Lucid dreaming does feel like reality in some ways, but in a lot of ways it's also very different to reality and What a lot of people don't realize is that it's although it you're using your conscious mind to experience a lucid dream That doesn't mean it's exactly like base reality or you know what you're experiencing right now So there's kind of a distinction although you're in both Situations right now as you're watching this video and in a lucid dream You are I guess you could say present right your consciousness is grounded and you know your isn't you know It's you experiencing that thing It's very difficult to define consciousness by the way, but you know that it's you experiencing that moment At the same time. It's a different Awareness you're aware that you're there and experiencing the moment, but it's different It's not the same as reality and the best way I can think of explaining this is that in reality Like let's say now for example You're aware of this moment you can experience it you can look around and you know see things and interact with things But there's a lot of stability a huge amount of stability because obviously Things don't change around you the scene doesn't change around you in reality in a dream However, it does you know You can be looking at your computer screen and then you look up and now you're in a different city Or you walk down the road you turn around and now you're in a desert these kind of changes don't happen in reality Or at least they don't unless you're hallucinating in some way. So there's a lot of stability, you know Pretty confidently that the scene around you is going to stay pretty stable in reality in a dream. However You don't have that sense of stability So the whole world feels kind of like fluid and changeable Although you're in the center of that as the point of experience the lucid mind It's still unstable even when you're fully lucid you still have this sense that everything or anything could change Any moment around you like the scene could change the building could fall down a dragon could come You know down the street whatever and so in that way It's very different to reality because it lacks that stability that being said the awareness that you do you experience in In both a lucid dream and in reality like for example now They're very similar, but the reality that you're experiencing is different I think that's probably the best way of explaining us, right? So the awareness is similar, but the the reality that the awareness is experiencing is different


If you have applied for the USA B1 visa and your visa has got rejected recently then this video is for you because in this video we are going to discuss what could be the probable reasons for the rejection and also what are the steps you need to take to increase your chance the next time you apply. Keep on watching. Hi guys my name is Shachi and I am a travel and a visa coach. In this channel you will find a lot of videos for the US visa process right from form filling to clearing the interview. Make sure that you check them out I am going to leave the link for that as well as in the description box. So what is the B1 visa? B1 visa is basically a non-immigrant business visa which allows you to visit the US for any temporary or short term work. This could be to attend meetings, to attend conferences, to give 7 hours, to attend trainings or even to take part in exhibitions and contests. So if your B1 visa has got rejected recently the top thing on your mind might be when can I apply again and the answer to this question is you can actually reapply for the B1 visa as soon as 3 working days. So if you feel that you are confident about your application and you are sufficiently prepared then go ahead and reapply immediately there is no reason to wait for a long period of time. On the other hand if you feel that your application was lacking somewhere and you need to prepare well and gain more confidence it is also completely okay to wait for a couple of weeks, notch up your preparation and then apply again. So now that we have the basics in place let's start with what could be the probable reasons for rejection of the B1 visa and how to correct the same. So in my experience I have seen that most of the times B1 visa gets rejected because the purpose of travel is not communicated clearly. When you are applying for a business visa it is very important that your business visit is essential, it is important and it is critical. If the visa officer is able to sense that this is a trip which can be avoided and this is a work which can be done over an email, over a call, it can be substituted by somebody else or even postponed to some later date he might reject your visa application. So let's understand this with an example. Let's say that the purpose of your trip is a business meeting and when you are asked this question in the interview if you just say that it is to attend a business meeting then this does not communicate anything important or critical. It is important to give a little more information and a little more backstory. You can probably talk about a project that you have been working on for very long or a deal which requires your expertise and hence your presence in the US office. So giving all this information when you talk about your purpose of visit will also help the visa officer to grasp the seriousness of the situation and the importance of your trip and increase your chance of getting the B1 visa. I have worked with a lot of professionals and I helped them to frame and communicate the purpose of their trip which is often times the first question to be asked. So if you are in a similar situation and you would like to work with me then do book a one-to-one consultation session with me. The link for that is in the description box below. Second area which might be the reason for rejection of your B1 visa is your invite letter. Now when you are going for a business trip the invite letter becomes an extremely critical document and it should have some key features. The first one is that it should be on the letterhead of the US entity. So let's say that you are going for a client visit then make sure that the invite letter is on the letterhead of the client. Or if you are going to the US office of your company then make sure that the invite letter is on the letterhead of the US entity. The second thing that you need to pay attention for when it comes to the invite letter is the purpose of travel. Make sure that the purpose of travel which is mentioned in the invite letter is the same as what you are saying in the interview. So let's take an example. So if you say that the purpose of your travel to US is new process onboarding. So if you are going to use these words in the interview make sure that the same is mentioned in the invite letter. Many times I see that the invite letter is a very standard generic document where the purpose of travel is just mentioned as business meeting, training, conferences. But this does not help the cause so pay a little more attention to what is written in the invite letter. Actually also take care to ensure that the invite letter clearly mentions the intended dates of your travel and also mentions who will be bearing the expenses of your trip and your accommodation. Coming to the third reason for rejection and this is not knowing the technical details related to your purpose of visit and related to your work. So when you apply for a B1 visa all the details related to the purpose of visit and the work that you intend to do in the US become extremely important and can be asked by the visa officer. Let's say that during the interview you say that the purpose of your US trip is for a new process integration. Now any technical question can be asked related to this and you should be prepared to answer and give all the details to the visa officer. Also it is important to carry a work plan with you for the duration of your intended stay in the US. Let's say that you plan to stay there for two weeks then for those two weeks make sure that you have a work plan ready. What all is the work plan, what are the meetings, what are the client visits and everything else. So prepare this document and carry this with you for the interview. Guys these were the three main reasons for rejection of B1 visa and also how you can correct them. I hope this video has helped you. I have worked with a lot of professionals and I helped them prepare for the visa interview and clear it. So if you are interested in working with me you can book a one to one consultation session. The link for that is in the description box below. In this session we will be looking at all the aspects of the interview and also talk about the essentials of DS160 and the documents that you need to carry with you. In addition if you have more questions you can leave them in the comment section below or you can get in touch with me via Instagram DM. My Instagram handle is right below it is at shachi.mall. So that's all for this video please do give it a thumbs up and do share it with your friends and family who are in a similar situation. On the screen now you will see my other videos on the US visa process. Make sure that you check them out they are going to be super helpful. Signing off for now see you in the next one. Bye.


Next someone who for many of you might not need any introduction. I'm going to invite dr. Nick up here Thanks for coming Thanks for coming chip. Yeah, why don't we have a seat and he's gonna proceed to give us a history lesson first We have to start with what's going on with that loud firstly the t-shirt. Yeah, what's going on? This is a health and safety t-shirt for conferences This if you go through the exhibition hall, this is this prevents you from having accidents collisions with enterprise sales people Has it worked it's exceptional couldn't get a beer from SAP, but other than that It's not your personality. It's the shirt had to get someone else to get it for me. Okay. Okay. Got it. All right Well it all seriousness You are there more beers from SAP today And what times that open whoo anyway So so dr. Nick excuse me. You've been in the the class factory community for quite some time Give us give us your story. Why'd you get involved originally? so I was at a company called engine out as VP of technology and Like engine out engine up was if you were to describe them today, they might be devops of the service Five years ago. We call ourselves platform as a service and and perhaps more authentically. We were a web hosting company and websites, yeah, we're webmaster as a service and That's a good one actually We hired all the spider spider-man and And we had built a product that ran on this new thing called Amazon, which was the only one of its kind and we'd used a Gen two is the base OS for historical reasons and like all historical software decisions. They you can never kill them like like Mono in Bosch and so So when you know we in five years that we'd run a engine I've run its product on Amazon, we'd ship one AMI This is before packer and other tools like we had no tool chain We were using chef The there was a whole pollution of our chef versus the customer chef I had over 2,000 customers I had just seen so many problems exist because you know We're at the bleeding edge and the customers at the bleeding edge of this whole new space of of running, you know systems and and deploying them daily and Yeah, so I saw Bosch April 2012 so I had all these problems in my head desperate fill solutions Knowing the engine out and spend tens of millions of dollars building its solution to date and then Bosch came out and said, yeah, that's yeah That's all solved You don't need to worry about that stuff anymore So I was I was in love with Bosch since from the beginning five and a half years ago love at first sight Yeah, love at first sight you trusted an early version though Trusts the wrong word But my relationship with Bosch is probably one of abuse I Love it. We need to get you a counselor. That's very much. So yeah many many project managers of Bosch have come and gone But we have to meet you now and it's good. No, I love all the support managers, but it's a for sure It's a tough project, but it's been a long journey for you, right? I mean, you've really seen it evolve I think pretty dramatically some of the best. Oh, it's incredible I look I feel bad for anyone that that saw Bosch five years ago Couldn't figure how to make it work and has written it off as something to never investigate again because sometimes we do that accidentally and But no, I mean at by the end of 2012 I'd started stuck in Wayne, which is going to be a consultancy around Cloud Foundry and Bosch You know anytime you build a new business based on a technology you take a risk that that technology becomes relevant You know the next year or the year after it came out Docker and and we had that whole crazy era of of white white You know yx we have Docker now like Why Bosch we have Docker why Cloud Foundry of Docker why Doritos we have Docker everything was up for grabs And obviously you should eat Doritos. They're delicious. This is a sponsored track. You can have this and I should talk about Doritos You it turns out you can use multiple tools, right? You can have your Doritos and you should definitely eat Doritos and Yeah, but and then you know then the pivotal Sort of came out of VMware then the foundation came out of pivotal and and it's been really As an open source orientated person as a small consultancy, it's been truly fascinating seeing the The heart you know the all the organizations and working with Swisscom in the early days for many years And then and playing with IBM and and their people it's been The whole community has been truly fascinating. Well, well, obviously, you know you you bet on the Cloud Foundry technology The Cloud Foundry Bosch for your business, so How's that going? Well, it's a bit of an easy bet really because it worked, right good I what I'm not very good at is telling other people they're wrong So like I'd very much like to be the type of person that could go into a place that liked chef and just Just crap all over them about how terrible chef is and how much better my shoes, but I'm not that type of person sadly because that would be a lot of fun and Also got to tell you I don't believe you. You don't believe me. No, I do the chef people lovely I absolutely you had an announcement with chef. Well, we we've been working with chef a company for for the habitat project So habitats like their new idea around bringing up distributed apps So to speak or how to describe them so they can form a cluster without needing a secondary thing like a TD or console And running the processes and everything so look we think habitats really interesting running habitat on Bosch is interesting running habitat We the the thing we announced with with with habitat was a you can make something an habitat and then do a habitat export And have it run on Cloud Foundry. So even the habitat people for all their Wonderfulness still have a problem with how to run their stuff Unfortunately, you know they work for chef so they have to use chef stuff, but it's um You said you like them I like I like we love all of the open source community like I Five years of engineer were harsh times with chef is okay. I'm definitely a lot of chef a lot of chef a lot of nasty chef I'm sure all chef is lovely now That's um, no, it's it's so you're part of part of evangelism is just being really happy about what you've got and just enjoying it Yeah, sure. And so yeah, I mean over the five years. We've been making documentation and libraries and tutorials and videos and And that's yeah, so it's nice to come to events where people come and tell you that they watch your videos and Yeah, that's pretty cool. So you're working on something though. You've been typing. I've been typing. Yeah You've been writing a book are the book Clearly it's not that important now the reason the reason I get confused is because literally the last thing I was typing for my Entertainment was trying to bush a fire chef server because I thought that'd be really funny No, but how's Chip know that? So yeah, so over five years Yeah, in the early days, I was like the world's number one evangelist I would tell everyone about Bosh and after a while like fine He's also modest to worlds number one evangelist out of a group of one. It was a pretty fair enough You were also the worst. I was also the was literally still am the worst Bosh evangelist and There recently I started watching I started learning like some other ecosystem type things I'm looking at TensorFlow and Arduino and just other things And so when you go out and you have to learn a thing from scratch it can be very humbling Have to not know anything like you do I'd we know it's the first thing you do is to try to make a light blink You go, yes, the light blinks. I am God of electronics But that's only after you've watched like five YouTube videos and read a lot of really great arguments And so and then it makes you realize is how how hard Bosh might be relative to making a light blink on an Arduino device And so I came away from that experience Very much a lot of empathy for all the people. I don't know who who might never have Succeeded with Bosh and perhaps weren't forced to learn it And and and come at the other side thrilled with it So yeah, I all of a sudden you had this new sense of energy of and a sense of urgency to sort of write a book I'm really excited about that. I will make sure this is clearly there will be three publisher announcement Yeah, they were I will make sure they're at chip references in this so I know that you did read it I Misspell your name and see if you fix it No, it's on a website called ultimate guide to Bosh comm It's still still being written, but it's it's there and and if you've got new staff and you want them to have a Some additional materials for understanding this thing that you've given them I mean to me that the key metric is is whether we start getting people going to their local dev ops meet up They're local Docker meet up their local language meet up and actually saying I saw this shiny thing And I desperately need you all to see it So that to me is the is the key metric of whether we start to get people excited at meet ups I think that's great. I'm really excited about that. Yeah, and if you want to be one of those people and you want to Perhaps talk about Bosh or whatever. We obviously the stock on my booth I'm gonna hang out there for most of the day or the Singapore room where we're hosting the extensions track Excellent. So come come chat with us about all shiny things great Except if you're put off by the shirt.  Thank you. Dr. Nick


This is Mises Weekends with your host, Jeff Deist. Ladies and gentlemen, welcome back once again to Mises Weekends. It is our last show of 2017, and on behalf of everyone at the Mises Institute, we would like to wish you and your families a very happy and healthy and prosperous new year. So our final show features our good friend, Dr. Bob Murphy, giving a talk at an event we hosted in Orlando just a few weeks ago, giving his particular take on the culture wars, which is a topic I'm sure very close to all of us. And I think if you're a fan of Bob Murphy, you'll enjoy it very much. And of course, we look forward to some great new shows and some great new guests on Mises Weekends in 2018. What I wanted to do for this forum is to not do my conventional talk. So I'm going to touch on some things that I always hit in these types of events, but also try to go beyond that. So this was built to you guys, and what you thought you were getting is we're going to be looking at the trends and sort of looking at the future. So that's always a dangerous thing to do. So I want to at least just set the benchmark here of what I'm trying to be. So some of you already know this, but back in 1998, Paul Krugman was asked to write something on trends of the future and make predictions. And so this is what Krugman wrote in 1998. By 2005 or so, it will become clear that the internet's impact on the economy has been no greater than the fax machines. So I can't say that what I'm going to say to you guys is going to be correct, but it will be not that horribly wrong. So that's what I'm going to do. I was pretty sure that joke would work with you guys. All right, not a lot of Krugman fans in the crowd. Let me also say that what I have to talk about is very pessimistic, especially in the medium turn. So I just do want to mention that I have a religious faith, and that's why I'm upbeat in the long run, but suffering produces wisdom. And in that respect, I think we're going to get a lot wiser over the next 10 years. So that's one way of summarizing where I'm coming from. So let me just mention, and by the way, it's almost eerie how much Jeff and my remarks here are dovetailed with each other. We didn't plan it like that. We're seeing things mostly the same way, but my conclusion is going to be a bit perhaps more extreme than what his was. So we will give you some variety there. So let me just endorse everything he was talking about, his diagnosis of the trends, but what I want to add on top of that is, I think there's a really bad economic crash coming. All right, so I think Jeff might believe that also, but he didn't stress that. So what I want to say is all of these things we're seeing, you know, how much Americans are at each other's throats.  You have more sanity, but I have been just really surprised. I'm going to come back and give you some more specifics in a minute, but I was surprised at just the vitriol and how much people hate each other now. And this is when, you know, there's still food on the shelves, right? And we're not being literally bombed by another country.  And beyond that, don't trust their motives. Like they think those people over there, my fellow Americans are just evil. Like there's half the, well, let's say 30% of the country thinks another 30% is just moral monsters and vice versa. And so I'm saying, and that's what we're seeing even now when the economy's just, you know, kind of blicky. But imagine if there's a huge crash, like Great Depression era stuff, with these cultural forces in play, and that's the kind of thing I'm very concerned about. So just keep that in mind when I come to why I am more aggressive in this sort of, you know, solution or what can we do to make the best of a bad situation. It's because I'm worried about that sort of outcome. So just to give you a picture of this, the way I, if you come and talk to me afterwards, I can send you links to, you know, more formal presentations to back up some of this stuff. But just the big picture, if you would all buy the Austrian story about what happened with the housing boom and bust, you know, it has to do with the Federal Reserve, had an easy money policy, you know, there was the dot com bubble in the late 90s and then the crash and then the September 11th attacks. So the economy on paper should have had a bad recession in the early 2000s. And it did officially have a recession, but Greenspan was the Fed share at the time and brought down interest rates and people were calling him the maestro because wow, at least housing kept rising even as the economy, you know, went into a formal recession. And then in retrospect, people of course were saying, you know what, maybe that wasn't the best thing to do. Maybe he shouldn't have replaced the Nasdaq bubble with a housing bubble that just postponed the pain and set us up for an even worse crash, 2007, 2008. So, you know, how do the Austrians fit their narrative into that timeline is they'll say, okay, yeah, the Fed had an easy money policy. This is standard Austrian business cycle theory, just adapted to the particulars of the situation, that there's a crash, the Fed slashes interest rates, pumps in extra money that gives the appearance, the illusion of prosperity, but it really is just built on quicksand because you're not making us richer, you're not fixing the structural problems just by creating money out of thin air and injecting into financial markets, all right? But then if you look at the numbers and what happened to me, you know, if that story sounds plausible to you, well, like for example, interest rates, so the federal funds rate that when they say the Fed cut interest rates today, that particular metric, it was at six and a half percent in 2000 and then it was brought down to 1% by the middle of 2003. Okay, so that was the lowest interest rates got in that easing cycle and then they started ratcheting it up gradually and every time the Fed met they had raised it by 25 basis points, 50 basis points over the next several years and they kept it at 1% for one full year and then the middle of 2004, that's when they started tightening, all right? So if that's the idea, if you buy the Austrian story then you have to think the housing bubble to the extent that it was either exacerbated by or caused by easy money, it's the fact that the Fed took interest rates down to 1% and held them there for a year, that's, you know, what you gotta think did it or that was a big contributor and like I said, the timeline works with that if you look at graphs of the housing price appreciation against Fed policy. So the story fits, I'm just telling you that in terms of the magnitudes, if you believe the basics of the Austrian story, that's what you gotta, you're committed to is to think bringing down interest rates to 1% and hold them for a year gave us the housing bubble that at least exacerbated it. Okay, so then what happened after the crisis hit in the fall of 2008? They brought interest rates down to zero and held them there for seven years and then started slowly raising them and we're still very low, we're just barely above where we were when Greenspan brought them down to 1% right now. Okay, so to the extent that you just are picking interest rates as a measure of Fed's easy versus tight money policy, what they did is it's not even close and then as many of you already know if you look at even what I just said is misleading because it's overly optimistic because once you get interest rates down to 0%, it's hard to push them below that because you get the idea because you lend someone $100 and they give you $100 back next year it's hard to make it go lower. I'll lend $100 and just pay you back 98 next year, right? Okay, so because you could just store it under your mattress. Incidentally though, I mean economists used to use logic like that to prove negative nominal interest rates are impossible until we had negative nominal interest rates in Europe at which point economists said, ah, we can explain that, just for a small speaking fee I'll explain all to you, right? So economists are very good at after the fact explaining what just happened. So my point is the fact that interest rates got brought down to that federal funds rate got brought down to 0% was there for seven years that makes it look like, oh that was a little bit easier and then seven times as long. No, if you look at other measures like the Fed's balance sheet, I mean it's not even close. In the Fed's balance sheet, more than doubled in like the first seven months right after the fall of 2008 when the crisis hit. So if you want to think of it this way, Ben Bernanke inflated the money supply more than all Fed presidents combined in like seven months, so he was an overachiever. So I'm just trying to get you to see that and we can talk and I know some of you have asked me in the Q&A I'm happy to talk about, well gee, why didn't, how come bread's not $30 a loaf and that kind of stuff and I'm happy to get into that but my point is just to the extent that you at all buy the basic idea that if the economy's bad you don't fix it by creating a bunch of money and certainly not by the Fed creating trillions of dollars and then buying mortgage-backed securities and debt issued by the federal government that that's probably not the way to fix the economy. Well that's what they did and that's what made the stock market start booming and think of all the things that the Obama administration did. Bring in an Affordable Care Act extensive regulations on coal-fired power plants running, there were four years in a row where the budget deficit was higher than a trillion dollars most recently there was $666 billion. So the amount, just the the mushroom of the federal debt, all these things that even in normal times any two or three of them you would, as a free market friendly person you would have been like wow that's not good and all that happened all at the same time after this collapse of the housing bubble everyone admits if we had just stepped back and done nothing major investment banks would have gone down if they hadn't been bailed out. So what I'm saying is that this feeling like this right now and okay I think there's some people like okay that was bad, the great recession was bad and we're kind of slowly limping and coming out of that I don't think that's correct. I think they pushed off the real crash and it's going to be that much worse and now that they're tightening at some point it's going to hit. Let me give you and so as interest rates rise just to give some indications is okay but what specifically you know you're just as vague you know wow this can't be good but specifically what are some of the you know shoes that are going to drop here so last fiscal year the interest on the federal debt held by the public so the amount of money in terms of the treasuries expenditures you know they spend money on the military social security da da da how much was just interest payments outstanding federal debt held by the public and that's keep that in mind I'm talking here about the debt that's you know just held by outsiders because there's a lot of the debt that's theoretically held by the Social Security Trust Fund right so this is money that's literally you know the government has to tax people to then send checks to outsiders who are sitting on treasuries that was $276 billion last year okay I mean much bigger than most countries entire output was just the interest in one year to service the existing debt and that was with a a yield of 2.3% okay so that's partly what the explanation is how could the debt have gotten so big since you know the last year the George W. Bush administration was a big deficit and like I say under Obama there were several years where it was enormous and even now it's still big and of course the Republican plans for the tax changes are going to presumably make the deficit still high going forward partly the reason that pain hasn't manifested itself is because that was at the same time when interest rates collapsed okay so it's sort of like you can run up credit card debt as long as you keep getting 0% APR balance transfers in the mail but then when those offers to roll it over stop that's when you know you're really in trouble so just imagine in 2006 just to give you a frame of reference the average yield on outstanding government was 5% so double what it is right now so even if interest rates just rose a few points not you know some crazy scenario where we're grease but just going back to what interest rates were a decade ago then that would more than double the service costs so you know more than $250 billion per year extra at interest payments okay so just think about that I mean people are freaking out as Jeff said calling the Republican tax plan Armageddon that's expected to do what at least the static analysis 1.5 trillion over 10 years so that's 150 billion extra a year and everyone's losing their mind saying this is the worst idea ever if interest rates just go up two points that's an extra 250 billion a year in debt service costs okay so I'm just trying to get you to see how big these numbers are and again I'm not talking about what if the dollar crashes or what if the treasury my I'm just talking slight increase of two percentage points the other thing is people are praising Janet Yellen as the best fed chair ever and the reason they're saying this is because they're saying look at the feds mandate what's their dual mandate is to keep price inflation down and high unemployment and you know to have stability and the unemployment rate officially is very low and you know we don't see CPI blowing up so she's doing a great job by the way I think she's smart if she can get out before the crash happens she will be able to say like it wasn't my fault you know you men don't know how to run a central bank you know that's that's how I would play if I were her but there's certain things with the labor market and again these are all official numbers it's not that I have to go to shadow stats or something these are all you can look this stuff up St. Louis Federal Reserve these part of the reason and I know many of you know this but I just want to say it for comprehensive sake partly why the official unemployment rate number is so low is because the way that number is counted if you're not actively seeking work you're not unemployed right because and there's a logic to that I know some people when they hear that they think that's nutty but because you know if you're an 80 year old retired person and you're not trying to get a job it would be weird to say you're unemployed right so you're just you're not in the labor force but what can happen is if people become discouraged or just they know the job market prospects are so bleak they don't even try to get a job then you fall out of the labor force and so you're not part of the unemployed and so you're not in the numerator when they say the unemployment rate is such and such percent so I think a better metric to account for that is to look at what percentage of the civilian labor force is actually employed okay so that's not asking whether or not you're trying to work that's not getting inside your head that's just objectively looking to say how many people are there you know non-military and of working you know six I think it's 16 and above or they're 16 to 65 something like that maybe and then say what percentage of them are employed and so that figure right now is the lowest it has been since the 1970s and if you look at the chart over time I mean it's it goes like this and comes down and the reason it was rising in the 70s and you know through the 80s and 90s I think it peaked in the late 90s is because more and more women were formally entering the workforce okay and so the way they run these numbers like you know a woman who would have been a housewife in 1950 who has an office job in 1980 and now counts as working you know not that obviously people not that women weren't working in the 50s but you get the point that wasn't showing up in the statistics so that's partly why that ratio came way up and now it's as low as it has been in the 1970s so that's one measure to give you a more specific one if you look at just among teenagers so 16 to 19 year olds in the year 2000 of that demographic 16 to 19 year olds 52 percent of them were employed right now 34 percent of them are employed okay and so that's I mean that's a huge drop just in 17 years and again if you look at the chart of that thing it's it plummets during the the recession you know under George W. Bush it started to come back a little bit and then going into 2008 it fell off a cliff again and it just barely started coming back up okay so this idea that the labor market was bad for a few years after 2008 but then things bottomed out and now we got a tight labor market and the feds worried about price inflation and because everyone's got a job that is masking this huge you know millions of people who normally would have had a job at a young age that now aren't in the workforce so that's just another thing that in my mind is a seed that hasn't been planted if you will that is going to just show up over time so it's not that the direct problem from that is going to appear next Tuesday but the fact that there's millions of young people who normally would have had work experience just you know standard things like knowing how to show up for a job and not talk back and you know just to do a simple task and everything and those it matters if you don't if you miss out on that okay so I think some people are they don't fully appreciate just how much acculturation there is and just easing people into having a regular job you know a part-time job at McDonald's or something there's something to be said for that and so there's now a whole demographic that's missing that and I think you're going to see that over time as those people are going to have difficulty getting a job at all and so as they get older that's going to be a problem not just in terms of the economy but just socially if there's millions of people who really just can't find work so then switching to that and part of the reason is just those figures for who's in school that explains part of it but even if you just look at like teenagers who aren't in school the number of employed back in 2000s or right now there's still like a 10 percentage point drop okay so it's not simply that they all went to school and then but even within that my interpretation is not to say ah things are good instead of now students who are sorry young people who are going and becoming auto mechanics they're all becoming renaissance men and women because they're going to undergrad in our fine universities I don't think that's what it is I think it's more that they can't get a job and then they're going and racking up huge amounts of debt and not learning many valuable skills at colleges and so there that's another one of these trends that I'm seeing there's a lot of cliches and I know people say oh there's safe spaces on colleges and the snowflakes and whatever and you know if you look like the show he complains about it all the time Tom's here and so and that's all true but what I want to stress if you haven't seen that I think you might think we're exaggerating okay or they all come on and young kids are always smart Alex you really don't know you have no idea how bad it is okay there's something different this is not a matter of oh gee there's a bunch of people who have different views about what health insurance should be provided by the government that's not what I'm talking about I'm saying people who their reaction to oh there's a speaker coming to campus that we don't like that person's views we are going to credibly threaten that we will break stuff and hurt people we will set things on fire and smash windows and so then the school has to cancel because of security concerns and then that gets spun as oh yeah the reason that speaker couldn't come here is because he would incite violence I mean just the kind of that would do that nothing weird about that the reason the speaker can't come here is because he promotes violence by us his enemies that's a weird thing that's not a matter of disagreement that type of thing just shutting down debate is becoming more widespread the term could be cultural Marxism I've seen some people complain about that so that's not really accurate whatever label you want to put on that but that mindset and I saw it myself at NYU I went my buddy who just has this perverse sense of adventure there was like a feminist group talking about the history of the Soviet Union he's like Bob we're going to this meeting and so we were the only I think we were the only two guys in there and I was really uncomfortable and they were going through and so at the end and I tried to very timidly I said hi we're new here this is our first meeting but you know your talk you are mentioning how you were so proud of the fact that the women and the men were equal in the Soviet Union you know during this famine period but I mean the women in the United States had food so like does that does that matter you know and I said it's something like that and I know like right now I'm coming off as being sarcastic I really was trying to just like I was curious like the woman's face she was like like that like I can't it was like I had just told her that I was Napoleon you know what I mean so she wouldn't try to convince me I wasn't she wouldn't be like show me some ID because then I would say I'm the king I don't need ID what are you talking about that was the reaction she had oh you're one of those like one of the people who care about how much food people eat haha okay but again unless you've experienced it's really so this is not something that's going to be settled by plebiscite and oh well we're going to get you know mobilize our people we get enough petition I mean there's you can't settle this they reject rational argument now in their mind they would think you know that we do the same thing so I'm not saying that we're better or something but I'm just saying communication with someone who has that mentality is not really an issue this isn't just something like oh I don't like that person's politics it's far more qualitative and comprehensive than that and if you don't really know what I'm talking about trust me this is not simply a matter of oh man there's more Democrats on campus now than there used to be because they don't like Trump that's not what I'm talking about I'm saying this is a qualitative thing of we need to silence opposition because these people are evil people don't deserve to hear them you can't have free speech when there's someone who espouses hatred or someone who's from the patriarchy should not be given a platform because that would stifle free speech so that's why we're going to burn cars if this person comes and tries to talk that's the fullest expression of free speech is through burning cars you think I'm making up something to try to get a laugh out of you that's not what I'm doing I'm serious people they were asked to certain student activists and they said things just like what I'm saying there in their mind they were defending free speech by making it impossible for a speaker to come and say stuff they disagreed with okay other things in terms of the cultural milieu here this whole punch of Nazi I don't know if you've seen this so there was Richard Spencer was giving a thing on camera someone came up he's like a white nationalist guy someone came up just out of nowhere punched him and that started circulating people thought it was hilarious and punch a Nazi became a meme and I had thought people were kidding and I thought maybe they just meant hey I'm not losing sleep over this guy because I hate his gut and maybe that's what some of them meant but it became clear to me that no there were many people who they literally thought yeah those views are so distasteful someone who's talking about white nationalism or things like that fascism it's okay to punch him because that's completely unacceptable and you got to shut those people up what harm is there in doing that and again just alarming I would not have predicted people that I know would have said that one guy who said that he was more like I'm not losing sleep over it was his birthday and so I wished him happy birthday on Facebook and said hey why don't you go punch a Marxist just to see and he didn't want to do that so my point in flipping it was to show talking like that punch a Marxist that sounds crazy you know it's a joke you know I'm not serious because again and it's not because Marxism hasn't really had a bad record in terms of history but just I flipped it just to try to get to see how crazy this is but yet again if you're not on Twitter and stuff maybe you don't know you think I'm exaggerating but I'm telling you there are plenty of octable people that you would normally have thought would say oh yeah violence is absolutely unacceptable as a means of reconciling political histories that no they were saying no these people are so bad I can't believe in our country someone's you know waving the swastika and so yeah somebody goes and punches that person maybe that's a good thing so that's you know again so I'm saying if this if people are okay with using violence to shut up their political opponents now imagine if the economy crashes anywhere remotely as bad as you know I'm saying might happen that that's that's what I'm trying to get get across by this stuff is to say if people right now are putting on the table violence is okay or we're gonna look the other way when Antifa you know smashes windows and whatever because yeah that you know that Ann Coulter she says some horrible things so yeah maybe I wouldn't go and smash windows but I could see where those kids would do that if that's your mentality right now imagine how bad it's gonna be if the economy crashes also dovetailing with what Jeff was saying I think you know the next the next time a Democrat gets in the White House rightly or wrongly many there's millions of people who think there is an absolute monster right now in the White House who's dismantling everything they love about the country and so just the the payback the revenge that there's gonna be when the next Democrat gets in is you know I shudder to think about it and again I'm I hope this doesn't come off like I'm defending Trump or I think I'm certainly not but my point is just why I am very fearful for the future in terms of these trends another thing about the surveillance state that's another list of you know a trend here I've seen two quick things because I want to leave time for your guys questions the I used to be optimistic about it and I said okay I know there's like facial recognition software but if you know how those things work they need to be trained right the computer needs to know like be shown lots of photographs of people and to have it identified in order for like all the security cameras around the country to be you know if you wanted some computer algorithm to be able to track everybody the computer needs to be trained and so you might think okay I mean the only they don't have the manpower to do that the NSA how many people you would need millions of Americans to just upload photos of their own friends and relatives and then tag their identities so we still have no time whatsoever because that's what Facebook is right likewise the kind of stuff you know 1984 that vision of having the telescreen and everybody's home is monitoring and no one can say anything you know I used to think well there's no way if the government just mandated that Americans would realize wait a minute you can't just have listening devices putting our thing I mean people would need to voluntarily buy some product and put it in their house that could monitor everything they say and call it Alexa and what that's not gonna that's not gonna happen okay so there's there's all that stuff so as far as you know that's the pessimism so now what's the solution well obviously you know I would say education but now I'm a little more specific about it that the innovations we've seen Uber and Airbnb these are great because I think it is actually Jeff who said this in a different talk in terms of getting people to see the the ability of innovation and free enterprise and getting around government cartels that's you know the textbook you know lectures from Tom Di Lorenzo or somebody that would never have convinced millions of progressives but when they take an Uber ride and know what a cab ride in New York City is like and then see that the cab lobby is saying oh no Uber is unsafe you know you might get abducted by your driver and so that's why it's gotta be illegal they can see no that's just they're protecting their turf you know it's so and I know lots of people in Nashville art musicians and things who are renting out rooms through Airbnb and then they tried to shut that down I think it failed but there was a measure from the hotel lobby to shut that down of course is being unsafe and you know the building could cave in we can't have our visitors to our fine city you know having a building cave in on them when clearly it was because the hotels were losing business right so a lot of progressives who normally don't trust free enterprise they can see the virtues of these things also Bitcoin and alt currencies in general whether Bitcoin is a good idea or not or is going to do anything that's not my point just people see the notion of a blockchain they get oh wait a minute somebody could just invent a new type of money that circumvents the system and people voluntarily can embrace it or not so that I think are good examples just to show people this is how it could work in practice to see the conventional ways the things that are produced by the government you know the heavily regulated industries the money that's you know the central banks produce if somebody comes up with a better idea with technology now it's a lot easier just to start producing that and to see the virtues of it you don't like Bitcoin if you think it's a bubble okay don't use it I think people get oh whereas it's a little bit harder to say oh if you think you didn't like QE well just don't use the dollar you know and you see how that those two don't ring the same and so people can see the virtues of segregating things again not because oh our way is better but because we don't know who's right and so you see the virtue of sort of insulating things and not having all our eggs in one basket and just the virtues of diversification so I think people can see that with these distributed networks and so what all that is leading up to is I feel much more strongly about what's going to happen in the next 10 20 years to me the only realistic thing that might preserve liberty and be a good force mitigating a lot of these trends is more serious succession movement and just to take something specifically like Texas breaking apart now that doesn't you know that's not going to happen in the next year or two but if things got really bad like I'm talking about you know in the federal government you know defaulted on its debt and the dollar crashed and so on then you really might start seeing if there was like a terrorist attack and there's martial law being imposed you could very well see that becoming a very serious thing and so the reason I like you know the idea of Texas is just because geographically that just logistically would be easier for Texas to break away than some interior state another reason is I live in Texas so you know that's if we break away and my pledge is if we do break away and then I don't have to pay federal income taxes and if you want to hire me as a consultant I will pass the savings on to you all right that's this isn't about me all right but I just happen to live in Texas also though I'm new there I've only been this my going to my fourth year there the culture in case you don't know it's it would be easier for them to become their own country than people who live elsewhere so for example people in Texas I talked to them if they're traveling in Europe and someone over there says oh where are you from they don't say I'm American they don't say I'm from the US they say I'm from Texas right whereas you know when I was a kid if I try I wouldn't say I'm from New York state like they wouldn't even occur to me I'd say I'm from the US they apparently I've heard from several sources there when you're with the kids growing up in Texas they in their school their history classes they learn more about Texas state history than they do about US history again I think most of us if you're not from Texas you don't know anything about your state history but that's how they're taught there there is a tradition of them being their own country Phil Magnus one time came out to Texas Tech we hosted him for he was part of this conference we did and he was given a little the history of Texas and so he starts to talk and said I guess he's from Texas too he said hey I'm free how many people how many native Texans do I have you don't have the class or anything he was all right let's give a hand for the best country on earth and they're oh yeah right so I mean that I'm just saying they have that mentality already so I think that there's that element and what so what it would do just so you can see it's not just oh so therefore the people in Texas would be all right and it's not even just oh and there would be a refuge for people in the other 49 states who wanted to move to Texas and if that were a possibility but then that would also temper the things that the you know remain remainder of the US government could do okay because it would know we can't have taxes be too outrageous because then everyone's just going to go to Texas okay so it's sort of like one of the conventional explanations of how did political liberty as we know it why did that emerge in Western Europe and not like in China or somewhere else and one of the standard stories is well because of the geography and other specific factors accidental factors there were squabbles among nobles and so on in Western Europe and it was easy for exit it was easy for people just to leave one jurisdiction and go elsewhere and so that sort of forced you know the noblemen and so on there the kings they couldn't be too tyrannical because they would just lose population people would vote with their feet okay so that sort of mentality is what I think would help temper it let me just end though by saying two things so I think in terms of what can people do it's just real simple stuff like just get it on the table that hey suppose the people in Texas we saw what happened in Catalonia right if you're not familiar with it they were voting to break apart and the government was sending in you know cops and stuff breaking up voting booths and things and saying this is illegal you can't you know you don't have the authority to do this I mean so they were literally suppressing the vote and so I think it's it'd be useful to just start planning those seeds just you know you're at a dinner party and you know just talking to someone say hey you know suppose somebody's in a relationship and they decide they want to leave is it acceptable to use violence to keep that person in the relationship and everyone's going to say of course not what are you talking about you monster you go okay good I'm glad you support this session thanks you just do it like that the other thing is to I think the word secession scares people because they naturally think slavery and so maybe call it independence so that's you know just in terms of because it's you know the American Revolution we talked about the declaration of independence the war for independence America achieve its that was a secessionist movement but yet that's not the way Americans think about they think of it as you know what some people call the Civil War what in Texas they call the war of northern aggression right that's what people associate secession it's the same thing but I think it's a lot easier just if nothing else to force people to say no if the people of Texas wanted to be independent too bad right at least make them say that whereas if you say I'm not again secession that that sounds like a technical legal question okay so that's so in me personally what I'm going to start doing is I think I will look at you know there's budding secessionist movements in Texas you know people organizations that have been around that got a big boost in popularity and attention when it looked like Hillary Clinton was going to be the president just like in California when Trump won all of a sudden the secessionist movement out there jumped in popularity and so like I might do things and look at because there's a lot of practical difficulties like Jeff was alluding to like what about social security what about their portion of the federal debt so to at least have that stuff in place and ready to go in case for various reasons all of a sudden this becomes a political possibility last thing I'll leave you with is I just looked at a poll online that said if at least 70% of the people in Texas wanted to leave the union what should the federal government do and there were three choices one was wish them well the second was insist on a monetary payment before they leave and the third was invade and I'm glad to report 80% of the respondents chose A now admittedly these were my Twitter followers I set up the poll but still it's it's progress and of the ones who said invade some of them clarified said oh I thought you said what would the government do not what should it do so there is that and then somewhere just trolls so there's that but in all serious as I do honestly think it might be good to for people just to start planning those seeds just to get people because I think most people you know with the declaration that depends where it be weird for them to say no if a bunch of people really wanted to leave we would bomb them into submission I think they're going to be has been to say but they might say it when it becomes a reality and so to get them on record now just to kind of you know have them think like that okay so with those happy thoughts thanks everybody


Arab Saudi Saudi women allowed to drive. Barely a week after a senior Saudi cleric said women in the country should not be allowed to drive because they have a quarter the brain power of men, Saudi Arabia's king issued a decree that women will now be able to get a driver's license. The decree said that women would be allowed to drive in accordance with the Islamic laws and a high level committee of ministers has been set up to organize the implementation of the order. Saudi State TV said that the rollout of the changes would take until June 2018. The decision has sparked delight and disbelief among activists in the kingdom, which was the only country in the world to ban women from driving. Madhaui Al Rashid, a Saudi academic, congratulated the women activists in a tweet and wished for political and civil rights and an elected government to follow. She also warned that the decision was aimed at diverting attention from Saudi Arabian human rights abuses, such as the arrest of political dissidents. Lajain Hulthloul, a Saudi activist who was imprisoned for 72 days in the winter of 2014 for attempting to cross the UAE border into Saudi Arabia in her car, tweeted two words, thank God. Hulthloul and another woman activist, Mesa Alamoudi, who was also detained, have been credited with successfully campaigning against the driving ban. Manal Alshari, who started the women to drive campaign in 2011, heralded the change that she saw her country going through.


Hey guys shape every 1000 here today. We're going to be doing kind of a side-by-side comparison of these two dash cams Let's see which one's better Okay guys What we have here is we have the as seen on TV dash cam pro We also have the black wed the black web wide angle video dash cam All right Now this one says It's like having a black box for your car Your personal eyewitness on and off the road. Well, I don't know about that Okay, let's go over a couple things first of all This one set up like this The screen will flip down like that. Okay, and this You know clips on to your windshield. So that's pretty much what you got right there.  There's a lot of you know a lot more It creates like a fulcrum. It doesn't stay steady Because I have used both of these This one is set up more Like an actual camera. Okay See you don't have as much Vibration you're going to have some but you don't have as you know, you don't have all that Sticking out in the back like you do on this. There's the difference in the sizes of them. Okay This one Here's the memory card slot right there. It takes the micro mini SD card Which is fine This one takes Regular size SD card Okay Now something else on this one Okay Now if you look at this when you Let's see if it'll power on All right There's that now if you go to your menu button.   Everything's all right here Yeah, you know where I'm going with this right now Both of these cameras as you can see here. This one was 20 bucks This one was 20 bucks. This was at Walmart and this was at Like a flea market where you buy those ass seen on TV things now here you can get these for 15 But we'll we'll cover that later. Okay. Here's the User guide instruction manual for the dash cam Pro Okay, it does have quite a bit of information in it and this is more like a book for the black web now And tell you right now this oops sorry This one it'll say it'll record up to 14 hours in let's loop recording. Okay It also says it's full high full high definition 120 degree wide angle We're gonna we're gonna see about that Because in the settings which I was going to show you but the battery went dead Which I was going to show you there's only two settings for that 720 and VGA and I've tried them both with the same result. So this is not This is not a high definition camera. This one. However will go to 1080p and also down to a few in That are lower than that, but this is 1080p full high depth It is wide angle so Now I have noticed on both of these the sound the audio Is okay at first, but then like a few seconds in your audio is not synced Neither one of these and I've been on the internet and a lot of people are having problems With these dash cams not syncing the audio, right? So sometimes, you know You're not gonna need the audio, but sometimes it'd be nice to have Okay Now I've got audio on both of these what I'm gonna do is I'm gonna do a side-by-side comparison I'm gonna do with raw video footage And I'll let you listen to the sound of them the audio the sound quality and Then I will video stabilize these because I'll tell you what I had to I had to put these on my chest Okay, and I'll show you how I did that here in just a minute and you'll see See why this is a lot more versatile, you know for 20 bucks.  I just can't do that I don't have anyone sponsored me to do that So if you would like to sponsor me a brand new $300 dash cam to Review for you. I will gladly do that But anyway, I'll show you what I had to do to put these on my chest And like I said, it's just This one's just a lot more versatile and I'll show you that like I said in the two different In the audio and in the video Raw and then I'll stabilize both videos and you'll see And you'll see the difference in the quality in these two cameras Okay, what I've done This is a this is a headband part of a headband off of one of those Headlamps. Okay. What I did was I strapped this around me like this Okay, I strapped that around me like that. Okay Now this one You know hangs like this Dip her to get Okay, I've done this a couple times now All right, so I had it It just has strapped on like that and started recording. Okay, and I took the ride Also, by the way guys I did I Did take this the same road the same path Going about the same speed about the same time of day other than like maybe five minutes to change cameras So I tried to get it as equal as possible. Now this one as you can see with that back part I can't do that with see Because there's the camera So what I had to do is I had to come up with something different so I got one of my hot shoe mounts and I Screwed this into here Then I screwed this part and To here So that's got a lot to do with the wobbleness, but I was also I got to tell you I was also holding this too And then I had this Up in here like this So as you can see it's kind of vibrant. So I had to kind of reach up and hold this while I was riding the bike So that's how I had to hook this up To where this kind of just strapped on pretty easy for demonstration purposes and whatnot I wouldn't be comfortable to ride, you know take an hour-long ride like this I would come up with something different You know the regular attachments to To attach to you, but that's how I had to do that also These both have video save That means you can save it if there was an accident or something you want to save and you don't want it to loop record over It locks that file so it cannot be recorded over This one you have to go into your memories and Or into your playback mode you hit the menu and It'll give you the option to save and you got to click that button Then it'll save it this one This button right here See if I can see it this button right here Whoops, sorry. It's upside down this button right here. It says M and it has a lock. Okay, if you see a crash or Something like that and you really want to save that clip all you do is hit that button one time It automatically saves it. It locks that file Let's go ahead and check out the video footage and the audio quality on both these cameras I think you know which one's the better quality For the low price we're paying for one of these because not everybody can go out and buy a dash cam But they're real handy to have also they both have motion detection and all that so Like if somebody walks in front of your car somebody starts backing up and they back in your car that motion detection will kick these both on and They will start recording so somebody backs into you you'll have it and you can set it to record like 10 Like a few seconds before It actually kicks on so that's pretty cool In conclusion the black web for 20 bucks. I think is a great camera to have it's very affordable You know if you got the money yet good don't don't spend don't waste your money on these if you got the money Go buy you a good one, but if you're on a budget like most everybody is nowadays even us You know this this is the way to go this black web camera. I'm very satisfied with it Like I say they're having issues with these not syncing up with the audio this thing is just you know I mean it is what it is. It's not worth 20 bucks. I don't even think I Would give $10 for It's just the video quality is horrendous. It is horrendous so You know like I said, I hear now you can get these for around 15 bucks. I don't know but So don't quote me on now. I know we gave 20 for this one and 20 for that one. I wouldn't give 20 bucks for I wouldn't give 15 bucks for I Knowing what I know now I wouldn't give I wouldn't buy this I would just go straight down to Walmart or whatever carries these whoever else carries these the black web And that's what I would go with is the black web hands down I've seen some Video Reviews on this and it just seems funny to me their their video review of this is Like 1080p and it looks real great and real stable and I can understand if it's on a windshield Maybe it is gonna be more stable, but you know, like I said side by side I mean this you you can't put on your body if you wanted to and take a ride this one you can This one, I mean try to strap that on to a helmet, you know This one you can so I don't I'm not saying anything bad because I don't have proof But I don't think the footage you're seeing in them videos and I just watched one last night And I'm not gonna say the name of the person that did it but His his video I mean was of this camera was awesome He was like, yeah, I mean it's okay to work. I don't think it was done with this camera. I really don't It just because I mean, you know, I've used this camera and I know I know what it does His was in full 1080p this no no, it's not and it was the same exact the same exact camera So in conclusion, this is the better one. So if you want to looking for a cheap cam Go with the black web Like I said, I got this a Walmart for 20 bucks Stay away from this thing. It's just too much hassle and it is not worth it. I've got a video on Using this monkey caught a crash where a cop car Actually run into somebody and almost flipped and you can't really see what's going on you get the idea But you really can't see what's going on this one You probably could have So there's my review. There's the comparison on the black web dash cam and the dash cam pro So you guys if you're looking for a dash cam you be the judge, but for the same price I mean even if this is $15 now I would pay the extra five and get some decent quality that that does work a little better Easier to use and more versatile. So guys, thanks for watching my videos Don't forget to comment rate subscribe share and I check out my patreon page. I appreciate guys Thanks. Enjoy the rest of your week. Be safe. Shea bear the myth man legend.


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Hello. Welcome to yet another session of our NPTEL on nonlinear and adaptive control. I am Shrikan Sukumar from Systems and Control IIT, Bombay. So we are almost meeting the end of the sixth week and we have already looked at adaptive control design for a first order scale system and we are well into the discussion of looking at adaptive control design for second order scalar systems and the rather cool thing is that a lot of mechanical systems including the spacecraft by SpaceX that you see in the background orbiting the earth fall into the category of systems that can be modeled by some kind of nonlinear second order systems. And so what we are already looking at in the sixth week of this course will very much be useful to design algorithms and develop controllers in order to sort of control autonomously or drive autonomously systems such as what you see in the background. So this is where we were last time and what we had realized was that for the second order system we sort of hit a detectability obstacle because we started with a non strictly upon a function for the known system case. Yeah and what it meant was that we could not even prove that the position error in fact converges to see all right. So one of the solutions that was one of the obvious solutions is to obviously construct a strictly upon a function which may not always be easy however that's definitely one viable choice. However one of the in fact more simple solution was this Ortega construction which was proposed by Romeo Ortega in the 90s and this is he in fact proposed a function which was not even a Lyapunov function so it was like a Lyapunov like function and we are starting to look at it from in the context of this simple spring mass damper system it's not the it was e the error system but the spring mass damper system and there is no parameter either there is no parameter error either here and the aim is to drive you know x1 x2 to zero is t goes to infinity and the choice that he proposed was basically something like this half x2 plus alpha x1 squared and we know that this is only positive semi definite because v of v at k comma minus alpha k is zero for all values of k therefore in fact along the straight line yeah along a particular straight line this function is zero arbitrarily close to the origin also and therefore this is not a positive definite function as per our definition and hence not a Lyapunov candidate. Great so how do we use this so this is where we are today this so this is say lecture 6.6 this is where we are so how do we do how do we use so we take the derivative of this v and let's x2 plus alpha x1 times x2 dot plus alpha x1 dot and I simply substitute for the derivatives from our dynamics so x1 dot is of course x2 so go with that this and x2 dot was minus k1 x1 minus k2 x2 which is the standard spring mass damper sort of dynamics what do we do after that we sort of club the x2 terms which is minus k2 minus alpha and we pull that out here okay so what are we left with this is retained as it is since minus k2 minus alpha is pulled out the scaling on x2 is identity now and the scaling on this guy becomes k1 over k2 minus alpha this is what we have now if we make a choice of k2 since that it is greater than alpha and I'm allowed to because it's a spring mass damper if I'm trying to stabilize I can choose k2 to be anything I want so if I choose k2 to be greater than alpha and alpha is also something that I choose so I have a lot of things that I can treat and also I choose alpha says that that is exactly equal to this quantity exactly equal to this quantity here which of course give me some because this becomes a quadratic equation in alpha so I get a viable solution here and so if this quantity becomes alpha you see that this whole quantity becomes x2 plus alpha x1 whole square and that's what we write here x2 plus alpha x1 whole square on top of that I have already required put in the requirement that k2 is greater than alpha so this quantity is strictly positive therefore this entire quantity is negative semi-definite great the other cool thing to see is that this exactly looks like the v so in fact this is twice of v and twice of the v function that we chose so that's what I do that I substitute x2 plus alpha x1 square is twice v and I can see that v is of course a scalar value quantity so I can see that this is a nice exponential decay in v and there's a nice exponential decay in fact I can even solve this I can even solve this to say that vt is v0 e to the power minus 2 k2 minus alpha t and in terms of x2 plus alpha x1 also I can say that yeah so two things happen one is that this is the v is actually half squared of this and v0 is half squared of this so the halves cancel out and then I take a square root so therefore the two goes away here so that is essentially the exponential decay of v and therefore you know the exponential decay of x2 plus alpha x1 and of course alpha is also positive quantity so this is what we have this is what we have so great so great so now we do a little bit of signal chasing type analysis the steps are slightly different here yeah but they still work out fine yeah so the first thing is v is still lower bounded because v is greater than equal to zero and it is non-increasing because v dot is less than equal to zero right I mean even though v is not a leapon of candidate I still have both of these yeah that it's lower bounded and it is non-increasing therefore v infinity exists and is finite okay may exist plus finite and then v infinity is what we used to denote this limit of limit of v st constant okay so further because v is x2 plus alpha x1 squared we know that this is a bounded quantity yeah we can also show that x2 plus alpha x1 is in L2 right and x2 dot plus alpha x1 dot is in L2 in fact this step is I would say not required because we have already proved that x2 plus alpha x1 goes to zero st goes to infinity yeah so we don't need this don't need this step this can already be claimed from this can already be claimed from your exponential decay of v yeah we already did this right because you can see this is the formula for it x2 plus alpha x1 at time t so if I take limit as t goes to infinity on both sides this guy is going to zero x2 plus alpha x1 is going to zero so what do we know we know two things x2 plus alpha x1 is a bounded signal so let me call this some phi of t defined as that and I know that limit as t goes to infinity phi of t is zero okay sorry not phi of t I have already called it p of t data one so p of t is defined as this and limit as t goes to infinity p of t is zero so I know these two things okay right I know these two things I know further that x2 is equal to x1 dot so I can rewrite p as also x1 dot plus alpha x so what do we do we now apply the Laplace transform on both sides and do a little bit of rearranging of terms so how do I do that Laplace transform here gives me ps and here I get sx1 minus x10 and and alpha x1 s which goes to the other side to become minus alpha x1 s okay now in order to compute x1 s I combine these two and I get x1 ss x10 over s plus alpha and ps over ss display rearranging in manipulating terms now if I apply the final value theorem in order to apply the final value theorem what is it I know that final value theorem says that limit as t goes to infinity x of t is basically equal to limit as s goes to zero as xs okay and that's what we do right so I multiply s on both sides and take limit as s goes to zero so I get from the left hand side I get limit as s goes to zero sx1 s which is actually this quantity yeah and further and of course I can on the right hand side I have this now what do I know about this I also know that p goes to zero as t goes to infinity so from here I immediately have that again by the final value theorem that limit as s goes to zero s times p of s is zero all right great now notice this is what is there here in the numerator right so when I take the limit here as s goes to zero I can distribute it in the numerator in the denominator so the denominator as s goes to zero is alpha and the numerator limit as s goes to zero is zero therefore the outcome is in fact zero and here it is just zero because there is an s here there's some constant and this becomes alpha so basically the limit here is zero so what have we shown is that x1 yeah um let's see why it's yeah yeah what we have shown is that x1 in fact goes to zero as t goes to infinity and that's what my final value theorem further we already know p goes to zero as t goes to infinity and p is x2 plus alpha x1 now if I take limit on both sides of this yeah see if I take limit as t goes to infinity on both sides of this what do I know I know that this guy is going to zero I know this guy is going to zero therefore x2 has to go to zero as t goes to infinity all right there is no two ways about that all right so what have we been able to show we've been able to show that both x1 and x2 there are a couple of things one is we've been able to show that both x1 and x2 go to zero okay now what about boundedness it's not mentioned here yeah but it's also important for trajectories or states to remain bounded okay now if we can do this in separate two separate ways I mean you can you can choose another Lyapunov function which is say v bar equals half the same thing as before k1 x1 square plus x2 square and we have v bar dot is minus k2 x2 square from this dynamic site just by substituting for the dynamics of the spring mass damper from the previous example I know that this is exactly what I get and this is less than equal to zero and this will immediately imply that x1 x2 uniformly stable at the origin okay the stability can be obtained if you want by this earlier Lyapunov candidate which is actually a Lyapunov so I don't have to worry about stability that was already given to me but but this particular Lyapunov like construction actually gave me convergence I can claim that x1 x2 go to zero as it goes to infinity so I even got my nice asymptotic thermos all right great great so what we want to do is we want to use the same idea for the adaptive control right so we already had this sort of a control and we already had the original dynamics and of course we had the error dynamics which was exactly like this and now instead of choosing k1 x k1 even squared plus e2 squared we choose this as a Lyapunov function or I will not call it Lyapunov function but the Lyapunov like function it is the Lyapunov like function it is not a Lyapunov function and use this yeah because this is not a positive definite quantity all right great and now we again take the time derivative just like before so I get e2 e2 plus alpha e1 e2 dot plus alpha e1 dot and this quantity just moves so this guy just remains as it is all through okay because we are yet to choose the theta hat dot so we choose the theta hat dot every time by taking the Lyapunov candidate or a Lyapunov like function and from the derivative you know we try to choose the theta hat dot so that v is at least negative semi-delta because v dot is at least negative semi-delta right that's really the attitude so again we substitute for e2 dot and even dot even dot is just e2 and e2 dot is this entire thing yeah so wait a second this is not correct e2 dot is in fact plus theta theta this is what is e2 dot okay and then what do we do we again if you notice I still get minus k2 minus alpha here so I take this minus k2 minus alpha common and I get e2 plus alpha e1 as it is and the second term yeah we we choose by appropriate choice of alpha yeah and with k2 greater than alpha you will get this sort of freedom but if you're confused you can simply write this as minus a2 minus alpha e2 plus alpha e1 is the same calculation as before e2 plus k1 over k2 minus alpha e1 okay that that is what becomes of all these terms yeah except for this theta tilde term yeah so everything except the theta tilde term becomes this yeah so therefore if we choose k2 greater than alpha and an alpha equal to this guy we will get here so these terms become this yeah great and the theta tilde term we club the two theta tilde terms together so I take the theta tilde common yeah here and I get e2 plus alpha e1 times f right and here I get theta hat dot over sigma okay so now notice that we have to choose different update law yeah update law here is now this earlier if you notice with the previous leapon of candidate the theta hat dot only contained the e2 okay but now it has e2 and alpha equal to has e2 and alpha equal to okay so so that's what and of course I mean then use the gamma for the adaptation game here you is the sigma that's fine yeah so of course sigma is also some positive adaptation game so that shows up here so once we choose that this term essentially vanishes and we are left with this guy okay this is also negative semi-definite yeah remember we did not do any new magic we did not so so what happens is that the V dot is again the same as what you have in the non-adaptive case even though the V may have started different okay so this is still the same negative semi-definite V dot okay but what do we know now yeah so here the steps are slightly different whatever I had you know I had said here that this step is not required and this step is not required but now we will require these steps we will yeah why because this is not V any the right hand side is not V any yeah V will contain also the theta squared okay so I cannot use directly the expression for V so that's what we say hence we won't be like V dot is minus gamma V as in the known parameter case so we use signal chasing arguments so what is it so this is where we use the earlier arguments we know that I am going to write those here to be honest yeah because we said we don't need that yeah so I will write these steps A B and C so what is step A V infinity so V greater than equal to zero V dot less than equal to zero implies V infinity exists plus finite then the second step is that E2 plus alpha E1 and theta tinder are both bounded yeah because that's up that is in the V yeah and V is non-increasing therefore both E2 plus alpha E1 and theta tilde are bounded the third step is E2 plus alpha E1 is L2 why that can be obtained by integrating this thing from zero to infinity and I can I can do this because V infinity exists and is finite and we just showed that and further finally we can write that E2 plus alpha E1 the derivative of that is also bounded yeah how just compute the derivative E2 dot plus alpha E1 dot in fact it is exactly this guy here inside the bracket this is E2 dot plus alpha E1 dot and everything here E1 well I mean after taking this K2 minus alpha common you will get and with this sort of a choice essentially you will have E2 plus alpha E1 the derivative will be from here it will be let's see E2 wait a second it is minus K2 minus alpha times E2 plus alpha E1 plus 1 over K2 minus yeah plus 1 over K2 minus alpha theta tinder yeah so this is what you'll have and so now I know that E2 plus alpha E1 is bounded theta tilde is bounded if I assume boundedness on F I have also that the derivative is bounded okay therefore the derivative is bounded so simply by the Babelatz the corollary to the Babelatz lemma I can claim this E2 plus alpha E1 goes to zero as T goes to infinity okay and I also know that E2 plus alpha E1 is bounded so I have the exact same thing right so I have the exact same thing as before yeah so now I do the same I can do the same steps and I can I can say the same steps right if I so what do I know suppose I define P of t as E2 t plus alpha E1 t I know that P of t belongs to L infinity and I know that limit as t goes to infinity P of t is identically zero okay excellent and I also know that P of t can also be written as E1 dot t plus alpha E1 t okay then I can use the same final value theorem arguments and by taking Laplace transform here so this is P s s E1 s minus E1 0 plus alpha E1 s and so I will get E1 s as s E1 s as s E1 0 over s plus alpha plus s times P s divided by s plus alpha okay so if I take the limit as s goes to zero on both sides I know that this is going to zero I know that this is going to zero so basically I have this is equal to zero yeah so which means that implies that E1 is going to zero as t goes to infinity and because P is also going to zero and P is E2 plus alpha E1 so I also have that E2 is going to zero as t goes to infinity and that is exactly what we want okay that is exactly what we want for the adaptive case all right it's exactly what we want for the adaptive case so notice that there was a change in how I chose the v function which is now a leapon of like function and there was of course a change in how we update theta hat dot because we change the v right as soon as you change the v remember that the update law was always obtained by computing the v dot and trying to make it negative semi-definite yeah and so it's obvious that if I change the v the choice of v the choice of the update law of course changes yeah so it's not like I'm getting convergence of the tracking errors to zero for free yeah because this is just analysis and after all choosing a v and doing derivative and substituting dynamics is the analysis one might ask what did I actually change in the controller so I did the controller remained exactly the same but the update for the theta hat changed and with this change in the update using the same sort of steps that I did for the known case using this uh you know or tega construction I could actually show that both event and u2 are now going to go to zero as t goes to infinity right by the way this sort of proof that we did that if even dot plus alpha even goes to zero as t goes to infinity this proof can also be done in the time domain okay it's not impossible to do this proof in the time domain yeah because this is a nice exponentian dk nice system with with is a nice exponentian decaying system with a bounded bang or bounded vanishing perturbation yeah so this sort of analysis can also be done yeah I mean I would strongly encourage you to look at how to prove the same thing without the final value theorem and going to the s domain or the last one yeah I would strongly urge you to try to do this simply by directly integrating this system yeah because this is just a bounded vanishing perturbation on a exponentially stable system all right excellent so so that's great so this sort of brings us to the end of this week's lectures and we have done rather interesting things we have seen our first set of adaptive control problems we saw that how to do the first order case start with the unknown case like start with the known case use certain decoys to design a control for the unknown case and then come to the update law using a appropriately happen of candidate function and we also show how to choose a candidate but as soon as we move to the second order system we saw that it's not very difficult to hit a detectability obstacle if you end up choosing a non strictly happen of function for the original system all right so it's not that complicated or that difficult to get to a detectability obstacle and then we also saw a means of alleviating the detectability obstacle by choosing what we call the otega construction which is essentially a leopold like function which still helps you with the signal chasing analysis for these kind of integrated type systems so you essentially have an integrated type system if it was not an integrated type system this sort of construction may not work you might need to use a strictly abnormal construction but then with this type of otega construction we showed that with the second order scalar system we are able to in fact make a nice adaptive control design and show that both the tracking errors go to zero as always we don't claim anything on the parameter error we for sure that it's bounded but we don't claim anything on whether it is converging or not to the true one all right and this of course brings in notions of persistence of excitation we looked at that for the first order scalar case we did not look at it for the second order scalar case but it's similar you can do a very similar thing for the second order case also and probably use persistence results that we've discussed before to claim that under the rich enough trajectories you will be able to identify the parameters but how to find the rich enough trajectories how many frequencies do you need in the trajectory these are all still heuristics it's more like trial and error and like we've already discussed it may not always be possible in a real application to create these arbitrarily oscillating trajectories because you may not want your robot to follow such trajectories excellent so I hope it was a very interesting week six interesting exploration into the start of the design process and so henceforth we will see more and more of the design so I'm very hopeful that you will be able to pick up to this from here and start applying to these small tiny problems that all of you are probably already trying to solve in your own you know fields of work thanks a lot and I'll see you again soon


And Ya, our guest is in studio And she is a singer, she is a business she is not a business one but an accountant and she wears many hats and we'll be getting to know more about her She goes by the name Binte Raquel We'll be get to know more about her music and everything that she has to offer to us today Karibusana Kunya studio Thank you How are you feeling? Um Good You're good Okay So kindly Jintroduse Tell us where you come from, your name Okay Um I'm Rachel Binti Rakeha, my music name and I come from the I come from the cost Okay, so leo metuletia ni ni? I have a new song in Itama Pensigani Okay, so before you even get to the song Would you give us maybe a little background of how you started singing and how you came to be Binti Rakeha Mwenyo, ame kuja palio I started singing when I was young but not in the church choir But later when I grew up I realized that really something is really missing So I started singing So I think in 2015 that's when I did my first Professionally So how has it been since 2015 up to now? That's five years headed to the sixth year Okay, I did my first song in 2015 then I stopped Why? Then I continued in 2017 So those two years you were happy? I was just working and I didn't think like I really want to take music seriously then So you told me that you are an accountant So how do you get time to You have said that kuna periodu lukumia chere ya 2 years After uli pick up, uli exajiku Make sure that you work but doing it asawa And you're still doing music Ya, when I pick up I stopped doing full time job accounts So I do part time accounts So upon doing the accounts fully No, like music fully So from that time I do pay Okay, from 2017 So in those three years What have you discovered about yourself and your music? I discovered that one thing music makes me Complete, I feel so happy And also in the music industry it's all about Never giving up and you just Struggle to go on, to reach your point So it's not an easy career Challenges gaining me better Ya, a lot of challenges Because for you to grow you need To be known with many people Being known is not an easy thing So you also need to get to know more people Which is not easy to reach them Ya, so that's one of the challenges And also financially you really need To work extra hard So if given the chance right now Would you do music full time If you know that Jinaiko I am making good money from music And it's a sustainable career for me right now Would you quit your job? Ya, I will do it full time So accounting is just Mi akuksaidi aku lipa bills and everything Ya, it's a job and maybe because That's the field of dance study Okay, interesting So the new project we will let you know What was your thinking behind Tamani nili kupushkupanya? Mapindigani It's a general message to everyone But mostly these days relationships Can be like Physically or maybe emotionally Okay, what would you like to receive That song, Mapindigani? I'm still waiting for more of the comments That's not the ones that are there A few What are they saying about it? Just a positive compliment So which producers would you like to work with? Tamani kufanya kazi na e Mu na jua by the way If I got my friends right Ya nda ikam one specific producer Sita posakitukali tukaku ake Badass jafikiria Imgadi na wak na e sayi Have you worked with the same producer? Ya, I've worked with the same producer But I wanted to create a bit of a change So in this kind of song You have changed the producer? No, it's the same one The next one Uja decides Okay, inspirations akoza wasani niwa gani Amma who would you want to collaborate with Right here in Kenya? I love her My pay has received a lot of love today Ya nda Ya, mostly Okay, so kindly share with us Amma with your fans Mali watoneza pata your music That is your social media handles Ya, you can get me on YouTube channel Bintira Kel On Instagram I use Pocomo Princess And Facebook is Bintira Kel So this video is so of you performing at a wedding Yes So you not only perform in other places But weddings, how is it? How does it feel kwenna maali arusi And then you just enjoy, see people Enjoying their day to your music Ya, it feels amazing Especially if it's a song meant for them So you feel like wow They are really going to love it How many weddings have you performed at? Okay, that was my first wedding Okay, so are you looking forward to perform too In other weddings? Ya Because that song was specifically for them For them, ya I wrote it for them They must have felt really nice Thank you so much for coming through I want us to listen to ma pensigani We wish you all the best in your music Thank you So up next is ma pensigani by Bintira Kel