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Go and enjoy the music?There are a total of 8 florchestra instruments, and out of the 8, 5 are upgraded versions of the old beginner instruments while 3 are completely new instruments that were not part of the beginner instruments.Florchestra instruments boast a more exquisite exterior than the old beginner instruments, and their sounds can be modulated through a processor called an effector.An effector is a device that affects sound in some way to change what you hear. For example, the Echo and Reverb knobs of a karaoke machine, which change the sound of your voice to be "richer" and "fuller" when you turn it on, are known as effectors.While effectors can be categorized in several different ways, Florchestra's effectors are primarily categorized into two systems: spatial and modulation.For instance, applying a "spatial" effector transforms the sound to give it a sense of space, such as a room, music hall, etc. On the other hand, a modulator can change the tone of the sound to be deeper, stranger, etc.The Florchestra Effectors can only be utilized with Florchestra instruments. These effectors can be attached to compositions and will be used alongside the Florchestra instruments.You can adjust the effector as you compose a song, and the settings of the effector are saved with the song rather than each instrument. As this is meant to be an easier-to-understand concept, you cannot adjust the effector directly from your Florchestra instrument. To put it simply, you can understand the Florchestra Instrument as an instrument that can be influenced by an effector rather than played with an effector.Since effectors consume a lot of the Black Spirit's energy (in other words, it uses a lot of your PC's CPU), they cannot be unlimited in how they are used and must be used as efficiently as possible. So, they have been set up this way. Due to the limitations of this method, if you are playing a song with effectors, but another group is playing another song next to you, you will hear their sound with the adjustments of the effectors in the song you are playing. Unfortunately,

Contents1. How to Compose Music2. Florchestra & Effector3. Increasing Musicianship Skill4. How to Obtain Beginner Instruments5. How to Obtain Florchestra Instruments6. How to Obtain Marni's InstrumentsFor Adventurers unfamiliar with the Compose & Play system, this page will explain its basic functions and how to compose music using the system.Don't we all have a Beethoven inside of us just waiting to break free?Shall we begin~? First, let's discover from where exactly we can start composing!You can access the Music Album via the main menu (hotkey: Esc) → Community → Music Album.Select Music Album to open the following window.There are four options here. Shall we take a look at each one?1. My Instruments: This will show you the list of all instruments you have available for use.2. Compose: This will open the Compose/Score window where you can compose music3. Album: Here you can find scores that have been shared by other Adventurers which you can download or listen to.4. Volume: This button opens the Audio Settings section of the Settings.5. Close: This closes the Music Album window. Press the Compose button to see the following window where you can input notes as seen below.Quite a few options, aren't there? Let's go over each one together! 1. Effector: Here you can adjust settings for the effector. Read more about it in the Florchestra & Effector section below.2. BPM: You can set the speed of your music. The fastest is 180, and lowering the BPM will slow down your music.3. Meter: The number of beats and how they are divided.4. Note Attribute: You can configure the notes here. 1/4 for quarter notes, ⅛ for eighth notes, 1/16 for sixteenth notes, etc.5. Velocity: You can set the velocity of your music. Maximum velocity is 127, which you can change per note by clicking LMB on the notes individually. After setting the default velocity, change the velocity for each note according to the flow of music to add more flare.6. Instrument: Wind, string, keyboard, and percussion are the 4 types of instruments you can choose from. If you are in a party, an ensemble is also

RCM usually leaves a sole point for the manipulator performs positioning or/and insertion [21,22,23]. Such applications need to impose additional constraints in joint space to guarantee safe motion generation of the end-effector of the manipulator. Conventional pseudo-inverse based methods may neglect the necessary constraints in the RCM case, which makes it difficult to get the solutions. To remedy this, Su et al. proposed an improved and efficient recurrent neural network for RCM control of manipulators with constrained optimization [24]. Motivated by the aforementioned points, in this paper, we are making breakthroughs to propose a new model-based method based on RNN for redundancy resolution of manipulators with RCM constraints. The contributions of this work are summarized as follows: (1) The proposed RNN for manipulator control with RCM constraints is with a concise and novel neural-network architecture and can get rid of unnecessary modeling and computation, as compared with the conventional zeroing dynamics (ZD) based solvers. (2) Simulation results a 7-DoF redundant manipulator synthesized by the proposed RNN demonstrate the efficiency of the proposed method in kinematic control of manipulators with RCM constraints for different end-effector path tracking tasks. 2 PreliminariesRCM means a remote static/fixed point near the workspace with no physical revolute joint around the location [21, 22]. In order to achieve manipulation such as minimally invasive surgery into the subject’s body through small incisions or industrial implanting with sensors for detecting cracks, RCM usually leaves a sole point for the manipulator performs positioning or/and insertion. In addition to the joint physical constraints, RCM imposes an additional constraint on the motion planning and control of redundant manipulator.Let us consider a n-link manipulator with its end-effector’s position is remote from the objective RCM position \(r_P\) which is shown in Fig. 1, the redundant manipulator executes its task control operations between the two end points \(r_A\) and \(r_B\) in the workspace. Point \(r_A\) is the distal point of the end-effector, point \(r_B\) is the distal point of the \(n-1\) link. The end-effector of the redundant manipulator has to travel through the objective point \(r_P\) along the line/curve between point \(r_A\) and point \(r_B\). To describe the motion relation between joints and end-effector, we have$$\begin{aligned} \left\{ \begin{array}{ll} \dot{r}_A=J_1{\dot{\theta }}\\ \dot{r}_B=J_2{\dot{\theta }} \end{array} \right. \end{aligned}$$ (1) where \(r_A\in R^{m}\) and \(r_B\in R^{m}\) denotes the position vector of the end-effector and the position vector of the end-point of the \(n-1\)th link of the manipulator respectively, \(J_1\in R^{m\times n}\) and \(J_2\in R^{m\times n}\) respectively denotes the Jacobian matrix of the whole manipulator and the Jacobian matrix of the associated \(n-1\) link, and \(\theta \in R^{n}\) denotes the joint angle of the manipulator.Fig. 1RCM constraint for a redundant manipulator during motion planning and controlFull size imageIn Fig. 1, \(r_P\) denotes the position vector of the RCM point P, and it can be within the line \(A-B\) and the corresponding relation among \(r_P\), \(r_A\) and \(r_B\) is depicted by$$\begin{aligned} r_P-r_B=k(r_A-r_B) \end{aligned}$$ (2) where \(k\in R\) is a scaling parameter to locate the position \(r_P\) with the RCM constraint. When

1 - will became pure white: unknown2 color_gray_red color_gray_green color_gray_blueVariable manages the saturation value of the inverse, that is, the more gray (maximum 1) the lower the saturation of images: grayBlur effect, at large (higher than 25) factor some graphic artifacts appear on the the lower part of the screen: blurImage split effect, separately set for horizontal and vertical movement. Factor is set relatively to a screen so, with 1 copy of object, originally located in the center, others will be exactly at the edges: duality_h duality_v noise_intensity noise_granularity (the size of noise grain) noise_fps (how many times per second should noise be calculated) Rule explanationEvery rule (23 bytes) consists of different fields. Example rule with field labels: value time function k1 k2 k3 unused (?) 9A 99 99 3E 00 00 A0 40 00 00 80 00 80 00 80 00 80 00 80 00 80 00 80The exact structure of values in single rules is not yet clear to me. More information would be appreciated! Atrocious value is what you usually want to change. It should be a 4 Byte float variable. time function is 00 in all PPEs, but it can be changed to 03 sinus, 01/05 cosine, 02 linear, 04 CTD. k1, k2, k3 are probably ratios affected by function, but their usage is yet unresolved. unused doesn't seem to be used, thus the name. Using new effector files A simple way to try new effector files is, to call them nightvision_bad.ppe or nightvision_good.ppe and put them into the gamedata\anims folder. Then you can use the effectors in game with suits that have either good night-vision or bad night-vision. A little more complex (but necessary if you don't want to overwrite the existing night-visions) is the following: Call the new effector file like you want e.g.

My_super_effector.ppe and make a new section for it in gamedata\config\misc\postprocess.ltx. You could also replace the link to another .ppe in an existing section. Then you can tie the new section to another suit, for example. In scripts you can use the following codes to add an effector to the vision: level.add_pp_effector("my_super_effector.ppe", 2008, true)to remove the effector again: level.remove_pp_effector(2008)Note that 2008 in this case is the unique identifier for the effector. You could use a different number as well. Source codesYou can copy the following source codes and use them as templates for experiments. Simply make a new file with HxD, then copy the hex codes from this page into HxD (ignore the warning) and save the file. If you want to compare both source files, to see what I have changed to make the gray vision, you can copy them into a text file, save as text document and compare them with WinMerge or Compare It!.If you did something wrong, X-ray will crash to desktop and bug-trap will report: Description : noise.grain cant be zero! see postprocess.Please add more source codes, if you achieve interesting effects. Example file without commentsThis is the example file Green Hawk posted on the Russian article. It's some kind of good night-vision. Purple NV good (at day)01 00 00 00 7C 00 00 00 01 01 02 00 00 00 80 3F 00 00 00 00 00 00 80 00 80 00 80 00 80 00 80 00 80 00 80 00 00 80 3F 00 00 00 41 00 00 80 00 80 00 80 00 80 00 80 00 80 00 80 01 01 02 00 00 00 80 3F 00 00 00 00 00 00 80 00 80 00 80 00 80 00 80 00 80 00 80 00 00 80 3F

Tasks the point \(r_P\) is almost made fixed. All these results verify the proposed method is efficient for the redundant manipulator on circle path tracking control with the RCM constraint satisfied.Figure 9 presents the comprehensive performance of the proposed simplified RNN method for the redundant manipulator for “8” path tracking. Figure 9a shows the circle path tracking performance, and we can roughly observe that, the path tracking is well done with RCM constraint satisfied (a point \(r_P\) is obviously seen). Figure 9b shows the position error \([E_x,E_y,E_z]\) for the end-effector of the redundant manipulator, and one can evidently see that the position error \([E_x,E_y,E_z]\) can be lower than \(4\times 10^{-3}\) m, which is very small as compared with the size of the “8” path target. Figure 9c shows resolved joint angle for by the proposed simplified RNN method. Figure 9d shows the convergent process of the 3D coordinates of the \(r_P\) point, and we see that its 3D coordinate \(r_{p}\) can almost hold static from the beginning time instant, which indicates that when finishing the path tracking tasks the point \(r_P\) is almost made fixed. All these results verify the proposed method is efficient for the redundant manipulator on circle path tracking control with the RCM constraint satisfied.Fig. 10Comparisons on the position errors and RCM tracking error with different activation functions used with \(c_1=c_2=1\)Full size imageFig. 11Comparisons on the position errors and RCM tracking error with different activation functions used with \(c_1=c_2=10\)Full size image5.3 ComparisonIn this subsection, the convergence performances for the redundancy resolution with RCM constraints are compared in both linear and nonlinear cases. The pure linear activation function, powersum-I and powersum-II activation functions, and the hyperbolic sine (sh) activation function with \(\zeta =5\) and \(\zeta =10\), are all used for the proposed simplified RNN method for the purposes of comparisons. The two sets of convergence scaling parameter pairs are used in this comparison, i.e., \(c_1=c_3=1\) and \(c_1=c_3=10\).Fig. 12Comparisons on the position errors and RCM tracking error with different activation functions used with \(c_1=c_2=1\)Full size imageFig. 13Comparisons on the position errors and RCM tracking error with different activation functions used with \(c_1=c_2=10\)Full size imageFigure 10 shows the position errors of the end-effector and the convergence error of \(r_P\) with \(c_1=c_3=1\) with powersum and linear activation functions utilized. Seen from this figure, when using powersum-I and powersum-II activation functions, better error performance can be achieved as compared with that of using the linear activation function. Figure 11 shows the position errors of the end-effector and the convergence error of \(r_P\) with \(c_1=c_3=10\), and we could observe that, the error performance can be enhanced with larger parameters \(c_1\) and \(c_3\), and still, the error can be lowered by using powersum-I and powersum-II activation functions.Additionally, Fig. 12 shows the position errors of the end-effector and the convergence error of \(r_P\) with \(c_1=c_3=1\) with hyperbolic sine (sh) and linear activation functions utilized. Seen from this figure, when using the hyperbolic sine activation functions with \(\zeta =5\) and \(\zeta =10\), better error performance can