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Max wrote: on the emc handbook on : linuxcnc : linuxcnc under pid tuning i found some lines of text from "fred's pid report": "the student, kees "case" ; stolk, from the university of twente in the netherlands, wrote a tcl tk script that automates much of the process, including going into machine-off, opening the log, running the dac out command, saving the log, storing multiple runs, and popping up pid gains. it's pretty slick. i'll put this up on the ftp site once i verify that it works with the new release." that sounds interesting, where can i find it? i found the pidtune zip files on the nist ftp server but not this tcl tk script. some of kees' tk scripts have disappeared, i think since they were on a local disk instead of our file server. i've tried to track them down but can't find them. what we have is the analysis, and a tkemc button to generate the logs used as input to the analysis. i'll try to resurrect kees' tk code. here's a description of what we did. the anaylysis presumes amplifiers in current mode. if you're in velocity mode, you'll have a tach fed into the amplifier, and tuning means setting the velocity feedforward gain to match the volts per units per second you get e.g., you may measure 1 volt 1.7 inches sec, so ff1 1 1.7 ; . then you crank the p gain up to clean up the residual error. in current mode things are a little different. for a given dac voltage, the velocity v. time plot starts at zero and follows a curve that looks like capacitor charging, eventually attaining a steady-state velocity. the steady-state velocity is a function of the dac voltage, and the time constant is about the same for all dac voltages. if you plot the steady state velocity v. dac voltage for several tests 1v, 2v, 3v, ., 10v ; , you'll get a linear plot with an x offset. this offset is the threshold voltage, below which the axis doesn't move. the slope of the plot is the volts per units per second, as above. so, you'll now have the slope "k" and the time constant "t" for your system. you then pick a design parameter, lambda, which basically means the crispness of your control. you can't choose this arbitrarily high since the resulting output voltages exceed your dac limits. given k, t, and lambda, then. Are technologically. a person i know has been tracking this knowledge base, looking at the patent applications, the prototypes, the technical reports, and the publications. he says it's a given, even if you play it ultra-conservative, a child born today who obtains a bachelor's degree at age 21, will be dismayed to know that the half-life of a bachelor's degree will be one week. what in the world are we talking about? i always thought that a university degree kind of set you for life. wrong paradigm. i don't care how many degrees, diplomas, or certificates we have. there are three important things for jim bensen to do tomorrow: 1 ; he must get up and exercise; 2 ; he must have breakfast, and 3 ; he must learn. and that's why i tip my hat to the soa and its heavy emphasis on learning and moving the profession along. it is a daily responsibility of every one of us as we're dealing in these kinds of conditions. there's a tremendous amount of things going on out there as we start to see the potentials and the possibilities of what we're talking about. the pioneers cleared the forest from jamestown to the mississippi with fewer tools than were stored in the typical modern garage. think about that. my grandfather bensen immigrated from norway when he was 18 years old. as he got himself a homestead in northern minnesota, he got 160 acres of solid, white oak timber. he had to build a cabin there with one door and one window, of certain dimensions. he had to live there six months a year for five years running, and then the claim was his. what were his tools? how did he clear the forest? with an axe and a saw and horses, right? what did his first plow look like? he put the reins around his neck, and he walked behind it. when he was in his middle-80s i sat on his knee and listened to pioneer stories. they were exciting to a little kid. i know he embellished them a little bit, but he talked about wolves and hardships and those kinds of things. what would grandfather bensen say if we had a chance to sit down and talk again today? his head would literally spin. the other day i got up and had breakfast, jumped on a plane, flew to washington, d.c., worked all day, caught the early flight back in and was home in time for dinner. i had breakfast at home, i had dinner at home, but my workday was in washington, d.c. what would grandfather bensen have said? he would not understand it, just like my grandson andy will not understand it some day when i tell him that. he'll say, why did grandpa have to go do that? he'll be in the interactive environment and looking at the world differently than i looking at it. there's an incredible amount of change, and nobody is immune to it. i want to tell you a little story that happened at the dunwoody institute. we were involved in a large project in indonesia. freeport minerals had opened up a very. From 544 venues run by 470 separately licensed companies. in 1992, 3, 349 egms were available, operating from 45 venues. this represented 12.2% of the potential total of 27, 500. by 1995, when the breakeven gambler's help program was established, 20, 834 egms were available, representing over 75% of the potential total. annual growth between 1996 and 1999 averaged 6% of the potential total, ranging from 9% growth in 1996 to 1% growth in 1999. in this sense, the market was a reasonably mature one in terms of egm opportunity by the time the counselling service was introduced. in terms of other gambling opportunities, tattersall's have operated lotteries in the state under licence since 1954, progressively adding new products lotto, keno, club keno, internet lotteries ; . racing is catered for by three major metropolitan tracks and a range of rural racecourses, although declining attendance following the introduction of offcourse totalisers in 1961 through the victorian totalisator agency board tab ; led to the closure of at least 34 racecourses between 1960 and 1983. the state -government-run tab was privatised in 1994 with the formation of tabcorp holdings limited. in 1999, 48% of all adults who had gambled on egms in the previous 12 months were men, while 52% were women. these figures were reversed for those who gambled on egms regularly at least monthly ; , of whom 52% were men and 48% were women. while gambling participation rates in general, and egm participation rates in particular, show a spike in 1994 and a levelling out in 1998 and 1999, expenditure rates show a steady increase over this period. there are a number of ways to look at this. victorians' expenditure loss ; on egms outside the casino went from aus million per week in 19931994 to aus million per week in 19981999.2 expressed as a loss per week for adult victorians, this represented aus .64 in 1993 and aus .90 in 1999 roy morgan research, 2000 ; . expressed as a proportion of household disposable income hdi ; , there was modest growth in total gambling expenditure between 19721973 and the early 1990s about 1.3% of hdi ; , then a very sharp growth to 3.49% by 19971998. racing expenditure has shown a steady decline in the same period, from just under 1% to 0.6% of hdi tasmanian gaming commission, 2001 ; . gambling revenue is now the second highest source of victorian state government revenue after payroll tax and stamp duty, and now surpasses liquor, tobacco, and petrol taxes combined. total revenue from gaming increased from aus ##TEXT##.4 billion in 19921993 to aus .04 billion in 19961997 to over aus .4 billion in 19981999, with egms contributing 62% of these taxes. revenue from gambling now contributes 16% of the state's income, compared with 8.5% in 1982, and is used to pay for many basic services, such as health, education, and recreation. for further details on these issues of expenditure and. Arizona, arkansas, california, colorado, connecticut, florida, georgia, guam, hawaii, idaho, illinois, indiana, iowa, kansas, louisiana, maryland, michigan, minnesota, mississippi, missouri, montana, nevada, new jersey, new mexico, new york, north carolina, north dakota, ohio, oklahoma, oregon, pennsylvania, puerto rico, rhode island, south carolina, tennessee, texas, utah, vermont, virginia, virgin islands and washington. 44 section 470.20 "money laundering in the first degree" applies where the total value of the property exceeds usd 500, 000; s.470.15 "money laundering in the second degree" applies where the total value of the property exceeds usd 50, 000; s.470.10 "money laundering in the third degree" applies where the total value of the property exceeds usd 10, 000; and s.470.21 "money laundering in the fourth degree" applies where the total value of the property exceeds usd 1, 000.