1. 1 For behold, it came to pass that the Lord spake unto my father, yea, even in a dream, and said unto him: Blessed art thou Lehi, because of the things which thou hast done; and because thou hast been faithful and declared unto this people the things which I commanded thee, behold, they seek to a take away thy b life. 2 And it came to pass that the Lord a commanded my father, even in a b.
2. Counting allows you to play with other musicians. It is easy to come in too early or late if you aren't counting. Counting helps you keep track of long periods of rest for your instrument. Some music you play may have multiple measures where your instrument doesn't play. This can be difficult to keep track of if you aren't counting.
3. Keep It 1.3 Release Notes Archive Version 1.3.6 Requirements. MacOS Sierra 10.12 or later. When using the Add Tags popover, unused tags will no longer be shown. When clicking a file:// link to a folder in a note, rich text or plain text document, the folder will now be opened in the Finder, rather than selected.

The ESA’s recently launched Solar Orbiter will spend years in one of the most unwelcoming places in the Solar System: the Sun. During its mission, Solar Orbiter will get 10 million kilometers closer to the Sun than Mercury. And, mind you, Mercury is close enough to have sustained temperatures reaching 450°C on its Sun-facing surface.

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To withstand such temperatures, Solar Orbiter is going to rely on an intricately designed heat shield. This heat shield, however, will protect the spacecraft only when it is pointed directly at the Sun—there is no sufficient protection on the sides or in the back of the probe. So, accordingly, ESA developed a real-time operating system (RTOS) for Solar Orbiter that can act under very strict requirements. The maximum allowed off-pointing from the Sun is only 6.5 degrees. Any off-pointing exceeding 2.3 degrees is acceptable only for a very brief period of time. When something goes wrong and dangerous off-pointing is detected, Solar Orbiter is going to have only 50 seconds to react.

'We’ve got extremely demanding requirements for this mission,' says Maria Hernek, head of flight software systems section at ESA. 'Typically, rebooting the platform such as this takes roughly 40 seconds. Here, we’ve had 50 seconds total to find the issue, have it isolated, have the system operational again, and take recovery action.”

To reiterate: this operating system, located far away in space, needs to remotely reboot and recover in 50 seconds. Otherwise, the Solar Orbiter is getting fried.

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Billiard ball OS

To deal with such unforgiving deadlines, spacecraft like Solar Orbiter are almost always run by real-time operating systems that work in an entirely different way than the ones you and I know from the average laptop. The criteria by which we judge Windows or macOS are fairly simple. They perform a computation, and if the result of this computation is correct, then a task is considered to be done correctly. Operating systems used in space add at least one more central criterion: a computation needs to be done correctly within a strictly specified deadline. When a deadline is not met, the task is considered failed and terminated. And in spaceflight, a missed deadline quite often means your spacecraft has already turned into a fireball or strayed into an incorrect orbit. There’s no point in processing such tasks any further; things must adhere to a very precise clock.

The time, as measured by the clock, is divided into singular ticks. To simplify it, space operating systems are typically designed in such a way that each task is performed within a set number of allocated ticks. It can take three ticks to upload data from sensors; four further ticks are devoted to fire up engines and so on. Each possible task is assigned a specific priority, so a higher-priority task can take precedence over the lower-priority task. And this way, a software designer knows exactly which task is going to be performed in any given scenario and how much time it is going to take to get it done.

To compare this to operating systems we all know, just watch any given speed comparison between modern smartphones. In this one made by EverythingApplePro, the iPhone XS Max and Samsung S10 Plus go head to head opening some popular apps. Before the test, both phones are restarted, and the cache is cleared in them. Samsung opens all the apps in 2 minutes 30 seconds, and the iPhone clocks in at 2 minutes 54 seconds. In the second round, all the apps are closed and opened again without restarting or clearing the RAM. Because the apps are still in RAM, Samsung finishes the opening in 46 seconds, and the iPhone does it in 42 seconds. That’s a whopping two-minute time difference between the first try and the second. But if the phones had to run the kind of real-time operating systems used for spaceflight, opening those apps would take exactly the same amount of time no matter how many times you tried it—down to a millisecond.

Beyond time, space operating systems have more tricks up their sleeves. Real-time operation is one thing, and determinism is another. If you somehow convinced Craig Federighi to take part in one of those speed comparisons, gave him full access to the iPhone about to be tested, and asked him to predict exactly how much time it would take for this iPhone to complete the test, he would likely have no idea. Sure, he’d probably say something like 'fast,' or 'fast enough,' or even 'blazingly fast,' but nothing more specific than that. Neither iOS nor Android is a deterministic system. The number of factors that could potentially affect speed results is so huge that making such exact predictions is practically impossible. But if the phone was running a space-grade OS, an engineer with access to the system would know exactly what causes what in a given sequence and could calculate the exact time necessary for any given task. Space-grade software has to be fully predictable and perform within super specific deadlines.

Shooting at the Moon (and beyond) with VxWorks

Back in the Apollo days, operating systems were custom-built for each mission. Sure, some of the code got reused—parts of the software made for the Apollo program made their way to Skylab and the Shuttle program, for instance. But for the most part, things had to be done from scratch.

Eventually, NASA’s preferred OS solution came from WindRiver, a company based in Alameda, California. WindRiver released a fully operational commercial off-the-shelf, real-time operating system called VxWorks back in 1987. While VxWorks wasn’t the first system of this kind, it quickly became the most widely deployed of them all, meaning VxWorks soon caught the eye of NASA mission designers.

The first mission to fly VxWorks was the Clementine Moon probe, otherwise known as the Deep Space Program Science Experiment. Back in the early 1990s, Clementine marked NASA’s shift away from behemoth, Apollo-like programs. Everything was supposed to be lean, developed quickly, and on a tight budget. As such, one of the design choices made for the Clementine probe was to use VxWorks, and the system made a good enough impression to get a second date. VxWorks was the choice for the Mars Pathfinder mission.

But not everything was all rosy for this RTOS, though. A bug—the priority inversion problem—caused a lot of trouble for NASA’s ground control team. Shortly after landing, Pathfinder’s system started to reboot for no apparent reason, which delayed transmitting the collected data back to Earth. It took three weeks to find the problem and another 18 hours to fix it; the issue turned out to be buried deep down in the VxWorks mechanics.

Going in to the New Year, it can be easy to dream up lofty goals in the spirit of drive, discipline, and self-improvement. Keeping your home clean may seem like an unachievable goal, where you figure you’ll settle in somewhere between your past level of production and your ideal sense of order. But why settle? Here are some insider tips and tricks to keeping your home clean and organized.

Step 1. Get organized before getting organized

This may sound counterintuitive but it makes sense. If you can plan out which days you’ll do your cleaning and organizing, it will make your action steps much easier to tackle. Break your to-do list up into more manageable categories, like assigning a day for each room. For example, clean the kids’ rooms and bathrooms on Monday, the living space and your bedroom on Wednesday, then the kitchen and dining area on Friday. You could also break it up by tasks, like doing all the vacuuming on one day and the dusting on another. Break chores up in a way that best accommodates your schedule and your family’s needs.

Step 2: Make it fun

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Yes, cleaning is a chore but that doesn’t mean you can’t have a positive attitude while doing it! We have memories of helping mom clean the house on Saturday mornings, cranking classic tunes and having fun, yes fun tidying up the home for our family to enjoy.

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Step 3: Bring in the reinforcements

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Touching on the previous point, don’t hesitate to have children and other family members help you with the cleaning. Teaching children these skills is crucial to their respect for the home and gives them a sense of importance–that they’re contributing productively to the home’s upkeep. This will also affect their adult lives by creating positive habits that will lead to organization within and outside of their future homes.

We hope these tips will help you achieve the organization you desire and show you how attainable it can be. By spreading the workload throughout the week, you’ll find that it is not only easier to keep your home clean, but your home will actually stay clean longer. Let us know your favorite ways of keeping your home clean and how the above steps work for you and your family!