making a server management system / control panel

I’m making an open source server management system. I’m starting to make progress on it, so I’d like to share and see if anyone is intereste… | Read the rest of

optimal control – Dynamic programming for a cost function of $exp$ type

Suppose I have a finite horizon dynamic programming problem, i.e. I want to minimize the following expression

$$E(sum_{t=0}^Tg(X_t, U_t) + G(X_T)|X_0 = x_0) $$

The standard trick is to solve this via backward induction using that the optimal value function is given by

$$ J_t(x_t) = min_{u_t} g(x_t, u_t) + E(J_{t+1}(X_{t+1})|X_{t+1}=x_t)$$

I have seen an example of the following form

$$E(exp(sum_{t=0}^Tg(X_t, U_t) + G(X_T))|X_0 = x_0)$$

The notes say, one should introduce $V_t(x_t) = ln(J_t(x_t))$

For $T$ I then get $V_T(x_T)=ln(J_T(x_T)) = G(X_T)$. What I don’t understand is how they derive the following:

$$V_t(x_t)=min_{u_t}ln(J_t(x_t))=min_{u_t}ln E(exp(g(x_t,u_t)J_{t+1}(X_{t+1})|X_{t}=x_t)$$

The second equality is puzzling me. How they derive this form?

game controllers – Using Android phone to control a raspberry pi nintendo 64 emulator

Say I make a nintendo 64 emulator on a raspberry pi 4, and I want to use my phone as a wireless controller ether over bluetooth or WiFi.

I doubt that any Android software would have support for linux, let alone support an N64 emulator.

So what would be the best course of action here, make a python translator that catches the signal sent by the phone, reads it, then simulates button presses on the raspberry? If anyone has a better solution, please let me know!

Oracle Enterprise Manager Cloud Control 13.4 – Package Deployment Stuck

We upgraded our Cloud Control from 13.3 to 13.4.

I passed as well this step with “Simple Installation” choice, using SYSMAN.

I have a user named as CCUSER1.

When I want to skip this page with “Simple Installation” choice, using CCUSER1.

enter image description here

It stucks on like this:


Sometimes it finish with “Succeeded” state but when I refresh the page or to display “SQL Monitoring” page, the same page (Package Deployment) appears.

How can I solve this?


version control – Why is everyone recommending the imperative form for GIT commit messages?

Pretty much all guides labeled similar to “How to write a good GIT commit messages” suggest to use the imperative form.

What is the reasoning behind it? In 9 out of 10 cases, the only argument presented is “Use imperative as that’s what the GIT implementation itself does for auto-generated messages“.

Yet how is that even a valid argument? If GIT was doing it wrong – for whatever reason – everyone else has to do do it wrong as well? Maybe the authors of GIT just thought that this makes sense for auto generated messages. Where is said it also makes sense for messages written by programmers? Maybe imperative form was supposed to make auto generated messages easier distinguishable from those that aren’t? Has anyone even considered that?

And in 1 out of 10 cases, there is also the argument “Use imperative as pretty much everyone else is also doing so“, yet this is even less a valid argument. Appeal to tradition is never a valid argument if not backed up by other arguments.

To quote Bertrand Russell:

Even if everyone agrees, everyone can be wrong.

The only alternative argument I found in one of the guides came from K. Hoodlet and it said:

I use imperative because it tells me what that commit accomplishes, not what the developer has done.

But even that seems to be no argument for imperative. If I fixed bug #1234 with a commit, using the past form would be:

Fixed bug #1234

the imperative form would be:

Fix bug #1234

but the form that tells me what that commit accomplishes would be:

Fixes bug #1234

as that is what it accomplishes, it “fixes bug #1234”.

I understand that the past form only makes sense if you look at the backlog to be the history of things that happened in the past. However, this is not always true, as you may currently be on an alternative, parallel branch, in which case these messages don’t describe the past but an alternative presence. Also you may be on the same branch but haven’t pulled these commits so far, in which case these messages describe the future (changes that will happen once you pull them in). So using past tense probably really makes little sense.

But if the message is all about knowing what a change does, imperative makes no sense either. Imperative would only be meaningful if you had to type the message to make GIT pull it, as then you could see it as command to make GIT do something (think of git "fix bug #1234"), which is not how you use GIT.

The way you use GIT (or any other VCS) is to tell it apply (pull) a couple of changes and you probably want to know what these changes do prior to applying them, so that’s what the commit message is good for. And in that case, it just makes much more sense to describe what a commit is doing, no what you have done, not formulating orders, just describe the commit as

This commit

  • Fixes bug #1234
  • Adds an auto-sync feature
  • Removes legacy file storage API

So is there any other argument for imperative form that I’m missing so far? Is there any meaningful argument against just writing down in presence tense what the commit does as shown above?

control theory – Upper bound on trace of solution to discrete lyapunov or discrete matrix ricatti equation

Take a discrete Lyapunov equation
P = R + beta A’ P A

for $beta in (0,1)$, $R$ and $A$ symmetric.

Quetsion: Can I put an upper bound on $tr(P)$ given properties of the primitives? In particular, I have the $tr(R)$ and bounds on the maximum eigenvalue of $A$.

I can probably deal with something that doesn’t generate the tightest bound exploiting the $A$ as long as the $tr(R)$ is involved.

Alternatively: I am happy to use similar results for the solution to the Discrete matrix ricatti equation that comes out of optimal LQ control if that is available.

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Commerce Stock Control hooks – Drupal Answers

I have a Commerce Demo site that uses the off canvas flyout cart and I am using the Commerce Simple Stock module to stop items being sold if they are out of stock.

The module changes the stock number and prevents the item being loaded to the cart if already purchased. It sends user/status messages and removes the add to cart button using the following hook: commerce_simple_stock_form_commerce_order_item_add_to_cart_form_alter().

This hook doesn’t work for the Commerce Demo form.

The theme hook for the add to cart button in Commerce Demo is commerce_cart_flyout_add_to_cart_button().

The stock status messages show on the admin pages but not on the product page itself.

How to I hook the stock status message from the module to the product page??

movement – Control how quickly 2D vehicle straightens out

I’m implementing vehicle movement in a 2D environment, where a vehicle consists of a front and a back “axle”, both represented as 2D points. When the front axle moves, the back axle should follow in that direction, mimicking the way vehicles move. The way I have it right now looks like this:

Sharp right

After moving the front point A (white), I place B on the line between A and B such that a constant distance (the vehicle length) is kept. More accurately, I use the vector from A to B, normalize it, multiply it with the vehicle length, and add it to A, to get the new B. When searching for similar issues, I found this question’s answer to come to the same technique.

As you can see, the resulting movement is quite recognizable as vehicle movement. The front also does not need to move as smoothly. Below I moved the front manually by dragging it around. As you can see, backwards movement also works perfectly:

Free movement

I want to use this movement system as the back bone of a puzzle game, so its stiffness is actually an asset, since it is also quite predictable.

The only issue that I have is that it takes a good while for the vehicle to straighten out, by which I mean have the back come in line with the travel direction of the front. I’m looking for a way to control how quick this happens.

I have already played around with biasing/weighing the back point onto the line on which the front appears to be traveling, but that resulted in weird moving behavior for any other scenario than moving in a perfectly straight line. I also haven’t been able to think of a different system that would inherently straighten out quicker.

So… I’m happy to try out any ideas that you might have!