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QUESTION
I see the current chapter of Underactuated: System Identification and the corresponding notebook, and it currently does it through symbolics.
I'd like to try out stuff like system identification using forward-mode automatic differentiation ("autodiff" via AutoDiffXd
, etc.), just to check things like scalability, get a better feel for symbolics and autodiff options in Drake, etc.
As a first steps towards system identification with autodiff, how do I take gradients of MultibodyPlant
quantities (e.g. generalized forces, forward dynamics, etc.) with respect to inertial parameters (say mass)?
- Note: Permalinks of Underactuated chapter + notebook at time of writing: sysid.html, sysid.ipynb
ANSWER
Answered 2021-Jun-09 at 12:41Drake's formulation of MultibodyPlant
, in conjunction with the Drake Systems framework, can allow you to take derivatives (via autodiff) with respect to inertial parameters by using the parameter accessors of RigidBody
on the given plant's Context
.
Please see the following tutorial:
https://nbviewer.jupyter.org/github/RobotLocomotion/drake/blob/nightly-release/tutorials/multibody_plant_autodiff_mass.ipynb
QUESTION
I would like to ask a question about a possible solution for an e-commerce database design in terms of scalability and flexibility.
We are going to use MongoDB and Node on the backend.
I included an image for you to see what we have so far. We currently have a Products table that can be used to add a product into the system. The interesting part is that we would like to be able to add different types of products to the system with varying attributes.
For example, in the admin management page, we could select a Clothes item where we should fill out a form with fields such as Height, Length, Size ... etc. The question is how could we model this way of structure in the database design?
What we were thinking of was creating tables such as ClothesProduct and many more and respectively connect the Products table to one of these. But we could have 100 different tables for the varying product types. We would like to add a product type dynamically from the admin management. Is this possible in Mongoose? Because creating all possible fields in the Products table is not efficient and it would hit us hard for the long-term.
Maybe we should just create separate tables for each unique product type and from the front-end, we would select one of them to display the correct form?
Could you please share your thoughts?
Thank you!
...ANSWER
Answered 2021-Jun-07 at 09:46We've got a mongoose backend that I've been working on since its inception about 3 years ago. Here some of my lessons:
Mongodb is noSQL: By linking all these objects by ID, it becomes very painful to find all products of "Shop A": You would have to make many queries before getting the list of products for a particular shop (shop -> brand category -> subCategory -> product). Consider nesting certain objects in other objects (e.g. subcategories inside categories, as they are semantically the same). This will save immense loading times.
Dynamically created product fields: We built a (now) big module that allows user to create their own databse keys & values, and assign them to different objects. In essence, it looks something like this:
QUESTION
I'm not sure if the title makes sense, it was the best I could come up with, so here's my scenario.
I have an ASP.NET Core app that I'm using more as a shell and for DI configuration. In Startup
it adds a bunch of IHostedService
s as singletons, along with their dependencies, also as singletons, with minor exceptions for SqlConnection
and DbContext
which we'll get to later. The hosted services are groups of similar services that:
- Listen for incoming reports from GPS devices and put into a listening buffer.
- Parse items out of the listening buffer and put into a parsed buffer.
Eventually there's a single service that reads the parsed buffer and actually processes the parsed reports. It does this by passing the report it took out of the buffer to a handler and awaits for it to complete to move to the next. This has worked well for the past year, but it appears we're running into a scalability issue now because its processing one report at a time and the average time to process is 62ms on the server which includes the Dapper trip to the database to get the data needed and the EF Core trip to save changes.
If however the handler decides that a report's information requires triggering background jobs, then I suspect it takes 100ms or more to complete. Over time, the buffer fills up faster than the handler can process to the point of holding 10s if not 100s of thousands of reports until they can be processed. This is an issue because notifications are delayed and because it has the potential for data loss if the buffer is still full by the time the server restarts at midnight.
All that being said, I'm trying to figure out how to make the processing parallel. After lots of experimentation yesterday, I settled on using Parallel.ForEach
over the buffer using GetConsumingEnumerable()
. This works well, except for a weird behavior I don't know what to do about or even call. As the buffer is filled and the ForEach
is iterating over it it will begin to "chunk" the processing into ever increasing multiples of two. The size of the chunking is affected by the MaxDegreeOfParallelism
setting. For example (N# = Next # of reports in buffer):
- N3 = 1 at a time
- N6 = 2 at a time
- N12 = 4 at a time
- ...
- N6 = 1 at a time
- N12 = 2 at a time
- N24 = 4 at a time
- ...
- N12 = 1 at a time
- N24 = 2 at a time
- N48 = 4 at a time
- ...
- N24 = 1 at a time
- N48 = 2 at a time
- N96 = 4 at a time
- ...
This is arguably worse than the serial execution I have now because by the end of the day it will buffer and wait for, say, half a million reports before actually processing them.
Is there a way to fix this? I'm not very experienced with Parallel.ForEach
so from my point of view this is strange behavior. Ultimately I'm looking for a way to parallel process the reports as soon as they are in the buffer, so if there's other ways to accomplish this I'm all ears. This is roughly what I have for the code. The handler that processes the reports does use IServiceProvider
to create a scope and get an instance of SqlConnection
and DbContext
. Thanks in advance for any suggestions!
ANSWER
Answered 2021-Jun-03 at 17:46You can't use Parallel
methods with async
delegates - at least, not yet.
Since you already have a "pipeline" style of architecture, I recommend looking into TPL Dataflow. A single ActionBlock
may be all that you need, and once you have that working, other blocks in TPL Dataflow may replace other parts of your pipeline.
If you prefer to stick with your existing buffer, then you should use asynchronous concurrency instead of Parallel
:
QUESTION
Long story short, I have been developing a Discord Bot that requires a query to the database every time a message is sent in a server. It will then perform an action depending on the message etc. The query is asynchronous, therefore it will not block another message from being handled.
However in terms of scalability, I do not believe querying a database every time a message is sent is very speedy and could become a problem. Is there a better solution? I am unaware of a way to store data within a particular discord server, which would likely solve my issue.
My main idea is to have heap storage, where the most recently active servers (ie sent messages recently), their data is queried into the heap, and when they are inactive, it is removed from the heap. Is this a good solution? Or is it better to just keep querying every time?
...ANSWER
Answered 2021-Jun-01 at 13:30You could create a cache
and every time you fetch
or insert
something into your database
you can write this into the cache
.
Then, if you need some data you can check if it's in the cache
and if not, get it from the database
and store it in the cache
right after.
This prevents unnecessary access to the database
because the database
is only accessed if your bot does not have the required data stored locally
.
The cache
will only be cleared when you restart the bot. But of course, you can also clear it after a certain amount of time or by other triggers.
If you need an example, you can take a look at my guildMemberAdd
event and the corresponding config command
QUESTION
Im sure this has been come across pretty often but all of the resources I can find detail ways to handle this as an individual situation and require a manipulation strategy that lacks scalability.
Problem:
...ANSWER
Answered 2021-May-29 at 19:41I’m of the opinion that the data has to be transformed for the display no matter where you do it. That in itself makes it less maintainable if the data structure or the displayed table changes.
You could waste a lot of time making some generic transformation engine but that would take a lot of effort and wouldn’t handle edge cases very well. That leaves us making changes to the underlying data OR updating the view.
I’m almost always going to say keep the data in the original shape you need, so you can easily make edits and post it back to the server if need be. That leaves us with pipes. This is my preferred method. It is the most simple and in my opinion most elegan. It is easy to understand, customizable, performant (memoization), and leaves the underlying data in tact.
QUESTION
I have two data pipelines; say a production pipeline and a development pipeline. I need to verify that the tables produced at the end of each pipeline are the same. These tables may be in different databases, in different data centers, and may each contain anywhere from hundreds of lines to a billion lines.
TaskI need to provide all rows that each table is missing, and all rows that are mismatched. In the case where there are mismatched rows, I need to provide the specific rows. For example:
...ANSWER
Answered 2021-May-25 at 23:13Can you try with something like this?
QUESTION
I have found this question that talks about the difference between partition and replica, and the answers seem to mention that the Kafka partition is needed for scalability. But I don't get why it's "mandatory" in order to scale your infrastructure? I feel like you could simply add a new node and increase the replication
value of the topic?
ANSWER
Answered 2021-May-25 at 12:36Consumer Application side Scalability
Partitions are not shared within same group consumer instances. If your topic has only one partition, And your consumer application has multiple instances with same consumer group id
it is useless. So if you need to scale your consumer application
to multiple instances, you need to have multiple partitions.
Kafka Broker side Scalability
And if your topic is too busy with messages, if you have multiple partition, you can add another node and rebalance partitions so they will be shared with new brokers. So, broker traffic will be shared with multiple partitions. If you have only one partition, no traffic is shared, making that not scalable.
QUESTION
When I deploy a serverless framework codebase to AWS, I am curious about what method will be better. For now, there are 2 options.
- Use Nest.js or Express.js so I deploy one function to Lambda and this function will handle all API endpoints
- Deploy number of functions so each of them represents a single API endpoint
Regarding scalability, which option is a good approach?
...ANSWER
Answered 2021-May-21 at 21:38Second option is always better. Creating multiple lambda function for each functionality.
Lambda latency depend on how many calls get from API gateway. If you are using multiple endpoint and single lambda calls then it is going to bottleneck or high latency issue. Plus lambda charge based on per lambda calls. Each lambda 1 million request is free if you use one lambda for all use going to hit this limit early.
Recommendation is use different lambda function for each functionality and this is beauty of Micro Service. Keep simple and light weight.
QUESTION
When hosting an Azure Function in an App Service Plan, are there any significant differences compared with using an App Service (EDIT: for a restful API) associated with the same App Service Plan? I assume the only difference is that the Function offers additional out of the box triggers. Any differences I'm missing that would lead to preferring one over the other?
I'd also like to confirm that hosting Azure Functions in an App Service Plan can actually limit scalability if scaling is not configured on the App Service Plan. As I understand it, Functions automatically scale as needed when using Consumption or Premium hosting without additional configuration.
...ANSWER
Answered 2021-May-15 at 14:17The main difference is in how you pay for it.
- Azure Functions consumption plan you pay per execution
- Azure Functions in an App Service (dedicated plan) you pay for the allocated hardware per minute.
You also have control of which VNET your functions run in when you use an app service plan. You may have security requirements that make this important.
You are correct that if you run it in an app service that is not configured to scale, then trough put will be limited by the allocated hardware.
for details see: https://docs.microsoft.com/en-us/azure/azure-functions/functions-scale
QUESTION
Im am trying to code this .conf file with more scalability, and my idea is to, in order to have multi index in elasticsearch, split the path and get the last position to have the csv name and set it to the type and index in elasticsearch.
...ANSWER
Answered 2021-May-18 at 10:37In the filter
part, set the value of type
to the filename (df_suministro_activa.csv
or df_activo_consumo.csv
). I use grok
for this ; mutate
is another possibility (cf doc).
You can then use type
in the output / in the if-else / change its value, etc.
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On a UNIX-like operating system, using your system’s package manager is easiest. However, the packaged Ruby version may not be the newest one. There is also an installer for Windows. Managers help you to switch between multiple Ruby versions on your system. Installers can be used to install a specific or multiple Ruby versions. Please refer ruby-lang.org for more information.
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