text:
June 20, 2017 – Westford, MA
BrightSpot Automation has delivered its first ContactSpot-PRO system for performing non-destructive contact resistance measurements of solar cells. The system has been installed at the at the University of Central Florida (UCF) in the research group of Prof. Kris Davis.
The ContactSpot-PRO tool measures the contact resistivity between the metallization of a solar cell and the underlying semiconductor. This cell parameter is critical for optimization of the cell design, materials, and manufacturing process, yet it is rarely measured in practice due to the destructive nature of the standard linear TLM test. In the standard test, strips are cut from standard cells to isolate linear contact segments for testing, or special variable-spaced test structures are made, neither of which is desirable for manufacturing. The ContactSpot-PRO uses a circular TLM method where the resistance is measured between a center dot across a ring gap to the surrounding metallization over a range of ring gap dimensions. With such a geometry, no isolation cutting of the cell is necessary. The measurement can be performed in a few seconds to enable in-line measurements.
Dr. Andrew Gabor, CTO of BrightSpot: "The challenge for us in terms of industry acceptance was to implement the circular test structures without affecting cell performance or aesthetics. The solution we found was to make very small structures that we could hide within the standard busbars. After soldering of the interconnect wires in the panels, they will be covered up by the wires. We then implemented vision guided motion to measure the dimensions of each structure for the most accurate analysis and to allow alignment of the probehead to the structures. The ContactSpot-PRO represents yet another highly successful industry-academia collaboration between BrightSpot and UCF. We worked very closely with Professor Davis and UCF student Geoffrey Gregory to develop the technique and analysis and to optimize the tool performance. This is groundbreaking work, and we are excited to now provide the tool to R&D and production groups worldwide for improved experimentation and better factory quality control."
Dr. Kris Davis, Assistant Professor of Materials Science and Engineering at the Univ. of Central Florida: "To our knowledge, our paper to be presented on June 26 at the IEEE Photovoltaics Specialists Conference will be the first reference of using the circular TLM approach for photovoltaics in the literature. Although this approach is used in other electronics industries, it has apparently been overlooked within the PV community. We are hopeful that other research groups and companies will send cells to us for testing so we can share what we have learned. We can supply the front silver screen artwork files and structure dimensions to facilitate such collaborations. We are excited to demonstrate the technique beyond standard cell architectures and apply it to plated metallization, heterojunction cells with TCO layers, back side PERC structures where Al has a very limited contact area with the silicon, and even to CdTe cells and other superstrate thin film cells and modules where shadow masks or other techniques could be used to pattern the back metal."
Dr. Zhihao Yang, Professor of Materials Science and Energy Engineering, Foshan University, China and consultant to Gonda Electronic Technology, Co. Ltd.: "As a large solar cell metallization paste manufacturer, contact resistance is the most important parameter for Gonda to optimize. We perform many experiments daily on different paste compositions at different firing conditions for different cell types, and the ability for us to quickly and accurately measure contact resistivity on every cell we make would be invaluable. We were quite impressed with the results of the initial collaborative experiment with BrightSpot and UCF on cells that we provided over a range of conditions. The correlation between the standard TLM testing method and the new circular TLM method was very strong."
The University of Central Florida (UCF) has several researchers, graduate students, and undergrads involved in various aspects of solar cell and solar panel R&D, with an emphasis on characterization equipment and testing methods. Additionally, UCF manages the Florida Solar Energy Center (FSEC). Further information about FSEC can be found at _URL_. Those interested in testing cells on the ContactSpot-PRO should contact Kris Davis at _EMAIL_.
About BrightSpot Automation, LLC
BrightSpot Automation provides the PV industry and PV researchers with specialized manufacturing and measurement tools with a focus on improving module durability and performance. The company is based in Westford, MA.


text:
The last time I checked, most sugar is really dry (unless it's something like brown sugar). So why is it categorized as "wet"?
Sugar is not really a wet ingredient, it's just treated as one in certain types of baking (i.e. cakes).
When making a cake or other "fluffy" baked good, you want a fairly small amount of gluten to be produced, otherwise you'll get a chewy texture instead, and you definitely don't want a cake to be chewy like bread.
Dissolving sugar in the water inhibits the gluten-forming proteins. It's a method (actually, the method) of adding more liquid to the mix without getting a tough, chewy cake. It is for this reason that sugar is considered a "wet ingredient" - because the process only works properly if you add it with the water, not with the other dry ingredients.
It's even possible for sugar to be a dry and wet ingredient in the same recipe; you might add just enough sugar to the water to get the right texture, and add more to the dry ingredients for further sweetening.
I'm not sure what the context is, but I dug up this article that mentions sugar being a wet ingredient when baking certain items such as cake. A quick summary from the article:
"...the general idea is that Sugar and Water are Best Friends Forever, and they swear that nothing will ever separate them."
I'm guessing basically sugar is used with water (as opposed to being kept undissolved as a solid) so much that this is why it is considered 'wet,' at least in the context the article talks about.
Hope this helps!

source: HuggingFaceFW/fineweb-edu


text:
The Old Home of Huangzhunxian
The old home of Patriotic poet-Huangzhunxian in the end of the Qing Dynasty was named "a house in the world", according to the meaning of the verse of Taoyuanming "My house is built in the city, but I can't hear the noise of the city". The old home is on the bank of Zhou stream, which is 3 kilometers eastern of Meizhou city. It was built in the spring of 1884. There are three Chinese characters "a hut in the world" which was inscribed by Japanese calligrapher Dayuchenglaiwen on the head still.
There are flower beds, a rockery, a fish pond, five-step pavilion, seven-step pavilion, pavilion for rest, a zigzag corridor, a pavilion without walls, a rainbow-shaped corridor and a pavilion for collecting books. Winding paths, balustrades, flowers and trees setting off one another, the scenes in the yard have an elegant taste. Huangzhunxian lived here in his later years and produced a large quantity of verses. Besides, he in person edited poetry-a house in the world.


text:
A Person of the People
Kind of Activity:
Students will consider the merits and mistakes of using celebrities as representatives or symbols.
Common Core Standards:
The chapter about Joe Louis' fight acts as a bridge between Maya's small town environment and the larger United States. It is clear in this chapter that for many Black Americans, he was a symbol of Black power, strength, and excellence. Clear connections were made between Louis' failures during the fight, and the violence pedestrian Black people experience in America. In this activity, students will discuss...
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source: openbmb/Ultra-FineWeb


first form.
 *
 * @ingroup forms
 */
function multi_example_form_start($form, &$form_state) {
 $form['name'] = array(
 '#type' => 'textfield',
 '#title' => t('First name'),
 '#default_value' => isset($form_state['object']->name) ? $form_state['object']->name : '',
 '#required' => TRUE,
 );
 $form['surname'] = array(
 '#type' => 'textfield',
 '#title' => t('Last name'),
 '#default_value' => isset($form_state['object']->surname) ? $form_state['object']->surname : '',
 '#required' => TRUE,
 );
 return $form;
}
/**
 * Handles submit of first form.
 */
function multi_example_form_start_submit($form, &$form_state) {
 $form_state['object']->name = $form_state['values']['name'];
 $form_state['object']->surname = $form_state['values']['surname'];
}
/**
 * Generates second form.
 *
 * @ingroup forms
 */
function multi_example_form_second($form, &$form_state) {
 $form['know'] = array(
 '#type' => 'checkboxes',
 '#options' => array('php' => t('PHP'), 'css' => t('CSS'), 'jquery' => t('Jquery'), 'unix' => t('Unix')),
 '#default_value' => isset($form_state['object']->know) ? $form_state['object']->know : array(),
 );
 return $form;
}
/**
 * Handles submit for second form.
 */
function multi_example_form_second_submit($form, &$form_state) {
 $form_state['object']->know = $form_state['values']['know'];
}
/**
 * Generates third form.
 *
 * @ingroup forms
 */
function multi_example_form_third($form, &$form_state) {
 $form['drupal'] = array(
 '#type' => 'radios',
 '#options' => array('awesome' => t('Awesome'), 'awful' => t('Awful')),
 '#default_value' => isset($form_state['object']->drupal) ? $form_state['object']->drupal : '',
 '#default_value' => 'awesome',
 '#required' => TRUE,
 );
 return $form;
}
/**
 * Handles submit for third form.
 */
function multi_example_form_third_submit(&$form, &$form_state) {
 $form_state['object']->drupal = $form_state['values']['drupal'];
}
/**
 * Generates fourth form.
 *
 * @ingroup forms
 */
function multi_example_form_fourth($form, &$form_state) {
 $form['work'] = array(
 '#type' => 'radios',
 '#options' => array('yes' => t('Yes'), 'no' => t('No')),
 '#default_value' => 'yes',
 '#required' => TRUE,
 );
 return $form;
}
/**
 * Handles submit for fourth form.
 */
function multi_example_form_fourth_submit(&$form, &$form_state) {
 $form_state['object']->work = $form_state['values']['work'];
}
/**
 * Returns form results.
 *
 * @param object $object
 * object with form values.
 *
 * @return array
 * returns renderable array for multistep form result output.
 */
function multi_example_get_result($object) {
 $out = array();
 $out[] = t('Your name: @name', array('@name' => $object->name));
 $out[] = t('Your surname: @surname', array('@surname' => $object->surname));
 $known = array_filter($object->know);
 if (count($known)) {
 $out[] = t('Your know: !know', array('!know' => implode(', ', $known)));
 }
 else {
 $out[] = t("You don't know anything");
 }
 $out[] = t('You think drupal is !mind', array('!mind' => $object->drupal));
 if ($object->work == 'yes') {
 $out[] = t('You like cookies :)');
 }
 else {
 $out[] = t("You don't like cookies :(");
 }
 return array('#theme' => 'item_list', '#items' => $out, '#title' => t('Results:'));
}
That's about it. The relevant live example can be found here. The module can be downloaded using this link.
I do appreciate your time.
6 votes, Rating: 4.8
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?? 0));
SELECT $f("y"), $g("z"), $h(1), $h(2, 3); -- "xy", "xz", 1, 5
-- if the lambda result is calculated by a single expression, then you can use a more compact syntax:
$f = ($x, $_) -> ($x || "suffix"); -- the second argument is not used
SELECT $f("prefix_", "whatever");
Accessing containers
For accessing the values inside containers:
 - Struct<>, Tuple<> and Variant<>, use a dot. The set of keys (for the tuple and the corresponding variant — indexes) is known at the query compilation time. The key is validated before beginning the query execution.
 - List<> and Dict<>, use square brackets. The set of keys (set of indexes for keys) is known only at the query execution time. The key is not validated before beginning the query execution. If no value is found, an empty value (NULL) is returned.
Description and list of available containers.
When using this syntax to access containers within table columns, be sure to specify the full column name, including the table name or table alias separated by a dot (see the first example below).
Examples
SELECT
 t.struct.member,
 t.tuple.7,
 t.dict["key"],
 t.list[7]
FROM my_table AS t;
SELECT
 Sample::ReturnsStruct().member;


text:
PMI, a leading provider of human capital development solutions, ensures that the strategic training initiatives that we partner on and implement, deliver measurable returns on training investment, saving time, improving organisational efficiencies and performance of individuals.
As a committed business partner, we assist HR and line managers in addressing key skills and development challenges by focusing not only on offsetting training costs through BBBEE points, SETA funding and rebates, but ensuring that the training adds sustainable value to the business and individuals. Human Resources can therefore utilise training to show tangible return on investment and simultaneously unlock value within the business.
With a national footprint, PMI trains over 13 000 learners per year and contributes to the national skills development agenda in three primary ways:
Learnerships are offered in Management, Wholesale & Retail , Wholesale and Distribution, Production, Food & Beverage, Contact Centre, Banking, Freight, Transport, New Venture Creation, Business Administration and Agriculture amongst others.
Higher Education Qualifications
Our higher education and training division offers qualifications in Production, Operations as well as Logistics. Prospective students can enter one, two or 3 year qualifications from higher education certificates and diploma's to honours programmes.
Short Learning Programmes (Skills Programmes & Workshops)
PMI short learning programmes are offered in a number of different areas including Communication , Leadership, Supervisory Skills, HR, Logisitics, Production, Project Management, Customer Service & Finance to name a few.
For further information on PMI's ROI approach or any of our programmes or branch contact details, please email _EMAIL_ or to view our website click on our logo.

source: m-a-p/FineFineWeb


text:
The final investigative results by the South Korean government revealed that carcinogens released from a fertilizer plant near a rural village called Jangjeom in Iksan, North Jeolla Province have caused 22 cases of cancer, 14 of which led to deaths, among 99 residents of the village. This is the first case that the South Korean government acknowledged the epidemiological relationship to non-specific conditions, such as cancer, which can be caused by multiple factors. So far, the government only recognized such relationship in the case of diseases with more clear causes, such as pulmonary fibrosis from humidifier disinfectant and malignant mesothelioma from asbestos.
The Ministry of Environment held a final reporting session on the investigation into health impact on Jangjeom village residents at the Training Center for Important Intangible Cultural Properties in Iksan on Thursday and revealed such findings. The town's residents who had enjoyed peaceful life started to develop cancer as a fertilizer plant called "Geumgang Nongsan" began operation about 500 meters away from the village in 2001. Until the plant closed in April 2017, one in five residents developed cancer of various types, including liver, skin, gallbladder, stomach, lung, and breast cancer.
The plant produced organic fertilizer using the dregs of tobacco leaves and food waste. The dregs are supposed to be used only as compost through the fermentation process, however, it illegally turned them into organic fertilizer by drying them at high temperatures over 300 degrees Celsius, which was pointed out as the direct cause for cancer according to the Environment Ministry. The nearby residents were exposed with no protection to the carcinogens produced in the high-temperature drying process spreading in the air. The residents in Jangjeom village showed two to 25 times higher cancer rates compared to the national standard population samples.
The ministry will provide medical costs and compensation for the damage to residents with cancer. The plant in question is not able to recompense as it bankrupted. The residents are demanding apologies and compensation to the victims from the Korea Tobacco & Ginseng Corporation that supplied the dregs of tobacco leaves, as well as the Iksan city government, the North Jeolla Province government, and the central government for poor management and supervision.
_EMAIL_ · _EMAIL_


text:
Gage Guards/Pressure Snubbers
Pressure snubbers protect pressure instruments from pressure surges. Gauge guards provide a protective barrier between the process fluid and the instrument. The adjustable pressure snubbers are fine thread adjustable valves that allow you to fine tune harmful harmonic vibration from the fluid systems.
- Series GG
- Protective Instrument from Process Fluids
Gage Guard provides a protective barrier between the process fluid and the instrument. Hermetically sealed uni-body protects from the possibility of leaking.
- Series PS
- Dampens surges, Protects Pressure Instrumentation
Pressure Snubber for use with gases, air, water and oils. Designed to protect pressure instrumentation by dampening surges and pulsations.


text:
Ledger account form presents the details of each transaction that belongs to various ledger types such as assets, liabilities, expenses, revenues, etc. by providing information like transaction date, particulars, debit, credit, and balance amount. They provide ledger accounting information for a particular period. They enable to know the balance due from a customer. They help in preparing various account statements like income, profit, and loss, etc. To know more about Account Forms one can search Google using accounting expense forms and blank accounting forms.
Blank Ledger Account Form
This blank ledger account form presents the account number, date of the transaction, particulars of the transaction, post reference, debit, credit, and balance. One can take a printout of this ledger and use them easily.
Personal Ledger Account Form
This personal ledger account form presents the company name, address, current account number, and registration number. It provides the list of ledger entries like date and serial number, particulars of debit or credit transactions, transaction number and date, debit or credit amount and balance amount.
General Ledger Account Form
This general ledger account form presents the details of drawings, purchases, GST input tax credits and sales transaction details. It also presents the account receivable details like drawings, purchases, debit, credit and balance details. It also presents post from purchase journal, cash payments, and cash receipts journals.
General Ledger Balance Sheet Accounting Reconciliation Form
This general ledger balance sheet account reconciliation form presents the campus name, the month of the report, account name, account code, fund number, ending balances, detailed listing of adjustments along with explanation and amount.
Sales Ledger Account Form
This sales ledger accounting form presents various questions on the sales day book, cash book, general ledger, sales ledger, purchase day book, purchase returns book, cash payments book and purchase ledger.
What to Include in Ledger Account Form?
Ledger account form contains all the details and information about various accounting transactions that took place for any business. They include information about the transaction; cash or bank, the transaction date, purpose and narration of the transaction, whether the transaction is debited or credited to the account, the account balance. They include the above information for each ledger type like asset, expense, liability, etc. They also include transactions belongs to cash book, day book, purchases, sales as well as returns from purchases. They also contain a posting reference for each transaction.
What are The Benefits of Ledger Account Form?
Some of the benefits of ledger account form are –
- They help in preparing trial balance by providing accounting details with high accuracy
- They enable to prepare final accounts and helps in preparing profit and loss account as well as balance sheet
- They help to post transactions to different ledger accounts easily using double entry system
- They enable to know the status of each account quickly
- They provide statistical information about accounts
- They provide details of each transaction including narration and transaction date
- They help to build financial statements like balance sheet, profit, and loss, etc.
- They enable to sort various accounts into respective ledgers
There are enormous varieties of ledger account forms available on the internet and one can download the suitable one according to their accounting needs. They come in printer friendly formats like word or PDF documents and are easy to customize as well. These forms are highly dependable and valuable for any business firm to perform accounting process.
7 Claim Accounting Forms – Free Downloadable Samples, Examples and Formats
10 Accounting Request Forms – Free Downloadable Samples, Examples and Formats
7 Credit Accounting Forms – Free Downloadable Samples, Examples and Formats
8 Accounting Registration Forms – Free Downloadable Samples, Examples and Formats
7 Change in Accounting Forms – Free Downloadable Samples, Examples and Formats
9 General Accounting Forms – Free Downloadable Samples, Examples and Formats
6 Health Accounting Forms – Free Downloadable Samples, Examples and Formats
Types of Accounting Forms?
20+ Accounting Forms in PDF
7+ Business Accounting Form Samples
6+ Account Report Form Samples
40 Sample Estimate Forms
What are Accounting Forms?
Uses of Accounting Forms
What are Financial Accounting Forms?


From Raft Wiki
Jump to: navigation, search
Click here to see information about this file Engine
Allows you to go in different directions and increases your speed.
Metal Ingot.png
Circuit Board.png
Engine is a Navigation item in Raft.
Summary[edit | edit source]
The Engine is acquired through the Blueprint: Engine found on the Vasagatan. After researching the blueprint, players may build and place an engine in order to sail against the wind. Used in combination with the Steering Wheel, the player gets full control of which direction they wish to sail. One Engine can push a raft of up to 100 Foundations. For each set of 100 Foundations over the initial 100, another Engine must be built and run simultaneously in order for them to have enough power to sail the raft. Note that Collection Nets do not count towards number of Foundations.
Adding six Engines to a raft will increase the sailing speed to the maximum possible, while ignoring aforementioned Foundation limitations.
Fuel[edit | edit source]
The Engine runs on Planks or Biofuel. While using Planks, the Engine will burn through a single plank in 36 seconds and a full tank of 17 planks in exactly 600 seconds (10 minutes instead of 612 seconds due to overfill). A single Biofuel is worth 17 planks in Engine runtime if put directly into the Engine and 20 planks if fed from a Tank, but also requires Honey making it a harder fuel to obtain. However, Biofuel can be stored in Biofuel Tanks and connected to the Engine through Fuel Pipes automating the process of filling the Engine with fuel. A Biofuel Tank can be filled with four Biofuel canisters and powers a single Engine for a total of 48 minutes (approximately 2.4 to 3.6 in-game days depending on whether or not the player sleeps).
Stuttering[edit | edit source]
If the Engine is unable to push the Raft, whether if it's anchored or overburdened, it will slow down to a stop while simultaneously stuttering indicating something is wrong. No fuel is used during this time, despite the Engine being on.
Following is a comparison of the running and stuttering Engine:
Show/Hide Videos
 - Too many Foundations. An Engine can push up to 100 foundations. Make sure that the amount of Engines covers the amount of Foundations.
 - The raft is anchored. Make sure no anchors are currently holding the raft in place.
 - One or more Engines lacks fuel. Check fuel level on all Engines.
 - The Engines are going in opposite directions. Check the Engine direction lever and make sure they match.
Speed[edit | edit source]
The Engine follows a few parameters when it comes to deciding the speed of the raft[1].
The first parameter regards sailing speed of the raft when using Engines, which is always valued between 1.5 and 2.5, and can never exceed these numbers. A single Engine will push the raft at a speed of 2, and adding an additional Engine will increase the speed of the raft to 2.5.
The second parameter regards overburdening the raft. As mentioned above, a single Engine can move up to 100 Foundations, however there is a 'Slow Zone' between 101-110 Foundations(per engine) where the Raft will still sail, but at reduced speed. This speed is defined as 1 per engine. If only 1 engine is being used, and it is in the 'Slow Zone', the speed will be set to the minimum of 1.5.
The third and last parameter looks for the relation between number of Foundations and number of Engines. There are basically three Engine speed settings in Raft, disregarding drifting. Slow sailing (1.5), when a single Engine can push the raft but at minimum speed before stopping completely. Medium speed (2), achieved by using a single Engine on a raft under 100 foundations, or by using 2 Engines in the 'Slow Zone'(201-220 Foundations). High speed (2.5), when a raft has multiple Engines which are successfully sailing the raft. Since Engine speed is additive when running multiple Engines at the same time, high speed is always achieved once the raft is successfully sailing with at least 3 engines, but not if the raft is overburdened.
Uses[edit | edit source]
 - Place on the raft and turn on to sail in a desired direction.
 - Use with a Steering Wheel to fully control direction.
Trivia[edit | edit source]
 - The Engine has a fuel capacity valued at 50, while one Biofuel fills a value of 60. As such, pouring Biofuel directly into the Engine's tanks will waste 10 units of fuel. To prevent this, the player must use a Biofuel Tank.
History[edit | edit source]
Early Access
Update 10 Engine added to the game.


G. Stanley Hall
G. Stanley Hall
Present on Stanley Hall. Stanley Hall is a name known in the filed of Psychology.
Presentations should 20 minutes and include a power point presentation with either handouts. The following rubric should be followed:
1. Provide historical information regarding theorist.
2. Describe the theory that the individual developed/ research conducted.
3. Compare/ contract the theory to other competing theories during that time frame.
Last Updated on February 11, 2019 by EssayPro


HPUX Managing CPU resource with PRM
Overview
Process Resource Manager (PRM) is a resource management tool used to control the amount of resources that processes use during peak system load (at 100% CPU resource or 100% memory resource). PRM can guarantee a minimum allocation of system resources available to a group of processes through the use of PRM groups.
A PRM group is a collection of users and applications that are joined together and assigned certain amounts of CPU and memory resource. The two types of PRM groups are FSS PRM groups and PSET PRM groups. An FSS PRM group is the traditional PRM group, whose CPU entitlement is specified in shares. This group uses the Fair Share Scheduler (FSS) in the HP-UX kernel within the system's default processor set (PSET). A PSET PRM group is a PRM group whose CPU entitlement is specified by assigning it a subset of the system's cores (PSET). (A core is the actual data-processing engine within a processor. A single processor might have multiple cores. A core might support multiple execution threads.) Processes in a PSET have equal access to CPU cycles on their assigned cores through the HP-UX standard scheduler.
Continue reading "HPUX Managing CPU resource with PRM"
hpux: How Do I configure routing or add route?
You can use route command to configure routing. Syntax is as follows:
route add net {network-address} netmask {subnet} {router-address}
Let us assume your router address is 192.168.1.254 and network ID is 192.168.1.0/24, then you can type route command as follows:
# route add net 192.168.1.0 netmask 255.255.255.0 192.168.1.254
OR
To add a default route:
# route add default 192.168.1.254
Verify that (display) routing table is updated (display routing table):
# netstat -nr
Test it i.e. try to ping or send nslookup request:
# ping mycorp.com
To flush all routing entries use command [quite handy to clean your gordian knot ;)] :
# route -f
However if I reboot HPUX box then above routing entries gets removed. To pick up your setting upon each reboot your need to configure Routes in HPUX networking configuration file – /etc/rc.config.d/netconf. To add default router/gateway 192.168.1.254:
# vi /etc/rc.config.d/netconf
Add or modify following entries
ROUTE_DESTINATION[0]="default"
ROUTE_MASK[0]=""
ROUTE_GATEWAY[0]="192.168.1.254"
ROUTE_COUNT[0]="1"
ROUTE_ARGS[0]=""
managing hpvm
Start a VM
hpvmstart -P vmname
Stop a VM
hpvmstop -P vmname
List VM status
hpvmstatus
List individual VM status
hpvmstatus -P vmname
Assign a Host LV to a VM
hpvmmodify -P vmname -a disk:scsi:lv:/dev/vg_vm/rlv_vm01
Assign a Host scsi disk to a VM
hpvmmodify -P vmname -a disk:scsi:lv:/dev/rdsk/c0t0s0
Assign a Host tape drive to VM
hpvmmodiy -P vmname -a tape:scsi:attach:/dev/rscsi/c5t3d0
Remove allocated resource from VM
hpvmmodify -P vmname -d disk:scsi:lv:/dev/rdsk/c0t0s0
what is vglock?
A vg used as cluster lock is generally called vglock. cluster lock refer to a tie breaker short of thing which is generally used in a two node service guard cluster. In the event of failure of communication between two nodes whoever takes control of lock first will continue to run cluster and other node will be halted.
Hence the purpose of this is to ensure both nodes independently form two seperate clusters in the even of failure of communication among them.


text:
October 9, 2016
28th Sunday - C
What a Reputation.
With the religious leaders of the people, Jesus has the reputation of a trouble maker.
With the people, however, Jesus is known for his teaching with authority (Luke 4:32) and a miracle worker (4:23).
Moreover, the lepers in this Gospel passage of Luke 17:11-19 must have heard of Jesus' reputation of compassion for the outcasts of society. Otherwise, they would not have dared to break the law and come near him. Not only have they heard of his mighty power of healing, they must have heard and believed that he cares for them. The Samaritan man, recognizing that he has been healed, even goes as far as touching Jesus' feet as a gesture of humble gratitude. He knows he would not be rejected.
His confidence challenges me to trust in Jesus' mercy and compassion for me, a sinner.
Then, Jesus proclaims God's mercy by his words, actions, and attitudes. And that is his reputation.
What reputation do I have as a child of God? A good question to ask during this Jubilee Year of Mercy.


Validate your IaC against your Google Cloud organization's policies
This document describes how to validate your infrastructure as code (IaC) against the organization policies and Security Health Analytics detectors that you have defined in your Google Cloud organization. IaC lets you create and manage your cloud resources using languages such as Terraform so that you can deploy the resources using a development workflow. The IaC validation feature supports organization policies and Security Health Analytics detectors only.
Validating your IaC lets you determine whether your new or modified resource definitions violate the existing policies that are applied to your Google Cloud resources (for example, cluster, bucket, or instance). You can define these policies using security postures, but the IaC validation feature analyzes your code against all the policies in your Google Cloud organization. IaC validation helps your developers identify and fix any security issues in the IaC configuration of assets or resources before they are applied to your Google Cloud environment.
The IaC validation feature supports Terraform plan files. You can validate your Terraform plan using Google Cloud CLI, or you can integrate the validation process into your Jenkins or GitHub Actions developer workflow.
Before you begin
Complete these tasks to get started with IaC validation.
Activate the Security Command Center Premium tier or Enterprise tier
Verify that the Security Command Center Premium tier or Enterprise tier is activated at the organization level.
Set up permissions
 1. Make sure that you have the following role or roles on the organization: Security Posture Shift-Left Validator
 Check for the roles
 1. In the Google Cloud console, go to the IAM page.
 Go to IAM
 2. Select the organization.
 3. In the Principal column, find the row that has your email address.
 If your email address isn't in that column, then you do not have any roles.
 4. In the Role column for the row with your email address, check whether the list of roles includes the required roles.
 Grant the roles
 1. In the Google Cloud console, go to the IAM page.
 Go to IAM
 2. Select the organization.
 3. Click Grant access.
 4. In the New principals field, enter your email address.
 5. In the Select a role list, select a role.
 6. To grant additional roles, click Add another role and add each additional role.
 7. Click Save.
For more information about IaC validation permissions, see IAM for organization-level activations.
Set up Google Cloud CLI
In the Google Cloud console, activate Cloud Shell.
Activate Cloud Shell
At the bottom of the Google Cloud console, a Cloud Shell session starts and displays a command-line prompt. Cloud Shell is a shell environment with the Google Cloud CLI already installed and with values already set for your current project. It can take a few seconds for the session to initialize.
To set up the gcloud CLI to use service account impersonation to authenticate to Google APIs, rather than your user credentials, run the following command:
gcloud config set auth/impersonate_service_account SERVICE_ACCT_EMAIL
For more information, see Service account impersonation.
Enable APIs
Enable the Security posture service and Security Command Center management APIs.
Enable the APIs
Define your policies
Define your organization policies and Security Health Analytics detectors. To define these policies using a security posture, complete the tasks in Create and deploy a posture.
Create your Terraform code
Use your developer workflows and tools to create a Terraform file that includes the Google Cloud assets that you want to create or modify.
Consider the following:
 - Populate the parent attribute (the project, folder, or organization) of every resource or asset in the Terraform configuration.
 - Modify assets and policies separately. The API doesn't support validation of Terraform plan files which modify both assets and policies at the same time.
 - Use supported asset types and policies only. For a list of supported asset types and policies, see Supported asset types and policies for IaC validation.
 - Review the limitations for IaC validation.
 - Don't include sensitive information such as passwords or other personally identifiable information in your Terraform plan file. If the validation feature encounters fields marked as sensitive in the resource changes, the fields are removed.
After you create your Terraform code, you can run the IaC validation report. You can use Google Cloud CLI, Jenkins, or GitHub Actions.
Use Google Cloud CLI to create an IaC validation report
To create an IaC validation report, complete the following:
 1. In gcloud CLI, run terraform init.
 Verify that you're running Terraform provider version v5.5 or later. If required, upgrade to the latest Google provider version:
 terraform init -upgrade

 2. Convert the Terraform plan file to JSON format:
 terraform plan -out TF_PLAN_FILENAME
 terraform show -json TF_PLAN_FILENAME > TF_PLAN_JSON_FILENAME.json

 Replace the following:
 - TF_PLAN_FILENAME: The name for the Terraform plan file.
 - TF_PLAN_JSON_FILENAME: The name of the file that will contain the Terraform plan in JSON format.
 3. Create the IaC validation report:
 gcloud scc iac-validation-reports create PARENT \
 --tf-plan-file=TF_PLAN_JSON_FILENAME

 Replace the following:
 - PARENT: The Google Cloud organization in which to create the IaC Validation report. The format is organizations/ORGANIZATION_ID/locations/LOCATION. LOCATION is global.
 - TF_PLAN_JSON_FILENAME: The path to the JSON file that contains the IaC plan that you want to validate.
 For example, to create an IaC validation report under the organizations/_PHONE_/locations/global organization with an IaC plan included in planFile.json, run the following command:
 gcloud scc iac-validation-reports create organizations/_PHONE_/locations/global --tf-plan-file=planFile.json

 This command returns the operation details for creating the IAC validation report. To get information about the operation, see View information about a posture deployment operation.
What's next


text: Indonesia is a democratic country. Every believer is free to worship according to their beliefs. But in fact, it is still found disharmonious relationship and violence acts between Islamic minority groups or other minority adherents and Islamic majority groups. Based on Setara Institute, there are still 201 violations (2017) and 208 (2016) in this country. Then, bom terrors to minorities groups still happen (On May 13, 2018 in Surabaya). This article aims to describe the meaning of interreligious relationship, the portrait of interreligious relationship in Indonesia, and how to foster tolerance and defend minority groups in the context of Indonesian Islam. This article is analyzed by using "the theory of interreligious relationship perspective". This paper concluded that: the first, to avoid religious conflict and violent acts, everyone must return to the motto Bhinneka Tunggal Ika (Unity in Diversity). The second, Islamic minority groups or minority religious adherents are not allowed to be oppressed by any other groups because of different belief. The violent acts are contrary to the 1945 Constitution and Pancasila. Everyone has right to live in the Unitary State of the Republic of Indonesia (NKRI). The third, imams, ulamas, and religious leaders can function to be deterrent in religion conflict and violent acts by doing dialogue or win-win solution while referring to Islamic traditions. This study is hoped to be researched and explored more comprehensive in the future in order harmonious religious life in Indonesia will be better.


In which of the following types of plants are root nodules commonly found?
Options :
 1. leguminous plants
 2. parasitic plants
 3. epiphytic plants
 4. aquatic plants
Answer and Explanation :-
Answer: Option 1
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Introduction to Numerology
Numerology corresponds to one subcarrier spacing in the frequency domain. NR supports a flexible numerology with a range of subcarrier spacings, based on scaling a baseline subcarrier spacing of 15 kHz. By scaling a reference subcarrier spacing by an integer N, different numerologies can be defined.
Need for Multiple Numerologies
 1. In order to support the wide range of deployment scenarios, from large cells with sub-1 GHz carrier frequency up to mm-wave deployments with very wide spectrum allocations, NR supports a flexible OFDM numerology with subcarrier spacings ranging from 15 kHz up to 240 kHz with a proportional change in cyclic prefix duration.
 2. Also, having a single numerology for all scenarios is not efficient and probably not possible at all.
These were the primary motives to have multiple numerologies
For the lower range of carrier frequencies, from below 1 GHz up to a few GHz, the cell sizes can be relatively large and a cyclic prefix capable of handling the delay spread expected in these type of deployments, a couple of microseconds, is necessary. Consequently, a subcarrier spacing in the LTE range or somewhat higher, in the range of 15-30 kHz, was needed.
For higher carrier frequencies approaching the mm-wave range, implementation limitations such as phase noise become more critical, calling for higher subcarrier spacings. At the same time, the expected cell sizes are smaller at higher frequencies because of the more challenging propagation conditions. The extensive use of beamforming at high frequencies also helps reduce the expected delay spread. Hence, for these types of deployments a higher subcarrier spacing, and a shorter cyclic prefix are suitable.
Different Numerologies
The numerology is based on exponentially scalable sub-carrier spacing Δf = 2µ × 15 kHz with µ = {0,1,3,4} for PSS, SSS and PBCH and µ = {0,1,2,3} for other channels. Normal CP is supported for all sub-carrier spacings, Extended CP is supported for µ=2 (60kHz). 12 consecutive sub-carriers form a Physical Resource Block (PRB). Up to 275 PRBs are supported on a carrier.
With the increase in numerology, the number of slots increase within the subframe, leading to increase in the number of symbols sent in a given time. So effectively, an OFDM symbol is shortened by half in the next higher numerology. Scaling by powers of two is beneficial as it maintains the symbol boundaries across numerologies, which simplifies mixing different numerologies on the same carrier.
Supported Transmission Numerologies
Supported Transmission Numerologies
Reference: 3GPP TS 38.300 version 15.9.0 Release 15 (
15 kHz subcarrier spacing was selected as the baseline for NR. From the baseline subcarrier spacing, subcarrier spacings ranging from 15 kHz up to 240 kHz with a proportional change in cyclic prefix duration as shown in Table below are derived. Note that 240 kHz is supported for the SS block only and not for regular data transmission.
Subcarrier spacings supported by NR
Subcarrier spacings supported by NR
NR time domain structure consist of 10ms radio frame divided into 10 subframes each of 1ms. A subframe is in turn divided into slots consisting of 14 OFDM symbols each, which means that the duration of the slot in milliseconds is dependent on the numerology. For the 15 kHz subcarrier spacing, an NR slot has a structure that is identical to the structure of an LTE subframe, which is deliberately kept like this considering coexistence of LTE with NR.
Below figure shows the frame, subframe and slot structure for different numerologies:
Frame, Subframe and Slot Structure for different numerologies
Frame, Subframe and Slot Structure for different numerologies
As shown above, the capacity is same between all carrier spacings if the bits/Hz is used as a unit. The carrier spacing is increased but the number of symbols per time unit increases with the higher numerology. Above figure just tries to show this for 15 and 30 kHz subcarrier spacing. The number of subcarriers is reduced by half but the number of slots per symbol per time unit is doubled.
Advantages of Numerology:
 - One of the services in 5G is URLLC, ultra reliable low latency communication and the objective is to have a latency of less than 1ms, which means that scheduling interval must be reduced below 1ms for these types of services. Fortunately, with the support of different numerologies, it is rather simple to reduce the time as the slot time is decreased with higher numerology. This functionality is used to support flexible TTI (Transmission Time Interval), which gives scheduler in base station, a chance to decide how often it will be taking scheduling decision. Figure below, shows how TTI can be scaled with numerology, but as the URLLC service is scheduled for release 16, the numbers should be seen as examples of possible TTI values.
Flexible TTI
Flexible TTI
 - In 5G NR, UE can be configured to only monitor a part of total transmission bandwidth called Bandwidth Part (BWP). There were 2 major reasons behind using BWP instead of whole bandwidth:
 - The wide transmission bandwidth used in some cases might cause the UE to consume too much power from battery.
 - There may also be some UE categories that cannot receive the full bandwidth due to reduced complexity (machine type communication) in order to reduce the cost of the device.
But in 5G NR, the UE can be configured with up to 4 BWPs where only one can be active at a time in the 1st release. Different BWPs can be of different numerologies, which can be used to reduce the latency for certain services. If a device is capable of simultaneous reception of multiple bandwidths parts, it is in principle possible to, on a single carrier, mix transmissions of different numerologies for a single device, although release 15 only supports a single active bandwidth part at a time.
In the downlink, a device is not assumed to be able to receive downlink data transmissions, more specifically the PDCCH or PDSCH, outside the active bandwidth part. The numerology of the PDCCH and PDSCH are restricted to the numerology configured for the bandwidth part. So, in release 15, a device can only receive one numerology at a time as multiple bandwidth parts cannot be simultaneously active. A device is not expected to monitor downlink control channels while doing measurements outside the active bandwidth part. In the uplink, a device transmits PUSCH and PUCCH in the active uplink bandwidth part only.
 - Since a slot is defined as a fixed number of OFDM symbols, a higher subcarrier spacing (At higher carrier frequency) leads to a shorter slot duration which could be used to support lower-latency transmission, but since the cyclic prefix also shrinks when increasing the subcarrier spacing, it is not a feasible approach in all deployments. Therefore, NR supports a more efficient approach to low latency by allowing for transmission over a fraction of a slot, sometimes referred to as "mini-slot" transmission. Such transmissions can also preempt an already ongoing slot-based transmission to another device, allowing for immediate transmission of data requiring very low latency.
 - NR will also have the capability to operate with mixed numerology on the same RF carrier and will have an even higher flexibility than LTE in terms of frequency domain scheduling and multiplexing of devices within a base station RF carrier.
Disadvantage of Numerology:
 - The flexibility provided by multi-numerology system comes at the cost of additional interference, known as inter-numerology interference (INI). Apart from causing the loss of orthogonality among subcarriers of different numerologies in frequency domain, mixed numerologies also cause difficulty in achieving symbol alignment in time domain. With the same sampling rate, an OFDM symbol of one numerology does not perfectly align with the symbol of another numerology, which makes synchronization within the frame difficult. Researches are ongoing to minimize the effect of INI.


text:
The Influence of Socioeconomic Status on Working Memory Performance
MetadataShow full item record
Working memory is the temporary storage mechanism that underlies our ability to hold and process information over a brief period of time. It is a pre-requisite for the long-term storage of information, reading, problem-solving and language comprehension. Research examining the relationship between working memory and socioeconomic status remains inconclusive. The present study brings together educational, cognitive ageing, intelligence and socioeconomic status (SES) research in order to determine whether, in a large, adult sample, working memory performance differs across SES. Data were obtained form an Internet test attempted by ~480,000 people on the Science pages of the British Broadcasting Corporation's (BBC) website. This data included tests of working memory, short-term memory and some demographic information on participants. A subset of participants who provided the necessary demographic information and were aged between 30 and 45 were selected. Participants' postcodes were linked to Geoplan® (2011) SES data, and working memory performance was assessed across SES. Tests of measurement invariance identified a single latent working memory factor that was being measured consistently across SES. It was not possible to constrain means equal. Therefore differences in mean performances across SES could be considered to reflect differences in the latent working memory construct. Factor scores on this latent variable were computed and used as a measure of participants' general working memory performance. A series of ANOVAs demonstrated that working memory performance differed from SES group AB to C1 (p=0._PHONE_), and from AB to D (p=0._PHONE_). When education was introduced as a covariate, there was a significant difference between the working memory performance of participants in SES groups AB and C1 (p=0.004), AB and D (p=0.003), and C1and D (p=0.012). Performances on individual working memory tasks were either significant or almost significant in comparisons between AB, C1 and D. In all analyses, there were no significant differences observed when SES grade E was included in pairwise comparisons. Results indicated that SES influences level of working memory performance, with those in a higher SES grade scoring higher on average than their lower SES counterparts. Implications for further research are discussed with a focus on SES measurement and conception, as well the problems associated with demographic composition of the present sample.


text:
As more and more ports are removed from our smart devices, it seems that we can choose one of two options for using peripherals: either buy a dongle to continue using wired devices, or switch to Bluetooth and deal with permanent maintenance of the battery.However, if none of these options work for you, there is a third option available [befinitiv] In this version showed us He integrated a miniature solar panel in the earbud box Allow them to charge automatically.
First, he first disassembled the earplug box. For those who have not tried these products, they can usually only be charged when they are in a suitcase. In his suitcase, the suitcase itself also contains a small battery. Soldering the wire directly to the battery can charge the battery without losing as much power as it is connected to the USB pins on the circuit board. Even so, the battery can only produce 1 volt, so he needs a 5V boost converter to charge the battery properly. However, this also brings its own problems because it cannot be put into the case correctly. To solve this problem, he desoldered all the components and assembled them together to install the converter in a smaller space without modifying the housing in any other way.
After completing all these tasks and connecting the small solar cell to the case, [befinitiv] There is a smart solution to fully charge his wireless earbuds without having to carry a cable or dongle every day. We have seen many interesting solutions to solve the problem of various electronics manufacturers removing the ubiquitous 3.5mm headphone jack, and not all manufacturers have dealt with this problem without some other quirks.


text:
Children benefit immensely from spending time outdoors in the fresh air. A great way to get them outside is to encourage an interest in their garden. Let them get their hands and boots dirty!
Green Fingers and Muddy Boots—with worksheets on the accompanying CD—presents practical and fun activities in the garden for every month of the year, come rain or shine. Activities range from growing flowers and vegetables to spotting birds and tracking the weather and keeping a garden diary.
The activities are suitable for sevento fourteen-year-olds. Although older children will be able to work independently, it can be fun to work together as a family or school class.
This book is based on the original "Plant and Grow" course developed with the Royal Caledonian Horticultural Society, which has been used successfully by many families and schools for several years.
Ivor Santer was Deputy Principal at Oatridge Agricultural College until his retirement in 2003. He has lectured on agriculture throughout the UK for thirty-five years. In 1998, he began work on a children's gardening course in conjunction with the Royal Caledonian Horticultural Society, which was finished in 2007 and led to Green Fingers and Muddy Boots.


Backpacking (wilderness)
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This article is about backpacking that involves hiking. For other uses, see Backpacking (disambiguation).
Backpacking in the Grand Teton National Park, Wyoming
For a broader coverage related to this topic, see Hiking.
Backpacking is generally an extended journey or walk with a backpack,[1] often on long distance trails. However, for North American hikers it more frequently describes a multi-day hike that involves camping, though occasionally it may involve the use of simple shelters or mountain huts. In New Zealand, tramping is an equivalent term though overnight huts are frequently used.[2] Hill walking is the equivalent in Britain, though backpackers make use of all kinds of accommodation, in addition to camping. Backpackers use simple huts in South Africa.[3] Similar terms used in other countries are trekking or bushwalking. A backpack allows a hiker to carry supplies and equipment to accommodate multiple days out on a trail. There is another form of backpacking: a method of travel which mainly utilizes public transport, for a journey which can last months.
The Pocosin cabin along the Appalachian trail in Shenandoah National Park
Backpacking is an outdoor activity where gear is carried in a backpack. This can include food, water, bedding, tent, clothing, and cooking stove. Since all items must be carried, weight is a very important factor in choosing equipment. Backpacking trips consist of at least one night and can last for weeks or months, sometimes aided by planned food and supply drops or resupply points. Backpacking camps are usually more spartan than camping trips from a car or boat. In areas that experience regular backpacker traffic, a hike-in camp might have a fire ring where fires are permitted, an outhouse, and a small wooden bulletin board with a map, and some information signs about the trail and area. Many hike-in camps are no more than level patches of ground without scrub or underbrush. In remote wilderness areas, established camps may not exist at all, and hikers must choose an appropriate place to camp.
In some places, backpackers have access to lodging that is more substantial than a tent. Backpacking in Europe differs from that in North America, because, while backpackers do camp, other types of accommodation are frequently available, often with meals provided. Backpackers can walk from hut-to-hut high in the Alps using mountain huts, or in places like the Lake District or Yorkshire Dales in England stay in Youth hostels, farmhouses or guest houses. In the more remote parts of Great Britain, especially Scotland, bothies exist to provide simple (free) accommodation for backpackers. On the French system of long distance trails, Grande Randonnées, backpackers can stay in gîtes d'etapes, which are simple hostels provided for walkers and cyclists. There are some simple shelters and occasional mountain hut also provided in North America, including on the Appalachian trail. Another example is the High Sierra Camps in Yosemite National Park. Long distance backpacking trails with huts also exist in South Africa, including the 100 km plus Amatola Trail, in the Eastern Cape Province.[4] Backpacking (trekking) is also popular in the Himalayas, where porters and pack animals are often used. Typical trekking regions in Nepal are Annapurna, Dolpo, Langtang, Manaslu, Kangchenjunga, Mount Everest. In India the Kashmir Valley also has many trekking routes.[5]
Good backpacker practice is to minimize their impact on the land through which they travel, and this includes staying on established trails, not picking plants, and carrying garbage out. The Leave No Trace movement offers a set of guidelines for low-impact backpacking: "Leave nothing but footprints. Take nothing but photos. Kill nothing but time. Keep nothing but memories".[6]
Backpackers can encounter difficulties, including adverse weather, difficult terrain, treacherous river crossings, dangerous animals, dehydration, heat exhaustion, hypothermia, altitude sickness, physical injury, and giardiasis. The remoteness of backpacking locations can exacerbate any mishap.
Varsity Scouts of the Boy Scouts of America loading equipment and preparing to backpack
Main article: Hiking equipment
See also Outdoor equipment.
The basic elements for maintaining human life in comfort are all carried while backpacking: a sleep system (sleeping bag and perhaps a pad), specialized clothing (although typical urban gear can suffice), and perhaps a shelter, depending on precipitation expected. Proper clothing for the weather is required, as are proper footwear, food and means to prepare it, and other smaller miscellany, some critical and some not. A loaded backpack should weigh no more than 25% of a person's weight. Almost all backpackers seek to minimize the weight and bulk of gear carried. A lighter pack causes less fatigue, injury, and soreness and allows the backpacker to travel longer distances. Every piece of equipment is evaluated for a balance of utility versus weight. Significant reductions in weight can usually be achieved with little sacrifice in equipment utility, though very lightweight equipment can cost significantly more.
Some backpackers use lighter and more compact gear than others. The most radical is known as ultralight backpacking.
A backpacker viewing a dead jellyfish on a beach
Military canteen with nested canteen cup and cover
Backpackers often carry some water from the trailhead to drink while walking. For short trips, they may carry enough to last the whole trip, but for long trips this is not practical. A backpacker needs anywhere from 2 to 8 litres (1/2 to 2 gallons), or more, per day, depending on conditions, making a water supply for more than a few days prohibitively heavy. 1 litre (1.1 US qt) of water weighs 1 kilogram (2.2 lb).[7]
Backpackers may carry one to four litres of water, depending on conditions and availability. Although some backpacking camps in heavily-used areas provide potable water, it must usually be obtained from lakes and streams or preferably springs.
In most areas, drinking water needs treatment before consumption to protect against bacteria and protozoa. Some treatment methods include:
 - boiling (over fire, stove, or other heat producing device)
 - treatment with chemical tablets (such as chlorine or iodine)
 - passing through a filter (in conjunction with chemical treatments)
 - ultraviolet light-based systems
Ultimately, it is important to research water conditions and sources in prospective backpacking locations in order to prepare appropriate gear. If water is unavailable (or if available water is untreatable by normal means due to chemical contaminants—rare except for desert zones), backpackers may need to carry large amounts of water for long distances.
Water may be stored in bottles or in soft, collapsible hydration packs (bladders). Some backpackers store water in ordinary plastic beverage bottles, while others use specially designed Lexan bottles or metal canteens. A popular form of water transportation is Nalgene brand bottles which have extremely high impact resistance and a graduated scale printed on the side for easy measurement. For accessibility, they may be carried by a shoulder strap or attached to the outside of a pack. Bladders are typically made of plastic, rubber, and/or fabric. They generally weigh little and are collapsible. A water bladders may be equipped with a drinking hose to allow use without requiring the bladder be removed from the pack. In spite of this convenience, bladders are more prone to leaking than bottles, particularly at the hose connections. Hoses also allow the hiker to lose track of the water supply in the bladder and to deplete it prematurely. Bladders are also unsuitable for freezing temperatures due to the formation of ice in their tubing and valves.
Baking oatcakes on a gas-fueled backpacking stove
Cooking in the outdoors using a heated stone
Two MRE packets: beef teriyaki and meatloaf with gravy
Main article: Camping food
Some backpackers enjoy cooking elaborate meals with fresh ingredients, particularly on short trips, and others carry the gear and take the time to catch fish or hunt small game for food. However, especially for long expeditions, most backpackers' food criteria are roughly the same: high food energy content, with long shelf life and low mass and volume. An additional concern is the mass and volume of any equipment required to cook the food; while Dutch oven and campfire cookery are historically popular, small liquid-fuel campstoves and ultralight cooking pots ("billycans") made of aluminum or titanium are more common in modern usage due to weight limitations and fire restrictions in many locales. Many backpackers use a campfire as a cooking heat source where wood is available.
Food items with low mass and volume typically will be those with a low water content. Water (as part of food) is generally considered an unnecessarily weighty item in a backpack. The assumption is that water will be added to dry food to prepare it for consumption or that water drunk by the backpacker can provide the necessary physiological hydration when mainly dry food is consumed. One further (critical) assumption is that the backpacker will be able to obtain this needed water from lakes, streams, springs, or melted snow.
While most backpackers consume at least some specially prepared backpacking food items, many backpackers mainly rely on ordinary household foods with a low water content, such as cold cereal, powdered milk, cheese, crackers, bread, sausage, salami, raisins or other dried fruit, peanut butter, pasta, rice, and commercially


How many carbs are in a small plain bagel?
Asked By: Angelito Azcargorta | Last Updated: 3rd May, 2020
Category: healthy living weight loss
4.9/5 (82 Views. 23 Votes)
Nutrition Facts
Calories 120 (502 kJ)
Total Carbohydrate 24 g 8%
Dietary Fiber 0.5 g 2%
Sugars 3 g
Protein 4 g
Click to see full answer
Keeping this in consideration, how many carbs are in a plain bagel?
Nutrition Facts
Name Value Daily Percentage
Total Carbohydrate 53g 19%
Dietary Fiber 2g 7%
Sugars 6g
Protein 9g
Furthermore, what is the nutritional value of a plain bagel? A typical, medium-sized, plain bagel (105 grams) may contain the following ( 1 ): Calories: 289. Protein: 11 grams. Fat: 2 grams.
Additionally, how many calories are in a small plain bagel?
Nutrition Facts
Serving Size 2 bagels (86g)
Servings Per Container 5
Amount Per Serving
Calories 250
Calories from Fat 13.5
How much sugar is in a plain bagel?
A plain, average-size bagel (which contains approximately 7g of sugar ) is the equivalent in calories and sugar of five slices of white bread and sends your system into a sugar overload - setting you up to crash afterwards and reach for another unhealthy option.
36 Related Question Answers Found
Is a bagel high in carbs?
If there is a downside to bagels, it's that the average deli bagel can have up to 350 calories and 50 to 60 grams of carbohydrates—equal in carbohydrates to three or four slices of bread. Without fiber, the carbohydrates in a bagel digest quickly, convert to sugar, and then, very possibly, to fat.
Can you eat bagels on a low carb diet?
Depending on your personal carb tolerance, eating a sandwich, burrito, or bagel could put you near or over your daily limit. If you still want to enjoy bread, make your own low-carb loaves at home. Most grains, including rice, wheat, and oats, are also high in carbs and need to be limited or avoided on a low-carb diet.
Can I eat a bagel on a diet?
Most bagels lack vitamins, minerals and fiber. Without fiber, the carbohydrates in a bagel digest quickly, convert to sugar and then, very possibly, to fat. Dieters are better off eating a 100-percent whole grain English muffin or a slice of whole wheat bread that contains at least 5g of fiber per serving.
Are bagels healthier than bread?
In terms of carbs and calories, there are about 3.15 slices of bread in the average plain bagel (a bagel contains 245 calories, a slice of bread has 79 calories). Okay, so yes, bagels are more dense, caloric and potentially less healthy than a piece of bread, but would you stake your happiness on that?
What are the healthiest bagels?
Are bagels OK on keto diet?
Are low-carbs Bagels Good For You? Yes, at just 7.5 grams per bagel, almond flour low-carb bagels are a delicious low-carb alternative to bagels. They are great if you are trying to lose weight or on a KETO or PALEO diet.
How many carbs should you have each day?
How many carbs are in half a bagel?
Nutrition Facts
Calories 288 (1207 kJ)
Cholesterol 0 mg 0%
Sodium 561 mg 23%
Total Carbohydrate 56.1 g 19%
Dietary Fiber 2.4 g 10%
Do Bagels make you gain weight?
How many calories are in a plain bagel with butter?
Nutrition Facts
Calories 310 (1297 kJ)
Cholesterol 10 mg 3%
Sodium 630 mg 26%
Total Carbohydrate 55 g 18%
Dietary Fiber 4 g 16%
How many calories are in a plain bagel with peanut butter?
Although two tablespoons of peanut butter has 185 calories, the fat content has a better makeup with only 3 grams of saturated fat and just a trace of trans fat. Because of the protein, a peanut butter bagel should satisfy your hunger for a long time, too, while doughnuts probably won't.
How many calories does a bagel with cream cheese have?
A bagel alone is roughly 280 calories, with cream cheese clocking in at 51 calories per tablespoon.
How many calories should I be eating to lose weight?
Are multigrain bagels good for you?
Our delicious Multigrain Bagels are a good source of fiber, with 7 grams of total fat per serving, served toasted.
How many calories do I need?
How many calories are in a everything bagel?
Nutrition Facts
Serving Size 1 bagel (95g)
Servings Per Container 6
Amount Per Serving
Calories 290
Calories from Fat 32
How many calories are in a small cinnamon raisin bagel?
110 Calories
Fat 0.5 g
Carbs 23 g
Fiber 1 g
Protein 3 g


Building an IN list using REPLACE
2017-08-18 14_28_59-Presentation1 - PowerPoint

Have you ever had the need to build an IN list from some rows you had in excel? Or maybe you have a bunch of data you pulled out of a results set from some other server somewhere and you are unable to join tables so you need to plug the values into an IN clause?
Well I have come across this a few times and I have always either encapsulated every value manually in Apostrophes and delimited with a comma or used a method in Excel.
Its a bit of a silly one really but its kinda neat too, lets let SQL do do the work for us:
Here is a bunch of Tabular data:

2017-08-18 14_14_42-Book1 - Excel

I want to copy the contents of these rows and encapsulate each value with Apostrophes and then delimit with a comma so that I can place this directly into my IN clause, but remember this is one single string not a column where we can apply something per row so the likes of XML PATH is no use here.
So here is one way to do this simply with SQL:
Sample Data:
Danish
German
Greek
English
Finnish
French

I need to pass this into a SELECT so I add an apostrophe at the beginning and end like this:
'Danish
German
Greek
English
Finnish
French'
then add my SELECT:
SELECT
'Danish
German
Greek
English
Finnish
French'
So far the results look like this:

Step1

Then use REPLACE to first replace the CHAR(13)+CHAR(10) with an Apostrophe, Comma then another Apostrophe:

SELECT REPLACE(
'Danish
German
Greek
English
Finnish
French'
,CHAR(13)+CHAR(10),''',''')
It now looks like this:

Step2

So now its missing a beginning Apostrophe and an end apostrophe, so we can just simply add this to the Query as below:

SELECT ''''+REPLACE(
'Danish
German
Greek
English
Finnish
French'
,CHAR(13)+CHAR(10),''',''')+''''

Step3

Great so now we have what we were after… BUT when we copy and paste it's all on one row:
--RESULT:
'Danish','German','Greek','English','Finnish','French'

Perhaps we want it back to the form it was originally in, tabular form?

We can alter this slightly:

SELECT ''''+REPLACE(
'Danish
German
Greek
English
Finnish
French'
,CHAR(13)+CHAR(10),''','+CHAR(13)+'''')+''''
--RESULT:
'Danish',
'German',
'Greek',
'English',
'Finnish',
'French'

If you really wanted to you could create a Stored procedure out of it, for example:

CREATE PROCEDURE sp_BuildINList
(
@String VARCHAR(MAX)
)
AS
SELECT ''''+REPLACE(
@String
,CHAR(13)+CHAR(10),''','+CHAR(13)+'''')+'''' AS IN_List

--Example execution:
EXEC sp_BuildINList
'Danish
German
Greek
English
Finnish
French'

A neat little trick, I am sure there are other ways of doing this – I used to use Excel but if I can keep things in SQL then I only ever need one application 🙂

Thanks for reading.
2 thoughts on "Building an IN list using REPLACE
Add yours
 1. I personally find it easy to just paste into SSMS and do a find replace with Regex. Steps would be paste from Excel, Ctrl+H, in the search enter \r\n, in the replace enter ',' Check the regex button and hit Alt-A. Then you just need to cleanup the start and end.
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text:
Corruption and the Efficiency of Capital Investment in Developing Countries
This paper tests the effect of corruption on the efficiency of capital investment. Using firm-level data from the World Bank Enterprise Surveys, covering 90 developing and transition economies, we consider whether the cost of informal bribe payments distorts the efficient allocation of capital by reducing the marginal return per unit investment. Controlling for censoring and endogeneity, we find that bribery decreases investment efficiency. The negative effect is strongest for domestic small-sized and medium-sized enterprises. We conclude that reducing the level and incidence of bribery by public officials would facilitate a more efficient allocation of capital.


Sentence for discourage | Use discourage in a sentence
Discourage sentence examples. ESL students, professors, & those learning a new language might especially enjoy this webpage. The lines of text below use discourage in a sentence, and provide visitors a sentence for discourage.
 - Doria to interdict, or at least discourage, his visits, for the appearance of the man was that of an embodied sigh and groan. (10)
 - It is surely my duty to discourage such romantic nonsense. (4)
 - It would not discourage me. (9)
Glad you visited this page with a sentence for discourage. Perhaps also see a sentence for drugs and ways to use digression in a sentence. Now that you've seen how to use discourage in a sentence hope you might explore the rest of this educational reference site to see many other example sentences which provide word usage information.
People looking for: "discourage in sentence", "sentence of discourage", "use discourage in a sentence", visited this page.


text:
In queueing theory, a discipline within the mathematical theory of probability, traffic equations are equations that describe the mean arrival rate of traffic, allowing the arrival rates at individual nodes to be determined. Mitrani notes "if the network is stable, the traffic equations are valid and can be solved.":125
In a Jackson network, the mean arrival rate at each node i in the network is given by the sum of external and internal arrivals. If external arrivals have rate and the routing matrix[clarification needed] is P, the traffic equations are, (for i = 1, 2,..., m)
This can be written in matrix form as
and there is a unique solution of unknowns to this equation, so the mean arrival rates at each of the nodes can be determined given knowledge of the external arrival rates and the matrix P. The matrix I − P is surely non-singular as otherwise in the long run the network would become empty.
In a Gordon–Newell network there are no external arrivals, so the traffic equations take the form (for i = 1, 2,..., m)


How to check VoIP Quality?
How to check VoIP Quality?
 1. #4) ZDA NET. This tool provides a very good interface.
 2. #5) Speed Test. SpeedTest is a product by Ookla to check internet performance.
 3. #6) FreeOLa.
 4. #7) Ping-test.net.
 5. #8) OnSIP VoIP Test.
 6. #9) MegaPath Speed Test Plus.
 7. #10) Bandwidth Place.
 8. #11) Voiptoners.
How do I run a VoIP test?
Use PING to Test for VoIP Connection Quality
 1. Try to find out the IP address of the gateway of your VoIP provider. One option is to simply call the company and ask.
 2. Open your computer's command prompt.
 3. Type the PING command followed by an IP address — for example: Ping 64.233.161.83.
How to test jitter for VoIP?
Regarding VoIP traffic, the method for checking jitter will be based on whether you have control over one or both endpoints. If you only have control of one endpoint, you can execute a ping jitter test by working out the mean round-trip time and the minimum round-trip time for a series of packets.
What is VoIP testing tools?
Test tools allow you to measure the connection quality of your network so that you are able to be certain that the VoIP communication systems are not experiencing uneven audio and also do jitter test to check the quality of connection. For this purpose, VoIP monitoring tools come in great handy.
How is VoIP call quality measured?
The most common industry standard for measuring VoIP call quality is the Mean Opinion Score (MOS). The MOS is determined by measuring bandwidth, latency, jitter, packet loss, compression, and codecs, with a minimum score of 4.3-of-5 being preferred for VoIP calls.
How do I test VoIP issues?
So let's get started!
 1. Step 1: Download a network test tool. To start troubleshooting your network, you'll want to get a better look at what the VoIP data is actually doing.
 2. Step 2: Start testing the networks.
 3. Step 3: Interpret the results.
 4. Step 4: Take action and build a case.
How is MOS score calculated?
MOS is derived from the R-Factor per ITU‑T Recommendation G. 10 which measures VoIP call quality. PacketShaper measures MOS using a scale of 10-50. To convert to a standard MOS score (which uses a scale of 1-5), divide the PacketShaper MOS value by 10.
How do I fix latency in VoIP?
How can you reduce latency to create the best call quality?
 1. Check your bandwidth. As we mentioned, low bandwidth can contribute to VoIP latency.
 2. Disconnect unused devices.
 3. Update hardware, such as your router.
 4. Check Quality of Service (QoS) settings.
 5. Talk to your provider.
Is QoS necessary for VoIP?
Finally, QoS applied to wireless access points can ensure VoIP bandwidth needs gets priority when the Wi-Fi network is congested. In the WAN, QoS is still necessary, as well, both to avoid jitter-related issues and minimize latency by prioritizing the handling of VoIP packets at WAN routers.
What is bad jitter for VoIP?
How much jitter is acceptable? For VoIP, jitter measures the variation between packet delays for voice communications. The metric for this is expressed in milliseconds, or one-hundredth of a second. Cisco recommends jitter on voice traffic should not exceed 30 milliseconds.
What is the minimum MOS to achieve acceptable VoIP performance?
Having a metric to measure changes or degradation in the quality of the voice/VoIP connection after testing can help identify problems. VoIP calls often are in the 3.5 to 4.2 MOS range.
What causes delay in VoIP calls?
When VoIP Packets Are Delayed. Delay is caused when packets of voice data take more time than expected to reach their destination. This delay, called latency, causes some disruption in voice quality. However, VoIP technology is equipped to deal with some delay, so the effects are minimized.


text:
HOMEWORK ASSIGNMENT #5 (15 Points--Due in Class on Wed., July 16).
1. (10 Points) Use your own example to explain what Hume means by saying that reason is the slave of the passions. For your answer to be complete, you should explain Hume's moral psychology, including what he thinks is involved in making a moral judgment that an act is right or wrong. [Make sure to cite to the Hume reading or to Baier's account of Hume.]
2. (5 Points) Do you agree with Hume about the role of reason in moral judgment? Explain.


text:
For thousands of people in Rwanda, the sight of Muslims taking people inside mosques to protect them during genocide was the moment they decided to convert to Islam.
"I was a Catholic pastor before genocide," Matabaro Sulaiman told TRT World.
When the genocide in Rwanda began in 1994, the 49-year-old suffered a crisis of faith watching the churches, in which he preached peace and unity became slaughterhouses.
"Christians were killing people in the church," Sulaiman said.
"The [victims] went to churches thinking they will find peace but instead, they were killed. Meanwhile, I saw Muslims take people inside the mosque."
More than 2,000 people who sought shelter were killed after Pastor Wenceslas Munyeshyaka collaborated with the attackers instead of protecting those in need.
Nyamata Church, located in the outskirts of south Kigali, became a mass grave for nearly 50,000 people who thought they were safe.
When churches became slaughterhouses, the country's tiny Muslim minority opened its doors.
Islam in pre-colonial Rwanda was introduced by Muslim traders who did not particularly aim to spread Islam.
Since the advent of European colonialism in the country in 1884, Roman Catholicism has been the dominant religion in Rwanda.
Since its introduction, Muslims have been a minority in the territory, while the Roman Catholic Church, introduced to Rwandans during the colonial period in the late 19th century is the largest religion in the country.
Till 1994, Muslims made around 1 percent of population in Rwanda. This figure grew significantly according to Salim Habimana, a former Mufti of the country, who said that "12 percent to 15 percent of the total population is Muslim."
Many converts state that they converted to Islam because of the role that some Catholic and Protestant leaders played in the genocide.
"Muslims were very few in number and had no capacity and power… but they decided to help others who were being killed," Sulaiman said.
"But I saw how those few Muslims… did something extraordinary to help people," he added, his eyes watering and his voice croaking.
"When I saw efforts to help people during that time of danger, I said to myself maybe, maybe this is the reality of Islam. This is the Islam they are talking about.
"I decided to become Muslim."


Panorama of the Golden Gate Bridge
San Francisco, California, USA
This photograph is a panoramic view of the San Francisco Bay, including the Golden Gate Bridge, San Francisco skyline, and Alcatraz. The camera is located on the north side of the bridge, in the Marin Headlands, looking southeast towards the bridge and San Francisco. The photo was taken shortly after sunset, so the sky is beginning to darken and the city lights are coming on.
At full size, this panorama is 222 megapixels. It has an aspect ratio of 3 to 1, so it is ideal for some of the more common panoramic frames. I have an even wider panorama with a 6 by 1 aspect ratio with a similar view.
The Golden Gate Bridge
The iconic Golden Gate Bridge is probably one of the most photographed bridges in the world. There are certainly no shortage of photos of this bridge. Doing a quick image search on Google will show you exactly what I mean. That said, I am a photographer living in the Bay Area. As such, I have a few of my own to contribute to the growing pile, and this photo is one of them.
The Golden Gate Bridge spans the entrance to the San Francisco Bay from the Pacific Ocean. The bridge connects San Francisco (southern end) and Sausalito (northern end) along the scenic California State Route 1.
The Bay Area, Northern California
Long Exposure Photography
Long exposure photography, as the name implies, simply refers to photographs taken with relatively long exposure times. Typically, the photographer wishes to capture the movement of one or more elements within a scene over the course of the exposure. The resulting photograph then reflects this movement in some way. This technique can be used to create various effects, and thus is a useful technique for photographers to know.
Taking long exposure photographs can be a bit tricky. First and foremost, the photographer needs to imagine what is going to happen in the scene over time and how that will affect the final result. There are several technical aspects to take into account as well.
As with all forms of photography, managing the light in a photograph is important. Long exposure times can add yet another layer of complexity to lighting. Not only does the light build up over a longer period of time, but it may also move around and/or change in intensity. The exposure settings on the camera also govern how the movement will be captured, including how much overall movement is captured and how much each element of the scene contributes to the final image. Many factors, such as how bright an object is, how reflective it is (e.g. glossy vs matte), how fast it is moving, the use of flashes, and so on, all play a role in how an object will show up in a long exposure photograph.
Secondary effects, such as camera shake and sensor noise, have a higher chance of affecting long exposure photographs as well. Digital camera sensors tend to generate more noise when they are exposed for longer periods of time. Camera shake can become a factor as well. Even small, subtle movements can affect the sharpness of the image. For example, cameras are commonly placed near roadways when photographing the light trails created by cars driving at night. Vibrations caused by those cars can subtly and constantly shake the camera, introducing a slight blur in the final photograph.
More examples of long exposure photographs that I have taken can be found here.
Here are some more panoramas that I have taken.


text:
Random acts of kindness go a long way toward putting a smile on someone's face and reshaping a not-so-great day into a special memory that impacts not just the recipient but everyone that person comes in contact with that day.
Next week, imagine how many people you can touch by taking a moment to thank a nurse for a job well-done. First, you will bring a smile to the nurse. Then, the nurse will unknowingly share that smile with patients and colleagues throughout the day and those people will pass the gesture along to the people they interact with. In a busy clinic or hospital, your simple "thank you" to a nurse will touch hundreds of people.
We celebrate National Nurse's Week in early May to coincide with Florence Nightingale's birthday. Just as Nightingale tirelessly cared for soldiers during the Crimean War (_PHONE_), our nurses care for all types of patients—some are very sick and others are generally healthy.
Make plans to surprise a nurse with a random act of kindness during Nurse's Week and know that your thoughtful expression will not only make the nurse's day, but you will share kindness with many people who may need a boost. You will never know it, but your actions may help a patient overcome a frightening diagnosis or help a young family cope with grief. What a terrific way to say thank you and honor our nurses!
Sylvia T. Brown, EdD, RN, CNE
Dean & Professor
ECU College of Nursing


Center for the Advancement of Underserved Children
Plans and Projected Outcomes
Plans: Pilot intervention will address access to immunizations utilizing community education and assessments to barriers for populations of children birth to 14 years old. CHIMC will develop a Memorandum of Understanding with the Milwaukee Health Department to share data and resources assisting in the development and implementation of this pilot.
Projected Outcomes:
 1. Increase participant immunization rates above baseline
 2. Increase knowledge of immunization importance
 3. Measure intent to change behavior around immunizations compliance
Projected Objectives:
 1. Identify households with children birth to 14 yrs old who are under immunized.
 2. Engage parents in immunization education (why immunizations are still relevant and important) Conduct Pre/Post test to determine if knowledge was gained, measure intent to change (via survey) and assess barriers to immunizations (via survey).
 3. Conduct home visits in households identified by partner CBO's and Healthcare Agency.
 - Engage parents in one-on-one immunization education.
 - Track immunization compliance rates 6-9 months after initiation of intervention.
© 2014 Medical College of Wisconsin
Page Updated 03/13/2014


text: Since surfactants reduce the interfacial tension of immiscible liquids by forming micelles through hy-drophobic and hydrophilic groups in their structure, they are frequently used in different fields of analytical chemistry. The use of surfactants in analytical techniques continues to increase from past to present. They are used in chromatography to improve separation efficiency and reduce the amount of organic solvent. In electrochemical techniques, they have important functions such as increasing the selectivity and sensitivity of the sensor in the supporting electrolyte or as an electrode modifying agent. The use of surfactants in these techniques, as well as in capillary electrophoresis and sample preparation, draws attention. This review summarizes the recent applications of surfactants in these analytical techniques, along with their primary usage in chromatography, capillary electrophoresis, and electro-chemical analysis. Moreover, this review also describes the structural properties of surfactants and the advantages of their use in these analytical techniques. (c) 2021 Elsevier B.V. All rights reserved.


text:
Open Access This article is
- freely available
Aerospace 2019, 6(3), 38; _URL_
Non-Linear Dynamic Inversion Control Design for Rotorcraft
Department of Aerospace Engineering, The Pennsylvania State University, University Park, PA 16802, USA
Received: 12 February 2019 / Accepted: 11 March 2019 / Published: 18 March 2019
Flight control design for rotorcraft is challenging due to high-order dynamics, cross-coupling effects, and inherent instability of the flight dynamics. Dynamic inversion design offers a desirable solution to rotorcraft flight control as it effectively decouples the plant model and effectively handles non-linearity. However, the method has limitations for rotorcraft due to the requirement for full-state feedback and issues with non-minimum phase zeros. A control design study is performed using dynamic inversion with reduced order models of the rotorcraft dynamics, which alleviates the full-state feedback requirement. The design is analyzed using full order linear analysis and non-linear simulations of a utility helicopter. Simulation results show desired command tracking when the controller is applied to the full-order system. Classical stability margin analysis is used to achieve desired tradeoffs in robust stability and disturbance rejection. Results indicate the feasibility of applying dynamic inversion to rotorcraft control design, as long as full order linear analysis is applied to ensure stability and adequate modelling of low-frequency dynamics.
Keywords:rotorcraft flight control; dynamic inversion; rotorcraft handling qualities
Flight control design for rotorcraft is particularly challenging due to the complexity and peculiarities of the vehicle dynamics. Notably, rotorcraft dynamics are inherently high order, they exhibit strong cross-coupling effects, and they are usually unstable over large portions of their flight envelope . These characteristics drive the need for advanced automatic flight control systems on modern rotorcraft, as feedback control can guarantee stable and predictable response behavior across a large flight envelope. Stable and predictable response types are essential when operating rotorcraft in near-Earth missions in degraded visual environments (DVE) . The complex dynamics of rotorcraft also drive the technical challenges presented to control designer, as the design requires use of sophisticated high order dynamic models.
New production rotorcraft and recent control system upgrades have primarily used explicit model following (EMF) control design techniques to achieve Level 1 handling qualities as specified in the U.S. Army Aeronautical Design Standard-33 Performance Specification (ADS-33E-PRF) flying qualities specifications [3,4,5]. EMF is in essence a linear design method that uses a simplified model inversion in the feed-forward path of the controller to follow the desired reference model, while feedback design is applied directly to high-order linear plant models identified at several operating conditions. Both the feedforward inversion and feedback compensation are scheduled with the flight condition to account for the significant variations in vehicle dynamics from hover to high-speed forward flight.
Flight control design for many modern fixed-wing aircraft has used a different approach—dynamic inversion (DI) . Non-linear dynamic inversion (NDI), has the advantage of incorporating non-linear kinematics in the plant inversion, and can reduce complexity of the design by minimizing the need for individual gain tuning or gain scheduling. The most sophisticated NDI controllers effectively contain a non-linear simulation model of the aircraft along with optimization solvers in the control algorithms and they eliminate the need for gain scheduling . NDI inverts the plant model using feedback linearization , as opposed to the purely feed-forward inversion used in EMF. Feedback linearization requires full state feedback. For advanced aircraft, measurement and/or accurate estimation of the complete set of rigid body states is usually feasible. Thus, a six degree-of-freedom (6 DOF) model can be used in the plant inversion.
This paper explores the application of NDI to rotorcraft control systems in order to meet typical rotorcraft specifications on handling qualities and stability. The paper builds on earlier NDI designs developed for rotorcraft in shipboard landing operations [9,10], but formalizes the design method for general rotorcraft applications. A generalized NDI control architecture is presented along with a method for gain optimization and stability margin verification using a linearized model of the aircraft coupled with the linearized control system. The issue of zero dynamics and non-minimum phase zeros is also addressed through linear analysis. The design method is applied to a validated simulation model of a utility helicopter to provide illustrative examples of the method. Results include the high-order linear analysis of the closed loop aircraft, and non-linear simulations of the closed loop system using the fully non-linear variant of the controller.
2. Dynamic Inversion (DI) Design
Dynamic inversion (DI) evolved into a popular flight control design method in the 1990s , due to its capability to elegantly decouple the control compensation design from the variations in aircraft dynamics over a wide flight envelope. The method is based on feedback linearization, which was first presented in the 1980's . The method has been widely adopted for military fixed-wing aircraft , and the design method is now well documented in textbooks . Numerous extensions to DI, have been developed over the past 30 years to overcome limitations in the design and to expand its applications.
The dynamic inversion control architecture is illustrated in Figure 1. The key features are an inner feedback loop that achieves model inversion (i.e., the cancellation of the plant non-linear plant dynamics through feedback linearization); a "command filter" (also known as a reference model or a command model) that specifies desired response to pilot commands; and feedback compensation on the tracking error to govern disturbance rejection.
DI differs from EMF in that it uses feedback in plant inversion as opposed a plant cancelling transfer function in the feedforward path. Most published EMF designs use simplified single-input single-output (SISO) transfer functions for plant cancellation, separated into individual control axes (roll, pitch, yaw, heave axes). DI uses state-space multi-input multi-output (MIMO) systems for the model inversion, which can be of any order as long as all states are available for feedback. MIMO versions of EMF have been proposed that use a MIMO transfer function in the inversion using so-called "decoupling numerators" .
Both EMF and DI have issues when the plant model has transmission zeros in the right-half of the complex plane, i.e., non-minimum phase (NMP) zeros. Clearly, when a transfer function with NMP zeros is inverted, it has unstable poles. Similarly, it is well known that the inversion in DI will also produce unstable modes corresponding to NMP zeros of the open loop plant model (as will be reviewed below).
Spires presented a comparison study of DI versus EMF for rotorcraft control design . The study showed that in the linear SISO case, both EMF and DI become equivalent. However, there are significant differences in the MIMO implementation. For example, the issue of NMP zeros can be more problematic when using de-coupling numerators in MIMO EMF design. The result of the study showed that performance of EMF and DI were generally comparable, but that DI proved to be easier to design and implement.
A brief review of the DI design process is presented below. The application of DI using reduced order models is then presented. It will later be demonstrated that model order reduction is critical for practical rotorcraft applications.
2.1. Feedback Linearization
At the core of DI is the feedback linearization loop, in which full-state feedbacks converts a non-linear MIMO plant model into a system of decoupled integrators. Dynamic inversion requires the selection of a set of controlled variables (CVs), one CV for each primary control axis of the aircraft. In most flight control applications, a desired state response is associated with each of the four primary axes (e.g., roll, pitch, yaw, and thrust/power), therefore CV assignment is a natural process in design. A state space representation of the flight dynamics must follow the formwhere y represents the vector of CVs, x the state vector, and u the control vector. Note that this system is "square" in that the number of outputs is equal to the number of inputs, but it is also important to remember that the control law uses full state feedback, so measurements consist of both x and y. In basic DI design, the system must be affine in the controls, although extensions of DI have been developed to allow DI with non-affine systems .
Differentiating the output equation of (1) yields:
The feedback linearization control is then given by the following:where ν is the known as the "pseudo-control" vector. This control requires that the state-dependent control matrix, G(x), is invertible for all feasible state values. Generally, the appropriate choice of the CVs achieves this behavior. If not, the output equation must be differentiated again until explicit dependence on the control is observed in the output. As will be shown in the following sections in the rotorcraft example, this is not strictly necessary with proper choice of CV and controller implementation.
Substituting the control law of Equation (3) into Equation (2) yields de-coupled integrator dynamics:
The pseudo-control is defined by the reference model and some linear compensation on the tracking error as follows:
Assuming a perfect model, the feedback linearization converts the MIMO dynamics into a set of decoupled linear SISO systems as shown in Figure 2. External disturbances (due to noise, atmospheric disturbances, or model uncertainty) are represented as an external disturbance acting on the plant output. The transfer function C(s) represents the reference model (or command filter), designed to achieve desired response