Thank you again everyone for your patience this morning. It is a great joy to welcome you here today. We've traveled a long way together to get to this very moment. We join with deep gratitude for all that has brought us here, for the ministries of all who have come before, for the leadership of our board of trustees, for the work of our search team and their dedication and passion for this work. Together, we're here for one reason only, to vote on the calling of the Reverend Kelly Weisman Asbruth Jackson as our co-senior minister. After a week of getting to know Reverend Kelly AJ, you are here to decide if you would like him to join us in creating the future of our community. When we call a minister, we ask them to become a part of our lives, through preaching and teaching and their presence among us. We ask them to celebrate our joys and grieve, our losses reminding us that we are never alone on this journey of life. We ask them to remind us of the great teachings, the poetry and the rituals and the words of the ages. So we might apply them to our own lives in this time and this place. We join with them to envision future possibilities, to help us face our limitations, to continue to dream in spite of them. In days of social isolation ministers are asked to remind us of the need for community, helping us to find those others who want to also leave this world a better place than we found it. In the calling of a minister, we invite them into our lives, into our stories, our memories, the history of this place and these people and all those who came before and helped us get to this time. It has been my great privilege to serve here among you for the past 20 years, to be with you in all of these ways. And now I look forward to continuing that journey in some of the same ways and in some new ones as well. Into the future you have envisioned for this beloved and blessed community that we share. Today you vote to call our next minister. For the first time ever, you are voting to call a co-senior minister. This is indeed a momentous and exciting day. So may we gather in celebration, in recognition and in hope, calling to mind all that we have done to get to this moment, all the struggle, all the tears, the joys, the grace, the dreams and the unyielding and fierce belief in the power of who we can be together. Thank you Kelly and welcome again everyone. So we have one agenda item and that is to vote on the calling of our minister. We will hear from our search committee with some words about how we arrived at this place and some words of endorsement of Reverend Kelly Weisman-Ethspruth Jackson as the candidate. So the actual voting process, so there will be a lot of step-by-step instructions and it's going to be a multi-step process to allow for different methods of voting. And so we're gonna take the time we need. It's gonna be a little bit slower than it might be if we were just raising our hands all in the same room together. But so please hang in there as we get to each step of this. And we do have a very detailed process when we get to that. But before we get there, we want to go over a few rules of just as a formality to review the rules of procedure. So just to say it out loud here, this is our official Paris meeting. We are meeting virtually because of the pandemic. We would normally meet in the auditorium on the FUS campus. And I think we have certainly established quorum. We have well over 200 people on this call. So we, and we've, thank you sir for everyone's patience as we took the time to get kind of a virtual sign-in sheet so we know who's here. So we're trying to keep the meeting logistics as similar as possible to what we might do if we were in person with some obvious differences since we are online. So we're going to use the Zoom functionality and you'll notice that for this meeting since we have so many people on the line, if you do have questions or for discussion, the chat function is available and you'll notice that that goes just to the meeting hosts just to help us manage this large meeting. And thank you to everyone who is assisting with this. We have about 15 people helping run the meeting in various roles. And also thank you very much to Mike May who will be our parliamentarian. All right, so let's move into hearing from our search committee. The search for, excuse me, the search for a new settled minister is a profound undertaking in the life of our congregation.  The Unitarian Universalist Ministerial Settlement Handbook guided us. We thank the hundreds of you who participated in the congregational responsibilities of that process. You shared your hopes and dreams for FUS with each other and with us. We listened and carried your values with us throughout the search and discernment process. Our work together has brought us to this exciting moment. We now present to you Reverend Kelly Weisman Aspruth Jackson, our candidate for the position of co-senior minister at First Unitarian Society of Madison. Throughout the past week, you had opportunities to learn about Reverend Kelly AJ in various ways. After eight hours of interviews as well as numerous meetings, reference checks and worship services, we as your search committee have concluded that he is an excellent fit for our congregation. We were drawn to his leadership style which involves leading from the front. There is no aspect of ministry that he feels above or separate from. A commitment to sharing ministerial work equitably. A detailed attention to process as well as the wellbeing of those involved in the process. Being adaptive and skilled with creative imagining. Listening deeply and compassionately and communicating directly with clear vision. Reverend Kelly AJ shared with us his hopes for a ministry with FUS that is truly shared, defined by power with more than power over. Taking seriously the democratic ideals of our tradition. Hold social justice at the center rather than the periphery. Is committed to anti-racism and counter-oppressive practice. Dismantling white supremacy and heteropatriarchy and challenging us to grow deeper into the ethical imperative of our faith. Serves the larger Unitarian Universalism movement and forwards our unique calling as a faith without dogma. That is inclusive of a wide variety of theological orientations much needed in these times. Acts as a steward to work that is larger than himself. And that belongs to us, the congregation. In Reverend Kelly AJ, we observe a strong sense of mission along with deep interest in the ideas and feelings of others. His services reflect deep thinking on topics of religion, social justice, and spirituality. Primary among the reasons he feels called to serve FUS is the desire and excitement to partner with Reverend Kelly Crocker in creating this new equitable co-ministry model. He is eager to accompany us as we grow into the bold, beautiful, and radical faith we confess to be. Expand our internal work of confronting and uprooting white supremacy within ourselves. Increase our public witness, particularly in areas where who we are in our bones meets the painful needs of our time. And strengthen our unflinching commitment to truth in the face of relativism and the dismissal of inconvenient facts. A deep faith in democracy amidst rising autocracy and a radical love and wonder that transcends the divisions of faith and tribalism. Therefore, your ministerial search committee wholeheartedly and unanimously recommends calling the Reverend Kelly Wiseman Aspreuth Jackson as our co-senior minister. So I wanna say just before we get to our actual motion, just wanna say a few words about the voting process. So just to cue this up so you know what to expect. All right, so welcome to everyone on the call. Again, we have over 200 people. So thank you to everyone who has joined. And when we get to the actual vote, please vote only if you're a member. And we need your help and patience as we go through the voting process. So just wanna say just a few words about how you can help with this. So this will be a little bit slow. We do want to have an actual count, which is a little bit different than some of our votes where we just want to know kind of yay or nay because this is a momentous vote and an important part of our history. We do want an actual count, even if they're all yes. So we're going to take the time to do that. And so I'll say a few words about how we will do that. And one common question here, if there are multiple people on the same connection, that's fine, there will be ways to record each vote. But the most important thing is as we go through this process, each person only votes once because there will be three different methods for voting. We will do those in sequence. So each individual only needs to participate in one of those phases. And just so everyone, once you have voted, please stay in the meeting so that we can all be here together as we would if we were meeting in person. Okay, so the three phases, we're hoping this will work for most people. If you're set up at a computer or phone where you'll be able to vote via a link that we'll provide, we have an online form. With so many people, that's the fastest way to record everyone's vote. It's very clear, we'll have a record of it. So we're hoping that works for most people. If it doesn't, that's okay. We also have most people joining on video. The second phase will be a chance for you to raise your hand as we would in the room. So that's the next phase. And again, you do either or you don't need to do both. And then we do have some people joining by audio only. And that's why we were very careful at the beginning of the meeting to know who's here. We will call on those folks individually to record their votes. So those are the three phases that we'll go through and each person only needs to do whatever works best for them. All right. So now we're back to the search committee to officially propose the motion. Yes, this is Emily Smith and as co-chair of the search committee, I move in the democratic spirit of our Unitarian Universalist Values to call the Reverend Kelly Wiseman, Asprey Jackson as co-senior minister of First Unitarian Society of Madison. And as co-chair of that committee, I second that motion. Thank you, Emily and Sandy. So now we will open things up for discussion. If you have a question, please put it in the chat. If you are on a phone only, there is a star nine function to raise your hand. And maybe, Alyssa, if you could go back to the last slide, we're not quite voting yet. Thank you. And Creel, I think you're monitoring the chat if you could unmute if anyone would like to speak or make a comment or a question. Nothing so far. There's one question in the chat. Where is the link? Sarah, are you saying discussion to vote? Yeah, this is discussion, yeah. Yeah, it'll come out. The link to vote will come out after the discussion. And Jane, what percentage of us need to yes vote? It's 95%. Andrew asked, and I'm not entirely sure I understand. He says, ask for my vote shortly, comma, if I were to raise my hand. Sure, Andrew, if you raise your hand, meaning that the form didn't work or you couldn't use the form, if you raise your hand, I will look for those and I will call on folks on the phone and also anybody who raised their hand or who has difficulty with the form. We're gonna take the time to make sure all the votes are counted. So any discussion on the motion itself? All right, let's move into voting. Gail, okay. Is there a question? No, Gail. Being a co-senior minister could be challenging. How does Kelly Crocker feel about the ability of the two Kellys to work together closely daily to serve FUS? Kelly Crocker feels fantastic about it. If you didn't watch our coffee with the co-ministers from yesterday, that will be, that's on the website. You can watch that video Kelly and I spent about an hour talking about how we plan to work together and our excitement about moving forward. And yeah, just to answer that question quick, Kelly feels great about it. Mike May in the chat says he would like to endorse this. This is Mike. I'm not sure I need to say anything more than this. I've paid quite a bit of attention this week and I think this is just an excellent choice. I think it's an extraordinary opportunity for First Unitarian Society and I hope everyone will also endorse this and vote. Yes, thank you. Thank you, Mike. Any other comments or questions come in? Can you hear me? Hi, Leanne. Hi. Well, I've got this screen here. So when we start to vote, it just says your microphone is unmuted, your video is stopped. Am I going to be able to vote by raising my hand? We will, yeah, let's do this in each phase. Here. So to answer that question, it is helpful to know how to start and stop video, but we will make sure everyone's vote is counted in one of the phases. So if there aren't any other, if there isn't any other discussion on the motion, let's move into voting. Sorry, I'm going to mute all before we do that, okay? Yes. Terry, you're muted. Thank you. All right, so the link to the online form to vote, very short form. It is in the chat now. So we're going to take a few minutes. And again, if this, please use this if it works for you. And we're going to monitor the responses in real time here. So now's the time to click on that link to record votes.  And if the link doesn't work for whatever reason, and there can be a variety of reasons, don't worry, you can vote in one of the other phases. And let's see if you could show the next slide real quick. So this is what you'll just a preview of what you'll see. This is a few screenshots of what the survey or the form looks like. And you'll see once you've submitted the form, there's a little link that says submit another response. So if you have two people sharing a computer or a phone, you can submit the next response. And so this will take a few minutes. You might have a little musical interlude as well. Rachel has her harp in the same room with me. So we are going to take a few minutes just to let these votes come in. Can you share the link one more time in the body of the chat? There are a couple of people who have been admitted since you shared at the original time. And I don't think they would be able to see it the first time you did it. Thank you. What am I supposed to do? How can I vote? Oh, because I can't make anything work. And do you see the link in the chat? Hang on one second. There you go. If you unmute first. Oh, I got muted again. There are three different things and I don't know which one I should do. Okay, if you've got problems with it or it's not working. And do you see where it says HTTPS under Terry Pepper's name? Terry Pepper, yeah. And do you see under that it says HTTPS? Right. Okay, click on that one. They're all the same. There are three things there. Yes, click on one of them. It doesn't matter which one. Okay. And this is just a reminder too if you're unable to vote in this form we will be letting you vote in another manner in just a minute. Kathy Lugar, I see your note in the chat so I will write your name down that we can just do a roll call if it's not working for you, okay? A message that the verification boxes are not functioning easily. I didn't have any issue when I did it or folks having that problem. Yes. No. No, okay. Okay. And some other folks are putting in the chat that they're doing okay that they're fine. Okay. A copy of the response. Remember, if it doesn't seem to be working you can always raise your hand and we'll get you in round two. Okay, the response seems to be coming. It's in three different places looks like it's still been received. Okay. Yep. And if you've got that screen that says thank you your response has been submitted. You are good to go. Yeah. There isn't any other, there isn't any other, there isn't a button. It's just that if you look at the, what the list is showing on the screen now that your response has been recorded that lower screen shot. That's all you'll see. Just a second. They're still coming in. The number is still going up. The form is working quite well but I'm just gonna give it a couple more minutes so that everyone that it works for. So we have 251 responses so far and I'm getting a couple of voice votes that we had arranged in advance to call our board secretary. So I'm just going to add those in as well. Perfect. Thanks for doing that, John. Terry, could you put that link to the form in the chat one more time? Yes. As long as you hit submit Tom Detmer you should be fine. We can always ask. Okay. I just couldn't see anything when I went off there too fast. Okay. Nope, you're good. You hit submit and Terry can check the spreadsheet too. Yeah, I'll export the spreadsheet before we move on. We have votes still coming in slowly. So let's give this just a couple of minutes. And if you are on the phone with a 262 phone number if you could unmute and tell us who you are. Yeah. I'd have to leave for an important family meeting. You voted, Meg? Yes. Thank you so much. Okay. All right, thanks for coming, Meg. Terry, I have a few folks on the chat who are not sure if their vote via the form was actually submitted or worked. I'm not sure if they voted or not. I don't know if they voted or not. I don't know if they voted or not. I don't know if they voted or not. They actually submitted or worked. I've told a couple of these folks to just hold tight and vote by hand instead. Is that okay? Well, I think my guess is it's probably worked. We have quite a few. So, Creole, I'm gonna email you the spreadsheet right now if you could check for those names. Yeah, that'd be great. Okay, thanks. Ready for me to start doing voice votes. Yes, let's do that part next. I don't give Creole a chance to check these names. Let's do that now. Thank you. And there are a couple of people that have come in since. So you can, you can. All right, no. If you're a new addition, vote by hand. I'm gonna start scrolling through my screen. Creole, if you could also look on your list for Erin Glick, G-L-U-E-C-K. And you can let us know if that one worked. Okay, I am scrolling for hands. Just put your hand up in front of the screen if you need a voice vote. Charlotte. So you can just, when I call your name, if you will just unmute and tell us your vote. There you go, Charlotte. Your vote. Yes. Yes. Yes. Thank you, Charlotte. And if it's simple enough for you, if you're comfortable doing this, feel free to turn your video off. So it's a little easier for us to scroll and see the people that need to do voice votes. If that's a challenge, don't worry about it. Kathy Luker. Yes. Thank you, Kathy.  Okay. Kelly, do you want me to have the slide up for the voice vote or the hand vote? Right now we're doing hand and then I'll get to the four on the phone. No. Elaine Lohr. Elaine, I see your hand. No way. Kelly, are you doing, I thought you were doing voice. I'm doing people's hands at the moment. Okay, okay. But I lost Elaine Lohr on my screen. Folks are moving around. Is there a way to like freeze people? Yes, yes. Elaine Lohr, yes. Elaine, thank you. Anne Fleming, Carolyn Sanders, your votes. Yes. Yes. All right, let me write down Carolyn. Thank you both. All right. You're raised hands. I'm looking for more hands. I am not seeing any more hands. I will go to our folks on the phone. Morris and Carolyn, you can unmute and give us your votes.  Yep, we gotcha. Oh, okay. Thank you. Yes. Yes for Carolyn and yes for Morris. No, I'm sorry. I interrupted. I'm not Carolyn or Morris.  Laurel Smith. Laurel Smith and are you voting yes, Laurel? Yes, I am. What happened to Morris and Carolyn? I saw them on video at one point. Maybe they've already voted that way. They are there. I voted on the internet and I voted on video. So don't count us twice, but count for two. All right, we got you Morris. Thank you. Maureen and Scott, thank you both. Thank you. Gene twos, unmute Gene. Gene twos, okay. Yes, yes, yes. Thank you, Gene. Thank you, Gene. And Sue Denauer and Will Salvie. Yes, oh, yes for Sue and yes for Will. All right, thank you. Kelly, is that all for voting? Should I mute everybody now? Give me one second. Eva, did you and Bob, were you able to do it online?  I've been going, can I vote yes for both of us? I got you down, Eva, Bob Uzecki. Good, thank you. Gary Leesman, were you able to see the form? I know you just came in. Do you want to vote by voice? I would like to vote by voice and my vote is yes. Thanks so much, Gary. Kelly, did you get Mark and Nick Schweitzer? March and Nick Schweitzer. I did not. Are you there? Yeses, they put that in the chat, so. All right, perfect. March and Nick, thank you both. David, Kenzie, did you get- Kelly, did you get, Kelly, did you get Bev do so? Yes, fabulous yes, wow. Thank you, Bev. I got down a fabulous yes. David, Kenzie, you came in after? Yeah, I just used the link here that I saw, so I voted online. Thanks, David. Thank you for your vote, yeah. All right, that is all that I am seeing for hands or phones. All right, Kelly. And I'm sorry, Kelly, you had asked me to double check someone on the list. Can you tell me who that was again? Sure, Erin Glick, G-L-U-E-C-K. Oh, okay. Yeah, that vote is recorded, thanks. Okay, Erin, your vote's good. I'll be right in on it. And Kelly, can you tell us the total you have? I can. And then let's check on the Webster's who are waving once we're done. Terry, I have 17 yeses. John and Nancy Webster, are you waving? There you are, hello. Hi, if you unmute, I'll record your votes. Oh, you gotta unmute first, Nancy. Hi, do you see an unmute button on your screen? And we're voting yes. Thank you so much. It's great to see you both. It's great to see you, Kelly, it's a good day. It is. Terry, that gives me 19 yes voice votes. It's harder to say than I thought it would be. And Kelly, does that include everyone who raised their hand on the screen or do we need to do that phase? I got them all. Okay, so we have at this point and we will, let's just stop to make sure, has anyone not yet voted? Could we make sure and raise your hand on the screen or unmute if you have not yet voted? And I think everyone, the forum seems to be working just fine. I think everyone who's who had a question, the vote was recorded. We have a nice neat list on the online forum. Oh, Mary. Yeah, I'm still voting, I'm sorry.  Yes, I am. Perfect, thank you. Thank you. Anyone else who would like to raise their hand to vote or vote by voice or as anyone, please note in the chat if you are still using the online forum. All right, meeting hosts, anything else? Any other remaining questions? So we verified everyone who had a question. So the grand total, we have 286 yes votes, one nay and one abstention. So we have an overwhelming endorsement of calling Reverend Kelly AJ as our co-senior minister. Hallelujah. Yay. Can we unmute to, can we unmute and share the PowerPoint? Yay. I believe Kelly may join us Sandy and Emily. Can we start video or not? I'm calling him now. Yeah, if you stay on the call, Kelly AJ will be here in a minute. Yay. If you can hang with us for a minute. Wonderful news. I'm sorry, I'm sorry. I didn't even know we could get so lucky. Just great. That's so happy. Here they are. Wait. I'm looking at the video. I'm looking at the video. That's a little, that was a subcrime. It's not, it's related to us. It's related to us. That's not me. That's not me. That's not me. Me? That's not me. It's not me. I will say what I'm saying. Tom, don't mind if you want to mute again. That would be great. I got to mute. I got to mute. Sometimes I... Thanks to the search team, they are calling Kelly AJ now and I believe he's going to join us on the Zoom. So hang in there. We will thank the search team much more formally later, but for now, yay. A question and a chat of when he'll start. I think it'll be in the fall, but I don't know exactly. August 1st. Not that Kelly Crocker's counting down the days or anything. Team Kelly's ready to go. I think she's counting the hours. Maybe. If you all join, I hope you know I am. And here's our harpist. Thank you, Rachel, for the musical interludes, so we didn't just have to watch everyone stare at the screen. And here he comes. Kelly's coming in. The other part of team Kelly's coming in. Hello, everyone. I am so overjoyed and deeply humbled to accept your call. So glad to be a part of your community. So just really, really profoundly grateful to get to start to build this partnership with Kelly. That's all right. Then leave it. Welcome, welcome, welcome. Thank you so much. Thank you so much. This is so exciting. Yay. Very much, very much on my side too. We have so much wonderful, nourishing, exciting work to do together. And I look forward to being your partner in it, co-creating something new as a community. And I'm just really deeply moved to be a part of the story lineage of FUS. Thank you for this honor. Oh, glad you're here. And it's not quite the same. If we were in the same room, you would hear the thunderous applause of nearly 300 people in a fitting UU fashion. You had the quiet, patient attention of nearly 300 people for an hour while we conducted the vote. So I hope that conveys our excitement and enthusiasm. And very much does. It very much does. It conveys it exactly that so many of you would spend so much time on something that I know had to be at least at times a little bit difficult or tiring. So thank you very deeply, that especially in these strange and challenging days of the pandemic, the gift of your attention is a rare and precious thing. So I take it very much to heart. Some day we'll get to celebrate in person, but for now, I celebrate with you from a distance. There might be some hugs waiting for you. I think, Kelly, I don't know what you think, but I think we're gonna have to have like a debt. Whenever it is possible for us to do it without any sort of reservation or concern, we're just gonna have to have a designated like hug time, right? Just like form a line and get a hug, you get a handshake and get a fist bump, whatever it is that you've been waiting in order to greet in an in-person way. I really look forward to whenever we reach that moment together. It's gonna be a great day. And there's lots of things coming in directly from the chat. Congratulations to team Kelly. We're thrilled. Thank you all so much. Thank you, thank you. Yes. All right. You're ready for it. There was a thanks to Terri for such good leadership. Thanks, Terri. Thank you, Krill. Thanks to all the entire board for helping run the Zoom meeting here, following all the very detailed instructions. Thank you. It worked, you all. It worked. Thank you for the patience, especially of folks joining by phone only. I know it's not ideal, but we appreciate your doing this live all together. And lots of hugs and thanks and congratulations coming into the chat. Are you ready for closing words? We are. Thank you, Kelly. Please. All right. These are adapted from Alicia Ford. When we pause to remember who we are, companions on this grand experiment called life. When we take a moment to hear our stories, hear and see each other into existence, into community. When we take a moment to embrace, to practice a different way of being. When we answer the call of love, saying no to voices of fear and separation, then we are living into the promise of building the world of our dreams. It is beautiful to dream, to cast a vision, to stretch our minds into the future and imagine what may be if we were to build a new way of being, not someday, but beginning today. Beginning again every day that we have breath. Taking courage with these hands and hearts to make real the dream of a more equitable world, to journey together, seeking to be transformed even as we transform. Becoming explorers and learners in this new world around us, humbled by what we do not yet know. Fulfilling the promise of healing a fragmented world. Laboring not just in hope, but also in love. May we go forth today and all days to make it so. Blessed be and Amen. Go team Kelly. Thanks everybody. Thanks everyone, thanks for joining.  Most of the time you're just on your own. Love you all. Thank you for being here. Hi, thanks everyone. Love you too. Thank you all. Ready to leave? Bye Chris, bye Erin. Thank you and congratulations. Thanks Tom. I love that somebody changed their name to Woo-Hoo. I just got a direct message from Woo-Hoo. Hi Kelly's. I look forward to meeting you new Kelly. I look forward to Kelly too is fine. Kelly one and Kelly two. I just want to say talk on top and have a safe trip back East. I can't wait to see you back in Madison. Yes, this was a beautiful ceremony. Really, really love it. Thank you everyone. Thank you. Or do you of us just don't want to leave? We just want to hold this moment as long as we can. Yeah. Welcome. Thank you so much. Thank you, Tim. I really appreciate it. Looking forward to it. Joyful day. Audrey, thank you.


What's going on guys?  But without further ado let's get straight into the video and in at number 5 we have a clip sent in by Servat M. Now this is one of two clips of rare sayings from the announcers. Have a listen. I'm a great guardian and your mom is a class lady 80. Are you up to the challenge? In at number 4 we have a clip sent in by Aguela Saluz. I apologise if that's not how you pronounce your name.  Lunn! What is that? Lunn! Lunn! Lunn! Lunn! Lunn! Here we have a clip sent in by Colpantitla.   It's for itself. Have a look. What can we do for you? Hopefully this is close. In at number 1 we have a clip sent in by Sony's fan 89. Now this I have never heard before although I don't get many tame killstreaks I have never heard Lord Shaxx say this. Wouldn't give to fight again beyond the walls. I would tear out a vex heart with my teeth. I would sear the cabal with my burning light, challenge the fallen kels to personal combat and scatter them. I've been watching too many crucible matches. Heavy ammo available. But guys that is the end of this top 5. If you enjoyed the video do hit that like button and I'd appreciate the support. Submit any badass clip you've got to the email or just link in the top of the video description. Subscribe for daily destiny and I'll catch you on that next one.


Nintendo used to be a very different company throughout the years they have shifted tones multiple times if you go all the way back to like the 80s and 90s they had some of the weirdest and strangest commercials on tv for their video games and consoles like take a look at this one hey little buddy want a ride? yeah whatever that's worse I'll be right back where can you catch a 100 50 pokemon on your game boy that's where boy is here oh my god can I can I start by saying creepiest botch driver if a man looked at me like that and said hey little buddy want a ride I'll walk today they would never put their most adorable characters imply that they're getting crushed to death and I want to watch more of these weird commercials but it's it's funny as well because I don't I don't know when this is game boy red and blue right so this has to be like mid 90s but then even if you go to Nintendo's youtube channel and go back to their oldest videos even their marketing strategy back here was weird considering they were trying to portray this family friendly image like this video where they hired Joel McHale to do a skip video where he's trying to make a viral video for Nintendo and I need you to remember before you see this that this is like mid family friendly this is a viral video marketing for the Nintendo 3DS a handheld console that was very much being targeted to a children audience this is what the hot women can sell anything young people can smell a commercial from a mile away just like how they can view the incredible 3d technology of Nintendo 3ds at whatever intensity they prefer he really just read a line that Nintendo handed him while two bikini babes it's so it's so straight and it's it it feels wrong like the tone is off they were clearly struggling to figure out how they wanted to market their consoles let's keep switching back between 10 years ago Nintendo and these old commercials I can't take it anymore he talks to Pikachu Pikachu listens meanwhile I'm getting fat I walk myself where's the love okay that was pretty good why am I relating to that dog so much in that position saying meanwhile I'm getting fat meanwhile I'm getting fat oh my god that dog's my spirit animal now let's go back to Nintendo's youtube from 10 years ago you guys know that I love skill oh I'm sorry were you watching something you guys know that I love Skillshare in fact a lot of you are probably sick of hearing about how much I learned from Jordy when it came to video editing so instead of that let's try something new today we'll talk about a whole nother aspect about video production online and that's marketing from designing youtube thumbnails to how to make a twitch band learning how to stand out is key so you can also try this hand lettering course by creating a beautiful logo for whatever you have like this new logo I have now for my podcast Skillshare is an online learning community with thousands of inspiring classes for creative and curious people anything you could possibly want to learn you think I'm lying here's a course on how to be a better pokemon player competitively I mean that in itself is worth signing up to Skillshare it's less than $10 a month for an annual subscription oh and the best part is the first one that you're gonna get back to the video in a second okay it's the first 1000 of my subscribers to click the link down below we'll get a free trial of a premium membership but it's only a thousand and they go so fast so click that link down below really quickly help support the channel and support yourself exploring your own creativity all right let's get back to the video I appreciate it bye now let's go back to Nintendo's youtube from 10 years ago what I find weird about their very first few videos on the channel which are for the 3ds is not only the way they're marketing the 3ds which it's just so boring it's so boring like I can't really even make fun of it it's just so incredibly boring really impressive it's amazing you really get it's better than any of the tv's I've seen I loved my 3ds but the way they initially marketed it it's definitely not a console I would have cared about at all and they're talking about a lot of the games they're playing but they don't actually show the games or even the 3ds screen at any point while these people are playing the games I just got a chance to check out the AR games the augmented reality games and I can see a lot of titles taking advantage of that I'll take things that didn't age well for $10 oh that's incredible it's like you're really there that screen isn't even turned on my man really goes it's like you're really there it's like you're really there no one's held a 3ds turned on the 3d and gone whoa it's like I'm in virtual reality anyway it's just it's so strange like why why didn't maybe it's because like I guess I guess the reason is it's supposed to be the 3ds and you can't really film the 3d effect so if they just turn that off and then film the 2d then they're all like reacting to this 3d immersion but the viewer in the watching the trailer can only see 2d and they're like I don't get it which is terrible marketing you can't show the main thing it's in the name of the console and you can't show it to people before they buy it I like the 3d much better than the 2d because it just feels more realistic how does it feel more real anyway let's go back and watch another old old commercial I kind of like jumping in between them yeah we're getting calls about a wild party over here know anything about it which one of you jokers goes by the name Mario so Mario gets arrested for partying with a group of miners please have a seat right there no Nintendo what did you do and I have to say as well the only person arrested was the adult Mario which is also kind of weird because it kind of highlights even more that the only person here that could be arrested was the one adult hanging out with the children this was a really weird thing they did nine years ago on Nintendo's YouTube channel I don't know where it was filmed but they got a bunch of celebrities like Cody Rhodes the wrestler and Elijah what let me let me just show you so my fondest memory of the Legend of Zelda series in general is probably from the least popular Legend of Zelda game and that was this is a multi-million dollar billion probably dollar company they've got celebrities in an interview actually thought that he filmed this on his own phone or something and like sent it into Nintendo and they were like I will throw that up on YouTube sure why not but then as I looked at the channel I saw they did a bunch more in fact listen to Chris Evans's Chris Evans Chris Evans it how do you sorry what was that Chris you speak up Chris are you recording your audio through an old boot I can't even understand it like I'm not even I'm not even kidding maybe I'm maybe I'm getting old but that audio is so bad I can't even understand what Chris is saying I don't know how they wouldn't have got better equipment for it what are you looking at Elijah what's up there he's maybe he's wondering where the boom mic is support me how are they getting my audio right now I'm sure they'll figure it out surely they're not using the audio from that right there's got to be a microphone around here somewhere let's uh let's go back to the 90s I'm preferring the 90s ones I don't know what Nintendo was doing on their channel early oh it's okay I kind of like this one Nintendo's YouTube channel has always been a bit weird they did this thing at some point where they had these talking tennis balls they were essentially just talking about Mario tennis but it was a whole series on the channel and I guess it was so bad that they had to turn comments off I really wanted to know what people were saying about this that's how you know it's good you know when you when you have to mute what people are saying about it another thing that Nintendo used to do on their channel that they just don't do anymore is collaborate with content creators on YouTube they were they were they would actually work with other youtubers and have them make content for Nintendo's official channel and it's so surreal because Nintendo have just separated themselves so much from that while they still work with some content creators as Nintendo ambassadors some content creators as Nintendo ambassadors the connection is very loose so in this video they're trying to come up with a a storyline for the new mario brother's game groovy baby yeah magic girl you can't talk about the bind club time travel goombas you can't talk about mario rescue princess peach from bowser yeah it was kind of cringe to get there but I do find that punchline hilarious it's the fact that Nintendo approved and it's on the official Nintendo YouTube channel they're making fun of the fact that every single frickin mario game has the exact same story and premise I love that they got away with that I just I there's something about this that I do love I love seeing Nintendo work with content creators that love Nintendo this in my opinion was a very special time that can't happen anymore and that that's actually kind of sad but at the same time um the same people did this and and this is this is on the official Nintendo YouTube channel okay maybe we shouldn't go back to this all right let's go back to the old ones as Nintendo begins to take on new forms it's important that we can measure how addictive they truly are yeah you can't do this anymore you can't there's so there's so much here that you can't there's so much that you can't do here there is so much that you can't get the game boy where to begin with that one Nintendo let's ignore the absolute obvious and burn that image out of our brains please or else I'll never be able to play my game boy again without thinking about it animal testing that's out no way that would no way that would be okay anymore but also just implying how addictive the video games are I think if we were to jump all the way into 2020 and 2021 the weirdest thing that I don't like that Nintendo is doing now it getting all these celebrities to make commercials I guess in a way it's like it's kind of good I guess that it's bringing it mainstream more like then like the switch is doing so well that they've got these big celebrity names making commercials it's just that they're also cringe and obviously faked like this one with Brie Larson Brie Larson plays her favorite Nintendo switch games Fortnite uh what script I'm kidding but seriously Nintendo switch that's my way to play it's bad it's bad commercial it's just bad this is bad commercial I don't like I don't like any of these we'll take a look at some more but I don't like any of these I mean if it's if it's her favorite game then maybe have the commercial be about why it's her favorite game like what she like about the game like I want to hear Brie Larson talk about her favorite switch game that's what I could connect with not this fake trailer with a with a fake phone call with a with her agent talking about a script that's not real here's one with Serena Williams playing of course her of course Serena Williams favorite switch game is fitness boxing why wouldn't it be because she plays tennis right I wonder if at any point during this commercial she plays a tennis game let's let's place bets if she plays a tennis game you smash like on the video if she doesn't play a tennis game you you hit dislike okay ah losers first I'm just gonna enjoy these two minutes smash like on the video I don't get what was the need for this little skit in the middle part with this dude who's apparently a mute and can't talk he doesn't say one word the whole time he just shakes his head I don't know like just make him feel real like you know make him feel real there's a way there's a way to make him feel real I will say that Nintendo's marketing is a lot better these days like a lot better in this switch generation than it used to be back in like 3ds and we you and stuff it's just it's just some of it I don't know feels too commercial for me it feels too fake sorry is John Mikhail here again I thought I was watching a commercial for Pokemon Stadium too because what's because what's more attitude error than a motor a cross motorbike whatever they're called and a bikini babe sat in your room while you play Pokemon Stadium too what a life nothing will impress you that was a big thing back then that was a big thing with having like girls women the attention was on the video game like what what was that I don't even know if I can find it old Game Boy commercial I don't even know what to type without sounding creepy um bed let's let's say bed we'll say bed because that will probably yeah oh my god I forgot about that one I can even show it like legitimately I don't know if I could even put this in my video but this was the one I was thinking about the second best thing to do in the dark this is real this is a from 2006 doesn't even feel like that long ago the second best thing to do in the dark you know it's it's not wrong and then this one which I don't think I can even show but I really I can't I can't show it the new Game Boy pocket seriously distracting what what is the situation here you've got your last you're both you're already clearly and then you're gotta play some Tetris real quick can you just can you just are you good can you it does your nose itch can I get that for you real quick well I crack out a high score a tetris oh here's another one keep it in your pants I mean that's not as bad but you know what it's implying okay that's not real that can't be real what the heck man whoa like like this one's cute and this was legitimately me back in the day like when I got told to stay in my room where my n64 was I was like oh okay I guess I mean some of these are oh my god oh my god these were worse than the commercials I didn't know there were so many oh that's Sega Sega we're not even gonna talk about Sega Sega had some bad ones I don't really have an overarching point to all of this I you know old Nintendo commercials we know they were weird very weird things that you can't really get away with anymore and we also know that Nintendo's marketing back around the 3ds and the Wii U was horrible you know I really I really can't I really can't say anything bad about their marketing anymore I just don't like those weird celebrity ones but end of the day like I think Nintendo has come a long way they've just made a lot of mistakes to get here uh there was no point to this video I just wanted to have some fun and talk about something that interests me I hope you had a good time I hope you like it and I'll see you soon for another one bye bye


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Hi, everyone. Thank you so much for joining our presentation. So, most of the people interested in this presentation must have faced issues with pre-copy live migration like live migration fails to converse, degradation of guest performance during live migration, or waiting for live migration to complete for hours or even days in some cases without any idea of expected time for completion. So what if we could guarantee live migrations to converse for any workload? What if we could live migrate the VM without making it slow? And what if we could predict the time for migration in advance? So me and Siam will talk about a microstanding-based live migration throttling algorithm that targets these issues. We also call this Derticota-based throttling. This is our agenda for today's presentation. First, I will talk about background design and implementation, and then Siam will take over to talk about results, conclusion, and future work. So our microstanding-based algorithm improves pre-copy live migrations. As pre-copy live migration can recover VM on source even in case of network failure or destination host failure, it is most popular scheme for live migrating VM. So this is some overview on how pre-copy live migration works. First, there is a preparation phase where we enable dirty tracking. And then we start sending guest memory on destination host. So pre-copy live migration works for multiple iterations. In first iteration, we transfer full memory of guest and from second iteration onwards, we transfer memory which was started while previous iteration was going on. This continues till we have amount of 30 memory left so less that we can transfer it within blackout time limits. When we reach at that point, we stop VM on source host, transfer remaining dirty memory to destination, and then resume VM on destination host. But there are some limitations of pre-copy migrations, like non-convergence and long-running migrations. In case of pre-copy live migration, network bandwidth and dirty rate are actually two factors which decide convergence of live migration. To ensure convergence of live migration, dirty rate of VM should be lesser than network throughput. In cases where dirty rate is more than network throughput, we depend on throttling to bring dirty rate within the limits. So how current throttling algorithm of QMU works and what are its limitations? So current throttling algorithm reduces CPU run time of VM. For example, at 99% throttle, all the CPUs of VM will be running only 1% of time. As run time of VM is reduced, it also reduces total dirty rate of VM. But this algorithm has some limitations. As it throttles all VCPUs irrespective of their contribution to overall memory dirty, it also penalizes read heavy VCPUs. Even though read does not count to memory dirty, also it does not guarantee convergence even at 99% throttle. As in very high dirty case, even if VM is allowed to run only 1% of time, it can dirty more than network throughput. Another limitation is that throttling adjustment is done only at the end of live migration iteration. As we get dirty statistics only when we do bitmap sync, which is done at the end of every iteration. Due to this limitation, it does not react to workload change efficiently and can take up to 5-6 iterations to find proper throttle. And actually we start heading towards convergence only after finding proper throttle. And any work done before finding proper throttle is actually a waste of work and time. For example, in first iteration, which is actually longest iteration as we have to transfer full memory of VM, we do not even throttle VM as we do not have dirty statistics yet. Until now pre-copy live migration scheme has been about throttling the guest was unconditional without knowing what kind of workload individual VCPUs running. In last slide, we discussed a few limitations of current implementation like migration fails to converse, not able to adapt to workload change quickly and unfairly throttling read heavy VCPUs. Now we will discuss implementation of our microstern based algorithm and how it results those limitations. Let's take convergence first. To ensure convergence of live migration, we have to limit dirty rate of VM within some factor of network throughput. The algorithm ensures that dirty rate limit of VM is always lesser than network throughput divided by some value X by putting microsterns in between. By default X is equal to 2, which means dirty rate limit will always be kept half of network throughput. Assume we have one VM of 16 GB memory and network bandwidth available equal to 1 GBPS and you want to live migrate that VM. So in first iteration, we have to transfer 16 GB, but as dirty rate limit is half of network throughput memory dirty during first iteration should be half of total transferred or it will be 8 GB. In second iteration, we have to transfer 8 GB. So memory dirty in second iteration cannot be more than 4 GB. And so on after eighth iteration amount of dirty memory left will be 0.0625 GB. Which with available network bandwidth we can transfer in 125 millisecond, which is less than default blackout time of 200 millisecond. So we can see if we limit dirty rate to some factor of network bandwidth, we can always guarantee convergence. Not only we can guarantee convergence, we can actually predict in advance what will be next time taken to migrate VM with given network bandwidth and VM size. For example, for x equal to 2, next time to migrate is twice of VM size divided by average network throughput. So how we ensure dirty rate limit equal to network throughput divided by x. We control dirty rate of VM by assigning a limit to every vcp, which it can dirty in some small window of time. This limit we call dirty quota. Any time in current window any vcp exceeds quota assigned to it, it is made to sleep for remaining time in that current window. We also call these sleeps microstun. So these limits are ensured by tracking memory dating at VM exit level. Now what is ideal window size? Smaller window size makes throttling to be more adaptive to network change. And also bound on a vcp will be continuous stun will be smaller. Also smaller window size or stun are better for guest performance. How? Let's take an example for this. In this diagram, red color means right extensive workload is running. Green color is for non-right extensive workload. And black is time stolen from guest by stunning vcp. So this is how execution of guest CPU looks like. Assume time slice for guest scheduler is 10 millisecond. Now some workload will run for 10 millisecond. And after that guest to us will take scheduling decision. Then again some workload of process will run for 10 millisecond. And again after that guest to us will take rescheduling decision. This is just an example assuming there are no other interrupts in between other than local timer interrupt after every 10 millisecond. As we already discussed, we control deteriorate in small window time. If in any window that the quota assigned for that window gets over, we stun vcp for remaining time in that window. So this is how a large window size looks like compared to small window size. In first example, window size is 100 millisecond. Now assume there is very right extensive workload running and full quota for that window is exhausted within first within first few milliseconds. In that case, vcp will be completely blocked or stunned for remaining time in that window. Even though guest could have run, read workload is given opportunity. This way we are not only throttling right heavy processes, we are actually throttling complete guest to us by not giving it opportunity to reschedule for multiple time slices. Now let's look at second example. Here we take smaller window size and smaller dirty quota. Let's assume window size here is one millisecond. Now even if vcp is starting at very high deteriorate, vcp cannot be stunned for more than one millisecond and in every one millisecond will get some opportunity to dirty. This way vcp will not be completely blocked for long time and guest can still take scheduling decision after every 10 millisecond and can bring non-right extensive process on that CPU. From guest perspective it will look like only right extensive processes are made slower and all guest to us is working as normal. But as we take smaller and smaller window size, accuracy of sleep and reschedule of vcp becomes lesser and lesser. So we may have to go with busy weights instead of normal sleep and that has its own disadvantages. So that's why we have to decide on window size very smartly. Currently we are experimenting with different window sizes. We do not have enough data for very small window size yet. So results which will be presenting today are with relatively larger window size of 100 millisecond. As dirty quota is assigned to each vcp independently, it ensures vcp's are throttled selectively based on their individual deteriorate and only right heavy vcp's are throttled. So total dirty quota allowed for any window is deteriorate limit into window time. Now how we divide quota among different vcp's? In every window we give a quota equal to total quota for that window divided by number of vcp's to every vcp. This ensures that every vcp gets at least this much of quota in every window to ensure fairness. But there is one issue. If we simply divide total allowed dirty quota equally among vcp's, assume a vm has 10 vcp's and only 5 are actively dirty memory. In that case quota allowed for 5 vcp's will go unused. Even the vm had scoped dirty more, it could not do to non-optimal distribution of total allowed quota. We fix this by keeping a common quota. Every vcp's unused quota is added to common quota after end of every window. Common quota can be consumed by any vcp on first come and first serve basis. But any vcp can consume from common quota only after it has consumed its individual quota. And it needs more quota in same window. Individual quota is renewed in every window as per equation in last slide. So now Sivam will talk about results we obtained in future work. Hi everybody. Before going into the results, let us try to understand the notions of dirty quota and common quota in between and see how they are used to selectively throttle the vcp's. This chart would help us understand how an individual vcp is microstand. In this chart, on the x-axis we have timing milliseconds and on the y-axis we have the number of pages. This red line over here represents the number of pages the vcp has dirtied until a given point of time. And this blue line represents the cumulative value of dirty quota. So whenever you see a bump in this blue line, it means that the vcp has received some dirty quota. t equal to 0 on the start represents the start of the magician. And as you can see, at the start of the magician, the vcp has some initial quota, which is this value. And with this initial quota, the vcp starts dotting the number until this point of time when it has exhausted its initial quota.  So for the vcp to keep dotting the number, it would require more fuel or more dirty quota. What our algorithm does here is that it checks whether the vcp has already received this quota for the current time window or not. In this case, it has not. So we give the vcp to share for the current time window, which is this value. And with this share, the vcp starts dotting the memory. This time until this point of time, when it has again exhausted its dirty quota. This time we see that the vcp has already received this quota for the current time window. So the next thing to check is whether common quota is available or not. Let's say that the common quota is not available at this point, which means that there is no scope of dirty left. So the only option left to us is to stun the vcp's until the next time window starts, which happens at equal to 200 milliseconds. Because when we add T2 to 100 milliseconds, the vcp would be able to claim its quota for this new time window, which is 200 millisecond to 300 millisecond time window. Okay, before going any further, let us see how the dirty quota of the vcp is calculated for a given time window. We already talked about this formula in the previous slides. Let us take an example to understand how this formula work. Let us say that in this case, we have a network throughput of 220 megabytes per second, and the number of vcp is 8. So with this network throughput, dirty regimen can be calculated as 110 megabytes per second, if we use a factor of 2 in this formula. And with this dirty regimen and this number of vcp's, dirty quota can be calculated as 352 pages per vcp. So this is how we are calculating the share of the vcp for any given time window. Note here that this share is only valid for the given time window. And if the vcp does not claim it in the given time window, the share gets lapsed and it gets added to the common pool of the common quota. An example of that scenario can be seen here in the 400 millisecond to 500 millisecond time window, where the vcp was not able to claim its dirty quota. And so the dirty quota gets added to the common quota at the end of the time window. Another important point here is that this network throughput information gets updated after every time window. So in this case, after every 100 millisecond, we'll have an updated network throughput. And since we are using the updated network throughput for all our calculations, any change in network throughput would be reflected in our throttling levels. Okay, let's get back to this point where the vcp has received its quota for the current time window and has started dotting the memory. Let us say that this time the vcp was able to dot the memory only until this point of time, where it has again exhausted its dirty quota. So this time we see that the vcp has received its dirty quota for the current time window. So the next thing to check is whether common quota is available or not. Let's say that the common quota is available at this time. So we'll try to get 352 from the common quota, but if that much is not available, we'll give whatever is available in the common quota to the vcp. And with this share, which the vcp has obtained from common quota, the vcp can now dirty the memory again. So this is how we are using dirty quota and common quota to microstun the vcps. Next, we'll talk about the results we have obtained with microstunning and we'll compare it with the current management scheme and came in. First, we'll talk about convergence and total management time. In the next three slides, I'll walk you through this six different types of walkers which we have come up with in our experiments. And as we move from walker type one to walker type six, we'll find more and more difficult to converge cases. Each of these walker types has three, two to three sample cases and each sample case is represented by these four values N, M, L and B. Basically, each sample case means N threads represent writing M gigabytes of memory at a rate of L megabytes per second with a network bandwidth of B megabytes per second. Okay. So for type one and for type two, we see that the migrations are converging with both these schemes. But with microstunning, the total migration time has decreased significantly by around 50% in most of the cases. For type three and type four also, we see a similar trend with an exception here. The difference is not significant because the total rate is very low and so the throttling logic does not play a crucial role. For type five and type six, the difference gets more pronounced because in this cases, the migrations did not converge with the current scheme. But with microstunning, the migrations did not just converge, they convert within reasonable amounts of time. For type five, we see that the migrations converged within around six minutes of time and for type six, the migrations converged in around half an hour with microstunning, which is great. Note here that if not aborted, the current scheme would try to converse the migrations in these cases by throttling the VM to 99% which means that the VM would be running 99% slower for very long, which is not a very good guest performance. Next we'll talk about right throughput and green throughput on the guest during migration for this particular case. So with right throughput first, in this chart the blue line represents the right throughput with the current maximum scheme in KMO and the red line represents the one with microstunning. So as you can see that the current maximum scheme in KMO struggles to find the optimal throttle by taking a number of iterations while microstunning finds the optimal throttle right away and throttles the VM optimally from the very beginning of the migration. And so was able to converse the migration much sooner. If you talk about read throughput, microstunning does not affect the read throughput at all. While with current scheme, the read throughput follows this right throughput trend, and it decreases significantly, and it finally reaches to about 1% of its initial value. And this happens because the current migration scheme in KMO does not distinguish between the read and write processor running on the guest, and so it throttles them indistantly. In summary, microstunning has a lot to offer. It significantly improves the guest performance during the migration, helps migration converge in cases where the current maximum scheme is not able to converse even at the cost of guest performance, helps converse migration in less time, and last but not the least, it is very adaptive to network bandwidth and workload changes. Let's say that a very heavy write intensive workload starts in the middle of a migration operation on the guest. So microstunning finds the right throttle right away and throttles the VM optimally required if throttling is required. While the current scheme only takes a decision after the current migration operation is finished. Talking about the future, we are working on experiments to find the right migration failure conditions, so that we can converse the migration in as many cases as possible, without terribly affecting the guest performance of course. On the implementation side, we'll be sending out patches soon to the open source community for review. Also, we are running a lot of experiments to find the right window size to microstun the VM optimally. So that idea here is to stun the VM in microscopic time windows so that only the right intensive process is running on the guest. Feel that CPU time is getting stolen from them. While the read intensive process running on the guest or the CPU threads of the guest are least affected. Also, we are planning to run experiments on some real workloads, but we are very confident that we will have even better performance with real workloads because the workloads we have used in our experiments were just dirty. And lastly, they would like to extend this dirty quota based idea or the microstunning idea to provide predictability for live medicines so that one can predict beforehand how much time a migration is going to take if it is going to converge and whether a migration is going to converge or not. That brings us to the end of this presentation. Thanks a lot for your attention and do reach out to us in case if you have any suggestions or any feedback. These are our contacts.


Hello everyone. So welcome to the fourth lecture of non-linear control. This is the final week of this course and we have been talking about control methods that allow for some kind of finite time convergence behavior. So we've already covered a decent bit of material on finite time stability and finite time control design and we had just started off talking about sliding mode control. So as we mentioned, sliding mode control though has features of finite time stability and control as you will see subsequently. The way it is sort of posed is in the form of a variable structure controller and the primary requirement as we mentioned is for some kind of a disturbance rejection. So this is somewhat of a lumped disturbance, lumped nonlinearity if you may and the aim for our objective of a sliding mode control design is to develop this controller that will actually help achieve asymptotic convergence or asymptotic stability while there is a disturbance that is acting on the system. And the assumption is of course that the disturbance is uniformly bounded for all time and for all values of the state x1, x2, a potential in some domain. Now as we already mentioned it is a rather difficult requirement to have unbounded disturbances for all states. So even if you look at basic polynomial or even linear examples of such functions you will find that there is no boundedness for all values of states. However, one can always claim that in a compact set of the states this function, this nonlinear function can be bounded and there are results which are more modern in sliding mode theory. So this sort of helps you to get more advanced results in sliding mode. But what we will look at in this series of lectures is the more classical version where you are actually assuming uniform boundedness on this nonlinearity. So this is the sort of double integrated type of a system that we start off with and we are looking to design a sliding mode control. Now if you look at a more basic asymptotic controller or basic asymptotically stabilizing controller these controls as you know and as we have been studying until now will typically ignore these kind of disturbances and so your control will typically be designed as u is minus k1 x1 minus k2 x2 for some positive gain k1 k2 and in the absence of disturbance obviously will drive your states to zero. However in the presence of disturbance you would expect something like a oscillatory behavior and I mean you will expect that you will get some kind of a residual set kind of a behavior you will never expect you will never get to exact convergence. So that is the whole point no exact convergence in the presence of these disturbance functions. So then the question is what more can be done. So first is we introduce a sort of a nice differential equation if you may that we want to follow right. So that is what we say we you know we introduce what we typically call as a sliding mode but we will define these things a little bit later. But suppose we want some kind of a compensated dynamics and this is essentially desired right this is essentially desired this is not actually the case but is actually a desired dynamics and we say this is x1 dot plus cx1 equal to zero for some positive c and it's easy to see easy to understand that this quantity is actually x2 itself because of how our dynamics is right. So therefore that's how it's chosen. So this is actually x2 plus cx1 and what one can also understand from here is that from from here it's evident that x1 goes to zero exponentially which means x2 also goes to zero exponentially right. So that's sort of what we understand right. So this if you are able to follow this kind of a dynamics even in the presence of disturbance if you understand that this will guarantee asymptotic convergence of both states x1 and x2 right. So we call this sort of a function s sigma x1 x2 and you can see it is usually a function of all the states. So both states in this case right and this is what is called a sliding mode yeah essentially what does it do it essentially it gives you a for this two-dimensional system right because you have two states yeah for this two-state system we reduce the evolution to a single one-dimensional line right because x2 plus cx1 is a straight line in the state space in the phase plane it's a straight line in the phase plane right. So I hope that's clear right something like x2 plus cx1 I can even draw something like this right let's say here right so x2 plus cx1 equal to zero would be something like this right so this is what will be yeah it's a straight line passing through zero right so this is what is the sliding surface depending on whatever the value of c is the inclination of this line may change and so on but essentially that's what it is all right so this is what is a sort of a sliding mode if you may right now how do we ensure that our system follows this so first we write apologies first we actually write the dynamics of the sliding variable right sigma right so so what is sigma dot yeah and so what is sigma dot it is x2 dot plus cx1 dot and x2 dot from our dynamics is just this guy right it's u plus fx1 x2 comma t plus cx2 because x1 dot is in fact x2 right and you have some sigma zero equal to sigma sub zero right so you now are working with a different looking dynamics and we are just working with the sigma dynamics right and now our aim is to push the sigma dynamics to zero right that's what we want to do so aim push sigma to zero right because if sigma is going to zero you understand that x1 and x2 are both going to zero all right so so what we will try to do is we'll try to make sigma go to zero infinite time right so how do we do that we take a v which is half sigma square and we get a v dot which is sigma sigma dot which is nothing but sigma u plus fx1 x2 t plus cx2 right now i hope you understand that this disturbance is obviously a disturbance so it's not known to us it's not like you can cancel it using the control however we can certainly cancel this guy right we can certainly cancel this guy so what is it that we want to be you already know that you know you you want to have something like a you want to follow from our finite time stability what do you want you want for finite time convergence you want v dot plus k v to the power alpha less than equal to zero so i mean and you can choose alpha to be anything right you can choose alpha to be anything that's our call right but alpha has to be within zero one and k has to be positive right that's our requirement so based on that if i actually just try to substitute that here what i would do is i would simply try to choose u as minus cx2 plus some v some small v right which we don't know yet okay so if i do that then what do i get i'll add a page here then what do i get i get um v dot so v was half sigma squared let's remember and v dot is sigma times v plus f x1 x2 t right now we'll do a little bit of an inequality right um we already know that this is going to be less than equal to absolute value of sigma absolute value of v plus absolute value of sigma absolute value of x x1 x2 t and we know that this is less than equal to l right we know this is less than equal to l so what do we do so we know that this is less than equal to absolute value of sigma times absolute value of small v this additional control plus l plus l okay so so now what do we do what do i how do i work this out uh how i work this out is i take my v as the small v that we have here here as some rho sine function of sigma right or also written as rho sigma of sigma okay so sigma is just the sine function it is um so sigma of x to 1 for x greater than 0 minus 1 x less than 0 and obviously 0 when x is 0 right actually this is fine and sigma 0 is can be anything in the minus 1 1 range yeah so sigma of 0 can be anything in this range all right so uh if we take actually as minus rho yeah then what we get is v dot is equal to absolute value of sigma times rho uh let's see if i want to do this i think i probably jumped a few steps ahead uh and i probably did not need to do that uh what we will do is we will choose the v in advance here and these i think i will move to later yeah all right so yeah so basically yeah basically what we are doing is we are actually selecting the v term first right we actually select the v term first right and what happens is when i substitute this in the v dot uh what i will get from here is v dot is um minus rho times sigma times sigma of sigma plus sigma times f x 1 x 2 t and this quantity sigma times sine sigma is already equal to the absolute value of sigma okay this is what we are yeah this is what we want to use that sigma multiplied by sine of sigma is actually the absolute value of sigma itself right um so what we have here um i think i can erase these safely and redo this again so this is v dot is now i do the bounding it's because this remain the first term remains the same minus rho absolute value of sigma okay plus sigma times l why because absolute value of f less than equal to l and so there will be a absolute value of sigma here as well so now if i take the absolute value of sigma common then this is um absolute value of sigma with the negative sign rho minus l okay so this is v dot so if i take rho as um well i mean for example as equal to l plus 2 then v dot turns out to be minus ah sorry l plus half turns out to be minus half absolute value of sigma right and that's basically saying that this is v dot is less than equal to minus um let's see let's see let's be careful here i'm going to be very careful here 1 over root 2 and 1 over root 2 and this is minus v to the power half right okay and this is very similar right through what we wanted right if i take k equal to 1 so same as a finite time convergence with k equal to 1 and alpha equals half right so we are allowed to choose alpha anything from 0 to 1 therefore we've chosen alpha equal to half and k equal to 1 so obviously we have finite time convergence so we know that the sigma dynamics converges to 0 in finite time right so sigma goes to 0 in finite time and the cool thing is in the this happens in the presence of disturbance all right so you have actually rejected the disturbance why do i say it happens in the presence of disturbance because we did not neglect the disturbance in the analysis we actually put in a term that is the rho has this l value which is basically going to compensate for the disturbance yeah so we have something that compensates for the disturbance using the bound itself all right so we have a disturbance compensated convergence right that's pretty interesting that's very interesting okay so so what is our control now so our actual control is u is if you may it was here let's see yeah the control was here it's minus cx2 plus v and v is chosen in this way right so therefore our control is minus cx2 minus rho sigma sorry rho sigma of sigma so that is x2 plus cx1 right right all right so that's the control and as you can see the control has uh switching on the sliding surface right i hope you understand that this control switches on either side of the sliding surface so so how the how will this work this will be actually evaluate to equal to minus cx2 minus rho when x2 plus cx1 is positive and this will evaluate to minus cx2 plus rho when sigma is x2 plus cx1 is negative all right so there is actually a switching across this sliding surface there's a switching along the sliding surface so the sigma equal to x2 plus cx1 equal to 0 is actually the sliding surface so there's a switching sort of a thing happen okay so therefore you can imagine you can imagine that what will happen is you know if you look at the plots for example right what you will see is the sliding variable of course right will behave in a very very nice way right i mean it will it will actually converge in finite time right i mean it will just do this it will just do this right beyond some finite time your sigma will converge okay so you expect some really nice plots on the sigma variable however and then similarly i mean x1 x2 is obviously converging asymptotically right converging asymptotically so so this this sort of if you may the time right in which in which you have in which you have basically this reaching yeah so this until this time my apologies is called the reaching phase and this beyond this is called the sliding phase okay now the problem with this controller is pretty obvious right the problem with this controller is pretty obvious because of the disturbance i mean if you look at this sort of a plot on what happens you know very close to the sliding surface right so you will start to see some kind of a zigzag motion happening right so so this is the sliding surface i mean we already know that it probably looks apologies we already know that it looks something like this right so that's the sliding surface and there is of course i mean this is x1 this is x2 there is a sort of a sliding phase sorry a reaching phase which is finite time and then there is a sliding phase yeah but this is there is small zigzag things here yeah there's small zigzag things here right why because what what will sort of happen is that you have because of the presence of disturbances what happens is and you are not exactly compensating for the disturbances as you notice right i mean you what you're trying to do is you're simply dominating them in some sense using this l right and the disturbance are bounded by l so it's not like you're at every instant in time you're exactly canceling the disturbances no you're not you cannot do that because you don't know the value of disturbances to do that so what happens is once you get to this sort of place where you're on the sliding surface what tends to happen is you will get thrown out of the sliding surface a little bit right and then you will and then the control of switches right i mean the you will go from one side of sliding surface to another side another side to one and so you tend to do a lot of these high-frequency switches why because your control law is in in the finite time convergence kind of idea at sigma equal to zero the control is not lipships right it's not smooth right so there's some high-frequency activity happening so that's exactly the thing here here the sigma equal to zero is essentially the sliding surface so on the sliding surface you have non-smooth behavior and because in this case the sliding surface is not actually the origin of the equilibrium of the system so you are still moving on the sliding surface not like you go to the sliding surface and you stop right continue to move and there is disturbance so what happens is you tend to overshoot undershoot and there's a lot of these high-frequency chatter happening because of the non-lipschitz nature of the control this this is actually this phenomenon is actually termed as chattering and in fact the control also right the control also in the same sort of timeline i mean if you see the control will be really nice sigma comma if i put the control as well and this is the sigma and also the control here so the control looks really nice here but then once you reach this place it will be oscillating very fast yeah there will be very high frequency oscillations in fact i'm making it very nice and clean it will be much worse than this yeah and this is a phenomenon that is not particularly great right so so the problem is in first order sliding mode why is it first order sliding mode first order means sliding surface is one dimensional okay first order sliding mode leads to chattering okay and though there is disturbance rejection and a lot of these nice properties this is not considered particularly nice property to have okay so what we want to look at is what one can do about avoiding the chattering phenomenon okay and that's what we will look at in the subsequent next


Good afternoon from the Venetian Expo Center Hall, whatever you want to call it in Las Vegas. Lisa Martin here, it's day four. I'm not sure what this place is called. Wait, what? Lisa Martin here with Dave Vellante. This is theCUBE. This is day four of a ton of coverage that we've been delivering to you, which you know because you've been watching since Monday night. Dave, we are almost at the end. We're almost at the show wrap. Excited to bring back, been talking about security, a lot about security. Excited to bring back an alumna to talk about that, but what's your final thoughts? Well, so just in the context of security, we've had just three in a row talking about cyber, which is like the most important topic. And I love that we're having Palo Alto Networks on. Palo Alto Networks is the gold standard in security. Talk to CISOs, they want to work with them. And it's interesting because I've been following them for a little bit now, watch them move to the cloud. Had a couple of little stumbling points, but I said at the time they're going to figure it out and come rockin' back and they have and the company's just performing unbelievably well, despite all the macro headwinds that we love to talk about. Right, and we're going to be unpacking all of that. With one of our alumni, as I mentioned, Ankur Shah is with us, the SVP and GM of Palo Alto Networks. Ankur, welcome back to the queue. It's great to see you, it's been a while. It's good to be here after a couple years. Yeah, I think three. Yeah, yeah, for sure, yeah, yeah. It's a bit of a blur after COVID. Everyone's saying that. Are you surprised that there are still this many people on the show floor because I am? Yeah, look, I am not. This is my fourth. Last year was probably one-third or one-fourth of the size, but pre-COVID, this is what dream went look like. And it's energizing, it's exciting. It's just good to be doing the good old things. So many people and amazing technology and innovation. It's been incredible. Let's talk about innovation. I know you guys from Palo Alto Networks recently acquired CIDR Security. Talk to us a little bit about that. How is it going to complement Prisma? Give us all the scoop on that. Yeah, for sure. Look, some of the recent cybersecurity attacks that we have seen are related to supply chain, the colonial pipeline, many, many supply chain. And the reason for that is the modern software supply chain, not the physical supply chain, the one that AWS announced, but this is the software supply chain. It's really incredibly complicated. Developers are building and shipping code faster than ever before. And the CIDR acquisition at the center, the heart of that was securing the entire supply chain. White House came up with a new initiative on supply chain security and S-bomb software bill of material. And we needed a technology, a company, and a set of people who can really deliver to that. And that's why we acquired that for supply chain security. Otherwise known as CICD security. CIDC security. So how will that complement Prisma Cloud? Yeah, so look, if you look at our history, Lisa, over the last four years, we have been wanting to, our mission has been to build a single code to cloud platform. As you may know, there are over 3,000 security vendors in the industry. And we said, enough is enough. We need a platform player who can really deliver a unified, cohesive platform solution for our customers because they're sick and tired of buying pipeline product. So our mission has been to deliver that code to cloud platform. Supply chain security was a missing piece. And we acquired them. It fits really nicely into our portfolio of products and solution that the customers have. And they'll have a single pane of glass with this. So there's a lot going on. You've got an adversary that is incredibly capable these days and highly motivated and extremely sophisticated, mentioned supply chain. It's caused the shift in CISO strategies. We talked about the pandemic, of course, we know work from home, that changed things. You've mentioned public policy. And so as well, you have the cloud, the cloud relatively new. I mean, it's not that new, but still. But you've got the shared responsibility model. And not only do you have a shared responsibility model, you have a shared responsibility across clouds and on-prem. So yes, the cloud helps with security, but the CISO has to worry about all these other things. The app dev team is being asked to shift left, secure. And they're not security pros. And audit is like the last line of defense. So I love this event. I love the cloud. But customers need help in making their lives simpler. And the cloud in it of itself, because shared responsibility doesn't do that.  So look, Jim, this is a unvinable situation for a lot of the CISOs simply because there are over 26 million developers, less than three million security professionals. If you just look at all the announcements that AWS made, I bet you there were like probably over 2,000 features. I mean, they're shipping faster than ever before. Developers are moving really, really fast and just not enough security people to keep up with the velocity and the innovation. So you're right. While AWS will guarantee securing the infrastructure layer, but everything that is built on top of it, the new machine learning stuff, the new application, the new supply chain applications that are developed, that's the responsibility of the CISO. They stay up at night. They don't know what's going on because developers are bringing new services and new technology. And that's why we've always taken a platform approach where customers and the CISOs don't have to worry about it. What AWS new service they have? It's covered. It's secured. And that's why the adopters McLeod and Palo Alto Networks because regardless of what developers bring, security is always there by their side. And so security teams need just a simple one-click solution. They don't have to worry about it. They can sleep at night, keep the bad actors away. And that's where Palo Alto Networks has been innovating in this area. AWS is one of our biggest partners and we've integrated with a lot of their services. We launch about three integrations with their services and we've been doing this historically for more and more.  Absolutely. Look, there was a time about four years ago like the best we could do is director of security. Now it's this CEO level conversation, board level conversation to your point, simply because, I mean, if all your financial stuff is going to public cloud, all your healthcare data, all your supply chain data is going to public cloud, the board is asking very simple question, what are you doing to secure that? And to be honest, the question is simple. The answer is not because all the stuff that we talked about, too many applications, lots and lots of different service, different threat vectors and the bad actors, the bad guys that always step ahead of the curve and that's why this has become a board level conversation. They want to make sure that things are secured from the get go before the enterprises go too deep into public cloud adoption. I mean, there was shift topics a little bit. There was hope, kind of early this year that cyber was somewhat insulated from the sort of macro pressures. Nobody's safe. Even the cloud is sort of, you know, facing those headwinds, people optimizing costs. But one thing when you talk to customers is, I always like to talk about that octave graph. We've all seen it, right? And it's just this eye test of tools and it's a beautiful taxonomy, but there's just too many tools. So we're seeing a shift from point tools to platforms. You guys obviously a platform play. And that's a way, so what are you seeing in the field with customers trying to optimize their infrastructure costs with regard to consolidating to platforms? Yeah, look, you rightly pointed out one thing. The cybersecurity industry in general and follow-alternate networks knock on wood. The stock's doing well. The macro headwinds hasn't impacted the security spend so far, right? Like time will tell, we'll see how things go. And one of the primary reason is that when the economy starts to slow down, the customers again want to invest in platforms. It's simple to deploy, simple to operationalize. They want a security partner of choice that knows that it's going to be by them through the entire journey from code to cloud. And so that's why platform in especially times like these are more important than they've ever been before. Customers are investing in, the product I lead at Palo Alto Network is called Prisma Cloud. It's in the cloud network application protection platform, CNAP space, where once again, customers are investing in platform from code to cloud and avoiding all the point products for sure. Yeah, and you've seen it in Palo Alto's performance. I mean, not every cyber firm has, you know. I know, ouch, crowd strike. Yeah, it was not good. Well, you saw that. I mean, and you know, the large customers were continuing to spend. It was the small and mid-sized businesses that were a little bit soft.  So it's very hard to predict right now. And of course, if Tom Abrava is buying you, then your stock price has been up and steady. Yeah, look, I think the key is to have a diversified portfolio of products. Four years ago before our CEO, Nikesh, took over the reins of the company. We were a single product next in Firewall Company. And over time, we have added XDR, we were the first one to introduce that. Recently launched XIM, you know, to make sure we build an XGEN Seam. Cloud security is a completely net new investment, zero trust with Prisma Access as workers started working remotely and they needed to make sure, enterprises needed to make sure that they are accessing the applications securely. So we've added a lot of portfolio of products over time. So you have to remain incredibly diversified, stay strong, because there will be stuff like remote work that's slowed down. But if you've got other portfolio of product like cloud security, well, those secular tailwinds continue to grow.  So luckily, we've got the portfolio of products to ensure that regardless of what the customer's journey is, macro headwinds are, we've got portfolio of solutions to help our customers. Talk a little bit about the AWS partnership. You talked about the run rate and I was reading a few days ago, you're right, it's an $82 billion ARR, massive run rate. It's crazy. So what are, what is Palo Alto Networks doing with AWS and what's the value in it to help your customers on a secure digital transformation journey? Well, absolutely. We have been doing business with AWS. We've been one of their security partners of choice for many years now. We have a presence in their marketplace where customers can through one click deploy the several Palo Alto Network security solutions. So that's available. Like I said, we have launched partner to many, many new products and innovation that AWS comes up with. But always the day one partner, Adam was talking about some of those announcements in his keynote, security data lake was one of those and there were like a bunch of others related to compute and others. So we've been a partner for a long time and look, AWS is an incredibly customer obsessed company. They've got their own security products. But if the customer says like, hey, like I'd like to pick this from yours but there's three other things from Palo Alto Networks or Prisma Cloud or whatever else they may be, they're open to it. And that's the great thing about AWS where it doesn't have to be wall garden, open ecosystem. Let the customer pick the best. And that's, I mean, there's examples where AWS is directly competitive. I mean, my favorite example is Redshift and Snowflake. I mean, those are directly competitive products but Snowflake is an unbelievably great relationship with AWS. They do. Cybers, I think different. I mean, yeah, you got GuardDuty and you got some other stuff there. But generally speaking, correct me if I'm wrong, the ecosystem has more room to play on AWS than it may on some other clouds. 100%. Once again, GuardDuty for examples, we've got a lot of customers who use GuardDuty and Prisma Cloud and other Palo Alto Networks products. And we also ingest the data from GuardDuty. So if customers want a single pane of glass, they can use the best of AWS in terms of GuardDuty threat detection but leverage other technology suite from a platform provider like Palo Alto Networks. So look, world is a complicated place. Some like blue, some like red, whatever that may be. But we believe in giving customers that choice just like AWS. Customers want that, not a problem. And at least today, they're not directly in your space. Even if they were, you've got such a much mature stack. Absolutely. Frankly, Microsoft's different, right? I mean, you see, I mean, even the analysts were saying that some of the crowd strikes troubles because Microsoft's got the good enough, right? So... Yeah, endpoint security. Yeah, for sure. Do you have a favorite example of a customer where Palo Alto Networks has really helped them come in and enable that secure business transformation? Anything come to mind that you think really shines a light on Palo Alto Networks and what it's able to do? Yeah, look, we have customers across, and I'm going to speak to public cloud in general, but like Palo Alto has over 60,000 customers. So we've been helping with that business transformation for years now, but because it's reinvented in AWS, the Prisma Cloud product has been helping customers across different industry verticals, some of the largest credit card processing companies, they can process transactions because we are running security on top of the workloads. The biggest financial services, biggest healthcare customers, they're able to put the patient health records in public cloud because Palo Alto Networks is helping them get there. So we're helping accelerate that digital journey. We've been an enabler. Security is often perceived as a blocker, but we have always treated our role as enabler. How can we get developers and enterprises to move as fast as possible? And like my favorite thing is that, moving fast and going digital is not a monopoly of just the tech company. Every company is going to be a tech company. Thanks to public cloud, and we want to help them get there. So the other thing too, I mean, I'll just give you some data. I love data. I have ETR as our survey partner, and I'm looking at data, 395. They do a survey every quarter, 1,250 respondents on this survey. 395 were Palo Alto customers. Fortune 500, S&P 500, big global 2,000 companies as well, some smaller companies. Single digit churn, okay? Very, very low replacement rates. And still, high single digit, new adoption, right? So you've got that tailwind going for you, right? It's sticky because especially our main business firewall, once you deploy the firewall, we're inspecting all the network traffic. It's just so hard to rip and replace. Customers are getting value every second, every minute, because we are thwarting attacks from public cloud. And look, we provide solutions, not just product. We just don't leave the product and ask the customers to deploy it. We help them with deployment, consumption of the product, and we've been really fortunate with that kind of gross dollar and net retention rate for our customers. Now, before we wrap, I got to tease the cube, it's going to be a Palo Alto ignite in two weeks. Back here, I think we're at the MGM, right? We are at the MGM December 13th and 14th. So give us a little, show us a little leg, if you would. What can we expect? Hey, look, I mean, a lot of exciting new things coming. Obviously, I can't talk about it right now. The PR ink is still not dry yet, but lots of lots of new innovation across our three main businesses, network security, public cloud security, as well as XDR, XIM. So stay tuned, you'll see a lot of new, exciting things coming up. Look forward to it. We are looking forward to it. Last question on Curfew, if you had a billboard to place in Times Square, you're going to take over the Times Square NASDAQ. What does the billboard say about why organizations should be working with Palo Alto Networks to really embed security into their DNA? You know, when Jim said Palo Alto Networks is the gold standard for security, I thought I was going to steal it. I think it's pretty good. Gold standard for security. But I'm going to go with our mission, cybersecurity partner of choice. We want to be known as that and that's who we are. Beautifully said. Thank you so much for joining David on the program. We really appreciate your insights, your time. We look forward to seeing you in a couple of weeks back here in Vegas. Absolutely. Can't have enough of Vegas. Thank you, Lisa. Thank you, Jim. Well, I don't know about that. By this time of the year, I think we can have had enough of Vegas. We're going to be able to see you on theCUBE's coverage, which you can catch of Palo Alto Networks show Ignite, December, I believe, 13th and 14th on theCUBE.net. We want to thank Ankar Shah for joining us. For Dave Vellante, this is Lisa Martin. You're watching theCUBE, the leader in live enterprise and emerging tech coverage.