Okay, good afternoon. Thank you for the opportunity to speak here today. My name is Aria Kimi. I'm a kidney surgeon at Sloan Kettering. I work with James Shea, who's a medical oncologist, MD-PhD, and we study kidney cancer. And I'm going to talk about some of our work that we've done in kidney cancer post-hoc after the paper came out, essentially. So we formed what's called what we call a clinical TCGA, and this is essentially focused on questions that matter to clinicians using genomic data. So why does this matter and why is this relevant and why should we all be thinking about this? So clinical information collected at the time of TCGA is often very limited, as we just heard in terms of gastric cancer, but in many cancer types it's the same way. The data is often not reviewed in advance by disease experts focusing on the nuanced questions that matter to that specific cancer type. Cancer-specific information is often not collected. In the case of kidney cancer, only about 70 percent of the patients died from disease, and that matters in terms of when you're predicting biomarkers, whether a patient died from cancer or not. And other factors such as risk factors, post-treatment surgical treatment information, and detailed metastatic information is also lacking. So to address this, we went back to the sore sites, about 80 percent in the case of clear cell renal cell carcinoma, and collected data from disease experts. These are medical oncologists and surgeons and pathologists from the different institutions that we worked with. And in the case of Sloan-Kettering, where I work, we have a very close collaboration with Chris Sanders and the computational biology group there, and Anders Jacobson in particular helped with some of these projects that I'm going to talk about. But essentially we collected additional information on about 82 percent of TCGA, and this took about a year to collect all this data, and we also got detailed treatment information, which I'll very briefly talk about. So what kind of data did we collect? We looked at some data that was already collected, but we actually drilled down and found that there were a lot of holes in that data, such as prior cancer history, family history. We looked at comorbidities. I'm going to talk a little bit about BMI in a second. We also collected certain lab values that were lacking. We also collected whether the patients were symptomatic in presentation, which matters in particular for kidney cancer. And then in terms of metastatic disease, which I'll talk about toward the end of my talk, we looked at whether they were present at time of surgery, the location, and the timing of metastases, which matters a tremendous amount in my disease, in kidney cancer, because patients with early metastatic disease do much more poorly than those that develop solitary sites of metastases later on. And then obviously we collected systemic therapy in terms of the timing, indications, and the responses. So these were the kinds of data that we collected additional. So we collected stuff like BMI, which was not there, obviously, smoking status, systematic treatment, whether they received treatment preoperatively, which should not have happened, although 1.5% actually received treatment beforehand, and other factors that I think will be relevant down the road. So I want to talk two stories quickly in this talk, and I'm going to show you how you can use this TCJ type of data to answer specific questions. So the first part where we talk about risk factors for developing disease, and the second part where we talk about metastatic disease. So what do we know in terms of kidney cancer, in terms of epidemiologic risk factors? There are established risk factors, such as cigarette smoking, body weight, and hypertension.  However, they're definitely well-established and well-known risk factors. The interesting thing about BMI in particular is that this is a forest plot showing meta-analysis that, while BMI is known to be a risk factor for developing kidney cancer, it has also been shown to be protective. So the patients that have higher body mass index at the time of surgery have better cancer-specific survival outcomes. So in order to answer this question, we first looked at our surgical database of about 2,000 patients, and we wanted to control for obvious confounding factors that could potentially explain why patients that are heavier do better. So we looked at factors like symptoms of presentation, whether these patients had other comorbidities that might bring them to the doctor and get screened earlier. We looked at tumor size, which could be a factor. So if you would be screened early, you might have smaller tumors. And then in order to kind of come up with a plausible hypothesis for why we see this, we then looked at about 126 patients from the earliest CTCJ. Now we have 340, but at the time we did this, we just focused to the Sloan Kettering ones, which was 126 patients. So these are just a big table, but basically the red box outlines the fact that patients that are more obese are more likely to have lower stage tumors and lower grade tumors. And when you control for factors and multivariate analysis, you see that these, that higher body mass index is associated with better outcomes. When you control for stage and grade, this does go away. Statistically, all of the hazard ratios are in the effect that you would expect in the relative relationship that you would expect. Now, and again, this is not surprising because I've shown you that BMI is so strongly correlated with lower stage disease. And this is looking at poor nutritional status. So even, so patients that have, that are more obese, they might have poor nutrition. So we controlled for levels of albumin in the serum, and we showed that this BMI is an independent predictor. So I think hopefully I've convinced you that BMI itself is associated with more favorable disease risk. So in order to kind of exploit us from a genomic standpoint, we looked at 126 patients, and we looked at, because this is the TCJ, we had a wealth of information. We looked at mutations, copy number events, promoter methylation and mRNA expression, which is where the money was for this analysis. And we performed pathway analysis of genes differentially expressed in the obese versus the normal weight cohorts. And then we just recently published this in JNCI. These are some of the figures from this, from this paper. We showed essentially that there were no differences in terms of overall mutation status, the number of mutations, including non-silent versus non-silent, that we looked at the top 15 or so genes that were mutated, there was really no difference in any of the BMI cohorts. And the same thing for copy number analysis and methylation. Essentially, no differences between the different cohorts that would have any insight into the differences in survival based on that. However, when we did look at mRNA expression, we saw some pretty interesting findings. So this is the top ranked genes in terms of over expression and under expression using log rank. And we immediately see some genes that were in the fatty acid metabolism and beta oxidation rich pathway. So ranked 8 and 12 of these were fatty acid synthesis genes, fatty acid beta oxidation genes, fatty acid metabolism process. So we clearly see immediately that there's a signal related to fatty acid synthesis. And actually, looking at the down-regulated genes, we found something very striking that more obese patients had down regulations of FASN. And FASN is one of the highlighted metabolic pathways. And kidney cancer is one of the primary figures in the nature paper showing that lower FASN levels are associated with poor outcome. And indeed, if you would stratify patients, both our cohort and then the entire remaining TCGA cohort by FASN levels, you could see that they had strikingly different levels of survival. And we know that FASN's role in neoplastic lipogenesis is well characterized. It allows for de novo lipid synthesis and essentially allows the cells to hijack the normal endogenous lipid metabolism, which you usually get from diet to promote cell survival. So FASN has been known to be upregulated in RCC before. And indeed that lower expression of FASN among obese and colorectal patients was seen in other cancer types. So essentially, the model that we have here now is that higher levels of FASN, upregulation of FASN, essentially is associated with better survival, sorry, worse survival, and the obese patients down-regulate this pathway. And we also indeed saw the up-regulation and down-regulation of ACC and both in the mRNA and protein levels. So essentially, we created a model that looked at genomic data coupled with epidemiologic data to come up with a plausible mechanism for why we see this. And it's not surprising entirely that we saw the effects in the mRNA expression, which would more postulate that there's an interaction between obesity and the milieu of the tumor as opposed to an inherent different biology within these tumors. So the last part, I would just briefly like to talk about some of our prelim data in terms of metastatic disease. Just really highlighting what we've been collecting and just our initial first pass at some of the analysis, which is just really in its infancy. So what did we collect here? So we looked at both the number and the timing of metastatic cases. So we did find that about 123 patients within the TCGA cohort had metastatic disease. But as you can see that this timing of metastatic disease was variable. So 75% of patients presented with metastatic disease. So that means that they had evidence of metastatic disease at the time of surgery. So the samples that were submitted were in the setting of metastatic disease already. Another few patients developed within the first three months. And we considered that a presentation because they were probably missed initially. And then within the first year about 17 developed metastatic disease. And then as you can see, there's a whole long list of patients that develop disease at a later point of time. We also collected sites of metastases. So very interestingly in kidney cancer, unfortunately some tumors will spread to the brain. And this is a very troubling sign when this happens that patients are usually in very bad shape. But we often don't know and standard MRIs of the brain are not what we do typically for patients unless they're having symptoms. So the questions are whether we can start seeing signals of this in the primary tumor setting. And again, the purpose of this is really just to show the data we've collected so far and talk about what we're going to be doing downstream. In terms of treatment information, you could see that we this took us quite a bit of time, but we had medical oncology fellows or physicians at different hospitals getting detailed treatment data on these patients. So we have all this information now and we're just starting to go through this data to see if we can correlate treatment responses with underlying genomic alterations in the tumors. And then we started to look at differences now focusing on high-risk tumors. So this is an analysis that Anders did. Again, this is its first pass, but we've looked at stage three versus stage four. So why are some advanced stage tumors metastasized and some don't? And now we have this information, we're taking clinical information, we're taking genomic information, and we're looking at what separates out these tumors. They both have high-risk features, yet some metastasized and some don't. And these are kind of the types of analysis that we're seeing with this. And then we're also focusing on what separates out the tumors themselves within the metastatic cohort. So can't do tumors that metastasize early versus ones that metastasize later have different underlying profiles. And just looking at PCA plus, we start seeing some differences by methylation alone, although this is, again, this is just very preliminary data. So the, and obviously new algorithms that are out there, like what Roelle has put out from M.D. Anderson, looking at the ways of deconvoluting tumors, I think this will be a very intriguing data set to look at this. As we know that certain tumors have inherent immune responses that are detectable using RNA-seq methods. So potentially we can look at the impact of the immune response on early versus later metastatic diseases, perhaps using that as a signature to determine whether a patient should be put on a different surveillance protocol or adjuvant trial based on the underlying features within that tumor. So in conclusions, the goal of the CTCGA is, can really provide powerful insights into both clinical and epidemiologic phenomenon that are very relevant. The rich genomic information can serve as discovery cohorts for targeted validations in much larger clinical cohorts, which is obviously what you need to answer these types of questions. But I think if we can really maximize the value of the TCGA, we can start answering these questions. And I think this work also highlights collaborative structures that are critical to make this kind of significant advances. Thank you very much. So at first part, you highlight a model between BMI and the molecular model. I just wonder, you don't mind which one is the cause, which one is the effect. If the BMI or its molecular change, the causal effect effect. Right, no, that's an excellent question. And I think that's remains to be seen. I would probably argue that BMI is the cause in this case, but I think those are kind of the models that we're trying to create now in the lab. Two comments and a question. The first comment is that being that I'm on the higher end of the BMI is good to know that there's some advantages to it. Not many, but at least kidney should not be one of my problems. The other one is that the clinical data that is in TCGA, the forms are extensive. Right. And they have been put together by mostly clinicians that were part of the disease working group. So if there's any factor that is not there, we can add them. The question is why don't we have more follow up is because the entities that provided the samples have not provided additional follow up. TCGA had payment for a single follow up, but we never closed the door. So people can continue to put the follow up in. And so my question in specific is, is your group willing to put all that data that you have accrued into the TCGA clinical site so everybody can use it? Absolutely. I mean, we were just finishing curating the follow up data, the treatment related data. And then, yeah, we plan on uploading all of that data. And specifically the cancer specific survival data I think is very relevant because, like I said, at least in kidney, 30% of the patients were dying from other causes. So that's very relevant when you're trying to come up with markers. Absolutely. And this is basically a message to everybody that has any clinical data. We have the door open. You can continue putting clinical data as long as you want until you're tired of typing. Yes, I think that's a great point. Thank you very much. So I'd like to follow up on the consortium we try to build that basically is really, really open access. And the other issue is we think this is a very good opportunity to do it because kidney cancer is all targeted therapies, mTOR inhibitors, or antigenic therapy. That's why we think we can actually obtain some insight from it instead of just the most of the cancer treatments chemotherapy. So it'll be more messy that way. That's why we hope that we can accomplish something. Thank you. Okay, the next speaker is David Wheeler from Baylor College of Medicine. He'll talk about the multi-center mutation calling in TCGA.


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The following is a presentation of TFNN The Trader's Edge with Steve Rhodes Toll free at 1-877-927-6648 or internationally at<PHONE_NUMBER> The Trader's Edge Now Steve Rhodes Good afternoon folks. Welcome to the February 9th the wonderful Wednesday edition of today's Trader's Edge show. I'm your host E.B. Perseverance Rhodes who absolutely knows that each of us should Always be pioneers of our future versus prisoners of our past Hope everyone out there is having a great day. Hey, let's make sure we have an extraordinary one of the easiest way to do that Well, it's to always remember that life is happening for us not to us That's right. When you now make that one little two-by-four shift Well, it means we can find a gift in every set of circumstance that life is gonna toss at us now today You and I we're gonna go check on the circumstance of these markets We'll go figure out what those bulls and bears what those buyers and sellers are communicating to you and I just passed one O'clock in the afternoon. I want you know, I'm absolutely grateful for your presence here But more important than that that's this during this next 60 minutes. I'm here to serve you So feel free to pick up that phone. You can dial in at<PHONE_NUMBER> If you can't dial in no problem. We've got you covered there, too You can always send me an email Send it to Steve at tf9.com and inside the subject heading If you would be kind enough to put radio show question, of course And our Tigers then will any and every ping will do so let's go ahead and get this show started on Wonderful Wednesday, of course, this is Tiger Financial News Network. I'm Steve Rhodes and welcome to less show My apologies folks We've got a technical issue that I don't know that we're gonna be able to resolve here by the end of the show And that means that you can't see my charts and Tiger TV nor on Inside our Tigers then so I will do my best so everything is happening for us The forest is a Stevie's gonna get a chance to see if he can really articulate clearly What's going on with the instruments that you have either requested that we go ahead and take a look at So I will do my best now. Let's just take a look at the general markets out here. You can see my screen. Oh That's perfect. That's great. All right, perfect. Thank you, Dan I appreciate that knowing that so they've got something figured out and that products room those guys are geniuses there So that is a beautiful thing. All right, so now let's go take a look at so where do we want to begin here? Now is going for game plan B Let's take a look at let's first start taking a look at the index ETFs out here because right now We have one actually we have two that are trading above The top of their prior swing point the prior swing point potentially being a B point of an A to B To be equal CDT upside the first is going to be the Russell 2000 IWM and that's one of the questions that came in from Nicholas so Nicholas was also wanted to take a look at the IWM So the B point out here is a trading session of February 2nd. You can see the volume there It's 42 million 777 that's that yellow horizontal line at the bottom of my screen so far We're at 16 million shares odds favor This is going to be passing the B point and that's assuming that it closes above 2 or 390 and you're a 205 75 With lighter volume now what that could be setting up is the possibility of a tiger Gartley that was coined by Tom and so even if you pass a B point with lighter volume That doesn't mean that you will not come to that that that the IA to B equal CD pattern will not come to fruition It just has we like to believe that it has more conviction If it is passed with volume much like the SMH that I mentioned that during the 1 o'clock update We'll go take a look at that chart as well. So here you've got a the first price target is 21073 so the price target is the 1 to 1 a to B equal CD That doesn't mean that that's where you sell away that doesn't mean that's where price is going to stop The way we know in an a to b equal CD pattern completes as you get the cavalry that comes in and what I mean by that is you will see Some type of various reversal candle. So our price targets right now are 21073 2503 220 50 out there that would be the range of targets for the IWM I noticed that the Dow Diamonds looks like they are trading above the top of their profile They are so 356 66 is the high from that February 2nd date that had volume of 8.9 million 8856 you're at 2.7. So this is light in the loafers as well Now this is interesting. So the a to b equal CD would take it to a new all-time high Just the 1 to 1 level would take it a 373 now Regardless of whether this is going to pass us with volume or not because retracement here was only 35 percent That says there's a lot of energy wound up and it should be able to make a move the Dow Diamonds That is up into the 380 level but in other words more than a 1 to 1 a to b equal CD But look we want to take things one step at a time and right now take a look watch today's close It closed about 356 66 would confirm an a to b equal CD Not necessarily with volume but still an a to b equal CD pattern that might be upholding now in the case of the spies out here So you're going to see no volume the spies are taking on that same swing point. They have not been able to Move above it yet 450 a 12 the volume there 117 million shares and today you're at 42 so it's moving into that swing point with lighter volume out there What does that mean? Well, until they see able to close them up for a 50 a 12 That is basically your resistance level and in the cues out here the cues are trading inside the swing point from February 2nd That had volume of 78 million. You're only 32 million shares today So you've you've got a to b equal CD patterns for the Dow right now and the IWM Neither that have volume whereas and this is another question here for Nicholas who is I Apologize haven't read his full question I'm just seeing that he's writing in and asking about the IWM and the SMH is so here in the SMH is You've already taken out that swing point with volume. I don't know why I did that there But that's okay. I'll get rid of that. So the b-point on this as a trading session of February 2nd as well 5.9 million shares on that trading day. You're up above right now with 7.4 million shares So the SMH is Nicholas So have a resistance level to deal with the sellers reside at 287 33 and price right now is at 285 Then change out here. So if price can close above doesn't have to be today But if price can close above where their sellers reside at the 287 33 level then this is suggesting a move up to 301 310 322 but you do at this stage of the game. You do have a confirmed a to b equal CD Depside what happens if price closes below 284 04 But has the volume that we see today Then what that would mean Nicholas is you should see another run for that 284 04 area So watch the summaries the SMH is out here for an indication as to what the markets are Likely going to do the a to b equal CD patterns as you and I've taken a look at for the index ETFs Just don't have the volume but in a couple instances They have price and that too is important now if we go take a look at the equity future contracts out here The only one that's holding resistance at this stage here is the NQ So in the case of the NQ price is already above the top of its bearish structured profile But it's running into that descending trend line. So let's just say today's high is about 14994 In pricing close above 14994 that's going to suggest at least to run back to that February 2nd I remember that February 2nd high would be the level that if price were to close above would give you the a to b equal CD pattern much like the Russell 2000 is right now the futures contract 2058 40 is the b-point we're trading at 2069 This gives you a one-to-one price projection of 21 22 in the case of the Dow like in the Dow diamonds a close above 35590 in your 355 77 right now But a close above that b-point could be indicating to you and I move up to the 37 to 27 area in the case of the ES mini I don't have an a to b equal CD pattern drawn in here But as we discussed here up much like the spies out here The next level of resistance is going to be at 4625 and the price close above that Then you've got an a to b equal CD to the upside Steve Rhodes with TFNN Folks would love to hear from you eight seven seven nine two seven six six four eight Steve at TFNN comm Steve Rhodes started his trading career as a student almost 20 years ago and the student has now become the master Steve won the prestigious timer of the year award in 2018 and barely missed that mark again in 2019 Finishing it number two for the year an amazing accomplishment Steve Rhodes is committed to sharing his techniques and knowledge with anyone who wants to learn and he Shares his vast amount of trading knowledge every day in his mastering probability newsletter Steve's award-winning newsletter Mastering probability is delivered every trading day with updates throughout the afternoon sign up for Steve's market newsletter Mastering probability and you'll receive access to seven of Steve's educational webinars Absolutely free at TFNN all our newsletters come with a 30-day money back guarantee So you have absolutely nothing to worry about visit TFNN.com and try mastering probability 30 days risk-free today TFNN educating investors What's separating you from the most successful men and women on Wall Street? That's right Information having all the information gives us the perspective we need to place the right trades at the right time The TAS profile scanner is the premier market profile base scanner Powered by its acclaimed TAS proprietary algorithms this feature rich scanner instantly filters over 2,500 plus global financial markets such as stocks, ETFs, commodities, futures and forex This powerful suite of tools leverages instant trade filtering and strategy formulation to show you emerging trades Before they happen for a limited time You can save $100 off your first month by using the promo code upgrade and you still get a 30-day money back guarantee So you have nothing to risk Level the playing field with the TAS profile scanner which you can find under the services tab at TFNN.com Sign up today Sharpening your skills as an investor is like getting better at playing a musical instrument You have to practice sure, but you also need excellent instruction from experts at TFNN You'll get advice and guidance from the authority and technical market analysis And it's not just dry tedious text either TFNN airs live financial content streamed live on TFNN.com and TFNN's YouTube channel with Tiger TV Live every market day from 8 30 a.m. To 4 p.m. Eastern for free Each host is an experienced trader and gives their take on the market while taking calls and questions live from around the world From the moment the market opens until the closing bell sounds Tiger TV has eight different shows with expert hosts to help you make the Right moves with your money watch online at TFNN.com or on TFNN's YouTube channel and become the investor You were born to be TFNN educating investors All now toll-free at 1-877-927-6648 internationally at<PHONE_NUMBER> Folks, let's uh, let's see. Do you guys see my screen out here? And we were trying to fix something during the show and now I don't know now that didn't work Shoot. Oh, man. Don't tell me What did we just do there? That's a bummer Stevie. Let me try it Okay, let me see this here. Sorry folks. We were trying to correct something and maybe we've made it work You see me. Yeah, I get that Tucker and but that's not gonna do anybody a whole lot of good out here Let me try this once more I don't know if that's gonna catch it or not or maybe you're just seeing one chart I'm not sure out here, but any but I'm gonna just keep motoring on it Try to answer the questions at the only half the screen Yeah, it's probably not even half the screen so Hmm Guess there's another thing we just see your face and camera. Yeah, so I'm not sure how you guys got to see the Now yeah, I know back to me because I stopped something I'm not sure how I got that connection to work to begin with let me try not apologize folks I know that's much more all visual learners here And so, you know the beauty of doing this is being able to see my screen And so I hate to do this during a live show, but really I think it's sort of needy to see if we can somehow Get this figured out so I'm gonna try to open up this notepad here You guys in the production room see if I can connect this the old way You know, I don't know that it will work, but it's certainly worth the shot. So now folks I don't know. Let me know in the tiger stand That's weird It's really weird Okay, maybe this worked you guys see my screen by any chance now should be the three screen should be the three background Screens turned it off and then back on to he No, don't see anything. Well, okay. Well bummer bummer there I shouldn't have tried to fix it, but let's just let's just continue going on here So john writes in and john from wisconsin goal Gold night's out. Oh, perfect. Okay. So john into wisconsin once they could get peloton pto in so peloton First things first Does this have a bottoming pattern out here and the answer is yes Yesterday in fact that bottoming pattern came in on january 28th So john if you take a look at your charts that january 28th low that bullish engulfing candle Was the confirmation of erodesment of indicator signal and now what took place yesterday Was a big wide-ranging barn accelerated volume and price was able to close above the top of that profile 3682 3662 then you're above it right now So what that suggests is that price the next battle for peloton would be the bottom of its weekly profile 42 71 now price has been below the bottom of its weekly profile If this is just a countertrend move in peloton pto n that is folks Then where price will find resistance is either 42 71, but more likely 49 01 So I believe that you're long this stay long I don't see reasons to not stay long And what you're looking for your battlegrounds are going to be between 42 71 and 49 11 if pricing clear 49 01 On a weekly basis then you're looking at a move up to the 61 60 level So that's what the charts repelled and above 61 60 you're looking at 91 46 We're not there to make that call just yet now as I look at the weekly time frame chart For potential bottom signals It also has it now this has a bottoming pattern. It's a by the d-point Now that by the d-point pattern is being confirmed this week. It's only wednesday And so if and it's right now, this is what's referred to as a bull separating candle So it's a very bullish candle But it's really going to be dependent upon what this candle looks like at the close on friday Not necessarily wednesday at 122 in the afternoon, but nonetheless you go with what you have So you've got the bullish signal on the daily You've got the bullish signal on the weekly and I really suggest that 42 71 to 49 01 level on a monthly time frame chart for peloton What price was able to do is pull back to its breakout level So on in peloton's case this generated a td-9 count the month of december 2020 It actually the bar following bar that was bar number nine the ball far following number nine the 21st of january 2021 peaked above it or Price got above that high which is still valid. So it's got a valid td-9 count You also have on a monthly basis an a to b equal cd to the downside now It's only the ninth But right now you've got a bull sash candle and that's a confirming a by the d-point for the monthly time frame chart Which took price which had taken price back to 25 85 That was the breakout level. So I like your trade here, john It makes sense daily weekly monthly now We need to know is if there's strength enough for this instrument to close above that 49 01 level That's what you really want to pay attention to so sorry that you can't see the charts out here But I've tried to articulate as close as I can for each of those time frames what it's doing And hopefully that will help you out. We had another question that came in here from nick nick c And nick says you've been short the hyg So I've got to pull up the hyg charts here first folks. Just take a look at that. By the way, that is a high yield A bond fund out here and right now trading out at 84 bucks. So Let me read the question. I've been short hyg since september Considering taking profits and placing a position in tlt on the long side. Okay, perfect So I I agree with I agree with the well, but let's first see what the charts are telling us But what you're just saying here makes sense or potentially makes sense. So With regard to hyg There's a brand new profile that formed today And that profile formed in essence as the market opened and that was below price So the level you've been in this since september. So you've got a nice, um Well, let me pull this back here. I it's been a nice move. Yeah, oh, it's been a very nice move being short here since september So the level that this would need to really close above To suggest that this is ready to make a move higher It's going to be 84 25 and 84 25 Is the center nick of its bullish structured? daily profile The bottom is 84 08 it's tested and rejected that so far traded 84 bucks So you're not really getting the message here to go ahead and sell that position I'm not trying to talk you out of it. I'm letting you know what the charts are communicating to you So that's the first thing with regard to hyg now I am going to look at my white background charts because oftentimes they provide me with additional information. Okay, they they so on hyg Today's gap to the upside actually would confirm a rogment to indicator bottom pattern. Okay, great, but in order to For this to get legs to the upside prices start taking out resistance Well, we took a look at the bottom of the daily profile What this is also doing is trading right into its oscillator and change line the oscillator and change line here is an 84 10 If price were to close above that and certainly 84 25 then that's really the signal of a move up to 84 96, but This has not closed above a Red oscillator and change line. Well, it did it one day did it on the january 12th The very next day was back below that level out here. So I see what you're saying for sure if you want to close out the trade by all means close out the trade but the Market the buyers here have not yet completely confirmed that this is anything more than just a counter trend move That's in the case of hyg Now you would mention the tlt I'm not going to show you the tlt well one because you can't see it But more importantly because what we really want to do is take a look at what's going on inside the 30 year treasury out here Now the tlt is made up It's the 20 year plus bonds out there and the best way to really take a look at It is what's going on in the underlying instrument. So that means we take a look at the 30 year treasury Now in the case of the 30 year treasury right now as we speak There's a roadmap to indicator signal. That means the market is stretched and right now You have a bullish engulfing candle and if the 30 year treasury can close above its oscillator and change line Then that would make a signal that price should move up to the 155 156 level out there So, um I would say a price close above the high of the day taking that long position in tlt makes sense D roads with tfnn will be right back Are you having fun trading the markets but having trouble finding like-minded individuals to discuss your trading and investment ideas with Become an apex predator in the trading markets and join the tiger's den trading room only at tfnn.com The tiger's den is an exclusive trading room where successful traders from around the world come to exchange trades and ideas Join the den and surround yourself with the sharpest minds in the trading world Subscribers to the tiger's den are also the first to have their questions answered live on air And can privately chat with our tfnn hosts live during their shows Interact with other tigers and tiger's as they share trading ideas news analysis and discuss the market action all trading day Subscribe to the tiger's den risk-free with our 30 day money back guarantee and become part of the tfnn trading community tfnn educating investors You could be making money off the stock market and if you're already making money off the stock market You could be making a lot more Check out tfnn and tiger tv and get expert investing advice to give you the power to control your financial future Go to tfnn.com and find the newsletter for you Whether you're into trading gold metals futures currencies or options You'll get advice and analysis to help you seriously get ahead tfnn also features trading services with a 30 day money back guarantee for new subscribers As well as tfnn's tiger den trading room trading software and educational webinars for all trading levels And make sure you check out tiger tv for free on tfnn.com Or tfnn's youtube channel for live financial content from 8 30 a.m to 4 p.m Eastern on market days stop watching on the sidelines while other people get rich and become the investor You were born to be tfnn educating investors tfnn is excited about our new software charting program the art of timing the trade charts In collaboration with tom o'brien and using his best-selling book the art of timing the trade your ultimate trading mastery system David white has programmed an outstanding piece of software that will complement any trader's methodology Using this first of its kind program the art of timing the trade charts allows you to scan thousands of stocks for Fibonacci formation setups including guardleys abc's butterflies and much more The art of timing the trade charts is designed to help you when scouring the markets for stocks Just beginning to form the trading patterns that many investors spend days weeks or even months searching to find And right now we're offering licenses available at only 79 a month We are so confident that you're going to love this new charting software that will even give you a 30 day Unconditional money back guarantee don't miss out on this incredible new piece of software Get your copy of the art of timing the trade charts today by visiting tfnn.com This segment is brought to you by think or swim for more information Just click the think or swim banner on the front page of tfnn.com Welcome back now folks. So we do have the charts my charts on tiger tv So if you are in the tiger's den and you would like to see the charts That's going to be the way for you to be able to get them Oh, it says den chart's working right now. Okay. Perfect. Okay, they've but they've gotten something figured out So we were talking about the 30 year treasury here now You can see the rogment dominicator signal as far as and also wave number seven That's letter g at the bottom as long as yesterday's low holds and you'll have that as a confirming signal But what price really needs to do is close above that red oscillator and changeline And if it can do that then we're looking to move up into the center of its profile where there's other Resistance out here. So that's why we're looking at now the interday charts So when an instrument is making a bottom on a daily time frame What we will typically see is bottoming signals on the interday charts Well, if you look at the 30 minute chart it had a td9 count roads meant to dominicator bottom rmi bottom on the 60 minute chart roads meant to dominicator bottom on the 120 td9 count on the 240 I buy the d-point on the five hour time frame chart But we can see here is that price is also running to some resistance level So 153 26 153 20. I'm looking at the 300 the 240 minute chart out here Um, is that if price able to close above that likely we've got a at least a Countertrend rally going on inside the 30 year treasury now. I will go back here momentarily And I'll put up the hyg chart out there. So give me a moment to get this here worked out And that's not the oh yeah, so that's hyg charts and you can see the new profile in the lower left I was actually going to pull over my white background chart So if you give me a moment to do that and here on hyg What you can see Is see how price has made it up again to the bottom of that new profile as well as that oscillator and change line That's really the level that you would like to see price close above To then suggest that okay now is the time to close out that short Perfect. So we've gotten taken we've taken care of that now. Let's get to the next questions that have come in Nick we've already taken care of the IWM And the SMH is out there You've got two questions for that Vic writes in And says he wants to based on its name inflation responsive fund This should be a good option to 401k these days and you're in it. However, you don't see performing well So let me get first get this up on our screen here. What is the symbol? You didn't put that in here. So that's a slight problem um Okay, so what is the anybody know what that ticker symbol is by any chance? This is the inflation responsive fund is that uh INST I think maybe INST. Let's see if this is an INST And uh, yeah, so that's it not in structure holdings hmm inflation responsive multi asset You know, I don't know if that is the symbol that you're looking for so Yeah, I'm not sure that that's it if you well, what's this at the bottom? Let me see if I can expand this out white label fund um Sorry folks, maybe it's here In and I'm doing the show you've got to just be a little bit clearer for me So I don't know maybe just write back to me if you would with regard to the symbol Nobody in the den is uh is uh is is helping me out there But uh your question is not responding well and it's named, you know, it's got a cute name That you know, so it's just a marketing thing. Um, you know, that's like That is like, uh, yeah, so it's got a cute marketing name like I don't know, uh Like uh operation warp speed Hey, maybe it's warp thinking and it wasn't warp speed out there So just because it's got a name, that's just a cute marketing p. R. P. I. R. M. X. Okay. Let's try that one p i r m x This is the PIMCO funds, uh I'm not sure if that's it either So, uh, let me wait to hear back from Vic to see exactly what he wants But uh, thanks. I you know, I see that as another possible fund out there But maybe there's several of these but we do have another question has come in Uh, we do have another question has come in and I don't recall if there was anything inside the tiger's den But uh, it's been a little so and this is from hector and patty and hector wants to take a look at the gdx Versus the xlf for midterm holding boy. So if we take a look at the gdx out here So what the xlf has is my recollection is it's got a td9 count top We'll go take a look at that the gdx does not have a Td9 count top, but you know, neither of them there are anything worth investing in as we speak as well I hold on a minute here steve If we take a look at the daily time frame chart for the gdx as a confirmed a to b equals cd to the upside the first price projection is at 32 11 And 3209 hector is the top of its daily profile. So what you and I don't know is that going to Set up a gertley sell pattern A bullish or a bearish reversal candidate would say that But you're up towards resistance and I can't ask you to buy resistance even on the weekly chart And you're looking at for an intermediate term holding standpoint Take a look at all these descending trend lines out here, let alone you've got resistance at 3305 Which was tested back the week that began January 17. So, you know, that's a significant resistance level So just simply before I even go to any other charts out here, and I'm not going to at this stage You can see the resistance and prices up near Prices up well prices up near a resistance level. So not really the ideal time to enter a long trade You also asked about the xlf So in the case of the xlp you're asking which one is better Well to suggest that you take a long position the xlf today would be against every tool that I share with you So the xlf topped with a td9 count top that was on the trading day of january 13 Looks like price has gotten into that swing point. So we'll go take a look at that It's rejected it So if it's on lighter volume and you've got a td9 count top and the oscillator and change line here changing colors recently Again, this is on the daily time frame This is going to suggest that price not oscillator and change line are going to test each other Now that's in about the 39 94 level It won't be exactly that number But that gives you the gauge or the range of where price is headed to so on a daily time frame You know buying the xlf now unless you knew it was going to break out and the td9 count was going to completely fail You know that maybe you're in to something but at this stage, that's not what the signal is um So I would say with regard to you know, if you're going to ask me to which one is better Neither because it can't have you buying a resistance out there, but uh, so I do hope that helps you out hector and If not my apology Uh, so I don't believe that there is anything in the tiger's den I'll take that back jazz. So the jazzy one out here j azz Which is a j azz is a jazz pharmaceuticals is part of the pot sector out there So they must have something to do with that and the jazz pharmaceuticals has got a nice move today Wide wide ranging bar kind of light in the loafers with regard to volume satish. It's got 185 000 chairs Well, what price is doing is stopping right where one group of sellers exist and that's at the center of the profile There's both buyers and sellers at that center level at 145.09. We're trading at 145.09 So a price can close above this level could make a move to the top of that profile and that would be 149.61 If price can move above that then the last battleground from a profile standpoint is going to be 152.32 out there Let me get jazz going on at least the daily time frame chart on my white background screens out here And see what that looks like So we'll pull this over as we go into the breakout here. You're trading. Ah, there you go So jazzy one has really got a clear 145.88 145.88 is a TD nine count breakdown level they can do that Then you're looking at 149.61 and maybe higher prices We've got a request in the tiger's den to take a look at rivian Our IVN is a ticker symbol. We'll do that as soon as we get back to this break Are you in the market for buying or selling real estate in the bay area? Including the surrounding st. Petersburg tampa and clear water markets tiger real estate LLC is a firm that has extensive experience in the tampa bay area Whether you're looking to sell your current property for maximum value or you're in the market for a second home or investment property Tiger realty has the experience across all areas of real estate in the tampa bay area to help buyers and sellers Make the most informed decisions across all price levels from the price You should be paying per square foot in certain up-and-coming areas to the type of cash flow investment properties are capable of creating Tiger real estate can help you make the best decision when it comes to all areas of the market before you make one of the biggest Decisions of your financial future call tiger real estate LLC today at<PHONE_NUMBER>2 Or email us at tiger at tfnn.com that's<PHONE_NUMBER>2 call us today The technology around us is changing every day with so much happening that can seem impossible to keep up with all the information David white's investment newsletter the technology insider is designed to give you all the information You need to understand the technology that shapes today's markets and tomorrow's future David white has made his living staying on the cutting edge of technology His weekly newsletter will give you specific recommendations for value tech stocks As well as entry prices target prices and stops to set for each trade Dave delivers his weekly newsletters every friday with updates throughout the week You can get the technology insider at tfnn.com for only 37 dollars and 50 cents Sign up for david's newsletter the technology insider and get an inside look at everything the technology sector has to offer Try it risk-free today with our 30-day money back guarantee Tfnn educating investors Biotech is booming But for how long whether you think the biotech bull has room to run or has run its course trade labu or labd Directions daily s&p biotech three times bull and bear etfs Visit direction investments.com slash biotech today An investor should consider the investment objectives risks charges and expenses of the direction shares carefully before investing The prospectus and summary prospectus contain this and other information about direction shares to obtain a prospectus or summary prospectus Please contact direction shares at eight six six four seven six seven five two three The prospectus or summary prospectus should be read carefully before investing an investment in the funds is subject to risk Including the possible loss of principal funds are designed to be utilized only by sophisticated investors such as traders and active investors distributor four-side fund services llc Don't forget you can listen to tfnn live on your mobile device 24 hours per day Go to tfnn.com and hit watch tiger tv That's tfnn.com and hit watch tiger tv Back up folks up on my screen. We've got rivian autopilot out here and really it's only the daily time frame Weekly could generate some signals for us But it's mostly the daily time frame out. Well, I take that back All right, so let's look at it this way First you've got a confirmed beta b equal cd to the downside that gives you a price projection of 43 93 The actual low so far came in on january 20 and that's at the 50 dollar even steven mark Um, so has the a to b equal cd pattern completed? No Not really does it have to complete? Maybe maybe not. Let's go take a look at the web background chart So what here's what we can say here's what we do know There's not been to close above the top of a daily profile out here in the top of that profile is at 7105 So I don't recall who requested sateed 9 or call who requested to take a look at derivian flipped in So flip you need to see a close above 7105. That's where the countertrend rally if this is only a countertrend rally would stop On the white background charts to suggest that you should have that countertrend rally if we're looking at the daily time frame You do have a roadsman dominicator signal out here Um, but the first time that signal produced and move up to the top of that daily profile So at 7105 area is really going to be key to you if I look at the weekly time frame chart And this is why I say hey, you know what? Maybe this does have some potentials because you are going to get a confirmed td9 count bottom out here So but there's not enough data and you still really need to rely upon the daily time frame So it would be a close above 7105 Well lost sound lost everything I think hello. Hello earth earth to stevie Earth to stevie What do we have here? Okay back great. So in the case of rivian just I don't know if anybody heard this This does have a td9 count bottom pattern For the weekly time frame. So you've got a confirmed bottom on the daily confirmed bottom on the weekly now to prove itself to you Rivian will need to close above 7105 if it does that then you've got something there flip So I hope that helps you out. Thanks much for writing in David in tom ball texas wants to take a look at ticker symbol MOS that is mosaic out here So let's go see what it is doing And mosaic trading out so it's got an I've got a couple a to b equal cd patterns It looks like that are out here although a couple of them are wrong now because prices change Let's go ahead and type in that a to b equal cd the a pattern out here is the low from december 1st The b point is going to be the high out here from January 18th and the c point down at the january 24th level the b point had volume of five million shares And it was passed with 7 million shares So the one to one complete a one one price target for a mosaic on an a to b equal cd level We'll get you to 475 55 A 0.618 retracement strong move because prices along the left side of that c to d leg So what this suggests to us is this will do more than a one to one a to b equal cd upside 50 40 would be the 1.272 level That's really sort of confirmed here about the move higher because prices above the top of the weekly price above the top of the monthly profile So let's go take a look at the white background chart See if there's any other pieces of information to put this together you're in bar number seven out of td nine count This says you could get a top that forms between tomorrow and monday out there Could but to let that pattern unfold. Otherwise everything here looks good on the daily chart The weekly chart says a not-so-fast tv And david is preparing to form a td nine count top now that tie Is either going to be this week Or it could be a higher high next week So this does say you could see some type of short term time frame chart out there I would say it's likely going to be this is bar number seven today tomorrow's bar number eight It could be this week too Uh, so watch for the td nine count top now What that should do if you get that out here david is pull back to its oscillator and change line Or the top of its daily profile. So it's in the 4308 to let's say 44 level out there your question is in Interested in trading range boundaries and OUL in the daily and weekly chart. So 43 67 on the daily and 4207 On the weekly and mosaic on the monthly chart Was really running into a resistance level established by its breakdown. It's td nine breakdown Well, that's at 47 68 out there, but the monthly looks pretty strong So let the daily and weekly do their things. Uh, the weekly has given us a signal I keep my eyes on the daily uh for that potential top and it'll pull back to that oscillator and change line Or the top of that daily profile. So david h. I hope that that helps you out Tyrone has written in he's got a symbol here a g ad A j ad x is a possible inflation adjusted fund But my my system is not pointing that up for some reason. So thank you for your efforts tyrone and Um, again, I'm not sure if that's the symbol that uh, that was being requested But uh, we'll we'll get a response back and we'll take a look at that tomorrow So what do we do? We've been through all the questions I believe I've been through every question inside the tiger stand if I have not please type it back in And uh, we'll get to it. So in the meantime, what do we want to do? You know, now we've got these charts up here lcid on youtube, okay, so lcid Is a this is for eric v and so let me get this going on my lcid lcid Which is a lucid group. Okay, so lucid group right now is trading below It's a weekly profile. So not necessarily great But you can't see it's trading into an area where it broken out from which was the week that began on october 25th And the volume there was 745 million shares. You're pulling back with much lighter volume 57 million shares through wednesday at 148 the daily time frame chart So it's price to consolidate and inside it's a daily profile c and a to b equal cd to the downside Let's go see if lucid gives us any kind of bullish bottoming patterns out here And you do have a td9 count bottom that formed on the trading day of january 28th As long as that low is not taken out, uh, which means a close below it You've got that valid bottom. What price is dealing with here is that red oscillator and changeline The oscillator and changeline for lucid is up at the 28 61 level That is a price that you need to see price close above now if it does that you still have another battle The battle's at 30 83 and if price can take that out, then you've got to move up to 42 95 That's the message of the daily chart the weekly chart out here doesn't help us out No bottoming signal no bottoming pattern out here So you're really going to have to rely upon the strength of the daily the weekly doesn't give us anything out here So right now in the case of lucid valid bottom price has improved itself and really to prove itself You need to close above 30 dollars and 83 cents out there. So I hope that that helps you out to ever Or whoever had requested that uh Yep, we've got a request to take a look at uh, sabah S a v a so let's go do that And then you've got pr q r So in the case of sabah what you like here is price is above the top of its daily profile That's basically been above it for the last four trading days So it looks like a real breakout here breakout to where well it turns out that it's in a bullish structured weekly profile But you can see a descending trend line and that descending trend line is really where price needs to close above today That'd be about the 52 30 ish type area out there But if price can take out that descending trend line, then you're looking for a move up to about the 64 97 level out there Let me do this here.  Whoops on the daily time frame chart on my white background This should populate pretty quickly. We'll go ahead and pull this over And see what else it's dealing with. Okay, so I'm glad that we did this So here's what we know Is that 49 95 so it wasn't really the top of the daily profile? That's the uh issue here for sabah. It's the td9 breakdown level So this formed a td9 count bottom it formed wave number seven bottom And now what price is dealing with is it's td9 breakdown level 49 95 if sabah Can close above this area then it's got its mojo and that mojo says you can see a move all the way to the 77 37 level. So that's what's going on as we take a look at cassava sciences ticker symbol there s a b a We'll be right Sharpening your skills as an investor is like getting better at playing a musical instrument You have to practice sure, but you also need excellent instruction from experts at tfnn You'll get advice and guidance from the authority in technical market analysis And it's not just dry tedious text either tfnn airs live financial content streamed live on tfnn.com and tfnn's youtube channel with tiger tv Live every market day from 8 30 a.m. To 4 p.m. Eastern for free Each host is an experienced trader and gives their take on the market while taking calls and questions live from around the world From the moment the market opens until the closing bell sounds tiger tv has eight different shows with expert hosts To help you make the right moves with your money Watch online at tfnn.com or on tfnn's youtube channel and become the investor you were born to be tfnn educating investors You might think that if you want to be successful at trading in the stock market You're going to need a crystal ball after all it's impossible to predict the future, right? 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We're looking at ticker symbol prqr, which we can see form wave number seven That's letter g that did that on january 24th It also generated rogementum indicator bottom on january 28th And what this has done is this has taken price right up to resistance resistance is 587 where it's trading right now That's the top of its daily profile I did close above it on the 7th, but then yesterday back below it and right now it's trading on it So you really need two consecutive closes above this level to suggest that price wants to move higher Now it's ultimate goal and target is eight dollars and 47 cents. That's a td9 breakdown level That's a daily message the weekly chart says hey hold your horses stevo All i really want to do is make a move up to the 665 level And that is where its oscillator and change line changed colors last week So that's really going to be the next test in the potential resistance level for prqr The monthly time frame chart doesn't really help us out So nothing really to add there. So that's what's going on there We've got about a minute left before we go to break sorry for the Technical difficulties that we've had here, but we seem to have managed through them Let's just take a look at this nine panel chart out here See if there's anything of significance see the significance is That the spot bottleneck is below its 50 day exponential moving average That's a panel number two in the center there That says that the es many really should make a run for the top of its daily profile 46 25 May be higher than that the nq trading right in resistance to descending trend line I don't expect it will hold because the es the ym the russell 2000 descending trend line did not hold there either Doesn't mean that it can't but boyod's favor that it's not likely gold looks like it's going to go target 1850 Silver looks like it's going to go target 2392 Natural gas wants to head lowered Could head lower all the way down to 359 the bottom of its weekly profile the 30 year treasuries attempting to form a A Arroachment to mindicator bottom out here and even though you've got a nice td9 count top in the case of light speed crude It needs to close below 8702 to even suggest a short term change in trend Well folks, thanks so much for staying here staying tuned in you've got david white up next with the power trading hour Tom O'Brien, he'll take us on home. I'll be back with you on terrific thursday So have a wonderful wednesday folks. We'll see you again soon


Okay, so welcome back, and let's welcome Radomir Doperalsky, who will tell us about making robots work with Python. And now the resolution is different. One moment, sorry about that. Okay, so I started to play with robots and Arduino's and small electronics and stuff like that about three years ago. And my goal was to build some cool robots, obviously. I wasn't happy with the robots on wheels, because they were too easy. And then, you know, you build them and they already work. So now you are stuck thinking what other interesting things you can do with them. And turns out it's very hard to do anything interesting with them. So I turned to walking robots because walking is already interesting and hard. So by the time you get it to walk, you are already happy and it's already awesome, right? And you don't have to think much about how to make them behave in an intelligent way or anything like that. Of course, you can, same as with wheeled robots, everything like that works. And some of them actually behave cool. But, anyways, if you have any questions, want to chat about robots or about electronics in general or about micropyton, this is my nickname. I'm on FreeNode, on IRC, I'm on Twitter, I'm on Hackaday IO, where all my projects are. You can just Google it or something. It should be Googleable, because quite, it's not a real world. The robots I'm building, they are walking robots, not crawling robots. The difference is when you walk, and you put your foot on the ground, it stays in that place until you lift that leg again. Pretty much in the same place. Maybe you rotate it a little or something.  So, I'm focusing on robots that actually properly walk, like they have proper support all the time and they can walk on any surface. If you are crawling, you are basing your motion on a friction, differences in friction on the surface. And then if there are different surfaces or you move from the floor to the carpet, for instance, the robot doesn't move so well anymore. This is an example of one of the robots. I don't have all my robots with me here. I only brought the ones that are most sturdy and robust, because I had to travel here from Switzerland. So, I just have this simplest one there. Walking looks pretty much like this. You can turn, stop, stop, stop, okay. Go for that again. Anyways, I will just leave it walking inside the circles. Yeah, it's quite fun. You can have different ways of walking. The way of walking is called a gate. And different gates, there is a broad categorization into two categories of gates. The statically stable gate is the one that you can stop at any moment and you will not fall down. Basically, animals use that when they are crawling, when they are talking, when they are moving slowly because they want to be able to stop at any moment. And it's the simplest one to do because you don't have to do dynamic balancing. Dynamically stable gates are the ones that are most interesting to researchers, such as the Boston Dynamics. You've seen probably the Big Dog, the Spot Mini movies on YouTube. Very cool, very nice stuff. But this is much harder, of course, because you take into account the changing center of gravity, the inertia and so on, and you have to plan your movements much better. Yeah, so two examples of those gates are creep and trot. Creep is how basically a cat walks when it starts its prey. And it doesn't connect the battery. And it's basically statically stable because it has to be able to stop at any moment and so on. It looks pretty much like this, so one leg at a time. And if you want to move faster than that, you can use a dynamically stable guide and move two legs at a time, like diagonal legs, like this. You see, because you move two legs at a time, it's basically twice as fast. But it's based on timing. If you stop with two legs in the air, you will be in stable, you will pretty much fall down. Okay, stop. Because my robots are so small, I actually violate one of the most important rules when you're building robots to have a big stop switch on them. Because you don't have to grapple with them. I will switch them off so the battery doesn't run out. Okay, the most important idea when you are designing a guide, when you are designing a robot that is walking, is the support area. The support area is basically the area between all of the legs, the convex outline of all of the legs that are at the moment on the ground. In case of a four-legged robot or a multi-legged robot, it's basically, usually the feet are just points, so you just make an outline like that. If you have a two-legged robot like this, you just need very large feet. It makes things easier. And when you lift one of the legs, the support area changes, of course. And there is only one rule you need to follow if you are making a statically stable robot. The center of gravity has to be above the area of support at all times. To achieve that, you move the body sideways before you lift a leg. So you move the body away from the leg before you lift it so that the center of gravity is further away from that leg so you can safely lift it. So basically, each step you have three animations going on at the same time. First of all, you are moving the robot body forward by moving all the legs backwards simultaneously. So it's like, until you run out of the legs, of course. At some point, you would just face plant. So there is the second thing, you move the body sideways or away from the leg that you are going to lift. And then, one by one, you are lifting the legs and putting them forward so that you don't run out of the legs. So you can continue moving all the legs backwards all the time with constant speed. And it's also important in what order you move the legs. And it turns out that for the creep guide, it's best to move them like in a figure eight order, like here. So front left first, then back right, then front right, and then back left again, and so on. And of course, changes. If you start to do rotations, if you start walking sideways, if you start having an event terrain event, because then the legs don't really, the shape that they form on the floor is not such nice anymore. And then you can invent very nice algorithms for determining which leg to move next and so on. So that's one interesting aspect of programming there. Second thing, if you want to be able to put the leg in a precise point in space, in three dimensional space, you need to have at least three degrees of freedom on its leg. For walking, you basically have to do that. There will be an exception, I will talk about that later. And you want to, when you are moving the servos, you specify the angle by which you want to move it. And I usually, when you want to move the leg somewhere, you specify coordinates. So there is a way to calculate the angles from the coordinates, it's called inverse kinematics. And that's not what I'm going to talk right now, because there is one more slide before that. This is what happens when you only have two degrees of freedom per leg. One servo to move the leg up and down, and one servo to move it forward and backward. And you can see that if you try to move the legs backward to propel the body forward, it has to move sideways a little bit. So you have this slipping on the floor and it's not proper walking anymore. And depends on the surface, depends on what the tip of your leg is made of and so on. It may not work so well. If your legs are very elastic, they will probably just bend a little and add up to that. Oh my God. Okay, inverse kinematics. This is basically a high school math, like geometry, and I won't get into details of that, but you can basically solve all the triangles in there and calculate the angles and then move your leg to the place you want to. And there is one exception for these three degrees of freedom. If you have a mammal robot like this, you can get away with only two degrees of freedom because the servos are mounted vertically on the same plane. So you are able to move the leg backwards by moving the two servos in the right proportions and it's still a straight line, right? But then you have problems with turning. You can only turn like tanks do by moving legs on one side faster and legs on the other side of the robot slower. And then you also have these things that tanks do when they turn, that they completely obliterate the ground they stand on. I don't know if you saw that. If you saw a construction site where a digger was moving on the tracks and it was turning, it's a horrible mess in there. So it happens here too. So there is always some problem. You could add a servo at the back to somehow, you know, on the spine of the robot, that's more advanced things. Okay, when you actually build the robot physically, you need, in one way or another, you need at least those parts for the robot. You need a battery to power it. And you need a power board to distribute the power and to adapt the voltage of the battery to the voltage you are actually using in your robot. Obviously, you need some kind of servo motors or other actuators that you are going to use to actually physically move things around. And you will need a controller board to actually send all the signals to those motors. And either it's an H-bridge for real motors or if it's a servo, you need a servo controller that generates the signal for the servos. Sometimes you can merge that with the brain that you are using. And the brain is obviously the main computer that runs the robot, that you program actually. Sometimes it's more convenient to have the servo controller separately because then you can debug them separately, you can have, like, easier time reading the code and so on. And of course, if you don't want your robots to be just radio-controlled toys like those, you need actual sensors and you need to process the sensor data. Yesterday we had that talk about using OpenCV, for instance, for processing image data. That's one way you can do it. I just used a distance sensor from the door. So the robot only knows there is something in front of it. Turns out you can do a lot of interesting stuff with that already. Yeah, so approaches to actually constructing that. I started with a remote brain. This robot doesn't actually, it only has a servo controller on board. It doesn't have, like, a main computer on it. It only has a Bluetooth dongle. And it runs from code, Python code I actually run on my computer. And it sends the servo positions to the robot. And this way you can very easily debug your code because you have it running on your computer. You can break at any moment. You can use the console to, you know, try other commands and so on. So that's convenient. But of course you need the other computer running. That's, and that's this robot. Yeah, I work at Red Hat, so. What you can use for control. Of course you can use radio, you can use Bluetooth, you can use Wi-Fi, you can use ZB, Lora, Irda, whatever. Those are controlled by infrared from, actually, a TV remote. The cheapest way you can have a remote for your robots. That's very easy. This is my first robot. It uses a different approach. I had a lot of trouble with it. I've rebuilt it many, many times because I didn't know what I was doing. So I replaced servos with stronger servos because the ones I used at the beginning weren't strong enough to actually carry the robot. And then I had to replace the battery and then I had to replace the servo controller and then I had to replace, because battery was heavier, I had to replace the servos again. And so, so this was really a lot of trouble. It's about this big. And then I decided that I'm building small robots because they are so much easier to control. They are so much cheaper because the parts don't have to be so strong. They're easier to build because you can use just plastic and glue and not metal and, I don't know, boards and so on. So I'm building small robots. This is much easier and you learn as much with them. So this is the second approach. Put the computer on the robot directly. It has a Raspberry Pi on it. And also the battery, of course. This is another one. This one has a Pi Zero on it. So it's quite small Raspberry Pi Zero and the Raspberry Pi Zero controls the servos directly using a servo blaster. So I don't even have a servo controller in there. And it has a camera from an old laptop. This thing in front is actually a working USB camera. So I can do stuff with open CV and so on on it. It's quite cool. The problem is, yeah, so you can put a smaller computer on it. And that works better because you have smaller robots. It's easier to maintain. It's easier to catch it if it runs away and so on. This is the smallest one I did. It's very similar to this guy here, except this one has Arduino for the servo controller on it and it just listens to the TV remote. That one actually has a chip from a Wi-Fi router. Chip Wi-Fi router, it runs OpenWRT on it. So Linux distribution and it also has a camera from a laptop and it streams from that camera. So you can explore under the bed and so on. It's quite cool. And it's controlled by Wi-Fi, of course, because it's a router chip, so it has already Wi-Fi built-in. Very nice approach. The problem is, it boots 10 minutes. So this is a problem when you are using a real computer on your robot. You basically have a perambulating data center there. You have to maintain that server. You have to install upgrades. You have to, I don't know, do all the care you would do with a server. It takes time to boot. If you just switch it off, it will start the fragmenting, fixing the file systems on the next boot and sometimes there will be some corrupted flash on it and sometimes you will have to restore from backup, so you will have to maintain backups for your robot. And so it's convenient because you can SSH it into it and just run code directly and so on. So that's convenient, but it's not really that good experience once you actually want to use the robot. So the next step is using microcontrollers. But I really wanted to program in Python. I can do some rudimentary for the server controller, for instance, or for simple walking robots like those, but for more advanced stuff, you really want to have Python. So this is a Espruino Pico board that runs MicroPython. You can use MicroPython. That's awesome Python port distribution, whatever you call it, that runs actually on microcontrollers. And yeah, microcontrollers can just switch it on and off whenever you want. It puts like in several microseconds or milliseconds and you can connect to it through Serial and still get a Python console. So you can still try your code live. You can have a cable to connect to the robot and see how it moves and so on. There is a cool board that runs MicroPython, it's called OpenMV. And I have a robot that uses it, but I never took the time to actually program it.  And it does image recognition because the MicroPython on OpenMV has a built-in library that does hard cascade and optical slow and blob detection and a number of other useful visual algorithms are built in there. So you can actually hopefully I will program it and make it do cool stuff. Right now it's not yet working. There is ESP8266, which is a very tiny, no time, a really small chip that actually module the size of a post stamp, costs about $2, $2.50 and runs MicroPython and has Wi-Fi built in. So it's perfect for our use. The problem is it doesn't really have, so this is one robot I'm using it. You can see on the tail there is the ESP8266. Yes, it's a pony.  The problem is it only has eight digital outputs. I have eight servers in here because this is the mammal configuration, so I don't have eight servers. That's fine. You wouldn't be able to build a spider robot with that. So for robots that have some more servers, I use Arduino as a server controller and just make the ESP8266 talk to it through I2C. That's much easier to do. This is a logicoma from Ghost in the Shell. It's transparent because it's in the cloaking mode, the invisible mode from the movie. And yeah, sensors, put whatever you want there. I won't dive into that. And that's all. Thank you very much. Okay, so we have time for one or two questions. Does anybody have some? So you've managed to use OpenCiggy on Raspberry Pi successfully, like the frame rate at which you could analyze frames. No, no, that's still something I have to explore. And if it's not fast enough, I will probably switch to a Raspberry Pi 3 or maybe try to write my own algorithms or I don't know. But the problem is I really love building physical things, but programming is not as fun. I do it as my day job, so it's not as exciting anymore. So I have a lot of robots that I have built physically and they are still waiting for programming. If anybody wants to, I don't know, collaborate. Hi there, great talk. So I wanted to ask you about the last word. You mentioned the SPA266. Yes. I heard that it's supposed, you can write a script for it in Lua. I don't know about the support for MicroPython. Do you have many issues getting it working? How was your experience with that? So the initial implementation that was done about a year ago by Damian, by the author of MicroPython, it was just a proof of concept done in three days and it was pretty bad. So it worked, it was a proof of concept that it worked, but it wasn't really either stable or very futureful or anything. But recently there was a Kickstarter for rewriting that basically at the beginning of this year. And it was a huge success. They got funded and some more on top of that. And the authors of MicroPython really sat down and rewrote the whole thing from scratch, not really from scratch, but rewrote it properly. And now it's quite stable. It's still experimental in the words of the authors because they are not so much confident in that they got everything exactly right. So I wouldn't put it in a hospital for keeping your grandfather alive, but it should be fine for Hoppe project. And it's really growing fast and a lot of libraries are being written for this by other people, not necessarily the developers themselves. And I hope it will really start nicely. Tomorrow there is an open space for MicroPython and I have some ESPA266 ports with me. Some other people have brought theirs also so we can have some fun with them. So if you are interested in that, please come tomorrow into the open space. Okay, thanks Radomil, please, great talk. Thank you.