Posted Updated Note3 minutes read (About 514 words)

TC300 note

Catalog

Course Introduction

What is TC?
Communication that presents specific information to a specific audience for a specific purpose

  • who is audience?
  • what information are we commmunicating?
  • why are we communicating

Criteria of TC:

  • Accuracy
  • Brevity
    • no need for complex sentense, idea itself is complicated enough
  • Clarify

Topics:

  • Workplace-related communications
  • Technical project design through a problem-need-solution framework
  • Diagrams and data visualization, reporting results
  • Paraphrasing, direct quotation, citation(AIAA)
  • presentation skills

Requirements

  • No late homework submission
  • Attendance and active participation
  • HC & plagiarism

Common Tenses and Voices

Tenses

  • Use present tense a lot.
  • If action happens in the past and is done, use past tense (if is true till now, use present tense(project, theorms))

Voices

  • Use active voice, engaged and easier to read
  • Use passive voice to put emphasis on action or the subject is unknow
  • Do not use we, be objective

Writing Email

Components:

  • address lines
  • subject line
  • salutation
  • introduction, body and conclusion
  • closing
  • signiture
  • signiture section

Notes:

  • no conversation
  • don’t send confidential information
  • one single page is enough
  • forward to others only when is authorized
  • pause before sending
  • clean out mailboxes

Three different levels of formality:

  1. Personal, brief notes
  2. Memo style
  3. Letter style: formal business emails

Be careful when using !, it is super strong tone, meaning frustrated, very very angry.

Resume

Common traits

How to state your impact?

  • What was differnent or better when you finish?
  • What were obstacles and how did you get around them?
  • What did you learn in that experience?

Name & Time:

  • Yulin Chen
  • Chen, Yulin
  • May 2022

#CV
Sections:

  • Contact info
  • Education
  • Experience
  • Teaching

Peer-reviewed Article Publishing

Process

  • Manuscript prepared by authors
  • Submission(System)
    • may reject by AI if format is wrong
  • Initial Eval.(Managing editor)
    • may reject if logic wrong
  • Editor’s Eval.(Chief editors)
    • if not good enough, may reject
  • Reviewing(Reviewers)
  • read review advice(Editor)
    • if need author’s Rev. give back to author, then submit again
    • no thing required, publish
    • or reject if still not good enough

Citation

  • name [index]
  • endOfSentense [index1-index2].
    • the sentense is a summary of works cited ad index1-index2(multiple references)
  • endOfSentense. [index]
    • cover several sentenses ahead

General Rule : if not cited, you are claiming that it is your own work.
Five-consecutive-word Rule
So we need paraphrasing

  • Use different vacabulary
  • Change order of words
  • Different grammar/sentense structure

Style:

  • MLA
    • Modern Language Association
  • APA
  • CMS
  • AAAS
  • AIAA
  • ACS
  • IEEE has many different styles

Technical Project Deliverables

Deliverables:

  • Project
  • Solution
  • Finding
  • Publication
  • Patent
    all end up with a report

TC element

  • Audience
    • Potential/existing customers, fellow engineers, colleagues from other departments
    • Professors, classmates, staffs
    • General readers interested
  • Information
    • Project’s ‘result’ (not everything of the project)
  • Purpose
    • Promote new product, share experience, establish status within, provide solution…

General Design Logic

  • Describe problem at hand
    • General/broad topic
    • Narrow down gradually
  • Analyze need
#
Haskell Study Note
CADC Ground Investigation Visual Solution
ROS-Subscriber
Posted Updated Note2 minutes read (About 239 words)

ROS-Subscriber

Study note for ROS subscriber.

Model of Topic

  • Publisher(turtlesim)
    • –[Message(geometry_msgs::Twist)]–>
  • Topic (/turtle1/pose)
    • –[Message(geometry_msgs::Twist)]–>
  • Subscriber(Pose Listener)

Programming realization

How to realize a subscriber

  • initialize ROS node
  • subscribe required topic
  • loop wait the msgs from topic, after receiving msgs, enter callback function
  • implement msgs processing in the callback function

Code

Also we put this node into function package learning_topic
Create velocity_publisher.cpp file in learning_topic/src:

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#include <ros/ros.h>
#include <turtlesim/Pose.h>

void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
    ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f, ",msg->x,msg->y);
}

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "pose_subscriber");
    ros::NodeHandle n;
    ros::Subscriber pose_sub = n.subscribe("/turtle1/pose",10,poseCallback）
    //queue also first in first thrown
    //loop waiting for callback function, keep the endless loop
    ros::spin();
    return 0;
}

Note

  • Callback function must be sufficient, or newer data will be blocked

Configure the compile run of subscriber

Steps same as publisher
Add two lines to learning\_topic/CMakeLists.txt (in build part):

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add_executable(velocity_publisher src/pose_subscriber.cpp)
target_link_libraries(pose_subsriber ${catkin_LIBRARIES})

Compile

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$ cd ~/ROS_study/catkin_ws
$ catkin_make
$ source ./devel/setup.zsh
$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun learning_topic velocity_publisher
$ rosrun learning_topic pose_subscriber

The output of pose_subscriber:

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...
[ INFO] [1650184199.757606156]: Turtle pose: x:3.100077, y:7.501662,
[ INFO] [1650184199.773327854]: Turtle pose: x:3.101826, y:7.493855,
[ INFO] [1650184199.790252785]: Turtle pose: x:3.103601, y:7.486054,
...
#
ROS-Publisher
Posted Updated Note3 minutes read (About 378 words)

ROS-Publisher

Study note for ROS publisher.

#
Regular-Expression
Posted Updated Note2 minutes read (About 347 words)

Regular-Expression

Studying note for regular expression

Definition

Regular expression describes a pattern of matching string
Can be used to detect/replace/take out specific substring

Syntax

symbol description example
^ match the beginning of he line
[ABC] match all char in […] [aeiou]: google runoob taobao
[^ABC] match all except those in […]
[A-Z] describe an interval [a-z] matchs all lower case char
(…) set groups
\1…\n match the same elements as nth group
{n} the front element repeats n times
{n,} the front element repeats at least n times
{n,m} the front element repeats at least n and at most m times
. match any char except (\n,\r), same with [^\n\r]
\s\S match all, \s:match all space char, \S:match all non space char, ‘return’ not included
\w match letter,number,underline, equal to [A-Za-z0-9 ]
\cx match the control char indicated by x(A-Z/a-z) \cM: Control-M or return char
\f match a page change char
\n\r match a return symbol
\t match a tab
\v match a vertical tab
$ match the end of the string, to match $ itself, use $
* match the front subexpression multiple or zero times, use \* to match *
+ match the front subexpression multiple or one times, use \+
. match any single char except \n
[ mark the beginning of a []expression
? match the front subexpression one or zero times, or indicate a non-greedy qualifier
| logic or

Application in Cpp

In cpp, we use std::regex to express regular expression, supporting ECMAScripts as default.

Match

Use regex_match() to match xml (or html) format:

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std::regex reg("<.*>.*</.*>");

bool ret = std::regex_match("<xml>value</xml>",reg);
assert(ret);


bool ret = std::regex_match("<html>value</html>",reg);
assert(ret);

bool ret = std::regex_match("<xml>value<xml>",reg);
assert(ret);

Use std::regex_search.
As long as there exists targets in the string, it will return.

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std::regex reg("<(.*)>(.*)</(\\1)>");
std::cmatch m;
auto ret = std::regex_search("123<xml>value</xml>456", m, reg);
if (ret){
    for (auto& elem : m)
        std::cout<<elem<<std::endl;
}

#
VIM Snippets Customization
Posted Updated Notea few seconds read (About 106 words)

VIM Snippets Customization

Studying note for customizing vim-snippets.

Install vim-snippets

See Github

Syntax

Module:

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snippet [trigger] ["Description"] [index]
[content]
endsnippet

Index:

Index Description
b trigger should be in the front of the line
i trigger can be inside a word
w trigger should be in the edge of two words
r trigger can be a regular expression
A auto trigger

Example

Generate a two column table:

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snippet tb2 "Create table of two columns" b
| $1 | $2 |
|----|----|
| $3 | $4 |
| $5 | $6 |
endsnippet

snippet tbex2 "Create table of two columns" b
| $1 | $2 |
endsnippet

Or generate a code block for bash

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snippet bbl "Bashblock" b
\`\`\`bash
\$ ${2:${VISUAL}}
\`\`\`
$0
endsnippet
#
ROS Orgmode Note
Posted Updated Note3 minutes read (About 505 words)

ROS Orgmode Note

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Study note for ROS
* Core Concept
** Node and ROS Master
*** Node
implement functions for purposes
support various language
can have thousands of nodes
*** ROS Master
mange the registion and name of various nodes
support(trace and record) communication between different nodes
for nodes to find each other
provide parameter server(store global variables...)[[about parameter]]
** Communication between nodes
|                    | Topic               | Service        |
|--------------------+---------------------+----------------|
| sync               | n                   | y              |
| model              | publish/subscribe   | service/client |
| protocol           | ROSTCP/ROSUDP       | ROSTCP/ROSUDP  |
| response           | n                   | y              |
| buffer             | y                   | n              |
| real-time          | weak                | strong         |
| nodes relationship | multi/one to multi  | one to multi   |
| scene              | data transformation | logic process  |
*** Topic
Node(publisher)->Topic(/example)&Message_Tyoe(std_msgs/String)->other ROS nodes(subscriber)
Message: define the data type and struct of data, defined by .msg file
async
*** Service
C/S model(Client/Server)
client send requests, server return response data
defined by .srv file, defines the structure of the requests and response
    ROS node(Service Server)
    ^  |response
request|  v
    ROS node(Service Client)
sync
** Parameter
<<about parameter>>
talker -> ROS master : setParam("foo",1)
listener -> ROS master: getParam("foo")
ROS master ->listener: {"foo",1}

multiple variable dictionary
for storing static nonbinary configuration, not suitable for dynamic
** File system
*** package
Basic unit in ROS, include the src of nodes, cfg, data def
*** package manifest
record the basic information of packages
*** Meta packages
orgnize multi packages for one common purpose
* Commond Line Tools
** rqt_graph
visualize tool
display the calculate process graph
** rosnode
display node information
*** rosnode list
list all node
default node /rosout
*** rosnode info /turtle_sim
show info of a node
** rostopic
usage like rosnode(list,info)
*** rostopic pub /../.. data_structure data 
publish message as a topic
add -r num to repeat sending at rate num/s
** rosmsg
*** rosmsg show data_structure
show the data structure
** rosservice 
| commond addition       |                                   |
|------------------------+-----------------------------------|
| list                   | list all service the node provide |
| call service_name data |                                   |
** rosbag
| command addition        |                                               |        |                 |
|-------------------------+-----------------------------------------------+--------+-----------------|
| record -a -O cmd_record | record the topic data in the system           | -a:all | -O as a package |
| play cmd_record.bag     | play the recorded data of previous simulation |        |                 |
|                         |                                               |        |                 |
* setup workspace and function package
** workspace
*** overview
| src     | source space  |                         |
| build   | build space   | no need to touch        |
| devel   | develop space | script, executable file |
| install | install sapce |                         |

work space folder/
  src/
    CmakeLists.txt
    package_1/
      CmakeList.txt
      package.xml
      ...
    package_n/
      CmakeList.txt
      package.xml
      ...
  build/
    CATKIN_IGNORE
  devel/
    bin/
    etc/
    include/
    lib/
    share/
    .catkin
    env.bash
    setup.bash
    setup.sh
    ...
  install/
    bin/
    etc/
    include/
    lib/
    share/
    .catkin
    env.bash
    setup.bash
    setup.sh
    ...
*** setup
**** establish ws
mkdir -p ./catkin_ws/src
cd ./catkin_ws/src
catkin_init_workspace
**** compile ws
cd ./catkin_ws/
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
catkin_make install
**** set env variables
source devel/setup.bash
**** check env variables
echo $ROS_PACKAGE_PATHH
** fucntion package
*** setup
| establish package | cd ./src                                                                   |                                       |
|                   | catkin_create_pkg <pkg_name> [depend1] [depend2].. (rospy,roscpp,std_msgs) |                                       |
| source env path   | source devel/setup.bash                                                    | make sure that ros can detect the pkg |

*** package.xml
| label                        | description                                         |
|------------------------------+-----------------------------------------------------|
| <name>                       |                                                     |
| <version>                    |                                                     |
| <description>                |                                                     |
| <maintainer email="">        | maintainer's name and email                         |
| <license>                    |                                                     |
| <buildtool depend>           | usually catkin                                      |
| <build_depend>/<exec_depend> | package dependencies ,usually roscpp rospy std_msgs |
*** CmakeList.txt
TODO


#
How I set up my blog site
Posted Updated Notea minute read (About 211 words)

How I set up my blog site

This post record the steps I set up this blog site.

Catalog

Env preparation

Installation

Use following command to confirm:

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$ node -v
$ npm -v
$ git --version

Github

Connection

Create and copy SSH key:

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$ ssh-keygen -t rsa -C "GitHub email"
$ cd ~/.ssh
$ vim id_rsa.pub

Copy the contents

Go to Github -> Settings and Add SSH key

Confirm the connection:

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$ ssh -T git@github.com

Setup Github Pages repository

Create Username.github.io(your URL)

Install Hexo

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$ npm install -g hexo-cli

Setup a local workspace:

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$ git init
$ hexo init
$ npm install

launch local server:

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$ hexo cl
$ hexo g
$ hexo s

or use following command to specify port:

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$ hexo server -p 5000

visit http://localhost:4000

Deploy to Github server

Install hexo-developer-git:

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$ npm install hexo-deployer-git --save

edit _config file’s Deployment part:

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deploy:
  type: git
  repository: git@github.com:Chen-Yulin/Chen-Yulin.github.io.git
  branch: master

then run in bash:

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$ hexo d
#
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