Fallout New Vegas, followed by GTA V. I really liked Baldur’s Gate 3 so far, but I’m probably going to play a lot more sporadically during the semester.
Do you have any subject you’re super interested in and could talk about for 2 hours with no prep?
Audio engineering, music, control theory, and math, specifically linear systems, integral transforms, and calculus in general.
What are your thoughts on the Fediverse?
We got a good thing going here. I’m a bit concerned about the Meta federation stuff, more so for microblogging services than the threadiverse, but I think we’ll tank it. I really hope that Peertube takes off.
What are your hobbies?
Guitar, audio mixing, audio programming 💀, video games, watching gaming videos, engaging with people on Lemmy, cooking, and reading math and physics textbooks.
Yeah I’m into weird shit, but not the fun kind of weird.
Please talk my ear off about control theory. There has got to be a better way to get motors to stay put than beating my head against the brick wall that is PID tuning parameters trying to find a value of I that doesn’t make the oscillation progressively worse as time goes on
I wouldn’t use any integral gain. The (transfer function of the linearization of the) DC motor has a pole at zero, i.e. a natural integrator. It already has one; no need to add another one. Adding integral gain could very easily destabilize the system. That’s probably what’s happening.
I built a “toy control system” over the summer to test stuff I read in books, basically an inverted pendulum setup actuated by a standard DC motor. In my most recent attempt to control it, I ended up using just proportional control to keep the pendulum upright. Adding a straight-up derivative will amplify high-frequency noise, and it made my setup unstable. I think that commercial PID controllers have filtered derivative terms that throw out high-frequency crap. Adding integral control also made my setup unstable, including enabling integrator windup protection (saturates the integral term so it doesn’t stay “up” for an obnoxiously long time if there’s an impulsive measurement). My setup ultimately could keep it upright pretty easily, and it could track slowly changing reference angles all the way around to pendulum down, but if I got it into an oscillation it would go unstable.
Proportional control acts like a spring. Remember Hooke’s law: F=kx. k>0 is a “stiffness” constant: the bigger k gets, the stiffer the “spring action” of the controller becomes, the more the controller wants to oppose displacement from its equilibrium. Unlike the real spring, if k is too high, it can absolutely go unstable. You probably will benefit from some proportional control, but it sounds like you have a little too much.
At least for my setup, because I am using an Arduino with an 8-bit motor driver, I only get 2^8 = 256 quantized levels to work with. I think that quantization is too coarse for an inverted pendulum. Quantization is ridiculously nonlinear. If it’s too coarse, PID and other linear control laws won’t like it.
I think that if your moment of inertia is more uniformly radially distributed in space, i.e. if what you’re driving is balanced, it will act more like a “motor” and less like a “pendulum”. So my experience is biased by the fact that my toy control system is deliberately designed to bring out the “worst” of the system, i.e. the nonlinear nature of the actual state equation.
If you need to track a reference input, you can probably get better results for small inputs if you design a full-state feedback controller and state-observer, although for that you’d need a system model. Unfortunately, it’s (extremely) not very robust to model uncertainty. Large inputs will effectively change the system model as it moves through different angles if the load isn’t balanced. On the plus side, despite the intimidating-looking math, what you’ll end up doing is just some boilerplate MATLAB code and maybe some mild linear algebra to implement your control law.
You can definitely get better results using Model Predictive Control, but compared to state-space or classical methods it’s computationally expensive. Basically, you (or probably an already-existing optimization library) would be solving an optimization once every time step to find the optimal control input each time step. Also, you still need a system model.
You can also experiment with multiple feedback loops of PID control. For example, I worked with a “smart” brushless DC motor that had one loop for position control and another for torque control. Both could be controlled and changed simultaneously. For the project I was working on, because it attaches to an actual human, we actually did have some pretty stringent constraints on both torque and position.
I haven’t implemented this myself, but there is some literature about adaptive control including adaptive PID, i.e. you change the PID gains depending on the input signal. I haven’t finished that reading yet, lol.
I hope this isn’t off topic, but I really like the fediverse I think. I don’t like the fact there’s no real “like button”? I assume this is something people appreciate about it, but I just want to show my appreciation/support/interest in a toot. I don’t want somebody to feel like they’re calling into the void.
Commenting despite having nothing to say doesn’t feel comfortable to me.
I don’t think I’ve come across a server without upvotes, though some disable downvotes. That said, the vote tally means less to me than someone saying “that’s neat, thanks for sharing!”, and that definitely adds to the vibe as well as the conversation. I encourage you to do that, to the level you’re comfortable with
Well u do kinda have the upvote functionality, no? I’ll be honest… Seeing upvotes on some weird ass shitpost comment that I made does make me feel a little giddy inside hehe. So like… If u want to show appreciation, the upvote does work for me at least!
I really want to get good at PUBG. Unfortunately, I don’t have friends who play the game (plus I don’t have much time either :( )
Do you have any subject you’re super interested in and could talk about for 2 hours with no prep?
Heck yeah!!! I could talk for hours about the perfect (ie., the closest to perfection) political system of governance and how it could be achieved and so on.
What are your thoughts on the Fediverse?
Is THE future of social media. However, it will have to evolve beyond the donation based model.
Hehe sure! Just be informed that I am not mentioning a great many details here (cuz I have a headache rn because of a cold lol). But here’s the general idea: A constitutional direct democratic institution that is an alliance between worker coops around the world that meet certain conditions. The state of politics in the representative democracies around the world is such- whoever can bid more money for a politician effectively wins an election. The objective of the said alliance would be to thus either outbid the other capitalists/ make the other capitalists go broke/ run alliance candidates. Running alliance candidates would be at much much later stages, which makes us have the first two options: either get more money, or make the others go broke.
The objective of the alliance in the short term would thus be to act as a malevolent entity for any competing businesses while being absolutely benevolent for its own workers/customers. As all alliance businesses (or projects as I call them, as many would be non profit to gut the for profit competitors) are worker coops, they would by definition be much better workplaces than their competitors. Also, compulsory open sourced licensing for all these project + wealth caps for both, individuals and projects would ensure a flourishing competition within, thus making the alliance very competitive. The obvious starting point for such alliance projects would be software. The biggest resource that open sourced software requires is time. We have seen that obtaining this resource is not that difficult (think of all open sourced projects in existence). Now think of what could happen if all these projects were integrated into one giant ecosystem. With a little bit of planning and objective setting, we already have a very very large starting point. I myself am working on such a project that combines lemmy and a few more open sourced projects and packages them into an absolutely beautiful frontend. This would be for profit without running ads and without charging users for using the software. I’m hoping to get the lemmy part of the MVP ready before year end.
Also, the entire constitution too uses a very interesting approach for additions/deletions/law making etc. I wish I could go into more detail about it, but it would take too much time right now. Trust me, I am working on a proper writeup for this (although I’m focusing more on the software project that I mentioned earlier). But in short, the constitution revolves around two postulates (described very roughly here): 1) All “experiments” (any governmental policy/law would be called an experiment) must increase an “individual’s” “freedom to have freedoms” to exist.
2) Definitions of the highlighted words above.
Basically, the alliance’s constitution would work around a central, very important principle of the “freedom to have freedoms”. In this context, “freedom” would be the probability of an individual to do a given act. Let’s say my “freedom to eat a cookie”. In the conditions that I am in, what is the probability of me successfully eating a cookie? That would be the “freedom of eating a cookie”. However, many different freedoms clash with each other. For instance, my “freedom to kill children” clashes with the “freedom to stay alive”. How does the constitution decide which freedom weighs more? If you noticed, we are getting into ethics now. But which ethical framework is right? Morality unfortunately is not objective (no measurable scientific constant in the universe showcasing the objectivity of morality). What we do we do now? The answer is to set one “freedom” as the basic standard of measure. The first postulate establishes this freedom to be the “freedom to have freedoms”. The weightage of all freedoms would be decided on what percentage of an impact they have on the freedom to have freedoms. For instance, if I kill someone, my “freedom to commit murder” would have say a -0.99 impact on the “freedom to have freedoms”, as 0.99 people would see the “freedom to live” as equivalent with the “freedom to have freedoms”. Now, how would my “freedom to drink and drive” factor in with all this? Well, perhaps the “freedom to drink and drive” would statistically have a +0.2 equivalence with the “freedom to commit murder”. This in turn has a 0.2*(-0.9) impact on the freedom to have freedoms. This is how the government would decide which freedom is more important.
“Experiments” would be actions taken by the government to increase an individual’s freedom to have freedoms. These actions. ie., the government’s freedom to do the given actions would need to have a positive experimental effect on the average individual to justify their existence. To start a new experiment, the legislation would have to promise a certain positive impact (which would be a number) within a given timeline. If this experiment fails to meet the promised impact, it would automatically go back to voting. Again, it is a bit more complicated than this, but this is kinda the gist of it.
Then, how do we define “individuals”? Humans? Aliens? What kind of creatures can be “individuals?”. Do transhuman spiders count as individuals? Do they have rights? Do anthropomorphic animals (you’ll definitely see this phenomenon when the tech becomes available) get to vote? What about AI that claims to be sentient? I’ve kinda tried to provide a definition for this by tying it up with the freedom to have freedoms, by comparing the given individual’s freedom graph with the alliance’s already existing freedom graph. Equivalence above a certain decided limit would mean that they are an “individual”.
The alliance would have four main branches (remember, this is not a postulate now, but an experiment itself):
Legislative: Direct democratic in nature, with different projects having their own legislative with more/less power to pass bills.
Executive: “Projects” are necessary to bring experiments into reality. The entire electorate cannot micromanage projects. You need executive officers to manage these projects who are appointed by the given legislative. All working members of the alliance are essentially these “executive officers”.
Observative: A body that collects data. All individuals are automatically part of the observative. There is no established hierarchy here.
Judiciary: A body that calculates the impact that an experiment (which is essentially a governmental freedom) / individual’s freedom (say someone committed murder) on the freedom to have freedoms. This impact is calculated using hard data collected by the observative. Judgement is declared by taking the impact, postulates, ongoing experiments, impacts of the judgement, etc. into account.
Anyways, gotta go now. Sorry if this is badly written, as I had to gloss over MAAAANY important topics like how a direct democratic legislative would pass sooooo many bills, how it wouldn’t be a bureaucratic nightmare, why we need any of this, etc. Hope you have a good one! :)
Hi! What’s your favorite videogame?
Do you have any subject you’re super interested in and could talk about for 2 hours with no prep?
What are your thoughts on the Fediverse? What are your hobbies?
(Answer as many or as few of those as you want but pls pick at least one :3)
Fallout New Vegas, followed by GTA V. I really liked Baldur’s Gate 3 so far, but I’m probably going to play a lot more sporadically during the semester.
Audio engineering, music, control theory, and math, specifically linear systems, integral transforms, and calculus in general.
We got a good thing going here. I’m a bit concerned about the Meta federation stuff, more so for microblogging services than the threadiverse, but I think we’ll tank it. I really hope that Peertube takes off.
Guitar, audio mixing, audio programming 💀, video games, watching gaming videos, engaging with people on Lemmy, cooking, and reading math and physics textbooks.
Yeah I’m into weird shit, but not the fun kind of weird.
Everything is fun to someone! It’s mathematically infeasible that you could be the only one in the world with any particular interest!
Though, yeah, finding other people with the same interest is definitely easier if you’re into things that are clearly mainstream.
Please talk my ear off about control theory. There has got to be a better way to get motors to stay put than beating my head against the brick wall that is PID tuning parameters trying to find a value of I that doesn’t make the oscillation progressively worse as time goes on
Can do!
I wouldn’t use any integral gain. The (transfer function of the linearization of the) DC motor has a pole at zero, i.e. a natural integrator. It already has one; no need to add another one. Adding integral gain could very easily destabilize the system. That’s probably what’s happening.
I built a “toy control system” over the summer to test stuff I read in books, basically an inverted pendulum setup actuated by a standard DC motor. In my most recent attempt to control it, I ended up using just proportional control to keep the pendulum upright. Adding a straight-up derivative will amplify high-frequency noise, and it made my setup unstable. I think that commercial PID controllers have filtered derivative terms that throw out high-frequency crap. Adding integral control also made my setup unstable, including enabling integrator windup protection (saturates the integral term so it doesn’t stay “up” for an obnoxiously long time if there’s an impulsive measurement). My setup ultimately could keep it upright pretty easily, and it could track slowly changing reference angles all the way around to pendulum down, but if I got it into an oscillation it would go unstable.
Proportional control acts like a spring. Remember Hooke’s law: F=kx. k>0 is a “stiffness” constant: the bigger k gets, the stiffer the “spring action” of the controller becomes, the more the controller wants to oppose displacement from its equilibrium. Unlike the real spring, if k is too high, it can absolutely go unstable. You probably will benefit from some proportional control, but it sounds like you have a little too much.
At least for my setup, because I am using an Arduino with an 8-bit motor driver, I only get 2^8 = 256 quantized levels to work with. I think that quantization is too coarse for an inverted pendulum. Quantization is ridiculously nonlinear. If it’s too coarse, PID and other linear control laws won’t like it.
I think that if your moment of inertia is more uniformly radially distributed in space, i.e. if what you’re driving is balanced, it will act more like a “motor” and less like a “pendulum”. So my experience is biased by the fact that my toy control system is deliberately designed to bring out the “worst” of the system, i.e. the nonlinear nature of the actual state equation.
If you need to track a reference input, you can probably get better results for small inputs if you design a full-state feedback controller and state-observer, although for that you’d need a system model. Unfortunately, it’s (extremely) not very robust to model uncertainty. Large inputs will effectively change the system model as it moves through different angles if the load isn’t balanced. On the plus side, despite the intimidating-looking math, what you’ll end up doing is just some boilerplate MATLAB code and maybe some mild linear algebra to implement your control law.
You can definitely get better results using Model Predictive Control, but compared to state-space or classical methods it’s computationally expensive. Basically, you (or probably an already-existing optimization library) would be solving an optimization once every time step to find the optimal control input each time step. Also, you still need a system model.
You can also experiment with multiple feedback loops of PID control. For example, I worked with a “smart” brushless DC motor that had one loop for position control and another for torque control. Both could be controlled and changed simultaneously. For the project I was working on, because it attaches to an actual human, we actually did have some pretty stringent constraints on both torque and position.
I haven’t implemented this myself, but there is some literature about adaptive control including adaptive PID, i.e. you change the PID gains depending on the input signal. I haven’t finished that reading yet, lol.
Hope this sparks some inspiration.
removed by mod
I hope this isn’t off topic, but I really like the fediverse I think. I don’t like the fact there’s no real “like button”? I assume this is something people appreciate about it, but I just want to show my appreciation/support/interest in a toot. I don’t want somebody to feel like they’re calling into the void.
Commenting despite having nothing to say doesn’t feel comfortable to me.
I don’t think I’ve come across a server without upvotes, though some disable downvotes. That said, the vote tally means less to me than someone saying “that’s neat, thanks for sharing!”, and that definitely adds to the vibe as well as the conversation. I encourage you to do that, to the level you’re comfortable with
I was referring to Mastodon, didn’t even think about Lemmy 😅
Well u do kinda have the upvote functionality, no? I’ll be honest… Seeing upvotes on some weird ass shitpost comment that I made does make me feel a little giddy inside hehe. So like… If u want to show appreciation, the upvote does work for me at least!
I was referring to Mastodon, didn’t even think about Lemmy 😅
i like uhh uhmm drg and many more but that’s the main one
i dunno if i have hobbies i think i like playing video games and drinking water
i do not have a subject to talk about for 2 hours :(
i still don’t understand the fediverse
sorry for not being OP
On a scale from 1 to 10 how are you feeling about rogue core
in theory i’m happy but in practice i’m going to need to wait like actually 3 years to get the chance to buy it
favorite game is geometry dash
fediverse have nice culture
for hobby
am hab many related hobbies
do you want full list
if you’d he willing to share it with me
is
Oh cool! I’m a programmer too. What projects have you been working on lately?
am make program that gives user 5 events to put in order
I really want to get good at PUBG. Unfortunately, I don’t have friends who play the game (plus I don’t have much time either :( )
Heck yeah!!! I could talk for hours about the perfect (ie., the closest to perfection) political system of governance and how it could be achieved and so on.
Is THE future of social media. However, it will have to evolve beyond the donation based model.
Anything star wars baybeee
what is the political thing
Hey mate, so sorry for not seeing this before. I responded to this in a response to another commentator who asked the same thing.
Please, please do
Hehe sure! Just be informed that I am not mentioning a great many details here (cuz I have a headache rn because of a cold lol). But here’s the general idea: A constitutional direct democratic institution that is an alliance between worker coops around the world that meet certain conditions. The state of politics in the representative democracies around the world is such- whoever can bid more money for a politician effectively wins an election. The objective of the said alliance would be to thus either outbid the other capitalists/ make the other capitalists go broke/ run alliance candidates. Running alliance candidates would be at much much later stages, which makes us have the first two options: either get more money, or make the others go broke.
The objective of the alliance in the short term would thus be to act as a malevolent entity for any competing businesses while being absolutely benevolent for its own workers/customers. As all alliance businesses (or projects as I call them, as many would be non profit to gut the for profit competitors) are worker coops, they would by definition be much better workplaces than their competitors. Also, compulsory open sourced licensing for all these project + wealth caps for both, individuals and projects would ensure a flourishing competition within, thus making the alliance very competitive. The obvious starting point for such alliance projects would be software. The biggest resource that open sourced software requires is time. We have seen that obtaining this resource is not that difficult (think of all open sourced projects in existence). Now think of what could happen if all these projects were integrated into one giant ecosystem. With a little bit of planning and objective setting, we already have a very very large starting point. I myself am working on such a project that combines lemmy and a few more open sourced projects and packages them into an absolutely beautiful frontend. This would be for profit without running ads and without charging users for using the software. I’m hoping to get the lemmy part of the MVP ready before year end.
Also, the entire constitution too uses a very interesting approach for additions/deletions/law making etc. I wish I could go into more detail about it, but it would take too much time right now. Trust me, I am working on a proper writeup for this (although I’m focusing more on the software project that I mentioned earlier). But in short, the constitution revolves around two postulates (described very roughly here): 1) All “experiments” (any governmental policy/law would be called an experiment) must increase an “individual’s” “freedom to have freedoms” to exist. 2) Definitions of the highlighted words above.
Basically, the alliance’s constitution would work around a central, very important principle of the “freedom to have freedoms”. In this context, “freedom” would be the probability of an individual to do a given act. Let’s say my “freedom to eat a cookie”. In the conditions that I am in, what is the probability of me successfully eating a cookie? That would be the “freedom of eating a cookie”. However, many different freedoms clash with each other. For instance, my “freedom to kill children” clashes with the “freedom to stay alive”. How does the constitution decide which freedom weighs more? If you noticed, we are getting into ethics now. But which ethical framework is right? Morality unfortunately is not objective (no measurable scientific constant in the universe showcasing the objectivity of morality). What we do we do now? The answer is to set one “freedom” as the basic standard of measure. The first postulate establishes this freedom to be the “freedom to have freedoms”. The weightage of all freedoms would be decided on what percentage of an impact they have on the freedom to have freedoms. For instance, if I kill someone, my “freedom to commit murder” would have say a -0.99 impact on the “freedom to have freedoms”, as 0.99 people would see the “freedom to live” as equivalent with the “freedom to have freedoms”. Now, how would my “freedom to drink and drive” factor in with all this? Well, perhaps the “freedom to drink and drive” would statistically have a +0.2 equivalence with the “freedom to commit murder”. This in turn has a 0.2*(-0.9) impact on the freedom to have freedoms. This is how the government would decide which freedom is more important.
“Experiments” would be actions taken by the government to increase an individual’s freedom to have freedoms. These actions. ie., the government’s freedom to do the given actions would need to have a positive experimental effect on the average individual to justify their existence. To start a new experiment, the legislation would have to promise a certain positive impact (which would be a number) within a given timeline. If this experiment fails to meet the promised impact, it would automatically go back to voting. Again, it is a bit more complicated than this, but this is kinda the gist of it.
Then, how do we define “individuals”? Humans? Aliens? What kind of creatures can be “individuals?”. Do transhuman spiders count as individuals? Do they have rights? Do anthropomorphic animals (you’ll definitely see this phenomenon when the tech becomes available) get to vote? What about AI that claims to be sentient? I’ve kinda tried to provide a definition for this by tying it up with the freedom to have freedoms, by comparing the given individual’s freedom graph with the alliance’s already existing freedom graph. Equivalence above a certain decided limit would mean that they are an “individual”.
The alliance would have four main branches (remember, this is not a postulate now, but an experiment itself):
Anyways, gotta go now. Sorry if this is badly written, as I had to gloss over MAAAANY important topics like how a direct democratic legislative would pass sooooo many bills, how it wouldn’t be a bureaucratic nightmare, why we need any of this, etc. Hope you have a good one! :)