In 1996 Regurgitator released a song called "Kong Foo Sing". It starts with the line "Happiness is a Kong Foo Sing", in reference to a particular brand of fortune cookie. But one night last week at the OpenStack Summit, I couldn't help but think it would be better stated as "Happiness is a Hong Kong SIM", because I've apparently become thoroughly addicted to my data connection.
I was there with five other SUSE engineers who work on SUSE Cloud (our OpenStack offering); Ralf Haferkamp, Michal Jura, Dirk Müller, Vincent Untz and Bernhard Wiedemann. We also had SUSE crew manning a booth which had one of those skill tester machines filled with plush Geekos. I didn't manage to get one. Apparently my manual dexterity is less well developed than my hacking skills, because I did make ATC thanks to a handful of openSUSE-related commits to TripleO (apologies for the shameless self-aggrandizement, but this is my blog after all).
Given this was my first design summit, I thought it most sensible to first attend "Design Summit 101", to get a handle on the format. The summit as a whole is split into general sessions and design summit sessions, the former for everyone, the latter intended for developers to map out what needs to happen for the next release. There's also vendor booths in the main hall.
Roughly speaking, design sessions get a bunch of people together with a moderator/leader and an etherpad up on a projector, which anyone can edit. Then whatever the topic is, is hashed out over the next forty-odd minutes. It's actually a really good format. The sessions I was in, anyone who wanted to speak or had something to offer, was heard. Everyone was courteous, and very welcoming of input, and of newcomers. Actually, as I remarked on the last day towards the end of Joshua McKenty's "Culture, Code, Community and Conway" talk, everyone is terrifyingly happy. And this is not normal, but it's a good thing.
As I've been doing high availability and storage for the past several years, and have also spent time on SUSE porting and scalability work on Crowbar, I split my time largely between HA, storage and deployment sessions.
Stable Branch Support and Update Futures, about updating images made for TripleO.
An Evaluation of OpenStack Deployment Frameworks, where two guys from Symantec discussed the evaluation they'd done of Fuel, JuJu/MaaS, Crowbar, Foreman and Rackspace Private Cloud. In short, nothing was perfect, but Crowbar 1.6 performed the best (i.e. met their requirements better than any of the other solutions tested).
Roundtable: Deploying and Upgrading OpenStack.
OpenStack's Bare Metal Provisioning Service, wherein I attained a better understanding of Ironic.
It Not Just An Unicorn, Updating Our Public Cloud Platform from Folsom to Grizzly - how eNovance manage upgrades. Automate all the things and test, test, test. Binary updates are done by rsyncing prepared trees, but everything can be rolled back and forwards, because everything is in revision control. It sounds like they've done a very thorough job in their environment. I'm less sure this technique is applicable in a generic fashion.
The Road to Live Upgrades. Notably they want to add a live upgrade test as a commit gate.
Hardware Management Ramdisk. Lots of work to do here for Ironic to deploy ramdisks to do, e.g.: firmware updates, RAID configuration, etc.
Firmware Updates (followed right on from the previous session).
Compass – Yet Another OpenStack Deployment System, from Huawei, to be released as open source under the Apache 2.0 license "soon" (end of November). A layer on top of Chef, but with other configuration tools as pluggable modules. If you squint at it just right, I'd argue it's not dissimilar to Crowbar, at least from a high level.
Practical Lessons from Building a Highly Available OpenStack Private Cloud (Ceph for all storage, HA via four separate Pacemaker clusters. Notably the cluster running compute can scale out by just adding more nodes.
High Availability Update: Havana and Icehouse, wherein I attempted to look scary sitting the front row wearing my STONITH Deathmatch t-shirt. I hope Florian and Syed will forgive my butchering their talk by summarizing it as: If you're using MySQL, you want Galera. RabbitMQ still has consistency issues with mirrored queues and there can be only one Neutron L3 agent, so you need Pacemaker for those at least, so using Pacemaker to "HA all the things" is still an eminently reasonable approach (haproxy is great for load balancing, but no good if you have a service that's fundamentally active/passive). Use Ceph for all your storage.
Database Clusters as a Service in OpenStack: Integrated, Scalable, Highly Available and Secure. Focused on MySQL/MariaDB/Percona, Galera and variants thereof, which combinations are supported by Rackspace, HP Cloud and Amazon, and various deployment considerations (including replication across data centers).
Encrypted Block Storage: Technical Walkthrough. This looks pretty neat. Crypto is done on the compute host via dm-crypt, so everything is encrypted in the volume store and even over the wire going to and from the compute host. Still needs work (naturally), notably it currently uses a single static key. Later, it will use Barbican.
Swift Drive Workloads and Kinetic Open Storage. Sadly I had to skip out of this one early, but Seagate now have an interesting product which is a disk (and some enclosures) which present disks as key/value stores over ethernet, rather than as block devices. The idea here is you remove a whole lot of layers of the storage stack to try to get better performance.
Real World Usage of GlusterFS + OpenStack. Interesting history of the project, what the pieces are, and how they now provide an "all-in-one" storage solution for OpenStack.
libvirt_image_type=rbd option lets you directly boot all VMs from Ceph (at least if you're using KVM). Is it the perfect stack? "Almost" (glance images are still copied around more than they should be, but there's a patch for this floating around somewhere, also some snapshot integration work is still necessary).
Sheepdog: Yet Another All-In-One Storage for Openstack. So everyone is doing all-in-one storage for OpenStack now I haven't spent any time with Sheepdog in the past, so this was interesting. It apparently tries to have minimal assumptions about the underlying kernel and filesystem, yet supports thousands of nodes, is purportedly fast and small (<50MB memory footprint) and consists of only 35K lines of C code.
Ceph OpenStack Integration Unconference (gathering ideas to improve Ceph integration in OpenStack).
Around all this of course were many interesting discussions, meals and drinks with all sorts of people; my immediate colleagues, my some-time partners in crime, various long-time conference buddies and an assortment of delightful (and occasionally crazy) new acquaintances. If you've made it this far and haven't been to an OpenStack summit yet, try to get to Atlanta in six months or Paris in a year. I don't know yet whether or not I'll be there, but I can pretty much guarantee you'll still have a good time.
This entry was posted in Uncategorized and tagged openstack, opensuse by Tim. Bookmark the permalink.


Meet Leanne, the high school junior from Chapel Hill, North Carolina that took a terrible health condition and turned it into something positive. She noticed how awesome it felt to get a random gift from strangers while in the hospital, so she founded her own non-profit that helps kids in the hospital have better experiences. Read on to hear what she had to say.
DESCRIBE THE IDEA OR PROJECT YOU ARE WORKING ON.
Positive Impact for Kids strives to improve the hospital experience for pediatric patients throughout the United States. I help hospital staff meet the emotional, educational, and physical needs of their pediatric patients by providing them with items from hospital wish lists. Children feel very frightened when they are in an unfamiliar environment with no control over their bodies, hospital routines, and treatments.
Since founding my non-profit, I have raised over $98,000. I have helped 102 hospitals, one in every state. In addition, I have donated 134 iPads, over 1,800 gift cards, gaming systems, laptops, and many more items that have impacted more than 600,000 pediatric patients. iPads and laptops are invaluable versatile tools that are generally not budgeted for within hospital systems. These items are used for education on upcoming procedures, distraction from overall hospital environments, and socialization with friends and family back home. Each iPad affects between 365-20,000 children per year, depending on where it is utilized. For example, one child in an isolation room vs a procedure room where they insert 60 IVs per day.
I was born with Aortic Valve Stenosis, a heart condition narrowing my aortic valve. I used to be a nationally ranked jump roper, a competitive swimmer, and gymnast. At age 12, I was unexpectedly told by my cardiologist to immediately stop sports because exerting my heart was life-threatening. This drastic change in my life lead to extreme depression. I looked at the situation from many perspectives to find a possible positive outcome.
I decided to turn my defeatist situation into something beneficial. I remembered that one month prior, while in the hospital waiting for cardiac test results, a group of teenage volunteers handed me a gift. This random act of kindness provided me with an immediate sense of normalcy and support. Receiving a gift while I was in the hospital showed me that I was not alone in my battle and immediately inspired me to give back. I decided to utilize the time I could no longer spend playing sports to further this cause. I started researching the steps required to form a non-profit. On November 30th, 2011, I began Positive Impact for Kids. Forming my non-profit was a beneficial way to focus my time, energy, and desire to help others.
WHAT CHALLENGES HAVE YOU FACED SO FAR AND HOW HAVE YOU OVERCOME THEM? HOW CAN WE SUPPORT YOU IN THIS?
Personally, I battled increasingly severe cardiac symptoms that lead to my second heart surgery in February. Since this surgery, I have returned to the hospital numerous times for testing as a result of symptoms and ongoing medication adjustments. Despite my rigorous AP/honors courses and personal medical challenges, I dedicated over 600 hours to my non-profit last year.
I have met extraordinary youth philanthropists as a result of my non-profit. My involvement with the Jefferson Awards Foundation has provided me with unparalleled experiences. The goal of this program is to spread JAF campaigns within our local communities. This group of successful youth philanthropists collaborate to accomplish tasks for JAF and implement each others' service projects nationally.
I am always trying to raise awareness of my non-profit and I appreciate any marketing opportunities and donations.
WHAT ADVICE DO YOU HAVE FOR YOUNG GIRLS THAT WANT TO MAKE THEIR IDEAS HAPPEN?
I would tell younger girls that they are old enough to make an impact. I encourage younger girls to reach out to their support systems and communities for help turning their ideas into a reality.
I want to attend medical school to be a psychiatrist.
If you know a girl with a story like Leanne's, nominate her to be our next featured Idea Girl!
Meet an Idea Girl: Lexi P.
Newer PostDo You Know These Historical Female Leaders?


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Q: Have relative path in bash prompt Is it possible to have relative path w.r.t to a certain path(lets say /home/krg85/stackoverflow) as my bash prompt. ie If i am in a folder /home/krg85/stackoverflow/abc/cde, my prompt should be user@host abc/cde$ . I would also love to extend it so that if i am on a path /home/krg85/github, my prompt will be user@host /home/krg85/github$ instead of being user@host ../github$.

A: It sounds like you want:

PS1='\u@\h $(pwd | sed "s@^/home/krg85/stackoverflow/\?@@")\$ '

redpajama_set_name: RedPajamaStackExchange


Diamant 011-011-070 ladies Latin dance shoes made in Germany handcrafted with a two-part sewed toe cap. For the upper materials made out of black leather combined with black suede soft leathers of highest quality are used. The open toe sandal features a variable push-button system for fast opening and closing on a heel strap. This dance shoe is manufactured in width F (regular width) equipped with Diamant comfort footbed and a stable 1.6" (4.2 cm) Spanish heel with a larger heel area. As interior lining a breathable, antibacterial and moisture-absorbent microfiber from an Italian premium producer is used.
Diamant 011-011-070 ladies Latin dance shoes made in Germany handcrafted with a two-part sewed toe cap.


text:
A Bigger Splash Brings High-Fashion Glamour to the Big Screen
By Nathan Heller
Ralph Fiennes and Dakota Johnson play a father and daughter on vacation in A Bigger Splash.Photo: Courtesy of Fox Searchlight Pictures. © 2016 Twentieth Century Fox Film Corporation
Director Luca Guadagnino remakes La Piscine and turns a psychological thriller into spring's cult fashion film.
Six years ago, in I Am Love, Tilda Swinton brought a flash of sartorial lightning to the screen while devouring a large and luscious basted prawn. Playing the stylish head of a bourgeois Milanese household, she appeared in a fitted, vivid-red Jil Sander shift. The shrimp was cooked up by a younger man with whom she was about to fall in love. With John Adams's "Fearful Symmetries" throbbing in the background, Swinton's character sliced the prawn, let it pass between her lips, and gaped in pleasure as the lens drew close. It was the rare cinematic moment that's an instant classic, and it established Luca Guadagnino, the director, as an artist with not just a brazen creativity but a new eye for the way fashion can live on film.
Now we get another taste. Guadagnino's next feature, A Bigger Splash, appears in U.S. theaters this month. Loosely a remake of Jacques Deray's 1969 thriller La Piscine, it centers on four characters during a long, fraught holiday on Pantelleria, halfway between Italy and the North African coast. This time Swinton plays Marianne Lane, a rock star recovering from vocal surgery and trying to escape the world with her boyfriend (Matthias Schoenaerts), a filmmaker on the rebound from a crisis of his own. All at once their parched idyll is invaded by the manic Harry Hawkes (Ralph Fiennes), a fun-time Freddy and old flame from Marianne's wilder years, and his nubile teenage daughter (Dakota Johnson). Trouble comes to paradise. Where Deray's film was a story of couples driven by desire, Guadagnino's is more unsettling: a thriller about four people whose sins are to be caught in memory, tenderness, and time. As always with a Guadagnino film, some of the biggest unbilled stars are the clothes.
"When you have to paint, with a stroke of the brush, your characters, you start from the way they look," Guadagnino explains one afternoon, over a late lunch at the Mark Hotel in New York. (He lives in Crema, near Milan.) A Bigger Splash, like I Am Love, was costumed in collaboration with Raf Simons, and the movie is suffused with washed-out glamour. "In the beginning, we had a color palette and beautifully controlled costumes, but we decided to throw all of that away and have the pieces look like something thrown into a suitcase, which is really different from I Am Love," says Giulia Piersanti, Guadagnino's costume designer, who has her own knitwear line. "Luca has a strong aesthetic—he should add his own credit as a costume designer."
The clothes themselves were matched to the characters' often troubled inner states of mind. For Swinton's role, Piersanti and Guadagnino looked to Ingrid Bergman. "Even though she's on an island, she's purposely overdressed—she's still a big star," Piersanti says. Schoenaerts's character, on the other hand, sticks to a uniform of T-shirts and jeans: "He's trying to disappear in a way, and survive." Johnson's character was dressed with teenage insouciance, in clashing tops and bottoms and Lolita-like white shades; her father was made to appear scattered yet refined. For one sequence, they had Charvet, the empyrean French tailor, re-create a polka-dotted shirt once worn by Jean Giono—"because if you want to tell the story of that guy, he only wears, for sure, Charvet shirts," says Guadagnino. He believes that fashion's mandate—to shape a vision for the future by reaching into the past—shares a goal with the director's work.
_+++inset-left
Guadagnino
Photo: Brett Lloyd
La Piscine_ hardly struck Guadagnino when he first saw it, at fifteen—"I didn't like it," he says—and he agreed to do the remake only after realizing that the story could be used to explore a subtler tangle of identity. "There was something that fascinated me: How do you flesh out power between people, when the power that drives the relationship is nostalgia for one another—or running away from nostalgia?" he asks. "They get together. They stay by the pool. They start to be sharks circling. And after a long, simmering raising of tension, the actual action breaks the surface."
Polished but uncoiffed, with a trim midnight-hued sweater and a coarse gray-dusted beard, Guadagnino doesn't think of himself as an Italian director—his mother is Algerian, and he learned to walk and talk in Ethiopia, where his family lived for five years, before returning to Sicily—but he could pass for little else. He is a cinephile in mind and heart (he's only ever dated other directors) but is not a snob (he wrote his university thesis on Jonathan Demme and hails Batman Returns as a masterwork). As a young director, Guadagnino was an obsessive storyboarder, but as he started to gain confidence, he took a more improvisatory approach on set. "His ideas are mischievous," explains Dakota Johnson. "He wants to grab hold of the things that make people uncomfortable."
Guadagnino and Swinton have collaborated constantly since he cornered her at a consulate event during his university days, in Rome: He wanted to know why she hadn't answered an offer to star in his student film. "He had been standing patiently by my elbow for at least 20 minutes during a long conversation I was drawn into by an official person," Swinton says. "When I finally turned to speak to him, it was to a friend already made, a coconspirator." Since then, their rapport has deepened. "We have a broader vocabulary between us now—not merely the cinema we are both inspired by, but also the work we have made together," Swinton explains. "Luca conducts a film as he might a piece of music played by a widely spaced and wild-hearted orchestra. His eye for detail is everywhere."
Matthias Schoenaerts's and Tilda Swinton's characters escape to Pantelleria.Photo: Courtesy
of Fox Searchlight Pictures. © 2016 Twentieth Century Fox Film Corporation
"I am surprised every time I start shooting a movie with her," Guadagnino says of their long creative affair. Swinton joined A Bigger Splash quite late but reinvented her role when she did. "Marianne was to be an actress and pretty talkative," she explains. "It occurred to me that it might be interesting—in this claustrophobic atmosphere between these characters, where the struggle to communicate is paramount—if Marianne, positioned as a hinge between the others, could not speak. And if she were a musician whose voice had brought her and Harry together." Swinton adds, "There is something pagan about her state here, uncharted and capable of lawless instincts."
The title A Bigger Splash refers to the eponymous David Hockney painting, showing a splash welling out of a swimming pool but not the person who created it. The aftereffects of close bonds continue to fascinate Guadagnino, who in September will begin shooting his two-part remake of the 1977 Italian horror thriller Suspiria. (Guadagnino's version will be in English.) The film, for years a fashion favorite, has enthralled him since the age of ten. "I was walking with some friends. There was this closed cinema, empty. There were these old, fading posters that, from a distance, caught my eye. What was that?" Seeing the Suspiria ad, he says, was his "coming-of-age." "For me, it's not a remake," he says. "I'm having a very private conversation with myself."
Photo: © ScreenProd / Photononstop / Alamy
TopicsTilda SwintonDakota JohnsonActress

redpajama_set_name: RedPajamaCommonCrawl


2014-07-01 09:58:20 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-06-24 10:58:30 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-04-29 02:39:34 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-04-11 00:38:30 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-03-20 08:48:57 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-03-20 08:44:45 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-03-07 21:29:20 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-03-07 21:24:14 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2014-02-25 01:47:29 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2013-10-20 02:05:56 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
2013-10-20 02:05:38 junichi11 Old version of binary has verification and version is still verifable - removing it now. User will have to apply again.
No changes. Just rebuilt in NetBeans 8.2.
This plugin action is vaild only on project node.
Please submit that to github issues.
Not sure if this is the right place for this, but I'm wondering if it would be possible to give the 'vagrant provision' command an icon so that it can be assigned to a toolbar? I use that command quite a bit during manifest development and would love to have it on my toolbar.
Or, can anyone here easily show me how (or point me to instruction) to add an icon to that command?
Probably, the cause is file name, I'll fix it.
WORKAROUND: Please try to change your "Vagrantfile" name(in your case , VagrantFile) to "vagrantfile" or "Vagrantfile"
I installed VAGrant Plugin for netbeans. I had a VagrantFile which works well if I am running from git bash shell. (It is not working from the command prompt).
When I browse that script in the options tab, I am getting not vgrant script error. I also tried the default Vagrant file in the bin directory of Vagrant installation. It also failed.
I had 1.3 version of Vagrant. I tried updating the Vagrant version (1.5.1) - still with no luck.


The Texas horse racing industry lost one of its greatest allies and champions when Texas Horse Racing Hall of Fame Executive Director Jo Ann Weber lost her valiant battle with cancer around 5:45 p.m. on Monday, November 22, 2004. Jo Ann was an energetic 70 years young.
Weber was widely known and loved for her tireless work on behalf of the Texas horse racing industry over the last several decades, and her formidable fundraising and event planning skills will be missed almost as much as she will be by the many people whose lives she touched.
Jo Ann was the perfect executive director for the Texas Horse Racing Hall of Fame. She felt very passionate about preserving the legacy of the Texas horse racing industry and its participants. She was actively involved in the induction process, as well as the planning of the permanent museum and the annual gala.
Prior to becoming executive director of the Texas Horse Racing Hall of Fame and Museum, Jo Ann was the manager of the Turf and Field Club at Retama Park in Selma. She had an incredible talent for meeting and greeting people and then turning them into life-long friends. Before her work at Retama Park, Jo Ann worked for the Texas Thoroughbred Association and was highly successful at recruiting new members and organizing events for the association.
Jo Ann's vibrant spirit was an inspiration to those who worked with her.
Jo Ann was preceded in death by her husband, Buddy Weber. She is survived by her son, Fred Weber of Lockhart, his wife Shelly, and their daughter. In typical Jo Ann fashion, she planned many of her final arrangements before she passed away. According to her wishes, she will be cremated and there will be memorial service at 2:00 p.m. on Tuesday, November 30 at the First United Methodist Church, 313 West San Antonio Street, Lockhart, Texas 78644, (512) 398-3232.
The family has requested charitable contributions in lieu of flowers. JoAnn's preferred charities include the Susan G. Komen Breast Cancer Foundation and the First United Methodist Church in Luling, Texas.


text:
Chino Sing (born Ariel Sing Gómez; March 19, 1985) is a Dominican musician. Best known as the lead vocalist and contributing songwriter of extinct Dominican rock act TKR. He has also participated in side-projects like El Pueblo and others.

Chino is well known for his soothing jazzy vocals, rich poetry and reggae/caribbean rhythm fusion. He is considered one of the most important and influencing young artists in the Dominican scene. He was nominated at a very early age to the maximum arts Award of Dominican Republic, the Cassandra Awards for arts and music in 2007. He is also a well respected politics/activism figure amongst the youth, working with different environmental and humanitarian causes, using his music to spread the positive messages and protest.

His works include several album releases, international presentations and collaborations with respected artists of Latin music.
Currently works in his new album as a solo artist, along with other projects to be launched in 2014.

Album Releases
TKR 2002 - The Kidnapped Rodents
TKR 2005 - Inertia (Nominated to the Cassandra Awards, #1 singles on local/Latin charts)
TKR 2007 - Lienzo (#1 singles on local/Latin charts)
El Pueblo 2009 - The NY Sessions EP
El Pueblo 2010 - ISLA
MIXTAPE 2010 - Various single Releases
Chino Sing 2013 - Me Voy
 Homenaje al Terror Luis Dias 2014 ft. Hugo Molina

Projects
TKR 2002-2007 ()
El Pueblo 2008-2010 ()
Chino Sing 2013 ()

Collaborations
Mr. Clicka ft. Chino Sing - De eso se trata el show (2008)
El Pueblo ft. Chino Sing - Miel de abeja (2009)
El Pueblo ft. Chino Sing - The NY Sessions EP (2009) EP Album
Gnómico ft. Chino Sing - Flores Azules (2010)
Gnómico ft. Chino Sing - 4% (2011)
Lugo Santiago ft. Chino Sing - Ta' de To' (2012)
Lo Correcto ft. Chino Sing - Tienes lo que quiero (2013)
Acentoh ft. Chino Sing - Coro Chillin' (2013)

Activism
Sing is known for assuming positions on environmental and conservation issues as well as humanitarian causes.
He has used music and art to influence the youths into taking action for the benefit of poor communities, true reality of third world countries.
Has served as a voluntary for humanitarian aid in Haiti and Dominican Republic, engaging his fans into joining forces and working in these important matters.

References

 Dominican Rock, Wikipedia
 uepa.com
 anivelde.com
 lacasetera.com

Dominican rock

1985 births
21st-century Dominican Republic male singers
Dominican Republic songwriters
Living people

redpajama_set_name: RedPajamaWikipedia


text:
Dark-Mode Plasmonic Nanorod Cavity — •Johannes Kern, Swen Großmann, Jer-Shing Huang, Paolo Biagioni, and Bert Hecht — Experimental Physics 5, University of Würzburg, Germany
We report ultra-small nanoplasmonic cavities consisting of a self-assembled, side-by-side aligned gold nanorod dimer. The rods are 50-70 nm long and are separated by a 3 nm gap. The structure corresponds to a finite piece of a two-wire transmission line with two highly reflective open ends which supports a quasi-TE fundamental mode which propagates along the transmission line. Reflection at the end caps leads to length-dependent Eigenmodes, whose energies are determined by the cavity length and the phaseshift introduced upon reflection. Unlike the dipolar longitudinal and transverse plasmon resonances that are also supported by the structure, the fundamental cavity mode is a dark quadrupol mode.
Nevertheless the cavity mode is experimentally accessible by excitation of electron-hole pairs in the gold bandstructure, which act as local dipole sources. The ultra-small mode volume and comparatively high Q-factor leads to a high selectivity of the cavity and the electron-hole pairs preferentially decay into the cavity resonance. Therefore luminescence spectra of the cavities clearly show the peak of the cavity mode. The wavelength of the cavity mode depends on the cavity length and lies in the VIS region, consistent with FDTD simulations and analytical modeling.
The ultra-small mode volume and high Q-factor make our cavities promising candidates to study lasing and/or strong coupling effects.


text:
Category: Diego Costa
Diego Costa parties in his hometown wearing an Atletico Madrid shirt
Diego Costa is making the most of his extended summer break in his hometown in Brazil — by enjoying a street party in an Atletico Madrid shirt.
The 28-year-old has made it clear that he wants to return to his former club this summer after Antonio Conte informed him via text message that he was not wanted at Stamford Bridge next season, and he has been excused from joining the rest of the Chelsea squad on a preseason trip to China and Singapore.
While his Blues teammates are navigating a gruelling schedule of double training sessions at Cobham, Costa has remained in Lagarto — the small town where he was born and raised and where he is adored as a hero — keeping fans updated on his activities with regular videos on his Instagram account.
Lengthy footage posted on Sunday showed Costa filming a street party featuring a live band, attempting to play the drums and mingling with fellow revellers (several of whom are wearing Atletico shirts with his name on the back) before donning one himself and posing for the camera.
Earlier in the video, Costa engaged in a public text exchange with Chelsea teammate Cesc Fabregas in which he posted, "Dale un abrazo a conte," which translates to "give Conte a hug."
It doesn't seem as though Costa holds any grudges towards his head coach for that infamous text message earlier this summer, but it's now a question of when rather than if he returns to his beloved Atletico.
Author bceusPosted on July 17, 2017 October 28, 2019 Categories Diego Costa, Football, Soccer


text:
\section{Introduction}\label{Sec:Introduction}
\IEEEPARstart{C}YBER PHYSICAL SYSTEMS (CPS) are ubiquitous in modern industries~\cite{4519604}. As a typical application, many control actions are performed over CPS where the controller, the sensor and the plant are connected through high speed Ethernet or field bus. The resulting networked control systems can be flexibly designed based on time-driven or event-driven feedback, and the communication data, if necessary, can be stored and processed in the cloud~\cite{Kogiso2015,510638}. However, accompanied with the benefit is the high risk of cyber-security, because data protection is fragile or even absent in many traditional industrial control networks~\cite{Ding2017A}. Data transmission in such networks can be easily wiretapped or adversely changed by cyber attacks whose threat can be much severer than physical attacks~\cite{Kundur2011Towards}.

The cyber-security of NCS has drawn intense attention in the literature~\cite{Teixeira2010Networked}. According to the manner of attacks, cyber-attacks can be classified into denial-of-service (DoS) attack, replay attack, and deception attack. Various attack detection methods have been proposed ~\cite{Ding2017A}, such as Bayesian detection with binary hypothesis by testing with prior probabilities~\cite{Kailkhura2015Distributed} and weighted least square approaches by comparing the data of observer with a predetermined threshold~\cite{Deng2017Defending}. From a control theoretical point of view, the detection of cyber-attacks can be modeled and analyzed in terms of stability or  detectability problems~\cite{Shames2015A} and filtering methods can be applied to improve the performance of NCS\cite{WANG20162451}.

Comparing with control theoretic cyber-protection methods, strong data encryption is more straightforward and effective. Although data encryption is often restricted by limited (or sometimes unavailable) computation and communication resources, it is inevitable in critical infrastructures such as nuclear power plants where security is of the highest priority. Generally speaking, any encryption method involves an encryption algorithm for processing data and keys that are held by the users. The strength of data encryption, symmetric or asymmetric, is determined by the security of keys. However, because the keys cannot be frequently updated under most circumstances, almost all encryption methods used so far have to be strengthened by high algorithmic complexity (e.g., AES, DES, IDEA, RC2, RSA)~\cite{Mathur2015Solving}. Such algorithms either use long keys to form large-size cipher blocks, which increase the burden of communication, or use short keys to form small-size cipher blocks, which releases the communication burden but increases the complexity of computation~\cite{Mohd2015A,Deng2017A}.

One can certainly develop new encryption algorithms with higher complexity, but they are still under risk with more powerful computing technologies, not to mention the increased communication and computation burden. Especially, many currently used encryption algorithms (e.g., RSA) can be easily cracked by a quantum computer that is expected to be realizable in foreseeable future~\cite{Bernstein2017Post}. Under this circumstance, one may have to resort to one-time pad (OTP, i.e., each key is used only once) because of its provable absolute security that does not rely on the mathematical complexity of decryption algorithms \cite{MR0032133,Schneier1997Applied}. However, OTP is usually impossible over classical networks because the distribution of the unlimited amount of random keys between communication parties poses an equally difficult problem as the secure data transmission.

Nevertheless, the obstacle that hinders the application of OTP can be overcome by the emerging technology of quantum key distribution (QKD)~\cite{Bennett1984}. In the most well-known BB84 protocol, random keys can be continuously generated and shared between communication parties using single photons (i.e., a socalled quantum channel). In terms of Shannon's~\cite{MR0032133} definition on perfect secrecy, it can be proved that BB84 is absolutely secure~\cite{476316,Shor2000Simple,Scarani2008Quantum,Benor2005The}. Moreover, a remarkable advantage of QKD is that malicious attacks on the quantum channel can be detected because of quantum no-cloning property~\cite{119991887739}.

After two decades' intense research and development, QKD system has become commercially available. Demonstrated applications have appeared in financial and government fields~\cite{Kollmitzer2010Applied} in which security is highly demanded. To the authors' knowledge, no applications have been reported in networked control of cyber-physical systems where security is also critical. Despite of the potential high cost that can be gradually reduced in the future, QKD can bring at least three benefits when being applied to CPS:
\begin{enumerate}
\item The privacy security of data transmission can be essentially enhanced to an unbreakable level that is impossible with any classical communication system.
\item Cyber attacks can be more easily detected based on OTP that is enabled by QKD, because any adverse operation on the cipher texts will cause uncontrollable changes that can be discovered when being decrypted with synchronized encryption keys.
\item Guaranteed by strongly secure keys, it is in principle unnecessary to use complex encryption algorithms to secure the data transmission. Without sacrificing the security, simpler algorithms can be used to reduce the burden of computation and communication, and hence improve the control performance.
\end{enumerate}

This paper will demonstrate the above benefits based on our proposed integrated system structure for the QKD-based NCS. To evaluate the influence of QKD to security, network throughput and NCS control performance, we present measures for quantifying the improved trade-off, then the control performance can be greatly improved without sacrificing security. In addition to the system design and performance analysis, we also develop a novel encryption algorithm that pertains to the data transmission in NCS, which saves the amount of secret keys and further improves the security level.

The remainder of this paper is as follows. In Section \ref{Sec:Structure}, we design a practical NCS based on network communication and QKD. In Section \ref{Sec:Analysis}, we introduce the basic confidential security issues, study the factors that influence security and give a definition of security for networked control systems. In Section \ref{Sec:NCS-Delay}, we analyze the induced time delay caused by network, which will further influence the performance of NCS. In Section \ref{Sec:Tradeoff}, we study the performance of NCS using different encryption algorithms and the tradeoff between security and performance. In Section \ref{Sec:Raw}, we propose a new filtering based security strategy directly encrypting with the raw quantum keys that contain error bits,  then the quantum keys can be used more efficiently. Finally, in Section \ref{Sec:Conclusion}, conclusions are made.

\section{QKD Secured Networked Control Systems}\label{Sec:Structure}
In this section, we will introduce the control and communication structure of a networked control system equipped with a QKD device. The key generation methods and relevant encryption algorithms will be introduced as well.

\subsection{Structure of Networked Control Systems} \label{Sec:SubStructure}
Consider a point-to-point NCS in which the plant is remotely controlled by a controller. For illustration, we use a mechanical servo as the example of plant. Any other dynamical control plants can be applied to the system introduced in the following. As illustrated in Fig.\ref{fig:topology}, the mechanical servo, Bob, is remotely controlled by Alice, a proportional-integral (PI) controller associated with another IP. Alice receives and decrypts the position data of the servo that is encrypted by Bob and sends back encrypted real-time control commands to Bob. The data transmission between Alice and Bob is based on communication protocol such as TCP/IP, UDP, etc.

\begin{figure}[h]
	\centering
	\includegraphics[width=1\columnwidth]{NCSframeNew.pdf}
	\caption{Schematic diagram of a QKD based networked control system.}
	\label{fig:topology}
\end{figure}

To secure the data transmission, a QKD system is integrated into the network. It operates independently with the NCS, and supplies secret keys for the above data encryption and decryption of position data and control commands. The terminologies involved in this process are summarized in Table \ref{tab:notation}.

\begin{table}[htbp]
\centering
 \caption{Table of Terminologies}
 \begin{tabular}{  c  |  c}
  \toprule
$K_{i}$ & the $i$-th key used for encryption and decryption\\
$T_{K_{i}}$ & the encryption matrix of the key $K_{i}$\\
$T^{-1}_{K_{i}}$ & the decryption matrix of the key $K_{i}$\\
$u(t)$ &  the plain text of the control command sent from Alice\\
$u'(t)$ & the cipher text of the control command received by Bob\\
$y(t)$ &  the plain text of the position sent from Bob\\
$y'(t)$ & the cipher text of the position received by Alice\\
$\tau_{1}$ & the one-way delay from Bob to Alice\\
$\tau_{2}$ & the one-way delay from Alice to Bob\\
$r(t)$ & the reference signal\\
$e(t)$ & the error signal \\
  \bottomrule
 \end{tabular}
\label{tab:notation}
\end{table}

In detail, Alice generates the control signal according to the error signal $e(t)$ as
\begin{equation}
e(t)=r(t)-y(t-\tau_{1}),
\end{equation}
where $r(t)$ is the reference signal and $y(t-\tau_{1})$ is the position signal of the servo sent from Bob after a time delay $\tau_{1}$. Assume that Alice adopts a PI controller, the generated control command is
\begin{equation}  \label{con:controlU}
u(t)=K_{P}e(t)+K_{I}\int_{0}^{t}e(t)dt,
\end{equation}
where $K_P$ and $K_I$ are the parameters of the controller.

Then, Alice encrypts the control command $u(t)$ with the key $K_{i}$, which produces the cipher text
\begin{equation}
u'(t)=T_{K_{i}}u(t),
\end{equation}
where $T_{K_{i}}$ represents the transformation posed by the encryption algorithm using the key $K_i$. The cipher text $u'(t)$ is then sent to Bob, which, after another time delay $\tau_{2}$, arrives and is decrypted using the key $K_i'$ as follows
\begin{equation}
u(t+\tau_{2})=T^{-1}_{K_{i}'}u'(t).
\end{equation}
Note that in symmetric encryption schemes, the keys $K_i$ and $K_i'$ are supposed to be identical. However, errors can occur during the distribution of keys between Alice and Bob (see Sec.~\ref{SubSec:BB84}), i.e.,
\begin{equation}
K_i'=K_i+\Delta_i,
\end{equation}
where $\Delta_i$ represents the difference between keys.

In practical networked control systems, the real-time performance is largely determined by the communication latencies of closed control loop. As is shown in Fig.~\ref{fig:delay}, the time delay includes software, hardware and network delays. So that the servo can only receive a command made according to its previous status which will deteriorate the performance.
\begin{figure}[h]
	\centering
	\includegraphics[width=1\columnwidth]{delay3.pdf}
	\caption{The time delays in a typical sampling control period of NCS.}
	\label{fig:delay}
\end{figure}

The closed-loop control period of the NCS is defined as the round-trip time delay, which is usually random. Consider the control process in the $i$th control period, we summarize the following generalized state-space model for the encrypted dynamics of the networked control system:

 \begin{equation}  \label{con:controlmodel}
\left\{
\begin{aligned}
&x_{i}=Ax_{i-1}+Bu_{i-1},\\
&\bar{y}_{i}=Cx_{i},\\
&u_{i}=T^{-1}_{k_{i}+\Delta_{i}}T_{k_{i}}\bar{u}_{i},\\
&y_{i}=T^{-1}_{k'_i+\Delta'_i}T_{k'_i}\bar{y}_{i},\\
&\bar{u}_{i}=F\cdot(r_{i}-y_{i}),\\
\end{aligned}
\right.
\end{equation}
where $x_{i}$ is the state vector, $\bar{u}_i$ and $\bar{y}_i$ are the original control and output of the plant, $u_i$ and $y_i$ are transmitted control and output after encryption and decryption, and $r_i$ is the reference signal. The first three equations represents the standard linear dynamics and measurement of the plant, in which the control command $u_{i-1}$ is received by the plant after encryption with key $k_{i}$ and decryption with key $k_{i}+\Delta_{i}$, where $\Delta_{i}$ represents potential errors in the key. The fourth equation describes the process that the measurement data $y_i$ is encrypted (using key $k'_i$) by Bob and decrypted by Alice (using key $k'_i+\Delta'_i$ with possible error $\Delta'_i$). The received data is then processed by the feedback matrix $F$ to produce the next control command.

\subsection{Generation of symmetric secret keys with QKD}\label{SubSec:BB84}
The function of QKD is to safely and continuously generate symmetric keys between Alice and Bob. In this paper, we will use the BB84 protocol, which is the earliest and also the most broadly used protocol in practical systems.

The major difference of QKD from its classical counterpart is that the secrecy of generated keys is physically guaranteed by quantum mechanics. In detail, the protocol can be divided into the following parts.
\subsubsection{Key Sifting}
Alice prepares and sends a bit encoded by single photons that are randomly polarized along two sets of bases, each of which having two orthogonal directions. Bob receives a bit after measuring the received photon along one of the two bases he randomly chooses. According to quantum mechanics, the measurement outcome is deterministic if and only if it is performed along the right basis, otherwise the outcome is random. Therefore, Alice and Bob can tell each other through classical communication which basis they choose instead of the bits themselves, and keep those bits that are sent and measured under the same basis. These bits are thus symmetrically distributed between Alice and Bob, forming the set of raw keys for encryption and decryption.

\subsubsection{Error correction}
Because the raw keys may contain errors due to the imperfection of single photon detector or losses during the transmission, a Cascade protocol is used to locate the wrong keys by comparing the check bit and halving the key strings. This process is continued until the exact positions of wrong bits are found, which will be corrected or discarded.

\subsubsection{Privacy amplification}
To avoid the information leakage in the classical communication for basis exchange and error correction, a privacy amplification protocol is applied using a Hash function, which guarantees the absolute security of the final key in an asymptotic manner. As a price, the capacity of keys will be further reduced during this process.

\subsection{Encryption Algorithms}

The security of a cryptographic system is essentially determined by that of secret keys. Ideally, the data transmission is absolutely secure if every key is used only once (i.e., one-time pad). However, because it is usually impossible to distribute unlimited number of keys over classical communication networks, one has to enhance the security by strong encryption algorithms.

We will briefly introduce some widely used symmetric encryption algorithms. These algorithms all belong to the category of block cipher, which divides the plain text into identical-size blocks~\cite{Tang2010Research}. These blocks are processed to generate the cipher text via a series of basic operations (e.g., ByteSub, ShiftRow, MixColumn and RoundKeyAddition, see details in~\cite{10.1007/978-3-540-39887-5_19}) using a secret key.

\subsubsection{XOR} the simplest method for encryption, which is performed by bit-by-bit XOR operation on the plain text and keys, namely the RoundKeyAddition.

\subsubsection{DES (Data Encryption Standard)} the algorithm based on rounds of Feistel operations. The standard DES consists of 16 Feistel units, each of which halves the $i$-th round text into $L_{i}$ and $R_{i}$, and updates them as:
\begin{equation}   \label{con:DES}
L_{i+1}=R_{i}, \quad
R_{i+1}=L_{i}\oplus F(R_{i},K_{i+1}),
\end{equation}
where $K_i$ is the sub-key used in this round and $F(R_{i-1},K_{i})$ is the result of last Feistel round.
The sub-keys used in each round is generated by the ByteSub operation from the original key, and a simple MixColumn is used during the exchange of left and right halves according to (\ref{con:DES}). DES is actually an extension of XOR, but the security is much higher owing to the complicated bit position operation.

\subsubsection{AES (Advanced Encryption Standard)} the algorithm based on rounds of operations that uses the Substitution-Permutation Network (SPN) to generate round keys. The text is processed by cycling bit operations in each round. AES is much more complex than DES because of the increased key length as well as more complex round function (See Tab.~\ref{tab:AlgorithmComparision}). Presently, AES(128) with 128-bit key and 10 SPN rounds, AES(192) with 192-bit key and 12 SPN rounds, and AES(256) with 256-bit key and 14 SPN rounds, are most popular.

\subsection{Advantages of QKD-Based NCS}
Before expanding our studies, we make some remarks on how QKD may improve the security against cyber attacks by enabling the OTP.

\subsubsection{DoS attack} in such attack, Eve blocks the transmission of cipher texts by maliciously overloading the communication of network. Although none of plain texts are cracked, the communication can be interrupted between the actuator and the controller and thus deteriorate the performance. Note that the DoS or the dropout can be detected with TCP/IP protocol by handshaking, but they may not be efficiently detectable with other protocols such as UDP.

When one-time pad and QKD are applied, it is easy to detect the occurence of DoS no matter which network communication protocol is used. This is because every data block Bob receives must be decrypted with the same key for encryption. Let $\mathcal{E}$ be the set of
admissible plain texts (e.g., the range of control commands or sampled measurement data). If some blocks are missing during the transmission, and Bob uses the key that is supposed to be used on the missing block to decrypt some other blocks he receives later, he cannot get a meaningful message because the key does not match, namely $T^{-1}_{K_i}(T_{K_{i+j}} u_{i+j})\notin\mathcal{E}$, where $K_{i}$ and $K_{i+j}$ are the desynchronized keys used for decryption and encryption due to DoS attack. In this way, DoS can be detected.

\subsubsection{Replay attack} in such attack, Eve replaces the transmitted messages from Alice to Bob with some previously recorded ones, in order to deceive Bob by the old messages that are still meaningful to him. When the messages are encrypted, the deception can be successful if the key is not changed, which is often the case in classical networks. However, it will not work when every key is used only once (i.e., one-time pad) because the replayed cipher text will not be decrypted by the right key that is only shared between Alice and Bob. Thus, when Eve performs the replay attack, Bob will not obtain a meaningful plain text as $T^{-1}_{K_{i+j} }(T_{K_{i}} u_{i})\notin\mathcal{E}$, where $K_{i}$ and $K_{i+j}$ are the desynchronized keys used for encryption and decryption due to the replay attack, and this can be used to detect the occurrence of the attack.

\subsubsection{Deception attack} in such attack, Eve injects malicious data in the communication to deteriorate the performance of NCS, e.g., by changing several bits of the cipher text. Similar to the case of replay attack, the injected data will not be able to convey a meaningful and spurious message if the cipher text is changed before decrypted by Bob as  $T^{-1}_{K_{i}}(T_{K_{i}} u_{i}+\Delta)\notin\mathcal{E}$, where $\Delta$ represents Eve's modification on the cipher text. Therefore, the deception attack can also be easily detected from the resulting messy code when OTP is enabled by QKD. One can also determine whether the attack is a replay attack or a deception attack by checking the repetition of the cipher texts.

\section{Security Measure of QKD-based networked control systems}\label{Sec:Analysis}

For the purpose of control systems analysis and design, a quantitative evaluation of the overall cyber-security is necessary. Generally speaking, the security of networked control systems is determined by the security of keys (i.e., how the keys are generated and distributed), the security of key management (i.e., how frequently every key is reused) and the security of the encryption algorithm (i.e., how hard the algorithm can be cracked).

Regarding these factors, we firstly define the security $S_A$ of an encryption algorithm. Suppose that the length of the key is $N$ and $R$ is number of rounds performed in the algorithm. We define the security strength of the encryption algorithm as follows (see the derivation in Appendix A):
\begin{equation}   \label{con:SA}
S_{A}=\eta R\log_{2}N,
\end{equation}
where $\eta$ represents the complexity of each round operation (e.g., the Feistel of DES or the SPN of AES). In Table \ref{tab:algorithm}, the security strength of several encryption algorithms are calculated according to the measure (\ref{con:SA}). Because AES(256) is recognized as the currently strongest symmetric encryption algorithm, we normalize the measure by that of AES(256).
\begin{table}[htbp]
\centering
 \caption{Security measure of various encryption algorithms}
 \begin{tabular}{  c  c  c  c  c }
  \toprule
  Algorithm & $\eta$ & $R$ &$\log_{2}N$ & $S_{A}$\\
  \midrule
 XOR & 0.0625 & 1 & 3 & 0.0017\\
 n-Feistel & 0.2083 & $n$ & 6 & 0.0112n\\
 DES & 0.2083 & 16 & 6 & 0.1785\\
 AES(128) &1 & 10 & 7 & 0.6250\\
 AES(192) &1 & 12 & 7.58 & 0.8121\\
 AES(256) &1 & 14 & 8 & 1\\
  \bottomrule
 \end{tabular}
\label{tab:algorithm}
\end{table}

Based on $S_A$, the overall security of the QKD-based NCS is quantified as follows:
\begin{equation}  \label{con:securitydefinition}
S=1-\varepsilon r (1-S_{A}),
\end{equation}
where $r$ is the average times ($r=1$ for OTP and otherwise $r>1$) for the keys to be reused before being discarded, and $\varepsilon$ represents the insecurity of the keys generated by QKD after privacy amplification. The insecuriy parameter $\varepsilon$ can be arbitrarily small under properly designed QKD protocol.

Equation (\ref{con:securitydefinition}) shows that the security can be arbitrarily strong when the keys are sufficiently safe, under which circumstance the strength of encryption algorithms is not as important as before.

\section{Round-trip Delay of QKD-Based networked control}\label{Sec:NCS-Delay}

The real-time performance of practical networked control systems can be seriously deteriorated or even destabilized by the time delay of the closed loop control over the communication network. In this section, we analyze and quantify this effect, especially how it is affected by data encryption and decryption processes.

The end-to-end (one-way) delay can be decomposed into four types of delays: \emph{software delay} for the generation of the control command, \emph{encryption-decryption delay}, \emph{network delay} for data transmission and \emph{hardware delay} caused by the plant and other devices in the system. Among these elements, the encryption-decryption delay is dependent with the complexity of the adopted algorithm, the transmission delay varies according to the communication load as well as available bandwidth, and the other delays are relatively short and fixed during the control process.

We are mainly concerned with the time delay caused by data encryption and decryption, which is controllable by the choice of algorithms. Highly complicated encryption algorithms may increase the time for computation, but such difference can be minor under powerful computational hardware. The more important factor is the size of the cipher text blocks that directly influences the communication load of network. Therefore, the time delay caused by encryption-decryption is essentially determined by the length of the key that is proportional to the size of the cipher text blocks. For example, AES(256), one of the most secure algorithms, uses 256-bit keys.

In the QKD-based NCS, keys are important resources. To guarantee that there are always sufficient secure keys for one-time pad encryption, the consumption rate of keys by NCS must be lower than the generation rate of keys by QKD. Complex encryption algorithms usually generate long cipher texts using long keys. Consequently, more communication is needed for generating such keys in BB84, which induces larger time delays. This factor is important in the tradeoff between security and performance.

Let $N$ be the length of cipher text and $l_{EC}$ be the number of bits that must be exchanged for error correction. In the Cascade protocol of BB84, $l_{EC}$ varies with $N$ and quantum bit error rate (QBER) $e$. Practically, QBER is evaluated by checking some bits of raw keys at the beginning, and it asks the QBER must be less than $11\%$~\cite{Shor2000Simple}. Then the keys are rearranged and divided into identical-size blocks so that there is only one error bit in each block. Let $l_{0}$ be the length of block, which is required to be no less than $[\frac{1}{e}]$.
Alice and Bob then independently calculate the check bit of keys and compare the results with each other. During the halving process of error correction in Cascade, a total number of $\log_{2}l_{0}$ bits are transferred for each single block~\cite{Schneier1997Applied}. While the process of privacy amplification will decrease the capacity of keys from $n$ to $m$, so the total number bits transferred for error correction is:
\begin{equation}
l_{EC}=\left[\frac{nN}{ml_{0}}\right] \log_{2}l_{0}.
\end{equation}

So the total number of bits exchanged between Alice and Bob is:
\begin{equation}  \label{con:loadL}
l=N+l_{EC}=N+\left[\frac{nN}{ml_{0}}\right] \log_{2}l_{0}.
\end{equation}

Take QBER $e=10\%$ as an example, $l_{0}$ is $[\frac{1}{0.1}]=10$. Assume $\frac{m}{n}=0.2$, it can be calculated from (\ref{con:loadL}) that $l=21.29$ for XOR, $l=170.30 $ for DES, and $l=681.21$ for AES(256).
It can be seen that $l$ increases when using more complex encryption algorithms.

\begin{figure}[h]
	\centering

    \includegraphics[width=1\columnwidth]{delayXORVSAES-eps-converted-to.pdf}
	\caption{The round-trip delay of NCS encrypted by XOR and AES.}
	\label{fig:SampleDelay}
\end{figure}

To demonstrate how the NCS time delays depend on the complexity of encryption algorithms, we build an experimental networked control servo system and test the XOR and AES algorithms. The round-trip delay is measured by checking the arrival time of two adjacent measurement signals $y(t)$ at Alice's part. As is shown shown in Fig.\ref{fig:SampleDelay}, the experimental round-trip delay increase when the communication load of network starts to be heavier form the 35th control period and the time delay with more complex encryption algorithms (i.e., AES) tend to be longer. The difference is not visible when the communication is not busy at the beginning, but as the experiment goes, complex algorithms collect more data (i.e., cipher text) and consumed more keys. As a result the performance of NCS is degraded.

The round-trip delay of NCS during each control period is highly influenced by the complexity of encryption algorithms, which, according to~\cite{8216956,Misra:2000:FAN:347057.347421}, can be calculated as follows:
\begin{equation}  \label{con:loadtao}
\begin{aligned}
\tau &=T_{0}+\frac{2l}{C}+\Delta\tau\\
&=T_{0}+2C^{-1}\left(N+\left[\frac{nN}{ml_{0}}\right] \log_{2}l_{0}\right)+\Delta\tau,\\
\end{aligned}
\end{equation}
where $T_{0}$ is the total time delay without data encryption-decryption and $l/C$ describes the queueing delay. In our networked control system, both the command and realtime position are transmitted through ethernet, then the queueing delay should be doubled. $\Delta\tau$ is the small variable delay caused by hardware, which is much smaller than the delay caused by communication.

The parameters $T_{0}$ and $C$ in (\ref{con:loadtao}) can be identified from the results of the above encrypted NCS experiments using XOR, DES and AES algorithms, which turns out to be: $T_{0}=0.055s$, $C=18000s^{-1}$.

The following theoretical analysis on the tradeoff between the security and the performance will be based on this identified model.

\section{Tradeoff Between Security and Performance}\label{Sec:Tradeoff}
The security of QKD-based NCS is determined by the QKD, the algorithm complexity and the one-time pad. According to (\ref{con:securitydefinition}), the compound security can be high even with simple encryption algorithms, so that the length of cipher text can be reduced, which will greatly release the communication burden. As a consequence, the induced time delay caused by classical communication will be reduced as well. In this section, we show how the performance is preserved by simple encryption algorithms without sacrificing too much security.
\subsection{Performance of NCS Encrypted with Different Algorithms}
We evaluate the performance by following the mean square error as:
\begin{equation}
P=\int_{0}^{\infty}e^{2}(t)dt.
\end{equation}

Secured by QKD, we test the performance under simple and complex encryption algorithms, including XOR, DES and AES. Due to the time delay (\ref{con:loadtao}) induced by the data transmission, the performance with these algorithms are more or less deteriorated, as shown in Fig.\ref{fig:performance}. Both the overshoots and the resetting time increase, in which XOR has the best performance and AES(256) has the worst performance.
\begin{figure}[h]
	\centering

    \includegraphics[width=1\columnwidth]{Performace4-21-eps-converted-to.pdf}
	\caption{Performance of NCS encrypted with different algorithms.}
	\label{fig:performance}
\end{figure}

As illustrated above, the communication required for QKD increases the time delay and thereby influences the performance. While the time delay caused by encryption and decryption is usually fixed and negligible because the hardware computing power is usually sufficiently high, so the performance is mainly influenced by the induced time delay caused by communication.

\subsection{The Tradeoff between Security and Performance}

When QKD is used in the NCS, the overall security can be arbitrarily high according to (\ref{con:securitydefinition}) when $\varepsilon$ is sufficiently small. The security parameter is almost independent with the algorithm complexity $S_{A}$. Since the network time delay is shorter when using simple encryption algorithms, there is no need to use complex encryption algorithms that tend to worsen the control performance.

Take $\varepsilon=0.1$ as an example, the security of different encryption algorithms can be enhanced and listed in Table \ref{tab:comparision}.

\begin{table}[htbp]
\centering

 \caption{Comparison of performance and security enhanced by QKD}
 \begin{tabular}{ccccc}
  \toprule
  Algorithm  & $S_{A}$  & $S$  & average delay(s) & $P$ \\
\hlin

  XOR  &  0.0017  & 0.9002             & 0.0645 &  0.4044 \\
 1-Feistel  & 0.0112  & 0.9011        & 0.0731 & 0.4254 \\
 8-Feistel  & 0.0896  & 0.9089        & 0.0731 & 0.4254 \\
 DES  &0.1792   & 0.9179       &  0.0731 & 0.4254 \\
 AES(128)   &0.6250   &0.9625         &0.0978 & 0.4969 \\
 AES(192)   &0.8121   &0.9812         &0.1118 & 0.5340 \\
 AES(256)   &1        &1              &0.1307 & 0.6300 \\
  \bottomrule
 \end{tabular}
\label{tab:comparision}
\end{table}
It can be seen that when encrypted with quantum keys, the security is enhanced no matter which algorithm is used, and the improvement is greater especially for simple algorithms such as XOR and 1-Feistel. The resulting security of different algorithms is much closer to each other. For example, the security of XOR is only about $10\%$ less than that of AES(256), implying that the algorithm complexity is less important. So simple algorithms such as XOR can be used in QKD based network to improve performance without sacrificing the privacy security.

\section{Enhanced Security of NCS with Raw Quantum Key Distribution}\label{Sec:Raw}
As illustrated above, the control performance can be effectively improved by using simple encryption algorithms, while the NCS security level is maintained at a high level. In practice, this requires sufficient supply of secret keys by the QKD system, which may not be realistic because most sifted raw keys are discarded during the post processing (including the error correction and privacy amplification) and the amount of final keys is very limited. The post processing can also decrease the security of the keys if not being well designed.

In this section, we will show that these discarded raw keys can be more efficiently used. This is because the errors of the transmitted data (usually numerical values) caused by the the key errors can be taken as an equivalent noise. Since most closed-loop control processes can tolerate noises at a certain level, the raw keys may not have to be corrected if the equivalent noise is tolerable. In this way, the QKD protocol can be greatly simplified because the succeeding privacy amplification will be also unnecessary, as its function is to remedy the information leakage during error correction. This will bring at least three advantages: (1) the sifted raw keys, which can be fast generated, may be more efficiently used instead of being wasted; (2) the security of keys is the highest without information leakage in error correction; (3) more communication bandwidth can be saved without having to preform the post processing.

To implement the above idea, we need to make sure that the key error induced noise in the transmitted data is suppressible. From the point of view of cryptography, the avalanche effect of the encryption algorithm, namely the sensitivity of the decrypted plain text with the change of the cipher text, should be as weak as possible, otherwise a single one-bit error may cause uncontrollable large deviation. In this regard, XOR is the best choice, under which every one-bit error in the key only affects one bit in the message transmitted from Alice to Bob.

The avalanche effect can be also understood from the control model (\ref{con:controlmodel}). When the key error $\Delta_i$ occurs, the avalanche effect is evaluated by the difference
\begin{equation}\label{}
w_i=u_i-\bar{u}_i,
\end{equation}
between the original plain text $\bar{u}_i$ and decrypted command $u_i$ after encryption-decryption. It is desired that the encryption matrix $T_{k_i}$ is chosen such that $d_i$ is as insensitive as possible to the key error $\Delta_i$, and here we choose the bit-by-bit XOR encryption. If the random key errors all occur to the lower digits of the plain text, it is reasonable to take the resulting deviation of $u_i$ as a white noise.

Similarly, the error in the key $k'_{i}$ used for the encryption of feedback position of Bob will also lead to an equivalent noise as:
\begin{equation}\label{}
\nu_i=y_{i}-\bar{y}_{i}.
\end{equation}

This leads to the following equivalent stochastic control model:
 \begin{equation}
\left\{
\begin{aligned}
&x_{i}=Ax_{i-1}+B(u_{i-1}+\omega_{i-1})\\
&y_{i}=Cx_{i}+\nu_{i},\\
\end{aligned}
\right.
\end{equation}
where $y_i$ is the measurement result that Alice receives through ethernet.

If the error occurs in the higher digits, the resulting deviation can be filtered out by additional detection and smoothing operations. Concretely, we can check the value of
$d_i=\|y_{i}-y_{i-1}\|$ between adjacent received signals $y_{i}$ and $y_{i-1}$. Once $d_i$ exceeds some prescribed threshold value, say $\delta$, a key error is deemed to occur to the high digits. We can then simply smooth it by making all high digits of $y_i$ identical with those of $y_{i-1}$, which is shown in Fig.~\ref{fig:ErrorOfKey}. Note that this strategy is very effective when the signal to be transmitted is slowly varying. For violently changing signals, one should still use the corrected final keys to encrypt the high digits.

\begin{figure}[!htb]
	\centering

    \includegraphics[width=1\columnwidth]{Error2-eps-converted-to.pdf}
	\caption{Equivalent noise in the position data of the servo systems that is induced by the errors (with error rate $\approx 10\%$) in the raw keys. (a) the original noise; (b) the noise after removing errors in high digits.}
	\label{fig:ErrorOfKey}
\end{figure}

Now we only need to consider the error in the lower digits that is not detectable with the above method. Take them as white Gaussian noises, whose variance is proportional to the threshold value $\delta$. In the beginning, we use the corrected final keys for encryption-decryption to guarantee that no errors occur to the high digits of the data. Afterwards, we encrypt and decrypt the data all with raw quantum keys, and the noises induced by key errors can be attenuated by the Kalman Filter~\cite{Chen2017Event}. Let $\hat{x}_{i,i-1}$ be the priori estimation of state vector at the end of the $i$-th control period. It can be calculated by
\begin{equation}
\hat{x}_{i,i-1}=A\hat{x}_{i-1}+Bu_{i-1},
\end{equation}
based on the posteriori state estimation $\hat{x}_{i-1}$ and its resulting control command $u_{i-1}=F\cdot(r_{i-1}-C\hat{x}_{i-1})$ at the previous period, following which the posteriori state estimation in the $i$-th control period is made as follows:
\begin{equation}
\begin{aligned}
\hat{x}_{i}=\hat{x}_{i,i-1}+K_{i}(y_{i}-C\hat{x}_{i,i-1}),
\end{aligned}
\end{equation}
where matrices $P_{i,i-1}$, $P_{i}$ and $K_{i}$ are calculated as follows:
\begin{eqnarray}
P_{i,i-1}&=&AP_{i-1}A^{T}+Q,\\
P_{i}&=&(I-K_{i}C)P_{i,i-1},\\
K_{i}&=&P_{i,i-1}C^{T}(CP_{i,i-1}C^{T}+R)^{-1},
\end{eqnarray}
with $Q$ being the covariance matrices of the process noise $\omega_{i}$ and $R$ being the covariance matrices of measurement noise $\nu_{i}$.

\begin{figure}[!htb]
	\centering

    \includegraphics[width=1\columnwidth]{KalmanFilter5s33-eps-converted-to.pdf}
	\caption{Performance of Raw QKD encrypted NCS with or without Kalman Filter.}
	\label{fig:compare}
\end{figure}

In Fig.~\ref{fig:compare}, we simulate the dynamical response of the NCS with and without the Kalman Filter. Compared with the previous simulation using corrected keys, it can be seen that the use of raw keys introduces additional noises to the output signal, but the transient response is much faster because the induced time delay gets shorter without post processing. The introduction of the Kalman Filter can not only smooth out the fluctuation but also suppress the overshoot, showing that both good control performance and high security can be achieved with raw keys.

\section{Conclusion}\label{Sec:Conclusion}

To conclude, we proposed a novel scheme for improving the cyber-security of networked control systems by using the one-time pad encryption that is enabled by the emerging technology of quantum key distribution. We analyzed the factors that affect the overall security of the NCS, and derived a security measure for the evaluation and design of secure networked control systems. Based on this measure, we studied the tradeoff between the security and the control performance using various encryption algorithms from the simplest XOR and the most complicated AES, showing that QKD can greatly improve the performance whiling maintaining the security at a high level. We further propose a scheme for more efficiently exploiting the raw keys that contain errors, and introduce the Kalman Filter to attenuate the error-induced noises.

To our knowledge, this is the first study that integrated QKD with NCS for security enhancement. The provably secure keys generated by QKD enables the use of one-time pad without having to use complex encryption algorithms. The control framework can be applied to many systems, especially when security is highly demanded. Although the current cost of QKD is high, it can be decreased to be affordable under many critical circumstances.

This work lays a fundamental framework for QKD-based NCS. The extension from point-to-point control to multi-agent control over a complex communication network is more challenging. There are many interesting topics, such as the modeling of the QKD network and evaluation of the overall network security, as well as the following control problems such as consensus. These topics are to be studies in future.

\begin{appendices}
\section{Security measure of QKD Based NCS}
To evaluate the security strength of an encrypted NCS, we firstly introduce the following cryptographic terminologies:

{\bfseries (1) Plain text space $\mathcal{M}$}, the set of all plain texts that may be decrypted to be. In our system, it is a combination of practical secure communication data and another subset of possible decrypted data that only occurs under cyber attacks.

{\bfseries (2) Cipher text space $\mathcal{C}$}, the set of cipher texts after encryption, which will be transmitted through the communication network.

{\bfseries (3) Key space $\mathcal{K}$}, the set of secret keys, which are usually binary strings.

A well defined plain text space will add the difficulty for eavesdropper to crack the message. In our example system, it contains the digitized values of PI command, the real-time position of servo and other symbols, which will enlarge the confusion effect of encryption.

The overall security is mainly determined by the security of keys, the security of key management and the security of encryption algorithms.

\subsection{Security of Keys}
The security of an encryption system can be defined by the mutual information $I(\mathcal{M},\mathcal{C})$ between the plain text space $\mathcal{M}$ and the cipher text space $\mathcal{C}$. Ideally, it should be zero, meaning that the plain text space $\mathcal{M}$ is absolutely independent from the cipher text space $\mathcal{C}$. So Eve is unable to get any meaningful message from the cipher text. In practical system, the mutual information between plain text and cipher text can not be zero but the value can approach to zero after post processing methods.

The security of QKD is due to the fact that the information about keys that Eve can get is exponentially small. In~\cite{Renner2004Universally}, Renner proposed the composable security of QKD determined by the process of error correction and privacy amplification. So the security discussion on QKD can be divided into following two parts.

\subsubsection{Information leakage of Cascade}

Once the raw keys are distributed by measuring the phase of photons and exchanging the information about bases, there are still some error bits, namely some bits of raw keys are different between Alice and Bob because of the error of measurement. So it is necessary to distill the raw keys and delete the error bits. When Cascade is used in error correction, there is still some information leakage.

\subsubsection{Security of privacy amplification}
Because the fact that Eve can get some formation about sifted keys by tapping the communication of error correction, the process of privacy amplification will repair the leakage by decreasing the key capacity.

 We assume that Alice and Bob have shared a key string $W$ and the length of $W$ is $n$. Eve has some information about $W$ which can be defined as $V$ and the length of $V$ is $t$. It is reasonable to assume that:

\begin{equation}
0<I(\mathcal{K},V)<I(\mathcal{K},W),
\end{equation}
where the information that Eve can get about keys can be calculated by mutual information as $I(\mathcal{K},V)$. Alice and Bob can randomly share a Hash function, namely $g:(0,1)^{n}\rightarrow(0,1)^{m}$. As proved in~\cite{476316}, the mutual information that Eve can get about keys after privacy amplification $I(\mathcal{K},GV)$ is limited as follows:

\begin{equation}
I(\mathcal{K},GV)\leqslant\frac{2^{-n+t+m}}{\ln2}.
\end{equation}

Define $s=n-t-m$, then

\begin{equation}
I(\mathcal{K},GV)\leq\frac{2^{-s}}{\ln2},
\end{equation}
where $s$ represents the reduction ratio of the capacity of keys during privacy amplification.
As a result, the information that Eve can get from keys after privacy amplification is exponentially small.

\subsection{Security of Key Management}
One-time pad is the only provable absolutely secure encryption method even under unlimited computation power. The security of one-time pad has two aspects. On the one hand, give a copy of cipher text, the eavesdropper gains no more information about the plain text even after trying every possible key, namely,

\begin{equation}
P[M=m_{0}|C=c]=P[M=m_{0}],
\end{equation}
which can be called information-theoretic security~\cite{Schneier1997Applied}.

On the other hand, when one-time pad cannot be ensured due to the limited supply of keys, some keys may be reused, this circumstance can be described as:

\begin{equation}
m_{i+(r-1)}\oplus k_{i}=c_{i+(r-1)},
\end{equation}
where $r$ is the times that a single key $k_{i}$ is reused. The information that Eve can get from the cipher text on the plain text can then be valued by the conditional probability. Namely on knowing the cipher text is $C=c_{i+1}$, the probability that plain text is $M=m_{i+1}$ can be calculated according to the Bayes Rule as:

\begin{equation}  \label{con:OTPr}
\begin{aligned
&P[M=m_{i+1}|C=c_{i+1}]= \frac{P[M=m_{i+1}\bigcap C=c_{i+1}]}{P[C=c_{i+1}]}\\
&= \frac{P[C=c_{i+1}|M=m_{i+1}]P[M=m_{i+1}]}{\sum_{m\in M}P[C=c_{i+1}|M=m]P[M=m]}.\\
\end{aligned
\end{equation}

Considering the difficulty for eavesdropper to crack the meaning of message, the whole key space should be tried until a meaningful message is calculated. Define the length of plain text and key are both $l$, then there are $2^{l}$ probable messages uniformly distributed in the space. When a single key is reused for $r$ times, the information available for eavesdropper will be added by solving (\ref{con:OTPr}). When connected with Bayes formula, the conditional probability $P[C=c_{i+1}|M=m_{i+1}]$ will be $r$ times larger because of the reusing of key $k_{i}$. Then the information that Eve can get from cipher text on plain text can be:

\begin{equation}
\begin{aligned
P[M=m_{i+1}|C=c_{i+1}] &= \frac{r 2^{-l}P[M=m_{i+1}]}{2^{-l}}\\
&=rP[M=m_{i+1}] \\
&=r2^{-l}.
\end{aligned
\end{equation}
Additionally we assume that the times a single key is reused is limited as $r<2^{l}$, other then the key can be regarded as unchangeable.

The derivation shows that when the keys are reused, the information that Eve can get from cipher text is increased, which degrades the security of practical systems.

The security of one-time pad is also influenced by the updated keys. While in our system, the randomness is well ensured by the physically randomly generated single photons.

\subsection{Security of Encryption Algorithms}
To define the security of encryption algorithms, the parameters should be reasonable rather than measured from the cipher text, and they should be connected with the complexity of algorithms and the difficulty for brute force. Avalanche effect and linear cryptanalysis, which are measured according to the results of cipher text, can be easily affected by the choosing of plain text and keys. So we use the following parameters to define the security of encryption algorithms:

\subsubsection{Length of keys $N$} The length of keys will influence the number of keys that should be used for brute force. For example, if the length of keys is $N$, then there will be $2^{N}$ keys need to be tried. While this is the maximum time of testing for brute force attack. The security of encryption should be defined according to the most efficient method of cracking and considering usually concurrent computation is used in hardware, we use $\log_{2}N$ to define the security contributed by the length of keys and this definition is introduced more in detail in~\cite{Haleem2007Opportunistic}.

\subsubsection{Number of rounds $R$} Most encryption algorithms have its own round function, for example DES is 16 rounds of Feistel, and the adding of rounds will increase the complexity of encryption.

\subsubsection{Complexity of round operation} Round operation is the encrypting unit of a complex encryption algorithm, and it will encrypt the plain text by XOR with the keys, substituting bytes, shifting rows, mixing columns and so on. All the operations are reversible and will change the states of plain text.

The security of round operations is a combination of the security of subkeys and the security of calculation operations. According to key expanding algorithm, a subkey is decided by that of upper round and updating method, and the latter is public. So the security of subkey is equivalent to the security of original keys, namely the security of quantum key distribution, which has been defined before. Based on this, the security of round function is equivalent to the security of calculation operations.

According to Table \ref{tab:AlgorithmComparision}, we can define the complexity of round function $\eta$ by adding the security of ByteSub $S_{B}$, the security of ShiftRow $S_{S}$, the security of MixColumn $S_{M}$ and the security of RoundKeyAddition $S_{R}$ as follows:

\begin{equation}
\eta=S_{B}+S_{S}+S_{M}+S_{R}.
\end{equation}

Now we can come up with the following conclusions:

(a) ByteSub can enhance the security by substituting the plain text according to S-box, a designed method mapping the bytes of plain text to the elements of S-box. The security of ByteSub is influenced by the size of S-box.

(b) ShiftRow, MixColumn and RoundKeyAddition are three methods of changing the value of bits and they are equivalent when functioning on the plain text. While the complexity can be different because of the designed rule and that will influence the security.

To quantitatively compare the difference of varied encryption algorithms, we assume the complexity of SPN is 1 composed by four parts of the same weight and define the complexity of other round functions by their relative complexity of operations, namely the time of operations compared with SPN according to TABLE \ref{tab:AlgorithmComparision}, namely,
\begin{equation}
\eta(*)=\sum\frac{C^{\ast}}{C_{SPN}}S_{SPN},
\end{equation}
where $C_{SPN}$ means the complexity of AES (SPN), $C^{\ast}$ means the complexity of other algorithms.

\begin{table}[htbp]
\centering
 \caption{Comparison of the times of operations and security for round functions of different encryption algorithms}
 \begin{tabular}{  c | c | c | c }
  \toprule
  Algorithms &  XOR & Feistel (DES) & SPN (AES) \\
\hline
  ByteSub & 0 &  $4\times16$  & $16\times16$ \\
  ShiftRow & 0 &1 & 3 \\
  MixColumn & 0 &0 & 1 \\
  RoundKeyAddition & 32 & 32& 128 \\
\hlin
  $S_B$ & 0 & 0.0625 & 0.25   \\
  $S_S$ & 0 & 0.0833 & 0.25   \\
  $S_M$ & 0 & 0 & 0.25   \\
  $S_R$ & 0.0625 & 0.0625 & 0.25   \\
  $\eta$ & 0.0625  & 0.2083 &  1  \\
  \bottomrule
 \end{tabular}
 \label{tab:AlgorithmComparision}
\end{table}

So we can define the security of encryption algorithms as:
\begin{equation}
S_{A}=\eta R\log_{2}N.
\end{equation}

Based on the analysis above, we give the security definition of QKD based NCS as (\ref{con:SA})(\ref{con:securitydefinition}).

\end{appendices}

\bibliographystyle{IEEEtran}

redpajama_set_name: RedPajamaArXiv


WARNING: SOME OF THESE SONGS HAVE EXPLICIT LYRICS AND SHOULD NOT BE LISTENED TO BY THOSE WHO ARE EASILY OFFENDED OR ARE UNDER 18.
"I didn't know they were Canadian!": A band/artist who is well known in the UK but not as Canadian!
O Canada Classic: A band/artist who significantly influenced Will's love of Canadian music.


text:
3 die in serious North Carolina car accident
On behalf of Woody White Law PLLC posted in Car Accidents on Friday, May 3, 2013.
Police in Greensboro responded to reports of a crash early in the morning of Sunday, April 21. The two-car accident claimed the lives of two North Carolina residents and one man who authorities say was from out-of-state. The local crash reconstruction team is currently investigating factors that may have contributed to the fatal crash.
Authorities have reported that two sedans collided head-on sometime around 2 a.m. on Sunday morning. According to reports, one of the sedans driven by a 22-year-old man from out-of-state was traveling westbound in the eastbound lane of the road when the crash occurred. The two vehicles struck one another head-on.
The driver of the first sedan, along with the driver and passenger of the second vehicle, were all pronounced dead by emergency response teams arriving at the scene of the car accident. The other two victims were both North Carolina residents; a 21-year-old male and a 19-year-old female. There is no word yet as to whether additional factors played a role in the tragic crash, though an investigation is ongoing.
When a car accident results in the deaths of all parties involved, any legal recourse must fall to the next-of-kin. Should the driver of the first sedan, who was traveling in the wrong lane, be found responsible for the crash, the families of the other two victims may be able to seek further compensation from the estate of the first driver. In order to pursue such a course of action, it may be beneficial for the families to have a thorough understanding of North Carolina traffic laws as they pertain to lane changes and safe driving.
Source: Winston-Salem Journal, "Three dead in Greensboro crash early Sunday," April 23, 2013
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Join the Deschutes Land Trust and David Miller for a fall colors hike at the Metolius Preserve.
From Ponderosa pine forest to lush creek-side corridors, the Metolius basin boasts a unique combination of wetter plants from the west side of the Cascades along with the drier eastern Cascade vegetation. We'll explore this fascinating transition zone while enjoying golden bracken fern and larch and searching for scarlet vine maple.
This hike is open for registration.


involuntary shaking of the body or limbs, as from disease, fear, weakness, or excitement; a fit of trembling.
any tremulous or vibratory movement; vibration: tremors following an earthquake.
a trembling or quivering effect, as of light.
a quavering sound, as of the voice.
1. shudder, shiver, quiver. 3. oscillation.
On April 25, 2006, the tremor triggered a rockfall inside a gold mine, and three of the 17 miners were unable to escape.
The current global paroxysm is intense and alarming, but it is a tremor not an earthquake.
Within the building the tremor was terrible, and the lights started to fall.
Little information was available on the tremor, but no additional damage was reported with it.
This last point seems to have sent some kind of tremor through the American media.
Once more she was the proud beauty, but there was a tremor in her pride—I had almost written tenderness.
She would term her act justice, and she would carry out the sentence without a tremor.
A new noise came to his ears, and he listened without a tremor or movement of his body.
This tremor is mentioned by Hippocrates, and, according to him, it is so violent as to make the teeth chatter.
There was a tremor in the voice of Mrs. Montgomery as she referred to her children.
Minute ocular movement occurring during fixation on an object.


text:
Ákra Atherída är en udde i Grekland.   Den ligger i prefekturen Nomós Pierías och regionen Mellersta Makedonien, i den norra delen av landet,  km norr om huvudstaden Aten.

Terrängen inåt land är platt. Havet är nära Ákra Atherída åt nordost. Den högsta punkten i närheten är  meter över havet,  km väster om Ákra Atherída.  Närmaste större samhälle är Kateríni,  km sydväst om Ákra Atherída.

Klimatet i området är tempererat. Årsmedeltemperaturen i trakten är  °C. Den varmaste månaden är juli, då medeltemperaturen är  °C, och den kallaste är januari, med  °C. Genomsnittlig årsnederbörd är  millimeter. Den regnigaste månaden är december, med i genomsnitt  mm nederbörd, och den torraste är augusti, med  mm nederbörd.

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text:
Congratulations John Masambe
Foxy Williams
John graduated with his AA in health studies from Seattle Central Community College.
John is proud to announce that he has been accepted into the University of Washington as he pursues his major in Healthcare Management and Leadership.
John faced many health obstacles and the loss of his sister during his time at Seattle Central. He was forced to withdraw from college as his health declined making it difficult to include college studies in his every-day routine.
In 2012 John went through a bone marrow research study at Seattle Cancer Care Alliance. He had the transplant and was given a 50/50 chance of survival. He beet the odds with the support of his mother, friends, and the Sickle Cell Task Force. The transplant reenergized him to live a life of purpose and charity.
John also lost his beloved sister and best friend to Sickle Cell (Joanita Nambassa) in 2012. John and Joanita battled Sickle Cell together. Her passing was a huge blow and loss to the family and our Sickle Cell Family. Joanita was an active member in the Task Force as a counselor at camp for several years and a dedicated member that was extremely active in spreading awareness about Sickle Cell.
His initial goal to finish his community college degree wasn't completed in the 2 years that he planned. It took a few more years; but his strength and determination to pursue his dreams didn't stop him from reentering and completing his degree at community college.
John has worked at Swedish Medical Center and now part time at SCCA during his college years.
In John's words: I want to be in a position where I can implement the kind of change that will touch lives and help overcome obstacles like health, race, gender, socioeconomic and even immigration status. I want to be a voice for people with disabilities and those that struggle with public health systems; a place I found myself at not too long ago."
John is enrolled at UW Bothell and will start this fall, 2018. We applaud you and so proud of all your accomplishments John!


text:
Saturn/Neptune: A History Lesson
It's always fascinating to look back into the historical record to see how planetary configurations applied themselves during those times in order to learn more about how those planets work together and to derive clues of how they may manifest this time around. Saturn/Neptune is a 36- year cycle which gives us plenty of interesting information.
Remember that Saturn strives to build form where Neptune reminds us that there is a world beyond form; Saturn rules incarnation in the body and Neptune draws us into experiences that go beyond the body and the material world. In the opposition, where the two planets are 180 degrees apart, there is a tension between them that requires balance. This is a challenging aspect, but not so difficult as the square in which there is open conflict. The opposition is the apex of the cycle; it is the pinnacle of understanding the process before integration takes place.
In the opposition between Saturn and Neptune our fantasies and illusions (Neptune) bump up against cold hard reality (Saturn), but there is also potential for manifesting our dreams (Neptune) into physical form (Saturn) and incorporating a life of spirit (Neptune) into our day-to-day existence (Saturn). Politically, the cycle of these two planets tends to bring conflict that arises as a result of the desire to manifest an ideal (Neptune) against the established order of Saturn. This cycle can also manifest in the exposure of governmental (Saturn) corruptive and deceptive behavior (Neptune).
In this century, Saturn in Pisces opposed Neptune in Virgo in March and October of 1936 and then again in January of 1937. This was a heavily Neptunian period since Pisces is ruled by Neptune, and Saturn in Pisces has difficulty grounding into material reality and confusion abounds. Saturn/Neptune is also associated with the destabilization (Neptune) of governmental structures: This period bore witness to the rise of nationalism with the expansion of the Nazis in Germany, a civil war in Spain between nationalist troops of General Franco and Spain's democrative government. This era also marked the beginning of Arab nationalism and riots in Palestine in reaction to Jewish immigration and the British government, as well as the abdication of Edward VIII in England who left the throne (Saturn) to marry the woman he loved, a very Neptunian romantic notion.
One of the more interesting events of the previous Saturn/Neptune opposition of 1899-1900 (with Saturn in Sagittarius and Neptune in Gemini) was the Boxer Rebellion against foreign influence in China which took place during the final years of the Qing Dynasty. The Boxer Rebellion sprange out of nationalist fervor against foreigners and Chinese Christians. The rebellion was ironically put down by a multinational force and the resulting humiliation led to the downfall of the Qing Dynasty by 1905. The Boxer Rebellion brought previously hidden (Neptune) ideology and frustration to a culmination point.
The opposition of Saturn in Gemini to Neptune in Sagittarius occurred in June and November of 1971 and April of 1972 and was marked by increasingly violent demonstrations and rebellions around the world as idealism (Neptune in Sag) came face to face with governmental repression (Saturn). In the US, demonstrations against the Vietnam War grew in numbers and in power and the Supreme Court permits publication of the Pentagon Papers, exposing corruption in the government (Saturn/Neptune). The Attica prison riots exposed the poor conditions in US prisons (prisons are ruled by Neptune). The end of 1971 also witnessed civil war in Cambodia and between India and Pakistan, as well as increased fighting between British troops and Irish nationalists which culminated in the famous Bloody Sunday massacre in early 1972. All of these events showed the culmination of understanding that is the highlight of the opposition and paved the way for change that occurred during the waning phase of the cycle. The end of the opposition in 1972 also saw a treaty that banned (Saturn) biological weapons (Neptune) was signed by 70 nations.
The Saturn/Neptune cycle has been associated by some astrologers with the flu of 1918, but the conjunction of Saturn and Neptune in Leo actually completed a few months before that epidemic. However, with any Saturn/Neptune contact there is the potential for hidden dangers that may not make themselves known right away.
So what can we expect during this year's Saturn/Neptune opposition which begins this month and will continue through June of next year? A few possibilities:
You don't need to be an astrologer to predict that Iraq will devolve into Civil War, resulting in the downfall of the US neocon movement and partition of Iraq into ethnic divisions.
Fighting between Israel and Iran through its proxies of the Lebanese government and Hamas in Palestine will continue through next year but escalating casualties and pressure from within will force Israel to negotiate a more permanent resolution to the conflicts that surround it.
In the US, voters are distracted by television and other media (Neptune) and it may take another serious event (probably weather-related) to force (Saturn) their attention to the world stage. However, next year when Jupiter squares Uranus we are likely to see a radical shift towards the left in American politics and probably elsewhere as citizens tire of war and devastation.
On the negative side, the Saturn/Neptune tendency towards nationalism and xenophobia will erupt into renewed fervor with demonstrations against immigrants and occupying forces. With Pluto completing its pass through Sagittarius we are likely to see a continued spread of Islamist conservatism as part of this trend.
By Lynn Hayes|2020-02-27T09:02:24-05:00August 9th, 2006|Planetary cycles|Comments Off on Saturn/Neptune: A History Lesson
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The travel industry is an attractive market for disruptive entrepreneurs to tap into. With more than 1.1 billion people travelling out of their home country in 2014 alone, there is a huge market potential.
NB This is a guest article by Bérénice Magistretti, a writer for Seedstars World.
With the rise of new technological trends, such as smartphones and social media networks, startups must move quickly to satisfy the clients' needs.
Asia is one of the hottest markets on this trail, with tech hubs like Singapore and Indonesia delivering top travel apps. There are already some success stories to speak of, one of them being Agoda. Founded in the late 90s on a beach in Phuket, Thailand, the startup was purchased in 2007 by the Priceline Group and is now one of Asia's leading online hotel reservation companies.
Seedstars World is keen to discover the new and upcoming travel startups and is doing so with the help of our partner, lastminute.com group.
So here is our selection of the top 10 travel startups in Asia, in no particular order!
Website: www.hotelquickly.com Founded: 2012 Location: Hong Kong Pitch: Last-minute hotel booking app at discounted prices throughout Asia Pacific.
Website: www.triphobo.com Founded: 2012 Location: Maharashtra , India Pitch: A web portal that lets travelers share itineraries and plan their tours better.
Website: www.halaltrip.com Founded: 2013 Location: Singapore Pitch: A trip advisor for Muslim travelers around the world.
Website: www.fliptrip.ph Founded: 2014 Location: Manila, The Philippines Pitch: Connecting travelers directly to locals in their chosen destinations.
Website: www.verylocaltrip.com Founded: 2014 Location: Singapore Pitch: Marketplace that connects travelers with passionate locals, all over the world.
Website: www.triip.me Founded: 2013 Location: Hồ Chí Minh, Vietnam Pitch: Platform that enables travelers to enjoy private tours passionately crafted by handpicked local experts.
Website: www.yikuaiqu.com Founded: 2011 Location: Guangzhou, China Pitch: Platform offering web packages for scenic discoveries.
Website: www.flocations.com Founded: 2012 Location: Singapore Pitch: An online travel discovery tool that helps users discover travel packages.
UPDATED: Flocations was bought by Venture Republic in April this year.
Tripves Website: www.tripves.com Founded: 2015 Location: Bali, Indonesia Pitch: Connects car renters, owners, and drivers on a single marketplace.
NB This is a guest article by Bérénice Magistretti, a writer for Seedstars World. It appeared originally on the Seedstars World blog and has been republished with permission. Click here to see the original version.