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Brian K. Trembath's blog
What happened to Denver's Chinatown, and its residents?
by Brian K. Trembath on May 13, 2021
On the afternoon of October 31, 1880, two Chinese men were attempting to enjoy a game of pool at a saloon on 16th and Wazee known as John's Place when a group of men began accosting them. Despite several attempts to cool the situation down, and spirit the Chinese men to safety, the incident quickly spiraled into a full-blown race riot.
By the time the authorities got the situation under control, nearly every Chinese-owned business in the city had been burned down, dozens of Chinese were injured, and one man, Sing Lee, lay dead.
The Denver anti-Chinese riot of 1880 is one of the most shameful episodes in Denver's history. Its toxic mixture of racism, alcohol, and misinformation led to the near complete demolishment of Denver's once-thriving Chinatown.
Financially, the riot did approximately $53,000 worth of damage, about $1.3 million in today's dollars. Despite attempts by the Chinese government to recover damages on behalf of its citizens (a courtesy the Chinese had extended to American missionaries who suffered financial losses during riots in China), none of the Chinese business owners received any sort of compensation for their losses. For the most part, Denver's Chinese population fled the city and faded into history.
But who were the men (and they were mostly men) who traveled from China to Denver, only to see their dreams go up in flames? Though the story of the Denver anti-Chinese riot has been told regularly for the past 130 years, very few historians have bothered to learn much about who the Chinese of 1880 really were. Fortunately for contemporary researchers, Liping Zhu, author of The Road to Exclusion: The Denver Riot, 1880 Election and the Rise of the West, has delved into the topic in some detail.
Using U.S. Census records, Denver directories, historic newspapers, and plenty of long hours of research, Zhu paints a very compelling picture of the lives of Denver's Chinese population on the eve of its destruction in 1880. Along the way, these people turn from faceless victims into living people who had lives and dreams, just like anybody else.
Rocky Mountain Paint Shop
Chinese Workers on the the American Frontier
No one knows exactly when the first Chinese came to Colorado. Unconfirmed reports place the first arrival at around 1866. More credible sources, however, suggest that at least four Chinese miners came to Colorado from Wyoming Territory in 1869, and several were known to have been in Georgetown as early as 1870.
In 1870, Colorado Territorial Governor Edward McCook actually invited Chinese workers to come to Colorado to help alleviate labor shortages and work mining claims. Though McCook promised Chinese immigrants to Colorado the full protection of the law, he also referred to them as both an "inferior race" and "pagans." Either way, McCook saw foreign-born labor as the answer to Colorado's labor shortage.
The Chinese who did make their way to Colorado were, in many ways, very different from the Territory's European and native-born miners and settlers. For starters, most of them weren't planning to stay in Colorado, or North America for that matter, for an extended period of time. Though their average stay was about six years, most Chinese laborers were working and saving with the intention of returning to China to live on their earnings. Zhu points out that the average Chinese worker could save about $30 a month and return home after six years with about $2,000 to, effectively, retire. That, of course, assumed that they both survived their journey to the U.S. and made it home with their savings intact — which was in no way guaranteed.
Unlike their native-born counterparts, who came to Colorado from the East, the vast majority of Chinese workers in Colorado came from points west, where they usually had already been working as miners or railroad workers. This meant that most of the Chinese working in Colorado had experienced life on the frontier to some significant extrent.
Almost everywhere they went in the Trans-Mississippi West, the Chinese distinguished themselves as extremely hard and motivated workers. Chinese miners were adept at squeezing out gold from claims that other miners had abandoned as spent. Zhu cites reports of Chinese miners using fires to thaw frozen ground so that placer mining could be turned into a year-round activity. This extreme work ethic was no doubt motivated by a desire to return home to life of relative ease compared with the hardships of the frontier.
But it wasn't just in the gold fields where Chinese workers thrived. In both mining camps and in towns, including Denver, Chinese men found a lucrative niche running laundry services. At the time, laundry was considered "women's work," but women were in extremely short supply on the frontier. Chinese men stepped into this void and absolutely dominated the laundry trade in places like Denver. With its low overhead, it was a business that could be started almost anywhere by anyone willing to work hard.
The Chinese Population in Denver
Denver in 1880 had a relatively robust Chinese population of about 238, of which 225 were men. Almost all of these men worked in, or owned, laundry services. Of the relatively few Chinese women in Denver at the time, most worked as prostitutes, though a few were employed in other occupations.
For the most part, Denver's Chinese population was accepted into daily life. Because Chinese laundries weren't competing with Caucasian businesses and provided an essential service, they operated without much interference from their white neighbors.
In Road to Exclusion, Zhu notes that Denverites enjoyed Chinese New Year, which was celebrated with fireworks and a live-and-let-live attitude. Locals also took a keen interest in traditional Chinese funeral processions, which regularly snaked through Denver streets. A notable exception to Denver's atmosphere of acceptance was the Rocky Mountain News (RMN), which routinely printed virulently anti-Chinese editorials leading up to, and after, the riot.
But the RMN was hardly alone in its thinking. Racism directed at Chinese immigrants was common during this period, as the riot of 1880 made all too clear. But it didn't take too much to ignite the flames of racial hatred, as the events of that fateful fall day made painfully clear. What started out as a minor pool hall beef exploded into an orgy of mayhem and violence that destroyed years of hard work, health, and happiness in mere moments.
Though much is made of efforts by Denver residents, police, and firefighters to protect their Chinese neighbors, these actions were dwarfed by the actions of a malicious mob that numbered in the thousands and was dead set on racially motivated mayhem.
When the riot finally died down, a Chinese man who is commonly referred to as Sing Lee, but was actually named Look Young, had been murdered, dozens were severely injured, and Denver's Chinatown had been all but erased.
Almost immediately, about 100 of Denver's Chinese residents left town. This included a group of women whose tickets were paid for by Denver madame Mattie Silks. Many more residents were left with nothing but burned down businesses and dashed dreams. This is to say nothing of the trauma that they would carry from the terrifying experiences of October 31, 1880.
Estimates of the total damage range from $20,000 on the low end to $53,000 on the higher side. The financial losses incurred by Chinese workers during the riot were almost certainly much higher, but since so many victims had fled Denver before the losses were tallied, the true extent of the riot will never be known.
Regardless, this was the number submitted by the Chinese government in an attempt to recoup its citizens' losses. Though China had paid considerably more to the U.S. government when Americans suffered losses during riots in China, Denver's Chinese business owners never received any compensation for their losses.
Justice, in the form of criminal indictments and convictions, was also in short supply. The rioters who unleashed murder and mayhem were barely held accountable and Lee's murderers got away with short one-year prison sentences, although it's unclear if they actually served those sentences.
The fate of Denver's Chinese population after the riot is also largely unknown. It's likely that many of these people simply started over in new places, as returning to China empty-handed probably wasn't a viable option. Either way, Denver's Chinatown never really returned and anti-Chinese sentiment won both the battle and the war.
Barely a year later, in 1882, the U.S. Government enacted the Chinese Exclusion Act, the only law that specifically barred members of a certain ethnic group from immigrating to the United States.
Submitted by Mike Vannk on May 19, 2021
Very interesting article — and very sad to see such racism continuing in some places.
Submitted by Brian K. Trembath on May 20, 2021
Thanks for posting, Mike. There is a real element of "sameness" to the historical record that is very sad indeed.
Submitted by Wanda Downen on May 21, 2021
Agree with your statement. I think to some extent , just being different to what one is accustomed to, being skin color, physical appearance, language, practice of religion, and envy of another's success will bring about a challenge to one's self value. Hate has been around since Cain killed his Brother. Not an easy problem to solve but must keep trying for the sake of everyone's future !
Thank you, Wanda!
Submitted by Kevin Kuharic on May 20, 2021
A Chinese man known as John Touk was employed by Louis Dupuy as a gardener at Hotel de Paris. Touk occupied Room 1 of the Annex building and in addition to gardening, likely ran the hotel's laundry. He is listed in the 1885 Colorado census, and may have fled Denver to Georgetown, which had a small Chinese population (some of whom constructed parts of Hotel de Paris).
Hi Kevin - Thanks for posting! Zhu found that many Chinese-run laundries didn't appear in the directories at the time, but was able to suss them out from other sources. But it's a near certainty that a Chinese man was running the laundry almost everywhere it was offered as a service.
Submitted by Shelby Forsyth on May 21, 2021
Excellent blog Brian! It's well past time to shed light on the darker parts of Denver's history.
Thanks, Shelby! Zhu's work really fills out this story in a way that hadn't really been done before. It's definitely worth a read.
Submitted by Tiff on May 23, 2021
I appreciate your coverage of this event. I had just recently heard about it but didn't know the details or the events that happened after.
Thanks, Tiff! The riot itself burned out pretty quickly, but the aftermath had to have been around for a very long time. Thanks for reading and commenting!


FURNISHED ROOM -- Newly painted, newly furnished, and newly carpeted. (Room has: Wall-to-Wall Carpeting, double dresser, chest of drawers, nightstand, full size bed, closet, small cabinet, and ceiling fan.) It is also equipped with cable and wifi.
HOME -- Home is a clean, safe home, located in a quiet residential area of OakRidge, Morris County, New Jersey.
You would also be able to use the Living Room, Dining Room, Kitchen, Family Room, Deck, Washer, and Dryer.
Nearby routes are: 15, 46, 80, 23, and 287.
Nearby towns are: Butler, Kinnelon, Newfoundland, West Milford, Stockholm, Sparta, Wharton, Dover, Rockawy.


Brian Lanahan has connected the dots between brands and behaviors across his career in marketing. He has worked for agencies, start-ups and graduate programs—increasingly in service of sustainability and social impact. In this engaging session, he talks about how many organizations are shifting their attitudes and leading the way on the critical narratives and conversations of our time. He closes with his thoughts on the Shadow side of story work.
Not attending the Summit, but want to stay involved with Story the Future? Sign up here!


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Il protonotaio o protonotario apostolico è un particolare prelato della curia romana, titolare di una carica onorifica papale e di altri particolari diritti onorifici. Nel corso dei secoli sono stati numerosi i personaggi che hanno occupato questa carica di prestigio, considerata una via per il cardinalato.

Storia

Fin dai primi secoli la Chiesa di Roma contò sette funzionari notarili , il cui compito fu quello di compilare gli Acta Martyrum.

In seguito, nel XIV secolo, vennero nominati altri sette notari che assunsero il nome di protonotari, cioè di "primi notari" e avevano il compito di stendere gli atti apostolici della Curia romana, da cui l'aggettivo "apostolici".Papa Sisto V (1585-1590) ne modificò il numero in dodici e nel 1838 papa Gregorio XVI ne riportò il numero a sette, a cui dette il titolo di de numero partecipantium. Papa Pio X, con il motu proprio Inter multiplices del 21 febbraio 1905, creò diverse categorie di protonotari:

 Protonotari Apostolici di numero o partecipanti. Furono confermati in numero di sette e furono di nomina papale. Secondo il suddetto motu proprio ebbero il privilegio della mitra e di qualsiasi altra insegna pontificale escluso il trono, il pastorale e la cappa.
 Protonotari Apostolici soprannumerari. Vi facevano parte coloro i quali detennero un canonicato nei tre capitoli patriarcali dell'Urbe.
 Protonotari Apostolici ad instar participantium. Se di nomina papale erano ad vitam, altrimenti se detenevano un canonicato mantenevano tale dignità solo durante il loro ufficio di canonici. Vi appartenevano inoltre quegli ecclesiastici ai quali la santa sede concedeva questo onore, i canonici di qualche Capitolo di particolare importanza e quei protonotari di numero che uscivano dal collegio prima dei dieci anni dalla nomina. I protonotari che lasciavano il collegio dopo dieci anni dalla nomina, continuavano a mantenere il privilegio di numero per cinque anni ulteriori, per poi essere nominati, de iure, "Protonotari ad instar".
 Protonotari Apostolici titolari o onorari. Vi appartenevano i vicari capitolari e i vicari generali durante il loro ufficio. Si trattava di prelati extra Urbem, perciò non godevano degli onori della famiglia pontificia, né erano tantomeno ascritti tra i familiari del Sommo Pontefice.

Altre attribuzioni furono stabilite nella costituzione apostolica Ad incrementum decoris di papa Pio XI del 15 agosto 1934. Con il motu proprio Pontificalis Domus del 28 marzo 1968 papa Paolo VI decretò l'abolizione delle altre categorie di protonotari con l'eccezione dei:

 Protonotari di numero;
 Protonotari soprannumerari.

Secondo lo stesso motu proprio, essi rientrano nella costituzione della famiglia pontificia. Come previsto dall'istruzione della Segreteria di Stato Ut sive sollicite, circa le vesti, i titoli e le insegne di cardinali, vescovi e prelati minori, promulgata il 31 marzo 1969 dal Segretario di Stato Vaticano card. Amleto Giovanni Cicognani, i protonotari possono essere distinti dagli altri preti a motivo delle loro vesti:

 I protonotari apostolici de numero hanno come abito corale la talare paonazza con mantelletta paonazza, rocchetto e fascia paonazza. Come abito piano la talare senza pellegrina con occhielli, bottoni, bordi e fodera di colore rubino, fascia paonazza con frange di seta alle due estremità e ferraiolone paonazzo. La berretta è nera con fiocco rosso. La fascia con fiocchi, le calze paonazze e le fibbie sulle scarpe sono abolite.
 I protonotari apostolici soprannumerari hanno come abito corale la talare paonazza, la fascia paonazza con frange e la cotta (non il rocchetto) senza pieghe. Come abito piano la talare nera senza pellegrina con occhielli, bottoni, bordi e fodera di colore rubino, con fascia paonazza e il ferraiolone paonazzo. La mantelletta paonazza, la fascia di seta con fiocchi, le calze paonazze, le fibbie sulle scarpe e il fiocco rosso sulla berretta sono aboliti.

Protonotari di numero

I protonotari apostolici di numero, o protonotarii apostolici de numero, sono notai papali e del soglio pontificio. Il loro numero è stabilito in sette. Insieme costituiscono un collegio sotto la presidenza del più anziano di essi per nomina e non per età, il decano.

Essi sono:
 Francesco Di Felice, nominato l'11 novembre 2008 (decano);
 Leonardo Sapienza, nominato il 14 gennaio 2013;
 Franco Piva, nominato il 26 maggio 2015;
 William V. Millea, nominato il 19 giugno 2018;
 Cesare Burgazzi, nominato il 12 settembre 2022;
 Brian Edwin Ferme, nominato l'8 novembre 2022;
 Paolo Luca Braida, nominato il 22 dicembre 2022.

Compito dei protonotari apostolici è quello di redigere gli atti più importanti e i documenti che annunciano i dogmi, le canonizzazioni, le incoronazioni, le intronizzazioni e i decessi dei papi. Per di più sovrintendono alla regolare chiusura e apertura dei conclave e seguono il protocollo dei concistori.

I protonotari apostolici effettivi sono inquadrati nella prima sezione della Segreteria di Stato. I protonotari apostolici de numero godono del titolo onorifico di "Reverendissimo Monsignore".

Protonotari soprannumerari

I protonotari apostolici soprannumerari, o protonotari apostolici supra numerum, sono:

 i Canonici Prelati delle tre basiliche papali di Roma dalla data del prestato giuramento e a essi sono equiparati i Sacerdoti Monaci della Basilica Papale di San Paolo fuori le Mura, pur non indossando le vesti prelatizie;
 I Vicari Generali ed i Vicari Episcopali durante munere;
 l'Abate Tesoriere della reale cappella del Tesoro di san Gennaro a Napoli;
 I Canonici della Collegiata di S. Maria ad Martyres di Roma, della Cappella Palatina di Palermo, dell'insigne collegiata di Cividale;
I Canonici onorari della Basilica del Santo Sepolcro ed i Sacerdoti Commendatori dell'Ordine Equestre del Santo Sepolcro;
I Cappellani Conventuali Professi del I Ceto SMOM;
I Prefetti di Roma, secondo prassi consolidata equiparati per dignità ai Canonici del Capitolo presso la Cattedrale di Roma ;
 l'Arciprete pro tempore della collegiata di Brisighella (Faenza), del Duomo di Caorle, l'Arciprete pro tempore della Basilica di Sant'Eufemia in Grado (Gorizia), l'Arciprete pro tempore della parrocchia di Santa Maria Maggiore in Codroipo (Udine) l'Arciprete pro tempore del Capitolo della Cattedrale di Lodi, il parroco pro tempore della parrocchia S. Pietro Apostolo in Lodi Vecchio (Lodi), l'arciprete della Parrocchia dei SS. Stefano e Martino in Riolo Terme (Imola), l'arciprete del duomo di Milano, il Rettore pro tempore della Hofburgkapelle di Vienna, l'arcidiacono pro tempore del Cadore e l'Arcidiacono pro tempore della Carnia (Tolmezzo);
 il prelato dell'Opus Dei;
 nominati ad personam, a seguito di speciale concessione della Santa Sede.

Si tratta del più elevato dei titoli onorifici prelatizi. Generalmente viene concesso su richiesta del vescovo della diocesi per sacerdoti ritenuti meritevoli, seppur molto raramente in confronto ad altri titoli onorifici.

L'Istruzione sul conferimento di Onorificenze pontificie promulgata dalla Segreteria di Stato vaticana in data 13 maggio 2001 dispone che il titolo può essere concesso a sacerdoti del clero secolare che abbiano compiuto almeno 55 anni di età e 20 di sacerdozio. Di norma, si deve rispettare la "gradualità": si deve richiedere cioè per il candidato prima il titolo di Cappellano di Sua Santità e poi quello di Prelato d'onore di Sua Santità. Tra un grado e l'altro devono trascorrere almeno 10 anni. Per alcuni casi particolarmente meritevoli e significativi, i vescovi possono richiedere direttamente il titolo di Protonotario Apostolico Soprannumerario, fermo restando la condizione che il candidato abbia compiuto almeno 55 anni di età e 20 di sacerdozio. Per ogni diocesi, il numero totale di Monsignori (Cappellani, Prelati e Protonotari) non deve superare il 10% del clero.

I protonotari apostolici soprannumerari godono del titolo onorifico di "Reverendo Monsignore".

I protonotari apostolici che vengono ammessi nell'Ordine Equestre del Santo Sepolcro di Gerusalemme hanno diritto al grado di commendatore.

Note

Collegamenti esterni

Ministeri della Chiesa cattolica
Onorificenze pontificie
Curia romana
Protonotari apostolici

redpajama_set_name: RedPajamaWikipedia


West Girls Basketball lost a tight Varsity contest with 1st place Cadillac on Saturday afternoon falling to the Vikings 57-54. Despite the loss there is plenty to play for as the season winds down; good luck to the girls tomorrow night as they head to Ludington. Those game times have changed slightly— we will play a triple header in the main gym in Oriole land. Freshmen start at 4 pm with JV and Varsity games to follow.


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When we first believed the Toronto Raptors could win the 2019 NBA title
As TSN and Sportsnet continue to air every Raptors game from last year's road to the NBA title, our NBA.com Staff reveals when they thought Toronto was going to win it all.
https://images.daznservices.com/di/library/NBA_Global_CMS_image_storage/58/74/nba-logo_1otf1c2u207hs1pmrjqq1ba5h5.png?t=-1893933906&w=500
By NBA.com Staff @NBA
Last season, the Toronto Raptors made history by winning the franchise's first-ever title.
It certainly wasn't easy. The Raptors got the playoffs started with a loss to the Orlando Magic in the opening game of the first round. They then went to seven games with the Philadelphia 76ers before falling into a 2-0 hole against Giannis Antetokounmpo and the Milwaukee Bucks in the Eastern Conference Finals.
Even the Finals were a whirlwind, with the Raptors losing Game 2 at home and Game 6 being an all-time back-and-forth.
Through all those ups and downs, when did it become clear that the Raptors were going to win the title?
Scott Rafferty (@crabdribbles): I want to say around Game 5 of the Eastern Conference Finals.
I had the Raptors beating the Bucks heading into the series, but it took a while for me to come back around on them after they fell into a 2-0 hole. Game 3 felt a little fluky to me at the time, especially with Kawhi Leonard hobbling the way he was for what felt like the entire game, and it still wasn't clear to me that the Raptors had figured the Bucks out after Game 4.
Game 5 was the turning point. Fred VanVleet had come alive, Leonard was looking healthier and the Raptors had made Giannis Antetokounmpo look human - by his standards, at least - for the third straight game.
As for the Finals, there was so much uncertainty surrounding Kevin Durant that I felt good about Toronto's chances. I thought it would be more competitive - I expected it to go to seven games - but I was all-in on them winning the championship after seeing how they bounced back against the Bucks.
Micah Adams (@MicahAdams13): After winning Games 3 and 4 of the NBA Finals.
Going into Oracle Arena and winning both games? That's the sign of a team ready for the moment. That's when I believed they could win it. But ... when did I think they actually would win it?
Honestly, not until the closing seconds of the clinching Game 6. Stephen Curry missed a great look with eight seconds left that would have put the Warriors up by two and potentially forced a Game 7. Even after Klay Thompson got injured towards the end of the third quarter, the Warriors hung around and were right in it. I've had a hard time ever counting the Warriors out and yes, even though I picked the Raptors to win Game 6 before it tipped, I wasn't confident they'd actually do it until moments before they actually pulled it off.
I still can't believe this shot didn't go in.
Kyle Irving (@KyleIrv_): After they won the Eastern Conference Finals.
This might seem a little harsh, but I really didn't believe the Raptors could truly win it all until after they beat the Bucks. When they went down 2-0 in the Conference Finals, I thought that was it. I had completely counted Toronto out.
It took until March for the Bucks to even lose two games in a row. I thought it was going to be impossible for the Raptors to potentially win four out of the next five games. Even when they won Game 5 in Milwaukee, I expected the league MVP and the NBA's best team all season long to kick things into another gear.
Once Toronto had rattled off four-straight against the Bucks, I started to buy in to their chances of knocking off the Kevin Durant-less Warriors. If KD was healthy, it probably would've taken until there was zero seconds on the clock of the Raptors' fourth win of The Finals to believe they had a chance!
I underestimated Toronto all season. I underestimated just how insane Kawhi Leonard was last season. I've learned my lesson.
Carlan Gay (@TheCarlanGay): It's wasn't until Game 4 of the NBA Finals that I knew the Raptors had a chance of winning it all.
I had seen this from the Warriors before - their backs against the wall in a Finals series and being able to dig themselves out of a hole. They had to come back from being down 2-1 to defeat LeBron James and the Cleveland Cavaliers in 2015 before KD was there. They knew what it took to rise to the occasion without Durant - I expected them to be able to do it again.
What I failed to realize was this wasn't the same old Raptors and that Kawhi was a stone-cold closer.
Kawhi kept the Raptors in the game, scoring 14 of the team's 17 points in the first quarter, but Toronto still trailed by six. In the second period, he finally got some help and the Raps only trailed by four at the half.
Then it happened, the moment I realized the Raptors meant business and that the championship could truly come north of the border.
Leonard got the scoring underway in the third with a triple that rattled around the rim before finally falling. Then he ripped the ball from Draymond Green and hit a walk-up triple right in Green's grill to give the Raptors their first lead of the game. When that 3 splashed through the net, the travelling Raptor fans erupted. It also felt like whatever was said in the locker room resonated with the team and they were there to take not one but two wins from Oracle Arena.
The game would end up having nine lead changes in total, the last one coming with 4:00 to play in the third quarter when Serge Ibaka drilled a 3. When you look at the final score you tend to forget how close that game was and how the Raptors had to claw their way back into that game - and how they took the Warriors' best punch at the start in one of the toughest arenas in the league - and swung back and won.
Kawhi's back-to-back 3s was the moment I realized I was watching the better of the two teams head back home with a chance to close out the series and win their first-ever title.
Gilbert McGregor (@GMcGregor21): I'm with Scott, as I didn't really start believing that it could happen until Game 5 of the Eastern Conference Finals.
A lot happened in that game, but I always think back to Pascal Siakam's game-sealing dunk. And Serge Ibaka's passionate double fist pump on the baseline.
PUT 'EM AWAY, P! pic.twitter.com/xzFXqY8w15
That the Raptors had just earned three straight wins over a Bucks team that only lost two in a row once all season was enough reason for me to believe that Toronto was capable of doing something special.
Meanwhile, on the other side of things, the Warriors were looking increasingly beatable without Kevin Durant as it took a few second-half comebacks to continue to fend off a Portland Trail Blazers team that wasn't as complete as the Raptors.
In short, after Kawhi's shot and the three straight victories, this started to feel like a team of destiny.
7m ago NBA

redpajama_set_name: RedPajamaCommonCrawl


Trips to Ikea are a full day event for me. I love looking through the showrooms, slowly strolling through the entire warehouse and stocking up on all of my home decorating favorites like accessories and….organization supplies!!
Did you know how many great deals you can get or storage containers at Ikea?! To get inspired, check out all these organizing Ikea hacks that show you how you can practically organize your entire house for a fraction of the price using items from Ikea.
1. Organize your refrigerator with Ikea storage bins.
2. Tidy up that makeup mayhem.
3. Spice racks make adorable storage shelves for your tiny humans' rooms.
4. Use magazine holders inside cabinets for a convenient storage hack.
5. Organize wrapping paper with an Ikea plastic bag dispenser.
7. DIY Lego desk hack to finally hide the mess!
Which of these organizing Ikea hacks are you excited to recreate in your home?


Gone are the days where you had hoped that a big investor would see your project and hope that you'd make enough money to recoup the investors' money and maybe, if you're lucky, make some yourself.
Music, books and games have benefited greatly for crowdfunding. Unlike traditional funding sources is the number of backers and the amounts that people have raised. They also provide with payment system where the money is held in escrow and, in the case of Kickstarter, only paid out if the process is successful in raising all its funds.
Crowdfunding (alternately crowd financing, equity crowdfunding, crowd-sourced fundraising) is the collective effort of individuals who network and pool their money, usually via the Internet, to support efforts initiated by other people or organizations. Crowdfunding is used in support of a wide variety of activities, including disaster relief, citizen journalism, support of artists by fans, political campaigns, startup company funding, motion picture promotion, free software development, inventions development, scientific research, and civic projects.
Kickstarter and Indiegogo are two examples of crowd funding platforms. They provide tools and infrastructure for individuals or groups to raise money for their projects. These platforms also allow you to communicate with your supporters and build community around your project by creating two-way communication between the project and its backers.
Kickstarter will only release the funds if the project reaches its minimum level of funding. Indiegogo gives you the options of full funding or partial funding on project completion date. Both of them have deeply changed the way we fund our projects.
I prefer the Kickstarter's fundraising model as it helps sets expectations for a project's backer. If you don't rise the full funding and the site released the funds, where are the remaining funds coming from? People tend to expect that the fully funded project will happen even if the project only achieves partial funding.
It is not unheard of games and other content to get over 1 million dollars on funding. Meeting and beating stretch goals; what they call the funding goals raised in excess of their initial funding, and usually with extra rewards attached, and additional products related to the fundraising that can be purchased at a discounted price.
The project is very niche specific. It seeks to create traditional Japanese wood prints using modern video game characters as a way to pay homage to the characters' roots in Japanese tradition.
The project raised over 310,000 dollars, many times over their modest goal of $10,400. The project not only raised a huge amount of money but it also built a community of people who are interested in the product and who can be tapped for additional funds through additional Kickstarter projects or through direct sales. The potential is endless.
The additional funding Ukiyo-e Heroes raised has allowed David Bull, the Japanese printmaker who created the prints for the project, to keep his art alive by hiring apprentices and experienced printmakers to work in the project. The impact was felt way beyond the virtual community of backers in Kickstarter.
Look at the most successful Kickstarter publishing projects in terms of funding. Look at the broad definition of publishing and the variety of projects that get funded under this category.
I've chosen 3 different projects to highlight some of these new publishing methods and results.
Previous PostPrevious Who is a publisher and How do you define publishing?


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Home Page | Find A Soldier | Units | Site Map
Soldiers - Units - Battles - Cemeteries - Towns
Carpenter, George Nathaniel
Age: 22, credited to Northfield, VT
Unit(s): 8th VT INF, USV
Service: enl 2/1/62, m/i 2/18/62, SGTMAJ, 8th VT INF, pr 1LT, Co. C, 6/1/62, disch 7/2/64 to accept pr as CPT & CS, USV, 5/18/64, m/o 6/21/65 [College: UVM 61]
See Legend for expansion of abbreviations
Birth: 01/26/1840, Unknown
Death: 07/08/1896
Burial: Elmwood Cemetery, Northfield, VT
Marker/Plot: Not recorded
Gravestone researcher/photographer: Denis & Karen Jaquish
Findagrave Memorial #: 75574025
Alias?: None noted
Pension?: Not Found
Portrait?: Gibson Collection, , Guber Collection off-site, VHS Collections, 8th Vermont Infantry Regimental History
College?: UVM
Veterans Home?: Not Found
(If there are state digraphs above, this soldier spent some time in a state or national soldiers' home in that state after the war)
Remarks: None
(Are you a descendant, but not listed? Register today)
Elmwood Cemetery, Northfield, VT
Check the cemetery for location/directions and other veterans who may be buried there.
VHS - Reunion Society Collection
VHS - Portrait Files (FPO)
John Gibson Collection
George N. Carpenter
Burlington Weekly Free Press
Col. G.N. Carpenter Dead
Was Well Known in Vermont-A Graduate of U.V.M.-Trustee of N.U.
Boston, July 8-Col. George N. Carpenter died at his residence in Brookline this afternoon of inflammation of the kidneys. He has been ill since last January, giving up active work at his place of business in April and had been confined to his home ever since.
George Nathaniel Carpenter was born in Northfield, VT., Jan. 26, 1840. His father was Hon. Herman Carpenter, a noted lawyer and a judge of the Circuit Court. Deceased was graduated from the University of Vermont in 1861. At 22 years of age he enlisted in the 8th Vermont regiment and served during the full term of that regiment's participation in the war. He went out as a private. His service was so meritorious that he rose to captain. Capt. Carpenter was afterward commissioned in the staff department. In the Shenandoah Valley under Sheridan, Capt. Carpenter did good service.
After the war Capt. Carpenter was engaged in editorial work on a daily paper in Milwaukee for two years, and was at the same time the Western correspondent of the New York Tribune. Since 1867 he was engaged in the business of life insurance as special and general agent. For many years he was the general agent of the Massachusetts Life Insurance company and district manager of agencies. He was one of the most efficient promoters of the Sheridan's Veteran association.
Capt. Carpenter received the rank of colonel as a member of the staff of Gov. Dillingham of Vermont. He was a member of the Grand Army of the Republic, the Masons, Loyal Legion, and one or two clubs. He was prominent in the Veteran organization of his old regiment, and was the historian of his regiment. He was elected a representative to the general court from Brookline in 1887 by a flattering majority, he being a staunch republican in a district permeated by mugwumpism. In 1888 he was re-elected by a still greater majority.
Col. Carpenter was a trustee of Norwich University, Vermont and a lecturer on commercial ethics. He was one of the most suave, genial and companionable of men, and his mental traits manifested an aptitude for poetry and in his writings often showed delicate wit. He leaves a wife and three sons.
Submitted by: Denis & Karen Jaquish.
8th Vermont Infantry Regimental History
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text:
How Bake Off champ Nadiya Hussain made her cake and ate it too
By Lauren Potts BBC News
https://www.bbc.com/news/uk-england-34464593
Image caption Nadiya Hussain had been the show's "star baker" three times
Millions of people tuned in to see who would be crowned this year's winner of the Great British Bake Off, but who is the person behind the apron? BBC News looks at the winner's journey from home cook to baking star.
She was the bookies' favourite to win and Nadiya Hussain didn't let the punters down.
The 30-year-old mum-of-three from Leeds - now famed as much for her facial expressions as her delicious bakes - entered the tent for the last time on Wednesday with a "look" she could do it, according to the show's co-judge Mary Berry.
And sure enough, the amateur baker set aside her nerves to nail the final, producing a showstopper so worthy of its name it was described as "sheer perfection" by the judges.
Media captionA look at how the Great British Bake Off crown was won in 2015
With odds of 2/5 on her walking off with the Bake Off crown, it was hardly a shock result.
She has, after all, been the show's "star baker" three times - earning herself the hallowed "Hollywood handshake" for her signature bake in last week's semi-final.
Even Prime Minister David Cameron announced on Tuesday he was rooting for her.
But Nadiya's journey from stay-at-home mum to queen of the chocolate tart didn't begin with creating cheesecakes featuring cans of levitating pop.
Image caption A number of wobbles threw Nadiya temporarily off course during the 10-week show
It started with an understandable curiosity about the lack of pudding in her life.
"When we were younger we wouldn't have a dessert after a meal, it wasn't in our culture," she said of her Bangladeshi origins.
"As we grew up we would buy apple pies and Swiss rolls, and by the time I was 15, I was making puddings for my family.
"Although it took a long while to convert them, they now love my desserts."
Nadiya applied to take part in the programme after encouragement from her family, despite a self-confessed lack of confidence in her own abilities.
Image caption The baker's rose pistachio and mocha hazelnut horns helped place her first in patisserie week
Over the past 10 weeks, viewers have watched the amateur baker turn into a kitchen star who has consistently impressed Paul Hollywood and Mary Berry with her attention to detail and mastery of flavours.
Yet the Luton-born mum still shook her head seemingly in disbelief each time she was praised for her work.
"I can be quite self-deprecating," she said. "But I feel I have tested my abilities and come out a much stronger, confident person the other side.
"I went into the tent the smallest baker at 4ft 11ins, but I walked out feeling a giant."
Though her confidence undoubtedly grew over the weeks, there were a number of memorable wobbles that threatened to throw her off course.
Nadiya crumbled during one notable showstopper round, tearfully presenting Paul and Mary with plates of "deconstructed" vol-au-vents whose pastry cases resembled what was unflatteringly described as "buttery cellulite".
A souffle-related meltdown during the semi-final saw the normally quiet baker raise her voice and vow never to bake the recipe again. It was a declaration not without substance after the dish placed her last in the technical challenge and reduced her to tears.
Image caption Nadiya's facial expressions have made her something of an internet star
On her many highs and lows, she described the show as an "emotional experience".
"It is, after all, just cake and biscuits but when you have put so much effort into it, you do feel either very sad or very elated," Nadiya said.
"My face is a giveaway as I can't hide my facial expressions, and I did say to myself that if I am going to cry I won't go and hide."
Nadiya's facial expressions have made her something of an internet star, inspiring a Tumblr called The Many Faces Of Nadiya Appreciation Blog and a number of posts on Buzzfeed.
The Bake Off winner has taken the attention in good spirits but hopes her mannerisms won't be her lasting legacy.
"I had no idea that this would become a talking point on social media. It's all a bit of fun and not to be taken seriously. After all, it's just my face isn't it?
"[But] I really hope I have not become known more for my facial expressions or my eyebrows than my baking," she said.
After months of peering woefully at the inside of an oven and practising her recipes into the wee hours, what's next for the unexpected TV star?
"Family life will carry on as normal, being a mum to three small children under 10 is pretty time-consuming," she said.
"But I wanted to have my own adventure, which with a very supportive husband and a belief in my own ability, I can now carry on having.
"I am really looking forward to see what will happen."
Bake Off Final Live - as it happened
Great British Bake Off: Meet the finalists
Bake Off semi-final draws bumper ratings
Around the BBC
England Sections


text:
Billy Bush Divorce: Wife Sydney Davis Was Furious After Trump Tape Leaked, Wouldn't Talk To Billy For Days
Billy Bush and wife Sydney Davis are getting a divorce, and the infamous "Trump Tape" released last year may have played a significant role in the split.
On Tuesday, the New York Post reported that the former Today show host was splitting with his wife after close to 20 yeas of marriage. Bush's lawyer, Marshall Grossman, confirmed the split in a statement to the newspaper's Page Six, but did not elaborate on the details other than to say it was not caused by infidelity.
But others close to the couple say that the "Trump Tape" had a significant impact on the couple. In the audio, recorded in 2005 and released in the late stretch of the 2016 presidential campaign, Trump could be heard bragging to Bush about pursuing a married woman and appearing to admit to sexually assaulting women.
"And when you're a star, they let you do it. You can do anything … Grab them by the p***y," Trump could be heard saying.
In the audio, Billy Bush appeared to encourage the talk and then suggested soap opera star Arianne Zucker give Trump a hug. Bush was fired from his post at the Today show after the tape's release, while Trump recovered and went on to win the presidency.
Though Billy Bush appeared to sound enthusiastic on the tape, he later expressed regret for entertaining the conversation with Trump.
"Looking back upon what was said on that bus, I wish I had changed the topic," Bush said (via The Hollywood Reporter). "[Trump] liked TV and competition. I could've said, 'Can you believe the ratings on whatever?' But I didn't have the strength of character to do it."
Billy Bush and Sydney Davis have decided to separate after 20 years of marriage "to evaluate their life together." https://t.co/sh7BpFm7xD pic.twitter.com/tWKlreUO9M
— E! News (@enews) September 19, 2017
Billy Bush's wife is '10,000-percent out of' that marriage https://t.co/pLi6ba9naW pic.twitter.com/LVQeJwm842
— deathandtaxes (@DeathAndTaxes) September 19, 2017
At the time the video leaked, a source close to Billy Bush told Page Six that Sydney Davis was "furious" after the release of the Trump Tape and gave her husband the silent treatment for a while.
"She was so furious that she refused to speak with him for a while — and she's still furious. They are having marriage problems. He didn't apologize to her for the embarrassment he caused in his statement," the source said after the tape was released.
Melania Trump had a different reaction, at least publicly. After the tape's release, she issued a statement that criticized her husband but ultimately defended him, calling it "locker room talk" that was ultimately harmless.
A representative for Billy Bush confirmed the divorce to Page Six but said it was not true that Sydney Davis left him, noting that they were just "separated for the moment to evaluate their life together."
[Featured Image by David Livingston/Getty Images]


DOCE PARES ESKRIMA, IS A FILIPINO MARTIAL ART THAT FOCUSES PRIMARILY ON STICK FIGHTING BUT ALSO INCORPORATES OTHER WEAPONS AND EMPTY-HAND COMBAT.
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Tracing its roots to 1521, Doce Pares was founded in 1932 in Cebu City, the second largest city in the Philippines. The most renowned eskrimadors, founded Doce Pares as a society to promote the only original native martial art of the Philippines. The name Doce Pares means "Twelve Pairs" or "twelve equals".
Surpreme Grand Master Dionisio "Diony" Cañete and Grandmaster Arnulfo "Dong" Cuesta, who belong to the second generation of eskrimadors teach the Doce Pares Multistyle System. Satori Academy's Walzog received her 1st Degree Black Belt in The Philippines from SGM Cañete in 2011 and has won Doce Pares World titles in forms and stick fighting.


Please complete this form if you would like our Ecology Officer to visit your property to carry out checks for Protected Species and/or Priority Habitat.
Ideally this should be prior to submitting your planning application, but may be arranged after submitting your application if you have been asked to provide evidence that checks have been made.
For more information, please vist our Protected species and the planning process web page.


The enjoyment of different types of beer demands specific glasses. The Beer Basic range of beer glasses was developed to do justice to these particular needs. Tumblers for wheat beer, small wheat or pilsner beer, lager beer and typical English beers, plus pilsner glasses with stems and feet always offer aficionados of stylish beer culture the right shape for perfect enjoyment. The elegant and mildly tapered glasses widen slightly toward the top to provide ample space for the beer's foamy "head" to develop.
All of the Schott Zwiesel Beer Basic glasses are Machine Made, Tritan Crystal.


text:
TRAIL OF TERROR
Chilling map shows how foreign jihadis are flocking to Afghanistan to launch new terror war with West
Tariq Tahir
Published: 11:13 ET, Aug 13 2021
Updated: 11:56 ET, Aug 13 2021
FOREIGN fighters are flocking to Afghanistan to launch a new terror war on the West as the Taliban tears through the country.
Jihadis from the UK, Syria, Libya and central Asia have been heading to the war-torn country to take advantage of the Taliban's open door to global terror.
A Taliban fighter celebrating after the defeat of government forcesCredit: EPA
Their lightning advance has taken the fanatics to within striking distance of the capital Kabul and disturbing stories have emerged of young Brit jihadis travelling there.
The British security services have already intercepted phone calls of militants with British accents as they openly talked on their mobiles.
"One had a London accent, what you might call a street accent," a military intelligence source said.
Now experts are warning that ISIS fighters are flocking to Afghanistan in a chilling echo of the Islamic State Caliphate the maniacs once controlled Syria and Iraq.
They include hardened ISIS fighters from Syria, while terrorists from central Asian nations north to the country have already used the country as a base for a terror plot.
There have warnings from Russia that even terrorists from the ISIS branch in Libya, made up of many African jihadis, could also be making their way to the war-torn country.
Most read in The US Sun
NIP NOPE
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Professor Anthony Glees, from Centre for Security and Intelligence Studies at the University of Buckingham, predicted Afghanistan will soon become a "crucible of Islamist terror".
The Taliban previously hosted Al-Qaeda and according to terrorism expert Rafaello Pantucci, they operate a policy that welcomes anyone who shares their warped views.
Should the Taliban take over Afghanistan once again, it's likely jihadis from around the world – including ISIS – will set up bases there, says Pantucci from the defence think-tank RUSI.
ISIS will then start to use Afghanistan as a safe haven for coordinating attacks on the west – with even a 9/11 scale attack possible.
"There have been ISIS people who have gone from Syria to Afghanistan and these are pretty committed fighters," he said.
"At present they could use and develop a base there to be used for talking to people and inspiring them to do stuff abroad and sending money to them.
HARDENED FIGHTERS
"At present I don't there will attack on the scale of the 9/11 attack - but in the future I wouldn't want to discount that."
Pantucci said that Pakistan is a likely route for many young Brits looking to get to Afghanistan to join ISIS.
"Sadly we've seen that story before and there's little reason to think that wouldn't happen again," he said.
"If you are of Pakistani heritage and have links to that country then it would be fairly easy for you to have access to Afghanistan."
Pantucci said a suspected terror plot in Germany, in which four men from Tajikistan were accused of plotting to attack US and Nato military bases, could be a template for ISIS operations.
One of the suspects is accused of carrying out instructions from high-ranking ISIS leaders in Afghanistan.
OPEN DOOR TO TERROR
Around 800 Brits travelled to Syria and Iraq at the height of the rule of ISIS and hundreds are still unaccounted for.
Prof Glees said if ISIS and other groups set up bases in Afghanistan they will serve as a draw for those "beguiled" by jihadi propaganda.
"For jihadis it's important to have a physical entity to defend and that's why the Islamic State was so important – it wasn't just and idea it was a reality," he said.
"There is every reason to fear that people from Europe, including from the UK, will be drawn to Afghanistan.
"Islamists are drawn towards something that they can fight for and Afghanistan will become a play where they will to become trained in the art of war.
"It will become the crucible of terror once again."
Afghan women waiting to get breadCredit: Reuters
Smoke rises after fighting between the Taliban and Afghan security personnel, in KandaharCredit: AP
Taliban fighters pose in 'stolen US military gear' in an ISIS-style photoCredit: Badri 313 Battalion


Here you will find list of 10 Day Green Smoothie Cleanse Journal free ebooks online for read and download. View and read 10 Day Green Smoothie Cleanse Journal pdf ebook free online before you decide to download by clicking Read and Download button. Enjoy reading free 10 Day Green Smoothie Cleanse Journal pdf ebooks online now. More ebooks visit this site to search read and download full ebook.
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This week I had another marketing talk with Veronica from SPIN Ideas in Amsterdam. In this video, our main focus was the first stage of the inbound marketing process: the attract phase. The illustration bellow gives you an overview on the different stages of the inbound methodology. I consider the attract stage as being one of the most important one in the inbound methodology. The more strangers you are able to attract to your brand the higher the chances they become visitors, leads and eventually customers.
How do you attract visitors to your brand?
In this episode, we talk about keywords, different types of content creation, and distribution.
Research and optimise the keywords for your content.
Without giving too much away, have a look and let us know what you think. We tried to keep this video short and concise so you get the most out of it. Let me know in the comments what you would like to hear more of in our videos. Your feedback is appreciated. If you find this video series useful, please help us spread the word so others can benefit from it.


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%------------------------------------------------

\begin{frame}
\frametitle{Il punto di partenza}
%Alenia
\begin{block}{La richiesta}
	Siano dati diversi sensori, solidali ad un corpo rigido, e le relative misure di velocità angolare, si richiede, se possibile, la stima della matrice di rotazione tra essi relativa.
\end{block}
\end{frame}

\begin{frame}
\frametitle{Il punto di partenza}
%Alenia
\begin{block}{La richiesta}
	Siano dati diversi sensori, solidali ad un corpo rigido, e le relative misure di velocità angolare, si richiede, se possibile, la stima della matrice di rotazione tra essi relativa.
\end{block}

\begin{block}{Generalizzazione del problema}
	\begin{itemize}
		\item Velocità angolare $\longrightarrow$ Vettore in $\mathbb{R}^3$,
		\item Matrice di rotazione $R$ $\longrightarrow$ Matrice di trasformazione $T(R, t)$
		\begin{itemize}
				\item $R :=$ matrice di rotazione,
				\item $t :=$ vettore di traslazione,
		\end{itemize}
		\item Si può stimare BIAS relativo tra i sensori.
	\end{itemize}
\end{block}
\end{frame}

\begin{frame}
\frametitle{Visual Observer}
%approccio al problema: stima, visione

\begin{block}{Cosa?}
	progettazione software di stima della posizione e orientamento mediante impiego di strumenti di visione.
\end{block}

\begin{block}{Perché?}
	\begin{itemize}
		\item applicazione pratica degli strumenti di stima presentati,
		\item problema di rilievo in ambito robotico,
		\item studio di strumenti innovativi.
	\end{itemize}
\end{block}
\end{frame}

\begin{frame}
\frametitle{Visual Observer}
%approccio al problema: stima, visione
\begin{block}{Come?}
	\begin{itemize}
		\item strumenti di \textbf{Visione Artificiale} per la ricerca, e il tracciamento di punti chiave in uno scenario ignoto.
			\begin{itemize}
				\item Si scelgono dei punti "particolari" della scena e si effettua la loro ricerca nell'istante successivo (dopo lo spostamento)
				\item Si ottiene un set di punti omologhi e se ne calcolano le coordinate
			\end{itemize}
		\item Si effettua la stima della trasformazione a partire dal set ottenuto.
	\end{itemize}
\end{block}
\end{frame}

%------------------------------------------------
\section{Stima della matrice di trasformazione}
%\begin{frame}
%\frametitle{Stima della trasformazione}
%kabsch
%\Huge{\centerline{Stima della trasformazione}}
%\end{frame}

\begin{frame}
\frametitle{Stima della matrice di trasformazione}
\begin{block}{Superimposizione di Procustes}
\textit{dati due corpi (N-dimensionali), attraverso solo operazioni di rotazione, traslazione e ridimensionamento, si deve riuscire a far combaciare il primo sul secondo in modo ottimo. L'ottimo viene valutato attraverso una quantità detta distanza di Procrustes.}
\end{block}
Si presentano due soluzione basate su approcci diversi:
\begin{itemize}
	\item \textbf{Metodo di Groebner}: basato su strumenti di geometria algebrica: basi di Groebner, teoria dell'eliminazione.
	\item \textbf{Metodo di Kabsch}: metodo adattativo, robusto ai disturbi in misura.
\end{itemize}
\end{frame}

\subsection{Il metodo di Groebner}
%\begin{frame}
%\frametitle{Il metodo di Groebner}
%\Huge{\centerline{Il metodo di Groebner}}
%\end{frame}

%\begin{frame}
%\frametitle{Il metodo di Groebner: Il caso planare}
%\Huge{\centerline{[immagine spost planare]}}
%\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso planare}
%planare
\begin{itemize}
	\item Siano $w_1, w_1^{'}, w_2, w_2^{'} \in \mathbb{K}[w]^2$,  $t \in \mathbb{K}[t]^2$ e $R \in \mathbb{K}[r]^{2 \times 2}$,
	\item si definisce l'ideale base attraverso il seguente set di polinomi:
	\begin{align}
	\nonumber \begin{bmatrix}p_1 \\ p_2 \end{bmatrix} &:= w_1 - Rw_1^{'} - t,\\
	\nonumber \begin{bmatrix}p_3 \\ p_4 \end{bmatrix} &:= w_2 - Rw_2^{'} - t, \\
	\nonumber p_5 &:= det(R) - 1,\\
	\nonumber p_{6} &:= (w_{2x} - w_{1x})^2 + (w_{2y} - w_{1y})^2 - (w_{2x}^{'} - w_{1x}^{'})^2 + \\ \nonumber & \; \; \; - (w_{2y}^{'} - w_{1y}^{'})^2
	\end{align}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso planare}
%planare
\begin{itemize}
	\item dove: $
	R := \begin{bmatrix}
	\,r_{11}, \,\, r_{12} \\
	-r_{12}, \,\, r_{11}
	\end{bmatrix}, \, t := \begin{bmatrix}	\,t_x \\ t_y\end{bmatrix}, w_i := \begin{bmatrix}	\,w_{ix} \\ w_{iy}\end{bmatrix}
	$
	\item Si definisce l'ideale $I$ attraverso i polinomi generatori $p_i$
	\begin{equation}
		I := \left\langle p_1, \dots, p_{6}\right\rangle
	\end{equation}
	\item Si fissa l'ordinamento lessico-grafico seguente:
	$
	r_{11} \ge_{Lex} r_{12} \ge_{Lex} t_x \ge_{Lex} t_y
	$
	\item Utilizzando il software Macaulay si calcola una base di Groebner $G$ per l'ideale $I$:
	\begin{equation}
	G := \left\langle g_1, \dots, g_6\right\rangle
	\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso planare}
%planare
\begin{itemize}
	\item dove i polinomi indicati hanno la seguente forma:
	\begin{align}
	\nonumber g_1 &= w_{2x}^{'2}-2w_{1x}^{'}w_{2x}^{'}-w_{1x}^2-w_{1y}^2 \\ \nonumber &+w_{1x}^{'2}+2w_{1x}w_{2x}-w_{2x}^2+2w_{1y}w_{2y}-w_{2y}^2,\\
	\nonumber g_2 &= w_{2y}^{'2}-2w_{1y}^{'}w_{2y}^{'}+w_{1y}^{'2}\\
	\nonumber g_3 &= t_y +\phi_1(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}),\\
	\nonumber g_4 &= t_x - \phi_2(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}),\\
	\nonumber g_5 &= r_{12} - \phi_3(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}),\\
	\nonumber g_6 &= r_{11} - \phi_4(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}).
	\end{align}
	\item la funzione $\phi_d(\cdot)$ non si annulla mai per $w_1 \neq w_2$
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso planare}
%planare
\begin{itemize}
	\item La soluzione al problema è data da:
	\begin{align}
	t_x &= \phi_2(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}),\\
	t_y &= - \phi_1(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}),\\
	r_{12} &= \phi_3(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}),\\
	r_{11} &= \phi_4(w_1, w_1^{'}, w_2, w_2^{'})/\phi_d(w_1, w_1^{'}, w_2, w_2^{'}).
	\end{align}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
%spaziale

\begin{itemize}
	\item Sebbene si è tentato di iterare lo stesso ragionamento, a causa di un elevato costo computazionale, non si è riuscito a completare il calcolo.
\end{itemize}
\begin{block}{Problema}
	data la soluzione del problema planare, è possibile estenderla al caso spaziale?
\end{block}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
%spaziale
\begin{block}{Punto centroide}
	Si consideri un set di punti $\left\lbrace w_1, w_2, ..., w_N \right\rbrace$, si definisce \textbf{punto centroide} il punto centrale del set, calcolato come media puntuale dei punti.
	\begin{equation}
	w_c = \frac{1}{N}\sum_{i = 1}^{N} w_i
	\end{equation}
\end{block}

\begin{block}{Asse del Mozzi}
	Sia considerata una trasformazione (rotazione e traslazione) di un corpo, si definisce \textbf{asse del Mozzi}, l'asse i cui punti, durante la trasformazione, subiscono una sola traslazione lungo lo stesso.
\end{block}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
%spaziale
\begin{block}{Proprietà}
	\begin{itemize}
		\item In caso di una sola rotazione lungo un asse passante per l'origine l'asse del Mozzi coincide con l'asse di rotazione stesso.

		\item L'asse del Mozzi può essere calcolato come l'intersezione di due piani omologhi, cioè dei piani definiti dagli stessi tre punti prima e dopo la rotazione rispettivamente.
	\end{itemize}
\end{block}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
\begin{itemize}
	\item Si costruiscano allora due set di punti $W = \left\lbrace w_1, w_2, w_3 \right\rbrace$ e $W^{'} = \left\lbrace w_1^{'}, w_2^{'}, w_3^{'} \right\rbrace$

	\item Per ciascuno dei essi si calcoli il suo punto centroide $w_c$ e $w_c^{'}$ rispettivamente.

	\item Si traslino i punti del set per far coincidere il rispettivo punto centroide con l'origine:
	\begin{equation}
	p_i = w_i - w_c, \, \,
	p_i^{'} = w_i^{'} - w_c^{'}
	\end{equation}
	\item Siano allora $P = \left\lbrace p_1, p_2, p_3 \right\rbrace$ e $P^{'} = \left\lbrace p_1^{'}, p_2^{'}, p_3^{'} \right\rbrace$ i set da considerare.
\end{itemize}
\end{frame}

\begin{frame}
	\frametitle{Il metodo di Groebner: Il caso spaziale}

	\begin{figure}[h]
		\centering
		\includegraphics[width=220pt]{imgs/AsseMozzi.jpg}
		\caption{Calcolo dell'asse del Mozzi attraverso intersezione dei piani omologhi}
		\label{rot:gb:imgMozzi}
	\end{figure}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
\begin{itemize}
	\item Siano $\hat{j_1}, \hat{j_1}^{'} \in \mathbb{R}^2$ i versori della proiezione di una qualsiasi coppia omologa sul piano passante per l'origine e ortogonale all'asse del Mozzi. Si può calcolare l'angolo compreso tra i due versori:
	\begin{equation}
	\theta_1 = arcos(\frac{\hat{j_1} \cdot \hat{j_1}^{'}}{\| \hat{j_1}\| \|\hat{j_1}^{'}\|})
	\end{equation}
	Si sceglie la soluzione che permette di ottenere una rotazione propria al passo successivo.
	\item Si può definire la prima rotazione, utilizzando la rappresentazione asse-angolo come:
	\begin{equation}
	R_1 = Rot(asse_{mozzi}, \theta_1)
	\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}

\begin{figure}[h]
	\centering
	\includegraphics[width=240pt]{imgs/PianiSuStessoPiano.jpg}
	\caption{Dopo la rotazione sull'asse del Mozzi i due piani sono equi orientati}
	\label{rot:gb:samePlane}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
\begin{itemize}
	\item Si può utilizzare quanto fatto nel planare:
	\begin{center}
		$cos(\theta_2) = \phi_4(R_1p_1, p_1^{'}, R_1p_2, p_2^{'})/\phi_d(R_1p_1, p_1^{'}, R_1p_2, p_2^{'}), \,\,$\\
		$sin(\theta_2) = \phi_3(R_1p_1, p_1^{'}, R_1p_2, p_2^{'})/\phi_d(R_1p_1, p_1^{'}, R_1p_2, p_2^{'}),$
	\end{center}
	Si calcola l'angolo
	\begin{equation}
	\theta_2 = atan_2(cos(\theta_2), sin(\theta_2))
	\end{equation}
	\item Si può definire la seconda rotazione, utilizzando la rappresentazione asse-angolo, come la rotazione intorno ad un asse unitario passante per l'origine e ortogonale ai piani.
	\begin{equation}
	R_2 = Rot(asse_{\bot Piano}, \theta_2)
	\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Groebner: Il caso spaziale}
\begin{itemize}
	\item Si ottiene la matrice di rotazione risultant pre-moltiplicando $R_1$ per $R_2$, perché trasformazioni applicate in sequenza nel riferimento mobile solidale al primo piano.
	\begin{equation}
	R = R_2R_1, R \in \mathbb{R}^{3 \times 3}
	\end{equation}
	\item Il vettore di traslazione può essere calcolato confrontando i centroidi al netto della rotazione:
	\begin{equation}
	t = w_c^{'} - Rw_c, t \in \mathbb{R}^3
	\end{equation}
	\item la matrice di trasformazione può essere calcolata come una roto-traslazione.
\end{itemize}
\end{frame}

\subsection{Il metodo di Kabsch}
%\begin{frame}
%\frametitle{Il metodo di Kabsch}
%kabsch
%\Huge{\centerline{Il metodo di Kabsch}}
%\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{block}{Kabsch's Algoritmh}
	\begin{itemize}
		\item presentato per la prima volta nel 1974 ad opera di W. Kabsch
		\item algoritmo di tipo: adattativo
		\item utilizzo tipico: bio-informatica confronto tra proteine
	\end{itemize}
\end{block}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item Siano dati due set di punti omologhi $a_1, \dots, a_N$ e $b_1, \dots, b_N$
	\item Si procede traslando i set di punti facendo si che i centroidi coincidano con l'origine:
	\begin{equation}
	\label{rot:eq:redef}
	x_i = a_i - a_c, \, \,
	y_i = b_i - b_c
	\end{equation}
	\item Si fissa quindi l'indice di costo $J = d(x, y)$
	\begin{equation}
	\label{rot:eq:dist}
	d(x, y) =  \frac{1}{N}\sum_{i = 1}^{N} \| R x_i - y_i \|^2
	\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item Si possono rappresentare i set di punti attraverso le matrici:
	\begin{equation}
	X = [x_1 \, x_2 \, ... \, x_N], Y = [y_1 \, y_2 \, ... \, y_N], X, Y \in \mathbb{R}^{d \times N},
	\end{equation}
	e sia $X^{'} = RX, \, \, X^{'} = [x_1^{'} \, x_2^{'} \, ... \, x_N^{'}]$ la matrice dei punti ruotati.
	\item Possiamo allora scrivere che:
	\begin{equation}
	N J = \sum_{i = 1}^{N} \| x_i^{'} - y_i \|^2 = Tr[(X^{'} - Y)^{T}(X^{'} - Y)]
	\end{equation}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item Grazie alla linearità dell'operatore traccia vale che:
	\begin{equation}
	Tr[(X^{'} - Y)^{T}(X^{'} - Y)] = Tr(X^{'T}X^{'}) + Tr(Y^{T}Y) - 2Tr(Y^{T}X^{'})
	\end{equation}
	\item Inoltre vale l'identità:
	\begin{equation}
	\label{rot:eq:mod}
	Tr(X^{'T}X^{'}) + Tr(Y^{T}Y) = \frac{1}{N}\sum_{i = 1}^{N} \| x_i^{'} \| ^ 2 + \| y_i \| ^ 2
	\end{equation}
	che grazie alla traslazione dei centroidi sull'origine è costante e può essere eliminata dall'indice di costo.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item Per risolvere il problema allora basterà massimizzare la quantità
	\begin{equation}
		Tr(Y^{T}X^{'}) = Tr(Y^{T}RX) = Tr((XY^{T})R)
	\end{equation}
	\item La matrice $ C = XY^{T}, \, C \in \mathbb{R}^{d \times d}$ è la matrice di cross correlazione tra i due set.
	\item Si usa ora la decomposizione SVD della matrice $C = VSW^T$, si ha che $V, S, W^T \in \mathbb{R}^{d \times d}$ poiché $C$ è quadrata. La matrice $S$ è diagonale e i suoi elementi sono i valori singolari della matrice $C$ in ordine decrescente.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item Dato che per l'operatore traccia vale che $Tr(AB) = Tr(BA)$, indicando con $A = V$ e $B = SW^TR$ è possibile scrivere:
	\begin{equation}
	Tr(Y^{T}X^{'}) = Tr(VSW^TR) = Tr(SW^TRV) = \sum_{i = 1}^{d} s_iw_i^TRv_i
	\end{equation}
	\item La matrice $T = W^TRV$ è ortonormale, questo vuol dire che i suoi elementi non potranno avere modulo maggiore di 1. Pertanto indicando con $T_{ii} = w_i^TRv_i$ gli elementi sulla diagonale di $T$, vale che
	\begin{equation}
	Tr(Y^{T}X^{'}) = \sum_{i = 1}^{d} s_iT_{ii} \leq \sum_{i = 1}^{d} s_i
	\end{equation}
	pertanto al massimo il valore della quantità $Tr(Y^{T}X^{'})$ è pari alla somma dei valori singolari $s_i$.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item Si deve fare in modo quindi che la matrice $T$ sia una matrice identità.
	Grazie alla proprietà di $V$ e $W^T$ di essere ortonormali, $VV^T = I, W^TW = I$, basterà scegliere:
	\begin{equation}
	R = WV^T
	\end{equation}
	\item Resta da risolvere un problema, cioè che in generale $det(R) = \pm 1$, il caso negativo va evitato.
	Per fare ciò possiamo aggiungere il vincolo che $det(R) = 1$.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item  Notando che $s_1 \ge s_2 \ge \, ... \, \ge s_d$ e che
	\begin{equation}
	Tr(Y^{T}X^{'}) = \sum_{i = 1}^{d} s_iT_{ii}
	\end{equation}
	possiamo individuare il massimo per questa quantità, rispettando il vincolo, con la scelta $T_{11} = T_{22} = \, ... \, = T_{d-1d-1} = 1, T_{dd} = -1$.
	\item Infatti, grazie alla richiesta di ortonormalità, deve valere che i $T_{ii} = \pm 1$.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch}
%kabsch
\begin{itemize}
	\item La soluzione si ottiene pertanto come:
	\begin{equation}
	R = W
	\begin{bmatrix}
	1 \,\, 0 \,\, \cdots \,\, 0\\
	0 \,\, 1 \,\, \cdots \,\, 0\\
	\vdots\\
	0 \,\, \cdots \,\, 1 \,\, 0\\
	0 \,\, \cdots \,\, 0 \,\, d\\
	\end{bmatrix}V^T
	,\; \; \; \;
	d = sign(det(WV^T))
	\end{equation}

	\item Analogamente al caso precedente,
	\begin{equation}
	t = b_c - Ra_c, t \in \mathbb{R}^d
	\end{equation}
	dove $b_c$ e $a_c$ sono i centroidi precedentemente calcolati.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Il metodo di Kabsch: robustezza ai disturbi}
%kabsch
\begin{itemize}
	\item Considerando $\tilde{x_i}$ la i-esima misura disturbata, si ha che
	\begin{equation}
	x_c = \frac{1}{N}\sum_{i = 1}^{N} \tilde{x_i} = \frac{1}{N}\sum_{i = 1}^{N} x_i + e_i \longrightarrow \hat{x} + E[e] = \hat{x}
	\end{equation}
	\begin{equation}
	c_{ij} = \sum_{k = 1}^{N}  \tilde{X_{ik}} \tilde{Y_{kj}} \longrightarrow \sum_{k = 1}^{N} X_{ik} Y_{kj} + (\cdots) \begin{bmatrix}
	E[e_x] \\
	E[e_y]
	\end{bmatrix} = \hat{c_{ij}}
	\end{equation}
	dove con $E[e]$ si indica il valore atteso del disturbo, supposto rumore bianco.
	\item Al crescere del numero di campioni i centroidi e la matrice di cross-correlazione calcolati tendono a quelli "veri". Il risultato stimato dall'algoritmo tende a quello vero.
\end{itemize}
\end{frame}

%------------------------------------------------
\section{Visione artificiale}
%\begin{frame}
%\frametitle{Visione artificiale}
%kabsch
%\Huge{\centerline{Visione artificiale}}
%\end{frame}

\begin{frame}
\frametitle{Visione artificiale}
%problema generazione punti
\begin{block}{Problema}
	è possibile calcolare/misurare le coordinate, nel sistema di riferimento solidale all'osservatore mobile, di un insieme di punti omologhi appartenenti al mondo circostante?
	Il mondo circostante si suppone ignoto.
\end{block}

\textbf{Soluzione}:
\begin{itemize}
	\item Feature detection:  FAST + BRIEF + BF matcher
	\item Stereovisione
\end{itemize}
\end{frame}

\subsection{Features detection}
\begin{frame}
\frametitle{Features detection: che cos'è una feature?}
%feature

\begin{figure}[h]
	\centering
	\includegraphics[width=200pt]{imgs/feature_simple.png}
	\caption{Individuazione delle Features.}
	\label{vis:feature:detect}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Features detection: FAST}
%fast
\begin{itemize}
	\item L'algoritmo FAST (Feature from Accelerated Segment Test) è adibito all'estrazione dei punti chiave.
	\item Caratteristiche: molto efficace, veloce e parallelizzabile.
	\item Funzionamento: pre-test veloce, segment test, non-maximus suppression.
\end{itemize}
\begin{figure}[h]
	\centering
	\includegraphics[width=200pt]{imgs/fast_speedtest.jpg}
	\caption{Fast Segment test.}
	\label{vis:feature:Fast}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Features detection: FAST}
%fast
\begin{figure}[h]
	\centering
	\includegraphics[width=200pt]{imgs/fdetection.jpg}
	\caption{Risultato dell'esecuzione dell'algoritmo FAST.}
	\label{vis:feature:detection}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Features description: BRIEF}
%brief
\begin{itemize}
	\item L'algoritmo BRIEF, Binary Robust Independent Elementary Features, genera dei descrittori sotto forma di stringhe di bit.
	\item Il confronto tra due keypoint può essere fatto in modo estremamente efficiente, con una sola operazione XOR.
	\item pattern di confronto: uniforme, normale, randomico.
	\item Per ogni bit della stringa ed in base al pattern scelto se ne fissa il valore secondo la formula:
	\begin{equation}
	\tau_i(p, q_i) := \begin{cases}
	1, \qquad se \; I_p \leq I_{q_i}\\
	0, \qquad altrimenti
	\end{cases}
	\end{equation}
	dove con $p$ si è indicato il pixel punto chiave, $q_i$ l'i-esimo pixel scelto in base al pattern.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Features matching: Forza bruta}
%bf
\begin{itemize}
	\item I confronti vengono effettuati su base dei descrittori con algoritmo a forza bruta.
	\item Vantaggio: facilmente parallelizzabile.
\end{itemize}
\begin{figure}[h!]
	\centering
	\includegraphics[width=250pt]{imgs/TwoInstantDetection.jpg}
	\caption{Risultato dell'esecuzione del comparatore: FAST + BRIEF + Brute Force matcher su due immagini in due punti di osservazione diversi}
	\label{vis:feature:risTwo}
\end{figure}
\end{frame}

\subsection{Stereovisione: calcolo delle coordinate 3D}

\begin{frame}
\frametitle{Il sensore fotografico}
%stereo
Un sensore fotografico può essere modellato come nella seguente figura. Tale modello è detto \textbf{Pinhole camera}.
\begin{itemize}
	\item Un singolo raggio di luce, da ogni angolazione, supera il pinhole e si infrange sul piano di cattura o film.
\end{itemize}
\begin{figure}[h!]
	\centering
	\includegraphics[width=150pt]{imgs/pinhole-and-tree2.png}
	%\caption{Esempio cattura immagine con sensore pinhole.}
	\label{vis:stereo:pinhole}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Il sensore fotografico}
%stereo
Modello \textbf{Pinhole camera sintetico}.
\begin{itemize}
	\item Il piano di cattura viene capovolto.
\end{itemize}
\begin{figure}[h!]
	\centering
	\includegraphics[width=150pt]{imgs/synthetic-and-tree.png}
	\caption{Esempio cattura immagine con sensore sintetico.}
	\label{vis:stereo:virtuale}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Stereovisione}
%stereo
\begin{itemize}
	\item Almeno due sensori sono necessari per la ricostruzione dell'informazione tridimensionale.
\end{itemize}
\begin{figure}[h!]
	\centering
	\includegraphics[width=200pt]{imgs/stereo2.jpg}
	\caption{Coppia di immagini catturate da due sensori differenti nella scena.}
	\label{vis:stereo:pair}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Stereovisione: centro di fissazione all'infinito}
\begin{itemize}
	\item Il calcolo può essere effettuato ragionando per triangoli simili.
\end{itemize}
\begin{figure}[h!]
	\centering
	\includegraphics[width=150pt]{imgs/stereo.jpg}
	\caption{Configurazione sistema stereoscopico.}
	\label{vis:stereo:sistem}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Stereovisione: soluzione}
\begin{itemize}
	\item Si estrae per ciascun punto dalla coppia di immagini l'informazione di disparità, cioè la differenza in pixel della rispettiva coordinata X.
	\begin{equation}
		d := p_{l_x} - p_{r_x}, d \ge 0, d \in \mathbb{Z}
	\end{equation}
	\item Le coordinate di ciascun punto si calcolano nella seguente maniera:
	\begin{align}
	X &:= \frac{(p_{l_x} - c_{l_x}) T}{d},\\
	Y &:= \frac{(p_{l_y} - c_{l_y}) T}{d},\\
	Z &:= \frac{Tf}{d}
	\end{align}
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Stereovisione: calcolo disparità}
\begin{itemize}
	\item Si può utilizzare ancora il features detection per individuare lo stesso punto nella coppia di foto stereo e calcolarne la disparità.
\end{itemize}
\begin{figure}[h!]
	\centering
	\includegraphics[width=300pt]{imgs/stereoDetection.jpg}
	\caption{Risultato dell'esecuzione del comparatore: FAST + BRIEF + Brute Force matcher su una coppia di immagini stereo.}
	\label{vis:feature:risStereo}
\end{figure}
\end{frame}

%------------------------------------------------
\section{Implementazione}

\subsection{Analisi dei requisiti}
\begin{frame}
\frametitle{Analisi dei requisiti}
%tool
\begin{itemize}
	\item \textbf{Piattaforma:}  fissa e mobile,
	\item \textbf{Architettura target:}  x86\_64, ARM,
	\item \textbf{Sistema Operativo target:}  Windows, GNU/Linux,
	\item \textbf{Specifiche hardware minime:}
	\begin{itemize}
		\item CPU: x86\_64 o ARM,
		\item GPU: nessuna o generica con supporto OpenCL,
	\end{itemize}
	\item \textbf{Specifiche hardware consigliate:}
	\begin{itemize}
		\item CPU: x86\_64 o ARM con supporto OpenCL o SIMD/AVX,
		\item GPU: coprocessore grafico Nvidia ad alte prestazioni con supporto CUDA Shared Model $\ge$ 2.1,
	\end{itemize}
	\item \textbf{Linguaggio di sviluppo:} C++, OpenCV
	\item \textbf{Implementazioni:} CPU/SIMD, OpenCL, CUDA
\end{itemize}
\end{frame}

\subsection{L'architettura}
\begin{frame}
\frametitle{L'architettura}
%arch
\begin{figure}[h!]
\centering
\includegraphics[width=200pt]{imgs/arch.png}
\caption{Rappresentazione architettura software Visual Observer.}
\label{vis:impl:arch}
\end{figure}
\end{frame}

%-------------------------------------------------
\section{Test delle prestazioni}
\begin{frame}
\frametitle{Ambiente virtuale}
%arch
\begin{figure}[h!]
	\centering
	\includegraphics[width=320pt]{imgs/zona2.png}
	\caption{Ambiente virtuale generato con motore grafico Unity3D.}
	\label{vis:virtual}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{Test effettuati}
%arch
I test sono stati effettuati sulla seguente macchina:
\begin{itemize}
	\item \textbf{CPU:} Intel i7-6700HQ @ 2.60 GHz,
	\begin{itemize}
		\item \textbf{Architettura:} x86\_64,
		\item \textbf{Specifiche:} AVX, AVX2, OpenCL,
	\end{itemize}
	\item \textbf{Memoria:} 16 GB,
	\item \textbf{GPU:} Nvidia Geforce GTX 1070,
	\begin{itemize}
		\item \textbf{Memoria dedicata:} 8 GB,
		\item \textbf{Specifiche:} OpenCL, CUDA SM 6.1
	\end{itemize}
	\item \textbf{Sistema Operativo:}  Windows.
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Test effettuati}
%arch
\begin{itemize}
	\item \textbf{Algoritmi di stima:}
	\begin{itemize}
		\item \textbf{Errore in misura} N(0, $10^{-3} \div 10^{-1}$)
		\item \textbf{Groebner:}
			\begin{itemize}
				\item \textbf{Tempo esecuzione:} $10^{-6}$ sec
				\item \textbf{Errore di stima:} \hspace{10pt} $10^{-3} \div 10^{-1}$ (errore quadratico sulle matrici)
			\end{itemize}
		\item \textbf{Kabsch:}
		\begin{itemize}
			\item \textbf{Numero punti:} \hspace{28pt} $3 \div 10^{4}$
			\item \textbf{Tempo esecuzione:} $10^{-6} \div 10^{-5}$ sec
			\item \textbf{Errore di stima:} \hspace{10pt} $10^{-3} \div 10^{-5}$ (errore quadratico sulle matrici)
		\end{itemize}
	\end{itemize}
	\item \textbf{Visual observer:}
	\begin{itemize}
		\item \textbf{Risoluzione immagini:} 640x480 pixels
		\item \textbf{Max KeyPoint:} 500
		\item \textbf{Tempo esecuzione:}
		\begin{itemize}
			\item \textbf{CPU:}  \hspace{11pt}  0.450 sec
			\item \textbf{OpenCL:} 0.027 sec
			\item \textbf{CUDA:} \hspace{4pt} 0.031 sec
		\end{itemize}
		\item \textbf{Errore di stima:} $\approx 10^{-2}$ unità Unity
	\end{itemize}

\end{itemize}
\end{frame}

%------------------------------------------------
\section{Conclusioni e sviluppi futuri}

\begin{frame}
\frametitle{Conclusioni}
%conl
\begin{itemize}
	\item Si sono studiati nuovi strumenti innovativi:
	\begin{itemize}
		\item geometria algebrica
		\item stereovisione
	\end{itemize}
	\item Si è progettato e implementato un software di stima della posizione ed orientamento basato su tali strumenti
	\item Si è utilizzato un motore grafico per generare un mondo virtuale di test.
	\item Si sono valutate le performance ottenute, soprattutto in ottica di una futura implementazione real-time
\end{itemize}
\end{frame}

\begin{frame}
\frametitle{Sviluppi futuri}
%conl
\begin{itemize}
	\item Prevedere la possibilità di gestire diversi oggetti dinamici.
	\begin{itemize}
		\item a livello di stima: multy body Procustes
		\item a livello di identificazione: machine learning per riconoscimento degli oggetti mobili.
	\end{itemize}
	\item Costruire un prototipo e sperimentarne il funzionamento in un contesto reale.
	\item Migliorare l'integrazione con Unity: input online, controllo agente.
	\item Bug-fix, varie ed eventuali.
\end{itemize}
\end{frame}

%------------------------------------------------
\begin{frame}
\frametitle{Grazie}
%conl
\Huge{\centerline{Grazie per l'attenzione!}}
\end{frame}

\end{document}

redpajama_set_name: RedPajamaGithub


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text:
Q: How to retrain inception-v1 model? I have successfully gone through the official tutorial, which explains how to retrain inception-v3 model and later successfully retrained the same model o train the model for specific purposes.
The model, however, is complex and slow compared to other, simpler models, such as inception-v1 which accuracy is good enough for some tasks. Specifically, I would like to retrain the model to use it on Android and ideally the performance in terms of speed should be comparable to original TensorFlow Android demo. Anyway, I tried to retrain the inception-v1 model from this link with following modifications in retrain.py:
BOTTLENECK_TENSOR_NAME = 'avgpool0/reshape:0'
BOTTLENECK_TENSOR_SIZE = 2048
MODEL_INPUT_WIDTH = 224
MODEL_INPUT_HEIGHT = 224
MODEL_INPUT_DEPTH = 3
JPEG_DATA_TENSOR_NAME = 'input'
RESIZED_INPUT_TENSOR_NAME = 'input'

As opposed to inception v3, inception v1 does not have any decodeJpeg or resize nodes:
inception v3 nodes:
DecodeJpeg/contents
DecodeJpeg
Cast
ExpandDims/dim
ExpandDims
ResizeBilinear/size
ResizeBilinear
...
pool_3
pool_3/_reshape/shape
pool_3/_reshape
softmax/weights
softmax/biases
softmax/logits/MatMul
softmax/logits
softmax

inception v1 nodes:
input
conv2d0_w
conv2d0_b
conv2d1_w
conv2d1_b
conv2d2_w
conv2d2_b
...
softmax1_pre_activation
softmax1
avgpool0/reshape/shape
avgpool0/reshape
softmax2_pre_activation/matmul
softmax2_pre_activation
softmax2
output
output1
output2

so I guess the images have to be reshaped before being fed into the graph.
Right now the error occurs when hitting the following function:
def run_bottleneck_on_image(sess, image_data, image_data_tensor,
                            bottleneck_tensor):
  """Runs inference on an image to extract the 'bottleneck' summary layer.

  Args:
    sess: Current active TensorFlow Session.
    image_data: Numpy array of image data.
    image_data_tensor: Input data layer in the graph.
    bottleneck_tensor: Layer before the final softmax.

  Returns:
    Numpy array of bottleneck values.
  """

  bottleneck_values = sess.run(
      bottleneck_tensor,
      {image_data_tensor: image_data})
  bottleneck_values = np.squeeze(bottleneck_values)
  return bottleneck_values

Error:

TypeError: Cannot interpret feed_dict key as Tensor: Can not convert a
  Operation into a Tensor.

I guess the data on input node of inception v1 graph has to be reshaped to match the data after passing the following nodes in inception v3:
DecodeJpeg/contents
DecodeJpeg
Cast
ExpandDims/dim
ExpandDims
ResizeBilinear/size
ResizeBilinear

If anyone has already managed to retrain the inception v1 model or has an idea how to reshape the data in inception v1 case to match inception v3, I would be very thankful for any tips or suggestions.

A: Not sure if you have solved this or not but I am working on a similar problem.
I am trying to use a different model (not Inception-v1 or Inception-v3) with the Inception-v3 transfer learning tutorial. This post seems to be on the right track of remapping the input of the new model (in your case inception-v1) to play nice with the jpeg encoding used in the rest of the tutorial:
feeding image data in tensorflow for transfer learning
The only problem I am having is a error in my input saying "Cannot convert a tensor of type uint8 to an input type of float32" but this may at least put you on the right track.
Good Luck!

A: (For the ones who are still interested)
Bottleneck tensor size should be 1024 for inception-v1. For me, the following setup works with mentioned inception-v1 for this retrain script. No need for jpeg data tensor or else.
bottleneck_tensor_name = 'avgpool0/reshape:0'
bottleneck_tensor_size = 1024
input_width = 224
input_height = 224
input_depth = 3
resized_input_tensor_name = 'input:0'

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