text:
Version Control Tools: Which should I choose?
November 25th, 2013 by Scott McNab
Version Control Tools enable us to store and share files with other users, track changes in each revision of the file, and compare different versions of our data. Program developers, designers, and even writers today use version control tools to prevent loss of files and facilitate reverting to previous revisions. Nowadays, Subversion (SVN), an improved version of Concurrent Versions Systems (CVS), is the most widely used centralized version control tool. Distributed version control tools, such as Git and Mercurial, also offer a different workflow functionality to the single repository system of Subversion.
This article reviews the usability of some of the top open-source version control tools available today.
Centralized Version Control Tools
Concurrent Versions Systems (CVS)
Concurrent Versions System (CVS) is one of the oldest version control tools in the market. You may want to use CVS if any of the following is true for you:
You share source code or documents with other people and you want multiple users to be able to edit or change the file at one time. CVS can help merge the changes from different users automatically.
You save your source code or documents on more than one machine. When you edit your files, CVS can help you update the files in both of your machines.
You have a slow Internet connection, and often make local copies of your files and edit them. CVS can help you prevent your files from getting out of sync.
You would like to have a record of all the changes in your files and keep all revisions just in case you may need any of them.
CVS has been used for many years and is considered a mature technology. However, as it is now an older software, it lacks some of the functionalities offered by more current version control tools. For example, CVS is not capable of atomic operation support, which may potentially lead to source corruption. Moving or renaming files in CVS also does not include a version update, as it must be performed by manually modifying the repository files. There are also security risks from symbolic links to files, and branch operations of CVS are expensive, as CVS is not designed for long term branching.
Subversion is still the most widely used version control system. It was built initially as an alternative to CVS. It fixes some bugs in the CVS system while maintaining high compatibility with its workflow. SVN is released free as open-source software. Unlike CVS, SVN employs atomic operations which prevent corruption in the database. Either all of the changes made to the files are applied at once, or none of them are applied, so no partial commits can break the original source. Also, SVN offers cheaper branch operations and wide variety of plug-ins for integrated Development Environments (IDEs).
However, SVN still relies on having access to a centralized repository to perform many operations, unlike the peer-to-peer model adopted by some of the new distributed version control systems.
Distributed Version Control Tools
Git was originally written by Linus Torvalds, the creator of Linux. The original concept for Git was to create a version control tool that is faster and based on a distributed system, unlike SVN or CVS. Git is equipped with a variety of tools that help users navigate the history and merge complex changes easily.
Git uses a distributed repository model. Hence, anyone in the team can have their own complete copy of a repository on their machine, and they are free to work offline if required. While this may have its benefits, some organizations prefer the additional centralized control offered by systems such as SVN and CVS. Also, Git is considerably more complex to understand than SVN or CVS and it has historically had limited Windows support compared to its excellent support in Linux.
Mercurial is very similar to Git, however its interface presents a much simpler system, which is is why it appeals to some developers. Developers will notice that Mercurial share some features with SVN. Thus, those who are familiar with SVN as version control tool learns Mercurial quickly. The documentation for Mercurial is also more complete and user-friendly, hence it facilitates the learning process.
Which Version Control Tools?
So which version control tool should you choose? If you are new to source control, have a small team or if you want a single master source tree, then SVN is the first system you should try. SVN is reliable and is easy to learn. If you are working with a large, distributed team, and you will be working at different times and will be submitting several updates to the code simultaneously, Git is a great choice. Git is fast and has an improved brnach management over centralized systems. If you are somewhere in the middle, or if you find the complexity of Git confusing, you can always try Mercurial.
All of these version control tools are freely available and fully functional (except perhaps for some of the limitations of CVS). So, consider the nature of your project and your team and choose the version control tool that suits your project best!
Using Source Code Control For Your Project
Source Code Control is the process of using Version Control Software to manage computer program source code and other documents. It functions as a repository that saves your complete project, including all images, codes, files, and directories. It can record the entire history of your project, and allows you to track changes through the different versions of your files. It then enables you to compare your current document to any of its previous versions.
What can source code control do for your project?
If you are working with a series of files or directories, a source code control system can do several indispensable things for you.
First of all, it can save the complete development history of your project. It tracks all the modifications and changes that were made to your files, while also recording the date when the file was changed, and who it was who made the changes.
Secondly, source code control provides you with a more orderly way of keeping track of all changes through a revision numbering scheme, which indicates which version of a file is the most recent.
Third, using source code control can help you undo changes to your files and retrieve past revisions. This is necessary should you decide that the current modifications are inappropriate, or if the changes have introduced new bugs to your system.
Fourth, source code control can enable multiple users to work on a single file simultaneously, and assist with merging all the changes to the file. To do this, the users work on a local copy of the same code base. They can edit, break code, and fix bugs on their local copy, and when they are done, they can commit the changes back to the repository. The other users can then update their working copies based on the new version of the file.
And finally, a source code control system also serves as a backup tool. If you accidentally deleted a file, you can always get the latest version from the repository.
What source code control can't do for your project
Depending on the type of version control system you choose, there would be a number of limitations you have to deal with. One problem with most source code control software is that changes or modifications could be done to a file without noting why the change was applied. Source code control can't stop this event, but it does prompt programmers to document changes when they commit them.
Also, when multiple users merge changes on a single file, conflicts may occur if different changes are applied to the same lines of text. Source code control can't resolve the conflict on its own by choosing the correct modification, however it can identify it. The developers or users need to step in to resolve the conflict.
How do you know if you need to use source code control?
Source code control is an important tool in large, fast-changing projects with multiple users, or small projects with multiple source files. You may need to use source code control if you are a software developer working on program source code or a graphic artist working on images or illustrations. If you have files documenting various stages of a single file – for example, named logo-old, logo-new, logo-new2, and logo-final – then you might need source code control to simply track the changes to your image or document.
You might also find it useful if you are managing collections of Word documents relating to a project. To save the Word documents, you probably use multiple storage devices for your backups. With source code control software, you can simply use the repository as your backup – not only will you take up less disk space, you can also enjoy the additional revision control tracking abilities of the version control software to boot!
In the book or magazine publishing industry, where many revisions of documents are made, source code control can help in managing the documents while keeping the latest version of the file readily available. Likewise, many web developers also find such systems useful for managing and deploying changes to .html and .css files.
What is a Version Control System?
A Version Control System (VCS), also known as a Revision Control System, is software that manages changes to collections of files and directories. While a VCS is useful for managing changes to many types of files, this software is particularly useful for programmers to save files for the source code of computer programs. A VCS keeps track of all of the changes that occur in each revision of the file, the person who made the changes, and the reason behind the modification. Changes are usually identified by an incrementing number (also known as revision number) or letter code, and reflect the content of the files at a specific point in time.
Why is there a need to use a VCS when you can simply save the files in a different filename in one folder? Unlike your usual multiple file saving process, a VCS does not store the full copies of each revision. Instead, it stores only the changes that happen in each revision. That saves a lot of disk space, and also removes the need for the user to manage the naming of the revisions manually. Hence, a VCS is particularly useful for large, fast-changing projects with multiple authors who all need to track and coordinate all changes in each version.
Why should different versions of a file be tracked?
When the most recent version of the file is modified or corrupted, a VCS makes it easy to go back to the previous revision and start again. Also, programmers use the VCS to compare the different versions of their software. By comparing the different versions, they can determine when bugs were introduced and also when were they fixed. Any problems that may arise from a change may be addressed by reviewing the revision, noting who made the change, and the reason behind the change.
Tracking of different versions is also necessary in establishing precedence. Because a VCS keeps track of the person who made changes to the file, it can provide necessary data to solve a dispute regarding ownership of code or ideas.
Version control systems are especially useful for collaborative work. Multiple users can edit the files at one time, without affecting each other's changes. When they have finished working with a file, they can then decide to merge their versions as one. When two users independently change the same part in a file, they are automatically flagged when the files are merged. Hence, they are still responsible for tracking if the final version is correct.
What are the different Version Control Systems available?
Version Control Systems can be provided using software installed in-house, or can be accessed via an online version control system provider. Online VCS systems also provide additional functionality, such as bug tracking, archiving, and user management. They are often used for projects that do not have the resources yet to maintain their own server for version control, and also for projects that wish to benefit from the ease of use and additional redundancy provided by an online system.
Concurrent Versioning System (CVS) used to be the most widely used version control system. However, Subversion and Git have long since overtaken it, and are now the most commonly used systems for open source projects. The basic capabilities of these systems in some ways are quite similar to CVS, but they offer much greater functionality.
How does a VCS work?
Some version control systems, like CVS and SVN, have centralized repositories. This works by setting up a single repository which acts as the central store of the system. The repository usually stores information in a hierarchy of files and directories. Check-outs and check-ins of files are done with reference to this central repository. Multiple clients can then connect to the repository and commit changes. Normally, they can only see the latest version of the files. However, they can also review the change history and restore previous versions using VCS tools.
Alternatively, in a distributed VCS like Git or Mercurial, many repositories may be used and no single repository is authoritative. Files can be checked out and checked into any repository. When a file is checked into a different repository, it is integrated as a merge or patch. The responsibility then falls on the users themselves to determine which repository is authoritative.
Ultimately, Version Control Systems have been widely studied and applied in the software engineering community for a long time. These systems are being continually developed and improved to best meet the needs of both small local teams and large distributed teams. A VCS is now considered an essential component of any modern software development process.


text:
Crua Outdoors Raises Over £375,000; Further Funding for Ola
by	Mathew Broughton on	4th Jul 2019	in	News
DTC's Daily Digest brings you the latest news on the world's fastest growing direct-to-consumer brands. In today's edition: Crua Outdoors raises over £375,000; further funding for Ola; and Monese integrates with PayPal, introduces new pricing plans.
Crua Outdoors raises over £375,000
Ireland-based tent and hammock manufacturer Crua Outdoors, which aims to be at the forefront of the 'tent revolution', has raised over £375,000 in its latest crowdfunding round on Seedrs, surpassing its target investment of just over £200,000. This follows on from a successful fundraising round in January 2018, which raised a total of £268,968, with the company aiming to take a significant slice of the European tent market, estimated to be worth USD$1bn (£0.79bn) by 2023.
Unlike traditional fabric tents, Crua Outdoor products are purported to regulate heat, sound, and light. The funding will be used for further technical innovation, and to support the firm's DTC marketing strategy, which includes an augmented reality tool. As well as making recreational tents and hammocks, the company also has an industrial arm, which makes blast-resistant fabric shelters.
Further funding for Ola
Ola has raised a further Rs 79.93 crore (£9.3m) in its ongoing Series J funding round, with the latest input led by Sweden-based DIG Investment Ab, supported by firms such as Deshe Holdings, and the founders of tech investment firm Jabbar Internet Group. The latest funding takes the Series J efforts to nearly $485m (£385.5m), following previous support from the likes of Steadview Capital, Hyundai and Kia.
The repeated investment from a range of global firms shows continuing support for the ride-hailing unicorn, and follows news earlier in the week that company subsidiary Ola Electric has raised USD$250m (£199m) from SoftBank, which has also invested heavily in the parent company. However Ola continues to struggle with negative press coverage in its home market of India, following a directive from the Karnataka government ordering the firm, along with competitor Uber, to cease all car pooling activities within its area of jurisdiction.
Monese integrates with PayPal, introduces new pricing plans
Fintech startup Monese has launched an integration with internet payment giant PayPal, allowing customers to manage their PayPal wallet from within the Monese app. In return Monese customers will now be able to add their card onto their PayPal digital wallet. The new close ties with PayPal come after it participated in Monese's Series B funding round in 2018, which raised a total of USD$60m (£47.7m) for the European banking service.
Speaking on the partnership, Jennifer Marriner, VP of global markets and partnerships of PayPal, said: "This partnership furthers our mission to democratise financial services. We work with innovators like Monese, so people outside the traditional financial system can use our tools to thrive in the global economy."
Concurrently, Monese has introduced new pricing plans, with varying flexibility on free ATM withdrawals and cash top-ups. These range from their 'Simple' tariff, which permits withdrawals of up to £200 per month, to their 'Premium' package, costing a rate of £14.95 per month, which allows unlimited transfers.
Cora Funds for Hybrid Model; Poshmark Eyeing IPO
Honestly Good Smashes Funding Target to Drive UK Growth; Social Shopping App Depop Raises USD$62m
Nua's New Funding; Starling Bank Expanding to Southampton

redpajama_set_name: RedPajamaCommonCrawl


I've been critical of the lessons learned from the rampant franchise development and blockbuster methodology of motion picture production that has come to dominate Hollywood for the past several decades. I've voiced my concerns in the classroom and on our show. I was recently contacted to make some statements about franchise development over the years and happily agreed. The relationship between franchise and audience can be magical and life altering. Conversely, it can degrade and debase craftsmanship and artistry.
The article, "Film Franchises: The Art Of The Long Game" can be found here. My contribution is below.
"The major, spectacle-driven franchises from the 1970s, 'Jaws' (1975), 'Star Wars' (1977) and 'Superman' (1978), among others (certainly the 'James Bond' series from the previous decade), relied upon classical Hollywood approaches, but also mobilized an ever-growing and more sophisticated special effects apparatus," Wayne State University film professor Nicholas G. Schlegel, PhD told Benzinga.


I recently had the opportunity to take my first stab at chalk pho-calligraphy for Chiotras Grocery. They're my neighborhood corner store and sandwich shop (note they're not actually on a corner). They had a huuuuuge chalkboard perfect for making a menu board. If you follow me on Instagram you may have seen some of my progress images. I'm happy to say it's complete! Well except for a couple sandwiches being added to the menu. How could I forget one of my favs; eggplant, pesto, mozzarella!?
I'm really excited to see how this helps out the business. Before the sign was even put up on the wall one of my neighbors remarked "Lox bagel! I want that!" I told him it's always been on the menu. This highlighted perfectly why I wanted to work on this project. I love my little market. It's always a great experience being a customer but I wanted it to be even better for everyone.
Because this chalkboard is so huge it actually wasn't made of slate. That would be hella heavy. That made it a little more difficult to erase mistakes but for the most part windex helped do the trick. In this process I discovered a new tool. Bistro Chalk Markers are just like paint pens but with chalk ink! Erasable! Mind blown.
Before starting in on the big menu I did some color tests on a mini chalkboard I had and then created the above specials board to start. For the larger menu I sketched the bigger words with pencil along with the dividing lines. You can see some of the pencil marks in the pics below but when looking from a distance you don't see them. The graphite can be removed with windex as well but involved more elbow grease than I had available.
If you're ever in Potrero Hill and in need of a sandwich take a visit to Chiotras! A great store and great neighbors with yelp reviews to prove it.
Thank you Gritchelle Fallesgon for getting a couple pics of me working on the sign early in the process.
Posted in Calligraphy and tagged with calligraphy, chalk, black board, pho-calligraphy, San Francisco, Shop local.
September 24, 2014 by Shasta Garcia.


text:
Forestry Department Launches #MyTreeLegacy Promotion
The Forestry Department today launched its latest promotion in support of the National Tree Planting Initiative, Three Million Trees in Three Years, dubbed, "#MyTreeLegacy".
In recognition of the strong and vibrant school spirit that is embedded in the Jamaican culture, the Agency is offering past students an opportunity to engage with their alma maters in a way that provides tangible and lasting benefits not only for current students but for future generations.
The first planting activity under this new thrust took place at the St. Jago High School in St. Catherine on Thursday where a mixture of 22 seedlings to include Yellow Poui, Pride of Barbados and our national tree Blue Mahoe were planted.
CEO & Conservator of Forests, Mr. Ainsley A. Henry, who is a past student of St. Jago High says the Agency has been engaging schools in tree planting activities for decades but since 2020, these tree planting efforts have been curtailed due to the closure of many schools in light of the COVID-19 pandemic.
"Despite the pandemic, tree planting is an activity that can be done while maintaining physical distance and requires minimal interaction so we are calling on past students to reengage with their alma maters, from the early childhood level through to the tertiary level. I am happy to be back at my alma mater to leave my tree legacy for the generations that will pass through these hallowed walls. This activity is just the beginning as the Forestry Department will be organizing other planting activities at the alma maters of our team members and I challenge every Jamaican, every business and public sector entity to do the same," He said.
Mr. Henry says past students should reach out to their alma maters and in discussion with the schools identify spaces that they wish to plant trees.
"Once the decision has been made, the schools or past students may contact the Forestry Department to access technical advice and tree seedlings for executing the activity. When seedlings are collected, they should be planted within two to three days and we will require a clear plan to ensure that the trees are maintained. After all, we are in the business of growing trees and not simply planting seedlings," Mr. Henry said.
We encourage teams to take photographs of their tree planting and maintenance efforts and share them on social media and tag the Forestry Department, which will repost the pics and note the effort towards the 3 million trees programme.
The National Tree Planting Initiative to plant three million trees in three years was launched by the Most Honourable Prime Minister Andrew Holness on October 4, 2019. The objective of the Initiative is to support national development in the area of climate change adaptation, national reforestation efforts to increase forest cover and to establish high value urban green spaces for the benefit of all Jamaicans.


text:
Rudolf Scholder (Winterlingen,  – Pforzheim, ) foi um químico alemão.

Vida e obra
Foi soldado na Primeira Guerra Mundial. Estudou depois Química em Tübingen e Würzburg.

Em 1922 obteve um doutorado em Würzburg, orientado por Rudolf Friedrich Weinland, com a tese Über Antimonsäure-Benzkatechinverbindungen. Em 1924 foi assistente de Rudolf Pummerer em Greifswald. Em 1926 foi para a Universidade de Erlangen, onde foi assistente de química inorgânica e obteve em 1927 a habilitação, com o trabalho Über Oxalat-Komplexe.

Em 1937 foi professor ordinário de química e diretor do Instituto de Química da T.H. Karlsruhe.

Em 1945 começou a reconstruir seu instituto, destruído durante a  Segunda Guerra Mundial. Em 1954–1956 foi reitor da T.H. Karlsruhe.

É pai do professor de teologia Klaus Scholder (1930–1985) da Universidade de Tübingen.

Em 1961 foi eleito membro da Academia de Ciências de Heidelberg.

Ligações externas
 Stadtarchiv Karlsruhe, Lebensdaten mit Bild

Membros da Academia de Ciências de Heidelberg
Professores do Instituto de Tecnologia de Karlsruhe
Químicos da Alemanha
Químicos do século XX

redpajama_set_name: RedPajamaWikipedia


text:
\section{Introduction}
\label{sec:intro}

While soft robotics has garnered significant attention in the past decade and grown into a standalone research topic, one of the prevailing challenges the field faces is the problem of modeling and control. The high degrees of freedom, material non-linearity, underactuation, and inherent hysteresis of many of these technologies has precluded the development of closed form, dynamic models that easily lend themselves to traditional control strategies \cite{rus2015design,laschi2016soft,trivedi2008soft}. Instead, a variety of methods have been introduced in an attempt to address this challenge.

\begin{figure}[t]
    \centering
    \includegraphics[width=0.95\columnwidth]{Figures/fig1_newest.pdf}
    \caption{\emph{Top:} The steady state pose of the helically actuated, inertial soft arm with an input to individual and pairs of lengthwise artificial muscles. \emph{Bottom:} With a linear model constructed via data-driven, Koopman operator theoretic Hankel Dynamic Mode Decomposition (HDMD) and reduced in dimensionality to $n=35$ using Koopman mode analysis, we use the Linear Quadratic Regulator (LQR) optimal control algorithm to control the robot from an initial position (purple) through a dynamic transient pose (orange) to its final pose (blue), closely aligned with the target position (red). Plots of the commanded inputs and RMS error are shown, at right.}
    \label{fig:introFig}
     \vspace{-5mm}
\end{figure}

A majority of investigations to this end have relied on simplifying assumptions, such as the (piecewise) constant curvature ((P)CC) approach, as found in for example \cite{hannan2003kinematics,trivedi2008geometrically,jones2006practical,wang2020dexterous,greer2018soft,selvaggio2020obstacle}. Most of these approaches focus on developing mappings from the actuator space (actuator pressure, tendon tension) to the configuration space (curvature, arc length) and finally to the task space (euclidean position and angle). While this approach is macroscopically effective at predicting general deformations, it fails to adequately capture the time evolution of relevant quantities. As such, others have sought to build closed-form dynamic models, compensated with controllers based on feedback linearization \cite{falkenhahn2015model}, sliding mode control \cite{kapadia2010model}, and domain restriction \cite{marchese2016dynamics}. However, due to the infinite degrees of freedom of these systems, closed form models are inherently inaccurate. Moreover, the intrinsic non-linearity often ensures control systems be domain restricted or themselves non-linear.

Owing to these difficulties, a number of groups have turned to data-driven approaches for producing linear system representations. Numerous attempts to apply various machine learning methods span the last decade, as in \cite{engel2006learning, braganza2007neural, thuruthel2017learning,della2020data,della2020model}, for example. In each of these investigations, the overarching aim has been to fit a high dimensional linear operator to the input-output dynamics of a soft robot arm. While they have shown much higher efficacy than many of the closed-form approaches above, they yet require immense amounts of data to converge, and their models don't necessarily intuit any physical characteristics of the system. As such, they often produce very large linear systems with limited domains of applicability. To overcome these limitations, a relatively new attention paid to a century-old approach in dynamical systems theory has opened new avenues to accurate, dynamically relevant models. This approach, Koopman Operator Theory (KOT) \cite{Koopman1931}, has been shown to be more effective than other data-driven methods for soft robotic modeling and control \cite{bruder2019nonlinear}. However, KOT applied to soft robotics is still in its infancy and has yet to be utilized to its full theoretical potential.

This work aims to advance the state-of-the-art in KOT applied to soft robotics through the analysis of Koopman modes. We do so by implementing HDMD on a tip-loaded, inertial soft robotic arm exhibiting both bending and twisting (Fig. \ref{fig:introFig}). Using the spatial positions of $15$ motion tracking points and their time delays as observables, HDMD captures the fundamental physics of our system \cite{arbabi2017ergodic}. KOT enables us to weigh the relative importance of each of the system's fundamental modes to the dynamics we are interested in. We then project the resulting model onto a reduced basis of the most important Koopman modes. This approach enables us to substantially reduce the order of the model without significant loss of controllability. Notably, we do so with no pre-optimization of observables or extensive data postprocessing, and with training data on the order of $10^4$ samples.

What follows is a description of our soft robotic arm, an introduction to KOT and the details of our modeling approach, our experimental setup and data acquisition methods, our results, and a discussion of open questions to be addressed in future work.

\section{Soft Robotic Arm Design}
\label{sec:arm}

Due to the difficulty of the problem at hand, one approach is to simplify the testbed to simplify the modeling. Instead, to understand the limitations of the KOT based modeling, we sought to produce a difficult-to-analyze soft arm. This manifested in the concurrent objectives of: fast response times, highly non-linear deformation, and a highly inertial and underactuated system.

We created a pneumatic system capable of generating low-latency, agile actuation over a wide range of inputs. This design was fabricated with lightweight 50\,micron thick silicone-impregnated ripstop nylon (sil-nylon), and actuated via three lengthwise fabric artificial muscles of the same material, as presented in \cite{naclerio2020simple}. The main body was fabricated to a 2\,cm diameter using a silicone adhesive (Smooth-On Sil-poxy) with the fiber reinforcement aligned axially. The three 1.25\,cm diameter muscles were similarly constructed, however their fiber weave was oriented with a $45^\circ$ offset with respect to the main body's axial direction. The mass of the arm with three muscles is a mere 12\,g. The input valves that supply the air to the muscles were chosen to enable at least 60 L/min of flow at 200\,kPa to ensure high power input. Additionally, the exhaust valves through which the air leaves empty to vacuum to increase the speed of the robot.

To achieve a complicated, non-linear actuation pattern, the muscles were axially aligned on the body with a slight offset, varying among the muscles, to produce different helical deformations from each (Fig. \ref{fig:introFig}, \emph{Top}) as described in \cite{blumenschein2018helical}. To achieve extreme curvature, the main body was fixtured to a workbench and the muscles were affixed under pretension.

Finally, to create a highly inertial system with deformations not directly controlled by the muscles, a 40\,g mass was adhered to the tip of the robot.

\section{Control System Modeling via Koopman Operator Theory}
\label{sec:model}

The standard method of representing dynamical systems involves defining a state space $M$ with states $x\in M$ that evolve according to the discrete-time dynamical system
\begin{equation}
    x^+=T(x).
    \label{eqn:dynamicalMap}
\end{equation}
Here $T$ is the possibly nonlinear state transition function $T:M\to M$.

The non-linearity of soft robot dynamics limits the availability of suitable state-space control algorithms. We instead turn to an operator-theoretic perspective of dynamics of observables \cite{Koopman1931}. Observables are real-valued functions defined on the state space $f:M\to\mathbb{R}$. The set of all possible observables forms a vector space that is usually infinite dimensional. The Koopman operator $\mathcal{K}$ is defined by
\begin{equation*}
    \mathcal{K}f \coloneqq f\circ T.
\end{equation*}
This operator describes the evolution of observables as the states move along orbits dictated by \eqref{eqn:dynamicalMap}. Even though the underlying state space system is nonlinear, the operator $\mathcal{K}$ is linear. The process of approximating this operator with a finite dimensional matrix is described in Section \ref{subsec:koopmanDMD}.

We are interested in describing the Koopman operator for systems of the form $x^+=T(x,u)$ where $u\in \mathcal{U}$ are user specified inputs. We follow the process outlined in \cite{Korda2018koopmpc} to build this generalization. The first step is to define the space of all input sequences $l(\mathcal{U})=\{(u_i)_{i=0}^{\infty}|u_i\in \mathcal{U}\}$ where $\mathcal{U}$ is the set of admissible inputs. The discrete-time dynamics $T$ now act on the extended state space $S=M\times l(\mathcal{U})$.
Given observables $g:S\to\mathbb{R}$, we now define the corresponding Koopman operator
\begin{equation}
    (\mathcal{K}g)(x,(u_i)_{i=0}^{\infty})\coloneqq g(T(x,u_0),(u_i)_{i=0}^{\infty})
    \label{eqn:koopOpDef}
\end{equation}
We seek a finite dimensional linear input/output system which approximates the action of $\mathcal{K}$ on a finite set of chosen observables.

\subsection{Approximation of Koopman Operators for Control Systems}
\label{subsec:koopmanDMD}
The Koopman operator in its fully infinite dimensional form is not practically realizable, so we seek a finite dimensional approximation. Under certain conditions, the Hankel Dynamic Mode Decomposition (HDMD) \cite{arbabi2017ergodic, arbabi2017computation} provably converges to the Koopman operator in the limit of infinitely many observables and data snapshots \cite{Korda2017converge}. The practical considerations behind our choices of observables and generation of training data are discussed in \ref{subsec:koopPred}. The following exposition on the HDMD algorithm is closely based on \cite{Korda2018koopmpc}, and is shown in Fig \ref{fig:koopTheory}.

\begin{figure}[tb]
    \centering
    \includegraphics[width=0.7\columnwidth]{Figures/koopmanProcess.pdf}
    \caption{Description of Koopman lifting process and reduction to a state space representation. If the (possibly nonlinear) map $T(\textbf{x},\textbf{u})$ is known, a state space representation can be immediately developed. If not, a linear evolution of observables $\textbf{z}$ can be projected onto the state space after learning the relationship $\textbf{z}^+ = A\textbf{z}+B\textbf{u}$.}
    \label{fig:koopTheory}
    \vspace{-5mm}
\end{figure}

Given $K$ measurements of the system $x^+_j=T(x_j,u_j)$, we build the following data matrices:
\begin{eqnarray}
    X\coloneqq[x_1 \ ... \ x_K], & X^+\coloneqq[x_1^+ \ ... \ x_K^+], & U\coloneqq[u_1 \ ... \ u_K].
\end{eqnarray}
We then choose a vector of $m$ observables
\begin{equation}
    \mathbf{f}(x)=[f_1(x) \ ... \ f_m(x)]^T.
\end{equation}
Next, we build the lifted data matrices
\begin{eqnarray}
    X_{\texttt{lift}}\coloneqq[\mathbf{f}(x_1) \ ... \ \mathbf{f}(x_K)], & X^+_{\texttt{lift}}\coloneqq[\mathbf{f}(x_1^+) \ ... \ \mathbf{f}(x_K^+)].
\end{eqnarray}
We seek to approximate the action of the extended Koopman operator \eqref{eqn:koopOpDef} as follows:
\begin{equation}
    X^+_{\texttt{lift}}=AX_{\texttt{lift}}+BU
\end{equation}
In order to approximate $A$ and $B$, we recast this equation as a minimization problem
\begin{equation}
    \min_{A,B}\|X^+_{\texttt{lift}}-AX_{\texttt{lift}}-BU\|_F
\end{equation}
which has the solution
\begin{equation}
\left[A \ B\right]=X^+_{\texttt{lift}}\left(\left[\begin{matrix} X_{\texttt{lift}} \\ U \end{matrix}\right]\right)^{\dagger}
\label{eqn:ABdefinition}
\end{equation}
where $\dagger$ is the Moore-Penrose pseudoinverse.
The $A$ and $B$ matrices form a dynamical system relevant not to states in the state space but to an extended set of states formed by the vector of observables $z=\bold{f}(x)$. The resulting system is
\begin{equation}
    z^+=Az+Bu.
    \label{eqn:liftedSystem}
\end{equation}
We are often interested in the spectral properties of the Koopman operator because they give us physical information about the multiple coupled time-dependent processes inherent to our system. HDMD can be used to approximate the discrete part of this spectrum \cite{Korda2017converge}. We seek the triplet $(\lambda_i,\phi_i(x),\bold{v}_i)$ of Koopman eigenvalues, eigenfunctions, and modes, respectively. The eigenvalues and Koopman modes are simply the eigenvalues and eigenvectors of the HDMD matrix $A$. The resulting modes also form a convenient basis onto which we can project our dynamics as demonstrated in Figs \ref{fig:staticLQRpose} and \ref{fig:transientLQRpose}. Computation of the eigenfunctions requires $\bold{w}_i$ which are the eigenvectors of the conjugate transpose of $A$. After these are normalized so that $\langle\bold{v}_i,\bold{w}_j\rangle=\delta_{ij}$, the eigenfunctions are given by the complex inner product $\phi_i(x)=\langle x,\bold{w}_i\rangle$.

\subsection{Koopman-based Optimal Control}
\label{subsec:koopmanLQR}

HDMD gives us the model
\begin{eqnarray}
z^+ & = & Az+Bu \\
x   & = & Cz.
\end{eqnarray}
This model is simple enough that we can apply well known optimal control methods such as the Ricatti-equation based Linear Quadratic Regulator \cite{anderson2007optimal}. We define the cost function
\begin{equation}
    J = \sum_{i=1}^K\left[(x_i-x_{\texttt{ref}})^TQ(x_i-x_{\texttt{ref}})+u_i^TRu_i\right]
    \label{eqn:costFunc}
\end{equation}
where $x_{\texttt{ref}}$ is the desired position and $Q$ and $R$ are diagonal state and input penalty matrices, respectively. The minimizing solution to the cost function $J$ is given by the discrete time algebraic Riccati equation. The resulting gain matrix $K$ is used to develop the control law defined by

\begin{equation}
\begin{aligned}
u_i &= -K(z_i-z_{\texttt{ref}}). \\
z_{i+1} &= Az_i + Bu_i \\
x_i &= Cz_{i+1}.
\end{aligned}
\label{eqn:optControl}
\end{equation}
This signal is the optimal stabilizing solution taking the present initial state to the desired state, $x_{\texttt{ref}}$.

\section{Experimental Setup and Methods}
\label{sec:methods}

\subsection{Setup and Training}
\label{subsec:setup}

To apply the approach presented in Sec. \ref{sec:model} to our robot described in Sec. \ref{sec:arm}, we built a $1.8\,\text{m} \times 1.8\,\text{m} \times 1.5\,\text{m}$ frame using T-slotted aluminum, with the top face 2/3 covered with plywood to support our robot and driving circuitry. A hole was cut into the plywood through which a rigid pipe extension was passed, that included through-holes for the pneumatic tubing. The robot body was affixed to this pipe extension, and tubing routed to the muscles. The pressurization of the muscles is controlled by six Clippard DV-2M-12 proportional valves, with three each for input and exhaust, one input-exhaust pair attached to each muscle. The main body is held at a constant pressure of 100\,kPa throughout testing, while the muscles are each controlled in a range of 0-200\,kPa.

\begin{figure}[htb]
\centering

    \includegraphics[width=0.75\columnwidth]{Figures/experimentalSetup.pdf}
    \caption{Experimental setup, with the robot in an unactuated state.}
    \label{fig:blockSetUp}
    \vspace{-5mm}
\end{figure}
In order to train our model, we produced inputs that would allow the robot to explore the entire space of configurations that are relevant to our control scenarios. The training inputs were required to be within the bounds $u \in [0.3, 0.85]$ (values given as a percentage of duty cycle), which is the active region for the valves.
In the first of two training regimes, 150 randomly generated Gaussians
were superimposed to create a smoothly varying signal that was sufficiently random to guarantee that the robot would explore the entire state space slowly and without overshoot. In the second regime, step inputs of random height were commanded to produce massive overshoot and settling to multiple input-modified equilibria.
The exhaust signal, $v$, was defined by $1-u$.
These inputs were then deployed to a Raspberry Pi Model 4B. A trigger signal was also defined to synchronize the Raspberry Pi and our motion capture system.

Information about the position and shape of the manipulator is gathered via motion capture (PhaseSpace Impulse X2E) with fifteen LED trackers and eight cameras. Five LEDs are attached along the axis of each muscle.
This entire process is described in Fig. \ref{fig:blockSetUp}.

After 30 minutes of training data were acquired, they were segmented into training sets and verification sets. The model was trained on half the data, while the other half was used for reconstruction and optimal control objectives.

\subsection{Verification}
\label{subsec:verification}

After training our model, we sought to apply it towards commanding the robot from the origin to a static pose. As described in Sec. \ref{subsec:setup}, we extracted states the robot achieved from the verification set.
These states were then incorporated into the optimal control scheme provided in \eqref{eqn:optControl} at a number of different model reductions, and the inputs generated were supplied to the robot as described above. The results for these tests are shown in Sec. \ref{sec:results}.

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

Here we present the results of our application of the modeling described in Sec. \ref{sec:model} to the soft robot arm introduced in Sec. \ref{sec:arm}. We first discuss how our model predicts the dynamics of our system with a variety of observable choices, and then continue with the results of our open loop optimal control efforts to achieve two poses.

\subsection{Koopman for Prediction}
\label{subsec:koopPred}

We perform a convergence study on the reconstruction power of our Koopman models as a function of the number of snapshots for a range of observables. This process allowed us to develop a dictionary of observables suitable for our system.
Given a particular choice of observables and number of training samples, we build the corresponding linear input-output system with $A$, $B$, and $C$ matrices. This linear model is applied to $N=27000$ samples of verification data. These particular samples are not included in the training data in order to give us a fair evaluation of the predictive power of our models. The linear system produced via \eqref{eqn:ABdefinition} and \eqref{eqn:liftedSystem} evaluate the evolution of these initial conditions over a single time step. The single-step reconstruction error is given by
\begin{equation*}
    e_i = \frac{\|x_{i}^{+, \ \texttt{predict}} - x_{i}^{+, \ \texttt{actual}}\|_F}{\|x_{i}^{+, \ \texttt{actual}} - x_{i}\|_F}.
\end{equation*}
where $x_{i}^{+, \ \texttt{actual}}$ is the evolution of $x_i$ measured by the motion capture system and $x_{i}^{+, \ \texttt{predict}}$ is the evolution predicted by the HDMD model. We use the root mean square (RMS) of the individual $e_i$ errors to score our model:
\begin{equation*}
    e_{\texttt{RMS}}=\sqrt{\frac{1}{N}\sum_{i=1}^Ne_i^2}.
\end{equation*}

\subsubsection{Choice of Observables}
We tested two different choices for observables. First, we used
the set of monomials ranging from order 1-4, as described in \cite{bruder2019modeling}, as well as additional monomials up to order 11.
We found that these basis functions performed poorly for our highly inertial, non-linear system (Fig. \ref{fig:conv_mono}). As can be seen, prediction diverges with increasing monomial power, likely due to the higher order of error propagation.

\begin{figure}[tb]
    \centering
    \includegraphics[width=1\columnwidth]{Figures/conv_mono5.pdf}
    \vspace{-5mm}
    \caption{The error $e_{\texttt{RMS}}$ vs number of time samples for a range of monomial observables. Here $x$ indicates a column vector of the positions of all $15$ motion tracker points. The extended state $z=[x;...;x^i]$ is formed by stacking the element-wise powers of $x$ from $x^1$ up to and including $x^i$. We see a decrease in predictive power as the order of monomials increases.}
    \label{fig:conv_mono}
    \vspace{-5mm}
\end{figure}

Second, we tested time delay observables. Fig. \ref{fig:conv_delay} shows the results of this analysis, with the opposite trend observed compared to Fig. \ref{fig:conv_mono}. We believe this is due to the fact that the momentum of the robot exists in the span of the time delays. We use $10$ time delay observables for the rest of our analysis.

\begin{figure}[tb]
    \centering
    \includegraphics[width=1\columnwidth]{Figures/conv5.pdf}
    \caption{The error $e_{\texttt{RMS}}$ vs number of time samples for a range of time delay observables. The extended state with $i$ delays is formed by stacking the current time sample of $x$ on top of the previous $i$ samples. We see a steady increase in predictive power as the number of time delays increases. Given a certain colored line in this figure, the corresponding monomial-based model with the same number of observables is given by the same color in Fig. \ref{fig:conv_mono}.  For the rest of the paper, we take $10$ time delays.}
    \label{fig:conv_delay}

\end{figure}

\subsubsection{Twenty-second Reconstruction}
After choosing time delay observables, we attempted to reconstruct a 20 second trajectory. We started at the initial condition for a step input, and iterated forward in time using the known inputs (Fig. \ref{fig:predResults}). While the reconstruction generally tracked the actual behavior, it missed the high frequency ringing found in the real robot. Instead, a lower frequency oscillation appears to be present. That said, given the per-step reconstruction error of ~15\% shown in Fig. \ref{fig:conv_delay}, we note that the tracking error shown in Fig. \ref{fig:predResults} does not propagate as such across hundreds of steps but instead remains bounded.

\begin{figure}[tb]
    \centering
    \includegraphics[width=0.95\columnwidth]{Figures/reconstructionError.pdf}
    \caption{\emph{Left:} Reconstruction of a step input over a 20s time interval, showing the x, y, and z positions (in millimeters). \emph{Right:} Single step RMS reconstruction error.}
    \label{fig:predResults}
    \vspace{-5mm}
\end{figure}

\subsection{Koopman Optimal Control}
\label{subsec:LQRresults}

After analysing our modeling approach, we then test its efficacy for controlling our system. We first describe our methodology for trimming modes, then show how the reduced order model compares to the full-state model for control.

\subsubsection{Selection of Koopman Modes}
\label{subsubsec:choosingModes}
Fig. \ref{fig:eig} shows the eigenvalues $\lambda_i$ of the resulting HDMD matrix. These eigenvalues approximate the eigenvalues of the Koopman operator and are shown with bubble sizes scaled with respect to their respective approximate Koopman mode powers $|\phi_i(\bold{x})|$ which are evaluated for every $x$ in the training data and averaged. The eigenvalues corresponding to low mode power often correspond to modes associated with measurement noise. Often, these modes can be removed from the model with the added bonus of reducing the dimension of the model. To do this, we build a matrix whose column vectors are the $N$ Koopman modes we wish to keep $V=[\bold{v}_1 \ ... \ \bold{v}_N]$. We then project our state space matrices onto the basis of Koopman modes $\tilde{A}=V^{-1}AV$ and $\tilde{B}=V^{-1}B$. The green eigenvalues in Fig. \ref{fig:eig} represent the $35$ modes with the largest mode power. The corresponding reduced order model produced the controller that successfully executed the static reference tracking problem in the bottom part of Fig \ref{fig:introFig}.

\begin{figure}[htb]
    \centering
    \includegraphics[width=0.8\columnwidth]{Figures/eig3.pdf}
    \vspace{-5mm}
    \caption{Koopman eigenvalues $\lambda_i$ scaled by their mode powers $|\phi_i(z)|$ averaged over all of the training data. \emph{Top:} The entire distribution of Koopman eigenvalues. \emph{Bottom:} Zoomed in view of the distribution of eigenvalues. The $35$ eigenvalues with the largest mode power are given in green.}
    \label{fig:eig}
    \vspace{-2mm}
\end{figure}

\subsubsection{Control with Reduced Dimension Model}
We choose two poses that the robot has achieved in the training period. We then solve the LQR problem, given in Sec. \ref{subsec:koopmanLQR}, with the full state model and with reduced dimension models, created according to the description in Sec. \ref{subsubsec:choosingModes}. The input sequences are then determined in simulation according to \eqref{eqn:optControl}, and deployed to the robot.

Figure \ref{fig:staticLQRpose} shows the result for a variety of mode powers for achieving the first pose. This pose is shown in the bottom half of Fig. \ref{fig:introFig}, for the $n=16$ test. In open loop, we are capable of achieving state RMS error of 25\%. We note the full state solution fails to perform as well as the trimmed modes, possibly due to noise present in the full state model.

\begin{figure}[ht]
    \centering
    \includegraphics[width=0.95\columnwidth]{Figures/errorActual_easy.pdf}
    \caption{Error $e_{\texttt{RMS}}$ in commanding the robot in open loop to the first pose (shown in Fig. \ref{fig:introFig}) for a variety of mode trimmings.}
    \label{fig:staticLQRpose}
    \vspace{-3mm}
\end{figure}

We then repeat this process for the second pose (Figs. \ref{fig:transientLQRpose} and \ref{fig:3dHardPose}).
In this case, all but the 7-mode controller outperform the full state model at steady state (beyond 25 s), although to a lesser extent than in the first case. These two examples suggests that the most prominent dynamics of this robot are effectively captured in only a few Koopman modes. The differential performance across tests for a given set of modes implies that their power is trajectory dependent. If one knows the set of behaviors they desire a robot to complete, this result allows for the informed selection of modes to balance performance and model size.

\begin{figure}[htb]
    \centering
    \includegraphics[width=0.95\columnwidth]{Figures/errorActual.pdf}
    \caption{Error $e_{\texttt{RMS}}$ in commanding the robot in open loop to the second pose (shown in Fig. \ref{fig:3dHardPose}) for a variety of mode trimmings.}
    \label{fig:transientLQRpose}
    \vspace{-3mm}
\end{figure}

\begin{figure}[h]
    \centering
    \includegraphics[width = 0.85\columnwidth]{Figures/errorActual_hard3d.pdf}
    \caption{Position, input, and error plots of controlling the robot to the second pose using $n=16$ modes, corresponding to the orange curve in Fig. \ref{fig:transientLQRpose}.}
    \label{fig:3dHardPose}
    \vspace{-5mm}
\end{figure}

\section{Discussion and Conclusion}

The potential of soft robots is exciting, with their ability to conform and adapt to unknown environments and embody inherent human safety. Of course, to successfully realize this potential, effective modeling and control approaches must be developed. Here we show that Koopman Operator approaches are a viable path of investigation towards these ends. We present an approach to produce an approximate, low order model with relatively little data, minimal computational cost, and no \emph{a priori} understanding of the input-output dynamics of the system. This approach is also amenable to traditional linear control schemes, such that existing strategies can produce viable control laws, even in open loop, for these highly nonlinear, inertial, and underactuated systems.

That said, this work is still preliminary. We do not yet capture the fast dynamics of this system, and see our model predicting significantly slower evolution than the real robot achieves. Additionally, we have limited our study to open loop control to understand the extent to which our model can predict behavior, but without closed-loop control, we are limited in the tasks we can command this robot to complete. Finally, much work is to be done in understanding the optimal, minimal selection of modes to achieve the desired behavior. Future work is planned to both advance the construction of our models to simultaneously reject noise and capture faster dynamics, and to implement closed loop control to understand the edges of behaviors this robot can be commanded to display.

\addtolength{\textheight}{-9cm}

\bibliographystyle{IEEEtran}

redpajama_set_name: RedPajamaArXiv


Two vintage cast iron miniature clothes irons.
Obtained from Stanton, CA. Made before 1899.
CHAMPION STAY OPEN CLOTHESPIN BAG.
Three Antique Irons. Obtained from Easton, PA.
From 1940′s-1950′s. Various lengths from 3.5″ – 4.5″. Round heads – some small, some larger.
This rack has 5 – 27″ long wooden rods to hang clothes on.
This rack is wall mounted. The bracket that holds these wooden rods has a great patina.
This unique hand drank clothes wringer has 2 swivel clamps to attache to a round or square wash tub. A heavy duty wood and metal frame adjusts tension on the squeeze rollers. The wooden platform board is marked with the manufacturer, McCchaede, and some circular award seals.
An antique copper boiler, or laundry wash tub, with a wonderful tarnished all original patina.
It is on a sturdy old hanger.
Great early muted red striped fabric.
The clothes pins are vintage.
Paper label 5" tall bottle, dated 1956 on label.
Empty clear glass bottle, still blue tinted from use.


text:
Home / Humor / Guy Exposes Bear Grylls in Hilarious Video
Guy Exposes Bear Grylls in Hilarious Video
In a very controversial episode from the first season of Man vs. Wild, Bear Grylls journeys to Mount Kilauea in Hawaii where everything is not as it appears to be.
"You gotta be really careful crossing these", Bear tells the audience before blindly leaping and doing the exact opposite. While the above video is pretty hilarious, the guy who made this video, Volcanochaser, also took an entire series of photos exposing the episode as false and deceptive.
This episode was one of 5 from the first season that the Discovery Channel removed completely and never re-aired again due to the criticism the show gets. You can read all about that here. In the YouTube description, he sums up the inaccuracies quite well:
The phony bear faked it in Kilauea Volcano also. He taped most of the show a few hundred feet from various highways. He didn't even hike the easy three miles from the landing site to the final destination. Most of the scenes in the show don't exist in the area he was supposed to be in: avocado trees, lava tube, tropical forest, fissures, and landing site are all in different parts of the island and separated by up to 50 miles. I have hiked this area hundreds of times. I can understand how people who have not been to the area may think it's legitimate, but I was surprised how easy it was to dupe the Discovery Channel. It would be suicidal to follow the foolish advice given by this show.
In this clip, the phony bear is supposed to be next to the ocean and is trying to cross these fissures to get there. But he is, in fact, at the SW Rift Zone at the 4000 foot summit of Kilauea. This is about 50 highway miles away from his very next scene next to the ocean and his final destination at the end of Highway 130. These fissures are unique to a small area on the summit and are a very popular tourist viewing area. They are only a few hundred feet long and easy to go around. Only the phony bear seems to have trouble crossing them. Throughout the episode, he makes up silly solutions to problems which don't exist. The fissures are located next to the parking area on the Crater Rim Drive shown on the clip.
If this brief video exposé leaves you wanting more, definitely check out Volcanochaser's extensive photo gallery detailing all the ways this episode faked it.
Related ItemsBear Gryllshumorvideo


Image: Neutrophils inside lung adenocarcinoma tumors. On the left, neutrophils inside a mouse tumor are stained brown; on the right, neutrophils inside a human tumor are stained red (credit: E. Meylan/EPFL).
EPFL scientists have discovered that neutrophils, a type of immune cell, can actually help lung tumors grow. The work is published in Cell Reports, and has enormous implications for cancer immunotherapy.
Lung cancer is the leading cause of cancer-associated deaths. One of the most promising ways to treat it is by immunotherapy, a strategy that turns the patient's immune system against the tumor. In the past few years, immunotherapies have been largely based on the degree by which immune cells can infiltrate a tumor, which has become a major predictor of the patient's overall prognosis.
The problem is that lung tumors adapt to the attacks and find ways to evade them. One of these ways involves a protein called "Programmed death-ligand 1 (PDL1)", which the tumor cells express on their surface. When immune cells, e.g. T cells, attack the tumor, PDL1 binds a protein on their own surface appropriately named "programmed cell death protein 1", or PD-1). This interaction triggers an entire cascade of biological reactions in the immune cells that shuts down their attack machinery and renders them harmless to the tumor.
To deal with this, immunotherapeutic regimens often involve drugs that block PD-1, so as to cut off the tumor-evading mechanism. But, unfortunately, this has not been enough. What we need is a fuller understanding of the immune circuits that are active in lung cancer; a knowledge that would allow us to optimize and increase the efficiency of current immunotherapies.
To do this, the lab of Etienne Meylan at EPFL used a mouse model of lung cancer to establish what we call an "immune signature" in lung cancer. The study shows that lung tumors can actually be helped by neutrophils – a type of immune cells that are normally at the first line of attack in infections, allergic reactions, and asthma. In short, neutrophils contribute to disease progression rather than stop it.
The scientists carried out what is known as "neutrophil depletion", which is a method for studying what happens in a tumor when neutrophil numbers are reduced. By depleting neutrophils in the mice, the researchers were able to deduce what effects they have on a lung tumor when they are actually present.
Surprisingly, depleting neutrophils caused a profound re-modeling of the immune compartment of the lung tumor, with T cells flooding it. This means that neutrophils actually help the tumor hide better from T cells – this is referred to as "immune exclusion". On the contrary, neutrophil depletion sensitized tumors to anti-PD1 immunotherapies.
The data also showed that the presence of neutrophils leads to changes in the function of the tumor's blood vessels. The changes trigger hypoxia and cause the tumor cells to produce a protein called "Snail". This is important because Snail is widely known to help cancer cells resist drugs, as well as promote tumor recurrence and metastasis.
The researchers found that Snail in turn increased the secretion of the protein Cxcl2, augmenting neutrophil infiltration. This creates a positive loop that accelerates the progression of the cancer.
In short, the study shows that neutrophils promote tumor progression and can actually hamper the work of immunotherapy in lung cancer. The authors describe this as a "vicious cycle" between neutrophils and Snail that ultimately maintains a tumor microenvironment supporting tumor growth.


Much ink has been spilled on the fact that Republican vice-presidential nominee Paul Ryan is a relative whippersnapper—born in 1970, the Wisconsin representative is 42 years old. Depending on who you're talking to, this makes him part of "generation x," or "the 13th generation," or "that demographic clump that lazy columnists try to simultaneously define by referencing Clerks and Nirvana, even though things like Collective Soul and Forrest Gump were also kind of important cultural touchstones in 1994." Last night, he took these comparisons and, uh, sort of hobbled around the Tampa Bay Times Forum stage with them, zinging his 65-year-old cob nobbler of a running mate for not liking with-it music. Like… Led Zeppelin?
Leaving aside a) my feelings on the overall creepiness of Ryan's agenda, particularly his willy-nilly attitude toward things like "facts" and "poor people" and "the rights of women," b) his excruciating comic timing (what, he didn't have time to squeeze in a couple of improv classes while packing for Tampa?), and c) the fact that he apparently trained his music player's library to recognize "Led" as an article, the thing about this joke is that… well… AC/DC and Led Zeppelin aren't exactly living on the bleeding edge. Led Zep's Robert Plant is a year younger than Romney; AC/DC's Angus Young is 57. And maybe this speaks to the sorts of hotels I patronize, but the elevator music in the hotels where I stay—when there's music in them—tends more toward late-'90s chilltronica than it does Lawrence Welk. And I've definitely heard classic-rock chestnuts like "Rock & Roll" in at least one of them.
Now, you could argue that Ryan's joke, right down to the tortured, "can you believe I'm speaking this truth?" delivery, was in fact subversive in an "alternative to what?" way, that by citing the hegemonic forces of classic rock as a sign that he was in fact hip Ryan was in reality being the ultimate representative of his generation, co-opting the gestures of rebellion for the sole purposes of holding up the status quo—which just so happens to be white and male. (Coincidences! Someone get that man a Fruitopia!) Tom Frank probably couldn't have scripted it better, right down to the uproarious laughter Ryan's self-satisfied "Zeppelin!" got.
Here's the thing, though: Romney has said in interviews that he's a fan of the Killers. Sure, this is probably the result of the Mormon connection, and I'm sure that some boutique hotel chain has "Mr. Brightside" on its elevators' playlist, but Brandon Flowers is way younger than Robert Plant. (Not to mention that at least Romney's listening to other American artists like Toby Keith and Garth Brooks alongside Hot Fuss. We built it, huh?) If you can't expect a politician to even root his cheap jokes about the guy on his side in fact, what utterances of theirs can you believe?


text:
Instant Gratification: "Interstellar" and four other good movies to watch on Amazon Prime and Netflix
Pick of the week: "Interstellar" (Amazon Prime) — My full review is here. Christopher Nolan's latest film comes so close to greatness and just can't quite grab it. The first third of the film is a plausibly realized version of a dystopian Earth, with humans just getting by as the planet seems to be shutting down all around us. It's when a mission to save the planet takes flight that the film finds its most breathtaking outer-space visuals, but also its most misbegotten ideas, and the attempt to build an emotional father-daughter through line never quite materializes. Still, it's a terrific attempt.
"Phoenix" (Netflix) — My full review is here. Christian Petzold's film riffs on "Vertigo" to tell a heartbreaking and layered story of identity and betrayal, as a Jewish women disfigured in the camps returns to a destroyed Berlin after World War II. She attempts to resume her life where she left it, but her husband doesn't recognize her, and enlists her in a plot to "impersonate" herself so he can get her inheritance. Nina Hoss is mesmerizing as the wife, who finally reclaims her sense of self in one of the best movie endings of 2015.
"Cutie and the Boxer" (Amazon Prime) — My full review is here. Initially, the eye is drawn in this documentary to Ushio Shinohara, an 80-year-old artist who makes brash art, including abstract paintings where he pummels the canvas with boxing gloves. But then we're pulled towards his wife, Noriko, who often lived in the shadow of her husband's art (and alcoholism). The film ends up being about their marriage, and Noriko quietly but firmly establishing her own identity as a partner and an artist.
"Rob the Mob" (Netflix) — My full review is here. Michael Pitt and Nina Arianda play a pair of charming lunkhead thieves who find success robbing mobsters at their private clubs — which are gun-free zones. Directed by Raymond De Fellitta ("City Island"), "Rob the Mob" is an ingratiating comedy-drama that loves its Bonnie-and-Clyde characters, and even feels some affection for the goombahs they rob, especially Andy Garcia as a ruthless but grandfatherly mob boss.
"Hoffa" (Netflix) — Speaking of the Mob, Danny DeVito made a gritty epic in the early 1990s about the Teamster boss, with Jack Nicholson (wearing prosthetics that make him look like Bert after Ernie stole his nose) effective as the fearsome union kingpin.
Posted by madisonmovie in Instant Gratification
Tagged: instant gratification, interstellar, phoenix
← "In the Heart of the Sea": I once caught a Ron Howard movie THIS BIG
"The Mend": He is heavy, he's my brother →


FREE ESTIMATE. To auction, buy, consign or sell an Academy Award nomination, please contact Nate@NateDSanders.com or call Nate D. Sanders Auctions (http://www.NateDSanders.com) at (310) 440-2982.
An Academy Award plaque can be big bucks. Not just for the winners. But, for the winners families and for all other sellers of the Academy Award nomination. The Academy Award nomination starts at $800 and can go as high as over $10,000. Here are some examples of Academy Award nomination s that we at NateDSanders.com have sold. We believe that we have sold more Academy Award nomination s than any other auction house.
Here is our most expensive Academy Award nomination sold. Gloria Swanson's Official 1950 Best Actress Academy Award Nomination for "Sunset Boulevard". It sold for $14,271.
Our second most expensive Academy nomination was for Burt Lancaster for "The Birdman of Alcatraz". That Academy Award nomination sold for $5,000.
We auctioned a Best Picture Academy Award certificate for "The Diary of Anne Frank" — an incredibly rare award issued in 1959 to George Stevens, named on the certificate as Producer of the 20th Century-Fox feature. The film was nominated for 8 Oscars and won 3, this representing the coveted category of Best Picture — though the film lost for Best Picture to "Ben Hur." It sold for $4,915.
Everybody loves "The Deer Hunter". We auctioned off the Academy Award plaque for that classic too. It sold for $4,061.
See this Academy Award nomination plaque for "The Graduate," nominating Robert Surtees for outstanding achievement in Cinematography. It sold for $3,049.20.
We also have amassed some cool film scoring nominations awarded to musical virtuosos like Jerome Kern, whose Academy Award certificate for his 1946 song "All Through the Day," became posthumous.
He was nominated posthumously at the 19th Academy Awards ceremony for this song from his score of the musical comedy "Centennial Summer," his last film scored before his death.
We also auctioned two nominations from Polish film composer Bronislau Kaper, virtuoso composer of films like "Mutiny on the Bounty." This Academy Award nomination plaque was for Best Score for the musical film "Lili". It sold for $1,172.
He won, and repeated the win in the same category in 1963 for his famed scoring of "Mutiny on the Bounty," the film based on the true story of a mutiny aboard an English ship bound for Tahiti.
We're auctioned his nomination from that win for his composition, "Love Song From Mutiny On The Bounty (Follow Me)". He won for Best Song and Best Score — and the film also won Best Picture that year. It sold for $3,049.
FREE ESTIMATE. To auction, buy, consign or sell an Academy Award plaque, please contact Nate@NateDSanders.com or call Nate D. Sanders Auctions (http://www.NateDSanders.com) at (310) 440-2982.
Top dollar obtained for your Academy Award Nomination.


text:
AI* of the month February: Jamie Aartsen
Written by: Pleun Scholten
Jamie and I sit down in the board room, and we quickly get to business. I ask her how she is doing, and if she just had lectures: the regular small talk. Then we start the interview.
Hey Jamie, how are you? Wait I just asked you.
She was doing fine a minute ago, so I assume she is still doing fine now.
So tell me a bit about who you are, where you're from, how old you are, and which year you're in?
I'm 19 years old, I'm in the second year of my Bachelor, and I'm from Goes, that's in Zeeland. I have one brother.
You're all the way from Zeeland?! Did you grow up close to Zoutelande?
I think that's roughly a half hour drive. I double checked it, it's 33 minutes.
If you're from Zeeland, why did you come all the way to Nijmegen to study?
Actually it doesn't matter where you study if you're from Zeeland, because basically everything is far away. Nijmegen still really has a village-feel. If you're from Zeeland, the randstad is.... maybe not shocking, but definitely too busy for me. (The randstad is the group of big cities in the west of the Netherlands, so Amsterdam, Rotterdam, The Hague etc.) With Nijmegen, you really get the farmer-village-feel, that we have in Zeeland as well.
And I'm guessing that means you live on your own as well?
I expected that I would be really bad at it, because I didn't have any experience with anything, like cooking. But actually everything is going fine.
Good, then I'll ask you later in the interview for a favourite recipe, so you can start thinking about it.
Jamie looks shocked and unprepared.
What do you think about studying AI here? Do you think you you made the right choice?
Yeah I think so. When I was younger I wanted to study industrial design, but in fourth grade of high school I realised that that's actually not suited for me. Then I had to start all over, and I just chose courses in high school that I liked, so I had biology and computer science. I started to lean towards computer science more and more, but I found it just a bit too monotone. When I went to the open day here in Nijmegen, I went mostly for computer science, but I didn't want to go for júst computer science. I went through a list of all studies and found AI, and I never heard of it before actually. Then Franc managed to convince me with his speech.
So you actually study AI completely on accident?
What is your favourite course so far?
So far I think that I enjoyed HCI the most. The fact that we could make our own video game, I thought that was really cool.
Yeah I'm actually really jealous of your version of HCI.
I cry inside.
Did you manage to get your propedeuse in one year by the way?
No I need to retake Object Orientation. Although it is a lot easier this time around, since I've done a lot more programming now. So I think that I'll manage this year.
In general, what do you think of the second year courses? Better or worse than the first year courses.
I think it's a bit too much statistics for me. But I really enjoy things like functional programming. I do have the feeling that I'm doing more and more actual AI stuff, because in the first year there were a lot of courses that didn't really come together until now. I do quite like that. It's getting a lot more serious now as well.
Let's talk a bit about CognAC. What was your very first committee?
My first committee was the 1C.
And what did you think about that?
Well, I was pretty introverted when I started in CognAC. Actually I still kind of am, but much less. Because I was super shy, for me the 1C was mostly me sitting there being quiet and extrovert people like Jorrit and Laura took on all the tasks. I was sitting there like "I would also like to do something!" but I just didn't really dare to open my mouth. So actually I didn't really do a lot with the 1C.
But after that I really wanted to become a mentor in the introduction week. Unfortunately I didn't get picked as a mentor, but I just really wanted to be involved in the introweek. So I definitely wanted to try and get into the OrC. I actually expected a lot of people to sign up and I thought I didn't stand much of a chance to get in.
Spoiler: Jamie got in.
When I was at the committee market, Maike said that she was gonna look at the InC, so I followed. And then I joined the InC as well, and I've really been enjoying that.
Now it's a year later, and you just decided to become chair of both? How is that going?
At first I really had to get used to it. I had no experience at all with chairing, so first I only wanted to chair the InC, because it was quite a small committee. It's all new anyway, so I could have the freedom to learn how to chair as well.
Jorrit walks into the board room, totally disturbing our flow. I ask him if he has a question for Jamie. After some hesitation he asks: What is your third least favourite dinosaur?
None of us actually knew three dinosaurs. He then asks: If you had to bankrupt CognAC with just one purchase, what would you buy?
Jorrit has some creative suggestions, such as buying every member a jumping castle or printing out a 14m by 14m poster of our logo and hanging it on the Spinoza building. Jamie still had to think for a while about it, so I give her time to think until the end of the interview. STAY TUNED.
We continue where we left off:
So, you became OrC chair kind of out of nowhere. Are you enjoying it so far?
Well, I had Ellen as my predecessor, and Ellen is super organised. At least, that's the impression I get from her. I thought to myself: how can I ever reach her level, or Fabian's level? Fabian was really comfortable with public speaking and he's really present. Because the OrC comes with a lot of public speaking as well, which isn't really my strongest point. So I had a lot of doubts about that, but actually, as the OrC chair, you have a complete plan of what you should do. It's still a lot of work, because the introweek is such a big event, but it's just really clear what you should do. And with the InC it's quite the opposite. We really had to start from nothing, there was no plan or anything. So with the InC, that is the challenge, even though it is a smaller committee.
Do you have a favourite committee?
Of course you can't say that, but just between us?
Does it add to the stress to run one of the committees with the biggest budgets?
I'm very happy that I'm not the treasurer of the OrC, let's keep it at that. But in all seriousness, I don't think it makes it more stressfull to have a big budget, because the whole committee is so well-structured.
How do you think the preparations are going so far?
With the OrC it's quite a shame that we were delayed so much for choosing the mentors.
For those unaware, there were some changes with the organisation of the orientationweek on the university level, so they told the OrC to wait with choosing mentors.
We really want to start organising the activities, but you can only really do that when the new members come in, and a lot of new members only come in after they didn't become a mentor. So because of this delay, everything else is also delayed. But for everything that we can do, we're on schedule.
Oh I do have a really good tip for if you want to find a really good mentor. He's sitting right here, I would vote for myself as mentor.
We'll see...
Okay, let's switch to the InC. How is it to lead such a new committee?
I really like that we have so much freedom. We can be really creative, like being the first to start up the city trips. That was really fun to do. But like I said before, the negative side of that is that there is no explanation of how anything should be done. But also there aren't super high expectations of participants because people don't know us that well yet and they have no previous activities to base expectations on . That lowers the pressure quite a bit.
How was the city trip to Maastricht? Did it go well?
It was really, really 'gezellig'. Not every part was prepared equally well. For instance, the city tour was prepared by one committee member, but every now and then the member wouldn't know what to say. But then a participant who went to Maastricht a few times before would take over the word, that was really fun to see. The participants really helped us, because it was such a nice group of people.
The next trip will be organised together with Sigma (the study association of molecular life sciences). How is it to work together with another association?
Well, so far I've had one meeting with their chair and so far we've mostly discussed the differences between our committees. On one hand it's really nice to get to know some people within Sigma and to work together with them of course, but on the other hand it's definitely going to be different than this city trip, because we have to make compromises. So it also has its pros and cons.
Are there any other committees on your CognAC to-do list?
I don't think I will become a member of the OrC again next year, because I really want to try and be a mentor again. And I'm open to doing other committees next year, but I don't have a specific idea of what committees I'd exactly like to do.
Are there any committees that you don't want to join?
Jamie throws some shade but for the sake of some committees I'll keep it a secret.
Let's talk a bit more about you: what do you do in your spare time?
Going to CognAC activities with people from CognAC. I play a bit of guitar, and I really enjoy reading. And also sailing.
Can you sail here in Nijmegen?
I could join de Loefbijter, the sailing student association, but I always think to myself: why would I go sailing here if I have the whole of Zeeland to sail around.
So you sometimes go back home to go sailing?
I actually go back home pretty much every weekend. It's not actually that I sail myself anymore. I used to sail when I was younger, in an optimist, like one of those bathtubs.
I had no clue so for those who also don't know what an optimist is: https://en.wikipedia.org/wiki/Optimist_(dinghy) there you go.
I quit that though, because the boat was located on the yacht harbour, where everyone was kind of exclusive, with an attitude of "if your parents aren't active within the harbour you're not really part of it". So I stopped there after a few years. A few years later I met someone from the group I used to sail with who started a youth sailing club for high school students. I joined a few of their activities and then suddenly they asked me if I wanted to join their board. So I suddenly was the secretary of that board. I stayed there for a year, but I still didn't really feel like I belonged. The people there were just quite exclusive. They don't really accept everyone, they try to be nice but you really noticed there wasn't a real bond. Now I still have a boat, but my brother actually uses it more than me. My dad and granddad also have a boat, so I mostly go sailing with them.
Do you know what you want to do after you're done with your bachelor?
No, I'm totally clueless. I plan on doing a master, but I don't know at all in which direction.
Then we'll keep that question for in … 1 year.
Probably 2 years.
Let's do some random questions. If you could travel to any place in the world for free, where would you go?
I would still really like to go to Japan someday. Also because it's such a cool and well known place for AI. And of course it would be fun to explore the culture. I actually thought of doing a semester abroad in Japan, but then I suddenly became active within CognAC, and I didn't want to do too much. So maybe there is a chance to do that in my masters.
So, now the question you've been expecting since the start: what is your favourite recipe?
Jamie still looks shocked an unprepared.
Well, I don't actually cook with recipes most of the time. I just throw everything in one pan, that's basically the extent of my cooking skill. I even went to ask Maike what would be a recipe that would fit me as she knows my cooking skills the best, but all she could come up with was that somewhere last year I ate a single bell pepper for dinner once. At least I eat proper meals now, which is an improvement, but still the only recipes I ever use are the ones on the back of Knorr packages.
Another traditional question: if CognAC would get a pet, what should we get?
A turtle! Because you don't really have to take care of it as much as a dog or a cat, like you don't have to walk it. But it's still a bit more interesting than fish or something like that.
Do you already have an answer on Jorrit's question? What would you buy to bankrupt CognAC?
I actually really liked Jorrit's own answer: that we should give everyone their own personal jumping castle. I can't really think of something creative right now. Getting everyone a better means of transportation than a bike would be nice, something like a golf caddy, so people can come to CognAC activities in style, but then the problem would be that there won't be activities to drive to as all the money for activities went to the golf caddies. Or maybe every CognAC member could get their own personal turtle instead. Then it's really the official CognAC pet.
We talk about how we could replace the member stickers with turtles, so you'd have to bring your turtle to BeestFeest in order to get your discount. It would be a mess.
Do you any shoutouts?
Obviously shoutout to the InC and the OrC. Shoutout to my so-called twin sister Zjulie. Someone once thought that we were twin sisters when I was sitting next to Zjulie. But other than glasses and maybe our hair colour we aren't very similar. Shoutout to Maiko (Maike's drunk male alter ego), also shoutout to my fellow Zeeuw Micha, and finally a shoutout to everyone that I forgot.
That's definitely a good way to end it.


text:
Lo speroniere di Palawan (Polyplectron napoleonis ), anche noto come speroniere napoleone, è un uccello galliforme di medie dimensioni della famiglia dei Fasianidi. Questo uccello ha un posto di rilievo nella cultura degli indigeni di Palawan. L'uccello è anche raffigurato nel sigillo ufficiale della città di Puerto Princesa.

Descrizione

Il maschio misura circa 50 centimetri di lunghezza (di cui 24-25 costituiti dalla sola coda) per un peso di circa 436 grammi; le femmine, invece, misurano circa 40 centimetri di lunghezza (di cui 16,5-17 di coda), per un peso di 322 grammi.

La testa presenta una cresta appuntita, di colore verde. L'anello perioculare rosso è particolarmente messo in evidenza dalla vicinanza delle guance bianche. Il collo, la mantellina e le ali sono neri con dei riflessi metallici blu e verdi. Il dorso e il groppone sono bruno-neri con delle sottili macchie beige e dei grandi ocelli verde metallico cerchiati di nero e di beige. Da ventidue a ventiquattro rettrici dello stesso colore costituiscono la coda, che è ricoperta da ocelli identici. Il lato inferiore del corpo è nero, così come il becco e le zampe.

Le femmine sono leggermente più piccole dei maschi. Il loro piumaggio è prevalentemente marrone. Il mantello ed il petto sono di colore seppia scura. Le timoniere sono sostanzialmente simili a quelle del maschio, esibendo marcate adombrazioni e splendidi ocelli, anche se in misura minore rispetto ai maschi, in quanto il loro piumaggio è più atto alla mimetizzazione nel sottobosco delle foresta piuttosto che all'attrazione dell'altro sesso. Come il maschio, la femmina ha una corta cresta sul capo, ed il volta e la gola sono bianche.

I pulcini hanno una colorazione simile a quella delle femmine con evidenti segni gialli, livrea che entrambi i sessi manterranno nel loro primo anno di vita. Nel loro secondo anno di vita i maschi subadulti cominciano ad assumere le tonalità ed i colori vivaci degli adulti, ma il mantello e le copritrici alari sono contrassegnati da adombrazioni analoghe agli ocelli nel piumaggio di contorno di altre specie di speronieri.

Come altri speronieri, e come indica il nome, i maschi dello speroniere di Palawan e alcune femmine presentano due speroni che ornano i metatarsi. Queste strutture vengono usate per scavare e cercare il cibo nel sottobosco, e come strumenti di difesa ed offesa contro i predatori e nelle lotte intraspecifiche. Sono abili volatori in gradi compiere voli rapidi, diretti e sostenuti.

Distribuzione ed habitat
La specie è endemica dell'isola di Palawan, al centro delle Filippine. Vive nelle foreste umide lungo la costa, ma anche in terreni accidentati, in aree di basse colline boscose. Il suo areale si estende infatti dal livello del mare fino alle zone montuose ricoperte da foreste primarie che occupano la parte centrale dell'isola e che sono situate a più di 600 metri di altitudine. A causa della deforestazione e del degrado dell'habitat, questa specie è stata sempre più respinta verso questi ultimi habitat montuosi.

Tassonomia

Lo speroniere di Palawan, con il suo piumaggio unico ed il suo areale isolato, rappresenta una diramazione basale (Pliocene inferiore?, circa 5-4 milioni di anni fa) del genere Polyplectron (Kimball et al., 2001). La specie è ampiamente accettata come monotipica dalla comunità scientifica, sebbene vi siano variazioni individuali che farebbero supporre un'ulteriore diversificazione del taxon. Alcuni esemplari maschi presentano delle supercillia (strisce di piume bianche che corrono dal becco fino alla nuca) bianche, dandogli un aspetto "mascherato", mentre altri ne sono sprovvisti, esibendo volti più scuri, con creste più alte e dense, con macchie bianche prominenti sulle guance. Gli uccelli dotati di supercillia bianche sono talvolta classificati come una sottospecie distinta, ossia P. n. nehrkornae. Si pensa che il morph dalla guance bianche abiti prevalentemente nelle foreste più fitte dove c'è poca luce ambientale, nei terreni collinari, mentre il morph dotato di supercillia, o "mascherato", abiterebbe le foreste più aperte e dai terreni pianeggianti, dove la luce ambientale più elevata. Quest'ultimo morph mostra una cresta più corta, compatta e altamente iridescente. Le femmine delle due rispettive forme mostrano una differenziazione analoga. La cresta della femmina del morph mascherato è più prominente e densa con un piumaggio di contorno più chiaro.

Originariamente, l'animale era noto come Polyplectron emphanum, ma il nome Polyplectron napoleonis è stato dato un anno prima e ha la priorità sul nome più recente (Dickinson, 2001).

Biologia
Durante la parata nuziale, il maschio cerca di attirare l'attenzione della femmina con un rituale che comporta allo stesso tempo sia un'offerta di cibo che un'apposita coreografia. Arruffando le piume del collo e della mantellina, agita la testa tenendo nel becco un succulento pezzo di cibo. Poi lo lascia cadere bene in vista davanti alla femmina. Se questa lo afferra, il maschio inizia quindi una vistosa parata laterale, scoprendo gli ocelli e le copritrici alari. Inoltre la cresta viene eretta e rivolta in avanti. Poi emette un lungo sibilo e procede con delle circonvoluzioni attorno ad essa. Se tutto va come previsto, la femmina rimane così impressionata da accettarlo come partner.

Alimentazione
La dieta è prevalentemente vegetariana. Si nutre principalmente di semi, frutta, foglie e radici. Tuttavia, allo stesso modo delle altre specie di Polyplectron, consuma anche insetti, vermi e limacce che sono assolutamente necessari per l'assunzione di proteine.

Riproduzione
I maschi possiedono arene di danza in cui si sfidano tra loro per conquistare i favori di una femmina. Questa pratica, assieme al fatto che le altre sei specie di Polyplectron hanno più femmine, lascia ipotizzare fortemente, nonostante non sia stato ancora dimostrato, che lo speroniere di Palawan sia poligamo. I maschi raggiungono la maturità sessuale alla fine del primo anno, ma iniziano ad accoppiarsi solo all'età di 3 anni, quando hanno acquisito completamente il piumaggio adulto e sono in grado di competere per le femmine. Queste ultime raggiungono la maturità e sono pronte alla deposizione all'età di 2 anni. Il nido può essere situato a terra o al di sopra del terreno. La femmina depone una o due uova di colore camoscio-bianco che cova per un periodo di 18-20 giorni. Il maschio non partecipa all'incubazione, ma fornisce il suo aiuto nell'allevamento e nell'alimentazione dei pulcini. I piccoli appena nati vengono imbeccati dai genitori. Tuttavia, dopo qualche giorno, gli adulti iniziano a chiamare i piccoli, incoraggiandoli a lasciare la sicurezza del nido, ben nascosto, per andare ad alimentarsi sul terreno scoperto. Nel giro di 10 settimane, i pulcini acquisiscono la totalità del loro piumaggio giovanile.

Conservazione
A causa della continua perdita dell'habitat, delle dimensioni ridotte della popolazione e dell'areale limitato, nonché della caccia e della cattura per il commercio illegale, lo speroniere di Palawan è classificato come Vulnerabile nella Lista rossa delle specie minacciate IUCN. È elencato nell'Appendice I della CITES.

Note

Voci correlate
 Uccelli delle Filippine

Altri progetti

Collegamenti esterni

 Polyplectron napoleonis on ARKive.

Phasianidae
Fauna endemica delle Filippine


Drivers and cyclists CAN share the road, says Leow Ju-Len. All it takes is a little humility.
Here are five ideas for what to get that car guy for Christmas!
Could this be Toyota's next sports car?
Would BMW`s brilliant M cars have come about if not for a key man lured from Ford 43 years ago?


In the summer of 2017, we asked our clients a very important question: Why do you garden? We got some amazing responses, and we are excited to share them! We posted these on our Facebook and Instagram, but in case you missed them, all the wonderful words are below.


Rest and rejuvenate in the hospitality and warmth of Motoyu Ryuusenkaku.
with all the comforts and charm of a traditional Japanese inn or "ryokan."
you will find complete relaxation and satisfaction during your stay.
We have made various services available so that parents of small children can be assured of an enjoyable 'onsen' trip.
The hot springs of the Arima Onsen have a high iron content that reacts with oxygen to give the mineral water a reddish brown called "red spa" or "golden springs" in Japanese. Children call it "miso soup" often. With its own natural hot spring, Ryuusenkaku provides the pure, untouched benefits of mineral springs for unmatched quality.
There are many guests that use Ryuusenkaku to celebrate special occasions such as birthdays, wedding anniversaries, and longevity milestones. To such guests we want to do what we can to help make their special event joyful.
All rooms are Japanese style rooms.
All rooms are equipped with a bathroom, a toilet, and a 2 tatami mat size enclosed veranda for relaxation. Dinner will be served in your room. All Guest Rooms are Non-Smoking.


text:
Jay-Z drops full track-listing with video album preview for new album "Magna Carta Holy Grail"
nick | Jun 23, 2013 |Hip-Hop, Jay Z, New Album, Rap, |Chill, Mixtapes / Albums, Music, News, Video
Jay-Z has been very tight on details for his newest album titled Magna Carta Holy Grail. We now get preview a ton of different tracks off it in a quick mini documentary about him and the album which was aired during game 5 of the NBA Finals. We also get the full track-listing which got released through a scavenger hunter yesterday in New York City through Twitter. This adds even more anticipation making it the hip-hop record I might be most excited for all year. Watch and read and get excited for this release coming out on July 7th.
Jay-Z – Magna Carta Holy Grail Track-Listing
1. Picasso Baby
2. Heaven
3. Versus
4. Tom Ford
5. Beach Is Better
6. FuckWithMeYouKnowIGotIt
8. F.U.T.W.
09. Part II (On The Run)
10. BBC
11. La Familia
12. Jay-Z Blue
13. Nickles & Dimes
14. Holy Grail (Bonus Track)
15. Open Letter (Bonus Track)
Read more: http://www.rollingstone.com/music/news/jay-z-reveals-magna-carta-holy-grail-track-list-through-scavenger-hunt-20130623#ixzz2X4lynGTB
Follow us: @rollingstone on Twitter | RollingStone on Facebook