But, too easy or moderate in nature, in terms of difficulty level, moderate, should it be little more difficult or should be moderate or should be made very easy, do not put to the third option. The first four questions were basically you know more of a thought driven type of thing, because scenario was there, the fifth question was also like that and the remaining fives were direct questions, so I thought that let me have a balance between the direct questions and the indirect ones. The quiz also we will have on the similar pattern, but after the mid sem, not before that. We have already discussed denial of reality, fantasy, repression, rationalization and projection as defenses. Today, we would continue with the other defense mechanisms and the next defense mechanism that we are going to discuss today is reaction formation. This is an interesting type of a defense mechanism where what happens, you remember in the case of repression also we had discussed this, that all you try in repression is that some painful experiences, some dangerous desires should not be allowed to come to the conscious level, that was the whole exercise in repression and we discussed that fine if it is of mild or moderate nature, we do suppress such desires, but then the desires which you consider to be extremely dangerous, they are just repressed and the repression would be a unconscious mechanism whereas, separation would be a conscious mechanism. In reaction formation also there is a tendency to prevent the dangerous thoughts to come to conscious awareness, but then unlike repression where you just put it in a black box and then hide it and it is never known to you. In the case of reaction formation, a different pattern takes place in the behavior, there is a thought that thought itself is dangerous, it does not have approval of the stakeholders regarding whom you have the thought and then you just prevent this type of behavior, this type of thought, this type of an attitude to emerge and therefore, you reflect a diametrically opposite pattern of behavior. Now, assume a situation where you have a passionate liking for somebody and that passionate liking does not have the social sanction, it flouts the accepted social protocol might be little odd to here, but we are you know taking all types of examples.  Imagine situations like that, in our religious literature also there is whole lot of discussion on issues like this, in clinical literature also you would find description of issues like incest and other forms of behavior, behavior which does not have the social approval, behavior that does not have the legal approval. Now, in the case of reaction formation all you do is that once you realize that this is this type of an attitude or this type of a thought, this type of a desire is bizarre in nature, you cannot ever think of having it. The best way of handling it could be using reaction formation is just turn it upside down. So, passionate love for somebody converts into hatred, so just do not like that person overtly, outwardly you would never ever feel interacting with the person, you would never ever feel going out with that person, you have great sense of discomfort, but inwardly the truth is that you have deep sense of liking for that very person. What is very interesting is that unless there is a need for knowing the root cause of this type of a behavior which would be done by an expert, you would never ever come to know that my hatred was basically love for the person and it could be opposite also, somebody who loves you, it could be that he or she hates you actually and cannot afford to do that and hence reaction formation is used. An interesting clinical case I would like to share with you of a girl who was in her perhaps late adolescence if I remember correctly and she had some trouble with movement of her wrist, this is how first the problem was diagnosed by the family members. She reported certain type of problem in terms of moving the wrist and she was very fond of her father, the father daughter relationship was fantastic. Entire story was unearthed when this girl was brought to the clinic orthopedic clinic for realizing what is the problem with the wrist. Now, usually we do not have frozen wrist unless there is some problem, so doctors went ahead with that medical diagnosis perhaps there is extra calcification here and therefore, you cannot move your wrist, nothing was there, MRI was conducted, no problem was identified and then this doctor became suspicious and referred this girl to the psychiatric ward where the psychiatric OPD where the doctors started identifying the case and it was then unearthed by in the psychological sessions that the girl had extreme hatred for her father and because of some illicit relationship that the father had with somebody according to the girl and she just wanted to slap her father. There was a deep desire in the daughter to slap her father, now you cannot afford to slap your father and hence one way of stopping your slap behavior is that you have a frozen wrist, so you cannot make a move. If you cannot make a move, now in the wrist area this means you cannot slap somebody because some degree of movement will be needed and two, the hatred was converted into love and affiliation with the father which actually was a reaction formation. This is a true clinical story, we are not going into the details of the case study but this is what reaction formation is. What type of service it provides to us, the benefit it provides to us is simply that you contain the negative or the undesirable thoughts and attitudes and you live with or you reflect the desired attitudes and behavior which will allow you to gel properly with the family in the society in your environment. Then comes the other defense mechanism that is displacement, displacement is actually like moving object from one place to the other. So this is discharging pent up feelings which is usually of a hostile nature on objects which are less dangerous because again you cannot afford to react to the actual source of such threats. Good example of displacement could be that say studies example that somebody who comes late by certain minutes and he is asked to leave the class.   There was no need for you to hit the dog or you shout at the boy who is serving breakfast to you in your hall. There was no legitimate reason for you to be angry there. This is displacement of anger. So you have a hostile feeling usually. This is a pent up emotion you were boiling within, you could not eject it out on the source which was responsible for making you feel this type of an emotion. Therefore now you are displacing it and reflecting it on somebody else who according to your calculation is a weaker object compared to the original source of anger for you, the original source of hostility for you. And this is quite common, quite common right from very very young child you can see it in very very elderly people that this works like anything. I like to share very interesting example with you. Several years back my son happened to be too young at that time one and half years probably one, one and half something around that age and another colleague of mine whose son was I think one or two years elder to him. So whenever the two families used to meet these two boys would play together and the elder boy the son of my colleague would usually know slap him on his cheek repeatedly and he used to do it in such a fashion that none of the elderly members are there. So we are playing we are going to that area and the moment you are out of sight he will just slap one two three four it used to happen. We thought that perhaps this will gradually die down in my son. Then after several months another friend of mine came from outside and he had an elderly son and a very young daughter the daughter must have been seven eight months old she was still crawling and now my son started slapping her you know whenever she would he would find her in isolation where you know the elderly members are not there he would exactly do the same thing. Then we had really hard time making him understand that fine this is not a doable act. Even though somebody did this with you you cannot do it to others know this is not desirable behavior right from younger kids know you see one and half year old child to I am sure all of you do that.  So she will start you know shouting at the children ok children they cannot afford to shout at anybody. So we will shout at the mid ok and then you will realize that the whole cycle gets completed this way you know so this is you know displacement as a defense mechanism. But the beauty of displacement once again is that it safeguards you against a source of threat which could otherwise have been very detrimental for you.  If you also know start replying back to your boss imagine how you know difficult this complicated the situation could turn it could turn very ugly where your boss issues and memo to you memo is an official you know a letter which seeks clarification for a behavior that you have performed in the office. And the next step would be that you are suspended an inquiry and then terminated you cannot afford to do that you know you have a say very powerful source of that sense of hostility for you you cannot afford to express it and therefore this defense helps you that fine do not explode here find a weaker object and then explode at him or her. Usually in the office setup you will find all offices uniformly government non-government India or anywhere where the subordinates among themselves they will always talk something negative about their superior it is common.  If you do not express it if you do not displace your hostility your anger then you would keep exploding within you know and that type of a word used for that is implosion explosion would be when you show your anger outwardly. But when you do not do that but you carry your anger within and inwardly you are extremely restless this is the state of implosion and if you keep imploding you pay the other price for it know you will have certain type of you might have certain type of psychological problems because you are not expressing the sense of anger and hostility that you are carrying. So, this defense mechanism is successful helping you adjust in your environment because you are able to know take care of the strong forces and you are able to strike a balance in terms of not going towards the other types of psychological problem or adjustment related problem. Then we come to the other defense mechanism it is called emotional insulation emotional insulation is a technique it is something like say you have a electric wire. So, you have a copper cable and then you have a plastic coat on the top. So, that when you touch it you do not receive the electric shock emotional insulation exactly is that type of a process.   Now, this is a very interesting type of pattern something that really irritates you, but you are helpless you cannot reform it you cannot know change the situation you cannot make any modification. So, finally, you decide that if I withdraw myself I have to be there in the situation means I cannot withdraw myself completely back from the environment I have to be present in that environment, but even though I am physically present I do not get involved in any activity that takes place there and hence because I am not at all participating in the process that is taking place in my environment. Therefore, my ego is not at threat because my ego is not at threat therefore irrespective of whatever happens I am safe my ego structure is safe I do not have to defend myself that is the state of emotional insulation. I can give I have seen many cases of emotional insulation the best example that comes to my mind right now is somebody working in office situation where some time was there I do not exactly remember now perhaps 11 o clock 11 30 10 30 something something. So, I guess perhaps 2 or 2 and half hours after the onset of the work are that office used to have t time and it was mandatory for all employees to sit at one place and have t together. Some people used to know keep working and there would be repeated reminders from the top quarters that you have to come for the t during this time and very interestingly that was the time when the top boss used to utilize for giving his sermons to others and it was usually of a very irritating type most of the time stuffs that you do not want to listen. So, you have worked for 2 and half hours after coming back from your home you have worked here now you are sitting with a cup of tea and then the person starts talking about something in Scotland there is a firm which works on exactly the same thing that we work how they work and you do not want to listen to such stuffs. Boss is not giving you any other facility that you want, but then he keeps gives you all these beautiful stories which irritates you with him.  So, we take up a newspaper and keep on reading news if the news is are exhausted you will read advertisements there he will look at where it was printed what date know everything he will read, but would look at the boss at all. This is a beautiful example of emotional insolation many a time it happens that you just try to withdraw yourself you turn into passivity it is like say you withdraw yourself under a cocoon and say that fine sorry I am not interacting with this environment. I have heard it from many family members where one of the family member usually it is the male members in few families even it is a female members also who have the tendency of know shouting the regular form of a speech is that you tau that you keep talking and then the moment something is not up to your expectation suddenly your pitch of your voice increases and then know you keep shouting on trivial issues and rest of your family members decide ignore. So, I am sure you must have seen families like that where say usually it is the father who would shout like anything for see if you shout on something rational it makes a sense know the person concerned would feel it now this was the error that was committed and it is really disturbing and hence this male member of the family is shouting, but if you shout on trivial issues know where is the key where is the pen where is the comb where is the moisturizer where is the oil where are my shocks if you start shouting on trivial issues after sometime family members will give up and they will withdraw into passivity that fine we will stay in the family, but you keep shouting and will ignore you and think of something else be busy with something else in few families it happens when you have know family a female family member who is equivalent to the situation that we were describing right now where family members even the children they tend to ignore you they turn into passivity when you turn into this mode otherwise they are know very well involved with you, but the moment you turn into this mode they turn into passivity they do not engage yourself themselves with you in this scenario and hence they refrain from getting their ego hurt in that process because you have turned into passivity your ego is not at stake your ego is not at stake then whatever you talk whatever you say is your problem not my problem that is emotional insulation we are not touching that issue we will not talk about it at all in this course, but if you are interested in clinical literature you will also find description of something called dissociative reaction or dissociation dissociation is also a similar type of a phenomena where when you find yourself stuck in a situation where you have to perform the job something that it is extremely painful for you, but still you have to do it there could be a possibility of dissociating yourself from the activity that you are performing couple of years back we had done a study that was on the relief workers who were sent to Nagapatinam after the tsunami that we had several years back the reason for studying this was initially we were studying know the child in the adolescent survivors we realized that many NGOs had deputed one or the other relief workers from their agency who were not trained. So, they were not into disaster management disaster training not at all into you know handling trauma disasters they were just know graduates post graduates you join the job in a NGO and NGO wants their presence to be felt in the field so that they can take photographs ask for grants therefore they these people will they were all of a sudden sent to the location that now you go there put this banner and start giving some type of service do take photographs and we realized that know many of these relief workers had really tough time there in the field you have no still bodies are floating you have all types of sufferings that you see around you you do not know what to do, but you are in job you have been deputed here somebody is keeping an eye on you and therefore you cannot leave it half way. And that was the time when we decided that we will know study certain dynamics know how these relief workers are just in this situation and one of the parameters that we had chosen at that time was dissociative reaction know are you involved in are you internally involved in the activity that you are performing and the answer was no for a large majority. So, I am giving advice to you, but I am not involved in that process I am suggesting you know where to do what to get from where you can get what, but I am not at all involved into this process. So, you completely dissociate yourself, but dissociation and emotional insulations are different phenomena know dissociative reaction would be know more towards know the clinical side whereas emotional insulation is something that all normal human beings can adopt another defense mechanism that is intellectualization. This is once again no very closure to what we had discussed as rationalization study we had talked about rationalization where you justify the act that you perform you also justify what you why you did not get something. Intellectualization is little difficult little different intellectualization basically is a process where you cut off effective charges effective is emotional. So, you have a situation a hurtful situation from the situation you take out the emotional component out of it. So, it is like say surgical removing of emotion from a given situation which is hurtful to you or you separate incompatible attitudes and the gap that you have there you now compensate that with logic tight compartment. So, imagine a situation it is like a train different know bogies of a train and then you have anchors which joins the train. Now, you anchor it together so that the bogies are not dealing and you ensure that all bogies they remain integrated they move along with the engine in the train.  So, it is all now only the scenarios the situations emotions are taken care of and these know compartments would be isolated compartments know one spot here, one event here, one event here, one event here and then what you do is that you link all of them with logic tight compartments know. So, you have in case of rationalization what was happening there was one single event you were providing justification for that in intellectualization you do not have one single event know you have a major event which you have broken into several units and then these several units are now being zipped together using some certain logic. So, say for example, study we took the example that you know rationalization is equivalent to sargrip proverb know you did not achieve something in life and therefore, you justify and you say that it is a know good that I remain childless in my life intellectualization would be different intellectualization would be that you would say that you know people get married they have children and I understand that this is one of the important biological tasks, but you know the way the population of the whole world is increasing the way this population pressure is you know creating disturbance to the environment ecological disturbances all type of know big, big, big things right from micro to macro all beautiful arguments you just drag from different sources pack them together and different events are now provided with the gaps between different points are plugged with these logic tight compartments you intellectualize the whole thing and you say marriage is fine childrens are fine, but those who are know people usually say that you are blessed with child I would say that you are blessed because you do not have child you take you know you intellectualize the whole episode as if those who are childless they are also happy with your version those who have children they are also happy with your version and overall you are able to intellectually you know say that finally you need to look at life from this point of view where different events put by know put together by extremely logical type of derivations that is intellectualization you got the difference between rationalization and intellectualization in rationalization there is one event where you try to provide justification intellectualization you will have several pieces and you will put them together and intellectualize the whole thing. So, rationalization that way would be a smaller event intellectual is speaking whereas intellectualization would be a much broader type of a process undoing is another type of a defense mechanism where you go for know atoning and therefore counteracting immoral desires or acts you had a feeling or you were engaged in certain things out of your personal choice or out of certain life compulsions and you now want to undo it because know it could become or it is no triggering certain type of a sense of guilt within you. A very interesting example true example man who joined I do not know I do not remember now which office perhaps if I remember correctly he joined some bank and this story was known because he wrote a letter to the Indian Relevies saying that right from my student days I always used to commute from station X to station Y for my education because my college was there. So, all those years I commuted without ticket. So, he gave the point stations know station X to station Y how many days he calculated everything know how many Sundays how many holidays minus. So, total how many days in a year all together how many days in a that in that duration and he said that I was from an economically weaker family I could not afford this and therefore I did so. Now, I am in a job where I can pay back the money. So, kindly let me know what would be the total amount that I need to pay including know interest at whatever the bank rates. And Relevies was at fixed because there is no such provision the rule does not allow them say there is a process in the Relevies where you can be caught by the travel ticket examiner in the train or the ticket examiner can catch hold of you on the platform. But if you move out of the platform and then you say you know 1986 twice I commuted without ticket. So, charge me whatever you want to. So, now it would be something like what was the ticket cost at that time between these two stations what was the bank interest rate should it be at that years rate or should it be at the present rate. And Relevies you know say that fine we do not have such rules and he said no please tell me I want to pay it back this is undoing you know that this is this was not worth doing an act you did it and now you want to undo it that I am sorry that I did it I want simply to know do the completely opposite side of it. So, that it is a counteracting type of a behavior. So, that I get rid of the immoral act according to me which hurts me then comes the other defense mechanism that is regression. Regression is a very interesting type of a defense mechanism here what happens this defense mechanism will be used when you realize that you are in a very difficult situation now and life is not as pleasurable as it used to be for you. So, you reflect back you look back at your earlier experiences of life to realize what was the phase it was most pleasant for me and you realize that early adolescent or say late childhood and what you do is that you revert back to that stage.  Therefore, it says that you retreat your earlier developmental level which requires less matured responses from you and therefore, the total aspiration level is also lower down. So, say an adult member who is not able to support his family is not able to perform according to the family expectations according to the expectations of the people around him in this environment and decides to know that you know when I was 18 years old 18 19 that was the phase it was most beautiful because I used to get pocket money I used to groom the way I wanted I had no responsibilities. So, even though he might be 35 chronologically speaking psychologically he starts going back to the 16 18 years age period he grooms like that behaves like that and he derives pleasure out of the fact that fine there is no expectation from me there is no obligation and hence because I am still 18 therefore, my aspiration did not be that of a 35 year old man who had certain responsibilities. So, regress what simply means that you revert back and when you revert back it is your choice the person who uses it is it is his or her choice to select that phase of earlier phase of your life which you consider to be most pleasant and pleasant is defined in terms of there should not be too much of demand on you there should not be too much of expectation from you. So, chronologically you are something else psychologically you start behaving like somebody who is still much less mature. So, that is about regression three four defense mechanisms are still left.


This study found that high-intensity interval training, HIT, resulted in improved cardiac function in patients who had recently undergone heart transplants. Specifically, HIT led to increased global longitudinal strain and decreased end diastolic volume compared to those who received standard care exercise-based rehabilitation. Additionally, there was a trend towards improved microcirculatory function in the HIT group. This article was offered by Lars Gullestad, Bjorn Benz, Kari Nitrin, and others.


smart things and why it takes nerves but first if you want to follow with the slides they're available at this URL because I know if we look at some code it's difficult to read code on the screen from anywhere from middle of the room back so if you want to follow with me there they are the URL will be on the other slides that follow the Internet of Things it will be amazing you'll have your stove checking with your fridge and suggesting recipes from the cloud your toilet paper dispenser will direct message you when it's running out is that cool there's even the idea of a smart bookmark that knows what page it's in in your book and stores it in the cloud so you never forget where you are in the book to reading it's amazing stuff and how about a biosensing ring that will tweet your final farewell when you die seriously these are not the kind of stuff that are gonna be transformative the Internet of Things will be transformed transformatives but the one that really matters is the one that is an Internet of Things that removes inefficiencies reduces risks and it does that by automating distributing and integrating information far and wide so we're talking about smart not just smart cars but smart traffic we're talking about smart energy grids smart houses and on and on and that means systems of systems a smart car is already a system of systems it has navigational locomotion systems it has entertainment it has energy management it's a bunch of systems and that car will integrate with the traffic system in order to optimize flow through a city going around areas are congested or where there's an accident and whatnot so we're talking about systems of systems there in the world of industrial processes we'll see coordination amongst various tools in the manufacturing process and these tools themselves are systems and this whole process will also coordinate with supply chain systems in order to minimize downtime and maximize revenue so we're talking about again complex systems of systems benefiting from automation and and distribution of information but this is not the Internet of Things that is being sold right now there's a lot of companies there's a lot of money being invested in things but what we see on the market of what I've seen is a lot of companies fighting amongst themselves to establish their proprietary networking technology as a standard we're seeing the sensors to cloud basically you have for example your Nest thermostat in your house in all these houses sending information to a central hub and then the central hub will maybe do some big data analytics and then come back to you with a report on your on your iPhone on your on the web or whatnot and that in my my for my perspective is not really interesting this is not where the Internet of Things promises lie I think the Internet of Things should be communities of smart things and what I mean by a smart thing is it's an autonomous assembly of sensors and actuators that together make sense of their environment and act purposefully and in response to a changing environment and now these smart things are going to be part of communities and in these communities they will coordinate they will share information I think it's smart things all the way down personally I think it's a fractal system of systems of systems a smart thing with all its sensors remember a smart thing is assembly of sensors and actuators is itself a sensor because it makes sense of the environment in that sense it can report on what it has discovered what it has made sense of to other smart things in its community or to other communities a community as a whole can integrate all this meaning all this information all these perceptions from all the members of the makeup that community and itself act as an integrated sensor to feedback into its members providing global reviews and also to other communities so I think a community of smart things is itself a smart thing so it's a fractal thing let's talk about autonomy what do I mean by that well I think there are five major components to an autonomous thing a smart thing they're sensing so taking in sensory inputs pretty obvious then this perception which is making sense what's going on if you think of a self-driving car it's taking some pretty raw input beeps from LiDAR and and radars and then it has to translate that into there's a motorcycle coming this way and I think it's going to avoid me it's fine so making sense of all that input is perception motivation if you're autonomous you must have goals you're trying to accomplish one or many things and those goals are going to shift over time you're going to have long-term goals going to the hospital and short-term goals avoiding that pedestrian who's just launched in front of your car those goals shifts then they have behaviors plans how am I going to achieve these goals so you may have plans long-term plans how am I going to get from point A to point B and then short-term goals how am I going to you know negotiate this intersection we're talking about an autonomous car and finally actuation which is translating those intentions moving forward turning right turning left into actual physical action which is moving the right wheel and moving the left wheel putting on the brakes and whatnot so smart things are autonomous but in order to be autonomous they require cognition let's talk about the cognitive architecture of a smart thing that's something I presented last year and I'm gonna I'm gonna repeat some of the same material for most of you who have not we're not here and then go beyond that the cognitive architecture that I've been working on has been inspired by the work of Marvin's Marvin Minsky in cognitive science he wrote the emotion machine and before that the Society of Mind which is the book that I read that first made me aware of this approach and in a very very very big nutshell Minsky's ideas that autonomous smart behavior emerges from the interactions of many kinds of agents doing simple things concurrently many kinds of agents doing things concurrently obviously I think Alexa I think the beam right so it was not very big leap here's a diagram of this very simple cognitive architecture which I have implemented and let's just go through the big pieces of it and explain what they do very briefly let's start with the detector detectors pull sensors they ask sensors for measurements how dark is it how far is the obstacle straightforward there's an internal clock that just ticks time is fast time is fast it's in it's quite surprising how critical that part is but that these are these are generators of per seps per seps are units of perception time has elapsed it is kind of dark there's an obstacle 14 centimeters away from me these per seps like every other units of cognition feed into a central nervous system and I mean that in a very limited sense as a router feeds and then is consumed by other components other agents of this society of mine one of the kind of agent is the preceptor so you have all sorts of perceptors and perceptors are just basically trying to take low low level per seps and produce higher level per seps so a preceptor that is responsible for detecting whether we are getting closer to an obstacle will depend on per seps of distance and look in its memory is the latest distance per seps smaller or greater than the current one am I getting closer am I getting further away so yeah perceptors and perceptors produce per seps like collision is imminent and these per seps again sent to the central nervous systems to go to the other agents which will cover lay soon but feedback into other perceptors now I may have a preceptor of danger that says if I'm an imminent collision and it's really dark out there I'm afraid I should be afraid so a fear per septer will generate a fear per sep which will be fed back again now with all this perception this layered perception being processed all that concurrently of course these per seps are being fed to the central nervous system and everything goes into memory short-term memory so we can use that and analyze what's going on in light of the recent past some of these these per seps was also will also hit something called the motivators and the motivators basically analyze these per seps and say should I care and how should I care there are motivators for fear should I should I be a fresh it should I feel panic right now should I or motivators for hunger should I feel hungry right now and these motivators basically generate motives which again are fed the central nervous system memorizing memory and those motivators initiate behaviors there are behaviors for what to do when you're hungry what to do when you're curious what to do when you're about to collide and these behaviors are essentially little fun at state machines that through each step produce intense what will what should I do now I want to go forward I want to go backward I want to turn left I want to scream mommy I want to do something intense these intense again fit to the central nervous system memorized but also consumed by actuators actuators are the agents that translate those intentions of acting into actual actions depending on the physical nature of your device in this case if it's about moving an autonomous vehicle moving forward if I have a two-wheel drive means turning both wheels at the same time if I I want to turn left and I'm gonna maybe turn the right wheel faster than the left wheel so that's these are actuators so that's that's basically the the map of the cognitive architecture that was developed and you can think of the activation of all these agents as creating all a lot of who da loops observe orient decide and act we have our detectors are the observers perceptors give you an orientation what's going on the behaviors act I mean the the motivators decide what's important what are my goals and the behaviors act now there's another piece that is new to to this architecture which is called attention and attention essentially says I'm not gonna care about detection detectors that don't matter right now if if I'm hungry and I'm foraging then I need only certain senses to be alert I will not pull all my detectors at all times I will pull only my the detectors that could possibly change what I am right now what I feel what I do so that's kind of new and it's it's actually very useful when you have a very a small device that where you cannot fire all your detectors all the time and just waste all these cycles okay now meet Marv and Rodney these are my two smart things they're Lego robots they they have all sorts of interesting sensors and activate actuators first of all they have LED lights they have a speaker a wireless adapter they have ultrasonic sensors for distance infrared sensors to detect infrared beams emitted by beacons I have a color and light sensor to detect the color on the floor and also the ambient light I have a touch sensor that can be either pressed or released for collision actual collision detection and for actuations I have a two large motors for a locomotion and I have a medium motor which I'm using as a mouth so when the robot eats it just activates that motor symbolically and there's going to be another actor here their mom their mom is another smart thing because we're going to be establishing two communities you'll see the kids and the parents so that's the bomb and the mom of course is very smart too and essentially it's a laptop running elixir on Linux okay the demo so we have as I said two communities the brood and the parents I have two puppy rovers in the brood community and I have a mom laptop in the parent community and let's see if we can get this thing going so you'll see Marv and Rodney Rodney roam around bump into things spread panic look for food and fight over it that's their that's their puppy behavior and motivators and perceptors are going to drive this autonomous these autonomous behaviors mom the laptop it's going to keep an eye on them and calm them down when they're panicking and and and you know get them to share food so let's see if we can start it up for some reason it sounds like that so they're going around and and bumping into things saying things like a hole when they bump and they're looking for food and food is the white stuff on the on the ground so he's eating right now and and the other one is colliding and trying to get out of that jam nom de nom de nom now Marvin is hearing a rum they eating and run and run and run and Marvin wants to go to that food so Marvin says you know in mind mind mind it's mine and mommy the sound is not good right now but mommy says Rodney share your food and when Rodney hears you know I need to share my food he starts he stopped eating as hunger goes away and he can move away and and let let Marvin you know get access to the food so now they're panicking they're panicking and one start panicking and the other started panicking because he heard the other one panicking and mom seeing that panic was out of control intervenes and tells them to calm down and they hear mom and that's when it stops this and bring this up here so we had two autonomous smart things acting out with their mommy overseeing them and trying to manage their behavior a little bit so now we're talking about building communities of smart things and in terms of tools to do that I found that elixir is a perfect fit for coding these many kinds of agents that do simple things concurrently nerves project was critical because I had to fit a rather large amount of capabilities on a small device the ev3 and the nerve project made that only possible but an actual pleasure and this this kind of architecture is is implemented as a framework elixir based framework nerves enabled that I call Marvin and if you feel familiar with the hitchhiker's guide to the galaxy galaxy you will know where that name came from okay and that's Marvin actually so in order to implement this this current of architecture I made good use of elixir processes every single agent is a an independent process implemented using OTP and relying very much on the beams of soft real-time characteristics the smart things as you saw the the two robots actually sense each other perceive each other and one knows when the other one is eating and gets all greedy or when one panics the other one starts panicking just by hearing the other one panicking this was achieved through PDP networking with distributed elixir and the mom watching them in it from another community and we're considered that a remote community kept in touch could hear what they were doing could know what they're doing because they were actually reporting through a REST API and she could talk back to them through a REST API as well and that was implemented using Phoenix now I'm not gonna turn that into let's look at the code presentation because there's too much I don't think that's that's very productive but if you get access to the slides you'll be able to look at the code a little more closely but I just want to make a few points one was that one is that the data structures involved are very simple they're very simple structs for example this is a this is a struck for a percept it's I need to know what is the percept about darker lighter what not it's about light the value of it could be a number for the ambient light or if it's is it getting darker or lighter atoms when was that percept generated since until when is it valid because you can have the same measure being returned by a detector where the same distance as we were five seconds ago so you want to know have we stayed at let's say 10 centimeters from an obstacle for the last five seconds that could be important where did it come from the source time to live along is going to stay memory and other properties but that's pretty straightforward now remember this is just for the color coding how does that translate into an elixir application so this this is the observer we're going to look at it in the right orientation I wanted to show you the whole thing and I want to show you where the various parts of the cognitive architecture map onto processes supervised processes in Alexa so what do we have here we have detectors perceptors motivators behaviors and actuators they're all supervised agents actual elixir agents the memory attention and memory and attention components are actually supervised gen servers the central nervous system is actually a gen server wrapping a gen event with handlers for perceptors detectors and whatnot so this is in more and more details you can see how it maps so we had here you know percepts they map here with with detector supervisor and what comes underneath and internal clock we have intents under behavior supervisor all the various intents that were activated on the puppy rovers and we'll see where these come from very shortly we have attention here we have actuators and all the various actuators again we'll see where that they come from that were active on the puppy motivators and you know greed curiosity fear danger and perception the various perceptions that that the puppies can generate so this is all mapping onto supervised gen servers and agents in Alexa important point all these cognitive agents communicate strictly through the central nervous system through events there they don't know each other at all so I can add more components to my architecture and I don't have in you know complications as to too many any agent having to know too many others there's no coupling it's all through events let's look a little bit how a percept moves through the system very quickly let's say a detector detects that ambient light is is like say 10% it will be transmitted to the central nervous system this this percept which will then dispatch it to perceptors its perceptors handler or to the motivators handler in other ones as well but let's say let's go through the route of the perceptors handler the perceptors looks at all the perceptors that are active in the system and says who's interested in the fact that ambient light has a value oh this one does that's the one that the perceptor for detecting it for figuring out if things are getting lighter or darker so it's it goes to the perceptor which analyzes the the this this percept and maybe comes to the conclusion that things are getting darker generates a new percept which is sent back through the perceptor handler and through the central nervous system and back into the system so you can see this all these percepts turning through the system turning on turning off motivators initiating behaviors activating actuators and then as the robot moves moves into a lighter area of the of the of the room a new percepts and on and on so that's the code we're not going to go through it but that's a relatively small amount of code and if we spend some time looking at it it's quite declare declarative it's quite straightforward but we want to go through it and a perceptor the the core of a perceptor is an analysis function that takes in a percept in the context of recent memories and then does first of all checks is is the percept fresh enough because if it's an old percept because my my my my brain is is falling behind because there's too much to process then it will simply ignore it otherwise it grabs all the memories that are that are relevant and then calls the logic the the perceptors logic which is a function passing the new percept and the recent memories and maybe out of that comes out a new percept that simple now our smart things mind is what I call its profile so a puppy as a profile that the puppy profile we have the mummy profile and they have different perceptors different motivators different behaviors and whatnot the puppy profile as we've seen it cares about perceiving things adding lighter darker if we're colliding if we're in danger if we're hungry why are we hungry we hungry because we haven't eaten in a while we've done some exercise is is there food am I on top of food can I eat scent am I getting closer further away from food am I stuck is someone else eating and I want their food right someone else motivation this curiosity hunger greed and fear and important thing about motivation is that one motivation can inhibit another if you're hungry curiosity just like is inhibited if you're greedy then you're your hunger goes away because now you're not chasing food you're chasing someone who's eating food and if you're afraid then everything else is irrelevant you're panicking so it's kind of a Maslow pyramid of needs kind of thing implemented here and for behaviors we have two kinds of behaviors in general we have reflexes which kick in at any time you may be foraging roaming around tracking and other but if you're about to collide to something reflexes kick in and you avoid the obstacle and then you have motivated behaviors which are more long-term they're driven by motives he's eating my food I'm going to try to find him and take it away from him that's your motivated behavior these are puppies profiles and the way they are relate can be mapped out this way you have all the perceptions and how one perception feeds into another feeds into another feeds into another how they trigger motivations our motivations inhibit motives in a bit one another and then all those motives trigger behaviors and all those behaviors are expressed through intense intense to act so let's we can see a bit more detail but I don't want to run out of time so perceptions feed into motivation motivation feeds into behaviors behaviors into actuation that's that's the mind of a puppy mummy as a profile it's a simpler profile not because mummies are simpler because I had less time and her perception is here are are my my puppies panicking out of control is one puppy hugging all the food and her motivation is is only once maternal instinct again it's because I had little time and her behaviors were very simple other either calming down panicking puppies or admonishing puppies to share their food now so we've talked about a profile our smart thing also has a platform platform is the the the smart things anatomy it platform determines how do you talk to sensors how do you talk to actuators the platform defines and implements rules of actuation again if the you may have two different platforms trying to execute the same intent which is moving forward if you are a two-wheeled rover turn both wheels in the same direction the same rate if you are BB8 it's a different way of moving forward but the intent is the same so the platform translates what could be identical intense into very different modes of actuation in in this demo we have three types I showed is two types of platforms the rover the puppies and the hub the mummy I also have a muck rover which allows me to to do testing with entirely on my laptop now the platform runs on a system the rover platform runs on the nerves ev3 system it could potentially run on another system a raspberry pi if I had the proper sensors and the proper actuators the same profile could run just plug in on another platform the hub platform which is the platform of the mummy is any beam capable system now in order to talk to ev3 sensors and motors the nerves project supports the ev3 as a target system integrating the good work done by ev3 dev.org which not to make a long story short exposes all the sensors and actuators as read writeable files makes it very easy to interact with them and and nerves project this is really really fantastic I mean very little ceremony super fast firmware build and burn cycle I mean I cannot say enough good things about it in a short a smart thing is a platform on a system plus a profile that should be clear then there's there could be some code where we can see how a profile is actually defined and very briefly I have a list the profile here the percept the perception part of a puppy profile is actually a list of perceptors actually configurations for perceptors and the important part parts of a of a perceptor configuration is what is the perceptor about what does it what what comes in as input and what is the logic by which it will generate new percepts and this logic here is actually a function it's a function multi-headed functions multi-headed function here let's say for light and just go through this one very quickly the first one says if I have you know and a person that comes in I have no recent memory of anything I can't tell if it's getting darker or or not so I return nil throw my hands up don't know if I get an ambient percept and there's some value I look at the last ambient percept was in memory if its darkness is greater then it's getting lighter if it was lighter if it was darker and it's getting and then it's the value is less it's getting lighter that's it I compare with recent memory that's it that's all it does very simple motivation same idea motivator configs one for curiosity the other one for hunger again same idea a name what it's interested in and what's the logic for generating a motive and here the one for hunger is basically if I have a I am hungry percept that just came in my stomach rumbled and I have not been in any danger in the last five seconds I could be motivated by hunger if I get a I'm not hungry anymore my stomach is full percept basically then I turn off hunger as a motivator very simple again lots of simple agents working together interacting it's out of their interaction that comes out that something interesting comes out it's not the parts are simple the interactions are simple but as many of them and they happen concurrently and interesting thing stuff happens because of that behaviors same idea in this case here these are each behavior is a final state a finite state machine that says what do we do for example panicking when you start you start panicking which in this case would be turn the lights red yelp and then go into the state of panicking and when you do that do the panic behavior which is just run around like a headless chicken and then when you go from danger to ended when you finish panicking then you simply do nothing you're done so very simple again again then the panic behavior is as I said turn on the lights and go backward really fast turn some random directions some random amount and that's it simple and the actuation of it's a going backwards so my the platform of a rover defines actuation actuators and there's one for going forward backward turning right turning left and by not and let's look at going forward very simple again a function and it's a script that says which wheel to turn which way and underneath there's the platform knows how to translate go forward into the right writing the right information in a right file so that the right actuator is activated the right way straight forward again then I have all this thing come to life I have the smart thing supervisor and what it does is for every detector configuration for every perceptor configuration for every motivator configuration and so on of the smart thing it creates an agent it creates a perceptor with that configuration a detector with that configuration a motivator with that configuration starts them and the thing is a lot let's talk about community communities of smart things communities created by name a smart thing knows the name of its community it knows at least one other peer that he can connect to and as soon as it connects to it it connects to the network and it can broadcast to the entire network and any broadcast received becomes a herd percept which then goes into the the whole process it's done with p2p it's p2p with you done with the distributor Lexar using PG2 we'll go to the code it's again it's pretty straightforward and that allows me to entangle two minds the way the fact that they can communicate over that pb network and that's basically how they hear of each other that feeds into a new percept when they hear one panicking it triggers their sense of danger individually and when there are when they are when they sense another one is eating and they're not hungry the greed motivator kicks in and they start to tracking behavior which means they're tracking the other guy not the food attracting the other guy and they can actually they can actually say things so you can you can you can they can communicate through p2p through each other so that one robot can say oh I'm eating and then one says aha I want your food that's a more blown up that's basically the idea and again simple perceptions what happens when it's this is the for the mummies profile how she will perceive out of control panicking she will perceive food hugging and she has behavior for calming down her brood for getting them to share their food and just a little example here of a new rule that was added to the puppy profile that says when I hear mummy saying calm down I turn off my fear motive straightforward now connected communities together I consider members of a community as being on a local network and communities being remote and the communication is done through rest calls with Phoenix doing the work and it's pretty straightforward I mean it's just rest with Phoenix it's very straightforward this is how a percept crosses the boundaries of a community straightforward again but the internet of things it's not about puppy rovers and mummies actually I'll make the case that a self-driving robot as all the essential characteristics of a smart things it integrates multiple sensors and actuators it must observe orient decide and act autonomously so I think I think two puppy rovers interacting under the eye of a mom touches many of the key aspects of communities of smart things still a demo a little bit more about nerves the brick is small actually actually 64 megs of RAM three 400 megahertz single core very small and it's kind of slow this could not fit on any v3 without nerves nerves really trims down Linux and I have 15 megs of free RAM with this code and Linux on any v3 which I think is pretty amazing the process is amazingly fast you can actually feel the burn and you it takes actually less than 30 seconds to go from to compile build the firmware burn it and then just pick it up and plug it in 30 seconds that's really good so I think that nerves and and and Alexa gives iot coders can give iot coders really superpowers amazing superpowers I love the fact that functional programming and pattern matching with Alexa gives me the declarative code I love the fact that if I want a I want to go process crazy in my architecture that's not a problem at all works just fine and I love the fact that with nerves I can fit Alexa and this architecture on smallish devices so recapping if you want to realize the big promises of the internet of things we need to build communities of communities smart things a smart thing is autonomous and autonomy calls for a functional cognitive architecture and if you have access to the slides I'd encourage you to read this paper from a Scandinavian research institute about architecture of autonomous vehicles and that's the term they use functional cognitive architecture Marvin is a framework I'm building rebuilding for for creating communities of smart things and lecture phoenix nerves make it an absolute joy to develop I want to thank Frank Hunliffe who's been invaluable and his help has been amazing in getting this done and my intern William for actually building the robots his robots thank you


Northern Eye Center in Pikeville, your local vision experts, experienced doctors using state-of-the-art technology, choose from top designer frames from Oakley, Ray Ban, Nike, and more. We accept Medicaid and Medicare, plus most insurances are accepted. Northern Eye Center in Pikeville, next to track your supply. The Pike County Junior Conservation Board will be hosting their back-to-school kickoff for all Pike County students Wednesday, August 30th from 3.45 p.m. to 5.30 p.m. The kickoff is free to attend and is open to students in eighth through twelfth grade who are interested in learning more about conservation. This is our third year of having a junior conservation board and we do a back-to-school kickoff to invite any new members who may be interested in learning about what our junior board does and we interest in about them to come. It will be on August 30th at 3.45 p.m. to 5.30 p.m. This will give us the opportunities to go over our program, our bylaws and we will have food here and games so that the kids can get to know any of the older members that has been on here and just kind of like I spread your games and stuff for them to play. The Junior Conservation Board gives students the opportunity to learn to conduct professional meetings, earn community service hours, host camp days, and plan community service projects. We think that it is important because years ago there used to be future farmers of America, groups and stuff in schools. There is no longer any of those in our local schools anymore so a lot of kids don't have the exposure to anything agriculture related or conservation related so just trying to bring that back into our community a little bit more than what it has been. For more information go to Pike County Conservation District on Facebook. Reporting for Mountain Top News, I'm Brianna Robinson.


So, let me begin with a salutation to Thibaut. Dear Thibaut, wish I could be there at IHS in person to recall some fond memories and convey warm regards to you from me and my family on your 70th birthday. Thank you for sharing your deep insights in physics, being there for me always and your deep friendship over the years. I begin with the prologue after a decade at the Raman Institute starting in 1980, working on problems of GR with some potential astrophysical applications, I felt I should reassess and reorient myself of race. Chandrasekhar's strategy of moving on from one area to a different one every decade made a deep impression on me. Influenced by the school at Karjays, the GR meeting at Stockholm and the meeting at Goa, I felt that early universe cosmology, astrakar variables or gravitational waves were possible areas to explore. So I applied in 1989 to seek opportunities in these three areas. Since I met Thibaut at Karjays and Goa, I applied to him for gravitational waves and I was thrilled when it succeeded. Strangely, it had a Chandrasekhar connection via gravitational waves and the post neutron and formalism. My sabbatical with Thibaut Amur was during 1989-90 when he was himself moving from Newton to IHGS. In a sense, I was Thibaut's first postdoc at the IHGS. It started a new phase in my scientific life which lasted for two decades and led post 2009 to my involvement in Indigo, Ligo India and Ligo India scientific collaboration. I began working on problems related to gravitation radiation, the MPMPN formalism of look Blanche and Thibaut Amur. I still remember that when I reached my office in Newton in September 1989, Thibaut was away on that day, but on my desk was the material I had to start on, a bright yellow dark preprint by Blanche Amur on the PN generation of gravitational waves and a copy of look Blanche's thesis. When I met him the next week, the brief first year, extend the multiple expansion method implemented for massless vector fields to massless tensor fields using symmetric trace-free tensors. Investigates linearized gravity by using HTF methods. By Christmas, we had the first cut results. When finalized, we noticed that the corresponding results using tensor spherical harmonics had incorrect coefficients. This illustrated the algorithmic and computational advantage of symmetric trace-free methods. Thibaut then explained how we had the tools to extend the one PN computation of mass movements to one PN current movements and this led to the second project on the one PN current quadruple with compact support. I took my baby steps in this area working on it when I continued my sabbatical after IHGS that year. On my return to India, to keep in touch with the topic, I generalized it to the one PN current octopole and collaborated remotely with Thibaut. I now come to the theme one in which I collaborated with Thibaut and with Look. When LIGO was funded in the early 90s and efforts to construct accurate coalescing compact binary waveforms started, it was soon realized that far higher-order PN accurate waveforms would be needed to approximate gravitational waves in their final stages of inspiration and merger than in binary pulsar work. Numerical relativity was far from mature and the grand challenge program was started toward this goal. Physical insights were essential to simplify the goals and achieve the required waveforms. For instance, the garden variety in spiraling compact binary would have radiated away their eccentricity and be moving in quasi-circular orbits during the latent spiral. Since matched filtering is sensitive to the phase, it's more important to first control phasing rather than the amplitudes. And finally, in spiral can be treated in the adiabatic approximation as a sequence of circular orbits. This allows one to treat separately the conservative equation of motion problem, the radiation problem, and finally the radiation reaction or the phasing. Following the funding of LIGO, issues related to templates for gravitational wave detection were intensely investigated by Kip's group at Caltech. Kip convened an international meeting to brainstorm this issue and highlight the urgency to address this problem. Look Blanche and I were participants in that meeting and in the discussions there, look expressed the view that the MPMPN formalism could be extended to do this. Soon demonstrated the two PN generation of gravitational waves. Soon after I was visiting Thibault at IHES and this led to the collaboration between the three of us and we completed the two PN phasing for inspiring compact binaries. Using the BDI formalism, which goes from the source moments to the radiative moments, while the canonical moments. The new insight required was a treatment of the cubic nonlinearities. The availability of the two PN equation of motion from the binary pulsar work which Piotr referred to was the contribution from Thibault himself. It really facilitated the computation of the two PN phasing by our MPMPN and independently by Will and Weisman using DIAM. So immediately it was clear to me that the multipolar post-Mincosten formalism matching to a post-Newtonian source that may have appeared like an overkill for the binary pulsar analysis. It's a good example of the advantage a complete and mathematically regressed treatment of a problem can bring for more demanding application that could just be around the problem. Though two PN templates seemed adequate for binary neutron stars, it was clear that for binary black holes the three PN approximation would be necessary. The control of the three PN order as explained till now was more formidable because of the limitation of the Hadamard self regularization which was used. It led to undetermined coefficients in the equation of motion and in the mass quadrupole and the energy flux. And then one started this very interesting work in two groups, the Yenna group and Luk's group. First to attack the equation of motion about which you heard in Piotr's talk in nice detail and the study of the equation of motion and harmonic coordinates by Luk Blanchet and his PhD students Guillaume Fay. Luk also worked on working the general multiple expansion, the computation of the tail of tail and the tail square terms. And therefore when we computed the three PN mass quadrupole using the 3.5 PN flux the 3.5 PN phasing could be given with three with five undetermined coefficients which came from the equation of motion and the mass quadrupole. It's interesting that at this particular point the dire approach could not be extended to three PN. So this was the only calculation which gave the 3.5 PN phasing. Then as explained by Piotr the breakthrough really came in the use of the gauge invariant dimensional regularization in the EDM approach to determine the unknown coefficients and really you had the equation of motion with completely determined. This is followed by the use of dimensional regularization by Blanchet, Damouin and Ressouza-Ferreze to look at the equation of motion in the harmonic coordinate approach. But it was sort of realized that in addition to the regularization, renormalization of the world line would also be needed. As the other two approaches to the equation of motion give consistent result at three PN the effective field theory approach and the strong field point particle approach. And therefore to deal with the radiation at three PN we used a hybrid screen where we first use Hadamard regularization for terms where it could be used and then looked at the ultraviolet divergence by dimensional regularization. The use of the dimensional regularization at three PN again involved Blanchet, Damouin, Ressouza-Ferreze and myself and using the same renormalization of the world line the coefficients could be determined. This work also provided explicit expressions for the mass movements and d dimensions. This work was followed by the computation of the gravitational wave polarizations at three PN by students in my group over the years. All this work was supported by the Indo-French collaboration with Look over two periods. I had to visit the Sephora Projects at support and interactions with Ibo at DIHES. The work up till now involved non-objects so the extension includes spin orbit and spin spin terms really was achieved in Look's group after that. Then came a practical limitation that when we used math tensor, when you had higher multiples it was not very efficient. During that time Jose Maria was visiting IAP and Guillaume Faye decided to use math tensor, X tensor to really deal with these set of symmetries. He rewrote from scratch all the codes and we validated it with all the calculations we had done up till three PN. We then had an efficient set of programs to compute the 3.5 PN mass quadrupole, the 3 PN mass octopole and the associated polarizations to 3.5 PN accuracy. The whole program, the whole set of programs were efficient so that today higher order tidal effects could be calculated. And as I would say the tool to the force of the MPMPN method is the calculation of the 4 PN mass quadrupole which appeared on the archive last week and the 3 PN current quadrupole. Again the program is completed because now you also have the current movements in the d dimensions. So to conclude this particular part the MPMPN formalism I would say is currently the most successful since it can deal with all aspects. The gravitational motion, the radiation field at infinity, the nonlinear effects related to tails and it has evolved over the last 25 years into a consistent algorithmic approach to analytical gravity wave computations for inspiring compact binaries. Currently I would also say that the MPMPN and numerical relativity are the scaffolds which underlie the impressive arcs of the effective one body and phenom template families which are used for detection parameter estimation and tests of gravity which you heard in Alessandra's talk yesterday. I now just move to the next theme in which I collaborated with Thibault and this was the application to gravity wave data analysis. In a series of papers Thibault, Satya Prakash and Myself we provided digested version of the gravity wave analytical results for gravity wave data analysis applications in detection and parameter estimation. In these set of papers we developed tools in equivalent PN families, the notions of effectualness and facialness, the use of window functions, how to go beyond the stationary phase approximation to deal concretively with template construction and to understand template characterizing issue in gravity wave data analysis. With Piotr we also looked at the implication of the effective one body in gravity wave data analysis. All this work culminated in the standard LVK reference for these particular aspects, the paper which is called the BIOPS. All this work led to implications of these wave forms for parameter estimation, for tests of gravity, for investigating the implications of the full wave form for astrophysics and cosmology in the Einstein telescope and in Lisa in my particular group. And therefore over the years it really built a kind of expertise and in a sense is the foundation of the current Indian presence in the test of gravity activity in the LIGO Virgo collaboration. The theme, the third theme I would like to refer to is the how one goes beyond PN expansions by resummation techniques. In this paper with Thibaut and Satya, we looked at the use of resummation techniques like par de approximations to go beyond the post neutron approximation. And this, as you heard in Alexander Stokes, led to the effective one body approach. As you know, the effective one body approach, developing to two streams, the one by Alessandro and Thibaut at IHGS and Bruno and co workers at Maryland and AEI. I was fortunate that during one of my visits, I could collaborate with Thibaut and Alessandro to work on the improved resum templates, which uses the multiplicative decomposition of the multipolar wave form. It was interesting for me because it involved a revisit and completion of the 1990 work on current movements with Thibaut to provide a close form expression for the one PN current movement and the associated HLM for L plus M order. This generalized the work of Kiddur, who had provided these corresponding results for the mass movement and the HLM for L plus M even. This work was sort of generalized and by me and Fujita to give the effective one body polarizations and in the test particle limit up to 5.5 PN order. So anytime, you know, I came to IHGS and work on a particular problem, it had interesting implications in my group back in Raman Rituj Institute. I come back to the last theme and this is the theme related to going beyond the quasi circular inspiral, that is how do you discuss the eccentric inspiral of compact binders. Gravitational radiation reaction decreases the orbital eccentricity to negligible values by the time the gravitation radiation enters the bandwidth sensitive bandwidth of the detectors. For an isolated binary, the eccentricity goes down by a factor of 3 when its semi-major axis is halved. This is the famous Peters result. It's important to track eccentricity because it can help distinguish between the two formation channels for coalescent compact binders. The field boundary evolution or the dynamical formulation formation in dense telescope clusters. The non-zero eccentricity detection of it would be a potential smoking gun for the dynamical formation channel. The tight eccentric binary forms via multi-body interaction and is unable to shed the eccentricity before coalescence. Even a very small eccentricity can produce parameter estimation biases as shown in the work of Fawata. But are there scenarios where eccentric binaries really form? And when looks at the recent literature, one finds there are many such scenarios. For example, in globular clusters, the inner binaries of the hierarchical triplets undergoing cosine oscillations can merge under gravitation radiation reaction. A good fraction of such a system will have an eccentricity of the order of 0.1 when the gravitation rays pass through 10 hertz. If you look at isolated triple systems with a binary black hole inner binary, a few percent would also have large eccentricities about 10 hertz. In the dense environments of galactic nuclei, eccentric binary black binary black holes can be formed. Work by old lady shows that there can be high eccentricities as high as 0.9. And at least 10 percent will have eccentricities of the order of slightly more than 0.1 when they enter the LIGO band. Again, work by Samsung et al. this last year basically showed that 75 percent of the binary black holes formed in galactic nuclei via gravitation capture will have eccentricities of the order of 0.1 or more. So all this basically tells us that eccentric scenarios are very likely and therefore it's a class of problems we should investigate. And therefore, over the years, a group, my group at RRI essentially looked at extending the Peters and Matthews results to eccentric binaries up to 3 pn order because the formalism would be generalized to do that. The phasing of eccentric binaries would need in addition to the conserved energy and the far zone energy flux, the conserved angular momentum and the 3 pn flux of angular momentum also. And this essentially was the thesis topic of my students. For example, the energy flux was calculated by Arun and Hussaila and the angular momentum flux by Sena who then used it to calculate the secular evolution of orbital elements for binaries in posse elliptical orbits. When you look at the technical complications for the eccentric orbits, you realize that there are two, the instantaneous terms and the hereditary terms will need to be dealt with in slightly different ways. For the instantaneous terms in the energy flux, explicit closed form expressions can be given in terms of the dynamical variables related to the relative speed and the relative separation. You can then convert it to and average it over an orbit by using the quasi-keplerian representation, which was given by, you know, Natalie Derival and Thibault long back during the study of the binary pulsar. But since we are working at 3 pn, you would require the 3 pn generalized quasi-keplerian representation. But on the other hand, when you look at the hereditary contribution, you can only write down formal analytical expressions as integrals over the past. If you need more explicit expressions in terms of dynamical variables, you would need a model of the binary's orbit to implement the integration over the past history. When you look at the hereditary contributions, when you look at the circular orbits, you realize that the tail integrals could be evaluated using standard integrals for a fixed non-decaying circular orbit. Directly in the time domain. One could show that the remark past contribution of the tail integrals is negligible and the errors due to the neglect of an inspiral would be at least 4 pn. In the elliptic orbit case, the situation is more complicated. Even after using the quasi-keplerian representation, you cannot do the integrals in the time domain since the multiple moments have a more complicated dependence on time. So the integrals are not solvable in simple closed forms and therefore one evaluates this by going to the frequency domain. And as I explained to you, what really goes in as input is the quasi-keplerian representation where the orbit is sort of written in terms of parameters which can themselves be written in terms of the conserved energy and the conserved angular momentum. Inbuilt into this particular formalism is the double periodicity of the motion in terms of the period related to radial motion and the period related to angular motion which is different because of the period stront procession. It is again fortunate that the inner group of Gerard Schaefer essentially looked at this particular problem and generalized the 2 pn quasi-keplerian representation to the third 3 pn order. The expression is more complicated but it is sufficient to really do what we really need to do. And once you have everything in terms of the quasi-keplerian representation, one looks at the orbital elements which are themselves functions of the conserved quantities and then you can evaluate their variation with respect to time by using the flux balance and averaging the fluxes over an orbit. And this is exactly what was basically done, but how do you go beyond the average? So again, to go beyond the adiabatic secular revolution, one has to look at the equation of motion, the perturbed equation of motion. And once again, Thibault's work using the method of variation of constants comes to the rescue. So in this particular method, you can really deal with the three times scales which are there in this particular problem, the orbital period, the period stront procession and the radiation reaction and go beyond the orbital averaging. So what you do is rewrite the variables, rewrite everything in terms of these equations and the constants in these particular solutions are allowed to vary with respect to time. And when you analyze these particular equations, you realize that these coefficients have two timescales in them, a slow radiation reaction timescale which corresponds to the secular drift and a fast orbital timescale periodic oscillation. So therefore, you put these constants and introduce these two, you know, the average, the barred quantity and the triller quantities. And then you look at these particular equations, the average quantities you average over the orbit and when you subtract it from the force, the driving term, then you get the oscillatory term. So this was something which Thibault had developed in connection with the binary pulsar and in a work with him and Gopukumar, we could arrive at this particular thing. So again, you can see here the continuity which exists between the binary pulsar problem and the phasing for gravitational waves. So as you can see here, the quasi-caplarian representations go order by order and Gerard's Riena group really played an important role in taking this particular forward and we could adapt this to look at the binary pulsar problem. And therefore, this essentially provided generalization of the Peters and Matthews formulas and therefore this work could also be basically completed. So as I said that this, when you look at the results coming from here, you can go beyond the adiabatic approximation and this essentially was the systematic work which was explored by my students in their thesis. So after finishing the quasi-circular case, we will look at the quasi elliptic case and once the phasing is available in terms of the variation of the orbital elements, one wants to know what the waveforms look like. And this was next looked at by my last student, Misra, who looked at the instantaneous terms in the general orbits. The tail terms required much more work and it's only in 2019 with colleagues in Switzerland, we basically could complete the tail contributions also. So essentially we have the tail contribution, the post adiabatic corrections and finally we could also calculate all the non-linear contributions for the eccentric terms. So just to conclude, where are we in regard to eccentric binaries? There is a lot of action people are trying to construct Fourier domain and time domain templates both to detect the eccentric binaries to estimate the parameters of the eccentric binaries. And then look at it, what is the implication of these eccentric template families for things like test of gravity.  So eccentric binaries could be the next category of gravity events which are waiting to be discovered. And in a sense, I'll categorize them as being the known unknowns. There are scenarios where they are there and we know that they should exist. The question is when do we first see them? And there is no surprise that the eccentric research is really ramping up. If you look at the literature over the last few years, you will find different aspects of eccentric binaries are being studied. With that I come to my last few comments. Thibaut's views on the problem of motion in the proceedings of Leshush, Karje's 300 years of gravitation and those on the status of the equivalence principle have a lyrical clarity as he reminds us. It's not sufficient to transplant in Einstein's theory the technical steps of Newton's theory, but one needs to transmute within Einstein's conceptual framework the ideas that underlie the technical developments. In a way, I think that a similar natural transmutation seems to underlie mathematical techniques when one goes from pulsar timing to gravity wave phasing via the MPMPM framework. What is unique about Thibaut's body of work related to gravitation waves is the deep insight brought by thinking quantum mechanically in a classical problem. Starting with the use of regularization ideas when attacking the Hulse-Taylor binary, which in a sense led to Mark II approximation methods I would say, and adding reason to normalization for modeling the LIGO-Wergo coalescing compact binaries. Thibaut introduced the par de resumption, effective un-body, dimensional regularization, input from the gravitational self-force and gravitational scattering amplitudes to create most recently an eclectic cocktail. You would this be the Mark III approximation methods we have to just wait and see. And finally, my own initiation into gravity wave research was the sabbatical with Thibaut that allowed me to chip in to model the inspiring compact binaries with look and him and post 2009 to lend a shoulder via Indigo to realize LIGO idea. Thanks Thibaut for the initial opportunity and subsequent support that made all of this possible. The best wishes on your 70th birthday, take care. So we have time for maybe one or two questions. How's there any steer? Online questions. Yes, there is one and I don't know how to give the possibility to talk. You can ask on you then. Thank you very much. I was waiting to be on you. Thank you very much for this fantastic summary of the various developments. My question was about the last topic, eccentric systems. It's precisely in those systems, you could also imagine the spins being misaligned and black holes could have in principle lock spins. And so if you combine then eccentricity and spin evolution, it could be even more complicated. I know that there are some efforts, but what do you think the status of the feed should be in constructing faithful templates for eccentric orbits with large spins? Where should it be? You are hit on the hard problem. So you are right. People have started looking at what are the implications. For example, the eccentricity and spin when they have come together, what kind of systems would have problems and what is there a phase space where the problem would be less severe etc. But as you are rightly saying, since I was talking about the eccentric part, I slurred over that particular part. But what you are saying is one more problem we should be addressing. I really don't have a good answer to, the only way I can think of is probably one can look at regions of phase space where the effect of the spin would be less compared to the effect of eccentricity, the eccentricity high or something like that. For even to do that, we probably need very good templates that can handle both large spins and maybe moderate eccentricity. I think that's a development that is immediately needed, otherwise we might be missing systems, potentially missing systems that could exhibit this sort of dynamics. I agree. So does this pick up again?


So you want to break into the tech industry but you're not sure how much people are getting paid in the space because the compensation is very complex and high in the tech industry. So in this video, I'm going to break down the sweet, complex and high tech salaries such as product manager salaries, software engineer salaries and discuss if gender gap actually exists in the tech industry or not. By the end of this video, you will understand the key components that goes into the half million dollars paycheck in the tech industries and understand why they're getting paid more. Hey guys, this is Dr. Nancy Lee, a director product and featured in Forbes. I've helped 100 people land a dream PM job offer in fan companies and unicorn startups. If you want to take the product management course, please go to PM Accelerator.io to learn more. To learn the most effective way to become a product manager, please subscribe to the channel and hit the bell button to be notified every time I turn on new video every Wednesday. Check out the inspiring stories on Instagram to learn so many people with very similar background just like you. First of all, let me share with you my sad story of how I was underpaid significantly in my first job, fresh out of my school. That was 2013, was still recovering from the recession. I felt I was so lucky I was able to land a systems engineer job and at the time they also sponsored my H1B, especially during recession. Most companies do not sponsor H1B, so I just accept offer without negotiating. Guess what? Later on, I realized that at the moment I have other co-workers who is a man who joined the company, he was actually paid higher than me in terms of the base compensation and he also got additional sign-on bonus. And if I had tried to negotiate after more ask for more salary, my base salary will be significantly different from where I am right now. And guess what? I also discovered that I was continuously underpaid throughout the entire process because I never knew what the different kind of compensation structures in tech companies and actually the six different elements goes into a tech compensation. So that's why I'm filming this video really want you guys to learn what's in and out of the things can goes into compensation so that you never underpaid regardless of your gender. There are six elements goes into any tech compensation. Let me break it down to you guys and also tell you the exact number what you should expect in different stages of your career. First of all, the base salary is the basics. It's like a cash. The moment you join the company, they're going to give you the base salary and the base salary is different compared with type of jobs in tech companies. For example, if you are fresh out of college, you have no work experience but if you join big tech companies such as Google, Meta, Microsoft and Amazon, you're getting paid a lot If you are a software engineer, your base salary could be about 150,000 dollars or up to 200,000 dollars. But they also give you lots of equity and stock options and your total compensation can easily get up to 250,000 dollars as a fresh graduate. For example, this is a real-life salary from a software engineer working for LinkedIn. The case total compensation is 250,000 dollars as a fresh graduate. If you are product managers and join a fan company such as Microsoft, your total compensation could be around 150,000 dollars as a fresh graduate. Therefore, in general, software engineers are getting paid more. However, product manager has much more upside in terms of how you grow as a leader in the company. So the entry-level product manager, your base salary could be about 80,000 dollars if you work for startup or around 130,000 dollars if you work for a fan company. So the range is actually very wide. Now, let's talk about bonuses. There are four types of bonuses. Bonus number one is your annual performance bonus. Those are your target bonus. It's usually around 10% up to 20% if you're entry-level. If you're direct level or someone who's very senior, it's likely your bonus is going to double your base salary. So which means the more senior you are, the higher your bonus will go. Second type of bonus is sign-on bonus. Once you join the company, you can actually ask for sign-on bonus regardless of your entry-level or director or product manager or a software engineer in the company. I have negotiated up to 100,000 dollars at the sign-on bonus for other people. So the range of sign-on bonus is very big. But usually, when companies give you sign-on bonus, they give you different cliffs. They don't give everything upfront to you. They usually say you have to stay in the company for a year or certain amount of time so that you're able to capture all the sign-on bonus. So make sure to pay attention regarding the specific time period in the cliff that's designed for you. The third type of bonus is relocation package. If you move from one state to another state or you move further away from your original location, you're able to negotiate very good relocation bonus. And those relocation packages could also include hiring a realtor to sell your house and waive the transaction fee. And actually when I receive new offers, some company offers this to me so that you actually waive those 5% or 3% of realtor transaction fee. That's significant amount of money. The fourth type of bonuses are different kind of benefits and perks within the company. For example, lots of tech companies give you free gym membership, free lunch, free everything so that you can spend lots of time working in that company. So that's a way, to me, it's a trap. But they can also give you different kind of health benefits. And for example, your health care premium varies significantly. Some company I joined, the health premium is only like $100 or even $20 per month. For some other company, it's like $400-$500 per month. So they vary significantly. So whenever you receive your benefit package, I'm going to ask a lot regarding the health care benefit as well. And on top of that, I also pay close attention to their 401k contribution. Some of my co-workers in the past, their company pay him 10% of the salary can be contributed into the 401k package by the employer. That's 10% growth immediately. And for some other companies, only give you 3% match. Some companies do not even give you match. So you can actually look into those different kind of bonuses. Here's another important tip for new months. And you should also look into maternity leave policy and also maybe negotiate your maternity leave period. And different company has very different maternity leave policy. And for example, summer students, it's crazy when the company discover they were pregnant and summer students will actually pay less during the interview process. It's crazy. I know. So if you want me to make a separate video, dive deeper on this topic, please comment in the description of this video. Therefore, it's very important you need to negotiate different kind of bonuses and packages. For example, like sign-on bonus are frequently used if you receive other offers or you ask for higher stock options or total compensation, they're not able to match it. They're going to give you higher sign-on bonus. So figure out what's the best way to negotiate higher salary. It's very critical. Gender pay gap actually exists in tech companies. However, if you know the best methodology to negotiate and leverage all different examples I just gave you, you're able to actually get more than other people as well. Check out this video where I teach you the top four strategy to negotiate higher salary in tech companies. I'm also going to link the video in the description of this video. Please comment in the description and regarding what are the things it should be included in the bonuses. I love to hear from you guys. The third type of compensation is called equity. So what does equity mean is that it's your ownership of the company and it's different for a public-traded company and private company. For a public-traded company, they give you something called RSU, stands for restricted stock unit of a company. This condition usually means that you need to vest your RSU. So which means, for example, you join Google, they give you $400,000 RSU over four years and every year they give you about $100,000 per year. So it's fully vested within four years. But companies like Amazon, they're very tricky. The vesting period, they give you more layer of the four years to give you less at the beginning. For example, with the first year, you get zero vesting. Once you hit one year and they give you 15% and later on they give you 25% and year four eventually give you 40%. So the longer you stay in the company, the more RSU you're getting. So the vesting period is different and percentage is different based on different companies. If you work for big tech companies such as Google, Meta and Amazon, majority of your compensation are RSU of those companies. So for example, at the senior level, one of my students, he is a principal product manager. He's a Meta L7 product manager. He's getting paid a total compensation of around $800,000. But more than half of the compensation is Meta stock. Of course, current fees are Meta soft job, which means that his total compensation is also reducing as well. The same rules applies for software engineer. If you're a software engineer, if you're very senior, it's likely you can get paid about $1 million. That's for a very senior software engineer. In Google Meta, those kind of companies, they're getting paid significantly well as well. And majority of the compensation actually those kind of stock options in big tech companies. So it heavily depends on the stock price of those big tech companies. The next part of compensation is the equity in private companies. For example, and if you join private companies, they also give you RSU or stock options. However, these cannot be transferable as easily as just selling your Google stock. So it will take you a while for you to be able to sell your equity within company. So usually they give you something called number of shares when you join the company. And then they give you a strike price, which means when you get into a company, the value of the company is about $1 per share. When they sell the company, when they go IPO or get acquired, the company could worth $10 per share. And your immediately your original $200,000 equity can worth $2 million right away as soon as it gets sold or go IPO. However, if they do not go IPO or startup even went down, it becomes paper money. So the risks and awards are balancing them out. So totally I will leave it up to you. What kind of companies would you like to join? And actually we have several students who are inside the PMX editor who rejected fan offers and joined unicorn startup because they believe that this company is about to go IPO soon. And their $200,000 equity will worth $2 million, hopefully $20 million. That's a life changing money right away. They can just immediately quit the job. This is crazy. I have a friend he joined Coinbase right before it went IPO. His equity actually turned into $8 million in cash as soon as Coinbase went IPO. The last part of conversation is actually not money, but your green card and H1B sponsorship. I personally spent 11 years to get my green card. I understand how hard and how important it is to get green card sponsorships starting from day one. And actually when you negotiate your conversation on your salary with HR, you should also start your green card application conversation as well. We actually have three students inside the PMX editor who are able to negotiate green card sponsorship starting from day one to join the company. If you're thinking about breaking into management space or tech companies, I have a free parliamentary salary table for you. We're going to tell you how much you need to get paid for what type of companies and what years of experience and based on what kind of locations as well. You can go to the link in the description to download the free salary table that's going to help you to achieve your half million paycheck as well. If you like any free content today, please make sure to hit the like button, comment below and share the video with any aspiring parliamentary managers. Make sure to check out this video where we discuss the parliamentary salary breakdown and I hope all of you guys is able to break into tech industry very quickly. This is Dr. Nian Sidi from PMXX Editor Diode. Bye.