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<?xml version="1.0" encoding="utf-8" standalone="yes"?><rss version="2.0" xmlns:atom="http://www.w3.org/2005/Atom"><channel><title>Divya Shah</title><link>https://divyashah.github.io/</link><atom:link href="https://divyashah.github.io/index.xml" rel="self" type="application/rss+xml"/><description>Divya Shah</description><generator>Wowchemy (https://wowchemy.com)</generator><language>en-us</language><lastBuildDate>Mon, 24 Oct 2022 00:00:00 +0000</lastBuildDate><image><url>https://divyashah.github.io/media/icon_hud9c7f1e508fc4430b33a3f318012ba62_3161319_512x512_fill_lanczos_center_3.png</url><title>Divya Shah</title><link>https://divyashah.github.io/</link></image><item><title>Towards design and development of new joint modules for humanoid ergoCub 2.0*</title><link>https://divyashah.github.io/publication/ieee-humanoids-2023/</link><pubDate>Thu, 14 Dec 2023 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/ieee-humanoids-2023/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<hr></description></item><item><title>Fabrication of Parallel Compliant Mechanisms via Additive Manufacturing</title><link>https://divyashah.github.io/publication/asme-smasis-2023/</link><pubDate>Tue, 12 Sep 2023 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/asme-smasis-2023/</guid><description><div class="alert alert-note">
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Click the <strong><em>Cite</em></strong> button above to copy the citation text.
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<hr></description></item><item><title>Ergocub</title><link>https://divyashah.github.io/project/ergocub/</link><pubDate>Thu, 01 Jul 2021 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/project/ergocub/</guid><description><h3 id="design-and-development-of-humanoid-joint-modules">Design and development of humanoid joint modules</h3>
<p style="text-align: justify;">The <a href="https://ergocub.eu/" target="_blank" rel="noopener">ergoCub</a> project, funded by INAIL, involves design and development of new humanoid robotic platforms and wearables technologies to assist labourers in warehouse and hospital scenarios.</p>
<p style="text-align: justify;">My contributions involve mechanical design, testing and development of complex integrated mechanical and electrical components to form compact and powerful joint modules for the forthcoming version <em>ergoCub 2.0</em> humanoid robot.</p>
<h4 id="supervisors">Supervisors</h4>
<ul>
<li><strong>Marco Maggiali</strong>; Facility Coordinator, iCubTech Facility, Istituto Italiano di Tecnologia</li>
</ul>
<hr></description></item><item><title>Design for Dexterity</title><link>https://divyashah.github.io/project/design-for-dexterity/</link><pubDate>Fri, 18 Jun 2021 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/project/design-for-dexterity/</guid><description><h3 id="robot-design-for-dexterous-manipulation">Robot Design for Dexterous Manipulation</h3>
<p style="text-align: justify;">This research project is a part of the Ph.D. with <a href="http://phd.dibris.unige.it/biorob/" target="_blank" rel="noopener">Dipartimento di Informatica, Bioingegneria, Robtoica e Ingegneria dei Sistemi (DIBRIS)</a> at the Università degli Studi di Genova and in affiliation with the <a href="https://www.iit.it/web/icub-tech" target="_blank" rel="noopener">iCub Tech</a> at the Istituto Italiano di Tecnologia in Genova, Italy. The Ph.D. thesis is aimed towards design of a new wrist for the <a href="https://icub.iit.it/" target="_blank" rel="noopener">iCub humanoid</a> with enhanced manipulation dexterity. The main focus here is the study and implementation of parallel orientational mechanisms.</p>
<h4 id="objectives">Objectives</h4>
<ul>
<li>To study and investigate the state-of-the-art in design for wrist dexterity.</li>
<li>To adapt and analyze some of the most promising architectures from the literature.</li>
<li>To propose a novel kinematic design for the wrist with enhanced dexterity.</li>
<li>To test and develop the proposed mechanism.</li>
</ul>
<h4 id="supervisors">Supervisors</h4>
<ul>
<li><strong>Alberto Parmiggiani</strong>; Technologist &amp; Facility Coordinator, Istituto Italiano di Tecnologia</li>
<li><strong>Giorgio Metta</strong>; Scientific Director, Istituto Italiano di Tecnologia</li>
</ul>
<hr>
<div class="alert alert-note">
<div>
Also check out the project of <a href="./project/../../visiting-researcher/">visiting-researcher</a>, which was a part of the doctoral program.
</div>
</div>
<hr></description></item><item><title>Design of Wrist and Forearm Mechanisms for Enhanced Humanoid Dexterity</title><link>https://divyashah.github.io/publication/thesis-phd-unige-2021/</link><pubDate>Fri, 18 Jun 2021 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/thesis-phd-unige-2021/</guid><description><div class="alert alert-note">
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Click the <strong><em>Cite</em></strong> button above to copy the citation text.
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<hr></description></item><item><title>Workshop - IEEE ICRA PKM 2021</title><link>https://divyashah.github.io/talk/ws-ieee-icra-2021/</link><pubDate>Fri, 04 Jun 2021 09:00:00 +0000</pubDate><guid>https://divyashah.github.io/talk/ws-ieee-icra-2021/</guid><description><h2 id="ieee-icra-workshop-on-parallel-robots-or-not-parallel-robots-new-frontiers-of-parallel-robotics-2021" style="text-align: justify;">IEEE ICRA Workshop on <em>Parallel robots or not parallel robots? New frontiers of parallel robotics</em> 2021</h2>
<p style="text-align: justify;">This workshop aimed at bringing together researchers working in several distinct communities (e.g. soft/continuum robotics, compliant mechanisms, aerial robotics, cable-driven robotics, tensegrity structures, dexterous manipulation and physical interactions), but who have a similar object of investigation in common, i.e. a closed-chain robotic device, so that they could share their experiences, tools, issues; and at fostering researchers to investigate the new issues arising from the development of new types of robots.</p>
<p style="text-align: justify;">Presented a part of the doctoral research, on <em>A Study on Flexible Parallel Robots via Additive Manufacturing</em>, at this workshop.</p>
<div class="alert alert-note">
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Click on the <strong>Slides</strong> button above to view the slides presented at this talk.
</div>
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For extended and published work, refer to the conference publication: <a href="./../../publication/asme-smasis-2023/">ASME SMASIS 2023</a>.
</div>
</div>
<hr></description></item><item><title>Welcome to Wowchemy, the website builder for Hugo</title><link>https://divyashah.github.io/post/getting-started/</link><pubDate>Sun, 13 Dec 2020 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/post/getting-started/</guid><description><div class="highlight"><pre tabindex="0" class="chroma"><code class="language-python" data-lang="python"><span class="line"><span class="cl"><span class="kn">import</span> <span class="nn">libr</span>
</span></span><span class="line"><span class="cl"><span class="nb">print</span><span class="p">(</span><span class="s1">&#39;hello&#39;</span><span class="p">)</span>
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<p>Copyright 2016-present <a href="https://georgecushen.com" target="_blank" rel="noopener">George Cushen</a>.</p>
<p>Released under the <a href="https://github.com/wowchemy/wowchemy-hugo-themes/blob/master/LICENSE.md" target="_blank" rel="noopener">MIT</a> license.</p></description></item><item><title>Conference - IEEE/ASME AIM 2020</title><link>https://divyashah.github.io/talk/conf-ieee-asme-aim-2020/</link><pubDate>Sun, 26 Jul 2020 13:00:00 +0000</pubDate><guid>https://divyashah.github.io/talk/conf-ieee-asme-aim-2020/</guid><description><h2 id="ieeeasme-international-conference-on-advanced-intelligent-mechatronics-aim-2020" style="text-align: justify;">IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2020</h2>
<p style="text-align: justify;">Presented the reasearch work on <em>Constant Length Tendon Routing Mechanism through Axial Joint</em> published in this conference.</p>
<div class="alert alert-note">
<div>
Check out the publication here: <a href="./../../publication/ieee-asme-aim-2020/">IEEE-ASME-AIM-2020</a>.
</div>
</div>
<div class="alert alert-note">
<div>
Click on the <strong>Slides</strong> button above to view the slides presented at this talk.
</div>
</div>
<hr></description></item><item><title>Constant Length Tendon Routing Mechanism through Axial Joint</title><link>https://divyashah.github.io/publication/ieee-asme-aim-2020/</link><pubDate>Tue, 07 Jul 2020 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/ieee-asme-aim-2020/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<div class="alert alert-note">
<div>
Check out the talk presented here: <a href="./../../../talk/conf-ieee-asme-aim-2020/">IEEE-ASME-AIM-2020</a>.
</div>
</div>
<hr></description></item><item><title>Winter School - ROBOZEN 2020</title><link>https://divyashah.github.io/talk/ws-robozen-2020/</link><pubDate>Mon, 27 Jan 2020 09:00:00 +0000</pubDate><guid>https://divyashah.github.io/talk/ws-robozen-2020/</guid><description><h2 id="international-winter-school-on-mechanism-design-and-motion-planning-for-robotics-2020" style="text-align: justify;">International Winter School on Mechanism Design and Motion Planning for Robotics 2020</h2>
<p style="text-align: justify;">ROBOzen was oriented to PhD students, young researchers and specialists working in the design of mechanisms and motion planning techniques for robotic and related mechatronic applications. International and Italian experts gave lectures on topics including: (i) Compliant and flexible mechanisms for robotics, (ii) Parallel and Cable-driven mechanisms for robotics, (iii) Trajectory planning for robotics, (iv) Collaborative robots, (v) Mobile robots.</p>
<p style="text-align: justify;">Furthermore, all the student participants were asked to present their related research problems through posters and further share and discuss the solutions toward the same.</p>
<p style="text-align: justify;">Presented a poster on the dotoral reasearch work on <em>Robot Design for Dexterous Manipulation</em>.</p>
<div class="alert alert-note">
<div>
Click on the <strong>Poster</strong> button above to view the poster presented at this talk.
</div>
</div>
<hr></description></item><item><title>Visiting Researcher</title><link>https://divyashah.github.io/project/visiting-researcher/</link><pubDate>Sun, 20 Oct 2019 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/project/visiting-researcher/</guid><description><h3 id="design-of-constant-length-tendon-routing-mechanism-through-axial-joint">Design of Constant Length Tendon Routing Mechanism through Axial Joint</h3>
<p style="text-align: justify;">This research project was a part of the period-abroad during the PhD, from July to October 2019. It was achieved in collaboration with the <a href="https://www.youtube.com/channel/UCj1NluENvVHth1V74dohlcw" target="_blank" rel="noopener">Interactive Robotics and Innovative Mechanism (IRIM)</a> Lab at <a href="https://www.koreatech.ac.kr/eng.do" target="_blank" rel="noopener">Korea University of Technology and Education (KOREATECH)</a> in Cheonan, South Korea. The project involved concept design and prototyping of a constant length tendon routing mechanism through axial joint, or the pronation-supination (forearm) joint per se, for multiple tendons achieving decoupled motions.</p>
<h4 id="supervisors">Supervisors</h4>
<ul>
<li><strong>Yong-Jae Kim</strong>; Associate Professor, IRIM Lab, KOREATECH</li>
</ul>
<hr></description></item><item><title>Writing technical content in Markdown</title><link>https://divyashah.github.io/post/writing-technical-content/</link><pubDate>Fri, 12 Jul 2019 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/post/writing-technical-content/</guid><description><p>Wowchemy is designed to give technical content creators a seamless experience. You can focus on the content and Wowchemy handles the rest.</p>
<p><strong>Highlight your code snippets, take notes on math classes, and draw diagrams from textual representation.</strong></p>
<p>On this page, you&rsquo;ll find some examples of the types of technical content that can be rendered with Wowchemy.</p>
<h2 id="examples">Examples</h2>
<h3 id="code">Code</h3>
<p>Wowchemy supports a Markdown extension for highlighting code syntax. You can customize the styles under the <code>syntax_highlighter</code> option in your <code>config/_default/params.yaml</code> file.</p>
<pre><code>```python
import pandas as pd
data = pd.read_csv(&quot;data.csv&quot;)
data.head()
```
</code></pre>
<p>renders as</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-python" data-lang="python"><span class="line"><span class="cl"><span class="kn">import</span> <span class="nn">pandas</span> <span class="k">as</span> <span class="nn">pd</span>
</span></span><span class="line"><span class="cl"><span class="n">data</span> <span class="o">=</span> <span class="n">pd</span><span class="o">.</span><span class="n">read_csv</span><span class="p">(</span><span class="s2">&#34;data.csv&#34;</span><span class="p">)</span>
</span></span><span class="line"><span class="cl"><span class="n">data</span><span class="o">.</span><span class="n">head</span><span class="p">()</span>
</span></span></code></pre></div><h3 id="mindmaps">Mindmaps</h3>
<p>Wowchemy supports a Markdown extension for mindmaps.</p>
<p>Simply insert a Markdown <code>markmap</code> code block and optionally set the height of the mindmap as shown in the example below.</p>
<p>A simple mindmap defined as a Markdown list:</p>
<div class="highlight">
<pre class="chroma">
<code>
```markmap {height="200px"}
- Hugo Modules
- wowchemy
- wowchemy-plugins-netlify
- wowchemy-plugins-netlify-cms
- wowchemy-plugins-reveal
```
</code>
</pre>
</div>
<p>renders as</p>
<div class="markmap" style="height: 200px;">
<pre>- Hugo Modules
- wowchemy
- wowchemy-plugins-netlify
- wowchemy-plugins-netlify-cms
- wowchemy-plugins-reveal</pre>
</div>
<p>A more advanced mindmap with formatting, code blocks, and math:</p>
<div class="highlight">
<pre class="chroma">
<code>
```markmap
- Mindmaps
- Links
- [Wowchemy Docs](https://wowchemy.com/docs/)
- [Discord Community](https://discord.gg/z8wNYzb)
- [GitHub](https://github.com/wowchemy/wowchemy-hugo-themes)
- Features
- Markdown formatting
- **inline** ~~text~~ *styles*
- multiline
text
- `inline code`
-
```js
console.log('hello');
console.log('code block');
```
- Math: $x = {-b \pm \sqrt{b^2-4ac} \over 2a}$
```
</code>
</pre>
</div>
<p>renders as</p>
<div class="markmap" style="height: 500px;">
<pre>- Mindmaps
- Links
- [Wowchemy Docs](https://wowchemy.com/docs/)
- [Discord Community](https://discord.gg/z8wNYzb)
- [GitHub](https://github.com/wowchemy/wowchemy-hugo-themes)
- Features
- Markdown formatting
- **inline** ~~text~~ *styles*
- multiline
text
- `inline code`
-
```js
console.log('hello');
console.log('code block');
```
- Math: $x = {-b \pm \sqrt{b^2-4ac} \over 2a}$</pre>
</div>
<h3 id="charts">Charts</h3>
<p>Wowchemy supports the popular <a href="https://plot.ly/" target="_blank" rel="noopener">Plotly</a> format for interactive charts.</p>
<p>Save your Plotly JSON in your page folder, for example <code>line-chart.json</code>, and then add the <code>{{&lt; chart data=&quot;line-chart&quot; &gt;}}</code> shortcode where you would like the chart to appear.</p>
<p>Demo:</p>
<div id="chart-513794268" class="chart"></div>
<script>
(function() {
let a = setInterval( function() {
if ( typeof window.Plotly === 'undefined' ) {
return;
}
clearInterval( a );
Plotly.d3.json("./line-chart.json", function(chart) {
Plotly.plot('chart-513794268', chart.data, chart.layout, {responsive: true});
});
}, 500 );
})();
</script>
<p>You might also find the <a href="http://plotly-json-editor.getforge.io/" target="_blank" rel="noopener">Plotly JSON Editor</a> useful.</p>
<h3 id="math">Math</h3>
<p>Wowchemy supports a Markdown extension for $\LaTeX$ math. You can enable this feature by toggling the <code>math</code> option in your <code>config/_default/params.yaml</code> file.</p>
<p>To render <em>inline</em> or <em>block</em> math, wrap your LaTeX math with <code>{{&lt; math &gt;}}$...${{&lt; /math &gt;}}</code> or <code>{{&lt; math &gt;}}$$...$${{&lt; /math &gt;}}</code>, respectively. (We wrap the LaTeX math in the Wowchemy <em>math</em> shortcode to prevent Hugo rendering our math as Markdown. The <em>math</em> shortcode is new in v5.5-dev.)</p>
<p>Example <strong>math block</strong>:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-latex" data-lang="latex"><span class="line"><span class="cl"><span class="nb">{{</span>&lt; math &gt;<span class="nb">}}</span>
</span></span><span class="line"><span class="cl"><span class="sb">$$</span><span class="nb">
</span></span></span><span class="line"><span class="cl"><span class="nb"></span><span class="nv">\gamma</span><span class="nb">_{n} </span><span class="o">=</span><span class="nb"> </span><span class="nv">\frac</span><span class="nb">{ </span><span class="nv">\left</span><span class="nb"> | </span><span class="nv">\left</span><span class="nb"> </span><span class="o">(</span><span class="nv">\mathbf</span><span class="nb"> x_{n} </span><span class="o">-</span><span class="nb"> </span><span class="nv">\mathbf</span><span class="nb"> x_{n</span><span class="o">-</span><span class="m">1</span><span class="nb">} </span><span class="nv">\right</span><span class="nb"> </span><span class="o">)</span><span class="nb">^T </span><span class="nv">\left</span><span class="nb"> </span><span class="o">[</span><span class="nv">\nabla</span><span class="nb"> F </span><span class="o">(</span><span class="nv">\mathbf</span><span class="nb"> x_{n}</span><span class="o">)</span><span class="nb"> </span><span class="o">-</span><span class="nb"> </span><span class="nv">\nabla</span><span class="nb"> F </span><span class="o">(</span><span class="nv">\mathbf</span><span class="nb"> x_{n</span><span class="o">-</span><span class="m">1</span><span class="nb">}</span><span class="o">)</span><span class="nb"> </span><span class="nv">\right</span><span class="nb"> </span><span class="o">]</span><span class="nb"> </span><span class="nv">\right</span><span class="nb"> |}{</span><span class="nv">\left</span><span class="nb"> </span><span class="nv">\|\nabla</span><span class="nb"> F</span><span class="o">(</span><span class="nv">\mathbf</span><span class="nb">{x}_{n}</span><span class="o">)</span><span class="nb"> </span><span class="o">-</span><span class="nb"> </span><span class="nv">\nabla</span><span class="nb"> F</span><span class="o">(</span><span class="nv">\mathbf</span><span class="nb">{x}_{n</span><span class="o">-</span><span class="m">1</span><span class="nb">}</span><span class="o">)</span><span class="nb"> </span><span class="nv">\right</span><span class="nb"> </span><span class="nv">\|</span><span class="nb">^</span><span class="m">2</span><span class="nb">}
</span></span></span><span class="line"><span class="cl"><span class="nb"></span><span class="s">$$</span>
</span></span><span class="line"><span class="cl"><span class="nb">{{</span>&lt; /math &gt;<span class="nb">}}</span>
</span></span></code></pre></div><p>renders as</p>
$$\gamma_{n} = \frac{ \left | \left (\mathbf x_{n} - \mathbf x_{n-1} \right )^T \left [\nabla F (\mathbf x_{n}) - \nabla F (\mathbf x_{n-1}) \right ] \right |}{\left \|\nabla F(\mathbf{x}_{n}) - \nabla F(\mathbf{x}_{n-1}) \right \|^2}$$
<p>Example <strong>inline math</strong> <code>{{&lt; math &gt;}}$\nabla F(\mathbf{x}_{n})${{&lt; /math &gt;}}</code> renders as
$\nabla F(\mathbf{x}_{n})$.</p>
<p>Example <strong>multi-line math</strong> using the math linebreak (<code>\\</code>):</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-latex" data-lang="latex"><span class="line"><span class="cl"><span class="nb">{{</span>&lt; math &gt;<span class="nb">}}</span>
</span></span><span class="line"><span class="cl"><span class="sb">$$</span><span class="nb">f</span><span class="o">(</span><span class="nb">k;p_{</span><span class="m">0</span><span class="nb">}^{</span><span class="o">*</span><span class="nb">}</span><span class="o">)</span><span class="nb"> </span><span class="o">=</span><span class="nb"> </span><span class="nv">\begin</span><span class="nb">{cases}p_{</span><span class="m">0</span><span class="nb">}^{</span><span class="o">*</span><span class="nb">} &amp; </span><span class="nv">\text</span><span class="nb">{if }k</span><span class="o">=</span><span class="m">1</span><span class="nb">, </span><span class="nv">\\</span><span class="nb">
</span></span></span><span class="line"><span class="cl"><span class="nb"></span><span class="m">1</span><span class="o">-</span><span class="nb">p_{</span><span class="m">0</span><span class="nb">}^{</span><span class="o">*</span><span class="nb">} &amp; </span><span class="nv">\text</span><span class="nb">{if }k</span><span class="o">=</span><span class="m">0</span><span class="nb">.</span><span class="nv">\end</span><span class="nb">{cases}</span><span class="s">$$</span>
</span></span><span class="line"><span class="cl"><span class="nb">{{</span>&lt; /math &gt;<span class="nb">}}</span>
</span></span></code></pre></div><p>renders as</p>
$$
f(k;p_{0}^{*}) = \begin{cases}p_{0}^{*} & \text{if }k=1, \\
1-p_{0}^{*} & \text{if }k=0.\end{cases}
$$
<h3 id="diagrams">Diagrams</h3>
<p>Wowchemy supports a Markdown extension for diagrams. You can enable this feature by toggling the <code>diagram</code> option in your <code>config/_default/params.toml</code> file or by adding <code>diagram: true</code> to your page front matter.</p>
<p>An example <strong>flowchart</strong>:</p>
<pre><code>```mermaid
graph TD
A[Hard] --&gt;|Text| B(Round)
B --&gt; C{Decision}
C --&gt;|One| D[Result 1]
C --&gt;|Two| E[Result 2]
```
</code></pre>
<p>renders as</p>
<div class="mermaid">graph TD
A[Hard] -->|Text| B(Round)
B --> C{Decision}
C -->|One| D[Result 1]
C -->|Two| E[Result 2]
</div>
<p>An example <strong>sequence diagram</strong>:</p>
<pre><code>```mermaid
sequenceDiagram
Alice-&gt;&gt;John: Hello John, how are you?
loop Healthcheck
John-&gt;&gt;John: Fight against hypochondria
end
Note right of John: Rational thoughts!
John--&gt;&gt;Alice: Great!
John-&gt;&gt;Bob: How about you?
Bob--&gt;&gt;John: Jolly good!
```
</code></pre>
<p>renders as</p>
<div class="mermaid">sequenceDiagram
Alice->>John: Hello John, how are you?
loop Healthcheck
John->>John: Fight against hypochondria
end
Note right of John: Rational thoughts!
John-->>Alice: Great!
John->>Bob: How about you?
Bob-->>John: Jolly good!
</div>
<p>An example <strong>Gantt diagram</strong>:</p>
<pre><code>```mermaid
gantt
section Section
Completed :done, des1, 2014-01-06,2014-01-08
Active :active, des2, 2014-01-07, 3d
Parallel 1 : des3, after des1, 1d
Parallel 2 : des4, after des1, 1d
Parallel 3 : des5, after des3, 1d
Parallel 4 : des6, after des4, 1d
```
</code></pre>
<p>renders as</p>
<div class="mermaid">gantt
section Section
Completed :done, des1, 2014-01-06,2014-01-08
Active :active, des2, 2014-01-07, 3d
Parallel 1 : des3, after des1, 1d
Parallel 2 : des4, after des1, 1d
Parallel 3 : des5, after des3, 1d
Parallel 4 : des6, after des4, 1d
</div>
<p>An example <strong>class diagram</strong>:</p>
<pre><code>```mermaid
classDiagram
Class01 &lt;|-- AveryLongClass : Cool
Class03 *-- Class04
Class05 o-- Class06
Class07 .. Class08
Class09 --&gt; C2 : Where am i?
Class09 --* C3
Class09 --|&gt; Class07
Class07 : equals()
Class07 : Object[] elementData
Class01 : size()
Class01 : int chimp
Class01 : int gorilla
Class08 &lt;--&gt; C2: Cool label
```
</code></pre>
<p>renders as</p>
<div class="mermaid">classDiagram
Class01 <|-- AveryLongClass : Cool
Class03 *-- Class04
Class05 o-- Class06
Class07 .. Class08
Class09 --> C2 : Where am i?
Class09 --* C3
Class09 --|> Class07
Class07 : equals()
Class07 : Object[] elementData
Class01 : size()
Class01 : int chimp
Class01 : int gorilla
Class08 <--> C2: Cool label
</div>
<p>An example <strong>state diagram</strong>:</p>
<pre><code>```mermaid
stateDiagram
[*] --&gt; Still
Still --&gt; [*]
Still --&gt; Moving
Moving --&gt; Still
Moving --&gt; Crash
Crash --&gt; [*]
```
</code></pre>
<p>renders as</p>
<div class="mermaid">stateDiagram
[*] --> Still
Still --> [*]
Still --> Moving
Moving --> Still
Moving --> Crash
Crash --> [*]
</div>
<h3 id="todo-lists">Todo lists</h3>
<p>You can even write your todo lists in Markdown too:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-markdown" data-lang="markdown"><span class="line"><span class="cl"><span class="k">- [x]</span> Write math example
</span></span><span class="line"><span class="cl"> <span class="k">- [x]</span> Write diagram example
</span></span><span class="line"><span class="cl"><span class="k">- [ ]</span> Do something else
</span></span></code></pre></div><p>renders as</p>
<ul>
<li><input checked="" disabled="" type="checkbox"> Write math example
<ul>
<li><input checked="" disabled="" type="checkbox"> Write diagram example</li>
</ul>
</li>
<li><input disabled="" type="checkbox"> Do something else</li>
</ul>
<h3 id="tables">Tables</h3>
<p>Save your spreadsheet as a CSV file in your page&rsquo;s folder and then render it by adding the <em>Table</em> shortcode to your page:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-go" data-lang="go"><span class="line"><span class="cl"><span class="p">{{&lt;</span> <span class="nx">table</span> <span class="nx">path</span><span class="p">=</span><span class="s">&#34;results.csv&#34;</span> <span class="nx">header</span><span class="p">=</span><span class="s">&#34;true&#34;</span> <span class="nx">caption</span><span class="p">=</span><span class="s">&#34;Table 1: My results&#34;</span> <span class="p">&gt;}}</span>
</span></span></code></pre></div><p>renders as</p>
<table class="table">
<tr> <th>customer_id</th> <th>score</th> </tr>
<tr>
<td data-table-dtype="number">1</td>
<td data-table-dtype="number">0</td>
</tr>
<tr>
<td data-table-dtype="number">2</td>
<td data-table-dtype="text">0.5</td>
</tr>
<tr>
<td data-table-dtype="number">3</td>
<td data-table-dtype="number">1</td>
</tr>
<caption>Table 1: My results</caption>
</table>
<h3 id="callouts">Callouts</h3>
<p>Academic supports a <a href="https://wowchemy.com/docs/content/writing-markdown-latex/#callouts" target="_blank" rel="noopener">shortcode for callouts</a>, also referred to as <em>asides</em>, <em>hints</em>, or <em>alerts</em>. By wrapping a paragraph in <code>{{% callout note %}} ... {{% /callout %}}</code>, it will render as an aside.</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-markdown" data-lang="markdown"><span class="line"><span class="cl">{{% callout note %}}
</span></span><span class="line"><span class="cl">A Markdown aside is useful for displaying notices, hints, or definitions to your readers.
</span></span><span class="line"><span class="cl">{{% /callout %}}
</span></span></code></pre></div><p>renders as</p>
<div class="alert alert-note">
<div>
A Markdown aside is useful for displaying notices, hints, or definitions to your readers.
</div>
</div>
<h3 id="spoilers">Spoilers</h3>
<p>Add a spoiler to a page to reveal text, such as an answer to a question, after a button is clicked.</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-markdown" data-lang="markdown"><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">spoiler</span> <span class="na">text</span><span class="o">=</span><span class="s">&#34;Click to view the spoiler&#34;</span> <span class="p">&gt;</span>}}
</span></span><span class="line"><span class="cl">You found me!
</span></span><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="p">/</span><span class="nt">spoiler</span> <span class="p">&gt;</span>}}
</span></span></code></pre></div><p>renders as</p>
<details class="spoiler " id="spoiler-6">
<summary>Click to view the spoiler</summary>
<p>You found me!</p>
</details>
<h3 id="icons">Icons</h3>
<p>Academic enables you to use a wide range of <a href="https://wowchemy.com/docs/getting-started/page-builder/#icons" target="_blank" rel="noopener">icons from <em>Font Awesome</em> and <em>Academicons</em></a> in addition to <a href="https://wowchemy.com/docs/content/writing-markdown-latex/#emojis" target="_blank" rel="noopener">emojis</a>.</p>
<p>Here are some examples using the <code>icon</code> shortcode to render icons:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-markdown" data-lang="markdown"><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">icon</span> <span class="na">name</span><span class="o">=</span><span class="s">&#34;terminal&#34;</span> <span class="na">pack</span><span class="o">=</span><span class="s">&#34;fas&#34;</span> <span class="p">&gt;</span>}} Terminal
</span></span><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">icon</span> <span class="na">name</span><span class="o">=</span><span class="s">&#34;python&#34;</span> <span class="na">pack</span><span class="o">=</span><span class="s">&#34;fab&#34;</span> <span class="p">&gt;</span>}} Python
</span></span><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">icon</span> <span class="na">name</span><span class="o">=</span><span class="s">&#34;r-project&#34;</span> <span class="na">pack</span><span class="o">=</span><span class="s">&#34;fab&#34;</span> <span class="p">&gt;</span>}} R
</span></span></code></pre></div><p>renders as</p>
<p>
<i class="fas fa-terminal pr-1 fa-fw"></i> Terminal<br>
<i class="fab fa-python pr-1 fa-fw"></i> Python<br>
<i class="fab fa-r-project pr-1 fa-fw"></i> R</p>
<h3 id="did-you-find-this-page-helpful-consider-sharing-it-">Did you find this page helpful? Consider sharing it 🙌</h3></description></item><item><title>A Comparison of Robot Wrist Implementations for the iCub Humanoid</title><link>https://divyashah.github.io/publication/mdpi-robotics-2019/</link><pubDate>Mon, 11 Feb 2019 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/mdpi-robotics-2019/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<hr></description></item><item><title>Display Jupyter Notebooks with Academic</title><link>https://divyashah.github.io/post/jupyter/</link><pubDate>Tue, 05 Feb 2019 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/post/jupyter/</guid><description><div class="highlight"><pre tabindex="0" class="chroma"><code class="language-python" data-lang="python"><span class="line"><span class="cl"><span class="kn">from</span> <span class="nn">IPython.core.display</span> <span class="kn">import</span> <span class="n">Image</span>
</span></span><span class="line"><span class="cl"><span class="n">Image</span><span class="p">(</span><span class="s1">&#39;https://www.python.org/static/community_logos/python-logo-master-v3-TM-flattened.png&#39;</span><span class="p">)</span>
</span></span></code></pre></div><p>
<figure >
<div class="d-flex justify-content-center">
<div class="w-100" ><img src="./index_1_0.png" alt="png" loading="lazy" data-zoomable /></div>
</div></figure>
</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-python" data-lang="python"><span class="line"><span class="cl"><span class="nb">print</span><span class="p">(</span><span class="s2">&#34;Welcome to Academic!&#34;</span><span class="p">)</span>
</span></span></code></pre></div><pre><code>Welcome to Academic!
</code></pre>
<h2 id="install-python-and-jupyterlab">Install Python and JupyterLab</h2>
<p><a href="https://www.anaconda.com/distribution/#download-section" target="_blank" rel="noopener">Install Anaconda</a> which includes Python 3 and JupyterLab.</p>
<p>Alternatively, install JupyterLab with <code>pip3 install jupyterlab</code>.</p>
<h2 id="create-or-upload-a-jupyter-notebook">Create or upload a Jupyter notebook</h2>
<p>Run the following commands in your Terminal, substituting <code>&lt;MY-WEBSITE-FOLDER&gt;</code> and <code>&lt;SHORT-POST-TITLE&gt;</code> with the file path to your Academic website folder and a short title for your blog post (use hyphens instead of spaces), respectively:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-bash" data-lang="bash"><span class="line"><span class="cl">mkdir -p &lt;MY-WEBSITE-FOLDER&gt;/content/post/&lt;SHORT-POST-TITLE&gt;/
</span></span><span class="line"><span class="cl"><span class="nb">cd</span> &lt;MY-WEBSITE-FOLDER&gt;/content/post/&lt;SHORT-POST-TITLE&gt;/
</span></span><span class="line"><span class="cl">jupyter lab index.ipynb
</span></span></code></pre></div><p>The <code>jupyter</code> command above will launch the JupyterLab editor, allowing us to add Academic metadata and write the content.</p>
<h2 id="edit-your-post-metadata">Edit your post metadata</h2>
<p>The first cell of your Jupter notebook will contain your post metadata (<a href="https://sourcethemes.com/academic/docs/front-matter/" target="_blank" rel="noopener">front matter</a>).</p>
<p>In Jupter, choose <em>Markdown</em> as the type of the first cell and wrap your Academic metadata in three dashes, indicating that it is YAML front matter:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-fallback" data-lang="fallback"><span class="line"><span class="cl">---
</span></span><span class="line"><span class="cl">title: My post&#39;s title
</span></span><span class="line"><span class="cl">date: 2019-09-01
</span></span><span class="line"><span class="cl">
</span></span><span class="line"><span class="cl"># Put any other Academic metadata here...
</span></span><span class="line"><span class="cl">---
</span></span></code></pre></div><p>Edit the metadata of your post, using the <a href="https://sourcethemes.com/academic/docs/managing-content" target="_blank" rel="noopener">documentation</a> as a guide to the available options.</p>
<p>To set a <a href="https://sourcethemes.com/academic/docs/managing-content/#featured-image" target="_blank" rel="noopener">featured image</a>, place an image named <code>featured</code> into your post&rsquo;s folder.</p>
<p>For other tips, such as using math, see the guide on <a href="https://wowchemy.com/docs/content/writing-markdown-latex/" target="_blank" rel="noopener">writing content with Academic</a>.</p>
<h2 id="convert-notebook-to-markdown">Convert notebook to Markdown</h2>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-bash" data-lang="bash"><span class="line"><span class="cl">jupyter nbconvert index.ipynb --to markdown --NbConvertApp.output_files_dir<span class="o">=</span>.
</span></span></code></pre></div><h2 id="example">Example</h2>
<p>This post was created with Jupyter. The orginal files can be found at <a href="https://github.com/gcushen/hugo-academic/tree/master/exampleSite/content/post/jupyter" target="_blank" rel="noopener">https://github.com/gcushen/hugo-academic/tree/master/exampleSite/content/post/jupyter</a></p></description></item><item><title>Slides</title><link>https://divyashah.github.io/slides/example/</link><pubDate>Tue, 05 Feb 2019 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/slides/example/</guid><description><h1 id="create-slides-in-markdown-with-wowchemy">Create slides in Markdown with Wowchemy</h1>
<p><a href="https://wowchemy.com/" target="_blank" rel="noopener">Wowchemy</a> | <a href="https://wowchemy.com/docs/content/slides/" target="_blank" rel="noopener">Documentation</a></p>
<hr>
<h2 id="features">Features</h2>
<ul>
<li>Efficiently write slides in Markdown</li>
<li>3-in-1: Create, Present, and Publish your slides</li>
<li>Supports speaker notes</li>
<li>Mobile friendly slides</li>
</ul>
<hr>
<h2 id="controls">Controls</h2>
<ul>
<li>Next: <code>Right Arrow</code> or <code>Space</code></li>
<li>Previous: <code>Left Arrow</code></li>
<li>Start: <code>Home</code></li>
<li>Finish: <code>End</code></li>
<li>Overview: <code>Esc</code></li>
<li>Speaker notes: <code>S</code></li>
<li>Fullscreen: <code>F</code></li>
<li>Zoom: <code>Alt + Click</code></li>
<li><a href="https://revealjs.com/pdf-export/" target="_blank" rel="noopener">PDF Export</a></li>
</ul>
<hr>
<h2 id="code-highlighting">Code Highlighting</h2>
<p>Inline code: <code>variable</code></p>
<p>Code block:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-python" data-lang="python"><span class="line"><span class="cl"><span class="n">porridge</span> <span class="o">=</span> <span class="s2">&#34;blueberry&#34;</span>
</span></span><span class="line"><span class="cl"><span class="k">if</span> <span class="n">porridge</span> <span class="o">==</span> <span class="s2">&#34;blueberry&#34;</span><span class="p">:</span>
</span></span><span class="line"><span class="cl"> <span class="nb">print</span><span class="p">(</span><span class="s2">&#34;Eating...&#34;</span><span class="p">)</span>
</span></span></code></pre></div><hr>
<h2 id="math">Math</h2>
<p>In-line math: $x + y = z$</p>
<p>Block math:</p>
<p>$$
f\left( x \right) = ;\frac{{2\left( {x + 4} \right)\left( {x - 4} \right)}}{{\left( {x + 4} \right)\left( {x + 1} \right)}}
$$</p>
<hr>
<h2 id="fragments">Fragments</h2>
<p>Make content appear incrementally</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-fallback" data-lang="fallback"><span class="line"><span class="cl">{{% fragment %}} One {{% /fragment %}}
</span></span><span class="line"><span class="cl">{{% fragment %}} **Two** {{% /fragment %}}
</span></span><span class="line"><span class="cl">{{% fragment %}} Three {{% /fragment %}}
</span></span></code></pre></div><p>Press <code>Space</code> to play!</p>
<span class="fragment " >
One
</span>
<span class="fragment " >
<strong>Two</strong>
</span>
<span class="fragment " >
Three
</span>
<hr>
<p>A fragment can accept two optional parameters:</p>
<ul>
<li><code>class</code>: use a custom style (requires definition in custom CSS)</li>
<li><code>weight</code>: sets the order in which a fragment appears</li>
</ul>
<hr>
<h2 id="speaker-notes">Speaker Notes</h2>
<p>Add speaker notes to your presentation</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-markdown" data-lang="markdown"><span class="line"><span class="cl">{{% speaker_note %}}
</span></span><span class="line"><span class="cl">
</span></span><span class="line"><span class="cl"><span class="k">-</span> Only the speaker can read these notes
</span></span><span class="line"><span class="cl"><span class="k">-</span> Press <span class="sb">`S`</span> key to view
</span></span><span class="line"><span class="cl"> {{% /speaker_note %}}
</span></span></code></pre></div><p>Press the <code>S</code> key to view the speaker notes!</p>
<aside class="notes">
<ul>
<li>Only the speaker can read these notes</li>
<li>Press <code>S</code> key to view</li>
</ul>
</aside>
<hr>
<h2 id="themes">Themes</h2>
<ul>
<li>black: Black background, white text, blue links (default)</li>
<li>white: White background, black text, blue links</li>
<li>league: Gray background, white text, blue links</li>
<li>beige: Beige background, dark text, brown links</li>
<li>sky: Blue background, thin dark text, blue links</li>
</ul>
<hr>
<ul>
<li>night: Black background, thick white text, orange links</li>
<li>serif: Cappuccino background, gray text, brown links</li>
<li>simple: White background, black text, blue links</li>
<li>solarized: Cream-colored background, dark green text, blue links</li>
</ul>
<hr>
<section data-noprocess data-shortcode-slide
data-background-image="/media/boards.jpg"
>
<h2 id="custom-slide">Custom Slide</h2>
<p>Customize the slide style and background</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-markdown" data-lang="markdown"><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">slide</span> <span class="na">background-image</span><span class="o">=</span><span class="s">&#34;/media/boards.jpg&#34;</span> <span class="p">&gt;</span>}}
</span></span><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">slide</span> <span class="na">background-color</span><span class="o">=</span><span class="s">&#34;#0000FF&#34;</span> <span class="p">&gt;</span>}}
</span></span><span class="line"><span class="cl">{{<span class="p">&lt;</span> <span class="nt">slide</span> <span class="na">class</span><span class="o">=</span><span class="s">&#34;my-style&#34;</span> <span class="p">&gt;</span>}}
</span></span></code></pre></div><hr>
<h2 id="custom-css-example">Custom CSS Example</h2>
<p>Let&rsquo;s make headers navy colored.</p>
<p>Create <code>assets/css/reveal_custom.css</code> with:</p>
<div class="highlight"><pre tabindex="0" class="chroma"><code class="language-css" data-lang="css"><span class="line"><span class="cl"><span class="p">.</span><span class="nc">reveal</span> <span class="nt">section</span> <span class="nt">h1</span><span class="o">,</span>
</span></span><span class="line"><span class="cl"><span class="p">.</span><span class="nc">reveal</span> <span class="nt">section</span> <span class="nt">h2</span><span class="o">,</span>
</span></span><span class="line"><span class="cl"><span class="p">.</span><span class="nc">reveal</span> <span class="nt">section</span> <span class="nt">h3</span> <span class="p">{</span>
</span></span><span class="line"><span class="cl"> <span class="k">color</span><span class="p">:</span> <span class="kc">navy</span><span class="p">;</span>
</span></span><span class="line"><span class="cl"><span class="p">}</span>
</span></span></code></pre></div><hr>
<h1 id="questions">Questions?</h1>
<p><a href="https://discord.gg/z8wNYzb" target="_blank" rel="noopener">Ask</a></p>
<p><a href="https://wowchemy.com/docs/content/slides/" target="_blank" rel="noopener">Documentation</a></p></description></item><item><title>Summer School - PKM 2018</title><link>https://divyashah.github.io/talk/ws-pkm-2018/</link><pubDate>Mon, 17 Sep 2018 09:00:00 +0000</pubDate><guid>https://divyashah.github.io/talk/ws-pkm-2018/</guid><description><h2 id="2nd-summer-school-on-parallel-kinematic-manipulators-2018" style="text-align: justify;">2nd Summer School on Parallel Kinematic Manipulators 2018</h2>
<p style="text-align: justify;">The goal of this summer school was to share the knowledge on parallel kinematics manipulators (PKM) during a whole week, targeting realistic prototypes to face real problems met in the industry. Various lectures and simulation labs were conducted covering the topics of design, kinematics, dynamics, control strategies, visual servoing for the PKMs with a special focus on cable-driven parallel robots. All the student participants were asked to present their related research problems through posters and further share and discuss the solutions toward the same.</p>
<p style="text-align: justify;">Presented a poster on the dotoral reasearch work on <em>Robot Design for Dexterous Manipulation</em>.</p>
<div class="alert alert-note">
<div>
Click on the <strong>Poster</strong> button above to view the poster presented at this talk.
</div>
</div>
<hr></description></item><item><title>Conference - IFToMM MEDER 2018</title><link>https://divyashah.github.io/talk/conf-iftomm-meder-2018/</link><pubDate>Tue, 11 Sep 2018 13:00:00 +0000</pubDate><guid>https://divyashah.github.io/talk/conf-iftomm-meder-2018/</guid><description><h2 id="iftomm-international-symposium-on-mechanism-design-for-robotics-meder-2018" style="text-align: justify;">IFToMM International Symposium on Mechanism Design for Robotics (MEDER) 2018</h2>
<p style="text-align: justify;">Presented the reasearch work on <em>Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms</em> published in this conference.</p>
<div class="alert alert-note">
<div>
Check out the publication here: <a href="./../../publication/iftomm-meder-2018/">IFTOMM-MEDER-2018</a>.
</div>
</div>
<div class="alert alert-note">
<div>
Click on the <strong>Slides</strong> button above to view the slides presented at this talk.
</div>
</div>
<hr></description></item><item><title>Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms</title><link>https://divyashah.github.io/publication/iftomm-meder-2018/</link><pubDate>Tue, 11 Sep 2018 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/iftomm-meder-2018/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<div class="alert alert-note">
<div>
Check out the talk presented here: <a href="./../../../talk/conf-iftomm-meder-2018/">IFTOMM-MEDER-2018</a>
</div>
</div>
<hr></description></item><item><title>Conference - ASME IDETC/CIE 2018</title><link>https://divyashah.github.io/talk/conf-asme-idetc-2018/</link><pubDate>Sun, 26 Aug 2018 13:00:00 +0000</pubDate><guid>https://divyashah.github.io/talk/conf-asme-idetc-2018/</guid><description><h2 id="asme-international-design-engineering-technical-conferences-and-computers-and-information-in-engineering-conference-idetccie-2018" style="text-align: justify;">ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE) 2018</h2>
<p style="text-align: justify;">Presented the reasearch work on <em>Workspace Analysis and the effect of Geometric Parameters on the Parallel Mechanisms of the N-UU Class</em> published in this conference.</p>
<div class="alert alert-note">
<div>
Check out the publication here: <a href="./../../publication/asme-idetc-2018/">ASME-IDETC-2018</a>.
</div>
</div>
<div class="alert alert-note">
<div>
Click on the <strong>Slides</strong> button above to view the slides presented at this talk.
</div>
</div>
<hr></description></item><item><title>Workspace Analysis and the Effect of Geometric Parameters on Parallel Mechanisms of the N-UU Class</title><link>https://divyashah.github.io/publication/asme-idetc-2018/</link><pubDate>Sat, 25 Aug 2018 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/asme-idetc-2018/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<div class="alert alert-note">
<div>
Check out the talk presented here: <a href="./../../../talk/conf-asme-idetc-2018/">ASME-IDETC-2018</a>.
</div>
</div>
<hr></description></item><item><title>Detection of bimanual gestures everywhere: why it matters, what we need and what is missing</title><link>https://divyashah.github.io/publication/elsevier-ras-2017/</link><pubDate>Mon, 01 Jan 2018 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/elsevier-ras-2017/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<hr></description></item><item><title>Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process</title><link>https://divyashah.github.io/publication/aip-icome-2017/</link><pubDate>Wed, 04 Oct 2017 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/aip-icome-2017/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<hr></description></item><item><title>Increased Productivity of an Automated Tape Winding Process: SPIDE-TP Platform</title><link>https://divyashah.github.io/publication/thesis-master-emaro-2017/</link><pubDate>Tue, 29 Aug 2017 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/publication/thesis-master-emaro-2017/</guid><description><div class="alert alert-note">
<div>
Click the <strong><em>PDF</em></strong> button above to download the thesis pdf.
</div>
</div>
<div class="alert alert-note">
<div>
Click the <strong><em>Cite</em></strong> button above to copy the citation text.
</div>
</div>
<hr></description></item><item><title>Optimization for Productivity</title><link>https://divyashah.github.io/project/optimization-for-productivity/</link><pubDate>Tue, 29 Aug 2017 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/project/optimization-for-productivity/</guid><description><h3 id="increased-productivity-of-an-automated-tape-winding-system---spide-tp-platform">Increased Productivity of an Automated Tape Winding System - SPIDE TP Platform</h3>
<p style="text-align: justify;">This was the master thesis project during the graduate study with <a href="https://www.ls2n.fr/" target="_blank" rel="noopener">Laboratoire des Sciences du Numérique de Nantes (LS2N)</a> at École Centrale de Nantes, France. The project was also in collaboration with <a href="https://www.cetim.fr/Le-Cetim/Implantations/Sites/Nantes" target="_blank" rel="noopener">Centre Technique des Industries Mécaniques (CETIM)</a> and <a href="https://www.imt-atlantique.fr/fr" target="_blank" rel="noopener">Institut Mines-Telecom Atlantique (IMT-A)</a>.</p>
<p style="text-align: justify;">The industry had an automated tape winding system with a 6-DOF industrial robot and a 2-DOF positioner for the workpiece. The system was kinematically redundant. The thesis involved CAD design, simulation and collision detection for the workcell and implementing optimal trajectories by solving the kinematic redundancy, aiming towards increasing the overall productivity of the system. The detailed thesis documentation can be downloaded from the following links:</p>
<h4 id="supervisors">Supervisors:</h4>
<ul>
<li><strong>Stéphane Caro</strong>; Researcher, <a href="http://www.cnrs.fr/" target="_blank" rel="noopener">Centre National de la Recherche Scientifique (CNRS)</a></li>
<li><strong>Anatol Pashkevich</strong>; Asso. Prof., Institut Mines-Telecom Atlantique</li>
<li><strong>Benoît Courtemanche</strong>; Engineer, <a href="https://www.cetim.fr/en" target="_blank" rel="noopener">Centre Technique des Industries Mécaniques (CETIM)</a></li>
</ul>
<div class="alert alert-note">
<div>
Click the <strong><em>Poster</em></strong> button above to view the poster related to this project.
</div>
</div>
<div class="alert alert-note">
<div>
Click the <strong><em>Slides</em></strong> button above to view the slides presented for the defence of this master thesis.
</div>
</div>
<hr></description></item><item><title>Undergrad Project</title><link>https://divyashah.github.io/project/undergrad-project/</link><pubDate>Sun, 03 May 2015 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/project/undergrad-project/</guid><description><h3 id="design-fabrication-and-control-of-an-articulated-robotic-arm">Design, Fabrication and Control of an Articulated Robotic Arm</h3>
<p style="text-align: justify;">This was the bachelor thesis project during the under-graduate study at <a href="http://spce.ac.in/" target="_blank" rel="noopener">Sardar Patel College of Engineering</a>, an autonomous institute affiliated to the University of Mumbai, India. The thesis involved a detailed study of mechanical design, fabrication, kinematic control and performance analysis for a 6 degrees of freedom articulated robotic arm and development of a prototype to demonstrate basic manipulation of objects.</p>
<h4 id="supervisors">Supervisors</h4>
<ul>
<li><strong>Rajesh Buktar</strong>; Professor, Sardar Patel College of Engineering</li>
</ul>
<div class="alert alert-note">
<div>
Click the <strong><em>PDF</em></strong> button above to view the bachelor thesis.
</div>
</div>
<hr></description></item><item><title/><link>https://divyashah.github.io/admin/config.yml</link><pubDate>Mon, 01 Jan 0001 00:00:00 +0000</pubDate><guid>https://divyashah.github.io/admin/config.yml</guid><description/></item></channel></rss>