My name is Kata Mayilma. I work for the IPMS project. I'm stationed in Southern Ethiopia in Dalai, Waredah. And this is the fruit value chain place. What we did in the fruit value chain is we did a diagnostic survey to identify major constraints in the production, processing, marketing of tropical fruits like avocado and mango. And what we identified was mainly the varieties that were available for the last 30, 40 years to farmers. A type of fruit that needs to grow 7 to 10 years to bear fruit and with large canopy and also a very big plant where people have to climb 10 meters, 15 meters to harvest their crop. And due to their canopy size, they were unable to go very well with other crops like coffee, insert and plants that could grow under different canopy. When we went to Dalai, the first thing we noticed was that farmers are cutting down old and big trees due to these disadvantages. And we also discovered that without including fruit as a form of diversification of crop, farmers' income will be constrained. So eventually what we did was we brought in the different actors, different stakeholders to discuss about the issue and eventually that we should introduce grafting in the introduction of new varieties to improve the size of the tree, also the variety of fruits that are produced. And to do that we need nurseries, the alternative approach we followed was to use farmers as producers of input to other farmers. So we trained 10 families of farmers, 10 couples to do the business. Now farmers are trained, equipped and very much connected in the market and they are doing the fruit seedling business very well. Currently we have farmers who are producing different varieties of avocado and mango as seedling businesses. In Dalai alone we have 31 households who produce and sell seedlings to other farmers even out of their districts, out of the region to different parts of the country. These farmers produce these seedlings at a very reasonable price and they are always available to other farmers who want to buy the seedlings. So the seedling business has now become self-sufficient because farmers have their own mother trees. In the last five years they have attained to grow their own mother trees and they use their own signs. That's why we have a success rate of something like 100% during grafting.


Hello gentlemen, as you probably know, I'm still on vacation right now Very nice. However, it's coming to my attention that there are some issues on the last wheel of mud number one I'm so so so sorry. I know you guys love wheel of mud. I know you expect nothing but the best So I'll have that corrected. Don't worry, but number two. I'm talking to you right now I'm looking to hire a new editor you would be editing wheel of mud So if you can edit as good or pretty close to as good as the past wheel of mud The job might be for you. Yes, it's absolutely paid Um, you would need experience editing YouTube videos You would edit about two videos a week and you get to hang out with me a lot So that's pretty cool But yeah, if you are interested or you know somebody who might be interested Please shoot an email to matmeegsbusinessatgmail.com with your portfolio of work So hey, I love you guys. I know the email is gonna get some spam But if you don't send a previous edited video, I'm just gonna delete it. I'm sorry I love you guys. Hopefully we'll get a new awesome editor for wheel of mud lined up And you guys will see no more hiccups. All right. I love you guys. I'll talk to you later I'm gonna enjoy the rest of my vacation and I'll see you guys when I get back and open till we find somebody I'm gonna edit wheel of mud so you guys probably didn't notice But I'd say at least 10 to 15 of the wheel of mud from this year I edited the whole thing and I know you definitely didn't notice because I can still despite not doing it so much anymore I still can edit so I'll handle it until then So we'll be all set. But yeah, I love you guys. Sorry. I'm rambling enjoy the rest of video. It's a banger. Peace Superstar KO we meet again after playing with Lil Clap.  This is actually so fun I'm ready to go see how many consecutive wins I can get. I'm on my Johnny's Sin 69 account I don't know if you guys are aware of this account recently made it. It's kind of fresh So I am level one so we'll get some level ups too. I don't got anything special other than that I just really wanted to play Superstar KO today. So let's hop right in.  I'm gonna switch it up today. Let's get weird. Let's get some legends right out the gates And let's go to think how much I played this last year and then this year I don't know. I feel like they don't care so much about it. EA is so concerned about the yard this year, bro I mean in fairness. Oh, okay. That's what I'm talking about. We got Mike Evans, Ron Woodson. That's stashes fire I wish. Ooh, which bossa. I'm gonna go Nick. He was injured this year. I want to go with him Yeah, in fairness, I think EA thought the yard would be a little better than it end up being, but this is what it is Also a huge thank you to Raycon for sponsoring today's video Raycon is awesome because they make premium wireless earbuds that are half the price of all the stuff you used to see I've worked with Raycon for over a year because I love their earbuds They sound amazing and they're an excellent quality today. I'm repping the blue. Look at that I wore the black ones for forever, but I love this blue too They offer their wireless earbuds in tons of different colors and some of the coolest stuff The company was founded by RayJay and celebrities like Snoop Dogg, JR Smith, Mike Tyson They all wear Raycons. Plus there's a 45 day free return policy, but I don't think you'll use it I think you're gonna love these. Some of the main features is they're gonna give you six hours of play time Seamless Bluetooth pairing, more bass and a more compact design. All this gives you an awesome noise isolating fit I use Raycons every single day when I go to the gym and they stay in my ears super well And that's the biggest thing for me when I'm working out. So if you want to grab new earbuds Click the link in the top of the description or go to buyraycon.com forward slash MMG to get 15% off your Raycon order Raycon, thank you for sponsoring guys. Enjoy the rest of the video Jared golf my brand new Lions quarterback, and we got Mike Evans out there.  Yes, sir No, no tackling give me a give me a chance. Why didn't Mike Evans go up for that? Okay I don't want to know let's clamp now boys. Oh, and he's got Brady. I gotta make sure I get both on the edge here You bomb all right, I feel good right here Does he go deep? Does he go deep? He doesn't we get him. Let's go third and six Johnny sins six nine I hate the new Xbox thing right adds numbers I wish I could just be a clean Johnny sins man third and six. I'm on Sean Lee He's going five wide. We're set in pressure. Hopefully the pressure gets there before he makes a pass He does underneath It's fourth and one. That was huge. Oh my god. I would drop in everyone into coverage.  Oh, he throws. I'm gonna cry. I'm literally gonna cry. Let's go boys. So play action Damn it. He's down to the 11. I do I want redemption so bad. I seriously do I need this no way He runs it now.  Hey, let's go finally get the user alert Let's go tug a war my man. You don't want this smoke. You don't want it, bro You got lucky on that first one really don't know this play, but I feel good here I could bomb it to my Evans. I could hit something I could hit Rudolph Lots of solid options. Ooh, not a lot of sigh. Have a great night's quarterback right there boys Don't worry. We're not losing this though. I'm on ginormous. Is this ginormous Jenkins? I think Y'all be just gonna throw right up to me got the pick Returnable nothing going. That's fine. Let's just get some yardage here. I'll go cooks on a slant Let's double team is big boy will block juicy juice and I'll send Mike Evans Ebron Ebron lots of yards. That's what we need. We're gonna win this one We're gonna win this one tug a war. I ain't going out like this. I think he's gonna try and throw the same thing Yeah, he's looking right here Okay, I wish he did switch sooner I would have been able to take that back, but that's fine dude We're so up here as long as he doesn't throw something that literally goes like across the 50 we're in really good shape I honestly could almost just bomb one up to Mike Evans. Just send a prayer Good. Oh, we're gonna go at the secure catch here. Just play this smart.  We're just gonna blitz. Yep, and then we're gonna play over the top Yes, sir, just get to the QB boys get to the QB. That's exactly what we needed and that's game Oh a little swap fast on the first one, but I'll take it dude. Hey, I will take your kermardi Don't mind if I do orbit bubble throw it.  He keeps it keeps it with my homes on the orbit bubble He saw me flying over there get some solid yards, dude. He's own bubble.  All right We're looking at a third and four in this game already same exact thing. It looks like does he throw it this time? No? No, Sean Lee. Oh my god. There's a name. I haven't heard in a while Sean Lee fourth and 14 I'm gonna send dicks and hopefully just cover the middle by myself It's not a touch pass.  Let's go now. We just gotta put this ball in the end zone All right first been Ted. Oh, he has jones, bro. He took off my X factors That's just way too OP bro I mean when it's on my side of the field, you know, I'm cool with that but right now I'm not and I just lost Let's see what the read key does here. I'm hoping I can pitch this Yes, sir pitch Oh, I got the pitch off and my homes is on defense Why was my homes on defense? I love suicide. Okay. I got the pitch off. Oh my god. That was so wack Everything I just did was so wack. Yeah, he's got uh, he's got Patrick.  Wait, that's not good. My homes is getting blocked there But he was up in my grill for that pass. All right. Patrick my homes is out now. I think you might have figured it out We'll have to see Roll right. It's gonna work. Mike Evans is gonna be open Just barely first secure catch on the sideline clean. All right We're gonna look for the same thing on the other side of the field.  I think he did. We take those Oh, who's is a open. Oh my god, dude Goff all of a sudden snow and lasers five for five 35 yards. We're about to end the game Let's end it with a read option. I need a quarterback and a half back though, dude This offense is buns. All right. We're just gonna hand this one off these blocks look really solid And yelp, Philip Lindsay's gonna take it up to the four. We're gonna go one final play action I'm looking for courtland Sutton to clear this Oh, maybe not but I'm gonna try this underneath. Philip Lindsay to the edge Got it. Let's get in. Let's go Pick offense. Give me give me an awesome quarterback. Ah, but there's Shannon sharp Shannon sharp would be so cool. He has double me. Ah, but I need a Take Shannon sharp. I don't know if I've ever used Shannon sharp as a superstar KO I gotta do it, bro starting out on offense.   I have two double me's on the right side of the field I think I'm just gonna try and go big with Shannon sharp right now I mean, it's literally called double me like it wants you to double me I'm sad I can't give corner outs to Shannon sharp.  I'm just gonna lob one up Shannon God I switched on to him to make that catch dude.  We're gonna look Shannon sharp in this window He's gonna add it again because that's just what we do and now we just gotta do that one more time And we are in business. Come on, shan get across the middle Oh, he's there. He's there. He's there. Wait, maybe not Oh The animation wasn't seen and he got the touchdown off it too. Oh my god corner route in the back of the enzyme I don't know how I feel about it, but he knows where I want to go, but oh no Oh no, he's gonna get points if he returns to that Jared Jared we have to stop Jared Jared Yes, I'm coming for the qb, dude I don't care where he's throwing.    I know he wants to go to julio So I'm just gonna sit on it with Darius Leonard. Oh, you're lame. You're lame. We got to get back there He's running the football. Oh god. He's not this is bad. Get there Yes, dude, there was so much open for so many touchdowns. Let's go. Cromarty. Oh, I kind of want both on the edge Cromarty get in there. Cromarty get in there.  Yes, sir Oh, first the goal. He's marched down here even if he scores, but we can't let him get two All right, this is wrong. This is wrong. The lead died. Let's go. You're not calling it. No Oh, he is I'm gonna pick it off fumble. Oh my god. Let's just stop. Let's go He lost 13 yards and it's second in goal astronomical. I'm gonna drop back in the coverage of boso I'm dropping back You want it right here? You want it right here? The boso, but I couldn't get the pig damn it. It was totally there though Come on. You want it right here? Where do you want it? Where do you want this? You've got nowhere to throw, baby No, you will not. That's game. Let's go big time. Jim Brown. Yes, let's go This team is a squad first in 10. We are on a hot street. Such a hot street.  I'm kind of scared. I'm kind of scared. I'm kind of scared We're gonna be doing something very simple jim brown. I'm coming for those cheeks. I know you're running this ball I'm a hundred percent sure. I'm running committing this squad. Yep.  Is this the inside zone now? No, it's a pass I'm just I'm just wrong on all accounts. God All right. I'm sending shannon sharp. We're running the classic. Uh-oh Come here, bobby wager. Come and get some. No, you're gonna throw a pitch on me We gotta get this though boys biggest play of the game biggest play in the video six to eight I see me go jim brown shannon sharp over the metal and we just make the read Hey, look at that squad four legendaries. I wasn't even trying. I just happened to get them Got him. All right, chug a war. He did not start out with a good play by any means We're gonna see if we can throw another absolute laser yet. No You gotta stop that boys. Come on. We gotta get to him. We gotta get to him. Derek golf. That's big. Damn I thought that looks so old me lost at 12 on that one. That's a bummer I'm gonna be totally honest. I'm gonna go on Kelsey in case it's a corner route. No, he just hands it off again That's fine. He's playing to not lose and I'm playing to win which means I'm gonna win just how it works So I think shannon sharp down a seam here is open But I need a good check down my good check down is gonna be jim brown I'm pretty sure this seam is open though for shannon sharp Damn it Damn it as long as it doesn't get a touchdown here. I have a shot at this game. Dude.  It's a simple read. I have to hit shannon sharp for ebron We just need some time in this pocket. Let's see if we get it There's shannon sharp go up baby First try bro. I'm a first try Hey Let's go. Let's see. I got a level five and one go. Look at that team. That's such an sbp too Hey, I forgot how much I love super sarkam boys. I'm so happy to have done this I appreciate you boys for watching as always. I'll see you the next video. Peace out


We know that not sleeping enough is associated with changes in diet. People tend to eat worse, but what about the opposite question? Can food affect sleep? We saw from the kiwifruit study that this seemed possible, but the mechanism they suggested for the effect that serotonin levels in kiwifruit doesn't make any sense, and serotonin can't cross the blood-brain barrier, so you can eat all the serotonin you want, and it shouldn't affect your brain chemistry. A different brain chemical, though, melatonin can get from our gut to our brain. Melatonin is a hormone secreted at night to help regulate our circadian rhythms by the pineal gland in the center of our brain. Supplements of the stuff are used to prevent and reduce jet lag. About 20 years ago, MIT got the patent to use melatonin to help people sleep. Melatonin is not only produced in the pineal gland, though, but also is naturally present in edible plants. That might explain the results of this study, the effects of a tart cherry juice beverage on the sleep of older adults with insomnia. The research group had been doing an earlier study on tart cherry juice as a sports recovery drink. See, there's a phytonutrient in cherries with anti-inflammatory effects, on par with drugs like aspirin, ibuprofen, because they were trying to see if they could help reduce muscle soreness after exercise. And some of the participants in the study just anecdotally said that they were sleeping better on the cherries. That was unexpected. But the researchers realized that cherries are a plant food source of melatonin, so they put it to the test. The reason they chose older subjects is that melatonin production tends to drop as we age, which may be one reason why there's higher insomnia rates in the elderly. So they took a group of older men and women suffering from chronic insomnia and put half on cherries and half on placebo.  So they used cherry juice versus cherry Kool-Aid, and found significant, but modest, improvements in sleep. So for example, fell to sleep a few minutes faster and had 17 fewer minutes of waking after sleep onset. Meaning waking up in the middle of the night. So it was no insomnia cure, but it helped without side effects. How do we know it was the melatonin though? Well, they repeated the study, this time measuring the melatonin levels, and indeed saw a boost in circulating melatonin levels after the cherry juice, but not after the Kool-Aid. Similar results were found in people eating the actual cherries. Seven different varieties, boosting melatonin levels, and actual sleep times. The effects of all the other phytonutrients in cherries can't be precluded. Maybe they help too. But if it is the melatonin, there are more potent sources than cherries. Orange bell peppers have a bit, an ounce of walnuts, a tablespoon of flax seeds has about as much as a tomato, all less than the tart cherries that were tested. But people may eat a lot more tomatoes than cherries, especially tart cherries. Sweet cherries have 50 times less melatonin than tart, and dried cherries appear to have none. In fact, the melatonin content of tomatoes was suggested as one of the reasons traditional Mediterranean diets were so healthy. A few spices are pretty potent, just a teaspoon of fenugreek seeds, or mustard seeds has about as much as a few tomatoes. But the bronze, silver, and gold go to almonds, raspberries, and goji berries off the charts. Now even gojis just have 15 micrograms an ounce, but melatonin is potent stuff. You inject just 10 into people, and you can boost their blood levels 50-fold in 5 minutes.


Creating a website using Blogger. Blogger is a publishing tool that is designed for blogging. However, it can also be used to create a website. An advantage of using Blogger to create your website is that the domain hosting is free. This short video tutorial will walk you through the initial steps towards creating your very own website on Blogger. Start by going to www.blogger.com. Then click Create Your Blog. Use your Google credentials to login. If you do not have a pre-existing Google account, you will need to create one. You will then need to choose a name for your site and click Next. You will also need to choose a URL for your website, then click Next. Next, you will need to choose a name to display to your readers. Then click Finish. Now that you have created your website, you are ready to start customizing and adding content. On the left-hand side of your screen, you will find the main menu. This is where you will find all of the control options you will need while designing your website. This includes posts, stats such as site traffic, comments, earnings, pages, layout, theme, settings, and your reading list. At the very bottom, you can click View Blog to preview your website at any time.  Firstly, instead of having one page with multiple blog posts, you can create separate pages. To do this, click Pages from the main menu on the left. Then click New Page. Consider adding pages that websites typically have such as About or Contact. Give your new page a title and add content. Use the toolbar to make changes to your text and add images, videos, and links. You can choose to turn off reader comments as this may not be useful to your webpage. Click Preview to preview your page before you publish. In Preview Mode, use the buttons on the bottom of your screen to view what your page will look like on different devices. If you are happy with your page, close the Preview tab and click Publish. Your website's home page will automatically be made for you based on your posts. To add a new post, click Posts on the left-hand side of your screen. Then click New Post. Create a title and add your content. Once again, click Preview, then Publish. In order for your viewers to be able to see your pages, you must go to Layout, found on the main menu. Find Pages, click to Edit, and select Show Pages. Make sure that all of the pages you wish to show on your site are checked off. While in layout settings, you can also remove gadgets that are useful on a blog but may not be useful to your website. For example, you can remove the Profile and Blog Archive gadgets. You can also remove the timestamp on your posts by clicking Blog Posts and unchecking the date box. You should also choose a theme for your site. From the Theme Gallery, choose the one you like best. You can preview it, customize it, or apply it as is. Making these simple changes will help your blog look and feel like a polished and professional website.


So, passivity by output selection is a possibility as long as your system is stable in the sense of Lyapunov. So, great. So, there is at least some hope. Now, like I said, what happens when you do not have a stable in the sense of Lyapunov system. Then you go for what is called feedback passivation. You try to use the feedback to get passivity. That is the idea. So, what is the deal? We are now not making any assumptions on this guy. What we are saying is you have this input output system. We are already specifying the output also in this case. The output of course, might come from here the previous method itself. But now we are no longer saying that there is some kind of stability in the sense of Lyapunov for this system. Because, which is what we assume for the first case. But we assume there exist some feedback. So, what are we going to do? We are going to sort of plug in a feedback in the system. Now, the question is what is this feedback doing? Of course, we have to ask. Once we plug this in and again this material is sort of taken from Khalil. But there it is a lot of it is stated as theorems and proofs and all that. I am not doing that. I am doing it more in a step by step way so that we figure out what is happening. So, as usual we assume all the Lipschitz smoothness and all the nice things. Then what am I doing? What I am doing is I am going I am just proposing some feedback. If you notice this is a pretty general structure for a feedback. There is nothing very specific or special about it. What did I do? I broke the feedback into one term and then another term which contains some additional thing that I can play with. I can sort of prescribe later on. So, I have taken this control and I have reduced it to this control. But as far as we are concerned these are pretty much equal as general as it gets. It is some function of x another function of x multiplied by new control. Now, what is the advantage? Of course we are as usual assuming some more Lipschitz and smoothness and all that for I mean just to keep things simple let us assume everything is smooth anyway. If you substitute this control back here you are going to get this sort of an expression and I have done nothing but substitute the control here. Now, if it so happens that this system is passive in V y then the system is said to be feedback passive. But again looks very general and looks like it is not going to help us at all. But it is because we are just trying to generalize this situation.  This will sort of you know plug in a feedback term and this feedback term is potentially going to make this you know Lipschitz sorry make this stable. And then you can sort of choose this y and so on. So, this is one step beyond what we have here that is the idea here that is the idea. And this is called feedback passivation is more like a definition if you may that after plugging in some feedback which is very very general if the system turns out to be passive with this y and with this sort of drift system then and with this new control V not the old control U but the new control V then the system is feedback passive. And to illustrate this we actually look at now one rather serious and useful example. This is the control of robot dynamics in joint space. I mean you are already you can very quickly get into the controlling a robot and this is like a manipulator any robotic manipulator will have this sort of a dynamical system. We will spend you know couple of minutes trying to understand what the terms are anyway some of you might have seen this sort of model is typically arrived at by using Lagrangian. Those of you who have done any kind of robot modeling will know so this sort of model is arrived at using the Lagrangian method or Hamiltonian but typically Lagrangian. Q is what is called a generalized coordinates so if you have a robot let me see if you have a robot which is like as a revolute joint like this and then here there is no revolute joint but how do I say. If you look at this picture what do you see there are 3 sort of degrees of freedom if you may or 3 sort of in the sense coordinates not let us call them coordinates what is this in order to specify this robot I will need to specify this angle alpha 1 then this angle alpha 2 so it is like shoulder this shoulder and this alpha 1 and alpha 2 but here which I cannot do the third thing I am saying that my wrist can sort of move in and out it is a linear joint linear actuator linear actuator on one of the arms you can see that this is possible I mean you can make it out with this guy so this is a robot yeah this is one angle this is the other angle and this thing can move also yeah you can imagine I can make a robot like this I mean for many reasons yeah just for fun if nothing else yeah all right now what is funny or odd about this is that all coordinates are not angles are all or x y so they are not in the same type of coordinates if you may yeah they are either angles or positions and so on and so forth yeah but when you do Lagrangian modeling you can actually look at them all together and you call them generalized coordinates yeah they can be positions they can be angles they are all combined in one vector and this is called generalized coordinates okay that is the reason for naming them generalized coordinates because they can be positions angles and so on and so forth no problem okay again in the mechanical system context you again electrical system it can be well sorry voltages currents and different things yeah completely different things different units yeah they are combined in one yeah so and q dot is of course generalized velocities right so in this case it alpha 1 dot angular velocity and x dot which is linear velocity yeah so and then you have the system matrices which is the first and the more important most important one is the m of q which is the inertia matrix called the inertia matrix and not difficult to sort of compute it's it's sort of actually captures the inertia of the robotic system if it moves around this origin then what is the mass distribution typically this will be a function of the coordinates itself yeah very very in very very unusual circumstances will it be independent of the coordinates yeah mostly it will be a function of the coordinates but it will be symmetric positive definite inertia is always symmetric positive definite matrices okay then you have the c q q dot which are the centrifugal and Coriolis forces okay again because robot and mechanical system so you know exactly what these are yeah and then there is d which is the viscous damping this is like you know if you have these joints and then there is damping on the joints yeah or there is damping in the linear actuator right then here then there is some viscous damping and that depends that sort of always scales the velocity and then finally you have the g which is the gravity term okay so this is standard notation I don't think even books will change more if you go from one text to the other I don't think even they will even change the symbol of the or the letters also thankfully this is one of the most standard notation m will always signify the inertia c will always be the Coriolis and the centrifugal and or centripetal whatever then you have the d and the g which is the damping and the gravity and then you have the control finally yeah control of course can be you know you can actually maybe have a motor here here and you can have you know some linear actuator here pneumatic actuator or whatever okay so this is the control okay so this is the this is the system that we are looking at yeah and one of the things that's known for because we have arrived at this via lagrangian modeling is that m dot minus twice c is a skew symmetric matrix okay this is known for this robotic type system it will always hold yeah this is nothing very unusual system property and what does it mean for a if this if a matrix is skew symmetric then the corresponding quadratic form is always 0 okay this is again a property of skew symmetric matrices okay so again whenever we deal with practical real systems then we have to identify these properties of the system so typically somebody who's been working on these systems for a while they will know these yeah so whoever designs controllers for these systems will always know this there is no two ways about it yeah so m dot minus 2c skew symmetric therefore any quadratic form using m dot minus 2c turns out to be 0 yeah okay what is the objective tracking we until now not done any tracking problem okay so this is the first tracking problem okay what is the objective track a reference q of r again this reference and we are doing everything in the joint space by the way yeah in reality you might be you know applied guys might be interested in the position of this guy the world position yeah what is called the end effector position yeah not this x not this x but the world x y z okay you might be interested in applications on that okay but you can always reduce it to some trajectory in alpha 1 alpha 2 and x yeah by using the inverse kinematics yeah for any robot this is possible again we have not we are not going into that much detail but the idea is any world space problem can be converted to a joint space problem yeah and so we are doing the control in the joint space only not in the world space yeah now if I want to track a constant reference then I construct an error like this okay and what happens yeah we write the dynamics of the error it comes out to be this guy okay do you believe me that it comes out to be this guy huh what is it go ahead there's a g-term there yeah what are you saying okay I made this simplified problem okay I will I have basically chosen a constant reference so qr is actually a constant so I am I am actually doing an easy problem here yeah actual trajectory tracking would be it's a time varying trajectory in that case the trajectory also will have to satisfy an equation like this typically anyway we will go there later on not right now yeah not right now right now we are doing an easier problem the reference is a constant my angles are at some constant value my linear position is at a constant value I want to go term I want them to go to another constant value that's it okay now if you look at this again q minus qr qr is a constant so any derivative so left hand side contains only derivatives right so any derivative e double dot is actually q double dot e dot is q dot and gq is just gq nothing changes okay just because I chose a constant reference yeah just to make my discussion in class simple yeah otherwise it'll take a long long time to reduce the problem itself okay so what we want is e equal to 0 to be globally asymptotically stable okay so you see that the dynamics of e and the dynamics of q are the same just because we have a constant reference nothing magical I didn't do anything yeah you are right if there's an actual reference then we'll have to do gravity will cancel okay we have to do all those funny things yeah but we're not going there now what are we claiming we are claiming that this kind of a control we'll give us feedback passivation what is feedback passive means that after I plug in the control and with some output I will get passivity so my claim is that this control gives me feedback passivation it's obvious that the first term is just to cancel this guy so let's not even worry about it is going to if I plug in you just going to cancel this guy yeah then there is a nice negative term in the error we love these terms right always it's the proportional control yeah if you may and then I have some new control that I will figure out later on yeah but my aim is to get passivity in this case okay I just want to get passivity let's plug in and see what happens yeah if I plug in this is what I get gravity cancels out and the KPE went from here to here so I just have this system okay now I consider this storage function V as this guy okay this is a very standard construction yeah it is just taking notice by the way I have not written this in state space form all of you should always be watching these things I didn't write this in state space form I'm directly working with the double second-order dynamics technically it'll be nicer if you wrote this in state space form and so on but because it's just pre-multiplied by an M it's a little bit painful but you can always do that you can just write this as even dot is e2 and M q e2 dot is whatever okay this would be the state space form yeah where even is equal to e and e2 is equal to e dot okay if I choose that I would get a state space form let's not worry though yeah pretty easy all right great now I'm saying that this is a very standard construction for a Lyapunov candidate for the robotic system very standard construct if you get a robotic system try this Lyapunov function Lyapunov candidate okay great why why is this a nice candidate first of all M is symmetric positive definite okay for all q therefore this is already a nice positive term Kp was chosen to be positive definite obviously I mean I don't know if I wrote this here really hope oh disappointing Kp in the general case yeah this positive definite matrix symmetric matrix okay therefore this is also a positive choice nice choice so this is actually a quadratic right just a quadratic form yeah and both are positive definite matrices so it's almost like x1 squared plus x2 square yeah or k1 x1 squared plus k2 x2 square where k1 and k2 are both positive numbers it's just the matrix vector extension of that okay standard Lyapunov function yeah and this is you should get used to this sort of a construction if I take the derivatives now of this guy what happens this is just e dot mq e double dot yeah I'm using the product rule so e dot transpose times mq times e double dot because it's a vector I'm just being careful of the transpose and all that I'm not allowed to change orders of things and all that mess otherwise it's the same and the second term is e dot transpose half e dot transpose m dot q e dot and because there is there is derivative of this also okay you could have done this twice half e double dot transpose mq e dot and half e dot transpose mq e double dot but it turns out to be the same things right because of scalar transpose of scalar is scalar yeah which I made you write yeah this is a scalar quantity so I can keep taking transposes so this is also scalar quantity okay and then again derivative of this is e transpose kp e dot yeah because this is scalar I can keep flipping no problem same thing comes out okay great this I want to be less than equal to v transpose y all right this I want to be less than a v transpose y okay I need you to do this as you can see it's the exercise now you see I have to plug for e double dot here right which is this actually sorry I have to plug for n q e double dot here which is this guy yeah brings in the v wings in the control new control v and then there is e transpose kp e dot yeah which is actually very nice you will see that it's a nice term so basically this term contains the new control v and now what I want you to do as an exercise is choose a output anything is output y such that this quantity is less than equal to v transpose y where v is this new control and then basically you would have achieved feedback passivation not just that I also want you to after you find the output y I also want you to show zero state observability of this system for this v y pair okay so is a very very nice and obviously a relevant example you already moved into something real yeah and you will also be doing simulations on this okay with some real numbers that I will give you yeah so please look at this carefully you'll have enough time it will be the next homework so you'll have enough time look at this carefully understand it very well if you have any doubt you ask me but make sure you understand it very well so that you are able to do this exercise yeah I mean if you can crack this theory part okay because once you have this output y and this new input v you know that the control can be just minus phi y right because of the theorem that we have already yeah it's all set so all you have to do is this show that this is less than equal to v transpose y for some output artificial output that you choose it doesn't have to be you know real okay but again check and see what comes out yeah you will see that something very nice comes out on the left-hand side yeah the system this the apnoff candidate and the system is very nice properties yeah which is why controlling robots is actually I mean designing control control for robots is readily easy yeah so please sort of start on this exercise just get yourself a warm start try to understand you know what's going on with these terms and so on yeah and see how you can use these properties yeah to complete this analysis so once you can compute the left-hand side properly that's all you need to do once you compute this left-hand side properly and carefully after substituting the double dot you will yourself have some structure like this and then you just have to choose a y because otherwise it will be difficult right you should have a structure that looks like this here okay all right okay cool thank you


And immediately they were separated, there is no information between both of them, there is no communication between both of them and it is then the choice were giving to them whether they should confess or whether they should not confess. So, they are arrested, they are immediately separated and how the pay off will come, if convicted they will get a term of 10 years in prison, if the if the crime is proved they are getting conviction and conviction they are getting 10 years in prison. The evidence is not sufficient to convict them more than crime of possessing stolen good which carries a sentence of only one year. If the evidence is not sufficient to convict them because it is a case of robbery, so in this case if the it is not getting proved they cannot get the 10 years of prison. And they will just carry a sentence of only one one year because they have one crime left that they have a position of the stolen goods there in the with them. So, if it is it if you look at it is two different activity they are caught for being one, but still they have some stolen goods and for them they will get the punishment for one year. But if they are getting convicted for bank robbery they will get the punishment of 10 years. The suspects are given for information from the authority, they are told the following if you confess if you confess you your your accomplice does not you will go free.  So, these are the options given to the suspect, if you confess then you will go free because you have confessed that you have done the crime. If you do not confess, but your other one other one confess other partner that confess then you will get 10 years and you will go free, if both of you are confessing then you will get both get 5 years in prison.  So, in this case is getting 10 years, both of them they are getting there, so both of them get 10 years when both of them they confess then prisoner 2 if so let us call it this is confess, this is not confess, this is confess, this is not confess, if both of prisoner 1 and prisoner 2 both of them they are confessing they are getting the sentence of 10 years. If prisoner 1, prisoner 1 not confessing prisoner 2 confess then prisoner 1 here get 10 years and prisoner 2 gets, prisoner 2, prisoner 2 generally goes free because he has confessed both of them they are not confessing, prisoner 1 confess prisoner 2 not confessing prisoner 1. So, if we can call it is 1 not confess then we can call it prisoner 1 goes free. So, we get 0 prisoner 2 is get 10 years, both of them they are not confessing they get 1 1. Now, what is the best option or may be we can just change this on the basis of our pay off. So, if you confess and your accomplice does not you will go free and your accomplice will get 10 years. So, in this case there is a small change over here. So, this is 5 and 5. So, when both of them they are confessing they are just getting 5 years, when one is confessing the other one is not confessing who is confessing he is going freeing the other one is getting 10 and similarly if both of them they are not confessing they are getting 1 1. Now, what is the best option for them if you look at best option for them is to remain silent. If they are not confessing remain silent they just get 1 1, but practically how this will happen practically this is not going to take place. Since they are the rivals and since there is no communication between prisoner 1 and prisoner 2 they will feel that if I am not going to confess the other one is going to confess. So, in this case I am going to get 10 years the other one goes free and the same thought prisoner 2 also will think that if I am not going to confess the other one is anyway going to confess and in that case I am getting a prison of 10 years then the other one is going free. Here if you look at cooperation is beneficial if both of them they are remain silent if both of them they have the trust that the other one is not going to confess they will not they will remain silent that they would have got just 1 year 1 year, but ideally how this will happen both of them they will confess with the thought that if I am not going to confess the other one is going to get the confess and in that case he is going free and I am just getting I am getting more I am getting 10 years. So, in that case with the same line of thought both of them they will confess and finally, they will land in a they will land in a payoff which is not optimal rather this is sub optimal because the optimal one is here when both the prisoners they are remain both the prison they are remain silent, but they are not silent they both of them they are going to confess and that is the reason they will end into a sub optimal solution and which is may be not the Nash equilibrium for here you cannot get a Nash equilibrium and finally, they will end in a situation which is not optimal rather it is a sub optimal situation. Now, the same thing so, if you look at here again what is the dominant strategy the dominant strategy is the best strategy for a player to follow regardless of the strategy chosen by the other player. So, in this case can we say that when we confess that is the best strategy because a best strategy for both the prisoner because what is the dominant strategy dominant strategy is one where irrespective of whatever is the other one is doing that is the best strategy. If prisoner one decides to remain confess that should be the best strategy irrespective of what other is doing. So, in this case if you look at still confess is the best strategy for best strategy for the prisoner one because if the other one is not confessing other one is confessing he is just getting 5 years the other one is not confessing then he is going free and if the other one is may be remain silent that is an again another strategy. So, in this case the dominant strategy is the best strategy for the player follow the regardless, but if you look at it may be the dominant strategy but this is not best best payoff because for prisoner one what are the option if he remain silent if the other one remain silent it is that is one, but the other one confess then you get 10 years. So, he has to maximize the maximize or the minimize the whatever the worst payoff can happen in case of the rival section. So, he will prefer to confess because at least even if it is not optimal solution, but still it is better than if he is not confessing and the same thing will happen with prisoner two and both of them they will confess they will reach to a solution which is may be the best strategy at that point, but that is not the optimal solution and what is the problem over here? Problem over here is there is lack of cooperation and they find that cooperation is difficult and that is the reason they are getting into a suboptimal solution. So, cooperation is difficult to maintain because cooperation is not the best interest of the individual player. Then we will take this example in a revenue function or in a revenue payoff and we will understand how the price increase and how generally the oligopolist changes accordingly. So, there are two oligopolist Jack and Jill and they are into the business of they generally sell the oil in the market. So, in the first case they have different options when the price is 40 rupees for 40 dollar per gallon. So, if you look at if the price is 40 dollar per one gallon both of them they are selling 40 gallon each and they are getting 1600 as revenue. Now, if they both of them they are reducing the from 40 gallon to 30 gallon the price is going to 50 dollar and both of them they are getting 1800 as revenue. This is one case where 40 rupees for one gallon and both of them they are just selling 40 gallons. Similarly, when they are just selling 30 gallon the price will increase to 50 gallon and both of them they are getting a revenue of 1800. If Jack sell 40 and Jill sell 30 in this case what is the revenue if Jack sell 40 and Jill sell 30 in this case Jill will get Jack will get Jack sell 40 gallons. So, in this case Jack will get 2000 and Jill will get 1500. Similarly, if Jill is selling 30 and Jill is selling 40 and Jack is selling 30 then in this case it is getting 2000 and here it is 1500 the price is 50 dollar. Now, we will see what both of them they will do. So, now if you look at the slide when Jack is selling 40 Jill is selling 40 both of them they are getting 1600 as the revenue and they knows that if both of them they are selling 30 gallon the price will go up and they can get 1800 as the revenue because price will go for 60 rupees per gallon and they are getting a 60 dollar per gallon and they are getting 1800 as the revenue. But ideally what they will do they will not reduce both of them they will try to sell 40. Here what is the optimal the optimal strategy optimal strategy is to sell less. So, that the price will go up and they will get they will get a higher revenue. But what they will do both of them they will not sell 30 they will sell 40. So, in this case if you look at if Jack is selling 40 and Jill is selling 30 he is going to get a revenue Jill is going to get a revenue 1500 and Jill Jack is going to get a revenue of 2000. Price price goes up to because it is 70 in place of 80 it is 70 now. So, that in that case the price goes up to 50 dollar per gallon. Now, in the other case also if Jill is selling more and Jack is selling less in the same case the total in the first case if both of them they are selling both of them when they are selling 40 40 total is 80 gallon and the price is 40 dollar per gallon. Now, ideal solution is both of them they should just sell 30 30 gallons that comes to 60 gallon the price goes up to 60 dollar and in this case both of them they will get a revenue of 1800. What they will try to do ideal is this both of them if they are reducing they are getting it, but they will not try to reduce it both of them they are trying to just produce just sell 40 gallon and they will land in a revenue which is again not a optimal solution like if you look at here Jack gets 1600 Jill gets 1600 and why they get into this 40 gallon because if at any point of time Jill is selling 30 gallon he gets less revenue as compared to Jack because Jack is not going to reduce beyond 40 gallons and in some situation if Jack is Jack is reducing it to 30 gallons Jill is not going to reduce and in this case Jack get a revenue of 1500 and Jill get a revenue of 2000. So, if you look at the pay off in the fourth box this looks more profitable for them this should be the optimal strategy, but they will not follow here they will land in a situation where it is suboptimal or where they are getting less profit. This same example can be can be taken into again in a different context like you have two country, country one and country two and the options are different. So, the options are whether to keep arm and ammunition or whether to not to keep the arm and ammunition. So, the choice are if you look at whether to arm or to discern here again whether to arm or whether to discern. If country one is keeping arm company two is keeping arm then both country one and country two they are at the risk. If country one is disarm and country two is still keeping arm in this case country one is may be the risk and country two is country two is safe and powerful. Similarly, here if country one is disarm and country two is keeping arm in this case again country one is safe and country two is risk and when both of them they are not keeping the arm and ammunition both of them they are safe. Here in this case what is the optimal strategy optimal strategy is here where both country one and country two they are safe. But they are not going to this option they are going to exercise this option and they both the country one and country two they are going on the risk. So, if you look at what is what you can conclude from here on the basis of all this situation that even if the cooperation is difficult even if the cooperation is profitable still they go situation where may be they always and into a sub optimal strategy like whether you take a case of the prisoners whether you take the case of the oligopolist whether you take the case of the typical country whether it is keeping arm and ammunition. All these cases cooperation is always lead them to a strategy or lead them to a outcome which is best for both of them. But since there is no trust or there is lack of cooperation they always feel that the rivals is going in a different direction and rival will try to give us the worst payoff and that is the reason that will end into a situation which is sub optimal. So, if you if you remember from the case of prisoner the best outcome is to remain silent, but they will not remain silent both of them they will confess and they will land into a situation which is sub optimal. Similarly, about the two oligopolist Jack and Jill in both these cases if they are selling both of them they are selling just 30 gallons they are getting a profit of 1800, but still they are not doing that both of them they are selling 40 gallons and finally, they leads into a sub optimal situation. And similarly, in the country level also keeping arm and ammunition both the country they are at the risk, but still they are keeping it because there is a lack of trust rather is a lack of cooperation that the other firm is also other country is also going to deserve. But the best option is that both of them they deserve themselves when they become they become safe, but that is not going to happen in this case and that is why both of them both the country they keep it in the they keep their strategy as arm and they get into a situation where both the country are at the risk. So, prisoner's dilemma is particularly talks about a game where cooperation is profitable, but difficult to maintain and that is why we do not get into the optimal strategy rather we get into the sub optimal strategy. Then we will talk about some types of game like what are the different types of game on the basis of the outcome on the basis of the players and then we will see how this is linked into the different oligopoly model what we discuss in our oligopoly market structure. So, games are classified either on the basis of the relation between players or in the basis of the strategy or on the basis of the outcome. So, the first kind of game is cooperative and non-cooperative game. So, cooperative game are essentially those which enters cooperation among the players. In real business world such cooperation is considered to be illegal generally that is called as collusion it is not legal in the real world, but cooperative games are essentially those which enters the cooperation among the player and non-cooperative games are where there is no possible to tie up among players like in case of court throat competition. So, non-cooperative games there is no tie up between the player or there is no collusion between the player it generally happens in case of the court throat competition. Then we have a normal form and extensive form games. So, normal form games list each player strategy and possible outcome that they derive from each strategy of the opponents and outcome is revealed by the payoff matrix and each players payoff is denoted by the number to measure the utility derived from each strategy. So, in the previous case whatever the payoff we are finding out on the basis of the different strategy that is generally a normal form of the game. So, normal form of the game generally identify the list of the action taken by the players that is the strategy. What is the end outcome in term of the strategy and listing all this end outcome in term of a payoff matrix that is generally the normal form of a game. Whereas in case of extensive form of game or the typical game tree we call it is gives a complete plan of action of the player over a period of time and it is it gives a chronological order in which player take their action at that particular point of time depend on what they know at what point. So, generally game tree is gives a complete plan of the player over a period of time it is in a chronological order and here player takes whatever the particular point of time whatever the decision takes that generally if you look at the when you are deciding the one decision point that leads to the what is the previous decision point and it is dependent on the previous decision of the player. So, we will just take an example to understand the extensive form of game. So, for if you look at in the previous case again we will take where we take the case of the advertisement. So, firm one if there are two option either to advertise or do not advertise this leads to again two outcome that is for firm two. So, this leads to outcome for a firm two and here again two options advertisement or not advertisement and this leads to the payoff for both firm one and two and this comes as if you remember 50, 20 and if it is not advertising then it is 60 and 10. Similarly, if it is the firm one is do not advertise then this leads for firm two to take two action again advertise do not advertise and from here we get the payoff for both firm one and two if do not at firm one do not advertise firm two advertise we get a payoff of 40, 30 and in the case of firm one do not advertise firm two also do not advertise we get a payoff of 55 and 25. So, this is the extensive form of game which record the particular action at the different point of time and then depend on. So, if you look at why firm two is advertising it is depends upon because firm one is advertising firm two why it is not advertising again it is depend on what firm one is doing. Similarly, if you start from the payoff why the payoff is this because firm two is advertising because firm one is advertising. So, extensive form of the game or this is also known as the game tree in this case it gives a chronological order in which players take their action at that particular point of time dependent on what they know at that particular point. Then we will take a different kind of game types of game that is two portion games and n portion games this is classification is on the basis of the number of players. So, if it is two number is two it is a two portion games if it is more than two then it is a n portion games. Then we have a simultaneous move and sequential move. So, in simultaneous game both the players act at the same time even if players do not act at the same time the second player is informed about the first player move. So, in case of simultaneous move game both the players act at the same time even if the player do not act at the same time the second player is informed about the first player move. This game is used for generally understanding the behavior of the oligopoly firm and the typical example is cornered model. So, if you remember in case of cornered model it is the it is the reaction function and that decides that what will be the outcome of the other firm dependent on the output of the whatever the output decision of the previous firm. Then in case of sequential game one player acts followed by the other second player knows that the move adopted by the first player and take its decision contingent that taken by the first player and the typical example is the Stackelberg model what we discuss in our discussion during the previous oligopoly market. So, simultaneous move game is the example of the cornered model and sequential move game is the example of the Stackelberg model. Then we have constant sum zero sum and non zero sum game. So, in this case the classification is on the basis of the rivalry on the basis of the outcome. So, the extent to which goals of the player is coincide is the basis of the classification. So, in a constant sum game total benefit of players given each strategy is constant the players have to share the profit. It is a game of if you look at constant sum game is the game of the total conflict and also this is a game of the pure competition. The typical example is the game of poker where it is the combined wealth of players remain constant player of share A increases though share of player B must decrease. Then we have zero sum game here the total benefit has to be equal to zero. So, the sum of gain and loss is zero and whatever is gained by one player is lost by the other player. Then we have non zero sum game and in case of non zero sum game the total benefit of players added together given each strategy is more than zero and constant. So, both the players of the game ends up in win-win or lossless situation and the typical example is the strategic alliance and the joint venture. So, in case of non zero sum game total benefit of added together is more than zero or more than a constant and typical example of strategic alliance and the joint venture we take as the non zero sum game. Then we have symmetric and asymmetric game. So, in the symmetric game the payoff do not depends on the player of the game, but on the strategy of the game and typical example is the prisoner dilemma. So, this is the here the payoff is not on the player of the game rather it is what is the strategy taken by the game and typical example prisoner dilemma what we discussed before few minutes and asymmetric game do not have identical strategy for both the player because they are asymmetric and typical example is the market entry game. Then we will take two three situation to understand this application of game theory in economics. So, game of entry a potential firm in an industry which already has a monopoly firm and here the increment has to decide whether to enter the market or stay out and monopolist has two option collude or fight with the entered firm. So, we will just prepare a payoff matrix on this basis and we will see that how this game theory is also applicable on the basis of the on the basis of the decision of the firms when they enter into the market. And also we will see the application of this in the corner model and application of this in the Steckelberg model in our next session.


For more videos on people's struggles, please subscribe to our YouTube channel.  So since it's a low land ground to Avaluim, been affecting by the sea level rise, every day we see climate change. The sea will come underneath our land and fill up our roads, sometimes our homes, every day when the sea gets high time. And during one of these cyclones, I believe it's Cyclone Pam or Cyclone Tinoid hit Avalu really bad on one of our islands. So there are like graveyards near the beach coast and the waves will come and dug all the graveyards and all the the bones of my ancestors came up and it was really frightened. We are living in the presence of climate change.  I mean, but now that I think about looking back and people having been more familiarized with themselves and more of the climate science and all those kinds of things now, these typos and these floods we should be like once every 100 years or not, every 10, every 5, from since 2008 we've had like for example Typhoon De Landa whose anniversary is actually today. I mean, it's the 8th anniversary of Typhoon De Landa which really over 6,000 lives in the Philippines. That was a 23,000 that we had of course last year towards the cost of these Typhoons that were in the Philippines following massive floods that was taking the country. Most of us depend on the economic value of getting fish or fishing. There's also the navigation aspect, the transportation of food from one point to another because of course it's an island you have to navigate from that place to the city. So we've been having some problems with the high levels of Lake Victoria. The water levels of Lake Victoria has been increasing, making the water levels in Lake Victoria from Uganda and Tanzania being, you know, a little bit dropping. So back in my place we've been having floods, more often floods that has led to more destruction of homes and since us we believe in having these permanent houses we've been having such, you know, some bad and tough times. I always think there are differences between developed countries and underdeveloped countries climate and fight because we are, we belong to such area that nobody knows, neither the one never speak about us. I always think we are ignored people as I mentioned before. We are ignored people. We are not in the line of those people where one is discussing, where one is addressing. I never saw any person, anyone speaking about us. This made me think about this. Then I thought whatever I need to go in front of the world, I need to achieve international platform to address that. We are already such people. I was able to stumble upon this picture or this like graph, like it was about the Philippines of the capital city and then it was saying which parts of the capital city would be under water by 2050 within my lifetime of course. And then I was looking at it and I realized the medical school where I was studying was going to be under water. It made me think, what am I going to do? Why would I be studying to become a doctor in the hospitals I was going to work in would be under water. So that really just made me think for a while and then after a few months of really thinking about it I decided to use the drop medical school and do this full time because I realized like I always thought about this because like what's the point of giving people if you're just going to send them back to the conditions that will end up killing them right? I mean if you're going to treat people for the heat wave or for flood related diseases and then you're just going to send them back to a world where that's just going to keep happening.  It's not just about the lives lost immediately when it comes to the floods. It's not just about the lives lost or the lives directly impacted by the drought. It's also about how things like nutrition, things like diseases, things like all these kinds of health related problems at all. So much more impacted downstream by the climate impact. That's what we also need to realize that it's again not just about our military missions or these extreme weather events but the slow ones and social impacts of like the crisis and that's what we also need to know about that. The time of warning for Tuvalu is over I believe and I want for us to act now I want I'm glad that I came I'm the only activist from to youth activists from Tuvalu that was able to come my country it's on lockdown and it's really hard for me to to get here it takes me three days so I'm still a little bit of jet lag and I came here to try to give the message and support my brothers and sisters to because together we can as young people together we can raise up our voices so that the leaders out there can hear our message. I didn't come here to show you that how peachy we are but I came here for us to work together as because this is our world and as youth the future we will be leading the future and I don't want my culture to be to disappear I want to stay in my country to sustain my language my culture and everything. Climate crisis that is caused by this capitalist system of overexploitation overextraction for the environment has destroyed destroyed lives and dreams of youth and it's it's clear with everyone with the smoke that it is destroyed it is changing people's lives and again they know in the dreams that when we were promised essentially a future of a world where we can live and breathe and have do what we want but it's not happening because of all of this mess and that's just something we always have to consider that when particular over as youth like we have been wrong of a life and that's just something that we have to take back and it's a shame we have to fight it's it's a tragedy we have to fight just to be able to enjoy life you know in the next few decades have a reasonable like you know yeah this this be alive but that's what we're doing here right now we're taking it back from the people who still live.


Blockchain technology transforms industries. It opens doors to new, exciting business opportunities. However, some of these are still unmasked for two reasons. Lack of privacy and lack of confidentiality. This is about to change. Let's have a look at the wireless spectrum auction, for example. The kind of auction that governments use to allocate 5G mobile licenses. So in this kind of auction, we are talking about billions of dollars. So the temptation to try to gain the system can be very high. Recognizing this challenge and starting from separate efforts at IBM Research and Intel Labs, the two companies decided to join forces to create Fabric Private Chain Code. Fabric Private Chain Code is a framework for the hyperlateral Fabric Blockchain to develop and run smart contracts using Intel SGX. Intel SGX is a trusted execution environment that allows a program to remain encrypted while running. It's not even observable by the system administrator or any other privileged software. This solution enables confidentiality. Let's have a look at a demo of a spectrum auction. To begin the auction, the auctioneer deploys the auction chain code on the network. Participants can then verify that the correct chain code has been deployed and has not been tampered with. Once the chain code is up and running, the auctioneer sets up the auction details, including the available spectrum licenses and the participants. Now it's time for the bidders to enter their first bids and submit them as transactions. Once the bid is created, the user submits their bid to the chain code. Once the transaction is committed to the blockchain, it can be seen in the viewer. It is encrypted in a way that neither the other bidders nor the auctioneer can read the contents. In the meantime, the other bidders are also placing their bids. The content of their bids cannot be seen. Now the auctioneer closes the auction. The chain code reads the bids from the ledger, decrypts them, and announces the results in public. So Fabric Private Chain Code is a new way to run smart contracts on Hyperledger Fabric. Our design and the use of Intel SGX enable a new model of trust, otherwise not possible with Hyperledger Fabric. So in many real-world situations and scenarios like this one, this private auction, we expect Fabric Private Chain Code to bring value by reducing the capability and eliminating the incentives to game the system. So with this new technology, one can really strengthen the trust to the system, and by doing so, one can reduce the cost associated to maintaining highly expensive security measures, insurance, and legal fees. IBM and Intel believe that in the future, Fabric Private Chain Code can facilitate the adoption of trusted execution environment and move beyond specific high-stake use cases towards the widespread use in blockchain applications, similarly to what HTTPS did for the web. Fabric Private Chain Code is an open-source project supported by the Hyperledger community. It is now ready to be considered for pilot deployments of real workloads. Check out our project on GitHub to learn more.