text:
\section{Introduction}

Precise odometry is critical to the safe operation of many manned and autonomous vehicles and systems including autonomous underground mining vehicles \cite{Scheding1999}, planetary rovers \cite{Maimone2007}, and railways \cite{Malvezzi2011a}.
On-board odometry systems in the rail industry play a crucial role in the Automatic Train Protection (ATP) systems that prevent accidents due to speeding and collisions.
The necessity for robust and accurate odometry has increased as trains travel ever faster and move towards semi- and fully-autonomous operation.
This paper investigates robust odometry approaches that can deal with the numerous error sources that commonly present themselves on rail vehicles.

A typical high-speed train, such as the Intercity-Express (ICE) that is operated throughout much of Europe, regularly travels at speeds of over 300km/hr, and uses a pair of wheel encoders and a pair of Doppler radars to estimate its velocity.
In real-world operations, this sensor suite suffers from multiple error sources.
The wheel encoders are typically mounted on driven and braked wheels, which are susceptible to slipping during acceleration and braking.
They also rely on accurate measurement of the wheel diameter during maintenance to produce correct velocity measurements.
Since the wheel diameter changes over time due to wear or temperature fluctuations, and it can be incorrectly measured in the first place, the velocity reported by the wheel encoders may be incorrect.
The Doppler radars, while unaffected by wheel slip, are known to operate poorly when the track is affected by snow or ice \cite{Lauer2015}.
They are also inherently affected by the ground suface.

Examples of recorded sensor data complete with wheel slip and miscalibrated wheel diameters is shown in Fig.~\ref{f:sensor_data}.
In Fig.~\ref{sf:acceleration}, the wheels slipped during acceleration, while in Fig.~\ref{sf:braking} both wheels sliding\footnote{We will use the term slip to cover both cases of slipping and sliding.} during braking.
In both cases, wheel encoder one is also miscalibrated and, when not experiencing wheel slip, consistently reports a higher velocity than the other sensors.
Detecting wheel slip in these examples is challenging, particularly as the acceleration of the wheels due to slip is within the range of possible accelerations of the train.
Wheel slip is also challenging to deal with using sensor outlier detection methods as it is not characterised by isolated anomalies, but rather the measurements slowly diverge from the true state over a period of time.
Global Positioning System\footnote{We use the term GPS as a generic term which covers all forms of Global Navigation Satellite Systems (GNSS).} (GPS) can give a slip-free speed measurement.
However, GPS is particularly unreliable in the rail domain due to the frequent presence of tunnels, cuttings, bridges, and overhanging vegetation.
This is highlighted in Fig.~\ref{sf:gps}, where GPS signal is lost multiple times for up to several minutes at a time.

\begin{figure}[htbp]
	\centering
	\subfloat[Wheels slipping during acceleration]{
		\includegraphics[width=\linewidth]{input_data_slip.pdf}\label{sf:acceleration}
	}

	\subfloat[Wheels sliding during braking]{
		\includegraphics[width=\linewidth]{input_data_slide.pdf}\label{sf:braking}
	}

	\subfloat[Loss of GPS signal]{
		\includegraphics[width=\linewidth]{input_gps_loss.pdf}\label{sf:gps}
	}
\caption{Example measurement data from an ICE train in situations with wheel slip and GPS signal loss.
In all cases wheel encoder 1 is miscalibrated and reads higher than the true (GPS) velocity during nominal operation. }
\label{f:sensor_data}
\end{figure}

This paper develops an odometry system that deals with the above problems in two ways.
Firstly, miscalibration of the wheel encoders is handled by incorporating calibration factors for the wheel encoders as states within an Extended Kalman Filter (EKF), enabling the wheel diameters to be tracked over time.
As a side benefit, this information can be used to automatically signal when wheels require replacement due to wear.
Secondly, a sensor measurement pre-processing step, called Sensor Consensus Analysis (SCA), is proposed for dealing with untrustworthy sensor readings.
SCA uses the statistical z-test, along with a user-defined probability, to scale the uncertainties of individual measurements during periods when sensors produce readings that are inconsistent with each other.
Together, these methods will be shown to produce odometry estimates that are robust to wheel slip and miscalibration errors.

The rest of this paper is structured as follows: Section~\ref{s:background} presents an overview of relevant literature on odometry, along with a brief look at existing methods for dealing with anomalous sensor measurements when performing filtering.
Section~\ref{s:ekf}  outlines the proposed EKF formulation that incorporates the calibration of the wheel encoders as state variables.
Following this, the measurement pre-processing step using the proposed SCA algorithm is presented in Section~\ref{s:consensus}.
Section~\ref{s:results} demonstrates the efficacy of the proposed methods on data collected from ICE trains.
Concluding remarks and suggestions for future work are provided in Section~\ref{s:conclusion}.

\section{Background Literature} \label{s:background}

\subsection{Odometry}

Odometry for rail vehicles has receive substantial attention in the research community, with a particular focus on methods for dealing with wheel slip.
A largely heuristic approach based on comparing accelerations and differences in speeds was developed in \cite{Allotta2001} for determining when wheel slip was occurring.
This approach was compared against fuzzy logic and neural network approaches in \cite{Allotta2002} and \cite{Colla2003}.
The authors noted that, while the fuzzy logic and neural network approaches provided superior results to the heuristic approach, the difficulty in formally verifying the safety of these approaches hinders their adoption by industry.
Their heuristic approach was refined in \cite{Malvezzi2011a, Malvezzi2011, Ridolfi2013} with the addition of Inertial Measurement Units (IMUs) to aid in the detection of wheel slip.
Slipping wheels were detected by comparing the acceleration of the wheel with the measured acceleration from the IMU, with the affected measurements subsequently discarded.
The performance of this approach was verified in \cite{Allotta2015} using a 3D multi-body simulation and hardware-in-the-loop test rig that was capable of reproducing the motion of a railway vehicle.
While the above approaches produce good results, they lack any measure quantifying the confidence or uncertainty of the odometry estimate due to their heuristic nature.

Other work in this domain has focused on developing sensing methods that are not affected by wheel slip.
Bah et al.
\cite{Bah2009} analysed a Visual Odometry (VO) system that used only a front-facing video camera to estimate the speed of the train by matching features between successive frames.
While the speed estimate using only two frames was quite noisy, once averaged over several readings they found that it was accurate to within approximately 3.7\%.
An eddy-current sensor was developed in \cite{Engelberg2000}.
This type of sensor was used in \cite{Lauer2015} to provide a slip-free velocity estimate as an input to a map-based localization system.
Another advantage of eddy-current sensors over wheel encoders and Doppler radars is that they can also be used to detect features in the railway, such as switches, for use in localization algorithms.
The downside of using additional sensors such as IMUs, cameras, and eddy-current sensors, is that retrofitting them to existing trains is expensive, due not only to the large number of trains in operation, but also the extensive safety certification process required.
Therefore, this paper investigates methods of improving the odometry algorithm without requiring the addition of new sensors.

Outside of the rail domain, common approaches for dealing with wheel slip on robots and other vehicles include detecting wheel slip using the motor current \cite{Ojeda2006}, machine learning approaches \cite{Iagnemma2009}, or a detailed dynamic model \cite{Ward2008}, and using alternative sensing methods such as VO \cite{Helmick2004, Nister2006, Maimone2007, Nourani-Vatani2011}.
Combining VO with motion models that accurately model the dynamic constraints of the vehicle yielded good results in the above literature.
Using dynamic constraints (by, for example, using a constrained Kalman filter \cite{Palmer2016} to limit the acceleration range of the state estimate) could provide some benefit for railway applications.
However, as previously noted, the accelerations seen in the data due to wheel slip are generally within the range of expected accelerations of the trains, minimising the benefit of such an approach.

\subsection{Sensor Fault Detection}

In practice, sensors are not perfect and can produce anomalous readings for a multitude of reasons.
Outlier rejection methods are commonly used to detect and remove such measurements.
A common approach for detecting outlier measurements in Kalman filter based estimation systems is through a chi-squared distribution test \cite{Sukkarieh1999}, also known as the Mahalanobis distance or Normalized Innovation Squared (NIS) \cite{Franke2005,Morales2008}.
If a measurement fails the chi-squared test against the current estimated state for a user-defined probability threshold, the measurement is discarded.
As noted in \cite{Worrall2015}, this approach can work well for isolated error spikes, but does not work for long periods where the sensors produce anomalous readings.

\section{Extended Kalman Filter} \label{s:ekf}

This section develops an EKF for tracking the state of the train.
The state, $\boldsymbol{x}$, contains the distance driven, the velocity, and acceleration of the train, along with calibration factors for tracking changes in the wheel diameters used for deriving velocity measurements from the wheel encoders:
\begin{equation} \label{eq:state}
\boldsymbol{x} = \begin{bmatrix}
\text{distance} \\
\text{velocity} \\
\text{acceleration} \\
\text{encoder 1 calibration} \\
\text{encoder 2 calibration} \\
\end{bmatrix}.
\end{equation}

The state evolves according to the following linear model:
\begin{equation}
\boldsymbol{x}_{k} = \boldsymbol{F}_{k}\boldsymbol{x}_{k-1} + \boldsymbol{B}_{k}\boldsymbol{u}_{k} + \boldsymbol{w}_{k},
\end{equation}
where $\boldsymbol{F}_{k}$ is the state transition model, $\boldsymbol{B}_{k}$ is the control-input model, $\boldsymbol{u}_{k}$ is the control-input vector, and $\boldsymbol{w}_{k}$ is the process noise.
For the state vector given in \eqref{eq:state}, the state transition model used was
\begin{equation}
\boldsymbol{F}_{k} = \begin{bmatrix}
1 & \Delta t & \frac{\left(\Delta t\right)^{2}}{2} & 0 & 0 \\
0 & 1 & \Delta t & 0 & 0 \\
0 & 0 & 1 & 0 & 0 \\
0 & 0 & 0 & 1 & 0 \\
0 & 0 & 0 & 0 & 1
\end{bmatrix}.
\end{equation}

The trains under consideration do not provide an interface for reading the control inputs, so the control-input model and vector were not required. The measurement model for radar measurements is linear:
\begin{equation}
\boldsymbol{z}_{k} = \boldsymbol{H}_{k}\boldsymbol{x}_{k} + \boldsymbol{v}_{k},
\end{equation}
where $\boldsymbol{z}_{k}$ is the measurement of the true state $\boldsymbol{x}_{k}$, $\boldsymbol{H}_{k}$ is the observation model, and $\boldsymbol{v}_{k}$ is the observation noise.
The observation model for radar measurements is simply
\begin{equation}
\boldsymbol{H}_{k} = \begin{bmatrix}
0 & 1 & 0 & 0 & 0
\end{bmatrix},
\end{equation}
as the measurement from a Doppler radar is a direct measurement of the velocity.
For the wheel encoders, the measurement function is a non-linear combination of the states.
For a measurement from encoder 1,
\begin{align}
\boldsymbol{z}_{k} &= h\left(\boldsymbol{x}_{k}\right) + \boldsymbol{v}_{k} \\
&= \begin{bmatrix}
\frac{\boldsymbol{x}_{k,1}}{\boldsymbol{x}_{k,3}}
\end{bmatrix} + \boldsymbol{v}_{k},
\end{align}
where $\boldsymbol{x}_{k,1}$ is the velocity from the state vector $\boldsymbol{x}_{k}$, and $\boldsymbol{x}_{k,3}$ is the calibration factor for encoder 1.
This observation model is linearised around the current state to produce the observation matrix
\begin{equation}
\boldsymbol{H}_{k} = \begin{bmatrix}
0 & \frac{1}{\boldsymbol{x}_{k,3}} & 0 & -\frac{\boldsymbol{x}_{k,1}}{\boldsymbol{x}_{k,3}^{2}} & 0
\end{bmatrix}.
\end{equation}

For a measurement from encoder 2, the observation matrix is
\begin{equation}
\boldsymbol{H}_{k} = \begin{bmatrix}
0 & \frac{1}{\boldsymbol{x}_{k,4}} & 0 & 0 & -\frac{\boldsymbol{x}_{k,1}}{\boldsymbol{x}_{k,4}^{2}}
\end{bmatrix}.
\end{equation}

Once these have been calculated, the filter can be run to determine the state estimate, $\hat{\boldsymbol{x}}_{k}$, and covariance, $\boldsymbol{P}_{k}$.
Since the state transition model is linear, the standard Kalman Filter equations for the time update step can be used:
\begin{equation}
\hat{\boldsymbol{x}}_{k|k-1} = \boldsymbol{F}_{k}\hat{\boldsymbol{x}}_{k-1|k-1} + \boldsymbol{B}_{k}\boldsymbol{u}_{k},
\end{equation}
\begin{equation}
\boldsymbol{P}_{k|k-1} = \boldsymbol{F}_{k}\boldsymbol{P}_{k|k-1}\boldsymbol{F}_{k}^{T} + \boldsymbol{Q}_{k},
\end{equation}
where $\boldsymbol{Q}_{k}$ is the covariance matrix of the process noise.
As the observation model can be non-linear, the measurement update equations are
\begin{equation}
\boldsymbol{K}_{k} = \boldsymbol{P}_{k|k-1}\boldsymbol{H}_{k}^{T}\left(\boldsymbol{H}_{k}\boldsymbol{P}_{k|k-1}\boldsymbol{H}_{k}^{T} + \boldsymbol{R}_{k}\right)^{-1},
\end{equation}
\begin{equation}
\hat{\boldsymbol{x}}_{k|k} = \hat{\boldsymbol{x}}_{k|k-1} + \boldsymbol{K}_{k} \left(\boldsymbol{z}_{k} - h\left(\hat{\boldsymbol{x}}_{k|k-1}\right)\right),
\end{equation}
\begin{equation}
\boldsymbol{P}_{k|k} = \left(\boldsymbol{I} - \boldsymbol{K}_{k} \boldsymbol{H}_{k} \right) \boldsymbol{P}_{k|k-1},
\end{equation}
where $\boldsymbol{R}_{k}$ is the covariance matrix of the measurement noise.

\section{Sensor Consensus Analysis} \label{s:consensus}

SCA is a pre-processing step that exploits the fact that, in the scenario under consideration in this paper, multiple sensors are used to measure the same physical quantity.
It scales the uncertainty of sensor measurements that are inconsistent with the measurements from other sensors before they are incorporated into the filter, using a statistical z-test to determine whether the uncertainty of a measurement should be scaled or not.
The idea behind this approach is that the sensor measurements should have significantly overlapping probability distributions when they are measuring the same underlying distribution.
When this is true, they should pass a z-test with a high probability that the means of the distributions that they are measuring are equal.
A user specified probability is used to determine the z-test value required as
\begin{equation}
z_{desired} = \text{norminv}\left(\frac{p}{2}\right),
\end{equation}
where norminv returns the z-value required for the cumulative distribution function of a standard normal distribution to equal the probability $\frac{p}{2}$, and $z_{desired} \le 0$.
Note that the user specified probability, $p$, is for a two-tailed test, which is why it is halved when calculating the z-value:
For any pair of sensor measurements, the z-value corresponding to the probability that the two measurements are of the same population mean is calculated as
\begin{equation}
z_{test} = - |\mu_1 - \mu_2| / \sqrt{(\sigma_1^2 + \sigma_2^2)}.
\end{equation}
If $z_{test} < z_{desired}$, then the measurements are not of the same population mean at a significance level $p$.
When a measurement fails this test (i.e., statistically it is measuring a different population or quantity to the measurement being tested against), then the proposed approach is to iteratively scale the uncertainty of the measurements that are in consensus with the least number of the other measurements until all measurements are in consensus with each other.

The SCA algorithm is outlined in Algorithm~\ref{a:consensus}.
It takes as input a list of the last received measurement from each sensor, and the user specified probability threshold.
In each iteration, it calculates the minimum scaling factor required for at least one of the measurements to be in consensus with a measurement it was not previously in consensus with, and updates the scaling factors of the measurements with the minimum consensus.
The uncertainty of each measurement is then scaled in the \texttt{ScaleMeasurements} function by multiplying its variance by the scaling factor for that measurement, before starting the next iteration.

\begin{algorithm}[tbp]
\SetKwInOut{Input}{input}
\SetKwInOut{Result}{result}
\SetKwFunction{CalculateMinScale}{CalculateMinScale}
\SetKwFunction{ScaleMeasurements}{ScaleMeasurements}
\SetKwFunction{length}{length}

\Input{List of measurements, $\boldsymbol{M}$, consensus probability, $p$}
\Result{List of scaling factors for each measurement, $\boldsymbol{S}$}
\BlankLine

$\boldsymbol{S} = [1$ \textbf{for} $i \in \{0,\dots,$\length{$\boldsymbol{M}$}$-1]$\;
$\boldsymbol{N} = \boldsymbol{M}$\;
\While{at least one pair of measurements in $\boldsymbol{N}$ do not pass the consensus test with probability, $p$} {
	$\boldsymbol{L}$ = list of indexes of measurements in $\boldsymbol{N}$ with the minimum consensus\;
	$c$ = \CalculateMinScale{$\boldsymbol{L},\boldsymbol{N},p$}\;
	\For{$i \in \boldsymbol{L}$}{
		$\boldsymbol{S}[i] = \boldsymbol{S}[i] \times c$\;
	}
	$\boldsymbol{N} = $ \ScaleMeasurements{$\boldsymbol{M},\boldsymbol{S}$}\;
}
\caption{Sensor consensus analysis}
\label{a:consensus}
\end{algorithm}

The \texttt{CalculateMinScale} function, shown in Algorithm~\ref{a:calc_min_scale}, calculates the minimum scaling factor required for at least one of the measurements listed in $\boldsymbol{L}$ to pass the consensus test with a measurement that it was not previously in consensus with.
If both measurements under consideration are in the list $\boldsymbol{L}$ (i.e., they are in consensus with the same number of measurements), then both measurements are scaled.
Consider two measurements $i$ and $j$ with means $\mu_{i}$ and $\mu_{j}$ and variances $\sigma_{i}^{2}$ and $\sigma_{j}^{2}$, and a desired z-value of $z$.
The scaling factor, $s$, when scaling both measurements is calculated by
\begin{equation}
z = -\frac{|\mu_{i} - \mu_{j}|}{\sqrt{s\left(\sigma_{i}^{2} + \sigma_{j}^{2}\right)}}.
\end{equation}
Rearranging for $s$ gives
\begin{equation}
s = \frac{\left(\mu_{i} - \mu_{j}\right)^{2}}{z^{2}\left(\sigma_{i}^{2} + \sigma_{j}^{2}\right)}.
\end{equation}

If measurement $j$ is not in $\boldsymbol{L}$, then only measurement $i$ is scaled when calculating the scaling factor:
\begin{equation}
z = -\frac{|\mu_{i} - \mu_{j}|}{\sqrt{s\sigma_{i}^{2} + \sigma_{j}^{2}}}.
\end{equation}
Rearranging for $s$ gives
\begin{equation}
s = \frac{\left(\frac{\mu_{i} - \mu_{j}}{z}\right)^{2} - \sigma_{j}^{2}}{\sigma_{i}^{2}}.
\end{equation}

\begin{algorithm}[tbp]
\SetKwInOut{Input}{input}
\SetKwInOut{Result}{result}
\SetKwFunction{length}{length}
\SetKwFunction{CalcScaleBoth}{CalcScaleBoth}
\SetKwFunction{CalcScaleOne}{CalcScaleOne}

\Input{List of measurements to scale, $\boldsymbol{L}$, list of measurements, $\boldsymbol{N}$, desired probability, $p$}
\Result{The minimum scaling factor, $c$}
\BlankLine

$c = \infty$\;
$z = \texttt{norminv}\left(\frac{p}{2}\right)$\;
\For{$i \in \boldsymbol{L}$}{
	\For{$j \in \{0,\dots,$\length{$\boldsymbol{N}$}$-1\}$}{
		\If{$\boldsymbol{N}[i]$ is not in consensus with $\boldsymbol{N}[j]$}{
			\eIf{$j \in \boldsymbol{L}$}{
				$s = $\CalcScaleBoth{$\boldsymbol{N}[i],\boldsymbol{N}[j],z$}\;
			}{
				$s = $\CalcScaleOne{$\boldsymbol{N}[i],\boldsymbol{N}[j],z$}\;
			}
			\If{$s < c$}{
			$c = s$\;
			}
		}
	}
}
\caption{CalculateMinScale}
\label{a:calc_min_scale}
\end{algorithm}

Fig.~\ref{f:consensus_example_1} and \ref{f:consensus_example_2} show two examples of SCA applied to a set of four measurements from different sensors, using a probability threshold of 0.2.
In the first example, three of the measurements are grouped together, resulting in the one inconsistent measurement being scaled significantly.
Since measurements $b$, $c$ and $d$ were already in consensus with one another, they do not receive as much scaling.
In the second example, there are two groups of paired measurements, resulting in all measurements being scaled substantially.

\begin{figure}[htbp]
	\centering
	\subfloat[Input measurements]{
		\includegraphics[width=0.92\linewidth]{no_scale.pdf}
	}

	\subfloat[Scaled measurements]{
		\includegraphics[width=0.92\linewidth]{scale.pdf}
	}
\caption{SCA example with 1 outlier measurement. }
\label{f:consensus_example_1}
\end{figure}

\begin{figure}[htbp]
	\centering
	\subfloat[Input measurements]{
		\includegraphics[width=0.92\linewidth]{no_scale2.pdf}
	}

	\subfloat[Scaled measurements]{
		\includegraphics[width=0.92\linewidth]{scale2.pdf}
	}
\caption{SCA example with two groups of measurements. }
\label{f:consensus_example_2}
\end{figure}

\section{Results} \label{s:results}

The proposed methods were tested on data collected from an ICE train operating in Germany.
As previously mentioned the vehicle under consideration was equipped with two Doppler radars and two wheel encoders.
The effectiveness of the on-line wheel diameter calibration was first evaluated.
As can be seen in Fig.~\ref{f:calibration}, the EKF successfully calibrates the wheel encoders, aligning them with the Doppler radars.
It is important for the process noise of the calibration values to be close to zero to ensure that the calibration values are unaffected by wheel slip.
When the process noise of the calibration values is too large, differences between the radar and wheel encoder measurements are compensated for instantly, even during wheel slip, which is undesirable as it effectively removes the wheel encoders as an information source for the EKF.

\begin{figure*}[htbp]
	\centering
	\subfloat[Results without calibration]{
		\includegraphics[width=0.46\linewidth]{no_cal.pdf}
	}
	\subfloat[Results with calibration]{
		\includegraphics[width=0.46\linewidth]{cal.pdf}
	}
\caption{Successful calibration of the wheel diameter. The upper and lower bounds of the odometry estimate are $\mu \pm \sigma$.}
\label{f:calibration}
\end{figure*}

Fig.~\ref{f:results} shows the behaviour of the filter with the various measurement pre-processing approaches during an example with two wheel slip events.
In the first slip event, both wheels experience different amounts of slip, while in the second they experience almost exactly the same amount of slip.
Without any pre-processing (Fig.~\ref{sf:results_no}), the odometry is significantly affected by the wheel slip.
Using a low Mahalanobis threshold to remove outliers (Fig.~\ref{sf:results_mah}) yields a performance increase over no pre-processing, but the resultant odometry is still affected by the wheel slip.
With a probability threshold of 0.5 (Fig.~\ref{sf:results05}), SCA almost entirely removes the effects of the first wheel slip, but is ineffective for the second wheel slip.
Increasing the probability threshold to 0.9 (Fig.~\ref{sf:results09}) yields good performance in both cases.
The second wheel slip event in this case highlights a desirable property of SCA---in this case, there are two distinct groups of measurements, and, without additional information, it is impossible to know which group of measurements is correctly measuring the true velocity of the train.
As a result, SCA increases the uncertainty of all measurements resulting in a corresponding increase in the uncertainty of the odometry.
It is important to note that the uncertainty of the odometry outside of periods with wheel slip is mostly unaffected by SCA.

\begin{figure*}[htbp]
	\centering
	\subfloat[$p=0$ (no outlier rejection)]{
		\includegraphics[width=0.46\linewidth]{example_0.pdf}\label{sf:results_no}
	}
	\subfloat[Mahalanobis distance threshold of 3]{
		\includegraphics[width=0.46\linewidth]{example_mah_3.pdf}\label{sf:results_mah}
	}

	\subfloat[$p=0.5$]{
		\includegraphics[width=0.46\linewidth]{example_05.pdf}\label{sf:results05}
	}
	\subfloat[$p=0.9$]{
		\includegraphics[width=0.46\linewidth]{example_09.pdf}\label{sf:results09}
	}

\caption{Results on an example with two wheel slip events.
The true velocity, as given by GPS, can be seen in Fig.~\ref{sf:braking}.
The upper and lower bounds of the odometry estimate are $\mu \pm \sigma$.}
\label{f:results}
\end{figure*}

One of the situations that the odometry system must commonly handle is the loss of the Doppler radars due to snow and ice, and hence relying only on the wheel encoders to calculate the velocity of the train.
Results from such a scenario when wheel slip occurs are presented in Fig.~\ref{f:only_opg}.
As can be seen, using the Mahalanobis distance to discard outliers in this case results in the EKF closely following one of the diverging sensors at the expense of the other.
In comparison, the EKF using SCA has increased uncertainty during times when the two sensors diverge, reflecting the uncertainty over which sensor can be trusted.

\begin{figure}[htbp]
	\centering
	\subfloat[Mahalanobis distance threshold of 3]{
		\includegraphics[width=0.92\linewidth]{only_opg_mah_3.pdf}
	}

	\subfloat[SCA with $p = 0.8$]{
		\includegraphics[width=0.92\linewidth]{only_opg_con_08.pdf}
	}
\caption{Results using only wheel encoders.
The upper and lower bounds of the odometry estimate are $\mu \pm \sigma$.}
\label{f:only_opg}
\end{figure}

\section{Conclusion} \label{s:conclusion}

This paper investigated the problem of robust odometry in the presence of wheel slip and calibration errors, particularly for rail vehicles.
Calibration errors were successfully dealt with by incorporating the calibration as a state in an EKF.
Wheel slip and other measurement anomalies were handled through a measurement pre-processing stage called Sensor Consensus Analysis.
This pre-processing stage inflated the uncertainty of measurements deemed to be inconsistent with the measurements from other sensors.
The proposed approach was tested on data from German ICE trains, with the benefit of the on-line calibration and SCA clearly demonstrated.
Ideas for future work include investigating whether SCA can be used with the estimated state as an input (similar to traditional outlier rejection methods), tracking accelerations of the individual velocity sensors and using these as additional inputs to SCA for determining consistency, and incorporating a dynamic model of the vehicle, which includes acceleration limits, into the EKF.

\bibliographystyle{IEEEtran}

redpajama_set_name: RedPajamaArXiv


text:
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Weblinks

Einzelnachweise

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Wettersteingebirge

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text:
Q: PnP Site Provisioning saving site template, but not homepage I am using PnP PowerShell to save a SharePoint TeamSite (STO#3) as a provisioning template.  This works fine.  However, the homepage of the site is not being saved.
My PowerShell Script:
# Variables definition
$tenant = "apptivsolutionscom";
$sourceSite = "/PnPTestHome";
$templateFile = "C:\PnPDropDirectory\PnPTemplate.xml";

# Office 365 Login
$webUrl = "https://{0}.sharepoint.com{1}/" -f $tenant, $sourceSite;
Write-Output $("Connecting to {0}" -f $webUrl);
Connect-PnPOnline -Url $webUrl -Credentials WCMStoredCredentials;
#use the line bellow to connect if you are using multi factor authentication
#Connect-PnPOnline -Url $webUrl -UseWebLogin;

# Save Template
Write-Output "Saving PnP template";
Get-PnPProvisioningTemplate -Out $templateFile -PersistBrandingFiles -PersistPublishingFiles;

A: Is this a classic site? Where is the home page located? Site Pages, Site Assets?
Try adding these to the parameters.
 -IncludeNativePublishingFiles -Handlers All

redpajama_set_name: RedPajamaStackExchange


text:
Big K.R.I.T. Iz Still Growing: Interview
"I want people to know I'm growing and I'm learning as I get older."
Donna-Claire Chesman
Photo Credit: SIG
2019 feels like Big K.R.I.T.'s moment in the sun. The 33-year-old rapper-producer has been making trunk knockers, Southern anthems, soulful confessions, and pushing his pen for over a decade. In 2010, K.R.I.T. dropped K.R.I.T. Wuz Here, his sixth mixtape. In 2019, the wordsmith released K.R.I.T. IZ HERE. The story of triumph writes itself.
Going from the past to the present, from case-locked to caps-locked, 2019 feels like K.R.I.T.'s official arrival and declaration of unwavering confidence. K.R.I.T. IZ HERE is the artist's most celebratory record. It is K.R.I.T.'s grand statement of purpose. Where 2010's Wuz Here was focused on proving K.R.I.T.'s place in rap, the 2019 offering has a much broader vision.
"It's me and the confidence I have to tell people what I do is at its highest," K.R.I.T. tells me over the phone. "I still have a lot more work to do as far as—to me—sonically and creatively. I can't become complacent; I always have to do more. I've been blessed to grow continuously… I feel like I haven't reached the level I wanna be at, and Lord knows I may never."
K.R.I.T. IZ HERE works for myriad reasons. Lyrically, K.R.I.T. is in his braggadocious pocket, without sacrificing sharpness. Sonically, too, he stepped out of his comfort zone and employed a gang of producers—Rico Love, Tae Beast, DJ Khalil, and more—to help shape his 2019 sound. Though K.R.I.T. is one of the most capable rapper-producer-mixers currently working, it's admirable to watch him cede creative control in one aspect of his artistry, a decision that is allowing him to focus on his writing and bringing his songs unparalleled life.
"It was terrifying at first because I always wanna do my best," he admits. "We ended up having over 70 songs. It showed me the value of creating with others, the collective effort. And understanding the criticism sometimes [is] because people want me to change it up and flow a little different, and challenging myself to do those things."
While there are many lessons to glean from the Meridian, Mississippi native's career, the main takeaway is perseverance. K.R.I.T.'s here. He's not satisfied. He's not going anywhere, either. He's still growing.
"As I grow, my music should grow," K.R.I.T. concludes. "I shouldn't feel like I felt when I was 21 years old. I have a little bit more clarity, a little bit more wisdom. I should strive always to be better, and if that's the case, then my music will continuously grow. Lord willing, people will be proud of [the music] when I'm gone."
Our full conversation, lightly edited for content and clarity, follows below.
DJBooth: Across your career, you've never buckled under the pressure of trends. K.R.I.T. always sounds like K.R.I.T.. In hindsight, where did that dedication to yourself come from?
Big K.R.I.T.: It was staying true to my roots, wanting to bring people into where I was from and what I had to deal with in the music industry. With that, it's the road less traveled, not worrying about radio all that much. I'm not concerned with if people get my music at the moment, but knowing I tried to make something timeless.
Was there any moment where you wished you had taken the easy way out?
Definitely! In the early parts of my career. One of the biggest goals was getting my music played on the radio and getting signed to a label. That's the "You made it" kinda vibe. But once those things don't transpire for you, the reality of the grind sets in. It's not gonna be one song that puts you in front of the world and gets you the check that's gon' take care of your family. It's not gonna be the label that gives you everything you want to push your music out.
You gonna have to get it from the ground up. That came from me having to put out a lot of music at once, doing the smallest shows possible, and growing and being adamant. It was for the best, for me. It gave me this thing now where I don't have to be on the radio or a label. We been doing this for so long, [fans] trust me to give the quality over quantity. I want people to know I'm growing, and I'm learning as I get older.
Your career has been so windy, but K.R.I.T. IZ HERE feels like you're shouting from the mountaintop.
Now, it's me and the confidence I have to tell people what I do is at its highest. I still have a lot more work to do as far as—to me—sonically and creatively. I can't become complacent. I always have to do more. I've been blessed to grow continuously. I got the kinda people who will be honest with me, too. I got an engineer who's gonna tell me, "That verse is aight, you could go harder." These are the things that, even now, I need. I feel like I haven't reached the level I wanna be at, and Lord knows I may never. That's gonna make for great music and great visuals and keep me pushing. I'm still just as hungry as I was in my grandmama's kitchen, recording.
Earlier this year, you told Rob Markman K.R.I.T. Wuz Here was your attempt to prove you "belong in this arena of hip-hop." What did you want to prove with K.R.I.T. IZ HERE?
To celebrate all the people that see me in a certain light and for me, out there on the block like "Have you heard that K.R.I.T. album?" To show that I'm here and I got that confidence, too, and we're gonna take [the music] even further now. Even with the shows, I feel like a new artist. It's interesting to see younger people out there, mixed in with some people I've seen throughout the years. It's a realization that I'mma say what I wanna say. I'm gonna talk about what I wanna talk about. It's not the stress of wondering… If I ain't got the single, we ain't ready. Nah, this what I wanna put out. This what I got, and we gonna run with it. It's a beautiful thing to be independent and do it my way.
More than ever, you sound tuned in with your vision of yourself. From 4eva Is A Mighty Long Time to the new album, how did your view of yourself change?
I would say it started with 4eva Is A Mighty Long Time, because I had the opportunity to do a double album. I wanted to do a double album with Cadillactica, and we didn't get a chance. So I was working on 4eva Is A Mighty Long Time, probably a year in, and I remember talking to my manager Dutch and marketing manager Steve-O, being like, "Man, I wanna divide it." I always had a hard time sequencing my records. You wanna have the energetic record, the car record, the introspective record, and sequencing it was difficult. With 4eva, I wanted to do a double album and show my duality.
With the album, it was the first time where I felt a little freer with the transparency. Showing people I have these mixed messages, and some things I love to do are bad for me! That was the beginning, and after that, K.R.I.T. IZ HERE was [me] getting out of my comfort zone completely. I only produced one song on the entire album. I worked with a lot of other producers and kind of gave up the reins on the production end to write. That was a different thing for me. It was time for a change, and I was confident in my writing! It was an amazing experience.
Was that scary for you, giving up creative control in one avenue to focus on the writing?
It was terrifying at first because I always wanna do my best. If I produce the record and it doesn't come out right, no one has to hear it. But you get in with other producers, and you don't know if you execute it the way the producer heard it. It allowed them to be brutally honest. We ended up having over 70 songs. It showed me the value of creating with others, the collective effort, and understanding that the criticism sometimes [is] because people want me to change it up and flow a little different, and challenging myself actually to do those things.
Going back to your interview with Rob Markman, you end by talking about the importance of breaks. What moment led you to understand it's okay to take time off?
Yes, that was during the EP. Once we finished TRIFECTA, I was dealing with a lot of things emotionally. Trying to figure out, not only the album, but how I felt about music, and whatever might've been going [on] with society. 4eva Is A Mighty Long Time, I worked on for two years. I was under the radar, hadn't dropped anything, and I remember the space I got in. I was aware of my anxiety, my depression, creatively where I wanted to be, and getting to spend time with my family.
Fast forward, working on this album, it dawned on me that I have spent a lot of time working on music and chasing it. I'm not giving people the time they deserve. I encourage artists to decompress. Put yourself in a position to be around people that knew you before any of this happened, because it's a recharge. It's a refuel. All that positive energy, you're gonna need it. It's amazing on tour, the hugs I get from people, the handshakes, the excitement… It's giving me fuel for this next album.
As a multi-talented artist, when you take a break, is there any worry about losing it if you don't use it?
Definitely. My grandma told me, "God gave you a talent. If you don't use it, he'll take it away." That weighed on me, but I think of it as an ongoing thing as far as sharpening your sword. You have the technique for it, you have the passion for it, and sometimes your sword gets dull. You just gotta sharpen it. I haven't written anything while I've been out here, other than notes to myself. Mind you, when I get home, I might be rusty, but the more I write, my talents will get sharper. It's still a muscle memory thing. I've been doing it long enough now, I'll find it. I'll find the flow [laughs].
How would you define the Big K.R.I.T. legacy?
It's interesting that my rap name is still prevalent in everything I do. It's all coming into fruition. It's all happening in front of me. I'm making the proper steps to leave something here. It's being aware of all the songs [and] the energy I put out. As I grow, my music should grow. I shouldn't feel like I felt when I was 21 years old. I have a little bit more clarity, a little bit more wisdom. I should strive always to be better, and if that's the case, then my music will continuously grow. Lord willing, people will be proud of [the music] when I'm gone.
K.R.I.T. IZ HEREInterviews
Big K.R.I.T. 'K.R.I.T. IZ HERE' 1 Listen Album Review
'K.R.I.T. IZ HERE' finds Big K.R.I.T. having the most fun of his career.
Big K.R.I.T. & The Sound of Arrival
This is the sound of arrival: the absence of aspiration, the dearth of droning, the sweet of security of self.
Covered: Capturing Big K.R.I.T.'s Aura With Designer Tony Whlgn
"I like to use imagery that captures the truest form of the music's nature."
WLPWR's Instrumental Role in Big K.R.I.T.'s '4eva Is A Mighty Long Time'
"The whole time, we were trying to meet this moment where he felt good about what he accomplished."
Ari Lennox Interview: On Finally Releasing 'Shea Butter Baby'
"I want them to say: 'I'm proud of my Blackness.'"
The Road to A3C - Big K.R.I.T.
In the next of our Road to A3C series we shine a spotlight on Big K.R.I.T.
KOTA the Friend Interview: Growth, Depression & New Album 'FOTO'
"I wanna show people that there's a light at the end of the tunnel. On top of that, I want to hold the light."
Jack Harlow Interview: Ego & 'Confetti'
"It'll never be interesting for me to get to a place where I can't connect with other people."

redpajama_set_name: RedPajamaCommonCrawl


Can you fly with needles?
Get ready for Yarn Crawl!
Okay, we have been thinking about Yarn Crawl since last year's Crawl ended, but now we're almost ready for this year's Crawl!
You can now jump to the head of the Passport line and order your passport ONLINE! Passports are $15, including tax, and available here! If you want us to ship your passport to you once it arrives, you'll have to purchase shipping here. If you don't purchase shipping, your passport will be held for you at Yarnivore to pick up when they arrive (early September).
What's Yarn Crawl? Follow this link for all the details!
This breezy, short-sleeve cardi can be worn over a long-sleeved t-shirt to provide a little extra warmth in cool spring weather, or could be worn over a tank top or cami in warmer weather. Pip is a FREE pattern by Alison Green found at knitty.com).
Yarn recommendation? We like the yarn the designer used - Berroco Medina, a long-color-run cotton/rayon blend that feels gorgeous and will keep you nice and cool!
The new Interweave Knits is here! This is our favorite knitting mag by far.
We apologize - last week's newsletter gave the wrong date for the Kid's Top-Down Sweater Class. It's actually starting THIS coming Sunday, August 12 at 3 pm! We're very sorry!
Can you take your needles/hooks on an airplane? For flights within the US, the answer is YES! Here is a page from the Transportation Security Administration saying that knitting needles, crochet hooks, sewing and embroidery supplies are allowed through security. HOWEVER - these rules only apply to US flights or flights originating in the USA. If you're traveling abroad, please check with the airline to see what will and won't be allowed on foreign flights.
THERE ARE TWO SEATS LEFT!
Every week, you'll learn a new knitting technique as well as learning to read charts, choose colors, pick up stitches, sew invisible seams, and more!
Learn to make socks from the toes up, so you always have enough yarn to cover your feet! This worsted weight sock is thick and warm, perfect for wearing around the house, or as a boot sock. You don't need to have any sock knitting experience.
You'll also learn to knit in the round using the magic-loop method in this three session class.
There are lots of baby sweater patterns and lots of women's sweater patterns, but not much for kids and teens! In this class, you learn to make a top-down raglan sweater that will fit the kids in your life perfectly! You'll also get tips on altering the sweater as the child grows. Works for kids from toddler through pre-teen sizes!
This gorgeous style of color knitting is traditional in MANY parts of the world, from Turkey & North Africa to Northern Europe! It's much easier than it looks. Wendy will teach you how to work with two colors at once while you make this beautiful hat!


text:
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Careers Blog | 5 min read
How to Decide if Working Remotely is the Right Move For You (or Your Employee)
Written by Sara Debrule and Meg Prater
When I had my first interview with HubSpot, I'd been a proud Californian for exactly two weeks. I cringed as I emailed my recruiter, "I'm so excited for this opportunity, but I just moved -- and I can't do it again." His reply was swift and easy, "Oh, that's no problem, we're open to this position working remote."Once I'd stopped popping bottles in disbelief over my good luck, the reality set in. Could I do it? Was I cut out for remote work? Would I feel cut off from the company and my role? HubSpot makes it look easy, but there are a lot of logistics, planning, and thoughtfulness that go into hiring a new remote worker or transitioning an existing HubSpotter to remote status. And then there are the tough personal questions you have to ask yourself. Not the least of which is, "Can I do my best work as a remote employee?"
Because this is such a sensitive topic, HubSpot Senior Recruiter Sara DeBrule and I (Meg Prater, writer on the HubSpot Sales Blog), decided to collaborate on this helpful list that tackles remote work from two points of view:
A current employee deciding whether remote work is right for them.
A manager hiring a remote employee or fielding a request for an in-person employee to go remote.
Questions to Ask Yourself About Going Remote
I've talked to some colleagues who state emphatically, "I could never do remote work," and others who treat it as a mystical land of plenty.
The fact is, it's a tricky balance between both. Some days, I feel like no mere mortal can keep me from crossing every last item off my meticulously crafted to-do list. Other days, I'm lucky to cross five items off that list, feel like I haven't communicated with an actual human in at least six light-years, and only remember how to speak dog.
To work remotely, it's helpful to be structured, resilient, and, above all, forgiving. We all have our days. What matters (especially) in remote work is that you can pick yourself up and move forward productively.
Here are a few questions to ask yourself and your manager before considering a remote position.
Be honest about your habits, personality, and the nature of your work.
1. How are you motivated?
Are you self-motivated or does it take the buzz of an office and a cheerful smile from a coworker to get you going in the morning? There's no wrong answer here, but it's important to know you can draw from internal motivation to produce results and succeed in a remote environment.
2. How do you get energized during the work day?
Do you complete your best work by throwing ideas off colleagues or brainstorming at after work happy hours? That doesn't mean you won't thrive in remote work, but you should consider how these experiences will change outside the office. Will you feel the same lightning strike if you're conducting that same brainstorm during an hour-long structured meeting or quarterly visit to the office? If not, consider whether this is the right move for you.
3. Think about your ideal day at the office.
Do you get in early, knock out a few tasks in relative silence, breeze through a few meetings, and grab lunch at your desk while checking off the rest of your to-do list? Or would that ideal day start with a coffee meeting, include lunch with your team, and end with a company trivia session and happy hour?
Again, neither answer means you can or can't swing remote work, but the key here is maintaining a happy, healthy work life, and if you're happiest and most inspired around colleagues and at company events, consider what you're giving up if you go remote.
Questions for Interviewers/Managers to Ask Potential Remote Employees
When you're interviewing a potential new hire for remote work, it's important to learn how they're motivated, how they structure their days/challenges, and where they draw energy from throughout the day. If you're working with existing employees, it's important to consider the request through a similar lens. Here are a few questions to ask both candidates:
Characteristics, habits, or traits you're looking for in a remote hire.
1. How do they stay organized?
"How do you organize yourself and/or your team around projects?"
"How would you communicate about/manage projects from outside the office?"
"Would you consider yourself assertive? If so, tell me about a time you exercised that assertiveness."
"How do you organize your day?"
"How and where do you do your best work?"
2. Are they collaborative?
"What's your process for working with others?"
"If someone asks you to start a project, what are your first steps?" (If they lean on in-person interactions like calling a meeting or swinging by someone's desk, this could be a red flag, as opposed to someone who tends toward introspection to solve a problem or kick off a project.)
3. Are they a self-starter?
"Tell me about a time you recognized something was broken in your business. What did you do?"
"How do you overcome obstacles?"
"How do you recognize difficult situations and identify solutions?"
4. Do they know what they're signing up for?
"What resources have you read to understand what a remote work experience would be like?" (Did they view remote companies on Glassdoor and read reviews? Do they follow certain remote work blogs? Have they talked to fellow remote employees?)
"What is it about remote work that appeals to you?"
"What are your concerns about remote work? What do you think will be the obstacles?"
Red flags to consider.
Note: These aren't hard-and-fast rules. A red flag might not correlate to a person's ability to succeed in a remote position. But these areas are worth digging into if initial answers are worrying.
If their response to "How do you successfully collaborate" relies on in-person interaction (i.e., desk fly-bys, meetings, coffee breaks), ask why those are their preferred methods for discussing new projects and how they would handle these same situations outside the office.
Ask, "What energizes you at work?" If the answer is, "Solving complex projects," or "Finding a quiet spot in the office to churn through email," you might have a good remote candidate on your hands. If their answer is, "Grabbing mid-morning coffee with colleagues," or "the company's great team-building opportunities," ask clarifying questions to understand how this person will find that energy outside of your organization's physical walls.
Ask how this person likes to be managed. You'll have a better pulse on this if your remote candidate already works for your company. Regardless, ask "As a remote employee, what are you looking for in a team and manager?" If the answers revolve around hands-on management and a close-knit team, these could be red flags. If, however, answers point toward independence and the ability to ask for help and community as needed, this could be a sign this person is a good fit for remote work.
Establish your company's remote work policies and expectations.
Whether you're dealing with a new hire or a longtime employee, it's likely they don't know much about about your company's remote work policies, or the unique guidelines in place for each department and team. Set clear expectations for remote work during the interview or approval process. Here are a few ways to do that successfully:
Establish how your company does and does not support remote workers
Be honest about what stage the company and your team is in when it comes to remote work
Connect them with other remote workers in similar roles
Leverage current remote employees to interview late-stage remote candidates
Identify how success will be measured
Establish a routine for checking in with managers, colleagues, and mentors
Define the path for career advancement as a remote employee. How will expectations and career growth change for current employees if they go remote?
These can be difficult questions to ask, but it's important for both parties to understand whether their best work will be completed remotely.
The future of work is becoming more and more remote every day. Remote work isn't for everyone, but for some it's the way they work best. So, next time you're thinking about what working remotely might look like for you or your employee, think through these questions and topics to really decide if working away from the office is the right move for you.
Originally published Sep 10, 2018 8:30:00 AM, updated September 10 2018
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Pope Francis Announces a 2022 Synod on Synodality
Pope Francis told the Vatican Congregation for the Doctrine of the Faith's theological commission in November that synodality will be key for the Church in the future.
(photo: Shutterstock)
Courtney Mares/CNA. Vatican March 7, 2020
VATICAN CITY — The next ordinary Synod of Bishops will be a synod on synodality, the Vatican announced March 7.
In October 2022, bishops from around the world will meet in Rome to discuss the theme: "For a synodal Church: communion, participation and mission."
The concept of "synodality" has been a topic of frequent discussion by Pope Francis, particularly during the previous ordinary Synod of Bishops on young people, the faith, and vocational discernment in October 2018.
Synodality, as defined by the International Theological Commission in 2018, is "the action of the Spirit in the communion of the Body of Christ and in the missionary journey of the People of God."
The term is generally understood to represent a process of discernment, with the aid of the Holy Spirit, involving bishops, priests, religious, and lay Catholics, each according to the gifts and charisms of their vocation.
"Synodality is a style, it is a walk together, and it is what the Lord expects from the Church of the third millennium," Pope Francis said Nov. 29.
A synod is a meeting of bishops gathered to discuss a topic of theological or pastoral significance, in order to prepare a document of advice or counsel to the pope.
The Synod of Bishops was created in 1965 by Pope Saint Paul VI, who charted the synod to encourage close union between the pope and the world's bishops and to "insure that direct and real information is provided on questions and situations touching upon the internal action of the Church and its necessary activity in the world of today."
Ordinary synods happen every three years on issues voted upon by synod delegates elected or appointed from each continent, and from certain Vatican offices. There have been 15 ordinary synods to date. There are also extraordinary synods and special synods.
The synod that took place in October 2019 was a special Synod of Bishops for the Pan-Amazonian region.
Following that synod, the pope stressed that "synodality is an ecclesial journey that has a soul that is the Holy Spirit."
"The practice of synodality, traditional but always to be renewed, is the implementation in the history of the People of God on the way, of the Church as a mystery of communion, in the image of the Trinitarian communion," he said.
In March 2018, the Congregation for the Doctrine of Faith's International Theological Commission produced a document on the theological roots of synodality in the Church: "Synodality in the Life and Mission of the Church."
The CDF document noted that in the history of the Church, synods and councils were nearly interchangeable terms for formal ecclesiastical assemblies. It said that the more modern view of a synod as something distinct from a council does not go back even as far as Vatican Council II, and that its development was accompanied by the neologism of "synodality."
Speaking of the Church as "synodal" by its nature is something novel, the commission said, and requires "careful theological clarification."
"Without the Holy Spirit, there is no synodality," Pope Francis said.
synod on synodality
pope francis synod
next synod in 2022
courtney mares
Courtney Mares/CNA.
Vatican Museums to Reopen with Temperature Checks, Mandatory Face Masks
Bishop Vergez said that all Vatican Museums employees have continued to receive their salaries during the closure at the insistence of Pope Francis.
Courtney Mares/CNA. Vatican
Pope Asks for Prayer for Vocations to the Priesthood on Good Shepherd Sunday
Speaking from the library of the Vatican's Apostolic Palace, Pope Francis offered advice for discerning the Lord's voice from other voices of temptation or distraction.
One Year After the Notre-Dame Fire, A French Priest's Tribute to the Cathedral
Archbishop Michel Aupetit of Paris venerated the cathedral's relic of Christ's crown of thorns inside the damaged cathedral on Good Friday.
Courtney Mares/CNA. World
Cardinal Urges Leaders to Ensure Healthcare for All in Coronavirus Crisis
Cardinal Tagle thanked the Caritas staff and volunteers who are taking care of those affected by the coronavirus in a coordinated global effort to aid the sick and the vulnerable.
Follow Jesus Without Delay
User's Guide to Sunday, Jan. 24
Deacon Omar Gutiérrez Sunday Guide


A few tips from my first no line coloring project with Copic markers and Honey Bee stamps!
Happy Friday friends and welcome to Honey Bee's Bee Bold release hop! This release is full of so many great new sets and one of my favs is the Chin Up Buttercup set!
To finish this card, I stamped a little field of poppies (buttercups) to create a background. I layered my colored poppies on top, along with a sentiment created with Honey Bee Bee Bold Alpha and "just because" from the Honey Bee Cheerful Sentiments stamp set.
For the second card, I stamped the poppies directly onto my card panel and no need to do any masking, just color accordingly! Love that shortcut! The sentiment is Bee Bold Alpha and "you" from the Thinking Of You die.
Carly ---> you are here!
Those flowers are amazing. I need to practice with my copics to try to be that good. The shading is impeccable.
Love your color combination on this beautiful CAS card! It looks amazing!!
Absolutely beautiful cards - love the CAS design, and those flowers are amazing!
Lovely cards today! I like how you did the first one with uncolored flowers in the background to really highlight the popped up ones! Very cool.
Unique cards using a POP of color. That buttercup flower is beautiful.
Love, Love these cards! They are so beautiful!! The Poppies stamped in black and left uncolored are super cute and then to add the colored poppies - that just makes the card! I love this card and now I want the stamp set.
Your coloring of the flowers is beautiful. Definitely something I aspire to. Very pretty!
Very pretty coloring of these gorgeous flowers.
Love your card! Those poppies are adorable!
Your no line coloring of the poppies is amazing. Love your cards!
Love the buttercups and the alpha! Fabulous cards!
Love your tips on no line coloring. I love the look plus the colors you used.
Gorgeous design! I love the black/white with the bold pop of color.
OMG! Your coloring is PHENOMENAL!!!!!!!!!
So pretty! I'm off to watch the video!
Beautiful card!!! I love your coloring and can't wait to get a moment to watch the video!
I'm pretty jealous of your coloring game. This stamp set looks perfect for no line coloring too.
I love the monochromatic background with those colored blooms as a focal point!
Lovely cards - well done!
Beautiful cards! I especially love the black stamps with the highlighted colored image on top.
Beautiful!! Thanks for the video.
Thank you so !such for a fab video. Your flowers are amazing, your colour work is so bright & realistic looking, got so much out of your video & cards. Thank you so very much.
Lovely cards and designs - the pop of colour against the black and white, plus the big bold letters for the sentiment really look great!
these cards are so beautiful! And, I love the video, too.
Gorgeous card. Thanks for sharing the technique video and inspiration.
These are SO gorgeous! Love the no line coloring and the color scheme of these is so stunning! Love them both!
I never thought of no line colouring with Copics. I am going to give it a try.
Gorgeous cards! I love the bold black words with the pop of color.
I also have a black thumb, so I got quite a giggle out of your comment about killing cactus. Been there done that. Lol. I'm horrible with copics, but you made it look easy enough for me to give it a good try. I love the no line coloring effect. Beautiful cards.
Hey..Your flowers are beautiful!! I can even begin to color and shade but you are doing a fantastic job!!
a green thumb-your flowers are fabulous!
coloring-I wouldn't have thought of that.
Lovely cards. I love the mix of black and white and no line coloring. Such a great idea!
Love the black and white with a pop of color, super elegant!
over the stamped background. Very pretty.
Gorgeous cards!! The flowers are so pretty with your coloring!!
Wonderful coloring on these gorgeous flowers! They look amazing!
I love these cards! Such a pretty pop of color against the black and white card.
Beautiful cards. Love those poppies!
Love your no line coloring on these cards.
Your cards are beautiful! Thank you for the no line coloring tips. I've been wanting to try this technique also.
Your no line colouring is so great!!
love that new buttercup stamp from this release and your cards are just gorgeous using it!!
Stunning cards! Lovely designs and gorgeous coloring.
Creative way to use the Buttercup stamp set and make Poppies. I have a black thumb too.
Poppies are so gorgeous!!! Beautiful cards!!!
Pretty card - love your coloring!
I just love how you've incorporated the be bold alphas into your cards. The card designs are fabulous. Chin up buttercup is really a great set!
Lovely shading. I like both buttercups and poppies. Simple but elegant. Nicely done.
Your cards are beautiful and very elegant !
Wow !! You've made some incredible flowers ! Your coloring is just perfect !!
Very nice cards love the pop of colour.
WOW.. your coloring is amazing. Love the colors your choice.
Fabulous no line coloring! Just gorgeous!!
The buttercup flowers make perfect poppies when they are colored so expertly as you did. Terrific cards.
Love your graphic black and white with a pop of color. I think the coloring on your flowers is beautiful!
Those no line colored flowers look amazing, love them in contrast with the simple black and white!
What a beautiful concept. I love the details of the no-line vs. the background of the outlines. I'm definitely going to have to try this idea. Thank you for sharing with us!


text:
classdef prtClusterSpectralKmeans < prtCluster %prtClass %prtAction %should extent prtCluster

% Copyright (c) 2014 CoVar Applied Technologies
%
% Permission is hereby granted, free of charge, to any person obtaining a
% copy of this software and associated documentation files (the
% "Software"), to deal in the Software without restriction, including
% without limitation the rights to use, copy, modify, merge, publish,
% distribute, sublicense, and/or sell copies of the Software, and to permit
% persons to whom the Software is furnished to do so, subject to the
% following conditions:
%
% The above copyright notice and this permission notice shall be included
% in all copies or substantial portions of the Software.
%
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
% OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
% MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN
% NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
% DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
% OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
% USE OR OTHER DEALINGS IN THE SOFTWARE.

    % prtClusterSpectralKmeans   Spectral Kmeans clustering object
    %
    %    CLUSTER = prtClusterSpectralKmeans returns a Spectral Kmeans clustering object.
    %
    %    CLUSTER = prtClusterSpectralKmeans(PROPERTY1, VALUE1, ...) constructs a
    %    prtClusterSpectralKmeans object CLASSIFIER with properties as specified by
    %    PROPERTY/VALUE pairs.
    %
    %    A prtClusterSpectralKmeans object inherits all properties from the abstract
    %    class prtCluster. In addition is has the following properties:
    %
    %    nClusters                 - Number of cluster centers to learn
    %
    %    nEigs                     - Number of EigenVectors (columns in Spectral Space
    %
    %    sigma                     - RBF Kernel Parameter
    %
    %    distanceMetricFn          - Distance Metric to use for K-means Clustering
    %
    %    kmeansHandleEmptyClusters - Speficies operation when degerate clusters found
    %                                occur during training.  Allowed values are 'remove'
    %                                and 'random'.  'remove' eliminates the
    %                                empty cluster. 'random' sets the
    %                                cluster mean to a random vector.
    %
    %
    %    For information on the Spectral Clustering algorithm, please
    %    refer to the following URL:
    %
    %    http://en.wikipedia.org/wiki/Spectral_clustering

    %    For information on the K-Means algorithm, please
    %    refer to the following URL:
    %
    %    http://en.wikipedia.org/wiki/K-means_clustering
    %
    %    A prtClusterSpectralKmeans object inherits the TRAIN, RUN, CROSSVALIDATE and
    %    KFOLDS methods from prtAction. It also inherits the PLOT method from
    %    prtCluster.
    %
    %    Invoking the RUN method on a prtClusterSpectralKmeans object classifies
    %    the input data by assigning each observation a label according to
    %    the cluster center it is closest to. The cluster centers are found
    %    during training.

    %   Example:
    %
    %   dataSet = prtDataGenMoon;                           % Load a data set
    %   spectralEmbed = prtClusterSpectralKmeans            % Create a prtPreProcSpectralEmbed object
    %   zmuv=prtPreProcZmuv;                                % Create a prtPreProcZmuv object
    %   algo=zmuv+spectralEmbed;                            % Combine prtPreProcSpectralEmbed and prtPreProcZmuv objects
    %
    %
    %   algo = algo.train(dataSet);       % Train the prtPreProcPca object
    %   dataSetNew = algo.run(dataSet);   % Run
    %   dataSetClustered = prtDataSetClass(dataSet.X,dataSetNew.X);
    %
    %   % Plot
    %   plot(dataSet);              % Plot Original Data
    %   title('Original Data');
    %   figure;
    %   plot(dataSetClustered);     % Plot Spectral Clustered Data
    %   title('Spectral Clustered Data');
    %
    %   See also prtCluster, prtClusterKmeans, prtClusterGmm

    % Copyright (c) 2013 New Folder Consulting
    %
    % Permission is hereby granted, free of charge, to any person obtaining a
    % copy of this software and associated documentation files (the
    % "Software"), to deal in the Software without restriction, including
    % without limitation the rights to use, copy, modify, merge, publish,
    % distribute, sublicense, and/or sell copies of the Software, and to permit
    % persons to whom the Software is furnished to do so, subject to the
    % following conditions:
    %
    % The above copyright notice and this permission notice shall be included
    % in all copies or substantial portions of the Software.
    %
    % THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
    % OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
    % MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN
    % NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
    % DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
    % OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
    % USE OR OTHER DEALINGS IN THE SOFTWARE.

    properties (SetAccess=private)
        name = 'Spectral K-Means Clustering' % Spectral K-means Name
        nameAbbreviation = 'SKMC' % SKMC Abbreviation
    end

    properties
        nClusters = 2;  % The number of clusters to find
        nEigs=2;        % Number of eigenvectors (should equal nClusters)
        sigma=.2;       % Sigma for rbf
        distanceMetricFn=@prtDistanceEuclidean;   % Distance metric for K-means
        kmeansHandleEmptyClusters='remove';       % How to handle empty cluster sets (default: remove)

    end

    properties (SetAccess = protected)
        clusterCenters = [];   % The cluster centers
        eigValues=[];          % Eigenvalue output from Spectral Dimensionality reduction
        eigVectors=[];         % EigenVectors output from Spectral Dimensionality reduction
    end

    properties (SetAccess = private, Hidden = true)
        uY = [];
    end

    methods

        function Obj = set.nClusters(Obj,value)
            if ~prtUtilIsPositiveScalarInteger(value)
                error('prt:prtClusterSpectralKmeans:nClusters','value (%s) must be a positive scalar integer',mat2str(value));
            end
            Obj.nClusters = value;
        end

        function Obj = prtClusterSpectralKmeans(varargin)
            % Allow for string, value pairs
            Obj = prtUtilAssignStringValuePairs(Obj,varargin{:});
        end

        function Obj = set.kmeansHandleEmptyClusters(Obj,value)
            if ~isa(value,'char') || ~any(strcmpi(value,{'exit','regularize'}))
                error('prt:prtClusterKmeans:kmeansHandleEmptyClusters','value (%s) must be one of ''remove'', or ''random''',mat2str(value));
            end
            Obj.kmeansHandleEmptyClusters = value;
        end
    end

    methods (Access=protected, Hidden = true)

        function Obj = trainAction(Obj,DataSet)
            [Obj.eigValues, Obj.eigVectors] = prtUtilSpectralDimensionalityReduction(DataSet.X, Obj.nEigs,'sigma',Obj.sigma);          %Spectral dimensionality reduction
            embeddedDataSet=prtDataSetClass(Obj.eigVectors,DataSet.Y);                                                         %Generate prtDatSetClass of data in truncated eigenspace
            Obj.clusterCenters = prtUtilKmeans(embeddedDataSet.getObservations,Obj.nClusters,'distanceMetricFn',Obj.distanceMetricFn,'handleEmptyClusters',Obj.kmeansHandleEmptyClusters);   %Kmeans on spectral

        end

        function DataSet = runAction(Obj,DataSet)

            DataSet.X=prtUtilSpectralOutOfSampleExtension(Obj.dataSet.X,DataSet.X,Obj.eigVectors,Obj.eigValues,Obj.sigma);

            %% Kmeans Test

            fn = Obj.distanceMetricFn;
            distance = fn(DataSet.getObservations,Obj.clusterCenters);

            if size(distance,1) ~= DataSet.nObservations || size(distance,2) ~= size(Obj.clusterCenters,1)
                error('prt:prtClusterKmeans:badDistanceMetric','Expected a matrix of size %s from the distance metric, but distance metric function output a matrix of size %s',mat2str([DataSet.nObservations, size(Obj.clusterCenters,1)]),mat2str(size(distance)));
            end

            %The smallest distance is the expected class:
            [~,clusters] = min(distance,[],2);

            binaryMatrix = zeros(size(clusters,1),Obj.nClusters);
            for i = 1:Obj.nClusters
                binaryMatrix(i == clusters,i) = 1;
            end
            DataSet = DataSet.setObservations(clusters);

        end

    end
end

redpajama_set_name: RedPajamaGithub


text:
Q: How to DATETIME regex and split USER  TIME
 A     2020-02-18 12:00:13.037
 B     2020-02-19 12:00:13.037
 B     2020-02-11 11:00:13.037
 B     2020-02-11 14:00:13.037
 B     2020-02-11 08:00:13.037
 C     2020-02-09 12:00:13.037

I want result like this:
USER  TIME
 B     02-11
 B     02-11
 B     02-11

Query time is 02-11 and split time to month and data
How can I do? My query:
SELECT * FROM my_table WHERE USER = 'B' AND TIME REGEXP '02/11"

A: Get the month and the date from your date and use DATEPART:
DECLARE @DataSource TABLE
(
    [User] CHAR(1)
   ,[Time] DATETIME2
);

INSERT INTO @DataSource ([User], [Time])
VALUES ('A', '2020-02-18 12:00:13.037')
      ,('B', '2020-02-19 12:00:13.037')
      ,('B', '2020-02-11 11:00:13.037')
      ,('B', '2020-02-11 14:00:13.037')
      ,('B', '2020-02-11 08:00:13.037')
      ,('C', '2020-02-09 12:00:13.037');

SELECT *
FROM @DataSource
WHERE [User] = 'B'
    AND DATEPART(MONTH, [Time]) = 2
    AND DATEPART(DAY, [Time]) = 11

A: I believe that this should work if I understand your question
CREATE TABLE #DATE ([USER] VARCHAR(5),  [TIME] DATETIME2)
INSERT INTO #DATE VALUES
('A','2020-02-18 12:00:13.037'),('B','2020-02-19 12:00:13.037'),
('B','2020-02-11 11:00:13.037'),('B','2020-02-11 14:00:13.037'),
('B','2020-02-11 08:00:13.037'),('C','2020-02-09 12:00:13.037')

SELECT
    [USER],
    [TIME],
    FORMAT([TIME],'MM-dd')
FROM #DATE
WHERE FORMAT([TIME],'MM-dd')='02-11'

DROP TABLE #DATE

NOTE that the format function only work for SQL Server version 2012 and above.

A: The following query will give you the results in the format mentioned in the question if you want to return records based on the query running date
SELECT [USer], FORMAT ([Time], 'MM-dd') as [time]
from [Table1]
where FORMAT ([Time], 'MM-dd')=FORMAT (getdate(), 'MM-dd') and [user]="B"

If you want results based on hard-coded date the following query will work
SELECT [USer], FORMAT ([Time], 'MM-dd') as [time]
from [Table1]
where FORMAT ([Time], 'MM-dd')='02-11' and [user]="B"


text:
// Copyright 2017 Google Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

package org.uiautomation.ios;

import com.google.devtoolsdriver.webdriver.BrowserLauncher;
import java.io.File;
import java.util.logging.Level;
import java.util.logging.Logger;

/** Runner class for a webdriver for a generic browser */
final class WebDriverMain {
  private static final Logger log = Logger.getLogger(WebDriverMain.class.getName());

  /** Start a webdriver server for the browser specified by factory. */
  static void run(IOSServerConfiguration options, BrowserLauncher launcher) {
    final IOSServer server = new IOSServer(options, launcher);
    Runtime.getRuntime()
        .addShutdownHook(
            new Thread() {
              @Override
              public void run() {
                try {
                  server.stopGracefully();
                } catch (Exception e) {
                  log.log(Level.SEVERE, "error in shutdown hook", e);
                }
              }
            });

    try {
      server.start();
    } catch (Exception e) {
      log.log(Level.SEVERE, "cannot start ios-driver server.", e);
      Runtime.getRuntime().exit(1);
    }
  }

  static File getTmpIOSFolder() {
    File f = new File(System.getProperty("java.io.tmpdir") + "/.ios-driver/");
    f.mkdirs();
    return f;
  }

  private WebDriverMain() {}
}


text:
Q: How do I block IE11 visitors from visiting my page? htaccess? I've added the following to my .htaccess file for bit.ly/29bG9uv.  However it doesn't seem to be blocking me when visiting bit.ly/29bG9uv in Internet Explorer 11.
Ideas? Need to block IE11 visitors to bit.ly/29bG9uv
# BEGIN GD-SSL
<IfModule mod_rewrite.c>
Options +FollowSymLinks
RewriteEngine On
RewriteCond %{HTTPS} !=on
RewriteCond %{SERVER_NAME} ^domain\.com$
RewriteRule .* https://%{SERVER_NAME}%{REQUEST_URI} [R=301,L]
Header add Strict-Transport-Security "max-age=300"
</IfModule>
# END GD-SSL

# BEGIN WordPress
<IfModule mod_rewrite.c>
RewriteEngine On
RewriteBase /
RewriteCond %{HTTP_HOST} ^www\.(.+)$
RewriteRule ^(.*)$ http://%1/$1 [R=301,L]
RewriteRule ^index\.php$ - [L]
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
RewriteRule . /index.php [L]
</IfModule>

# END WordPress

A: IE11 uses the string "Trident" to identify its browser engine. You can use the following code to block IE11
RewriteEngine On
RewriteCond %{HTTP_USER_AGENT} .*Trident.* [NC]
RewriteRule ^ - [R=403]

You may also want to block older versions of IE. In order to do that, use the string "MSIE"
RewriteEngine On
RewriteCond %{HTTP_USER_AGENT} .*MSIE.* [NC]
RewriteRule ^ - [R=403]

If you want to redirect all IE users to a separate page, which for example might ask them to download a different browser, you can use
RewriteEngine On
RewriteCond %{HTTP_USER_AGENT} .*MSIE.* [NC]
RewriteRule ^(.*) ie.html

RewriteCond %{HTTP_USER_AGENT} .*Trident.* [NC]
RewriteRule ^(.*) ie.html

A: This may be helpful to block IE browsers:
<IfModule mod_rewrite.c>
RewriteEngine On
RewriteCond %{HTTP_USER_AGENT} *MSIE*
RewriteRule ^index\.html$ http://example.com/ie/ [L]
RewriteRule  ^/$ http://example.com/index.html [L]
</IfModule>

A: To block IE11 user agent, you can use :
RewriteEngine On
RewriteCond %{HTTP_USER_AGENT} IE11 [NC]
RewriteRule ^ - [R=403,L]

This blocks the whole site for  IE11, they get a 403 forbidden error. if you want to block a specific page, then you can use :
RewriteEngine On
RewriteCond %{HTTP_USER_AGENT} IE11 [NC]
RewriteRule ^page - [R=403,L]


A strong foundation is the most crucial part of building a home that will last. Signs of a weak foundation are immediately obvious in the form of sloping floors, cracked walls, or stubborn doors.
In John 8, after long discourses with the scribes and Pharisees, Jesus addresses a group of onlookers. These budding believers are beginning to understand that Jesus has authority and really is the prophesied Savior. He now charges these believers to abide, or build their home, on His word. This means more than accepting or obeying his word but giving it permanent residence in their lives, allowing it to teach them truth, and, in turn, set them free from sin.
The Jewish nation was known for their resilience and also for their pride, which is why Jesus' comment about their enslavement was so insulting to them that they completely forgot about thousands of years of slavery and oppression they endured at the hands of many nations. In fact, they even forgot about the Roman garrison, closely monitoring this inciteful, riotous people, that overshadowed this very conversation in the temple courtyard.
Abraham's offspring were so proud of their history, that they were completely blind to the cracks in the walls of their faith. They had grown comfortable and had even come to love the quirks of their paltry house. But sin wounds more deeply than is evident on the surface. One storm can obliterate a weakened home.
Jesus invites us to build our home in Him and on His word. He is our rock, our shield, and our sure foundation. When we ask Jesus to forgive our sins and rely on His word to keep us from becoming once again enslaved, we will be sons and daughters of God the Father and inheritors of the promise of eternal life.
1) What does abiding look like in this season for you or your family?
2) Is this time with Jesus shaping and influencing your way of life? Why or why not?
*If you wanted to build a house all by yourself, how would you know what to do? Who would you ask? Could you do it all by yourself? Why or why not? If we wanted to know how to live a holy life, one that was pleasing to God, who would be the best person to ask?
**Lord, thank you for sending Jesus to show us how to live a life that pleases you. Help us to surrender control, and show us how to make sure you are the foundation of our lives. Amen.


text:
K, Natarajan, Anna university (India)
K. Francis, Sebastian, APEX Human Capital Development Consultancy, Malaysia. (Malaysia)
K.K, Deepaknallasamy, Anna university (India)
Kabir, Golam, Bangladesh University of Engineering and Technology (Bangladesh)
Kabir, Shahid, Universiti Sains Malaysia (Malaysia)
Kaewkuekool, Sittichai, King Mongkut's University of Technology Thonburi (Thailand)
Kamaruddin, Shahrul, Universiti Teknologi Petronas (Malaysia)
Kamath, Giridhar, Faculty, Manipal Institute of Technology Manipal University, Manipal, India (India)
Kanakana-Katumba, Mukondeleli Grace, Department of Mechanical and Industrial Engineering University of South Africa (South Africa)
Karadayi-Usta, Saliha, Istanbul Technical University (Turkey)
Karim, Rubayet, Nagoya Institute of Technology, Nagoya, Japan (Japan)
Karimi Takalo, Salim, Management Faculty of vali- e- asr university (Iran, Islamic Republic of)
Karnavas, Yannis L., Democritus University of Thrace (Greece)
Karpe, Jan, University of Applied Sciences Cologne (Germany)
Kashef, Mojtaba, University of Tehran (Iran, Islamic Republic of)
Kasie, Fentahun Moges, University of Hawassa mechanical and industrial engineering (Ethiopia)
Katou, Anastasia A., University of Macedonia, Greece (Greece)
Kazemi, Yasaman, North Dakota State University (United States)
Kennedy, Donald A, Willbros Group Inc. (Canada)
Kerk Swee Tian, Robert, Universiti Technical Malaysia Melaka (Malaysia)
Keshtzari, Maryam, University of San Diego (United States)
Keung, K. L., Department of Industrial and Systems Engineering, Faculty of Engineering, The Hong Kong Polytechnic University, Hung Hom Kowloon Hong Kong (Hong Kong)
Khabbazi, Mahmood Reza, Mechatronic, Department of Machine Design, KTH Royal Institute of Technology, Stockholm, SWEDEN (Sweden)
Khalid, Adil, Sohar University (Oman)
Khalili, S.M, College of Engineering, University of Tehran (Iran, Islamic Republic of)
1 - 25 of 61 Items 1 2 3 > >>


I was born in San Bernardino but raised in Vista, California, and later Portland, Oregon, then finally back to Southern California and settled in the High Desert. My broadcast journey kicked off in 2005 after graduating from broadcasting school. I was hired by ClearChannel Radio as an on air personality on Y-102 FM. I found myself learning and working with some of the industry's top DJs. After El Dorado Broadcasters bought out ClearChannel Radio, I later became an on air personality on Kat Country 100.7FM, Talk 960-AM, and Production Assistant.
I then crossed over to NBC News Radio as an Announcer and radio Host interviewing a variety of celebrities, artists, authors and singers. A few years later, I became a host for "The Morning Show" on ABC News Radio and a Co-host for "The Hollywood Social Lounge" which covered celebrity news, red carpet interviews, current issues, and what was hot in Hollywood!
Now I'm back on the radio doing what I LOVE on HD 96.3, bringing you the Jams!
I have strong community ties and an active community presence. In my free time, I support charitable organizations that are near to my heart. I'm also a mentor for The University of Redlands KDAWG College Radio station, which is run by students. I produce and host my own radio show aired weekly on KDAWG called "Mia Mocha's Mega Mix!" I'm also on the Brandman University Advisory Board.


text:
R.O. HARPER, jr.
1. R.O. HARPER, jr.
R.O. married C.O. GEBHART (daughter of H.J. GEBHART and A.T. DEWALL) [Group Sheet]
2. N.D. HARPER
3. R.G. HARPER
4. R.K. HARPER
2. N.D. HARPER (1.R.O.1)
N.D. married J.P. MUGGLI [Group Sheet]
5. A.C.N. HARPER
3. R.G. HARPER (1.R.O.1)
R.G. married A.P. VETSCH [Group Sheet]
6. C.A. HARPER
7. C.M. HARPER
8. C.L. HARPER
4. R.K. HARPER (1.R.O.1)
R.K. married .. Unknown [Group Sheet]
9. Benjamin HARPER
10. A.M. HARPER
R.K. married S. HERMAN [Group Sheet]
R.K. married . MILNE. [Group Sheet]
11. Benjamin HARPER-MILNE
R.K. married B. JORGENSON [Group Sheet]
5. A.C.N. HARPER (2.N.D.2, 1.R.O.1)
A.C.N. married P. BRADBURY. [Group Sheet]
12. J.N. FLINT-BRADBURY
6. C.A. HARPER (3.R.G.2, 1.R.O.1)
C.A. married C. MILLER [Group Sheet]
13. C. MILLER
14. N. MILLER
15. A.C. MILLER
16. R.D. MILLER
17. M. MILLER
7. C.M. HARPER (3.R.G.2, 1.R.O.1)
C.M. married K. SULTZ [Group Sheet]
18. K. SULTZ
19. B. SULTZ
8. C.L. HARPER (3.R.G.2, 1.R.O.1)
C.L. married B. SNELLER [Group Sheet]
20. A.F. SNELLER
9. Benjamin HARPER (4.R.K.2, 1.R.O.1)
10. A.M. HARPER (4.R.K.2, 1.R.O.1)
11. Benjamin HARPER-MILNE (4.R.K.2, 1.R.O.1)
12. J.N. FLINT-BRADBURY (5.A.C.N.3, 2.N.D.2, 1.R.O.1)
13. C. MILLER (6.C.A.3, 3.R.G.2, 1.R.O.1)
14. N. MILLER (6.C.A.3, 3.R.G.2, 1.R.O.1)
15. A.C. MILLER (6.C.A.3, 3.R.G.2, 1.R.O.1)
16. R.D. MILLER (6.C.A.3, 3.R.G.2, 1.R.O.1)
17. M. MILLER (6.C.A.3, 3.R.G.2, 1.R.O.1)
18. K. SULTZ (7.C.M.3, 3.R.G.2, 1.R.O.1)
19. B. SULTZ (7.C.M.3, 3.R.G.2, 1.R.O.1)
20. A.F. SNELLER (8.C.L.3, 3.R.G.2, 1.R.O.1)


One-third of Americans characterized the financial markets during the first few months of 2018 as stable.
Nearly half of Americans are not familiar with cryptocurrency (i.e. Bitcoin, Ethereum, Litecoin).
3 in 10 Americans involved in household investment decisions say they never research investment strategies and potential investment opportunities.
A third of Americans involved in household investment decisions say they typically make high risk investments.
NEW YORK (August 9, 2018) – So far this year, the U.S. stock market has been a financial roller coaster that has continued into summer. It has not been unusual to see the Dow swing in both directions by hundreds of points. At the conclusion of the first quarter, the S&P 500 had already seen 23 days with one percent movements. That is nearly three times the number of days this occurred in all of 2017. It appears volatility has become the new norm. Surprisingly, even with that significant increase in fluctuations, one-third of Americans (37%) characterized the financial markets during the first few months of 2018 as stable, according to a telephone survey in April of 1,014 U.S. adults conducted by The Harris Poll for the American Institute of CPAs (AICPA).
For many, increased market volatility may actually signal an opportunity. According to the survey, nearly half of U.S. adults (48 percent) believe that a volatile market gives them an easy opportunity to make a profit. Interestingly, both Millennials (aged 20-37) and Gen Xers (aged 38-53) are much more likely than Boomers (aged 54-72) to agree about the potential profitability of this short-term buying and selling high-risk behavior (62 percent and 55 percent vs. 37 percent). Experience in the markets appears to make a difference to more seasoned investors. Many Millennials have only experienced a bull market as adults and may not be as aware of the dangerous downturns that are a natural part of the market cycle.
Cryptocurrency appears to be foreign to many investors. The survey found that nearly half of U.S. adults (48 percent) are not familiar with Bitcoin, Ethereum, or Litecoin. Of the 42 percent who are familiar with cryptocurrency, there was wide speculation regarding how they would perform in the next year. A quarter (24 percent) felt they would rise in value, more than a quarter (29 percent) thought they would fall, over a third (35 percent) believed they will fluctuate wildly, and 12 percent said they will remain stable. Thus far in 2018, wild fluctuations have lead the five largest cryptocurrencies to decline in value substantially. Year-to-date, the global crypto market cap has fallen from $598.5 billion to just $234.9 billion, meaning more than $360 billion of cryptocurrency wealth has disappeared.
The risk associated with an investment opportunity is a crucial element to help Americans differentiate between investing and speculating. Investing is usually considered lower-risk and longer-term focused, whereas speculation is high-risk and short-term focused. An investor's understanding of their own risk tolerance, the potential amount of money they can endure losing, is essential when building a balanced portfolio. The time over which an investment is expected to be held before it is liquidated (time horizon), your net worth, income and the ease in which an investment can be bought and sold (liquidity) all impact risk tolerance.
For Americans looking for investor education resources, the AICPA's 360 Degrees of Financial Literacy website has numerous free resources available including an introduction to the markets, a term glossary, articles on investing basics and a collection of investment calculators.
This survey was conducted on behalf of AICPA by The Harris Poll by telephone within the United States between April 5 and 8, 2018, among 1,014 adults (510 men and 504 women aged 18 and over) including 414 interviews from the landline sample and 600 interviews from the cell phone sample. Results were weighted (using data from the Current Population Survey) where necessary to bring them into line with their actual proportions in the population.


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The various nutrients present in cabbage, such as vitamin-E, keep the skin, eyes and hair healthy. The calcium, magnesium, and potassium found in cabbage is very useful for a wide range of healh benefits. Cabbage can also be used for the treatment of varicose veins, leg ulcers, peptic and duodenal ulcers.


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Future Generation Art Prize 2017 – Exhibition of 21 shortlisted artists
PinchukArtCentre, Kyiv, Ukraine
25 Feb 2017 - 16 Apr 2017
On February 25, 2017 the PinchukArtCentre presents an exhibition of the 21 shortlisted artists for the fourth edition of the Future Generation Art Prize, the first global art prize for artists up to 35, founded by the Victor Pinchuk Foundation in 2009. The show focuses on the presentation of recent and newly produced works.
The exhibition engages with the complexities of the contemporary world and explores the role and status of art within it. Poised between the personal and the collective, imaginary and real, familiar and uncanny, the show proposes a captivating journey through parallel realities where idiosyncratic experiences and global phenomena intersect.
Formally rich and visually intriguing, the exhibition features diverse works developed in a variety of media. Many are immersive and engaging, precisely drafted situations with often subtle references to the local, Ukrainian condition, inviting viewer response. The attempt to envisage future scenarios in a world defined by precariousness and uncertainties is confronted with in-depth exploration of the self—raising the question of social responsibility of the artist not only as a visionary of the future but foremost as an advocate for change.
Björn Geldhof, Artistic director of the PinchukArtCentre: "I am proud to see that after eight years and four editions, the Future Generation Art Prize has become a milestone in the international cultural landscape. The prize has proved to provide consistent support for all shortlisted artists both through our investment in the production of new works and our commitment to present all artists in collateral events at the Venice Biennale. With this exhibition in Kiev, we bring 21 shortlisted artists from all over the world to Ukraine, highlighting Kiev's scope as a hub of contemporary culture, while inspiring the local art scene. For the first time in the history of the prize, it has been curated by a guest curator, Anna Smolak."
20 shortlisted artists have been selected from more than 4,400 from 138 countries by an international Selection Committee. The Open Group from Ukraine were automatically nominated to the shortlist as winners of the PinchukArtCentre Prize 2015, a national contemporary art prize awarded to young Ukrainian artists up to the age of 35.
The shortlist of the Future Generation Art Prize 2017 includes: Njideka Akunyili Crosby, 33 (Nigeria / United States), Iván Argote, 32 (Colombia / France), Firelei Báez, 35 (Dominican Republic / United States), Dineo Seshee Bopape, 35 (South Africa), Phoebe Boswell, 34 (Kenya / United Kingdom), Vivian Caccuri, 30 (Brazil), Sol Calero, 34 (Venezuela / Germany), Asli Çavuşoğlu, 34 (Turkey), Vajiko Chachkhiani, 31 (Georgia / Germany), Carla Chaim, 33 (Brazil), Christian Falsnaes, 35 (Denmark / Germany), EJ Hill, 31 (United States), Andy Holden, 34 (United Kingdom), Li Ran, 30 (China), Ibrahim Mahama, 29 (Ghana), Rebecca Moss, 25 (United Kingdom), Sasha Pirogova, 29 (Russia), Kameelah Janan Rasheed, 31 (United States), Martine Syms, 28 (United States), Kemang Wa Lehulere, 32 (South Africa), Open Group (Ukraine).
The exhibition of the Future Generation Art Prize 2017 is curated by Anna Smolak.
The International Jury of the Future Generation Art Prize 2017:
Nicholas Baume, Director and Chief Curator, Public Art Fund, New York
Iwona Blazwick, Director, Whitechapel Art Gallery, London
Björn Geldhof, Artistic Director, PinchukArtCentre, Kyiv and YARAT, Baku
Mami Kataoka, Chief Curator, Mori Art Museum, Tokyo and Curator, 21st Biennale of Sydney 2018
Koyo Kouoh, Founding Artistic Director, Raw Material Company, Dakar
Jochen Volz, curator of the 32nd São Paulo Biennial and General director of Pinacoteca, São Paulo, Brazil
Jérôme Sans, Co-Founder, Palais de Tokyo Paris and Artistic Director, Perfect Crossovers, Paris-Beijing
The main prize will be awarded by an international jury in the amount of 100,000 USD, split between 60,000 USD in cash and 40,000 USD investment in the production of a new work. In addition 20,000 USD will be awarded to up to five Special Prize winners.
futuregenerationartprize.org
pinchukartcentre.org
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> > pollfds includes only fd0 and fd2.
> > But if task2 exits, the POLLHUP will appear on fd1 and fd3.
> on fd0 and fd2 mmaps, no?
but it still has to read task2..?
> buffer, we get fd A poll return as POLLRD, no?
> not just the ones mmaping, right?
> > I think Jiri's patchset changed pollfds to include all fds for that reason.


It's time almost time to welcome the Year of the Snake, a rather auspicious time in the Chinese astrological calendar. According to the Chinese zodiac experts, the snake is all about money.
The snake is already a very popular symbol, and a important theme in the East. It has hidden meanings, cultural significance as well as sophisticated style. The snake is meant to be a positive force, giving us good energy to face any challenges ahead of us.
So this blog is all about jewellery after all and we're sure you're looking for a little serpentine inspiration. Well look no further – snakeskin clothing, accessories, and prints are going to hit the highstreet. Have a look at our Year of the Snake collection.
Do you know much about Chinese astrology? What zodiac year were you born under?
Have a little fun today and find out what sign you were born under. Pop back and let us know.
We all love a deal..
Ok I've just tested – once you have your addresses in (step 2)… At the bottom on the right there should be a pink button (proceed to secure payment)… click that and then you should be good to go.