text:
HomeScholarshipsFinest schools in manhattan 2023
Finest schools in manhattan 2023
Finest schools in manhattan. Manhattan is on the high of the checklist of wonderful establishments that present graduates with an honest return on their funding because the majority of its graduates don't have bother discovering employment after commencement.
As well as, Manhattan's schools carry out higher than anticipated in areas like beginning salaries and mid-career earnings, incomes the designation of "value-added" from organizations like Forbes, World Report, Brookings, Payscale, and U.S. Information.
We've compiled an inventory of the highest 10 universities in Manhattan to help you in selecting which colleges there could be an acceptable match for you.
Learn Additionally: High 8 greatest medical colleges in pennsylvania
Finest Schools In Manhattan
1. St. John's University
A Roman Catholic college having campuses on Staten Island and Manhattan known as St. John's College. The Congregation of the Mission shaped it in 1870 with the aim of offering an more and more giant immigrant neighborhood with a top-notch greater training.
The college has campuses overseas in locations like Limerick, Eire, Rome, Italy, and Paris, France. 5 undergraduate and 6 graduate colleges make up St. John's. It is without doubt one of the biggest universities in Manhattan and offers greater than 100 bachelor's, grasp's, doctoral, {and professional} certificates packages.
The college can have 15,690 undergraduate college students in 2020. College students from 46 states, the District of Columbia, Guam, Puerto Rico, the US Virgin Islands, and 119 different international locations make up the scholar physique. Greater than 190,000 St. John's graduates are unfold out over the globe as of 2020. The full price of attendance is $46,050.
There are greater than 180 educational, skilled, and extracurricular scholar teams at St. John's, together with the St. John's Bread and Life program, which helps and helps the much less lucky. Since 1956, Greek teams have been part of campus life.
2. Fordham University
One of many high universities in Manhattan, Fordham College was established in 1841. With a complete undergraduate enrollment of 9,399 college students and $55,776 in tuition and charges, it's a personal faculty.
Since Fordham College has campuses throughout New York Metropolis, college students can reside there whereas attending courses. The varsity's authentic Bronx location, Rose Hill, is conveniently situated near the Bronx Zoo, New York Botanical Gardens, and Little Italy. The opposite two Fordham campuses are Westchester in West Harrison, New York, and Lincoln Middle in Central Park.
College students at Fordham College can journey between campuses through the college's burgundy Ram Van shuttle, which operates each half-hour. In NCAA Division I, the Fordham Rams compete as a member of the Atlantic 10 Convention. The Jesuit college Fordham College doesn't have a Greek system.
Considered one of Fordham's graduate packages is the extremely regarded Fordham College of Regulation, which is dwelling to the nation's first Vogue Regulation Institute. Some distinguished alumni embrace NBA sportscaster Mike Breen, former Connecticut Rep. Robert Giaimo, and former US Postmaster Normal John E. Potter. College students at Fordham College can journey between campuses utilizing the college's Ram Van, a burgundy shuttle that runs each half-hour. In NCAA Division I, the Fordham Rams compete as a member of the Atlantic 10 Convention.
3. Columbia University
On the grounds of Trinity Church in Manhattan, King's School, a personal Ivy League analysis college, was established in 1754. At present, Columbia College is situated in New York Metropolis.
It is without doubt one of the oldest and most prestigious analysis institutes on the earth and offers undergraduate and graduate college students with a prestigious studying surroundings in a variety of educational {and professional} fields.
The primary nuclear pile, the primary nuclear fission response within the Americas, the primary proof of plate tectonics and continental drift, lasers and masers, nuclear magnetic resonance, brain-computer interfaces, lasers, and masers, a lot of the preliminary analysis and planning for the Manhattan Venture throughout World Conflict II, and extra have been all pioneered by Columbia scientists and students.
Columbia College is without doubt one of the high universities in Manhattan with twenty colleges, together with 4 undergraduate and sixteen graduate packages. It's well-known for its analysis initiatives, which embrace the Lamont-Doherty Earth Observatory, the Goddard Institute for Area Research, and accelerator amenities with main tech corporations like Amazon and IBM.
4. New York University
Non-public analysis college New York College has its major campus in Manhattan's bustling Greenwich Village district. By act of the New York State Legislature, it was established in 1831.
In 2020, NYU's undergraduate enrolment will quantity 27,444 college students, and tuition and charges will likely be near $55,900.
Since its inception, NYU has been a pioneer in greater training, embracing an city id and a career-focused center class. They're on the high of the checklist of most interesting schools in Manhattan as a result of they help a worldwide imaginative and prescient that motivates its 19 colleges and schools.
At present, NYU is without doubt one of the most famous and revered analysis universities on the earth, with extremely esteemed educational packages and acceptance charges of lower than one in 5 undergraduate candidates.
5. The Rockefeller University
America's first biomedical institute is Rockefeller College, a personal establishment of upper studying in New York Metropolis's Higher East Facet. It was established in June 1901.
The establishment provides doctoral and postdoctoral levels and focuses on organic and medical sciences.
The Rockefeller College Press is the writer of the Journal of Experimental Drugs, the Journal of Cell Biology, and the Journal of Normal Physiology. As of October 2020, Rockefeller College had 38 Nobel laureates related to it, rating it among the many high universities in Manhattan.
6. Stevens Institute of Technology
The Stevens Institute of Know-how (SIT), generally known as "America's First Household of Inventors," is certainly one of Manhattan's high universities. Edwin A. Stevens wished to depart sufficient cash in his will to create a college, thus he based SIT in 1870.
The educational colleges at SIT are the College of Enterprise, College of Programs and Enterprises, School of Arts and Letters, and Charles V. Schaefer Jr. College of Engineering and Science. The Hoboken campus is dwelling to the entire colleges, in addition to a lot of residence halls, eating places, sports activities venues, and analysis establishments.
At SIT, three different top-notch nationwide analysis facilities are hosted. Whereas the Marine Safety Middle appears to be like into port and maritime safety, the Programs Engineering Analysis Middle is linked to the US Division of Protection. The final Middle of Excellence unites engineering specialties and shipbuilding on the Atlantic Middle for the Revolutionary Design and Management of Small Ships.
6,900 undergraduate and graduate college students from the college's three colleges and one faculty work intently with instructors in an interdisciplinary, student-centered, entrepreneurial setting.
Additionally Learn: High 10 On-line Masters in Tutorial Design
7. City College New York
Probably the most esteemed faculty within the Metropolis College of New York system is Metropolis School of New York. It has been dedicated to educating a various scholar physique for 174 years. Undergraduates at Metropolis School have entry to shut to 70 majors.
At Metropolis School, there are over 20 analysis establishments with specialties within the social sciences, engineering, and sciences. It's located in an city space and has a complete undergraduate enrollment of 12,587 college students. In-state tuition and charges are $7,340, and out-of-state tuition and charges are $19,010.
Widespread CCNY campuses with well-known packages embrace the Colin Powell College for Civic and World Management, Grove College of Engineering, and Division of Humanities and Arts. The CUNY College of Drugs's Sophie Davis Biomedical Engineering program allows college students to finish their bachelor's and grasp's levels in seven years.
Each former New York Metropolis Mayor Edward Koch and former Secretary of State Colin Powell attended CUNY. Ten Nobel laureates have graduated from the school, elevating it to the highest tier of Manhattan's schools.
Widespread CCNY campuses with well-known packages embrace the Colin Powell College for Civic and World Management, Grove College of Engineering, and Division of Humanities and Arts.
8. The New York City Campus of Berkeley College
With campuses in New York and New Jersey, it was established in 1931. As a result of Berkeley School is accredited by the Center States Fee for Increased Training, it's thought of to be among the many biggest universities in Manhattan.
Quite a few enterprise and cultural monuments are only a few steps away from Berkeley's midtown skyscrapers, that are situated between forty first and forty third Streets and between fifth and Madison Avenues. They're the placement of among the most famous actual property on the earth.
As a result of it's a world hub for commerce, finance, design, and different industries, town is superb for internships and job prospects.
The campus is near Grand Central Station and has entry to adjoining buses, trains, and subways. There are quite a few points of interest close by, together with Broadway theaters, libraries, church buildings, and historic locations.
9. Marymount Manhattan College
Non-public Marymount Manhattan School may be present in New York Metropolis's Higher East Facet. There are 1,571 undergraduate college students there, with girls making up 80.1% of the overall and males making up 19.9%.
The Non secular of the Sacred Coronary heart of Mary based Marymount Manhattan School in 1936 as a two-year girls's faculty and an extension of Marymount School, Tarrytown in Tarrytown, New York. The College of the State of New York's Regents granted MMC an unqualified constitution as a four-year, unbiased establishment.
1 721 undergraduate college students attend Marymount, and the overall price of attendance is $37,410.
Marymount Manhattan maintains two residence halls, certainly one of which is a 32-story tower on fifty fifth Avenue in Midtown, although the vast majority of its college students dwell off-campus. MMC, also called Marymount Manhattan School, doesn't have a varsity sports activities division. Nonetheless, it does characteristic about 40 scholar organizations, together with a dance membership, making the MMC one of many high universities in Manhattan.
10. Hunter College
The Metropolis College of New York's Hunter School is a prestigious public establishment that sees liberal arts and science training as a cornerstone of non-public progress and an important constructing block for a extra equitable and inclusive society.
With a purpose to proceed their lengthy custom of increasing alternative, it seeks college students from all backgrounds to participate in a demanding instructional expertise that can put together them to turn out to be leaders and innovators of their communities and world wide. Hunter additionally provides to the mental dialogue by supporting the superb analysis and modern endeavors of gifted lecturers.
Hunters School, which is within the coronary heart of New York Metropolis, takes benefit of the power of town to profit from its unimaginable sources through instructing, analysis, and inventive expression whereas additionally giving again to it by way of service and citizenship.
In Manhattan, Hunter School takes delight in providing every scholar a top-notch training. Central Park is just two blocks distant from its fundamental campus. Out of the roughly 60 choices, nursing, laptop science, and medical laboratory sciences supply the best salaries.
Think about enrolling in one of many high colleges in Manhattan if you wish to research in a spot the place you'll have higher profession probabilities after commencement. It School is a widely known innovator on the earth for placing college students in positions of success with giant multinational firms like IBM, Google, JP Morgan, and Wells Fargo.
One of the vital beneficial investments you may make for your self is in a high-quality training.
We belief that this submit has supplied you with all the small print you have to discover the highest schools in Manhattan.
Beneficial for you:
27 Widespread free on-line programs for youngsters 2023
Gonzaga College Acceptance Price 2023


Separate Alphabets & Numbers In Any String.
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IF count IS NOT INITIAL.
CONCATENATE lv_alphabets result INTO lv_alphabets.
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WRITE:/ 'The Albhabets Are :', lv_alphabets.
WRITE:/ 'The Numbers Are :', lv_numbers.


text:
Q: php exec() for java on website doesn't work but works in server terminal I have a VPS (Linux Server) where I downloaded a 64-bit version of Java. On my terminal, I am able to run commands such as:
/usr/lib/jvm/java-1.8.0-openjdk-1.8.0.65-0.b17.el6_7.x86_64/jre/bin/java -version

And receive the following output:
openjdk version "1.8.0_65"
OpenJDK Runtime Environment (build 1.8.0_65-b17)
OpenJDK 64-Bit Server VM (build 25.65-b01, mixed

So to test this for my website, I used the following php:
<?php
  $output = array();
  exec('/usr/lib/jvm/java-1.8.0-openjdk-1.8.0.65-0.b17.el6_7.x86_64/jre/bin/java -version', $output);
  foreach($output as $line) {
    echo $line;
    echo '<br/>';
  }
?>

But receive the following error:
Error occurred during initialization of VM
Could not allocate metaspace: 1073741824 bytes

So far I have tried the following:
1) I've updated permissions on java so that:
stat -c "%a %n" /usr/lib/jvm/java-1.8.0-openjdk-1.8.0.65-0.b17.el6_7.x86_64/jre/bin/java

Returns:
755 /usr/lib/jvm/java-1.8.0-openjdk-1.8.0.65-0.b17.el6_7.x86_64/jre/bin/java

2) I've turned php safe-mode off
3) I've changed the max memory in my php.ini file to 1.5GB
What causes this error and how do I get the java program to run without error?

A: Your answer is in the error message:
 Could not allocate metaspace: 1073741824 bytes

You are exceeding the amount of memory you are allowing Apache and PHP to use.  There are limits setup in php.ini and the Apache user might have a ulimit set.
Stock PHP install default is typically set to a limit of 2MB. Java is looking for 1G of memory.  Change the memory limit in PHP to at least 1G.

A: I was able to reproduce this error using bluehost's webspace, and fix it.
I was running a heavy java program though the PHP method: shell_exec and java produced an error:
Error occurred during initialization of VM
Could not allocate metaspace: 1073741824 byte

Linux version:
uname -a
Linux box1.bluehost.com 1.2.50-39.ELK6.x86_64 #1 SMP Mon Nov 2 03:10:26 CST 2015 x86_64 x86_64 x86_64 GNU/Linux

PHP version:
php --version
PHP 5.4.43 (cgi-fcgi) (built: Jul 13 2015 15:00:01)
Zend Engine v2.4.0, Copyright (c) 1998-2014 Zend Technologies
with Zend Guard Loader v3.3, Copyright (c) 1998-2013, by Zend Technologies

Java version:
java -version
java version "1.8.0_71"

Reproduce the problem:
Make a test.php script under public_html, like this:
<?php
    shell_exec('java HungryJavaProgram > /home/user/mylog.log');
?>

The java program called HungryJavaProgram allocates a gigabyte of memory.
From the browser, visit yoursite.com/test.php to run that php file.  The java program reports:
Error occurred during initialization of VM
Could not allocate metaspace: 1073741824 byte

Why is this happening?
The java program has requested more memory than PHP has authorized.
Solution #1, increase the memory available:
Find out how much memory PHP has authorized programs running inside shell_exec can consume by making this PHP script and visiting it in the browser:
<?php
   phpinfo();
?>

Look at: memory_limit to see the default is: 128M
Find your php.ini under public_html and find the memory_limit variable and set that to 2048M.  On bluehost the changes take effect immediately.  Understand now that one rogue program might now bring down your server.  So keep that as low as possible.
Workaround solution #2, use PHP fastcgi.
In the public_html directory look in the .htaccess file, I saw this:
AddHandler application/x-httpd-php54 .php

Comment that out and replace it with this:
AddHandler fcgid54-script .php

And now the java program runs without error.  Even though the memory limit remains at 128M, PHP doesn't seem to enforce that limit on java programs running from within shell_exec("java myprogram").

redpajama_set_name: RedPajamaStackExchange


TNG® Seal Type TG706H can be used in GRUNDFOS® Pump CR and CRN series Pump. with Shafrt size 12mm,16mm and 22mm.
TNG® Seal Type TG706C can be used in GRUNDFOS® Pump JP,CH8,CH12,CRK(I)2,CRK(I)4 Series PumpSPK1, SPK2, SPK4, SPK8 Series Pump. The standard shaft size is 12mm.
TNG® Seal Type TG706E can be used in GRUNDFOS® Pump Type CNP-CDL Series Pump. Standard Shaft size is 12mm and 16mm.
Grundfos Pump seal Type TG706A Can be used in the range of Grundfos pump. with shaft size 12mm, 16mm and 22mm.


Grandview Estate is a premium development created by Scenic Ventures Limited.
Scenic Ventures Limited has enjoyed successes in land subdivision and lifestyle developments around the Taupo region. The company's core competency lies in its ability to identify potential sites and redevelop them into outstanding residential communities.
Tony has a mechanical engineering degree and was involved in the design and construction of large scale petrochemical plants in various overseas locations for many years. On returning to New Zealand his involvement in the property industry commenced when he joined Mainzeal Development and Construction Ltd in Wellington , initially as New Business Manager then Branch Manager. He spent a total of 12 years with Mainzeal and was closely involved in many of the major projects that have changed Wellington so markedly in recent years.
Tony has also been an active property investor in his own capacity for many years.
Robert is a Registered Architect, member of the NZIA and has practiced from his base in Wellington since 1986.
Robert has been responsible for the design and construction observation of such land mark developments as the Intercontinental Hotel,the Trust Bank Centre, Vodafone on the park and many others.
Robert has had a strong interest in the Taupo area for many years and was successful in winning a national competition for the redevelopment of the Town and environs in the early 1990s and since then has operated a branch office there associated with the Taupo projects that he has been commissioned for.
Robert has been a Director of Lisland Properties ltd and undertook the master planning and project managed the Holy Oaks development at Kinloch which included some 290 sections completed in four stages in a very sensitive environmental context.


text:
"""
    pyexcel
    ~~~~~~~~~~~~~~~~~~~

    **pyexcel** is a wrapper library to read, manipulate and
    write data in different excel formats: csv, ods, xls, xlsx
    and xlsm. It does not support formulas, styles and charts.

    :copyright: (c) 2014-2015 by Onni Software Ltd.
    :license: New BSD License, see LICENSE for more details
"""
from pyexcel_io import get_io
from .book import Book
from .writers import Writer, BookWriter
from .sheets import (
    Sheet,
    transpose)
from .utils import (
    to_dict,
    to_array,
    to_records,
    dict_to_array,
    from_records)
from .formatters import (
    ColumnFormatter,
    RowFormatter,
    SheetFormatter,
    NamedColumnFormatter,
    NamedRowFormatter)
from .filters import (
    ColumnIndexFilter,
    ColumnFilter,
    RowFilter,
    EvenColumnFilter,
    OddColumnFilter,
    EvenRowFilter,
    OddRowFilter,
    RowIndexFilter,
    SingleColumnFilter,
    RowValueFilter,
    NamedRowValueFilter,
    ColumnValueFilter,
    NamedColumnValueFilter,
    SingleRowFilter)
from .cookbook import (
    merge_csv_to_a_book,
    merge_all_to_a_book,
    split_a_book,
    extract_a_sheet_from_a_book)
from .sources import (
    get_sheet,
    get_book,
    save_as,
    save_book_as)
from .deprecated import (
    load_book,
    load_book_from_memory,
    load_book_from_sql,
    load,
    load_from_memory,
    load_from_dict,
    load_from_sql,
    load_from_records,
    Reader,
    SeriesReader,
    ColumnSeriesReader,
    BookReader)

def get_array(**keywords):
    """Obtain an array from an excel source

    :param keywords: see :meth:`~pyexcel.get_sheet`
    """
    sheet = get_sheet(**keywords)
    if sheet:
        return sheet.to_array()
    else:
        return None

def get_dict(name_columns_by_row=0, **keywords):
    """Obtain a dictionary from an excel source

    :param name_columns_by_row: specify a row to be a dictionary key.
                                It is default to 0 or first row.
    :param keywords: see :meth:`~pyexcel.get_sheet`

    If you would use a column index 0 instead, you should do::

        get_dict(name_columns_by_row=-1, name_rows_by_column=0)

    """
    sheet = get_sheet(name_columns_by_row=name_columns_by_row,
                      **keywords)
    if sheet:
        return sheet.to_dict()
    else:
        return None

def get_records(name_columns_by_row=0, **keywords):
    """Obtain a list of records from an excel source

    :param name_columns_by_row: specify a row to be a dictionary key.
                                It is default to 0 or first row.
    :param keywords: see :meth:`~pyexcel.get_sheet`

    If you would use a column index 0 instead, you should do::

        get_records(name_columns_by_row=-1, name_rows_by_column=0)

    """
    sheet = get_sheet(name_columns_by_row=name_columns_by_row,
                      **keywords)
    if sheet:
        return sheet.to_records()
    else:
        return None

def get_book_dict(**keywords):
    """Obtain a dictionary of two dimensional arrays

    :param keywords: see :meth:`~pyexcel.get_book`
    """
    book = get_book(**keywords)
    if book:
        return book.to_dict()
    else:
        return None

__VERSION__ = '0.1.8'

redpajama_set_name: RedPajamaGithub


Firefighters were called to a fire near the top of a tower block on Mason's Hill in Bromley last night.
The fire broke out in a communal kitchen on the ninth floor of the purpose-built block of ten floors.
Thirty-eight people left the premises before the Brigade arrived. The kitchen was slightly damaged by fire, but fortunately no one was injured.
The Brigade believes that the fire was caused by a fault in an extractor hood above a cooker. It's thought an occupant who was cooking in the kitchen made several attempts to put the fire out before calling the Brigade. People who discover a fire are advised to dial 999 immediately and should not attempt to tackle it themselves.
Around 14 firefighters and officers from Bromley and Orpington Fire Stations attended the fire.


text:
Fundamentalism File
The Fundamentalism File is a resource center with over 5,000 different subjects and over 118,000 items of information relating to:
History and nature of Fundamentalism
Important popular discussions and resources from within Fundamentalism
Information on individuals and organizations of religious significance
Subjects of religious interest to Christians
General information on
Ethical issues (e.g., abortion, capital punishment, homosexuality)
Social trends/issues (e.g., divorce, immorality, violence on television)
Church/state affairs (e.g., politics and Christianity, public schools and religion, separation of church and state)
Practical problems with religious significance (e.g., church planting, church work with specific needs groups, preaching)
Information is gathered and indexed from major scholarly articles, brochures, pamphlets, and unpublished resources.
This resource center houses manuscript collections pertinent to the history of Fundamentalism and Fundamentalist approaches to religious and social issues. Collections currently available include
G. Archer Weniger (1915-82) papers, California Fundamentalist leader who published The Blu-Print and was deeply involved in the Conservative Baptist Association and later the Fundamental Baptist Fellowship
W.O.H. Garman (1899-1983) papers, pastor and advocate on behalf of Fundamentalists in the military chaplaincy through the Associated Gospel Churches
Gilbert Stenholm (1915-89) papers, long-time administrator at Bob jones University
In addition, research reports and other documents are produced by the Fundamentalism File. The Fundamentalism File came into existence in 1978 at the suggestion of Dr. Bob Jones Jr., who wanted a resource center for tracking information on current religious and theological topics, creating "a history of religion in our time."
The Fundamentalism File is available by appointment only.
The Fundamentalism File associates will work with your research request and pull the materials for your research. There is a nominal charge for photocopies. PDF files are also available upon request, dependent upon copyright restrictions.

redpajama_set_name: RedPajamaCommonCrawl


Consider a system with four processes. Process 0 is reading data and stores a 4x4 matrix. Now, as for the broadcast example, you want to dispatch the data to the other processes, but this time you don't want each process to have all the data, but only a piece. That's when scatter comes into play. The scattering operation divides the send buffer into equal parts of count elements (here, 4) and distribute them over every process. See the figure below for a clearer comprehension.
The scattering operation distributes evenly a set of data over all the processes of a communicator.
The gathering operation does the exact opposite. If you consider four processes with a buffer of four values each, the gathering operation will regroup everything on one single process. The order follows the rank in the communicator.
The gathering operation regroups every buffer into a single one on a specific process.
This seems pretty straightforward so let's apply this to an example.


text:
Ce produit est temporairement indisponible
Rijksmuseum + Van Gogh Museum
Entrance to the Rijksmuseum and the Van Gogh Museum
Ticket directly available on smartphone
This is a ticket with a specific date and time and therefore cannot be cancelled for free. If you have any questions, please contact hello@toursandtickets.nl
From 6 November a COVID-19 Certificate is required
Wearing a face mask is voluntary
0-18 years: free
For up-to-date opening hours, see the website of the Rijksmuseum and Van Gogh museum
Location Rijksmuseum: Museumstraat 1, Amsterdam
The Rijksmuseum has its own privacy policy, terms and conditions, and guidelines for a safe visit. Please review them before visiting the Rijksmuseum.
Location Van Gogh museum: Museumplein 6, Amsterdam
The general visitor conditions of the Van Gogh museum also apply to this e-ticket, as stated on their website.
This ticket is only valid on the date and time as stated
Respect the start time. You can enter for a maximum of 30 minutes after the time you reserved
The Van Gogh Museum has its own privacy policy, general terms and conditions and rules for a safe visit. Please read these prior to your visit.
World-famous masterpieces by Rembrandt, Vermeer, Van Gogh and Frans Hals
Work by Van Gogh's contemporaries, including Gaugin and Monet
800 years of Dutch art and history through 8000 objects
Unique exhibitions
Amazing interior design
Most famous Dutch museums
The two most famous Dutch museums are located basically next to each other on the Museum square in Amsterdam: the Rijksmuseum and the Van Gogh museum. Are you planning on visiting those museums, then this is the best combi deal for the best price.
The national pride of Holland: Rijksmuseum
The Rijksmuseum is the national pride of Holland and Amsterdam. The Rijksmuseum is the largest museum in the Netherlands and is home to an extensive and beautiful art collection, showcasing Dutch history during the period between 1200 AD and 2000 AD.
The museum is situated on Museum Square. One of the first things to be amazed by is the Rijksmuseum building itself. The museum is situated in an impressive and giant complex combining Gothic and Renaissance architecture. This is truly one of Amsterdam's greatest pieces of architecture.
The absolute highlights of the museum are The Night Watch of Rembrandt, The Milkmaid of Johannes Vermeer and the works of Jan Steen and Vincent van Gogh. Apart from the permanent exposition, the museum hosts unique exhibitions of contemporary artists and painters throughout the year.
Largest collection Van Gogh paintings
A visit to the Van Gogh Museum in Amsterdam is a unique experience. It is a must-see on your trip to the beautiful city of Amsterdam. The museum contains the largest collection of the famous Dutch Post-Impressionist painter Vincent van Gogh in the world.
They include portraits, self-portraits, landscapes, still life's, olive trees, cypresses, wheat fields and sunflowers, and are characterized by symbolic colourization and dramatic, impulsive and highly expressive paintwork. Besides paintings, the museum houses drawings and letters made by the famous painter.


Twila Brase, president and co-founder of Citizens' Council for Health Freedom (CCHF, www.cchfreedom.org), released the following statement after the sad news.
"As repeal of the Affordable Care Act rages on, the realities of government control over the lives of vulnerable, sick and injured citizen is now front and center," Brase continued. "Saving Charlie didn't work. Despite $1.8 million in charity gifts and Congress willing to make him a permanent resident of the U.S. to give him a chance at life, too much time was wasted in the battle against the government. While U.K. courts ruled to let him die and his parents fought to let him live, the muscle-wasting disease was given too much time to do its damage.
"Charlie Gard has shown us our future under the Affordable Care Act. The ACA will lead to many American 'Charlie Gards.' Young ones and old ones. And many we won't hear about.


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Q: A call to PInvoke function 'Test!DllCall::initDll' has unbalanced the stack Bit of an unusual question.
I have worked out that the error is only thrown when running the program via visual studio. If I compile the application and run the compiled program it works fine. Any ideas what would cause this?
I have a C# class that calls a method in a Java DLL ( compiled through excelsior jet ) via JNI.
When I compile and run the C# class an an executable everything works fine. Now I have built the C# class as a DLL and am trying to call it from another class.
At this point I get the followign error message:
A call to PInvoke function 'Test!DllCall::initDll' has unbalanced the stack. This is likely because the managed PInvoke signature does not match the unmanaged target signature. Check that the calling convention and parameters of the PInvoke signature match the target unmanaged signature.
Could anyone explain why Im getting this and how to fix it?
Please let me know if you need anymore code/information
Heres the C# code:
    using System;
    using System.Runtime.InteropServices;
    using System.Text;

        public class DllCall
        {
            [DllImport("Stubs")]
            public static extern int  initDll(String userDllName);

            [DllImport("Stubs")]
            public static extern void finalizeDll();

            [DllImport("Stubs")]
            public static extern UInt32 newClassInstance();

            [DllImport("Stubs")]
            public static extern int  invokeStaticMethod();

            [DllImport("Stubs")]
            public static extern String  request(UInt32 hClassInst, String input);

            [DllImport("Stubs")]
            public static extern void  close();

            [DllImport("Stubs")]
            public static extern void  voidtest(UInt32 hClassInst);

        }

        public class Test
        {
            public UInt32 hClass;

            public Test()
            {
                    //when compiled as a DLL this line throws the error.
                int rc = DllCall.initDll("dllClass.dll");
                Console.Write("---> initDll() rc = {0}\n", rc);

                hClass = DllCall.newClassInstance();
                Console.Write("---> hClass = {0}\n", hClass);
            }

            // When compiled as an executable this method runs fine.
            public static void Main(string[] args)
            {
                int rc = DllCall.initDll("dllClass.dll");
                string rs;
                Console.Write("---> initDll() rc = {0}\n", rc);

                UInt32 hClass = DllCall.newClassInstance();
                Console.Write("---> hClass = {0}\n", hClass);

                rs = DllCall.request(hClass, "moo");
                Console.Write("---> request() rs = {0}\n", rs);

                DllCall.close();

                DllCall.finalizeDll();
            }

            public string request( string xmlInput )
            {
                string rs;
                rs = DllCall.request(hClass, xmlInput);
                Console.Write("---> request() rs = {0}\n", rs);
                return rs;
            }

            public void finalizeDll()
            {
                DllCall.finalizeDll();
            }

            public void closeConnection()
            {
                DllCall.close();
            }
        }

I know this is a lot of code but as requested heres the code in the C Dll.....
#include <jni.h>
#include <windows.h>

JNIEnv  *env;
JavaVM  *jvm;
HANDLE  hUserDll;
jclass  jClass;
char*  dllname;

/*
 * Load dll.
 */
HANDLE loadDll(char* name)
{
    HANDLE hDll = LoadLibrary (name);

    if (!hDll) {
        printf ("Unable to load %s\n", name);
        exit(1);
    }

    printf ("%s loaded\n", name);

    return hDll;
}

jint (JNICALL * JNI_GetDefaultJavaVMInitArgs_func) (void *args);
jint (JNICALL * JNI_CreateJavaVM_func) (JavaVM **pvm, void **penv, void *args);

/*
 * Initialize JET run-time.
 */
void initJavaRT(HANDLE myDllHandle, JavaVM** pjvm, JNIEnv** penv)
{
    int            result;
    JavaVMInitArgs args;

    JNI_GetDefaultJavaVMInitArgs_func =
             (jint (JNICALL *) (void *args))
             GetProcAddress (myDllHandle, "JNI_GetDefaultJavaVMInitArgs");

    JNI_CreateJavaVM_func =
             (jint (JNICALL *) (JavaVM **pvm, void **penv, void *args))
             GetProcAddress (myDllHandle, "JNI_CreateJavaVM");

    if(!JNI_GetDefaultJavaVMInitArgs_func) {
        printf ("%s doesn't contain public JNI_GetDefaultJavaVMInitArgs\n", dllname);
        exit (1);
    }

    if(!JNI_CreateJavaVM_func) {
        printf ("%s doesn't contain public JNI_CreateJavaVM\n", dllname);
        exit (1);
    }

    memset (&args, 0, sizeof(args));
    args.version = JNI_VERSION_1_2;

    result = JNI_GetDefaultJavaVMInitArgs_func(&args);
    if (result != JNI_OK) {
        printf ("JNI_GetDefaultJavaVMInitArgs() failed with result %d\n", result);
        exit(1);
    }

    /*
     * NOTE: no JVM is actually created
     * this call to JNI_CreateJavaVM is intended for JET RT initialization
     */
    result = JNI_CreateJavaVM_func (pjvm, (void **)penv, &args);
    if (result != JNI_OK) {
        printf ("JNI_CreateJavaVM() failed with result %d\n", result);
        exit(1);
    }

    printf ("JET RT initialized\n");
    fflush (stdout);
}

/*
 * Look for class.
 */
jclass lookForClass (JNIEnv* env, char* name)
{
    jclass clazz = (*env)->FindClass (env, name);

    if (!clazz) {
        printf("Unable to find class %s\n", name);
        exit(1);
    }

    printf ("Class %s found\n", name);
    fflush (stdout);

    return clazz;
}

int initDll(char* userDllName)
{
  jClass = NULL;
  hUserDll = loadDll(userDllName);
  dllname = userDllName;
  initJavaRT(hUserDll, &jvm, &env);
  jClass = lookForClass(env, "mooMain/mooGeminiX3/mooGeminiX3IFX");
  return jClass ? 1 : 0;
}

/** finalizeDll() - stop Java VM
 */
void finalizeDll ()
{
    (*jvm)->DestroyJavaVM (jvm);
    FreeLibrary((HMODULE)hUserDll);
    hUserDll = NULL;
    jClass   = NULL;
}

jobject newClassInstance()
{

    jmethodID MID_init;
    jobject obj;
    jstring name;
    jobjectArray ret;
    jclass sclass;
    jobjectArray arr;

    MID_init = (*env)->GetMethodID (env, jClass, "<init>", "([Ljava/lang/String;)V");
    if (!MID_init) {
        printf("Error: dllClass.<init>() not found\n");
        return NULL;
    }
    sclass = (*env)->FindClass(env, "java/lang/String");
    arr = (*env)->NewObjectArray(env, 6, sclass, NULL);

    name = (*env)->NewStringUTF(env,"@C:\\Users\\Ash\\Desktop\\moo-Test\\moo-Test\\mooRoot.cfg");
    (*env)->SetObjectArrayElement(env,arr,0,name);
    name = (*env)->NewStringUTF(env,"-cfg");
    (*env)->SetObjectArrayElement(env,arr,1,name);
    name = (*env)->NewStringUTF(env,"C:\\Users\\Ash\\Desktop\\moo-CVS\\moo-PCB\\Application\\Configuration\\Linear\\Application\\moo.cfg");
    (*env)->SetObjectArrayElement(env,arr,2,name);
    name = (*env)->NewStringUTF(env,"-startupLog");
    (*env)->SetObjectArrayElement(env,arr,3,name);
    name = (*env)->NewStringUTF(env,"C:\\Users\\Ash\\Desktop\\moo-Test\\moo-Test\\Log\\mooStartup.log");
    (*env)->SetObjectArrayElement(env,arr,4,name);
    name = (*env)->NewStringUTF(env,"-geminiX3");
    (*env)->SetObjectArrayElement(env,arr,5,name);

    obj = (*env)->NewObject(env, jClass, MID_init, arr);
    if (!obj) {
        printf("Error: failed to allocate an object\n");
        return NULL;
    }
    return obj;
}

const char* request(jobject obj, char* input )
{
    jstring inputString;
    jstring outputString;
    const char *nativeString;

    jmethodID mID = (*env)->GetMethodID (env, jClass, "request", "(Ljava/lang/String;)Ljava/lang/String;");
    if (!mID){
        printf("\nError: dllClass.request() not found\n");
        return 0;
    }
    printf("here"); fflush(stdout);
    inputString = (*env)->NewStringUTF(env, input);
    printf("here2"); fflush(stdout);

    outputString = (*env)->CallObjectMethod(env, obj, mID, inputString);

    nativeString = (*env)->GetStringUTFChars(env, outputString, 0);

    return nativeString;
}

void voidtest(jobject obj )
{/*
    jmethodID mID = (*env)->GetMethodID (env, jClass, "request", "([Ljava/lang/String;)[Ljava/lang/String;");

    if (!mID){
        printf("\nError: dllClass.request() not found\n");
        return 0;
    }

    char inputString[] = (*env)->NewStringUTF(env, "Moo");

    (*env)->CallVoidMethod(env, obj, mID, inputString);*/
}

void close()
{
    jmethodID mID = (*env)->GetMethodID (env, jClass, "close", "()V");
    if (!mID){
        printf("\nError: dllClass.close() not found\n");
    }

    (*env)->CallVoidMethod(env,jClass, mID);
}

int invokeStaticMethod()
{
    jmethodID MID_init;
    jobject obj;
    jstring name;
    jobjectArray ret;
    jclass sclass;
    jobjectArray arr;
    jmethodID mID = (*env)->GetStaticMethodID(env, jClass, "start", "([Ljava/lang/String;)V");

    if (!mID){
        printf("\nError: dllClass.sfstart() not found\n");
        return 0;
    }

    sclass = (*env)->FindClass(env, "java/lang/String");
    arr = (*env)->NewObjectArray(env, 5, sclass, NULL);

    name = (*env)->NewStringUTF(env,"@C:\\Users\\Ash\\Desktop\\moo-Test\\moo-Test\\mooRoot.cfg");
    (*env)->SetObjectArrayElement(env,arr,0,name);
    name = (*env)->NewStringUTF(env,"-cfg");
    (*env)->SetObjectArrayElement(env,arr,1,name);
    name = (*env)->NewStringUTF(env,"C:\\Users\\Ash\\Desktop\\moo-CVS\\moo-PCB\\Application\\Configuration\\Linear\\Application\\moo.cfg");
    (*env)->SetObjectArrayElement(env,arr,2,name);
    name = (*env)->NewStringUTF(env,"-startupLog");
    (*env)->SetObjectArrayElement(env,arr,3,name);
    name = (*env)->NewStringUTF(env,"C:\\Users\\Ash\\Desktop\\moo-Test\\moo-Test\\Log\\mooStartup.log");
    (*env)->SetObjectArrayElement(env,arr,4,name);

    (*env)->CallStaticVoidMethod(env,jClass, mID, arr);
    printf("\nGot to here\n");

    return 1;
}

Kind Regards
Ash

A: This usually happens when you have an incorrect parameter list or mismatching calling convention.
You really ought to know what calling convention the other DLL is. If it is cdecl then you change your P/invoke to:
[DllImport("Stubs", CallingConvention=CallingConvention.Cdecl)]

You need to do this for all imports.
The other thing to check is that your parameter lists match. You only showed one side of the boundary so we can't check that for you. If you added the other side then we may be able to spot something.

Updated following addition of C code
I have the following comments on your code:
The parameters for the C# declaration of initDll match the C declaration so I'm pretty confident that the issue is that your C code uses cdecl calling convention. The C# P/invoke defaults to stdcall. Change the calling convention in one or the other, but not both!
You are matching jobject with UInt32. I'm not sure about this since I don't know JNI. However, I suspect you should be returning jobject* and matching with IntPtr. It looks to me as though jobject is a class type and not something that you can marshal to C#.
Finally, one of your methods returns a string. That just won't work. The C# marshaller will attempt to deallocate it with a call to CoTaskMemFree. That will leak or bomb, dependent on which Windows version you have. You should return an IntPtr and use Marshal.PtrToStringAnsi to marshal it into a C# string. Then you need to deallocate the memory returned by the JNI code. Not sure how you plan to do that. Of course, if your strings are really UTF-8 then you would need to copy to a byte array and then use Encoding.UTF8 to convert to a C# string.


text:
The Crouch Estuary at Wallasea Island
Posted by Steve Parr on December 8, 2017
The Crouch Estuary is on the edge of a coastal wilderness of saltmarsh and muddy creeks. Hereabouts, the water and the wind run the schedules and the regiments of moored yachts must hustle, like cars on a crowded motorway, to win the battle for both on summer weekends. Today at low tide, there is no activity on the water and little on the land; a persistent nor'westerly carries arctic air that is just bearable in the warming sun but only after it has blown a slab of dense, grey cloud south towards the Thames.
Timber and steel storage sheds
The view north of the river; an ancient and modern landscape
The landscape is wide and uninterrupted, save for boatyards, cranes and great storage sheds on the southern bank of the river and across the water at Burnham-on-Crouch, a pretty promenade of terraces, pubs and cafes with an outsized wedding cake of a yacht club anchoring the eastern end of the town.
Burnham 2
The coastal path on Wallasea Island runs east past a jetty and intricate conveyor belt system, perhaps designed by a student of Heath Robinson, that brought much of the contents of the Crossrail tunnel to be disposed of and so create a new freshwater wetland nature reserve with sculpted pools and islands; managed by the RSPB, this provides a new expanse of habitats for breeding waders and wintering waterbirds. Fences, built within the centre of deep, water-filled ditches, look like like tank traps, and are designed to keep invading foxes and other mammal predators out of the breeding areas. Today, the reserve holds a team of three workers with brushcutters and an unflustered flock of Canada geese. Spring should be a tumble of lapwings and shouting redshanks.
New saltmarsh developing after a deliberate breach of the sea wall
At the tip of Wallasea Island, there is a birdwatching shelter on the sea wall; beyond a section has been dug away to allow the sea to flood the land and so create a saltmarsh that today is mainly bare mud and bright green algae. There are long views east across the creek to Foulness island; at the north end of which there is an odd assortment of concrete buildings and, towards the centre, a small village sheltered by tall trees with a narrow, church steeple. Heavily controlled access has created an island of intrigue; a secret, military weapons testing facility that for years has lobbed all types of ordnance offshore, a small, resident community, a number of farms and much space for nature.
Foulness Island from the east end of Wallasea island
The Crouch estuary is strictly protected by wildlife legislation for its wintering population of dark-bellied Brent geese, but there is no sign of one today, just a smattering of redshank, knot, dunlin and shelduck on the mudflats and occasional whistle of a passing curlew. There ought to be a merlin chasing the larks across the fallows or short-eared owl hunting the tall grasslands; instead a common buzzard circles slowly across the sky.
The Crouch Estuary
Most of the geese are probably on the Maplin sands on the seaward edge of Foulness; these distant mudflats were the site of a proposed airport in the 1970s. All wild estuaries within the long shadow of the capital remain at risk from such developments today. As the stocks of eel grass and sea lettuce are depleted through the winter, the geese move up the estuary and onto the adjacent fields to graze the well nourished crops and pastures. Today, only a small herd of mute swans with muddy undersides paddle about in the centre of a huge, winter wheat field.
CoastCrouch and Roach Estuaries SPAEnglandEssexFoulnessProtected AreaRSPB ReserveWallasea Island
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text:
Robust Conditions for Iterative Learning Control in State Feedback and Output Injection Paradigm
Muhammad A. Alsubaie, Mubarak KH. Alhajri, Tarek S. Altowaim, and Salem H. Salamah
Department of Electronics Engineering, College of Technological Studies, PAAET, Kuwait
Correspondence should be addressed to Muhammad A. Alsubaie; wk.ude.teaap@eiabusla.am
Received 7 October 2018; Accepted 2 January 2019; Published 20 January 2019
Academic Editor: Petko Petkov
Copyright © 2019 Muhammad A. Alsubaie et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
A robust Iterative Learning Control (ILC) design that uses state feedback and output injection for linear time-invariant systems is reintroduced. ILC is a control tool that is used to overcome periodic disturbances in repetitive systems acting on the system input. The design basically depends on the small gain theorem, which suggests isolating a modeled disturbance system and finding the overall transfer function around the delay model. This assures disturbance accommodation if stability conditions are achieved. The reported design has a lack in terms of the uncertainty issue. This study considered the robustness issue by investigating and setting conditions to improve the system performance in the ILC design against a system's unmodeled dynamics. The simulation results obtained for two different systems showed an improvement in the stability margin in the case of system perturbation.
Repetitive systems repeatedly perform a predefined task, , with a fixed time duration, , with high precision [1]. Iterative Learning Control (ILC) is a control technique inspired by human learning methods that use repetition to improve performance. ILC was developed in the mid s [2], where the first introduced control law required system stability within the trial time duration as a condition for error convergence from trial to trial. The impact of ILC on industry can be found in many systems such as those used in pick-and-place operations. One example is a robot arm used to move cans, one at a time, from one moving belt to another without content spillage for an infinite number of trials. Other applications of the ILC theory can be found in chemical patch processes and automated manufacturing plants.
In repetitive systems, ILC uses information provided from previous executions/trials to update the current control input with the purpose of enhancing the performance and accommodating periodic disturbances from trial-to-trial. Thus, a system performs a predefined task, records the input, measures the output, and uses the error signal () as a forcing term to update the new control signal. After each trial, the system has to reset to its initial position to start the next one. All of the calculations take place in the stoppage time, the time required for the system to reset between trials. One common approach to ILC takes the form , where is the input, is the learning gain, is the error signal, and index denotes the trial. For more details on ILC theory and applications, refer to [3, 4].
Repetitive control (RC) [5] is another technique used to accommodate periodic disturbances and enhance the performance of repetitive systems without the need for reset between trials; the reference to follow is continuous with , where is the number of samples.
It has been found that any periodic signal can be generated by an autonomous system containing a delay model along the forward path with a positive feedback loop [6]. An accommodation of this type of signal can be achieved using the internal model principle by duplicating the system inside a feedback loop. The work introduced in [7, 8] gives the appropriate selection of the required controller, RC or ILC, to accommodate the periodic signal depending on the location of the internal model of the disturbance. The designed framework explicitly incorporates the current error feedback, while in [9] a modified framework was introduced that incorporated the current error feedback as well as feeding forward the previous error with experimental verification. Basically, the idea in both frames was that a solution for one controller, RC or ILC, was the solution for both.
The novelty of this paper lies with setting new robust conditions for different cases in the ILC design within the framework proposed in [9]. The simulation results obtained showed the reliability of the new design that included unmodeled system dynamics. The results obtained showed the advantage of the new robust conditions over the proposed designs in terms of system perturbation and modeling mismatch.
The following section briefly discusses the ILC design in the general case under the framework proposed in [9]. The design robustness and performance against the unmodeled dynamics of the proposed ILC designs are presented in Section 3. Section 4 considers two examples to illustrate the design advantage, where the first is a -order model of the -axis of a gantry robot and the second is a Nonminimum Phase Plant (NMP). The simulation results obtained are also considered. The conclusion and future work are discussed in Section 5.
2. State Feedback and Output Injection ILC Background
Let the system to be considered in this paper have outputs, inputs, and states. The discrete linear time-invariant system's overall transfer function in the state space form is given as , where the matrices , and have appropriate dimensions. If the system output is defined as , with as the input, the output equation is .
Considering a single trial with a finite time duration having samples, the model of the system dynamics can be expressed as follows:
where . After each trial, the system resets to its initial position. Thus, there is no loss of generality to set .
Many ILC designs rely on expressing the model in trial notation only, rather than using both the time and trial, because the time is fixed for each trial. These designs include the norm optimal ILC [12] and predictive norm optimal ILC [13]. We here introduce the following supervectors: These allow the dynamics for each trial to be written as follows: with where the matrix elements are the Markov parameters. In the same manner, the reference can be defined with the following vector form: Then, the ILC objective is to generate a new input signal for each trial such that the system output follows the reference trajectory with high precision. Many ILC designs can be found in the literature, where one basic choice is to select an input with the form , where the error vector of trial is and is the learning gain [4, 14].
A periodic signal with appropriate boundary conditions can be generated by an autonomous system consisting of a positive feedback control loop with a pure time delay in the forward path. Thus, a periodic signal of length samples in discrete-time can be modeled as follows: ( is the time instant of trial )with matrix of size given asand the row vector as
Then, the control problem can be defined to find a robust controller (where denotes the discrete-time delay operator) for the robust periodic control problem as follows.
Given an transfer-function matrix with an input vector consisting of both plant and disturbance inputs, , the output signal is defined as in (3), and reference signal . It is necessary to design such that the overall closed loop system is asymptotically stable; the tracking error, , tends to zero along the trial domain; and the previous two conditions are robust.
The solution considered in [7, 8] uses the internal model principle [15] and small gain theorem to set stability conditions to design both feedback and observer gains using the Linear Quadratic Regulator (LQR) in the current error feedback case, where the periodic disturbances act on the system input (ILC). The study [9] considered a more general case that incorporated both the current error and past error in the designed framework.
The work presented in [9] considered two design schemes for ILC. The first used state feedback, and the second used output injection. Each case had two different stability conditions, which depended on using either the current error feedback or past error feedforward. The following subsection briefly explains the design steps in [9] and the stability condition for each case.
2.1. State Feedback-Based ILC
For a single channel, consider the system in (6), which also introduces the following vector:and
for a more general design. A multi-input multioutput case is considered by defining to be a diagonal matrix consisting of along its diagonal.
The same is true for , and , where each diagonal block is repeated times (acting on the system input). Thus, when considering the periodic problem proposed in Figure 1, the transfer function of is given as follows:
Figure 1: ILC as a feedback problem [9].
The design considered, which uses the state feedback, is found in [9, 16], where the overall idea is to combine both the plant and internal model in one structure in the following form:
Stabilizing this system guarantees the accommodation of periodic disturbances because the output of the combined system is the error, and its input is the control input difference. Note that is the internal model system state, . The following can be selected as the control difference input of the combined system: beingAn observer is also introduced to estimate the states for the overall system as in [9]The difference between the system estimated above and the actual system will lead to a more simplified structure for describing the overall feedback path dynamics:
where . The feedback gain can now be designed via the LQR by solving the well-known Recatti equation. Refer to [9] for more details on the design.
Stability conditions can be found by isolating the internal model of the internal model and expressing the overall system in terms of its input and output as . Then, a sufficient condition for stability can be written as follows:
where the equation differs depending on the error case considered, past error feedforward, or current error feedback. The following can be written for past error feedforward case: and for current error feedback
where in both cases is governed by the following:
2.2. Output Injection-Based ILC
We start from the dual repetitive structure given in [9] with a single internal model and build up a combined system between the plant and internal model for a repetitive feedback problem, as shown in Figure 2. we define an estimator for the overall system with a periodic disturbance assumed to effect the plant at its input. The structure is manipulated to cancel the disturbance signal via the use of the estimator output as a correction term. This will lead to an ILC dual system in the following form:
Figure 2: RC as a feedback problem [9].
Again, this system is derived to form the overall structure, (22), which is used to design the estimator gain for both error cases, past error feedforward, and current error feedback, as follows: .The estimator gain design relies on forming the overall structure to fit the LQR design to accommodate the periodic disturbances acting on the system input. This structure was shown in [9] to compromise both current and past error incorporations with a stability condition that suggested isolating the internal model, , and finding the overall system that governs its output to its input, as given earlier in (17). Here, differs depending on the error case to include. Thus, the following can be written for the past error feedforward case: and for current error feedback
where in both cases is governed by the following
The next section investigates the robustness issue and sets the appropriate condition to ensure system stability in the presence of a modeling mismatch for each of the cases reported earlier for the ILC design.
3. Robust ILC Design with Both State Feedback and Output Injection
This section investigates the robustness property of the two designed ILC controllers found in [9] with past error feedforward and current error feedback using the stability condition assigned in (17). The previous reported works did not discuss this issue, which forms the main novelty of the work presented in this paper.
We start with the stability condition in (17) and consider the following cases:(i)Past error feedforward in state feedback design. The starting point is the stability condition given in (17) where the induced norm has to be less than to guarantee system stability. A more conservative restriction is to consider the singular values instead; thus the condition will be as follows: which clearly indicates that all the eigenvalues of are inside the unit circle once the maximum singular value is considered. Verifying this condition in the maximum case ensures reference tracking and periodic disturbance accommodation. Now, consider the case where unmodeled system dynamics or system uncertainty defined as () act on the system in operation. To investigate this, define , where are the nominal plant, uncertainty, and uncertainty weight, respectively, where each of the defined variables is stable, causal, and linear time invariant for simplicity. In combination with the definition of given in (18), we can write the following derivation: The selection in the previous equation is the only selection that guarantees the maximum possible singular values without violating the condition in (27). Taking the uncertainty part on one side and the other parts to the right side yields the following: Maintaining that 20 is true and maximizing the left hand side will give the possible variation in the system dynamics on the right hand side and sets the upper bound for the system to avoid unwanted performance through the operation. This can be found if the right hand side is of the form as pointed out earlier. To extend the previous property and set a weight for the uncertainty that gives a better upper bound and allows the system to deal with unmodeled dynamics throughout its operation, (29) can be manipulated to have the following form: Maximizing the left hand side of (30), such that the right hand side is kept to the minimum, can be seen as solving the following: Now, unless is a scalar multiplied by the identity, which is not the case. Further investigation of weight () is taken into account and can be expressed, based on the fact that , in the following: The above condition will set the upper limit for the weighting factor such that the uncertainty property is extended.(ii)Current error feedback in state feedback design. Start again with the stability condition given in (17), where the induced norm has to be less than . We again consider the system uncertainty to be () acting on the system in operation. Define as above with the same properties considered in the past-error case. Following the same steps, in combination with the definition of given in (19), we can write the following derivation in terms of the singular values: which leads to writing the above after manipulation as follows: Again, assuming that (34) is true, and because the uncertainty is assumed to be stable (), (34) can be written as follows: Equation (35) will give the appropriate condition for weighting factor () such that the left hand side is minimized: Condition (36) is the same as that in (32) to a limit degree. Equation (36) sets the lower limit to the weight selection, whereas (32) sets the upper limit to the uncertainty weight, which has a wider and better range than that of (36). This result supports the experimental results obtained for the past error feedforward case in ILC instead of current error feedback in [9], where the past error feedforward case has a more reliable design against system perturbation.(iii)Past error feedforward in output injection design. As in the two previous robustness analyses, this analysis starts from the stability condition, which should have a norm of less than , and the definition given for () in (23). Using the singular value properties, we can start by writing the following: considering the uncertainty () to be added to the nominal plant such as [], where is the nominal representation of the combined system that is defined in (25). Thus, we can write (37) as follows: Now, assuming that (38) is true, this can be derived to give the necessary condition for the uncertainty limit as follows: Equation (39) can be formed as follows: Since is a combined system consisting of the internal model and plant, with , then, the uncertainty effect can be maximized such that the upper bound is minimized as in (41) This will lead to setting the upper boundary for weighting factor () as follows: Equation (42) is always positive and less than . This can extend the robustness of the system against the unmodeled dynamics. The fourth case is expected to have the condition in (42) as a result of extending the system uncertainty range.(iv)Current error feedback in output injection design. Following the same starting point and steps to derive the required condition, the resulting equation to set the limit of the weighting factor such that the uncertainty will not drive the system to the instability stage is given by the following: and This clearly gives the upper limit of the weighting factor, which does not exceed the maximum of and is not less than the limit set in (44).
The next section presents simulation results obtained on two systems that show the performance improvement against the system uncertainty and modeling mismatch when considering the robust design over the previously reported design framework for the ILC case.
4. ILC Design Simulation Results
In this section, simulation results are obtained for two different examples, where the first is the -axis of a gantry robot and the second is a nonminimum phase plant, to verify the design success in suppressing a dynamic matrix change in systems with difficult mathematical structures.
Example 1. The gantry robot is a multiaxis test facility that was developed to implement different ILC theories and verify their success in a real experimental environment (see Figure 3). The benchmark has three axes that are orthogonal to each other, and fixed above one end of a 6m long chain conveyor to simulate a real industrial production line. This represents a real control problem because of the nature of the operation, where the gantry has to perform a pick-and-place operation in synchronization with a moving belt without ripples or sudden movements during the operation. This task is very difficult to control because the synchronization between the conveyor speed and payload placement position has to be made with high precision. Check [17] for more details on the gantry. A sampling frequency of was used to define the gantry axes dynamical response models. In this paper, only the -order -axis representation is used to verify the robust theory development. The gantry itself has been the benchmark for several reported ILC implementations such as those in [10, 18, 19].
The -axis was modeled using the data obtained from a frequency response test, which resulted in the following -order continuous-time transfer-function:For a complete system description, refer to [20].
Figure 3: Gantry robot benchmark [10].
The -axis is sampled at and a reference of is considered, which generates sample points to deal with in each trial. The design steps considered are those of the output injection case with past error feedforward, where two different cases are considered. In the first, no weighing factor is used. The second uses the weighting factor limit found in (32), which is . Thus, one choice is to select a weighting factor that is half of the limit, which is the case in this example. The system had been operated for trials in a simulation, and the obtained results are as follows.
Figure 4 shows the mean squared error for the two cases, where the blue line represents the case where no weighting factor is considered, with , , and a changes in the system dynamical matrix applied. The red line is the case where a weighting factor of is applied, which was less than the limit found in (32). Dynamical changes of , , , and are considered, and the figure clearly shows the advantage of using the weighting factor to avoid unmodeled dynamics to a better level. Figure 5 shows the case with the maximum allowed change in system dynamics and how the error will start building up after it converges to better levels. The use of the weighting factor extends the maximum allowed change in mismodeling compared to the case where no weighting factor is applied.
Figure 4: -axis mean squared error for the two different cases, with and without
Figure 5: The output signal for the -axis in two different cases, with and without
Example 2. In this example, a NMP plant was tested against dynamical matrix changes under the absence/presence of the weighting factor. The physical system was constructed to implement both ILC and repetitive controller (RC) schemes, which made it possible to verity reported results such as those in [11, 21]. This paper reports simulation results that support the idea of extending the level of system mismodeling using the weighting factor. The NMP plant has one zero in the right half plane, which makes this system hard to test using the ILC scheme because of the instability associated with plant inversion. As a result, any sudden change in system dynamics would result in an instable response. The mathematical equation that describes the system shown in Figure 6 is given as follows:
Figure 6: The nonminimum phase plant experimental test facility [11].
The facility consists of a rotary mechanical system of inertias, dampers, torsional springs, a timing belt, pulleys, and gears. A further spring-mass-damper system is connected to the input in order to increase the relative degree and complexity of the system. For further details on the test facility, refer to [11]
This system was tested using two different cases: one that ignored the weighting factor and one that considered it. A sampling frequency of was selected, and a reference of was applied, generating sample points to record in each trial. Figure 7 shows the two different cases, where the red color shows the mean squared error and normalized error for a change of up to in the system dynamical matrix with the presence of the weighting factor. In the second case, the blue color shows a fast error divergence with a change in the system dynamical matrix without the presence of the weighting factor. As the results show, the weighting factor had a direct impact on the design procedure by providing a better stability region with better level of reference tracking against model mismatching compared to the case where the weighting factor was ignored.
Figure 7: Mean squared error and the normalized error for the NMP output with and without the presence of w.f.
Figure 8 shows different output responses with dynamic matrix () variations, where the weighting factor is used, and it can be seen that the output has an extended dynamic matrix change margin compared to the case where no weighting factor applied. Figure 9 shows the mean square error against dynamic matrix () variations with the use of the weighting factor. The figure ensures the advantage of using the weighting factor to enhance model mismatch case.
Figure 8: Output responses with dynamic matrix () variations and applied.
Figure 9: Mean squared error for the NMP output with dynamic matrix () variations and applied.
5. Conclusions and Future Work
In this paper, conditions were set to extend the range of linear system uncertainty based on the singular value principle. Different cases were discussed, and conditions were found that extended the system robustness against the system unmodeled dynamics. The simulation results obtained verified the success of the weighting factor in extending the range of uncertainty considered with the ILC design via state feedback and output injection. A high level of reference tracking was achieved for a system uncertainty of up to for the -ordered model of a gantry robot and up to for the NMP model. Experimental results are expected to verify the developed conditions to overcome system perturbation in the future. Future work will examine the effect of the new obtained conditions to extend the range of uncertainty on the system performance for a dual repetitive controller. The conditions to suppress the effect of noise on the system performance will also be investigated.
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text:
Serie A: Inter Milan firmly on top after edging Lazio, Juventus win seven-goal thriller against Roma
January 10, 2022 in Latest News
Milan [Italy], January 10 (ANI): Inter Milan defeated Lazio 2-1 to keep their lead in the Serie A title race on Sunday, while Juventus registered a thrilling 4-3 comeback win against Roma.
Inter kicked off 2022 in the best possible way, as the team racked up an eighth league win on the bounce to keep up the sterling vein of form which characterised the end of the previous calendar year by putting Lazio to the sword in a 2-1 success at San Siro.
The deadlock was broken at the Meazza by Alessandro Bastoni, who turned provider for Milan Skriniar in the second half to restore Inter's lead after Ciro Immobile had drawn the visitors level.
"We wanted to kick off the year with a victory. It wasn't easy because Lazio have quality and they have a good set-up on the pitch," explained Simone Inzaghi after the game. "We deserved the win. I'm pleased with the lads. Now the Italian Super Cup awaits on Wednesday. It's a final in which we want to play as well as we can at our home ground.
Elsewhere in the capital, the second half at the Stadio Olimpico resembled a boxing match based on the speed with which the two sides kept striking each other down and getting back up.
After Tammy Abraham and Paulo Dybala got on the scoresheet in the first half, Roma raced into a 3-1 lead within five minutes of the restart through goals by Henrikh Mkhitaryan and Lorenzo Pellegrini, only for Juve to respond in style with Manuel Locatelli, Dejan Kulusevski and Mattia De Sciglio bagging a trio of goals in just seven second-half minutes.
That was not the end of the drama, however, as Wojciech Szczesny turned hero late on by saving a penalty to secure all three points. (ANI)
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How can climbing salve for rock climbers hands be used for backpacking? On your feet, that's how.
Hiking in the slop is part of the game, we all have to deal with it. Just like a rock climber depends on and needs to take care of their hands, backpackers need to do the same for their feet. Climbing salve, like the Joshua Tree that I use, is a great product to super moisturize, condition and "waterproof" your feet.
Starting 5 days before a trip, at night before bed, I rub Joshua Tree onto my feet (and then cover with socks). After a number of days of pre-treatment you can see water actually bead on your feet.
While on the trail, keeping your feet warm, dry and moisturized at the end of the day will help prevent "hamburger" feet thus making the next day enjoyable.
My end of the day foot care process; 1) dry feet throughly, 2) rub in Joshua Tree and 3) cover up with loose fitting warm sleep socks.
If you give climbing salve a try let me know how you it worked for you. Do you have a foot care tip that works for you? Please share your ideas below.


Professor Jack Good, who died on April 5 aged 92, made fundamental contributions to probability theory, drawing on ideas developed while working as a codebreaker at Bletchley Park during the Second World War; later on he advised Stanley Kubrick on the computer with a mind of its own in the film 2001 – A Space Odyssey, and popularised the board game Go.
A statistician by training and a county chess champion, Good was recruited to Bletchley Park from Cambridge in 1941. By the time he arrived, the German Air Force and Army Enigma codes had been broken, but their naval Enigma code remained frustratingly difficult to decrypt – a major problem at a time when supply lines from North America were being threatened by U-boats.
Initially Good was assigned to Hut 8 working with Alan Turing and Hugh Alexander, who were already using machines known as "bombes" to discover the Enigma wheel settings, based on complex algorithmic "cribs" devised by Turing using a branch of probability theory known as Bayesian statistics. During this early period, the mathematician Max Newman, working in another hut, had established a program to use electronic methods of decipherment and had recruited Donald Michie, an Oxford classicist, to help him.
In 1943 Good moved from Hut 8 to the "Newmanry" to work with Michie on the use of machine methods for decrypting a German cipher system known as "Fish". The first machine, appropriately christened the "Heath Robinson", used vacuum tubes, was highly unreliable, and thus required extensive statistical work to back it up. A particular problem, apart from the frequent failure of the vacuum tubes, was that the paper tapes containing the intercepted signals were fed in at very high speed and tended to snap. Good recalled being able to tell when the machine was going wrong by the sound it made – and even by the smell.
But thanks to their efforts the Heath Robinson worked well enough to show that the basic concept was sound, and the two men went on to use their joint expertise to develop the code-breaking technologies underpinning the Colossus machines. These, the world's first programmable, digital electronic computers, were developed just in time for the Normandy landings and marked the beginning of the modern computer revolution. Good and Michie developed ways of using the machines to help in "pin breaking" – deciphering the pin patterns of the wheels used in the German Lorenz encryption machines, which were periodically changed.
After the war, Good went with Turing to the University of Manchester to work with Newman on statistical and mathematical computing, and in his spare time began to develop the field of Bayesian statistics. He went on to play a leading role in the development of Bayesian statistics as a practical tool for assessing probability and risk in fields ranging from medicine to defence strategy.
He was born Isidore Jacob Gudak in London on December 9 1916 to Polish-Jewish parents, but later anglicised his name to Irving John Good. His father was a watchmaker and a dealer in antique jewellery.
Although he was slow to learn to read, "Jack" Good's mathematical genius was clear from an early age. In bed with diphtheria aged nine, he "discovered" the irrationality of the square root of two and found an infinity of solutions to the equation: 2x² = y² ± 1. By the age of 13 he had independently "discovered" mathematical induction and integration.
At Haberdashers' Aske's School, Hampstead, Good amazed his maths master by working out the solutions to a series of exercise questions before the man had finished writing them on the blackboard. His teachers soon reached the limits of what they could teach him and left him to pursue his mathematical studies on his own in the school library. By the time he won a scholarship to Jesus College, Cambridge, he had already covered much of the undergraduate syllabus.
Good graduated in 1938, and the next year won the Cambridgeshire chess championship. He won the Smith's mathematical prize and completed a doctorate on "The topological concept of partial dimension based on the ideas of Henri Lebesgue", under GH Hardy. In 1941 Good was interviewed by Hugh Alexander, the reigning British chess champion, for a job in the "Civil Service", and on May 27 1941 – the day the Bismarck was sunk – found himself installed at Bletchley Park.
Good got on particularly well with Turing, with whom he played chess and who introduced him to the Chinese strategic board game Go. After the war Good played Go with the mathematician Roger Penrose and helped to popularise the game in Britain through an article published in New Scientist in 1965.
In 1947 Good accepted Newman's invitation to join him at the University of Manchester to work with him and Turing on a computer based on Turing's designs. Along with Tom Kilburn and Fred Williams, Good played a role in the development of the "Manchester Mark I", the first computer in the world to be controlled from an internally-stored program.
In 1948 Good returned to government service within the Government Communications Headquarters (GCHQ). It was during this time that he published his first book, Probability and the Weighing of Evidence (1950), which expanded on "Bayesian" concepts of probability which he and Turing had been working on during the war.
In 1959 he joined the Admiralty Research Laboratory. Five years later, after a series of consulting positions, he returned to academic life as a senior research fellow at Trinity College, Oxford, where he was associated with the Atlas Computer Laboratory. Three years later, finding Oxford "a bit stiff", he decided to take up a chair in statistics at Virginia Polytechnic Institute and State University (Virginia Tech).
In the later years of the war, Good and Donald Michie had fantasised about the idea of machines that were capable of learning, and in 1964 Good published a paper on Speculations Concerning the First Ultraintelligent Machine which was quoted by Arthur C Clarke in his 2001: A Space Odyssey to explain how his spaceship computer, the HAL 9000, had acquired a mind of its own. One of Good's first assignments in America was to advise Stanley Kubrick on his film adaptation.
Good's published work ranged from statistics, computation and number theory to the philosophy of mathematics and science. In addition to numerous papers and articles, his books included The Estimation of Probabilities: an Essay on Modern Bayesian Methods (1965) and Good Thinking: the Foundations of Probability and its Applications (1983).
Like other members of staff at Bletchley Park, Good was unable to talk about his wartime work for many years, though he allowed himself an oblique reference to his clandestine past in his car number plate: 007 IJG.
Later he contributed a chapter on "Enigma and Fish" in Codebreakers: The Inside Story of Bletchley Park (1994), edited by Harry Hinsley and Allan Stripp.
Good served on numerous scientific committees and won several awards and honours. In 1985 he was elected a Fellow of the American Academy of Arts and Sciences.


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Last year's speakers included Anastasia Khoo of the Human Rights Campaign, Grist's Chip Giller, cognitive scientist Stephen Pinker and NPR's Shankar Vedantam.  Check out videos of last year's speakers and a highlight reel here.

When you come to frank, you join a vibrant community of the world's most sophisticated communicators — people taking on big challenges like climate change, marriage equality, poverty and better health.

This is your personal invitation to frank.  It's kind of a big deal.  We put a lot of thought into who we invite to the gathering to make sure we have a balance of perspectives from the corporate, foundation, academic and non-profit sectors.

At frank, you'll get great talks rooted in fresh scientific insights from scholars like Brendan Nyhan, lessons learned in the front lines of change from activists like Ai-Jen Poo mixed up with plenty of opportunities to spend time with speakers and other franksters in Gainesville's vibrant downtown scene.

We'll kick things off with a Welcome Rally Tuesday, February 23 at 6 pm, and the program will begin in earnest at noon the following day.  We'll wrap up Friday, February 26, at 1:30 pm.

Register here and use the passcode "frankster" to join us.

And grab your hotel room at the Hampton Inn or Holiday Inn now.