text:
2009 Price Chopper 400
2009 Price Chopper 400 presented by Kraft Foods
Race details[1][2]
Race 29 of 36 in the 2009 NASCAR Sprint Cup Series
October 4, 2009 (2009-10-04)
Kansas Speedway, Kansas City, Kansas
Permanent racing facility
1.5 mi (2.414 km)
267 laps, 400.5 mi (644.542 km)
Temperatures reaching a high of 64.9 °F (18.3 °C); wind speeds approaching 8 miles per hour (13 km/h)[3]
137.144 miles per hour (220.712 km/h)
Pole position
Mark Martin
Hendrick Motorsports
Most laps led
Greg Biffle Roush Fenway Racing
Tony Stewart Stewart Haas Racing
Television in the United States
Jerry Punch, Dale Jarrett, Andy Petree
Nielsen Ratings
3.2 (Final)
2.6/5 (Overnight)
5.25 million viewers[4]
The 2009 Price Chopper 400 presented by Kraft Foods was the 29th of 36 scheduled stock car races of the 2009 NASCAR Sprint Cup Series and the third in the ten-race season-ending Chase for the Sprint Cup. It was held on October 4, 2009, in Kansas City, Kansas, at Kansas Speedway, before a crowd of 100,000 spectators. Stewart-Haas Racing driver and co-owner Tony Stewart won the 267-lap race, starting from the fifth position. Jeff Gordon of Hendrick Motorsports finished in second, with Roush Fenway Racing's Greg Biffle in third.
Mark Martin won the 47th pole position of his career by posting the fastest lap in qualifying. He lost the lead to his teammate Dale Earnhardt Jr. who passed him on lap 12. Earnhardt kept it until his other teammate Jimmie Johnson emerged in the first position after the first round of green flag pit stops took place. Biffle took the lead for the first time on the 72nd lap, and he led six times for a total of 113 laps, more than any other driver. Stewart became the leader through strategy on lap 238 during a phase of pit stops under a caution period by taking only two tires, while Biffle chose to have four tires installed on his car. He held off the closing Gordon in the final laps to secure the victory. There were six cautions and a track-record 26 lead changes amongst 14 different drivers during the course of the event.
It was Stewart's second win at Kansas Speedway, his fourth of the season, and the 37th of his career. The result advanced him from fifth to fourth in the Drivers' Championship, and past his nearest rival, Penske Championship Racing driver Kurt Busch. He was 67 points behind Martin whose lead over his teammate Johnson was reduced to 18 because Martin finished seventh. Because of Stewart's victory, Chevrolet won its 33rd Manufacturers' Championship in NASCAR Cup Competition, as Toyota could not catch its points total with seven races left in the season. The race attracted 5.25 million television viewers.
1 Report
1.1 Background
1.2 Practice and qualifying
1.3 Race
1.4 Post-race
2 Results
2.1 Qualifying
2.2 Race results
3 Standings after the race
Kansas Speedway, the race track where the race was held.
The 2009 Price Chopper 400 was the 29th of 36 scheduled stock car races of the 2009 NASCAR Sprint Cup Series, and the third in the ten-race season-ending Chase for the Sprint Cup. It was held on October 4, 2009, in Kansas City, Kansas, at Kansas Speedway,[1] one of ten intermediate to hold NASCAR races, with the others being Atlanta Motor Speedway, Charlotte Motor Speedway, Chicagoland Speedway, Darlington Raceway, Homestead-Miami Speedway, New Hampshire Motor Speedway, Kentucky Speedway, Las Vegas Motor Speedway, and Texas Motor Speedway.[5] The standard track at is a four-turn 1.5 mi (2.4 km) long D-shaped oval track.[6] The track's turns are banked at 15 degrees, while the front stretch, the location of the finish line, is 10.4 degrees. The back stretch, opposite to the front, is five degrees.[6]
Before the race, Mark Martin led the Drivers' Championship with 5,400 points, and Jimmie Johnson stood in second with 5,390. Juan Pablo Montoya was third in the Drivers' Championship with 5,335, ten ahead of Kurt Busch and 21 ahead of Tony Stewart in fourth and fifth. Denny Hamlin was two points ahead of Ryan Newman, as Jeff Gordon with 5,278 points, was 16 ahead of Greg Biffle, and 29 in front of Brian Vickers. Carl Edwards and Kasey Kahne were eleventh and twelfth with 5,247 and 5,211 points.[7] In the Manufacturers' Championship, Chevrolet were leading with 208 points, 45 ahead of their rivals Toyota. Ford, with 123 points, were one point ahead of Dodge in the battle for third place.[8] Johnson was the race's defending champion.[9] The Manufacturers' Championship could have been sealed in Kansas in the event the highest-placed Chevrolet driver finished ahead of the highest-placed Toyota competitor.[10]
Practice and qualifying
Three practice sessions were held before the Sunday race—one on Friday, and two on Saturday. The first session lasted 90 minutes, while the second session lasted 45 minutes. The third and final session lasted 60 minutes.[2] During the first practice session, Newman was fastest, with a time of 31.080 seconds, placing ahead of Johnson in second and Montoya in third. Clint Bowyer was fourth fastest, and David Ragan placed fifth. Tony Stewart, Martin Truex Jr., A. J. Allmendinger, David Stremme and Brad Keselowski rounded out the session's top ten fastest drivers.[11]
Mark Martin (pictured in 2009) had the 48th pole position of his career.
Although 46 drivers attempted to qualify; according to NASCAR's qualifying procedure, only 43 could race. Each driver ran two laps, with the starting order determined by the competitor's fastest lap times.[2] Hendrick Motorsports and Chevrolet took the first three places as Martin clinched his seventh pole position of the season, his first at Kansas Speedway, and the 48th of his career, with a time of 30.724 seconds. He was joined on the grid's front row by his teammate Dale Earnhardt Jr. whose best lap was 0.084 seconds slower.[12] Keselowski qualified third, Jamie McMurray took fourth, and Stewart started fifth. Kahne, Joe Nemechek, Bowyer, Gordon and Scott Speed completed the top ten positions. The three drivers who failed to qualify were David Gilliland, Michael McDowell and Kevin Hamlin.[13] Once qualifying concluded, Martin said, "Have any of you ever stepped on a cat's tail? I have accidentally stepped on cat's tail before. They make a noise and go really fast. When I stepped on the gas of that No. 5 car today, it was like stepping on a cat's tail it had so much horsepower."[14]
On Saturday morning, Johnson was fastest in the second practice session by setting a lap of 31.144 seconds, ahead of Hamlin in second, and Kenseth in third. Reutimann was fourth quickest, and Stewart took fifth. Joey Logano managed sixth. Bowyer, Gordon, Kurt Busch and Kahne followed in the top ten. Of the drivers in the Chase, Newman set the 12th fastest time, and Biffle was 15th quickest.[15] Later that day, Johnson paced the final practice session with a lap of 31.217 seconds, with Martin in second, and Kenseth in third. Montoya was fourth quickest, and Bowyer took fifth. Gordon managed sixth, Vickers was seventh fastest, Logano eighth, McMurray ninth, and Edwards tenth. Other Chase drivers included Kahne in 12th and Hamlin in 15th.[16]
Live television coverage of the race began in the United States at 2:00 p.m. EDT (UTC−05:00) on ABC.[17] Around the start of the race, weather conditions were sunny, with the air temperature 56 °F (13 °C). Pastor Jimmy Ybarra began pre-race ceremonies by giving the invocation. Country music singer Blaine Larsen performed the national anthem, and the Grand Marshal of the race Kent Blair commanded the drivers to start their engines.[18]
Martin retained his pole position lead into the first corner, with Earnhardt behind him. Keselowski fell to the sixth position on the same lap.[18] On lap two, Logano lost control of his car, and spun sideways off the track at turn two, causing the first caution. All of the leaders stayed out on track, allowing Martin to remain the leader on the restart. On lap 6, McMurray passed Earnhardt to claim the second position. One lap later, the second caution was prompted after Paul Menard spun sideways at turn two, collecting Ragan, Michael Waltrip, Max Papis, and Bobby Labonte.[18][19] During the caution, most of the leaders elected to make pit stops. Martin maintained his lead on the restart, with Earnhardt in second, and Keselowski third. On the 12th lap, Earnhardt moved into the first position after passing his teammate Martin at turn four. Keselowski overtook Martin shortly after. One lap later, Ragan drove to pit road after smoke billowed from his car.[18]
Greg Biffle (pictured in 2004) led more laps than any other driver, 113, but finished third after an incorrect tire strategy.
On lap 15, Johnson passed Reutimann for eighth. After starting the race in 22nd, Hamlin had moved up eleven positions to eleventh by lap 18. One lap later, Johnson passed Gordon for seventh, as Montoya moved into the tenth position by lap 20. On the 21st lap, Johnson claimed the sixth position from Kahne, while Montoya passed Gordon for eighth. By lap 23, Earnhardt had a 1.9 second lead over Keselowski. Two laps later, McMurray passed Martin for the third position. By lap 31, Johnson had moved into the fourth position after passing Stewart and Martin. Four laps later, Stewart moved into fifth after passing Martin. On the 37th lap, Johnson passed McMurray for third. Stewart and Martin got ahead of McMurray to take over the fourth and fifth positions three laps later. Reuitmann got into sixth by the 45th lap. Two laps later, Gordon fell to 12th because of handling difficulties.[18]
On lap 48, Montoya was overtaken by Biffle for the eighth position, and Reuitmann got ahead of Martin on the outside lane to take fifth on the backstretch. Green flag pit stops commenced on lap 52 as Keselowski became the first driver to stop for an air pressure adjustment and tires. They lasted until the 62nd lap, and Johnson took the lead after their conclusion with Keselowski second, and Stewart in third. Seven laps later, the third caution was necessitated for Reed Sorenson who hit the turn two wall. During the caution, several drivers (including Johnson), elected to make pit stops for tires. Biffle won the race off pit road, and lead at the restart on lap 74. Kenseth was passed by Montoya for second on lap 76, and Keselowski and Kurt Busch battled for fourth place.[18] On lap 88, Johnson caught the leader Biffle and they battled alongside each other for the next few laps.[20]
Johnson drew ahead of Biffle as the pair crossed the start/finish line to lead the 91st lap, as Stewart got past Truex for the third position. Johnson and Biffle continued to trade the lead for the next three laps, as they extended their advantage over the rest of the pack to five seconds. By lap 97, Gordon had advanced to eighth. On the next lap, Montoya passed Truex to take over fifth. Biffle was delayed the slower car of Papis, and Johnson took the opportunity to get ahead of him, and retake the lead on the 102nd lap. Kenseth got ahead of Truex to demote him to eighth two laps later. By the 119th lap, Montoya was in fourth, and Keselowski was passed by Kenseth for the fifth position. The second round of green flag pit stops for tires and car adjustments got underway on lap 122.[18] Four laps later, Vickers spun leaving turn four, and the fourth caution was shown.[18][21] Pit stops continued to be made during the caution.[18]
Biffle got ahead of Johnson as his pit stop was faster than his and led the field at the lap 130 restart.[20] On the next lap, Johnson re-passed Biffle around the outside in the third turn to reclaim the lead.[18][20] After starting 22nd, Hamlin moved into sixth unnoticed by lap 132. Nine laps later, Montoya overtook Biffle to take the second position, as Johnson increased his lead over Biffle to 4.4 seconds. Elliott Sadler pirouetted through 360 degrees in turn two, but avoided contact with the wall and passing vehicles on lap 147, activating the fifth caution. Under caution, all of the leaders (including Johnson) went to pit road for tires and car adjustments. Biffle regained the lead, and held the position at the lap 150 restart.[18] Hamlin overtook Martin for second place soon after.[20] Three laps later, Gordon passed Martin for fourth, and Marcos Ambrose lost the tenth position to Kahne. Biffle then held off Stewart to keep the lead on the 159th lap, and that allowed Hamlin to close up.[18]
Tony Stewart (pictured in 2008) won his 37th career victory after holding off Jeff Gordon in the final laps of the event.
On the 163rd lap, Johnson got ahead of Kyle Busch to take the tenth position, and Casey Mears was passed by Montoya who took sixth from him two laps later. Johnson advanced to ninth by passing Reutimann on lap 166. Mears fell to eighth when Kahne overtook him on the following lap. Montoya got past Martin for fifth on lap 169. After ending their battle for first place, Biffle and Stewart increased their advantage over the rest of the pack to three seconds. On the 171st lap, Johnson got into seventh when he overtook Mears and Kahne moved into sixth six laps later. Kurt Busch got ahead of Mears to claim the tenth position on lap 180. The third phase of green flag pit stops for fuel, tires, and car adjustments occurred between laps 183 and 209, with Biffle maintaining the lead and Stewart keeping second.[18] On lap 212, Montoya's crew chief Brian Pattie requested he conserve fuel so he could try to finish the race.[18][20]
Hamlin overtook Gordon to advance into fourth on lap 213. By lap 217, Biffle had a lead of 7.8 seconds but he had to make another pit stop before the race would conclude. Hamlin got ahead of Kahne to claim third place three laps later. Between laps 221 and 223, Johnson, Gordon and Montoya battled for third but neither driver could advance their positions. On the 230th lap, Martin passed Montoya for seventh. The sixth (and final) caution came out as Earnhardt's engine failed, and oil from his car laid on the track. He brought his into the garage to retire from the race. During the caution, the leaders (including Biffle), elected to make pit stops for fuel and tires.[18] Biffle requested four tires be installed on his car after he overruled his crew chief Greg Erwin's decision to have two tires fitted. Stewart, meanwhile, had two tires installed, and exited pit road as the new race leader on lap 238.[22]
Stewart maintained the lead at the lap 241 restart, followed by Kahne, Johnson, Biffle and Hamlin. Biffle then passed Kahne and Johnson to move into second, as Stewart opened up a healthy advantage. In the meantime, Johnson fell to sixth as he struggled with his two new tires. Five laps later, Hamlin went to the track's apron to pass Kahne and Montoya for the fourth position. Johnson was passed by his teammate Martin for eighth on the 248th lap. Gordon caught Biffle and got ahead of him for second six laps later.[18] Although Gordon reduced Stewart's lead, it was not enough for him to challenge the latter, as Stewart responded to Gordon's pace,[18] and took his second win at Kansas Speedway, his fourth of the season, and the 37th of his career.[23] Gordon finished second, Biffle came third, Montoya took fourth and Hamlin fifth. Kahne, Martin, Reuitmann, Johnson and Edwards completed the top ten finishers.[23] The race had a track-record 26 lead changes amongst 14 different drivers.[1][19] Biffle led six times for a total of 113 laps, more than any other driver. Stewart led five times for a total of 37 laps.[1]
Post-race
Stewart appeared in Victory Lane to celebrate his fourth victory of the season in front of a crowd of 100,000 people;[19] the win earned him $332,498.[1] He credited his crew chief Darian Grubb for a strategy that allowed him to take the lead, "The guys that took four could just never gain the track position back. We had a really good car on two tyres. Darian and these guys on the pit crew, they are the ones that got us the win. They got us track position and I was able to pick which line I wanted on the restart and that won us the race."[24] Gordon explained that his car became harder to handle the closer he got to Stewart, "As long as he didn't make any big mistakes, I wasn't going to catch him.", and also admitted to have selected the wrong tire strategy, "I know what I did was wrong. I know I made a mistake. But we're sure excited to be running good again, especially going to some tracks we like, like California."[22] Third-placed Johnson said of his situation in the championship and the loss of a victory, "I hate losing points, I felt like we had a shot to win the race, it's just way too early, for myself, even to start worrying about [the Chase standings.] It's only three races in."[22]
Grubb commented on Stewart's victory, "Tony was able to get out there in clean air and was able to take off. The other guys who took two [tyres] ended up 7th and 9th. So Tony was able to get that clean air and just take off. He did an awesome job today; the entire pit crew and everybody did an awesome job all day long."[24] Although he finished seventh, Martin said he was pleased with the result as he was able to keep the points lead, "This is the first time we missed it that much in a while. There have been times when I was off this much and finish 25th. But our team fought for everything we got today."[25] However, he was not celebratory as he was unsure whether he could keep his advantage in the next few races, "What is there, seven more to go? I don't think we should be getting all hyped up about the tally right now, you know? We've got a lot of racing to go."[26]
After the race, Johnson's and Martin's cars were transported to NASCAR's Research and Development Center in Concord, North Carolina for a further precautionary inspection because those two vehicles had been close to exceeding to the organizing body's measurement tolerance limits at the previous week's race at Dover International Speedway.[27] After personnel from Hendrick Motorsports were allowed to observe the potential issues to the two cars, both passed their inspections.[28] The race results left Martin with the Drivers' Championship lead with 5,551 points. Martin's teammate Johnson was 18 points behind in second, and Montoya kept third with 5,500 points. Stewart's win allowed him to move past Kurt Busch and advance into the fourth position. Hamlin, Gordon, Biffle, Newman, Edwards, Kahne, and Vickers completed the top twelve drivers in the points standings.[29] Because of Stewart's victory, Chevrolet won its seventh Manufacturers' Championship in a row, and its 33rd in NASCAR Cup Series competition.[30] Toyota maintained second with 167 points. Ford moved four points clear of Dodge in the battle for third with seven races left in the season.[8] The race attracted 5.25 million television viewers;[4] it took two hours, 55 minutes, and 13 seconds to complete, and the margin of victory was 0.894 seconds.[1]
5 Mark Martin Hendrick Motorsports Chevrolet 30.724 175.758
88 Dale Earnhardt Jr. Hendrick Motorsports Chevrolet 30.808 175.279
25 Brad Keselowski Hendrick Motorsports Chevrolet 30.821 175.205
26 Jamie McMurray Roush Fenway Racing Ford 30.822 175.199
14 Tony Stewart Stewart-Haas Racing Chevrolet 30.850 175.040
9 Kasey Kahne Richard Petty Motorsports Dodge 30.860 174.984
87 Joe Nemechek NEMCO Motorsports Toyota 30.895 174.786
33 Clint Bowyer Richard Childress Racing Chevolet 30.902 174.746
24 Jeff Gordon Hendrick Motorsports Chevrolet 30.908 174.712
82 Scott Speed Red Bull Racing Team Toyota 30.918 174.656
48 Jimmie Johnson Hendrick Motorsports Chevrolet 30.923 174.627
83 Brian Vickers Red Bull Racing Team Toyota 30.926 174.610
00 David Reutimann Michael Waltrip Racing Toyota 30.932 174.577
42 Juan Pablo Montoya Earnhardt Ganassi Racing Chevrolet 30.934 174.565
44 A. J. Allmendinger Richard Petty Motorsports Dodge 30.943 174.514
21 Bill Elliott Wood Brothers Racing Ford 30.996 174.216
99 Carl Edwards Roush Fenway Racing Ford 31.015 174.109
20 Joey Logano Joe Gibbs Racing Toyota 31.015 174.109
09 Mike Bliss Phoenix Racing Dodge 31.060 173.857
98 Paul Menard Yates Racing Ford 31.071 173.796
1 Martin Truex Jr. Earnhardt Ganassi Racing Chevrolet 31.076 173.768
11 Denny Hamlin Joe Gibbs Racing Toyota 31.084 173.723
17 Matt Kenseth Roush Fenway Racing Ford 31.120 173.522
66 Dave Blaney Prism Motorsports Toyota 31.129 173.472
6 David Ragan Roush Fenway Racing Ford 31.146 173.377
71 Bobby Labonte TRG Motorsports Chevrolet 31.151 173.349
47 Marcos Ambrose JTG Daugherty Racing Toyota 31.163 173.282
43 Reed Sorenson Richard Petty Motorsports Dodge 31.164 173.277
55 Michael Waltrip Michael Waltrip Racing Toyota 31.192 173.121
39 Ryan Newman Stewart-Haas Racing Chevrolet 31.196 173.099
16 Greg Biffle Roush Fenway Racing Ford 31.203 173.060
12 David Stremme Penske Championship Racing Dodge 31.214 172.999
77 Sam Hornish Jr. Penske Championship Racing Dodge 31.269 172.695
18 Kyle Busch Joe Gibbs Racing Toyota 31.310 172.469
31 Jeff Burton Richard Childress Racing Chevrolet 31.318 172.425
07 Casey Mears Richard Childress Racing Chevrolet 31.368 172.150
7 Robby Gordon Robby Gordon Motorsports Toyota 31.388 172.040
29 Kevin Harvick Richard Childress Racing Chevrolet 31.408 171.931
2 Kurt Busch Penske Championship Racing Dodge 31.554 171.135
34 John Andretti Front Row Motorsports Chevrolet 31.640 170.690
96 Erik Darnell Hall of Fame Racing Ford 31.704 170.326
19 Elliott Sadler Richard Petty Motorsports Dodge 31.731 170.181
13 Max Papis Germain Racing Toyota 31.281 172.629
Failed to qualify
04 David Gilliland Robby Gordon Motorsports Toyota 31.324 172.392
36 Michael McDowell Tommy Baldwin Racing Toyota 31.557 171.119
37 Kevin Hamlin Front Row Motorsports Dodge 31.732 170.176
Source:[13]
5 14 Tony Stewart Stewart-Haas Racing Chevrolet 267 1901
9 24 Jeff Gordon Hendrick Motorsports Chevrolet 267 170
31 16 Greg Biffle Roush Fenway Racing Ford 267 1752
14 42 Juan Pablo Montoya Earnhardt Ganassi Racing Dodge 267 1651
22 11 Denny Hamlin Joe Gibbs Racing Toyota 267 1601
6 9 Kasey Kahne Richard Petty Motorsports Dodge 267 150
1 5 Mark Martin Hendrick Motorsports Chevrolet 267 1511
13 00 David Reutimann Michael Waltrip Racing Toyota 267 142
11 48 Jimmie Johnson Hendrick Motorsports Chevrolet 267 1431
17 99 Carl Edwards Roush Fenway Racing Ford 267 1391
39 2 Kurt Busch Penske Championship Racing Dodge 267 1351
34 18 Kyle Busch Joe Gibbs Racing Toyota 267 127
3 25 Brad Keselowski Hendrick Motorsports Chevrolet 267 1291
27 47 Marcos Ambrose JTG Daugherty Racing Toyota 267 121
36 07 Casey Mears Richard Petty Motorsports Dodge 267 118
21 1 Martin Truex Jr. Earnhardt Ganassi Racing Chevrolet 267 1201
15 44 A. J. Allmendinger Richard Petty Motorsports Dodge 267 112
33 77 Sam Hornish Jr. Penske Championship Racing Dodge 267 109
16 21 Bill Elliott Wood Brothers Racing Ford 266 106
42 19 Elliott Sadler Richard Petty Motorsports Dodge 266 1081
42 33 Clint Bowyer Richard Childress Racing Chevrolet 266 100
30 39 Ryan Newman Stewart-Haas Racing Chevrolet 266 97
35 31 Jeff Burton Richard Childress Racing Chevrolet 266 94
38 29 Kevin Harvick Richard Childress Racing Chevrolet 266 91
32 12 David Stremme Penske Championship Racing Dodge 266 88
28 43 Reed Sorenson Richard Petty Motorsports Dodge 266 85
10 82 Scott Speed Red Bull Racing Team Toyota 266 82
18 20 Joey Logano Joe Gibbs Racing Toyota 266 79
41 96 Erik Darnell Hall of Fame Racing Ford 265 76
20 98 Paul Menard Yates Racing Ford 265 73
4 26 Jamie McMurray Roush Fenway Racing Ford 264 70
43 13 Max Papis Germain Racing Toyota 263 67
40 34 John Andretti Front Row Motorsports Chevrolet 263 691
37 7 Robby Gordon Robby Gordon Motorsports Toyota 263 61
25 6 David Ragan Roush Fenway Racing Ford 256 58
2 88 Dale Earnhardt Jr. Hendrick Motorsports Chevrolet 232 601
12 83 Brian Vickers Red Bull Racing Team Toyota 208 52
29 55 Michael Waltrip Michael Waltrip Racing Toyota 141 49
23 17 Matt Kenseth Roush Fenway Racing Ford 134 511
24 66 Dave Blaney Prism Motorsports Toyota 28 43
19 09 Mike Bliss Phoenix Racing Dodge 26 40
7 87 Joe Nemechek NEMCO Motorsports Toyota 25 37
26 71 Bobby Labonte TRG Motorsports Chevrolet 6 34
Source:[1]
1 Includes five bonus points for leading a lap
2 Includes ten bonus points for leading the most laps
Standings after the race
Drivers' Championship standings
+/–
Mark Martin 5,551
Jimmie Johnson 5,533 (–18)
Juan Pablo Montoya 5,500 (–51)
1 Tony Stewart 5,484 (–67)
1 Kurt Busch 5,460 (–91)
Denny Hamlin 5,452 (–99)
1 Jeff Gordon 5,448 (–103)
1 Greg Biffle 5,437 (–114)
2 Ryan Newman 5,387 (–164)
1 Carl Edwards 5,386 (–165)
1 Kasey Kahne 5,361 (–190)
2 Brian Vickers 5,301 (–250)
Source:[1][29]
Manufacturers' Championship standings
Toyota 167 (–50)
Ford 129 (–58)
Dodge 125 (–92)
Note: Only the top twelve positions are included for the driver standings.
^ a b c d e f g h "2009 Price Chopper 400 Presented by Kraft Foods". Racing-Reference. NASCAR Digital Media, LLC. Retrieved January 7, 2019.
^ a b c "The Race: Price Chopper 400". Jayski's Silly Season Site. ESPN Internet Ventures. Archived from the original on July 8, 2014. Retrieved February 3, 2015.
^ "Wather Information for Kansas City, Kansas". Old Farmer's Almanac. Retrieved January 8, 2019.
^ a b "2009 NASCAR Sprint Cup TV Ratings". Jayski's Silly Season Site. Archived from the original on September 9, 2011. Retrieved January 3, 2015.
^ "NASCAR Race Tracks". NASCAR. Archived from the original on October 12, 2010. Retrieved September 30, 2010.
^ a b "NASCAR Tracks—The Kansas Speedway". Kansas Speedway. Archived from the original on September 6, 2010. Retrieved September 30, 2010.
^ "2009 Official Driver Standings: AAA 400". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 3, 2009. Retrieved February 3, 2015.
^ a b c "Manufacturer's Championship Classification". Jayski's Silly Season Site. ESPN Internet Ventures. Archived from the original on July 7, 2014. Retrieved December 27, 2014.
^ "2008 Camping World RV 400 presented by Coleman". Racing-Reference. USA Today Sports Media Group. Retrieved February 3, 2015.
^ Pedley, Jim (October 4, 2009). "Race Day: There Are 1.5 Reasons Why Kansas Is Important". Racin' Today. Archived from the original on October 6, 2009. Retrieved January 8, 2019.
^ "Practice One Speeds". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 4, 2009. Retrieved February 3, 2015.
^ Vornbäumen, Stephan (October 3, 2009). "Drei Hendrick-Piloten stehen in Kansas vorne - Mark Martin zum siebten Mal auf Pole". Motorsport Magazin (in German). Archived from the original on January 8, 2019. Retrieved January 8, 2019.
^ a b "Race Lineup". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 4, 2009. Retrieved February 3, 2015.
^ "Martin earns another pole in Chase race". USA Today. Associated Press. October 4, 2009. Retrieved February 3, 2015.
^ "Practice Two Speeds". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 6, 2009. Retrieved February 3, 2015.
^ "Practice Three Speeds". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 6, 2009. Retrieved February 3, 2015.
^ "2009 NASCAR Sprint Cup Series Schedule". ESPN. ESPN Internet Ventures. Retrieved February 3, 2015.
^ a b c d e f g h i j k l m n o p q NASCAR.com (October 5, 2009). "Lap-by-Lap: Kansas". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 7, 2009. Retrieved February 3, 2015.
^ a b c "Stewart Out-Runs Gordon For Kansas Victory". The Spokesman-Review. October 4, 2009. Archived from the original on January 7, 2019. Retrieved January 7, 2019.
^ a b c d e Crandall, Kelly (October 4, 2009). "He's Baaaaaaack: Tony Stewart Wins in Kansas, First Top Five Since August". Bleacher Report. Archived from the original on October 11, 2009. Retrieved January 7, 2019.
^ Meija, Diego (October 5, 2009). "Stewart wins at Kansas". Autosport. Archived from the original on October 7, 2009. Retrieved January 8, 2019.
^ a b c Peltz, Jim (October 5, 2009). "A four-tire decision leaves Greg Biffle deflated". Los Angeles Times. Archived from the original on September 20, 2015. Retrieved January 7, 2019.
^ a b Pearce, Al (October 4, 2009). "Good pit call gives Tony Stewart Kansas win". Autoweek. Archived from the original on January 8, 2019. Retrieved January 8, 2019.
^ a b Meija, Diego (October 5, 2009). "Stewart credits team for strategy". Autosport. Archived from the original on October 8, 2009. Retrieved January 8, 2019.
^ Blount, Terry (October 5, 2009). "Stewart roars back in a big way". ESPN. ESPN Internet Ventures. Archived from the original on January 7, 2019. Retrieved January 7, 2019.
^ "Stewart Wins At Kansas To Improve Title Chances". CBS News. Associated Press. October 4, 2009. Archived from the original on January 8, 2019. Retrieved January 8, 2019.
^ Caraviello, David (October 5, 2009). "Hendrick cars going back to NASCAR's R&D; Center". NASCAR. Turner Sports Interactive, Inc. Archived from the original on October 16, 2009. Retrieved January 8, 2019.
^ Pockrass, Bob (October 7, 2009). "CUP: NASCAR Clears Cars Of Martin, Johnson". Speed. Archived from the original on October 8, 2009. Retrieved January 8, 2019.
^ a b "2009 Official Driver Standings: Price Chopper 400 presented by Kraft Foods". NASCAR. Turner Sports Interactive, Inc. Archived from the original on November 8, 2009. Retrieved January 8, 2019.
^ Demmons, Doug (October 5, 2009). "Chevy wins NASCAR manufacturers title for seventh straight year". The Birmingham News. Archived from the original on October 10, 2009. Retrieved January 8, 2019.
Previous race:
2009 AAA 400 Sprint Cup Series
2009 season Next race:
2009 Pepsi 500
2009 NASCAR Sprint Cup Series
Points races
Daytona 500
Auto Club 500
Shelby 427
Kobalt Tools 500
Food City 500
Goody's Fast Pain Relief 500
Samsung 500
Subway Fresh Fit 500
Aaron's 499
Crown Royal 400
Southern 500 presented by GoDaddy.com
Coca-Cola 600
Autism Speaks 400
Pocono 500
LifeLock 400
Toyota/Save Mart 350
Lenox Industrial Tools 301
Coke Zero 400
LifeLock.com 400
Brickyard 400
Sunoco Red Cross Pennsylvania 500
Heluva Good! Sour Cream Dips at The Glen
Carfax 400
Sharpie 500
Pep Boys Auto 500
Chevy Rock & Roll 400
Chase for the Sprint Cup
Sylvania 300
AAA 400
Price Chopper 400
Pepsi 500
NASCAR Banking 500
TUMS Fast Relief 500
AMP Energy 500
Dickies 500
Checker Auto Parts 500
Ford 400
Exhibition races
Budweiser Shootout
Gatorade Duels
All-Star Race
Kansas portal
Sports portal
This page was last edited on 4 December 2019, at 12:10


text:
How To Find Jacobian Using Matlab
Does anyone know how to convert an anonymous function into a symbolic function? Or is there a better strategy for what I'm trying to do? I do know that my code seems a bit contrived for this simple system, but this is because I have tried to capture the essential elements of the code used to solve my more complex system. Basic Surface Plotting in MatLab Making 3D surface plots, contour plots, and gradient plots in MatLab is slightly more complicated than making simple line graphs, but we will present some examples that, with simple modifications, should enable you to create most of the pictures that you will need. jacobian(v, x) computes the Jacobian matrix of the vector function with respect to. MATLAB will realize that it doesn't have a built-in function named val_port and search the relevant directories for a file named val_port. You can either type commands directly into MATLAB, or put all of the commands that you will need together in a m-file, and just run the file. , C, FORTRAN) for solving technical problems. How can i do this is matlab? Please help me on this. The simplest way of solving a system of equations in MATLAB is by using the \ operator. Learning how to do inverse kinematics in MATLAB. how to find out if a number is even or not. Still you can do many things to manipulate this element. There are two kinds of M-Files:. An introduction to how the jacobian matrix represents what a multivariable function looks like locally, as a linear transformation. The goal of this post is to introduce you to the usage of strings in Matlab and to help you loosen the knot… To start with string in Matlab, you just need to use one single character. Inverting the Jacobian— JacobianTranspose • Another technique is just to use the transpose of the Jacobian matrix. How to Import, Graph, and Label Excel Data in MATLAB. If you complete the whole of this tutorial, you will be able to use MATLAB to integrate equations of motion. m file tells MATLAB where this. Is there a way to evaluate the Jacobian in Matlab? Ask Question Asked 7 years, 7 months ago. Let's consider the following examples. How to find the intrinsic parameters of your camera (including distortion) using MATLAB calibration toolbox In this tutorial, you will learn how to: 1) find the intrinsic parameters of your camera 2) find the distortion parameters of your camera (radial and tangential distortion) 3) compare a distorted vs. Download MATLAB Toolbox for the LabelMe Image Database. For implicit solvers, Simulink must compute the solver Jacobian, which is a submatrix of the Jacobian matrix associated with the continuous representation of a Simulink model. This week I'm posting the third part in my series on using XML. There are two types of M-files, scripts and functions. How to find Lyapunov exponent for coupled system. Related MATLAB, Maple, Mathematica, LaTeX, Etc News on Phys. Matlab will find an equilibrium and display its Jacobian and the eigenvalues in a separate window: it will also classify the equilibrium for you, and you can solve the linearization by selecting "Display the linearization". The geometric Jacobian is a function of the robot configuration q (joint angles/positions), which is why it is often denoted as J(q). So the solution we use is to simply find the highest measured peak without trying to do anything smart. The Matlab software environment has a core module (called Matlab) and associated with that are a set of "Toolboxes" that perform specialized computations. Start Octave (octave at the command line for me):. If, instead, you want the spacing to be logarithmic, use the logspace function. Octave has MATLAB-compatible save and load functions. m — numerical solution of 1D heat equation (Crank—Nicholson method). The syntax is similar to the other symbolic math functions: declare a function and pass it to the appropriate functions to obtain the transform (or inverse). A function accepts one or more MATLAB variables as inputs, operates on them in some way, and then. I have a function called as 'F' and another function called as 'w'. Using such a complex environment can prove daunting at first, but this Cheat Sheet can. The third edition was published in July, 2003. Moreover, since the determinant of the Jacobian is a rather complicated trigonometric expression, you can use simplify to make trigonometric substitutions and reductions (simplifications). Start Octave (octave at the command line for me):. The Jacobian The Jacobian of a Transformation In this section, we explore the concept of a "derivative" of a coordinate transfor-mation, which is known as the Jacobian of the transformation. For example, if A x = b and you want to find x, a slow way to find x is to simply invert A and perform a left multiply on both sides (more on that later). When we want to check the nonlinear observability of a nonlinear system, we need to compute many derivative and Jacobians. Each choice is covered by a case statement. I think you misunderstood something you read. Matlab is the most popular tools out there when it comes to the study of the system, and in this post, we are going to work with some basic equations, Matlab, and most importantly make use of EZPLOT for plotting equations. How to Use Find from the Windows Command Prompt Martin Hendrikx Updated July 5, 2017, 5:41pm EDT Find is another great command line tool that every Windows user should know about because it can be used to search content of files for specific strings of text. A switch block conditionally executes one set of statements from several choices. Symbolic Math in Matlab. Use matlab's 'null' function applied to an array of first partial derivatives (Jacobian) to obtain an m-element vector, (call this vector v,) which is to be orthogonal to all the m-1 vectors of the partials. There are two versions of this routine, one just finds the eigen values, the other finds both the eigen values and the eigen vectors. This is useful when you don't want to immediately compute an answer, or when you have a math "formula" to work on but don't know how to "process" it. undistorted image side by side All code…. Cut and paste the above code into the Matlab editor. Please run 'matlab -n' to determine what value you are using for MATLAB_JAVA and fix accordingly. This shows how to use Matlab to solve standard engineering problems which involves solving a standard second order ODE. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid. Start Octave (octave at the command line for me):. Inverting the Jacobian— JacobianTranspose • Another technique is just to use the transpose of the Jacobian matrix. the base frame (the black one in figure). The other part defined the set of equations I wish to solve, this would usually be written as a function. The book integrates material from the leading text, Digital Image Processing by Gonzalez and Woods, and the Image Processing Toolbox from The MathWorks, Inc. It is worth noting that jacobian actually has much more general capabilities, which we will be using later in the course. , a domain of category Cat::Field ) for which differentiation with respect to x is defined. In the rst command, 1 < 2 is true, 5 < 2 is false, and 3 < 4 is true, so find returns that the rst and third comparisons are true. We'll solve this differential equation numerically, i. Bold letters are also. For optimset, the name is Jacobian, and the values are 'on' or 'off'. I was referred to this method from the mathworks support site, and it seems that whoever answered that was wrong. I am trying to write a program in matlab to find Jaobian for any test function. 2 calculate (x^2) *e^4. Active 8 months ago. It requires only function evaluations and is a good choice for simple minimization problems. Jacobian change of variables is a technique that can be used to solve integration problems that would otherwise be difficult using normal techniques. In this section MATLAB is used to solve the equations encountered when analyzing a resistive circuit. The goal of this post is to introduce you to the usage of strings in Matlab and to help you loosen the knot… To start with string in Matlab, you just need to use one single character. Least-Squares Fitting Introduction. A generally recommend choice is to use interior point methods, which is usually superior to the default choice. During the fall 1998 class, we primarily. help help. Cody is a MATLAB problem-solving game that challenges you to expand your knowledge. It may require some of the Matlab Toolboxes, I was not particularly careful in keeping track. com/patrickjmt !! The Jacobian - In this video, I give. The Jacobian is a mapping from the joint velocities to the world velocities of a coordinate frame of interest. Contact your MathWorks Representative to indicate your interest for an institution-wide authorization. Matlab will find an equilibrium and display its Jacobian and the eigenvalues in a separate window: it will also classify the equilibrium for you, and you can solve the linearization by selecting "Display the linearization". If you complete the whole of this tutorial, you will be able to use MATLAB to integrate equations of motion. about the Jacobian J m;n= Df(v 0) = @f m @x n 1. , a domain of category Cat::Field ) for which differentiation with respect to x is defined. This course teaches computer programming to those with little to no previous experience. Most important part is to realize that MATLAB handles vector as columns like Fortran does. Instead it finds n-2 points between 10^a and 10^b as follows:. m Download. For example, if for some trig function you want to evaluate an angle in degrees, just append the function with the letter d. Upto this point, we have learned how to plot general functions in Matlab. This is just as easy the Arduino. [ α, β, γ, u 0 , v 0 , w x , w y , w z , t x , t y and t z ]. a picture rather than develop Matlab pictures of a surface and a vector field. The Jacobian of a function with respect to a scalar is the first derivative of that function. path Control MATLAB's directory search path pathtool Open the GUI for viewing and modifying MATLAB's path profile Start the M-file profiler, a utility for debugging and optimizing code profreport Produce a beep sound Generate a profile report rehash Refresh function and file system caches rmpath ^Remove directories from MATLAB's search path. How to use find function to find input of 'cell' type? Is there a way to find the row for a cell content in Matlab? If so, how can I find the row of both that one. The Fourier series of a periodic function is given by. Matlab allows you to create symbolic math expressions. My matlab program was it two parts, one was computing the Jacobian by computing the Jacobian using the definition of the Jacobian. m Chapter 4 frenet. m and sys_jac. Matlab Tools for Network Analysis (2006-2011) This toolbox was first written in 2006. MATLAB's symbolic math toolbox lets you find integral transforms (in particular, the Laplace, Fourier, and Z-transform) and their inverses when they exist. The c-mex configuration opens many possibilities for what we can do with our MATLAB programs. However, with a bit of math you can find that it also maps the joint forces/torques to world forces. mat file that you want to read into SciPy. If none are found, find returns an empty, 0-by-1 matrix. For implicit solvers, Simulink must compute the solver Jacobian, which is a submatrix of the Jacobian matrix associated with the continuous representation of a Simulink model. power flow solution and Graphical User Interface (GUI) use to help a user easy to use. I was referred to this method from the mathworks support site, and it seems that whoever answered that was wrong. Find the first derivative f'(x) of the given function f(x). 2014/15 Numerical Methods for Partial Differential Equations 57,917 views. m and sys_jac. The simplest way to create a matrix in MATLAB is to use the matrix constructor operator, []. Basic Plotting. Next let us apply the Newton-Raphson method to the system of two nonlinear equations solved above using optimization methods. For instance, the continuously differentiable function f is invertible near a point p ∈ ℝ n if the Jacobian determinant at p is non-zero. A preliminary version of a paper on this work is available here. or if you are fine with estimating the jacobian with finite differences you could also use the 'jacobianest' function from the file exchange. Download the file now. Create your own IK in Unity Sometimes the IK that is built-in to a system is not enough. For a vector function, the Jacobian with respect to a scalar is a vector of the first derivatives. Give the command before giving the command for the plot you want to appear in the new window. Musical Sound Clips Figure 2: Analysis of piano notes using analyze. It requires only function evaluations and is a good choice for simple minimization problems. The software package. Solving a system with two equations and two variables in a for loop. Computer Explorations in Signals and Systems Using MATLAB (2nd Edition) [John R. This formula is used in the program code for Newton Raphson method in MATLAB to find new guess roots. Step 3, Type the inputs of your function in between the parenthesis. Daniel, Andrew C. ATTIA Department of Electrical Engineering Prairie View A&M University Boca Raton London New York Washington, D. m and sys_jac. It is slightly different from the one obtained using MATLAB program. This number will depend on how your final band-passed image looks. Find the gradient vector of f(x, y) with respect to vector [x, y]. For implicit solvers, Simulink must compute the solver Jacobian, which is a submatrix of the Jacobian matrix associated with the continuous representation of a Simulink model. Or you could change your three parameters into a cell array, and use cellfun to evaluate the whole thing. This is consistent with the fact that there are at most 18 non-zero entries in any row of the Jacobian. Create a row in the matrix by entering elements (shown as E below) within the brackets. How to Use Jacobians. Using Matlab for Autonomous Systems. Matlab app to demonstrate Jacobians in Robotics. I cannot handle finding fixed points of those two differential equations in one point: dx/dt=2xy dy/dt=y^2-x^2 How to get those fixed points and then sketch this phase portrait?. However, with a bit of math you can find that it also maps the joint forces/torques to world forces. Matrix Functions. I have a function called as 'F' and another function called as 'w'. Then, to reduce the chance of error, you could let MATLAB find the coefficients before solving:. This button will be on the upper left side of your screen. Do you want to take derivative without using symbols that usually we define in matlab by sym function? – Hassan Saqib Apr 24 '15 at 20:24 I don't mind getting the derivative using symbols as long as the final function for the derivative is not a symbolic function and I didn't have to edit it manually. Forward Collision Warning Using Sensor Fusion Open Script This example shows how to perform forward collision warning by fusing data from vision and radar sensors to track objects in front of the vehicle. [ α, β, γ, u 0 , v 0 , w x , w y , w z , t x , t y and t z ]. Buck, Michael M. MATLAB will realize that it doesn't have a built-in function named val_port and search the relevant directories for a file named val_port. MATLAB must have non-zero, positive integers as vector- or matrix-indices! One of the most common mistakes when programming in MATLAB is that your program begins indexing at zero instead of one. For a vector function, the Jacobian with respect to a scalar is a vector of the first derivatives. The other part defined the set of equations I wish to solve, this would usually be written as a function. What I have done so far is to create an array of a random sort of numbers and printed out each element as shown below:. Each choice is covered by a case statement. 3 Calculating Lyapunov Exponents of a Contin- % using matlab's built-in ode45 runke kutta integration routine. If the jth joint is a rotational joint with a single degree of freedom, the joint angle is a single scalar µj. You will want to first use the pkfnd macro. A few useful MATLAB functions. Several mathematical operations that work on arrays or matrices are built-in to the Matlab environment. So [0 0 1] means that qdot1 directly contributes to wz of the end effector. Compute the Jacobian of [x^2*y, x*sin(y)] with respect to x. MATLAB Functions What is a MATLAB function? A MATLAB "function" is a MATLAB program that performs a sequence of operations specified in a text file (called an m-file because it must be saved with a file extension of *. The MATLAB manuals provide cross-referenced and indexed descriptions of all aspects of using MATLAB. How to use solver in matlab. How do I calculate jacobian matrix? Equati ons. m — phase portrait of 3D ordinary differential equation ; heat. For this, the functions si are linearly approximated using the Jacobian matrix. It's called as you may have guessed, the Jacobian. Here we consider the following example of an autonomous system: y 1 ' = 4y 1 + y 2 + y 1 y 2. u = 4x - 2, v=-4y + 4, w=-52 +2 OOO Get more help from Chegg Get 1:1 help now from expert Calculus tutors Solve it with our calculus problem solver and calculator. In this lesson we'll cover how to fit a model to data using matlab's minimization routine 'fminsearch'. I know for pi you just type pi which is just pi in the command. $\begingroup$ I used to use Matlab to compute it. STEP 1> Download Matlab r2015b from anywhere or you can also download it from here and download the crack from here (for win 32) and here (for win 64). Explore our catalog of online degrees, certificates, Specializations, & MOOCs in data science, computer science, business, health, and dozens of other topics. Using MATLAB ® and Symbolic Math Toolbox™, you can: Define the robot's end-effector location and joint parameters symbolically as sine and cosine functions. Do you want to take derivative without using symbols that usually we define in matlab by sym function? - Hassan Saqib Apr 24 '15 at 20:24 I don't mind getting the derivative using symbols as long as the final function for the derivative is not a symbolic function and I didn't have to edit it manually. Digital Image Processing Using Matlab [Gonzalez] on Amazon. Write a program in matlab to find the equivalent resistance of the given parallel connected resistors using function and without using function. For a vector function, the Jacobian with respect to a scalar is a vector of the first derivatives. Consider the equation of the pendulum where is the damping coefficient. The Jacobian determinant is sometimes referred to as "the Jacobian". Musical Sound Clips Figure 2: Analysis of piano notes using analyze. In order to do this we will be using a mesh generation tool implemented in MATLAB called distmesh. com/patrickjmt !! The Jacobian - In this video, I give. The result of the fitting process is an estimate of the model coefficients. Download Matlab. 'Waypoints' — Integration waypoints vector. This instruction set explains how to solve a matrix equation and perform statistical analysis on a matrix in MATLAB. However, with a bit of math you can find that it also maps the joint forces/torques to world forces. The methods you can use to solve them are many, but if you happen to have Matlab or the free Matlab alternative Octave you might as well be good using them to buy time if the purpose of solving the equation is more than simply solving the equation. This feature is not available right now. Studies MATLAB programming and MATLAB GUI ii. Both the functions are 3 by 1 matrix. 51*y1*y3; y3(0) =1 Download this demo file. In Newton-Raphson method for calculating jacobian matrix for each nod there is 3 time (previously,now and future). $\begingroup$ I used to use Matlab to compute it. However, with a bit of math you can find that it also maps the joint forces/torques to world forces. Share: Facebook Twitter Reddit Pinterest WhatsApp Email Link. pplane8 plots vector fields for planar autonomous systems. So [0 0 1] means that qdot1 directly contributes to wz of the end effector. Jacobian type), or automatically detect it with SparsityDetection. Basic MATLAB Programming MATLAB is a matrix-based language. The equations to solve are and the Jacobian is Prepare the following script (but without the ';' at the end of each line). These courses help you learn the core MATLAB syntax, extend MATLAB with additional libraries and toolsets, and start your dive into big data. So the root of the tangent line, where the line cuts the X-axis; x1 is the better approximation to a than x0 is. in this video will learn 1-How to simulate Robot arm in matlab using Peter Cork Robotic tool box 2- How to enter DH parameter in matlab 3- How to simulate and animate robot arm using matlab this. For Windows users, that means the C:UsersDocumentsMATLAB folder. Mathematics 5342 Discrete Fourier Transform 1 Introductory Remarks There are many ways that the Discrete Fourier Transform (DFT) arises in practice but generally one somehow arrives at a periodic sequence numbers. To visualize the basin of attraction, we will color a grid of points according to each point's resultant root after iterating with Newton's method. A better option is to convert A to a column vector and use sum once. 3 Calculating Lyapunov Exponents of a Contin- % using matlab's built-in ode45 runke kutta integration routine. Finding Definite Integral Using MATLAB By definition, definite integral is basically the limit of a sum. It discusses how to represent initial value problems (IVPs) in MATLAB and how to apply MATLAB's ODE solvers to such problems. If MATLAB ignores hold off (which it does occasionally), give the command. For example, cross-products. To find the derivatives of f, g and h in Matlab using the syms function, here is how the code will look like. If MATLAB is stuck, use Ctrl C to abort from a long calculation or to reset the command line. MATLAB is an interactive system whose basic data element is an array that does not require dimensioning. The Jacobian and coordinate transformations | Calculus in a Nutshell. sci Counts the number of odd numbers within a given range. What happens if you give an initial guess of x=0? Explain. After all your previous work files has been moved, uninstall MATLAB using the "Control Panel" -> "Add and Remove Programs" MATLAB Release 2007b Installation Instructions. This is useful when you don't want to immediately compute an answer, or when you have a math "formula" to work on but don't know how to "process" it. Also note how by typing a percent sign ( % ) before text in the code, MATLAB does not interpret this text as code. Then change the working directory the newly created directory. in this book. Inverse kinematics. This is just as easy the Arduino. MATLAB® provides the quiver plotting function for this task. 13 Nov How to use solver in matlab. m Chapter 4 frenet. A table summarizing diff and jacobian follows. Digital Image Processing Using MATLAB (DIPUM) is the first book to offer a balanced treatment of image processing fundamentals and the software principles used in their implementation. This method is sometimes called the method of lines. Just go to your program fi les menu and search for the MATLAB folder. Find the roots of the equation. Share: Facebook Twitter Reddit Pinterest WhatsApp Email Link. It WILL NOT work with Matlab 4. COMPLEX NUMBERS. Can someone tell me how? Preferably write out the code?. Using plots to display curves and surfaces stored in vectors and matrices 9. Files that contain code in MATLAB language are called M-Files. If you write longer programs, you will find it more convenient to write the program code in a separate window, and then run it in the command window (discussed in Intro to programming ). As an example, we'll solve the one-dimensional Gray-Scott partial differential equations using the method of lines [MOL]. m Checks to see if a number is "perfect". How to use MatPower for power flow analysis of distribution network? Join ResearchGate to find the people and research you need to help your work. I am interested to find the Jacobian matrix as dF/dw. Awarded to Justus Rooker on 15 Nov 2019. The Jacobian is a matrix of first-order partial derivatives of a. Please contact me if you want to use any part of the code for commercial purposes. integrate it in time starting from the initial conditions at t=0, using MATLAB. Still you can do many things to manipulate this element. Each time the for statement will update the value of j and repeat the statements within the loop. Or you have tried to use the MATLAB_JAVA environment variable to specify an alternate JRE, but MATLAB cannot find it. We'll use Euler's method to perform the numerical integration. MATLAB/Octave Python Description; doc help -i % browse with Info: help() Browse help interactively: help help or doc doc: help: Help on using help: help plot: help. Unfortunately, MATLAB does not catch you doing this for the most part. Wind Chill Calculation. Contribute to Shuistlo/Inverse-Kinematics---Matlab development by creating an account on GitHub. Thus, in C, if you wish to receive input from the user of the program, you must use the scanf (or fgets) function. I try to avoid using variables and function names that are common terms like, mean, filter, etc… If there is any doubt, use the which command to find out if a function exists of a given name. To find out more about command "help", type. MATLAB allows you to easily customize, label, and analyze graphs,. After completing this tutorial you will find yourself at a moderate level of expertise in using MATLAB from where you can take yourself to next levels. Use the function name as facto(x), where x is the number that the user gives the input to find the factorial of 'x'. Consider a sample of annual household incomes drawn from the general population of the United States. This is a direct search method that does not use numerical or analytic gradients as in fminunc. m Using the jacobian, it is. MATLAB has many advantages compared to conventional computer languages (e. Sharpen your programming skills while having fun!. Examples of MATLAB functions Some very short, simple functions: square. How can i do this is matlab? Please help me on this. MATLAB supports the basic flow control constructs found in most high level programming languages. An evaluated switch_expression is a scalar or string. An F-test tests the null hypothesis that the two variances are the same (ratio = 1). I have a function called as 'F' and another function called as 'w'. In this section we will demonstrate how to use the inbuilt MATLAB ODE solvers such as ode45. A switch block conditionally executes one set of statements from several choices. Since operations may be performed on each entry of a matrix, "for" loops can often be bypassed by using this option. You will want to first use the pkfnd macro. Jv{i} is the 3xn angular velocity jacobian of link i. power flow solution and Graphical User Interface (GUI) use to help a user easy to use. In order to find the direction of the velocity vectors along the nullclines, we pick a point. How do I print (output) in Matlab? There are three common ways: Type the name of a variable without a trailing semi-colon. Given a vector function f of n variables [math]x_1,x_2,x_3,. Stability Analysis for ODEs Marc R. A manual for using MATLAB in a course on Ordinary Differential Equations. A generally recommend choice is to use interior point methods, which is usually superior to the default choice. MATLAB commands in numerical Python (NumPy) 3 Vidar Bronken Gundersen /mathesaurus. Well I have the symbolic Toolbox and for other problems the command 'jacobian' works fine, however when I try to find the jacobian matrix of a function specified with input variables ('qn' in this case) I don't know how to tell MATLAB that I want the jacobian matrix of the output of this function with respect to x(1) and x(2). Consider the equation of the pendulum where is the damping coefficient. This is the first book that provides a balanced treatment of image processing basics and software principles used in the practical application of image processing. As opposed to Python, which is an expert at string, Matlab could look sort of limited in this domain. You will want to first use the pkfnd macro. There really is no degree mode in MATLAB. Dear Youngmok, I am a post graduate research student at University and using Matlab for my modelling purpose. a picture rather than develop Matlab pictures of a surface and a vector field. I am interested to find the Jacobian matrix as dF/dw. Differentiating with MATLAB using jacobian and symbolic function. The Jacobian is a mapping from the joint velocities to the world velocities of a coordinate frame of interest. As opposed to Python, which is an expert at string, Matlab could look sort of limited in this domain. As you can infer from the explanation, the second argument of the command jacobian is a vector containing the symbolic variables of your matrix (not a numeric vector). Prerequisites We assume you have a little knowledge of any computer programming and understand concepts like variables, constants, expression, statements, etc. For example, if for some trig function you want to evaluate an angle in degrees, just append the function with the letter d. If you put all of your m-files in the same directory that you run MATLAB from, then MATLAB will always find them. How to Find Vector Length in MATLAB Without Using Any MATLAB Functions? How would I be able to find the length of a vector only using simple arithmetic and loops? For example, I can't use functions like find(), length(), fft(), etc. MATLAB's symbolic math toolbox lets you find integral transforms (in particular, the Laplace, Fourier, and Z-transform) and their inverses when they exist. For example, adding zero to a logical array returns a double array. The Jacobian matrix is not used to transform coordinates in that way. Both the functions are 3 by 1 matrix. Problems for Matlab Fundamentals Tom Huber, Gustavus Adolphus College Envision It Workshop, February 1, 1997. Learn more about jacobian, function. Model Fitting. Does anyone know how to convert an anonymous function into a symbolic function? Or is there a better strategy for what I'm trying to do? I do know that my code seems a bit contrived for this simple system, but this is because I have tried to capture the essential elements of the code used to solve my more complex system. The first task is to find and Use chain rule In matrix form Can be computed We want to compute these for the B matrix This is known as the Jacobian matrix (J) for the mapping (s,t) → (x,y) * Title MANE 4240 & CIVL 4240 Introduction to Finite Elements. It discusses how to represent initial value problems (IVPs) in MATLAB and how to apply MATLAB's ODE solvers to such problems. ) Command "help" is a command you should use frequently. The toolbox contains functions for plotting and querying the annotations, computing statistics, dealing with synonyms, etc. This means that there is a basic mechanism for taking an approximation to the root, and finding a better one. , a domain of category Cat::Field ) for which differentiation with respect to x is defined. De first column of each matrix represents the x-coordinate and the second column represents the y. What I have done so far is to create an array of a random sort of numbers and printed out each element as shown below:. I am interested to find the Jacobian matrix as dF/dw. Complex numbers \(x+iy\) can be dealt with "natively" in MATLAB®. We can perform a nonparametric version of the f-test using the bootstrap method. Adding this option lets the minimization proceed till the limit on iterations is reached, we even see a slightly smaller residual in the MATLAB output. (Can we always use this method to solve linear systems in MATLAB? Experiment with different systems. t is a variable (time), Phi, Theta and R are functions of t, X is a vector using Phi, Theta and R,(position of the point in cylindrical coordenates) r is function of Phi, Theta and R (position of a point in the cartesian coordenates). This instruction set explains how to solve a matrix equation and perform statistical analysis on a matrix in MATLAB. The gradient is vector g with these components. The arguments of the jacobian function can be column or row vectors. Find the root of the equation. Is there a way to evaluate the Jacobian in Matlab? Ask Question Asked 7 years, 7 months ago. Create a row vector a and a column vector b, then multiply them. I want to know the Y value from my graph example X = 10 to 11, till 10 to 11 in y axis i have to mark. Least-Squares Fitting Introduction. The matlab function ode45 will be used. Following is a list of commands used in the Control Tutorials for MATLAB and Simulink. There are two versions of this routine, one just finds the eigen values, the other finds both the eigen values and the eigen vectors. Develop a MATLAB program to calculate the Jacobian matrix and to simulate resolved-rate control for the planar 3R robot. There are 2 main methods depending on the nature of the data. Differentiating with MATLAB using jacobian and symbolic function. Buck, Michael M. MATLAB vectorization, and other tips 8/36. How to find Jacobian matrix if the state. Output of linear SVM model in Matlab using SVM-light.

redpajama_set_name: RedPajamaCommonCrawl


text:
Q: Is there a nodejs module or example of how to make GridFS files accessible with WebDAV? I have an existing node.js app where users have a library of files that are stored with GridFS. Each user has their own library. I would like to make the library mountable with WebDAV so that a user could manage their library from their desktop.
I have seen jsDAV used to access the filesystem but it is not clear how to extend it for use with a virtual file system. I found gitDav but it is not clear how to use it.
Is this even possible without starting from scratch?

A: I was looking to use jsDAV to make some resources available through WebDAV. Failing to find a working example, I studied the comments in the source and wrote one myself. jsDAV is a port from a PHP library. The Sabre manual is useful guide in general. One thing to remember is that since we're in an asynchronous environment, functions that return the results in PHP might have to invoke a callback function instead. This usually happens when the operation in question involves reading from the disk. The first parameter to the callback will always be an error object, which should be null when all goes well.
'use strict';

var crypto = require('crypto');

var jsDAV = require("jsDAV/lib/jsdav");
var jsDAVLocksBackendFS = require("jsDAV/lib/DAV/plugins/locks/fs");
var jsDAVFile = require("jsDAV/lib/DAV/file");
var jsDAVCollection = require("jsDAV/lib/DAV/collection");
var jsExceptions = require("jsDAV/lib/shared/exceptions");

var VirtualFile = jsDAVFile.extend(
{
    initialize: function(name, buffer) {
        this.name = name;
        this.buffer = buffer;
    },

    getName: function() {
        return this.name;
    },

    get: function(callback) {
        callback(null, this.buffer);
    },

    put: function(data, type, callback) {
        callback(new jsExceptions.Forbidden("Permission denied to change data"));
    },

    getSize: function(callback) {
        callback(null, this.buffer.length);
    },

    getETag: function(callback) {
        var shasum = crypto.createHash('sha1');
        shasum.update(this.buffer);
        var etag = '"' + shasum.digest('hex') + '"';
        callback(null, etag);
    },

    getContentType: function(callback) {
        callback(null, 'text/plain');
    }
});

var VirtualDirectory = jsDAVCollection.extend(
{
    initialize: function(name, children) {
        this.name = name;
        this.children = children;
    },

    getChildren: function(callback) {
        var list = [];
        for (var name in this.children) {
            list.push(this.children[name]);
        }
        callback(null, list);
    },

    getChild: function(name, callback) {
        var child = this.children[name];
        if (child) {
            callback(null, child);
        } else {
            callback(new jsExceptions.NotFound("File not found"));
        }
    },

    childExists: function(name, callback) {
        var exists = (this.children[name] !== undefined);
        callback(null, exists);
    },

    getName: function() {
        return this.name;
    }
});

var children = {};
for (var i = 1; i <= 10; i++) {
    var name = 'file' + i + '.txt';
    var text = 'Hello world, #' + i;
    children[name] = VirtualFile.new(name, new Buffer(text, 'utf8'));
}

var grandchildren = {};
for (var i = 66; i <= 99; i++) {
    var name = 'beer' + i + '.txt';
    var text = i + ' bottles of beer';
    grandchildren[name] = VirtualFile.new(name, new Buffer(text, 'utf8'));
}
children['folder'] = VirtualDirectory.new('folder', grandchildren);

var root = VirtualDirectory.new(null, children);

var options = {
    node: root,
    locksBackend: jsDAVLocksBackendFS.new(__dirname + "/data")
};
var port = 8000;

jsDAV.createServer(options, port);

A: It looks like jsDAV is the only option. It is a port of a PHP library and it is not setup in such a way that you can use it like a normal node.js module. I found a few examples of server types that others have created to connect it with dropbox and couchdb.
I am now working on a server type that will work more like you would expect a node.js module to work. The next step will be making it play nice with npm. You can see my fork here.

redpajama_set_name: RedPajamaStackExchange


Within the curiosity of full disclosure, One Mile At A Time earns a referral bonus for anybody that's authorised by means of a number of the under hyperlinks. These are the perfect publicly out there gives that we have now discovered for every card. Opinions expressed listed here are the writer's alone, not these of the financial institution, bank card issuer, airways or lodge chain, and haven't been reviewed, accepted or in any other case endorsed by any of those entities. Please take a look at my advertiser coverage for additional particulars about our companions, together with American Categorical, Capital One, Chase, and Citi, and thanks in your help!
Yearly round this time, frequent vacationers around the globe scramble to make last-second pushes to safe elite standing earlier than time runs out. Whereas this was extremely commonplace, annual program modifications have made this follow of "status running" more and more tougher, and fewer rewarding.
So, in maintaining custom alive, I assumed it will be value taking a step again to look at the perks of "status running" – and whether or not it nonetheless is sensible given the state of present packages.
3 When do you have to do a standing run?
2.1 When do you have to do a standing run?
I used to be first launched to the idea, if not the time period, some 20 years in the past. My household was having a quiet December night time in, and my aunt – the unique frequent flyer in our household – was out of city.
This time, she wasn't on a enterprise journey to a conference or a women' weekend in Florida. Relatively, she was getting on a aircraft from Hartford to Vegas. To get off of the aircraft, flip round, and get again on one other aircraft.
Why? As a result of she was making an attempt to protect her elite standing on a most popular airline, and she or he wanted to fly a sure variety of miles earlier than the top of the calendar yr to be able to get there. By taking this final flight, her higher-tier standing would get her further airline perks, like greater improve precedence and extra frequent flyer miles to bankroll our household journeys.
" alt="" width="700″ />What, this isn't a typical day journey for everybody?
In different phrases, flying to Vegas and again in a day made extra sense for her than not flying to Vegas and again in a day.
The household had a superb chuckle at this conduct that would in any other case have somebody dedicated, however I used to be secretly intrigued.
Twenty years in the past – and even 5 years in the past, for that matter – it wasn't unusual for frequent flyers to eschew all types of perceivable sanity and get on these "flights to nowhere" in an effort to keep some degree of elite perks. Low cost round-trip fares have been widespread, elite flyers have been fewer and additional between, and for many people, a pair hundred additional dollars out-of-pocket in change for limitless upgrades and lounge entry was a no brainer.
However over the previous 5 years, home U.S.-based airways have moved away from distance-based loyalty packages to ones that reward people who spend extra. Every of the "big three" airways (American, United, and Delta) have carried out some type of "minimum spend" requirement. As a matter of reality, each American and United have raised these necessities in current weeks.
Conversely, airways have hacked away at top-tier elite advantages in recent times, slicing mileage earnings for a lot of kinds of tickets and limiting different perks, like improve certificates and companion lounge entry.
Whereas life can nonetheless be fairly nice as a top-tier elite, the worth proposition has arguably gone down, and airways have conversely made incomes elite standing harder.
In different phrases, it simply is probably not value it any extra.
Most airways supply some model of cubic zirconia standing for flying someplace within the vary of 20,000-25,000 miles a yr. Sometimes this comes with priority-ish boarding, a free checked bag, and improve chance that sometimes resembles the chances of the current Powerball.
Right here's the factor: most airline co-branded bank cards supply perks that resemble – if not exceed – bottom-level standing. We'll get into some choices in a bit, however for now it's necessary to notice you can possible replicate many of those perks with a a lot decrease out-of-pocket annual spend.
And simply the opposite day, I checked out an improve record that was forty two individuals lengthy. On a Tuesday night time flight from Detroit to Hartford.
All that to say that should you're new to the sport and anticipating them to roll out the purple carpet for you for flying 25,000 miles a yr, you're in all probability going to be sorely dissatisfied.
The solely time when this may make sense is in case you are inside a pair thousand (or hundred) miles of that baseline standing, and also you've already met your minimal spend requirement.
Nonetheless – and that is talking as somebody who has "status run" for bottom-tier United Silver – this usually isn't a terrific use of your time or cash.
Again when elite standing was credited solely on miles flown, the objective was to seek out the most cost effective fare for the longest distance potential. However over the previous 5 years, airways have carried out numerous spend necessities for every degree of standing, making it that rather more difficult to earn elite standing on miles flown alone.
For instance, Delta requires you to spend $15,000 in a calendar yr on flights with a purpose to keep top-tier Diamond Medallion standing (along with the miles flown), and American and United are following go well with subsequent yr with comparable necessities. And no, the taxes and costs don't rely towards that spend requirement.
So when you're a number of thousand dollars brief on spend, it's in all probability not an ideal concept to drop that sort of cash simply to get to the subsequent degree of elite standing.
Once more, should you're having to fly the equal of two roundtrip transcontinental flights simply to take care of a better degree of standing, there's in all probability an honest amount of money outlay that should occur with a purpose to get there. To say nothing of the misplaced productiveness (and misplaced sanity!) that may in all probability need to occur.
I think about there's some outlier state of affairs the place this might make sense, however as a common rule, this isn't one thing that I might advocate based mostly on the incremental improve in advantages.
Moreover, in case your loyalty lies with Delta, any Elite Qualifying Miles above the edge will mechanically be rolled over to the next yr, so these miles gained't be "wasted" so to talk. Only one extra issue to remember.
Even for those who're shut, if you understand that your journey is more likely to go down in 2019, it simply won't be value placing within the time.
It'd really feel good to see that quantity roll in, however when you're not going to take benefit and get the complete worth subsequent yr, you is perhaps happier preserving the cash in your checking account and spending the time at residence.
When do you have to do a standing run?
Look, all of us worth airline standing in a different way, and in the event you're gunning for a selected perk – like improve certificates for upcoming worldwide financial system flights, or lounge entry – it'd make sense for you. Or when you often fly by way of an space that's extremely susceptible to climate delays, that elite telephone line simply may be value these additional eight hours on a flight.
The very last thing you need to do is hit your distance-based requirement however fall brief on minimal spend. United and Delta each supply spend waivers (as much as their 75,000 mile Platinum standing) in case you spend $25,000 or extra in a calendar yr on a bank card, which can assist.
That's completely a hefty quantity to spend on an airline co-branded bank card, however could also be value it in case you are flying upward of 75,000 miles a yr on discounted financial system fares that don't fairly meet the spend necessities.
In case you're trying to hit spend and mileage necessities, that is in all probability the perfect bang-for-your-buck and lets you keep a relative degree of consolation. Most enterprise class fares – even deeply discounted ones – include a better mileage incomes price than many financial system fares.
It's additionally value noting that American and Delta allow you to earn Elite/Medallion Qualifying Dollars on associate airways based mostly on a proportion of miles flown. This requires greater than just a little little bit of math to determine, however principally it signifies that in case you are reserving a 5,000 mile flight on a associate airline, and you're incomes EQDs (American) or MQDs (Delta) at a price of 25% of the space flown, you're primarily incomes 1,250 EQDs/MQDs. No matter how a lot you spent on the flight.
You'll be able to learn extra about American's companion earnings right here and Delta's companions right here. In essence, AA permits you to earn EQDs for as much as 30% of miles flown in full-fare firstclass, and 25% for discounted enterprise class. To their credit score, Delta allows you to earn MQDs at as much as 60% of miles flown in full-fare associate firstclass, and 40% in discounted enterprise class.
In different phrases, this could possibly be the quickest back-door option to spend necessities, assuming you discover the suitable flight.
Oh, and United does allow you to earn Premier Qualifying Dollars (PQDs) on their companions, kind of, however they're much extra opaque about their guidelines.
Like lots of you, I stay in a world the place grownup duties have taken over, and pure standing operating for the sake of flying simply isn't a factor any extra. But when I can work out a method to squeeze in an additional enterprise assembly or a weekend away, and that additional flight places me excessive to the subsequent degree, then it turns into a a lot simpler capsule to swallow.
For instance, final yr I had some Marriott free night time certificates that have been about to run out, and wanted to re-up my diving earlier than an end-of-year journey to Malaysia. A fast weekend getaway to Miami (with a layover in Detroit, as a result of clearly you fly north to go south) was sufficient to prime me off for Delta's Diamond Medallion standing whereas eliminating diving jitters and offering a enjoyable weekend away.
Clearly your mileage will range, however for those who're on the lookout for an excuse to prime off these previous couple of hundred (or thousand) miles, at the least make it value your time!
That is in all probability the simplest approach to "cheat" your method to a few of the perks of elite standing. Most main airways supply some type of mid-range bank card that gives a free checked bag, precedence boarding and numerous different perks.
For instance, the United℠ Explorer Card presents two United Membership passes every calendar yr and prices $95 yearly, whereas the Alaska Airways Visa Signature Card consists of an annual $121 companion fare, for the worth of $75 a yr.
In the event you're in search of a extra premium expertise with out having to circumnavigate the globe a number of occasions, it's value contemplating one of many higher-end airline bank cards. The United MileagePlus Membership Card, the Delta Reserve for Enterprise Credit score Card, and the Citi® / AAdvantage® Government World Elite™ Mastercard® all include lounge entry, for an annual charge of $450 apiece.
Relying in your flying historical past, it's not unusual for airways supply the choice to "buy up" to the subsequent degree of standing. Many of those provides are focused, based mostly on flying patterns, and I'm positive we could have extra to say on this within the coming days because the provides begin to roll in.
However for now I'll say this – as a basic rule, these offers vary from not nice to for the love of God please don't.
Oftentimes, these promotions are likely to value extra than the airfare for a standing run, and are a simple method for airways to seize some last-minute income earlier than the top of the yr. However should you're just some thousand (or hundred!) miles brief, this can be a simple approach to bolster your standing – with out having to query your sanity.
Should you're primarily a leisure traveler and buy your personal airfare, it's usually not value gunning for elite standing at this level. Being airline-monogamous typically means having to spend extra – or connecting in bizarre locations – to get to the very same vacation spot. All else equal, for those who're solely touring a handful of occasions a yr, it might be value going for the most cost effective (or most direct) choice and utilizing the additional dough to pay for the occasional first-class improve.
And with bank cards just like the Chase Sapphire Reserve® and American Categorical® Gold Card providing such an excellent return on spend today, it's doubtless that the majority of your "earned" miles will come from bank card spend, somewhat than flying.
Okay, it's not fairly quid-pro-quo, however in the event you're saving cash by not standing operating, it positive is simpler to justify annual bank card charges that maximize points-earning alternatives.
In fact, your mileage will range, and I'm not suggesting that weekly enterprise vacationers abruptly go rogue and drop airline loyalty altogether.
However I am suggesting that in case you are discovering your self on the elite standing hamster wheel, that you simply no less than cease and assume earlier than shopping for that last-minute ticket to nowhere on December 30th.
Has anybody ever carried out a loopy end-of-year standing run? What do you make of it at this level?


text:
Tom Hardy's Forgotten Crime Thriller Tops The Streaming Chart
Home » word wide » Zendaya reveals what she wants to see in Euphoria Season 3
Zendaya reveals what she wants to see in Euphoria Season 3
Zendaya has recently opened up what she hopes to see in Euphoria's third season as an actress and producer of the hit series. Speaking to The Hollywood Reporter over the weekend, the Dune star said, "I think it'll be exciting to explore the characters out of high school." "I want to see what Rue looks like in her sobriety journey, how chaotic that might look," shared the 25-year-old actress, who plays the role of Rue on the HBO series.The Spiderman: Homecoming star explained she wanted to see what would be the characters' fates after finishing high school.
"They are trying to figure out what to do with their lives when high school is over and what kind of people they want to be," mentioned the Emmy-winning actress. Zendaya also discussed about her given responsibilities as an executive producer, adding, "The series has allowed me to come out of her shell as an actress, but also behind the camera, being in a place where there are no bad ideas and you feel safe enough to speak up." You don't usually get that kind of hands-on experience, and everybody is different with how they choose to produce. It's a labor of love for all of us," she remarked.
Previous 'Conan' Director Responds After Jason Momoa Says Film 'Sucked': 'I Was as Unhappy with the Result'
Next Emily in Paris Season 3 is not coming to Netflix in August
The upcoming A24 series Hazbin Hotelreleases its first look at Lucifer Morningstar, Charlie's father. Hazbin …


Home » Latest Articles » Accounting » Do you need to register for Goods & Services Tax (GST)?
Do you need to register for Goods & Services Tax (GST)?
Goods & Services Tax (GST): Does your business need to register?
As a result of recent changes to Australian tax laws, some foreign businesses that sell products and services to Australian consumers will be required to collect and remit a value added tax on those sales.
From 1 July 2017, Australia's Goods & Services Tax (GST) will apply to international sales of services and digital products to Australian consumers – affected international businesses with a tax residency other than Australia may be required to be registered for GST with the Australian Taxation Authority from this date.
We provide advisory and compliance services to Australian business taxpayers in all locations via our online services delivery – we can evaluate your circumstances and advise on the actions required to fulfill your initial and ongoing compliance with Australian taxation law. As registered tax agents, we can also assist with your mandatory tax registrations and can attend to your ongoing compliance reporting. We have a number of preconfigured ongoing online service packages and can configure a custom package to suit your ongoing service and advice needs. Simply register as a client or contact us for further information.
← Is your business FBT (Fringe Benefits Tax) compliant?


text:
REVIEW: Grand Hotel, Southwark Playhouse ✭✭✭
Stephen Collins 7th September 2015 7th August 2015 Off West End, Reviews
Southwark Playhouse
First, it was a novel by Vicki Baum. Then a play, adapted by, first, Baum, and then William A. Drake. Then a famous 1932 MGM film, starring Greta "I want to be alone" Garbo, which garnered an Academy Award for Best Film. Then, in 1958, the team behind Kismet, Luther Davis (book), Robert Wright and George Forrest (score and lyrics) collaborated on At The Grand, a musical adaptation for Broadway. It went nowhere, but thirty years later that creative team re-grouped and, with help from Maury Yeston (who composed six new songs and substantially revised lyrics) and director/choreographer Tommy Tune, turned At The Grand into Grand Hotel which opened triumphantly at the Martin Beck Theatre (now the Al Hirschfeld Theatre) on Broadway on 12 November 1989.
Grand Hotel won Tony and Drama Desk Awards for Best Direction and Best Choreography but not for Best Musical. When the Donmar revived the musical in London in 2005, the production won the Olivier award for best revival. Awards for best revival, of course, don't depend on the quality of the raw material.
A decade on and a new production of Grand Hotel is now playing at Southwark Playhouse, this one directed by Thom Sutherland with choreography by Lee Proud and musical direction by Michael Bradley. It is 105 minutes of dazzling dance routines, lush and attractive music, and some superbly judged performances. This is a production of a musical which embraces the notion that music and movement can be moulded into a specific narrative language to enhance and illuminate the telling of a complicated narrative. For the most part, it is highly successful.
Lee Proud's choreography is the key to exuberance and insight here. Despite the fact that an odd decision has led to the production being presented in the traverse, with a relatively narrow centre strip on which all of the action happens, so that everything is curiously cramped, Proud ensures that large ensemble routines are fluent, crisp, and riddled with incident and eccentricity. Be it foxtrot, waltz, charleston or whatever, small or large in scale, there is purpose and pleasure in every step, and the entire cast are well drilled, and perform the various routines with energy and enthusiasm. This maelstrom of movement is vital to unleash the potential of Grand Hotel.
Set in 1928 Berlin, in the grand foyer, corridors and rooms of the titular Grand Hotel, the work is eloquent about a number of different themes: living a lie; making the most of life; the pitfalls of wealth; seduction and persuasion; fantasy and reality; life and death. What makes it engaging, and occasionally thrilling, is the form used to present these themes: a continuous stream of melody and movement, sometimes setting up a point, sometimes exploring it, sometimes moving on from it – always, however, working with other themes, in a similar way, to create an overall tapestry.
There may be a lot of people in the hotel, but not all know each other, even if they speak with or deal with each other. Some people who are in the Hotel every day do not know of the existence of others who are there, while others have their lives changed forever by their encounters. Chance and opportunity turn out to be as important as planning and persistence. Through a series of short tales involving a range of characters, some of whom have narratives which take surprising turns, some of which intersect or collide, Grand Hotel entertains and provides social comment in equal measure.
In a big picture way, the piece looks at the futility of human obsessions, the way history repeats itself, and the way power and money can transform and change lives. It owes a deal to the innovations made by Cabaret and Chicago, particularly in the way bright, ebullient numbers juxtapose against sombre moments for particular characters. Use of a caustic, gruff narrator-like figure, Colonel-Doctor Otternschlag, permits the audience the feeling of insider as well as voyeur, and markedly ups the stakes in terms of empathy.
Proud's choreography is redolent with an acute understanding of all this and everything he does aims to help involvement in and understanding of the work's intent. The hotel is seen as reflective of the Berlin experience and that is reflective of world experience: the microcosm in the hotel provides universal truths and observations. From the almost military opening routine, through the set pieces and the smaller incidents, the big, joyous all-in numbers, and the more intimate moments of pain or joy, Proud sees to it that dance propels the action, accentuates the fun and underscores the darkness.
Director Sutherland does not fare quite so well. There are some peculiar casting choices, which diminish rather than improve the possibilities for the piece, the limitations imposed by the traverse staging, and the odd, jarring throw forward to Nazi Germany which all but suffocates the final scenes. All of this, together with the constant presence of the large chandelier (a lame surprise ending involving its stuttering descent snuffs out the evening's action), detracts from Proud's achievements and halts the production from achieving greatness.
But, nevertheless, given the strength of the musical skills on display by ensemble, orchestra and Bradley, and the individual skills of some of the key performers, and a pace which, while occasionally lagging, never loses momentum, Southerland has presided over some great entertainment.
Curiously, some of the smaller parts are played with a panache and flair denied some of the leading roles. James Gant is excellent as the petty tyrant Rohna, the hotel manager with an eye for social standing, precision and order in all things related to the Hotel, and a lust for young men over whom he has power. His presence is broody and insinuating, his voice firm and clear. Jonathan Stewart is outstanding as Erik, the front desk clerk, whose wife is giving birth to their first son but who must stay at his post for fear of losing their income. He is electrifying in three key scenes and provides the evening's best acting in those scenes: the moment he gets the news about the birth of his son; the moment when he realises Rohna is trying to persuade him to have sex with him; and the moment when he is gifted the Baron's cigarette case. Outstanding.
Charles Hagerty is excellent (but scandalously underused) as an unforgiving gangster representing interests to whom the Baron is indebted and forcing the Baron's hand in a way that will alter his future; Samuel J Weir, Leah West, Durone Stokes, Jammy Kasongo and Rhiannon Howys all do great work in minor roles and all, together with Hagerty, Gant and Stewart dance with gusto and style. The faux marble floor positively radiates with their combined energy and commitment.
Victoria Serra plays Flaemmchen, the pregnant typist looking for a way to survive and soar. She pumps vigour and conviction into every phrase of "Girl in the Mirror" and charts the course of this hapless character's life rather well. She seems slightly too earnest at times, when radiance and unrestrained charm might be better options, but overall she is very successful. Her character has difficult scenes with Jacob Chapman's dull and wooden Preysing – a businessman who has utterly lost his way. Chapman might have the right colour hair (grey) but not the ability to enliven and make believable his complex character. Consequently, all those whose story arcs were touched by the Preysing character suffered. This was inexplicable: grey hair should not substitute for ability, and there were several in this cast who obviously could have made the part work supremely well.
As the fatally ill accountant, Krigelein, George Rae appeared too young to be ideal casting, but his skill as a performer and singer showed clearly why he was cast. He may not look right, but he played the role completely engaged with every twist and turn; fragile and optimistic and forgiving. It is a joyful celebration of life in every aspect: Rae makes the impossible seem possible. His performance was in marked contrast to those of Valerie Cutko and David Delve, both of whom let the potential of their characters pass them by. Delve, as the Colonel-Doctor was too much spleen and spittle, ignoring the mercurial and affecting aspects of his role. Cutko was much too obvious as the secret lesbian admirer of the fading ballet diva; subtlety would make her delivery of "How Can I Tell Her" much more impactful.
As the unusual, and unexpected, central pairing, Scott Garnham and Christine Grimaldi overcame a generation gap and a singular lack of ferocious chemistry and glorious charm to produce a surprisingly effective tale of love unexpected. Garnham's Baron was not quite dashing enough, not quite engaging enough and, although he has an excellent, clear tenor sound, he forced his tone too often to be genuinely captivating. The audience is sung at, rather than lost in the beauty of the sound. Grimaldi did not convince as a glorious prima ballerina; she seemed more a theatrical diva in decline. Her movement was not light enough, not shimmering enough to suggest a past of triumphant Swan Lakes.
And yet, together, in the wash of the glorious "Love Can't Happen", both rose to the occasion, presenting a genuinely touching and delightfully warm coupling, a moment of honesty in a sea of bluff and bluster. And Sutherland's use of rose petals as a motif, an emblematic symbol of passion and unfulfilled promise works well – the saccharine ideal of the petals contrasts excellently against the bittersweet Union and its aftermath.
In the end, this production shows the flaws in the book quite vividly, and although Proud's choreography works wonderfully to distract and obfuscate those flaws, the casting and direction ensure they are vividly in view. Not even the music, which, at its best, is as good as anything in any other Broadway musical, and at its least effective is engaging and bright, can overcome the obstacles there.
More space, better casting of some roles, and less reliance on directorial innovation (the Holocaust might sit well as an ending for Cabaret but it fits less convincingly here where events play out five years before Hitler came to power) might have seen this production really take flight. As it stands, though, it is a brisk reminder of the joy of Grand Hotel and the possibilities it offers.
Seeing it induces one to wish not to be alone, perhaps to the chagrin of Garbo's eternal spirit.
Tags Charles Hagerty, Christine Grimaldi, David Delve, Durone Stokes, George Forrest, George Rae, Jacob Chapman, James Gant, Jammy Kasongo, Jonathan Stewart, Leah West, Lee Proud, Maury Yeston, Michael Bradley, Rhiannon Howys, Robert Wright, Samuel J Weir, Scott Graham, Thom Sutherland, Tommy Tune, Valerie Kutko, Victoria Sierra Post navigation


Apartment - Tabanera del monte , Built Surface 159m2, 4 Bedrooms, 2 Bathrooms, Lift.
Apartment - San Ildefonso La Granja (Bolonia) , Built Surface 85m2, 3 Bedrooms, 2 Bathrooms, Lift, pool.
Apartment - San Ildefonso La Granja (Centro) , Built Surface 96m2, 2 Bedrooms, 2 Bathrooms, Lift.
Chalet - Turegano , Built Surface 160m2, 287m2, 3 Bedrooms, 2 Bathrooms.
Building Site - San Ildefonso La Granja (Centro) , 105m2.
Apartment - San Ildefonso La Granja (Cerca tahona) , Built Surface 64m2, 2 Bedrooms, 2 Bathrooms.
Chalet - Pelayos del Arroyo , Built Surface 167m2, 750m2, 4 Bedrooms, 3 Bathrooms.
Plot - Zamarramala , 1237m2.
Business Premise - Segovia (San lorenzo) , Built Surface 136m2.
Plot - Torrecaballeros (Cabanillas del monte) , 2044m2.
Apartment - San Ildefonso La Granja (Centro) , Built Surface 121m2, 3 Bedrooms, 2 Bathrooms, Lift.


On this special episode of Applause, we bring you some moving music from a very special concert at Severance Hall performed by the Cleveland Institute of Music Orchestra. The performance was part of the Violins of Hope program events. The concert featured music related to the Holocaust of World War II and included instruments that were either owned or played by musicians who faced persecution during that horrific time.


text:
Q: npm err! fetch failed in jenkins? Getting following errors in jenkins.. Any help

npm ERR! fetch failed https://registry.npmjs.org/cookie-signature/-/cookie-signature-1.0.5.tgz
npm WARN retry will retry, error on last attempt: Error: fetch failed with status code 502
npm ERR! fetch failed https://registry.npmjs.org/uid-safe/-/uid-safe-1.0.1.tgz
npm WARN retry will retry, error on last attempt: Error: fetch failed with status code 502

A: something is up with the cdn hosting of version 1.0.5. You can force the dependency using cookie-signature to require 1.0.6. Express is dependent on this module and you would be able to resolve the issue like so:
"express": {
    "version": "~4.9.0",
     "from": "express@~4.9.0",
        "dependencies": {
           "cookie-signature": {
             "version": "1.0.6",
             "from": "cookie-signature@1.0.6"
        }
    }
},


TPC Training's online and safety video training on Hazardous Materials Labels is designed to help employees understand the characteristics of different labeling systems and the ways that each convey information. By recognizing the differences and similarities of these systems, employees will be better prepared to work safely around hazardous materials.
– OSHA's Hazard Communication Standard.
– The integration of the Globally Harmonized System (GHS) for the Classification and Labeling of Chemicals into the HAZCOM Standard.
– Types of containers requiring labels.
– Department of Transportation (DOT) hazardous materials classification.
– DOT label and placard requirements.
– The "Hazardous Materials Identification System" (HMIS).
– The National Fire Prevention Association (NFPA) labeling system.
If you require Spanish language or VHS formats of our Hazardous Materials Labels safety training dvd, please contact your TPC Account Manager at 800.837.8872.
TPC's video training on Hazardous Materials Labels is designed to help employees understand the characteristics of different labeling systems and the ways that each convey information.