartford Multifactor Developed Markets (ex-US) ETF in the fourth quarter worth about $4,375,000. Finally, Cetera Advisor Networks LLC bought a new position in shares of Hartford Multifactor Developed Markets (ex-US) ETF in the fourth quarter worth about $2,365,000.
Get Hartford Multifactor Developed Markets (ex-US) ETF alerts:
Shares of NYSEARCA RODM traded down $0.16 during trading hours on Tuesday, hitting $28.36. 294,845 shares of the company's stock were exchanged, compared to its average volume of 551,234. Hartford Multifactor Developed Markets has a 1-year low of $24.94 and a 1-year high of $30.71.
ILLEGAL ACTIVITY WARNING: This piece of content was reported by Watch List News and is the property of of Watch List News. If you are accessing this piece of content on another site, it was illegally stolen and republished in violation of US and international copyright & trademark legislation. The legal version of this piece of content can be viewed at https://www.watchlistnews.com/41985-shares-in-hartford-multifactor-developed-markets-ex-us-etf-rodm-purchased-by-newman-dignan-sheerar-inc/2951454.html.
Hartford Multifactor Developed Markets (ex-US) ETF Profile
Direct Markets Holdings Corp., formerly Rodman & Renshaw Capital Group, Inc, is a holding company. Through its subsidiaries, it is engaged in the investment banking business. The Company's principal operating subsidiary is Rodman & Renshaw, LLC (R&R). It is an investment bank, which provides corporate finance, strategic advisory and related services to public and private companies across multiple sectors and regions.
Read More: How does new data get added to a blockchain?
Want to see what other hedge funds are holding RODM? Visit HoldingsChannel.com to get the latest 13F filings and insider trades for Hartford Multifactor Developed Markets (ex-US) ETF (NYSEARCA:RODM).
Receive News & Ratings for Hartford Multifactor Developed Markets (ex-US) ETF Daily - Enter your email address below to receive a concise daily summary of the latest news and analysts' ratings for Hartford Multifactor Developed Markets (ex-US) ETF and related companies with MarketBeat.com's FREE daily email newsletter.


Dance the night away, enjoy delicious BBQ and good drinks, and listen to country music at the Barn Dance and Pig Roast at The Oregon Garden. This event is for 21+ only. Put on your boots and your best Western wear, then take a line dancing lesson from Rockin Robyn's DJ and Dance. As the night goes on, take a dance break and enjoy a BBQ meal from Adam's Rib Smokehouse and great beer or cocktail. Barn Dance is October 20, 6-11pm in the Grand Hall at The Oregon Garden. Dance tickets are $25 presale and $22 for Garden Members. It includes admission, line dance lessons, and your first beer. Dinner and dancing tickets are $40 presale and $37 for Garden Members. It includes admission, line dance lessons, your first beer, and dinner from Adam's Rib Smokehouse. A Barn Dance Overnight Package is also available at the Oregon Garden Resort, just steps from the event, starting at just $209. Visit http://www.oregongarden.org/events/barn-dance/ for more details and to purchase tickets.


Across the financial industry, innovation is driving new and exciting ways to bank. For banks and credit unions, remaining competitive requires a balance in responding to, and predicting, customer needs and achieving key performance measures.
Focus on classic performance measures such as return on equity (RoE) and return on assets (RoA) are now complemented with changing regulator-driven measurements, such as delivering minimum capital and liquidity ratios and – for some – complying with new resolvability requirements. In this complex world, the room for error is smaller than ever.
Since 2000, the Federal Deposit Insurance Corporation (FDIC) lists over 550 financial institutions that have failed to navigate successfully. It is more important than ever to evaluate the end-to-end business requirements to extract value from innovation and drive results.
For many leaders, seeking new end-to-end business value is challenging. Finding a view across the business involves a lot of work and "connecting the dots" across a disparate infrastructure and departments. Many core banking systems date back to the 1980s. These legacy systems have then been integrated with new technology to support product introductions, service features, and compliance requirements. During these technology upgrades, end-to-end visibility is often not a primary priority and incremental complexity is added. When you consider departmental silos and regional processes, the challenge only increases. In seeking an end-to-end view, leaders are often faced with tedious manual processes to pull together the big picture in a dashboard view.
To reduce the time and effort required to pull together the end-to-end view, some leaders may initiate projects to integrate systems. These projects attempt to streamline processes and improve data transparency and are rarely simple. They often can be inefficient or ineffective as subsequent or even adjacent projects may quickly add new requirements back into the process.
Just because they are difficult does not mean it should not be done. To ensure the projects are successful, banks and credit unions can adopt a corporate data-ecosystem standard. This standard includes a long-term end-to-end data-transparency framework and guidelines for departmental programs to link into this broader, collaborative vision. The long-term framework needs to be flexible enough for innovation to proceed in parallel to its implementation. which will often be over many years. Providing guidelines for new programs to integrate into the new model, future-proofs the solution and makes end-to-end visibility both a standard project priority, but also a core competency of the organization through repetition.
As the new framework is being implemented leaders can support a culture of collaboration, united by strategic shared goals to bring new 'value-creating' opportunities to the organization. Leveraging collaboration supports value creation by simplifying access to, and the time required to pull together the big picture. This is particularly valuable in bridging the gap between IT and Marketing. You can read more on bridging this gap here.
It doesn't take long to gain valuable insights after enabling a end-to-end data transparency. Shifting the focus to the big pictures across the business provides leaders with a new lens to evaluate their business and find value-creating opportunities. Often the first opportunities they identify are related to cost.
Identifying stubborn costs that banks incur to continue with a legacy way of doing business that could be changed through the adoption of the latest technologies, methods or standards.
Avoiding myopic cost-cutting initiatives which deliver on short-term reduction targets. These myopic costs cuts can be difficult to track back to the bottom line, file to retain their impact over time, and can often re-occur with the increase of business volumes.
Managing stranded costs which would continue to be incurred after discontinuing a product or function.
As costs are identified and categorized, options to control them can be better assessed through scenario planning. This approach leverages an end-to-end understanding of business and collaboration. Thus avoiding cost shifting through the implementation.
Improved communication and data accessibility offer opportunities to boost customer service. Customer behavior, when tracked across systems and departments, offers deeper insights into the customer journey and customer needs. With these insights, banks and credit unions can respond with more meaningful and personalized services and solutions.
As technology improves so does real-time data feedback on customer behaviors. In the hands' marketers, this real-time data can be used to create custom solutions and personalized offers by tracking and predicting trends. In the hands of bankers, advisors, and customer service agents this data makes the difference from providing good service to great service. Great service builds brand loyalty and creates champions out of customers.
Future opportunities are enabled to supplement customer service through artificial intelligence (AI). The opportunity of AI goes beyond the service bot, with applications to improve self-service and adapt agent interactions. Each solution designed to meet the personalized needs of each individual customer through simple interfaces which harness the power of "big data", removing time, cost and inefficiencies.
Creating visibility into the end-to-end business provides banks and credit unions opportunities to extract value now, but also enables them to insulate from future economic shocks. Access to historic and real-time information enables better analysis and forecasting while enhanced, technology-supported scenario planning can be implemented on demand. What are the top opportunities you see when you look at the big picture? Share your thoughts by getting in touch at support@myvoleo.com.


text:
UNM Newsroom / News / University of New Mexico names Loretta Martinez as chief legal counsel
University of New Mexico names Loretta Martinez as chief legal counsel
By Steve Carr September 10, 2018
Categories: Front Page President's Office Administration
University of New Mexico President Garnett Stokes has named Loretta Martinez as chief legal counsel. This is Stokes' first permanent leadership appointment since she took office in March of this year.
"Ms. Martinez brings a proven record of leadership, legal expertise and passion for higher education to the position," UNM President Garnett Stokes said. "The more I discussed our institutional goals and challenges with her, the more confident I became that she is the right person to lead the Office of Chief Legal Counsel."
Martinez has held a variety of leadership positions throughout her career in higher education and has been an advocate for creating opportunities for students from underrepresented groups as well as broad access to higher education. She is a national leader and expert on a broad array of legal issues in higher education.
Loretta Martinez named chief legal counsel at The University of New Mexico.
"I am truly thrilled to be joining UNM's leadership team and to add my efforts as the university charts new paths to better serve its students, the state of New Mexico and the region," said Martinez. "The opportunity to serve UNM has been on my radar for many years because of its amazing mission and deep footprint in New Mexico as well as its diverse student body and the special communities it serves.
Stokes also praised the search committee for their work on fielding an exceptional pool of applicants. "I want to thank Board of Regents' President Rob Doughty for his leadership throughout the process, as well as the entire search committee for their dedicated service."
Martinez will begin on Oct. 1, 2018, and comes to UNM having served the majority of her 26-year career in higher education at a number of institutions in Colorado and on the East Coast including Colorado State University, Metropolitan State University, Colorado College, University of Colorado and Harvard University, where she began her career as an associate attorney in the Office of General Counsel.
"Though I am a Colorado native, my roots are in southern Colorado and northern New Mexico, and I have spent my entire life going back and forth between Colorado and New Mexico," said Martinez. "Both my family and I are looking forward to settling in Albuquerque and becoming a part of the UNM community."
Martinez has served at CUNY as the general counsel and vice chancellor for Legal Affairs for the 24-campus system, which serves more than 275,000 undergraduate, graduate and professional school students in New York City. She oversees an in-house legal staff of 28 with an annual $4.3 million budget. Martinez also serves as an advisor to the Board of Trustees, chancellor, senior and community college presidents, professional school deans and vice chancellors on all legal matters affecting the system.
Previous to CUNY, Martinez served as general counsel and secretary to the Board of Trustees at Metropolitan State University of Denver (Colo.) for seven years. She was also elected secretary to the Board of Trustees during her tenure.
In the private sector, Martinez was a partner in the Colorado office of the firm of Garcia Calderon Ruiz, LLP, where she specialized in public and private P-20 education law. She was also an associate attorney for the firm of Gorsuch, Kirgis, LLP in Denver, serving as outside general counsel to elected officials, Colorado cities and towns, as well as other governmental and private entities on a broad range of public law topics.
Martinez has been involved with numerous boards throughout her professional career and was elected to the board of the National Association of College and University Attorneys (NACUA) earlier this year. Additionally, she serves on the Latin American Education Foundation (LAEF) Board of Directors as a member and former board president, and as a board member of the Mexican American Legal Defense and Education Fund (MALDEF). She has also served on the AGB Professional Development Committee, the United Educators National Legal Advisors Group, and as chair of the Colorado Educational and Cultural Facilities Authority (CECFA).
"Loretta is joining the UNM leadership team at an exciting time when many important and complex issues face higher education," said Stokes. "This is a critical position for the University, and we will benefit greatly from having a chief legal counsel of her caliber and ability."
Martinez earned her juris doctorate at Harvard Law School (1991) and her Bachelor of Arts in political science from Yale University (1988). She was also the class valedictorian at Pueblo County High School in Pueblo, Colo.


text:
Event - Insights 2022
Books and Reports - Care, retirement & wellbeing of older people across different welfare regimes
Pop Digest - Why employment quality matters
Policy Insights - Depopulation trends in Europe: what do we know about it?
News - ESRC funds the new Connecting Generations Centre led by Professor Jane Falkingham
Event - Lifetime Healthcare Expenditures Across Socioeconomic Groups
Second Exploratory Meeting
Between the Vice President of the European Commission for Democracy and Demography Dubravka Šuica & leading demographers at the EU
On Wednesday, 28 April 2021, Population Europe hosted a meeting between the Vice President of the European Commission for Democracy and Demography Dubravka Šuica, and leading demographers at the EU.
The purpose of this second meeting in the series of meetings bringing together the European Commission's Vice-President for Democracy and Demography and European demography experts was to discuss: a) the role of demography in the recovery plans for Europe and b) population decline and brain drain.
Check out the programme of the event here.
Gunnar Andersson, Professor in Demography, and head of the Stockholm University Demography Unit (SUDA).
Francesco Billari, Professor in Demography and Dean of the Faculty at Bocconi University, Milan.
Agnieszka Chłoń-Domińczak, Professor at the Institute of Statistics and Demography at Warsaw School of Economics.
Ivan Čipin, Professor of Demography at the Faculty of Economics & Business, University of Zagreb.
Helga de Valk, Professor of Migration and the Life Course at the University of Groningen and Director of the Netherlands Interdisciplinary Demographic Institute (NIDI).
Juho Härkönen, Professor of Sociology and Director of Graduate Studies at the Department of Political and Social Sciences, and Co-Director the Comparative Life Course and Inequality Research Centre (CLIC) of the European University Institute.
Wolfgang Lutz, Professor of Demography at the University of Vienna and Founding Director of the Wittgenstein Centre for Demography and Global Human Capital.
Melinda Mills, Nuffield Professor of Sociology and Director of the Leverhulme Centre for Demographic Science at Oxford University.
Iñaki Permanyer, ICREA Research Professor and Head of the "Health and Demography" Unit the Centre for Demographic Studies in Barcelona
Zsolt Spéder, Professor of Sociology at the University of Pécs, where he leads the Demographic Program at the Doctoral School of Demography and Sociology, and Director of the Hungarian Demographic Research Institute.
Dubravka Šuica, Vice-President of the European Commission in charge of Democracy and Demography.
Magda Tomasini, Director of the French Institute for Demographic Studies (Institut national d'études démographiques, INED).
Emilio Zagheni, Director of the Max Planck Institute for Demographic Research and Affiliate Associate Professor of Sociology at the University of Washington.


Discussion in 'Rifles, Bullets, Barrels & Ballistics' started by Nodak7mm, Feb 23, 2002.
Gonna build either 6.5-06 Imp or a .280 Imp based on the higher BC. I am determined to use MK's as Primary bullet due to reputation, $$$ & availbility. I am aware of very high BC VLD's, but don't want to go there.
Sierra had bad equipment when they first came out with the 7mm 168 MK and made an error in the B.C. They corrected it later on to .488. But the 168 MK does a great job at 1000 yds benchrest or deer. A overlooked bullet in 7mm is the 175 Sierra B.T. Spitzer, it has a B.C. of over .530 and is almost as accurate and kills good too, especially if you get it going about 3100 fps.
I did some limited tests just before my Mexico Coues deer hunt last month with the 7mm, 168 grain MK. I think the .488 BC is about right.
Is there any experience with the 150grain, 7mm Swift Scirocco yet, with an advertised BC of .53? Based on balistics tables, this BC combined with the increased muzzle velocity of the lighter bullet make it look very competitive with other heavier 7mm out to a 1000 yards and further. Is it accurate? or another X bullet?
I have experimented a bit with the 150 Scirrocco in an accurized 7STW. Although it does shoot well for a "premium" hunting bullet, it was regularely outshot by Nosler B-Tips and Hornady SST's. One could naturally assume that a quality "match" bullet would shoot better yet.


This topic contains 0 replies, has 1 voice, and was last updated by mike willey 3 years, 6 months ago.
Bakersfield Kart Raceway YEAREND SHOOTOUT November 28th and 29th.
Go to Bakersfieldshootout.com for all the details.


Tonight we will be focusing on registering for the upcoming camporee, and working on Citizenship in the Community Merit Badge.
Over the last two Mondays, we have been working on requirements towards the Eagle required merit badge, Citizenship in the Community. So far we have completed the following requirements. 1, 2a, and are working on 5. Tonight, we will be working towards completing requirements: 2b, 5, and 6. We will be attending a county council meeting on Tuesday, March 15th. We will be meeting at the church at 5PM in order to attend the meeting at 6PM. If you are late, you will have to find your own ride, so please be on time. Council member, Bob Grabowski, has entered a resolution in support of Troop 856, and it will be presented at that time, live on TV. Yes, your sons will be on TV. We would like for all of the troop members to attend this presentation in their complete uniforms. That will include shirt, pants, neckerchief and belt. This is the first time that our troop has ever received such a prestigious recognition, so we do ask that everyone attends. Parents and family members are also welcome to attend this special event. After the resolution is presented to the troop, the troop members will sit through a portion of the council meeting to complete requirement 3a of the merit badge.
OA Spring Fellowship will be held March 18 - 20 at Camp Coker. The cost for the event is $20 is you register by March 14th. registrations after that date will be assessed a $10 late fee and will cost $30. The flyer for this event is attached to this email.