Symfony Profiler

Key	Value
provider	security.user.provider.concrete.app_user_provider
context	main
entry_point	App\Security\KbinAuthenticator
user_checker	App\Security\UserChecker
access_denied_handler	(none)
access_denied_url	(none)
authenticators	[`"two_factor" "remember_me" "App\Security\KbinAuthenticator" "App\Security\FacebookAuthenticator" "App\Security\GoogleAuthenticator" "App\Security\GithubAuthenticator" "App\Security\KeycloakAuthenticator"`]

Listener	Duration	Response
Symfony\Component\Security\Http\Firewall\ChannelListener {#723`-map: Symfony\Component\Security\Http\AccessMap {#722 …} -logger: Monolog\Logger {#783 …} -httpPort: 80 -httpsPort: 443`}	0.00 ms	(none)
Symfony\Component\Security\Http\Firewall\ContextListener {#706-tokenStorage: Symfony\Component\Security\Core\Authentication\Token\Storage\TokenStorage {#1017 …} -sessionKey: "_security_main" -logger: Monolog\Logger {#783 …} -userProviders: Symfony\Component\DependencyInjection\Argument\RewindableGenerator {#705 …} -dispatcher: Symfony\Component\EventDispatcher\Debug\TraceableEventDispatcher {#747 …} -registered: false -trustResolver: Scheb\TwoFactorBundle\Security\Authentication\AuthenticationTrustResolver {#780 …} -sessionTrackerEnabler: Symfony\Component\Security\Core\Authentication\Token\Storage\UsageTrackingTokenStorage::enableUsageTracking(): void {#703 …}}	13.33 ms	(none)
Symfony\Component\Security\Http\Firewall\AuthenticatorManagerListener {#584`-authenticatorManager: Symfony\Component\Security\Http\Authentication\AuthenticatorManager {#595 …}`}	0.00 ms	(none)
Scheb\TwoFactorBundle\Security\Http\Firewall\TwoFactorAccessListener {#582`-twoFactorFirewallConfig: Scheb\TwoFactorBundle\Security\TwoFactor\TwoFactorFirewallConfig {#842 …} -tokenStorage: Symfony\Component\Security\Core\Authentication\Token\Storage\UsageTrackingTokenStorage {#1018 …} -twoFactorAccessDecider: Scheb\TwoFactorBundle\Security\Authorization\TwoFactorAccessDecider {#581 …}`}	0.09 ms	(none)
Symfony\Component\Security\Http\Firewall\AccessListener {#579`-tokenStorage: Symfony\Component\Security\Core\Authentication\Token\Storage\UsageTrackingTokenStorage {#1018 …} -accessDecisionManager: Symfony\Component\Security\Core\Authorization\TraceableAccessDecisionManager {#937 …} -map: Symfony\Component\Security\Http\AccessMap {#722 …}`}	0.00 ms	(none)
Symfony\Component\Security\Http\Firewall\LogoutListener {#786`-tokenStorage: Symfony\Component\Security\Core\Authentication\Token\Storage\UsageTrackingTokenStorage {#1018 …} -options: [ "csrf_parameter" => "_csrf_token" "csrf_token_id" => "logout" "logout_path" => "app_logout" ] -httpUtils: Symfony\Component\Security\Http\HttpUtils {#841 …} -csrfTokenManager: Symfony\Component\Security\Csrf\CsrfTokenManager {#1015 …} -eventDispatcher: Symfony\Component\EventDispatcher\Debug\TraceableEventDispatcher {#747 …}`}	0.00 ms	(none)

#	Voter class
1	"Symfony\Component\Security\Core\Authorization\Voter\AuthenticatedVoter"
2	"Scheb\TwoFactorBundle\Security\Authorization\Voter\TwoFactorInProgressVoter"
3	"Symfony\Component\Security\Core\Authorization\Voter\RoleHierarchyVoter"
4	"Symfony\Component\Security\Core\Authorization\Voter\ExpressionVoter"
5	"App\Security\Voter\EntryCommentVoter"
6	"App\Security\Voter\EntryVoter"
7	"App\Security\Voter\MagazineVoter"
8	"App\Security\Voter\MessageThreadVoter"
9	"App\Security\Voter\MessageVoter"
10	"App\Security\Voter\NotificationVoter"
11	"App\Security\Voter\OAuth2UserConsentVoter"
12	"App\Security\Voter\PostCommentVoter"
13	"App\Security\Voter\PostVoter"
14	"App\Security\Voter\UserVoter"

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App\Entity\Entry {#1386
  +user: Proxies\__CG__\App\Entity\User {#1397 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#1388 …}
  +image: null
  +domain: Proxies\__CG__\App\Entity\Domain {#1387 …}
  +slug: "DirkJan-scheurkalender-5-september-2023"
  +title: "DirkJan scheurkalender 5 september 2023"
  +url: "https://feddit.nl/pictrs/image/4fae0935-1394-48de-8b4f-4877a93ac582.jpeg"
  +body: "Ik check 'm dus niet iedere dag maar bij deze het vervolg van maandag."
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 1
  +favouriteCount: 10
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694089920 {#1952
    date: 2023-09-07 14:32:00.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1892 …}
  +votes: Doctrine\ORM\PersistentCollection {#1890 …}
  +reports: Doctrine\ORM\PersistentCollection {#1935 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1392 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1393 …}
  +badges: Doctrine\ORM\PersistentCollection {#1936 …}
  +children: []
  -id: 2118
  -titleTs: "'2023':5 '5':3 'dirkjan':1 'scheurkalend':2 'septemb':4"
  -bodyTs: "'bij':9 'check':2 'dag':7 'deze':10 'dus':4 'het':11 'ieder':6 'ik':1 'm':3 'maandag':14 'maar':8 'niet':5 'van':13 'vervolg':12"
  +cross: false
  +upVotes: 0
  +downVotes: 0
  +ranking: 1694041373
  +visibility: "visible             "
  +apId: "https://feddit.nl/post/2914464"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694012373 {#1390
    date: 2023-09-06 16:59:33.0 +02:00
  }
}

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App\Entity\Entry {#1386
  +user: Proxies\__CG__\App\Entity\User {#1397 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#1388 …}
  +image: null
  +domain: Proxies\__CG__\App\Entity\Domain {#1387 …}
  +slug: "DirkJan-scheurkalender-5-september-2023"
  +title: "DirkJan scheurkalender 5 september 2023"
  +url: "https://feddit.nl/pictrs/image/4fae0935-1394-48de-8b4f-4877a93ac582.jpeg"
  +body: "Ik check 'm dus niet iedere dag maar bij deze het vervolg van maandag."
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 1
  +favouriteCount: 10
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694089920 {#1952
    date: 2023-09-07 14:32:00.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1892 …}
  +votes: Doctrine\ORM\PersistentCollection {#1890 …}
  +reports: Doctrine\ORM\PersistentCollection {#1935 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1392 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1393 …}
  +badges: Doctrine\ORM\PersistentCollection {#1936 …}
  +children: []
  -id: 2118
  -titleTs: "'2023':5 '5':3 'dirkjan':1 'scheurkalend':2 'septemb':4"
  -bodyTs: "'bij':9 'check':2 'dag':7 'deze':10 'dus':4 'het':11 'ieder':6 'ik':1 'm':3 'maandag':14 'maar':8 'niet':5 'van':13 'vervolg':12"
  +cross: false
  +upVotes: 0
  +downVotes: 0
  +ranking: 1694041373
  +visibility: "visible             "
  +apId: "https://feddit.nl/post/2914464"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694012373 {#1390
    date: 2023-09-06 16:59:33.0 +02:00
  }
}

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App\Entity\Entry {#1386
  +user: Proxies\__CG__\App\Entity\User {#1397 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#1388 …}
  +image: null
  +domain: Proxies\__CG__\App\Entity\Domain {#1387 …}
  +slug: "DirkJan-scheurkalender-5-september-2023"
  +title: "DirkJan scheurkalender 5 september 2023"
  +url: "https://feddit.nl/pictrs/image/4fae0935-1394-48de-8b4f-4877a93ac582.jpeg"
  +body: "Ik check 'm dus niet iedere dag maar bij deze het vervolg van maandag."
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 1
  +favouriteCount: 10
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694089920 {#1952
    date: 2023-09-07 14:32:00.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1892 …}
  +votes: Doctrine\ORM\PersistentCollection {#1890 …}
  +reports: Doctrine\ORM\PersistentCollection {#1935 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1392 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1393 …}
  +badges: Doctrine\ORM\PersistentCollection {#1936 …}
  +children: []
  -id: 2118
  -titleTs: "'2023':5 '5':3 'dirkjan':1 'scheurkalend':2 'septemb':4"
  -bodyTs: "'bij':9 'check':2 'dag':7 'deze':10 'dus':4 'het':11 'ieder':6 'ik':1 'm':3 'maandag':14 'maar':8 'niet':5 'van':13 'vervolg':12"
  +cross: false
  +upVotes: 0
  +downVotes: 0
  +ranking: 1694041373
  +visibility: "visible             "
  +apId: "https://feddit.nl/post/2914464"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694012373 {#1390
    date: 2023-09-06 16:59:33.0 +02:00
  }
}

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App\Entity\Entry {#1538
  +user: Proxies\__CG__\App\Entity\User {#2472 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1533 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#2449 …}
  +slug: "Girlfriend-sent-me-this-dont-know-how-to-take-it"
  +title: "Girlfriend sent me this, dont know how to take it."
  +url: "https://lemmy.ca/pictrs/image/c5259319-6c71-4c78-a966-f7bd7b0a916d.jpeg"
  +body: null
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 1
  +favouriteCount: 1
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694089477 {#1542
    date: 2023-09-07 14:24:37.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1539 …}
  +votes: Doctrine\ORM\PersistentCollection {#1529 …}
  +reports: Doctrine\ORM\PersistentCollection {#1530 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1536 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1516 …}
  +badges: Doctrine\ORM\PersistentCollection {#1519 …}
  +children: []
  -id: 3165
  -titleTs: "'dont':5 'girlfriend':1 'know':6 'sent':2 'take':9"
  -bodyTs: null
  +cross: false
  +upVotes: 0
  +downVotes: 0
  +ranking: 1694095512
  +visibility: "visible             "
  +apId: "https://lemmy.ca/post/4822513"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694089012 {#1540
    date: 2023-09-07 14:16:52.0 +02:00
  }
}

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App\Entity\Entry {#1538
  +user: Proxies\__CG__\App\Entity\User {#2472 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1533 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#2449 …}
  +slug: "Girlfriend-sent-me-this-dont-know-how-to-take-it"
  +title: "Girlfriend sent me this, dont know how to take it."
  +url: "https://lemmy.ca/pictrs/image/c5259319-6c71-4c78-a966-f7bd7b0a916d.jpeg"
  +body: null
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 1
  +favouriteCount: 1
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694089477 {#1542
    date: 2023-09-07 14:24:37.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1539 …}
  +votes: Doctrine\ORM\PersistentCollection {#1529 …}
  +reports: Doctrine\ORM\PersistentCollection {#1530 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1536 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1516 …}
  +badges: Doctrine\ORM\PersistentCollection {#1519 …}
  +children: []
  -id: 3165
  -titleTs: "'dont':5 'girlfriend':1 'know':6 'sent':2 'take':9"
  -bodyTs: null
  +cross: false
  +upVotes: 0
  +downVotes: 0
  +ranking: 1694095512
  +visibility: "visible             "
  +apId: "https://lemmy.ca/post/4822513"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694089012 {#1540
    date: 2023-09-07 14:16:52.0 +02:00
  }
}

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App\Entity\Entry {#1538
  +user: Proxies\__CG__\App\Entity\User {#2472 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1533 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#2449 …}
  +slug: "Girlfriend-sent-me-this-dont-know-how-to-take-it"
  +title: "Girlfriend sent me this, dont know how to take it."
  +url: "https://lemmy.ca/pictrs/image/c5259319-6c71-4c78-a966-f7bd7b0a916d.jpeg"
  +body: null
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 1
  +favouriteCount: 1
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694089477 {#1542
    date: 2023-09-07 14:24:37.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1539 …}
  +votes: Doctrine\ORM\PersistentCollection {#1529 …}
  +reports: Doctrine\ORM\PersistentCollection {#1530 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1536 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1516 …}
  +badges: Doctrine\ORM\PersistentCollection {#1519 …}
  +children: []
  -id: 3165
  -titleTs: "'dont':5 'girlfriend':1 'know':6 'sent':2 'take':9"
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  +ranking: 1694095512
  +visibility: "visible             "
  +apId: "https://lemmy.ca/post/4822513"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694089012 {#1540
    date: 2023-09-07 14:16:52.0 +02:00
  }
}

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App\Entity\Entry {#1767
  +user: Proxies\__CG__\App\Entity\User {#1482 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1759 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#1523 …}
  +slug: "expected"
  +title: "expected"
  +url: "https://discuss.tchncs.de/pictrs/image/b9da9769-8bc2-4273-a37f-84913e3e6728.jpeg"
  +body: null
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 0
  +favouriteCount: 2
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694088313 {#1763
    date: 2023-09-07 14:05:13.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1762 …}
  +votes: Doctrine\ORM\PersistentCollection {#1788 …}
  +reports: Doctrine\ORM\PersistentCollection {#1779 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1787 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1774 …}
  +badges: Doctrine\ORM\PersistentCollection {#1775 …}
  +children: []
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  +ranking: 1694092813
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  +editedAt: null
  +createdAt: DateTimeImmutable @1694088313 {#1756
    date: 2023-09-07 14:05:13.0 +02:00
  }
}

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App\Entity\Entry {#1767
  +user: Proxies\__CG__\App\Entity\User {#1482 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1759 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#1523 …}
  +slug: "expected"
  +title: "expected"
  +url: "https://discuss.tchncs.de/pictrs/image/b9da9769-8bc2-4273-a37f-84913e3e6728.jpeg"
  +body: null
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 0
  +favouriteCount: 2
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694088313 {#1763
    date: 2023-09-07 14:05:13.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1762 …}
  +votes: Doctrine\ORM\PersistentCollection {#1788 …}
  +reports: Doctrine\ORM\PersistentCollection {#1779 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1787 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1774 …}
  +badges: Doctrine\ORM\PersistentCollection {#1775 …}
  +children: []
  -id: 14577
  -titleTs: "'expect':1"
  -bodyTs: null
  +cross: false
  +upVotes: 0
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  +ranking: 1694092813
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  +editedAt: null
  +createdAt: DateTimeImmutable @1694088313 {#1756
    date: 2023-09-07 14:05:13.0 +02:00
  }
}

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App\Entity\Entry {#1767
  +user: Proxies\__CG__\App\Entity\User {#1482 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1759 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#1523 …}
  +slug: "expected"
  +title: "expected"
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  +body: null
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  +lang: "en"
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  +hasEmbed: true
  +commentCount: 0
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  +lastActive: DateTime @1694088313 {#1763
    date: 2023-09-07 14:05:13.0 +02:00
  }
  +ip: null
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  +comments: Doctrine\ORM\PersistentCollection {#1762 …}
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  +reports: Doctrine\ORM\PersistentCollection {#1779 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1787 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1774 …}
  +badges: Doctrine\ORM\PersistentCollection {#1775 …}
  +children: []
  -id: 14577
  -titleTs: "'expect':1"
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  +editedAt: null
  +createdAt: DateTimeImmutable @1694088313 {#1756
    date: 2023-09-07 14:05:13.0 +02:00
  }
}

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App\Entity\Entry {#1481
  +user: Proxies\__CG__\App\Entity\User {#1482 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1511 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#1523 …}
  +slug: "let-there-be-light"
  +title: "let there be light"
  +url: "https://discuss.tchncs.de/pictrs/image/125e29f5-9f5e-4b35-8579-884b08ec04a1.jpeg"
  +body: null
  +type: "image"
  +lang: "en"
  +isOc: false
  +hasEmbed: true
  +commentCount: 0
  +favouriteCount: 2
  +score: 0
  +isAdult: false
  +sticky: false
  +lastActive: DateTime @1694088246 {#1545
    date: 2023-09-07 14:04:06.0 +02:00
  }
  +ip: null
  +adaAmount: 0
  +tags: null
  +mentions: null
  +comments: Doctrine\ORM\PersistentCollection {#1480 …}
  +votes: Doctrine\ORM\PersistentCollection {#1510 …}
  +reports: Doctrine\ORM\PersistentCollection {#1503 …}
  +favourites: Doctrine\ORM\PersistentCollection {#1507 …}
  +notifications: Doctrine\ORM\PersistentCollection {#1543 …}
  +badges: Doctrine\ORM\PersistentCollection {#1535 …}
  +children: []
  -id: 3157
  -titleTs: "'let':1 'light':4"
  -bodyTs: null
  +cross: false
  +upVotes: 0
  +downVotes: 0
  +ranking: 1694092746
  +visibility: "visible             "
  +apId: "https://discuss.tchncs.de/post/2914939"
  +editedAt: null
  +createdAt: DateTimeImmutable @1694088246 {#1547
    date: 2023-09-07 14:04:06.0 +02:00
  }
}

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App\Entity\Entry {#1481
  +user: Proxies\__CG__\App\Entity\User {#1482 …}
  +magazine: Proxies\__CG__\App\Entity\Magazine {#2443 …}
  +image: Proxies\__CG__\App\Entity\Image {#1511 …}
  +domain: Proxies\__CG__\App\Entity\Domain {#1523 …}
  +slug: "let-there-be-light"
  +title: "let there be light"
  +url: "https://discuss.tchncs.de/pictrs/image/125e29f5-9f5e-4b35-8579-884b08ec04a1.jpeg"
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  +lang: "en"
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App\Entity\Entry {#75
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  +slug: "Considering-positioning-strategies-for-autonomous-mechanum-wheeled-robots"
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  +body: """
    Disclaimer: this is not *specifically* for a commercial product, but various things I design sometimes get commercialized. I mention this so that you may decide whether you want to weigh in. If it’s commercialized, I will probably make very little money but a bunch of university students may get a neat STEM program in the countryside :D\n
    \n
    That out of the way, I’ve designed some boards for a Wi-Fi controlled robot with mechanum wheels. So 4 independent motor drivers, one for each wheel, allow omnidirectional motion. It’s built around a Pi Pico W, 4 SOIC-8 9110S motor drivers, and some buck/boost converters to give the system a 5V and 12V line. It’s very basic, mostly made to be cheap. Here’s a photo:\n
    \n
    ![](https://voltage.vn/pictrs/image/bcdf7c0f-70f7-426d-9fef-d3d7191cf93e.jpeg)\n
    \n
    Right now it just receives UDP communications (a little app written in Godot) and activates the motors in different combinations – very “hello world”. I’m planning to add some autonomy to move around pre-generated maps, solve mazes, and so on.\n
    \n
    I have foolishly used 2-pin JST connectors for the motors, so using motors with rotary encoders would be a pain without ordering new boards. I’ll probably fix that in a later board revision or just hack it in. Also the routing is sloppy and there’s no ground plane. It works well enough for development and testing though :D\n
    \n
    What I’m thinking about right now, is how to let the robot position itself in a room effectively and cheaply. I was thinking of adding either a full LiDAR or building a limited LiDAR out of a servo motor and two cheap laser ToF sensors – e.g. one pointed forward, the other back, and I can sweep it 90 degrees. Since the LiDAR does not need to be fast or continuously sweep, I am leaning toward the latter approach.\n
    \n
    Then the processing is handled remotely – a server requests that the robot do a LiDAR sweep, the robot sends a minimal point cloud back to the server, which estimates the robot’s current location and sends back some instructions to move in a direction for some distance – probably this is where the lack of rotary encoders is going to hurt, but for now I’m planning on just pointing the forward laser ToF sensor towards a target and give the instruction “turn or move forward at static speed X until the sensor reads Y”, which should be pretty easy for the MCU To handle.\n
    \n
    I’m planning to control multiple robots from the same server. The robots don’t need to be super fast.\n
    \n
    What I’m currently wondering is whether my approach really needs rotary encoders in practice – I’ve heard that mechanum wheels have high enough mechanical slippage that they end up inaccurate, and designers often add another set of unpowered wheels for position tracking anyway. I don’t want to add more wheels in this way though.\n
    \n
    On the other hand, it would probably be easier to tell the MCU to “move forward X rotary encoder pulses at a velocity defined by Y pulses per second, and then check position and correct at a lower speed” than to use a pure LiDAR approach (e.g. even if rotary encoders don’t give me accurate position, on small time scales, they give me good feedback to control speed). I could possibly even send a fairly complex series of instructions in one go, making the communications efficient enough to eliminate a local server and control a ton of robots from a cloud VPS or whatever.\n
    \n
    Anyone have some experience with encoders + mechanum wheels that can offer a few tips my way? At this stage the project doesn’t have clear engineering goals and this is mostly an academic exercise. I’ve read that using a rigid chassis and minimizing the need for lateral motion can reduce slippage, reading through a few papers didn’t get me any numerical indication of what to expect.
    """
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    Disclaimer: this is not *specifically* for a commercial product, but various things I design sometimes get commercialized. I mention this so that you may decide whether you want to weigh in. If it’s commercialized, I will probably make very little money but a bunch of university students may get a neat STEM program in the countryside :D\n
    \n
    That out of the way, I’ve designed some boards for a Wi-Fi controlled robot with mechanum wheels. So 4 independent motor drivers, one for each wheel, allow omnidirectional motion. It’s built around a Pi Pico W, 4 SOIC-8 9110S motor drivers, and some buck/boost converters to give the system a 5V and 12V line. It’s very basic, mostly made to be cheap. Here’s a photo:\n
    \n
    ![](https://voltage.vn/pictrs/image/bcdf7c0f-70f7-426d-9fef-d3d7191cf93e.jpeg)\n
    \n
    Right now it just receives UDP communications (a little app written in Godot) and activates the motors in different combinations – very “hello world”. I’m planning to add some autonomy to move around pre-generated maps, solve mazes, and so on.\n
    \n
    I have foolishly used 2-pin JST connectors for the motors, so using motors with rotary encoders would be a pain without ordering new boards. I’ll probably fix that in a later board revision or just hack it in. Also the routing is sloppy and there’s no ground plane. It works well enough for development and testing though :D\n
    \n
    What I’m thinking about right now, is how to let the robot position itself in a room effectively and cheaply. I was thinking of adding either a full LiDAR or building a limited LiDAR out of a servo motor and two cheap laser ToF sensors – e.g. one pointed forward, the other back, and I can sweep it 90 degrees. Since the LiDAR does not need to be fast or continuously sweep, I am leaning toward the latter approach.\n
    \n
    Then the processing is handled remotely – a server requests that the robot do a LiDAR sweep, the robot sends a minimal point cloud back to the server, which estimates the robot’s current location and sends back some instructions to move in a direction for some distance – probably this is where the lack of rotary encoders is going to hurt, but for now I’m planning on just pointing the forward laser ToF sensor towards a target and give the instruction “turn or move forward at static speed X until the sensor reads Y”, which should be pretty easy for the MCU To handle.\n
    \n
    I’m planning to control multiple robots from the same server. The robots don’t need to be super fast.\n
    \n
    What I’m currently wondering is whether my approach really needs rotary encoders in practice – I’ve heard that mechanum wheels have high enough mechanical slippage that they end up inaccurate, and designers often add another set of unpowered wheels for position tracking anyway. I don’t want to add more wheels in this way though.\n
    \n
    On the other hand, it would probably be easier to tell the MCU to “move forward X rotary encoder pulses at a velocity defined by Y pulses per second, and then check position and correct at a lower speed” than to use a pure LiDAR approach (e.g. even if rotary encoders don’t give me accurate position, on small time scales, they give me good feedback to control speed). I could possibly even send a fairly complex series of instructions in one go, making the communications efficient enough to eliminate a local server and control a ton of robots from a cloud VPS or whatever.\n
    \n
    Anyone have some experience with encoders + mechanum wheels that can offer a few tips my way? At this stage the project doesn’t have clear engineering goals and this is mostly an academic exercise. I’ve read that using a rigid chassis and minimizing the need for lateral motion can reduce slippage, reading through a few papers didn’t get me any numerical indication of what to expect.
    """
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    Disclaimer: this is not *specifically* for a commercial product, but various things I design sometimes get commercialized. I mention this so that you may decide whether you want to weigh in. If it’s commercialized, I will probably make very little money but a bunch of university students may get a neat STEM program in the countryside :D\n
    \n
    That out of the way, I’ve designed some boards for a Wi-Fi controlled robot with mechanum wheels. So 4 independent motor drivers, one for each wheel, allow omnidirectional motion. It’s built around a Pi Pico W, 4 SOIC-8 9110S motor drivers, and some buck/boost converters to give the system a 5V and 12V line. It’s very basic, mostly made to be cheap. Here’s a photo:\n
    \n
    ![](https://voltage.vn/pictrs/image/bcdf7c0f-70f7-426d-9fef-d3d7191cf93e.jpeg)\n
    \n
    Right now it just receives UDP communications (a little app written in Godot) and activates the motors in different combinations – very “hello world”. I’m planning to add some autonomy to move around pre-generated maps, solve mazes, and so on.\n
    \n
    I have foolishly used 2-pin JST connectors for the motors, so using motors with rotary encoders would be a pain without ordering new boards. I’ll probably fix that in a later board revision or just hack it in. Also the routing is sloppy and there’s no ground plane. It works well enough for development and testing though :D\n
    \n
    What I’m thinking about right now, is how to let the robot position itself in a room effectively and cheaply. I was thinking of adding either a full LiDAR or building a limited LiDAR out of a servo motor and two cheap laser ToF sensors – e.g. one pointed forward, the other back, and I can sweep it 90 degrees. Since the LiDAR does not need to be fast or continuously sweep, I am leaning toward the latter approach.\n
    \n
    Then the processing is handled remotely – a server requests that the robot do a LiDAR sweep, the robot sends a minimal point cloud back to the server, which estimates the robot’s current location and sends back some instructions to move in a direction for some distance – probably this is where the lack of rotary encoders is going to hurt, but for now I’m planning on just pointing the forward laser ToF sensor towards a target and give the instruction “turn or move forward at static speed X until the sensor reads Y”, which should be pretty easy for the MCU To handle.\n
    \n
    I’m planning to control multiple robots from the same server. The robots don’t need to be super fast.\n
    \n
    What I’m currently wondering is whether my approach really needs rotary encoders in practice – I’ve heard that mechanum wheels have high enough mechanical slippage that they end up inaccurate, and designers often add another set of unpowered wheels for position tracking anyway. I don’t want to add more wheels in this way though.\n
    \n
    On the other hand, it would probably be easier to tell the MCU to “move forward X rotary encoder pulses at a velocity defined by Y pulses per second, and then check position and correct at a lower speed” than to use a pure LiDAR approach (e.g. even if rotary encoders don’t give me accurate position, on small time scales, they give me good feedback to control speed). I could possibly even send a fairly complex series of instructions in one go, making the communications efficient enough to eliminate a local server and control a ton of robots from a cloud VPS or whatever.\n
    \n
    Anyone have some experience with encoders + mechanum wheels that can offer a few tips my way? At this stage the project doesn’t have clear engineering goals and this is mostly an academic exercise. I’ve read that using a rigid chassis and minimizing the need for lateral motion can reduce slippage, reading through a few papers didn’t get me any numerical indication of what to expect.
    """
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49

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50

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  +slug: "Once-upon-a-time-Melbourne-had-freight-trams"
  +title: "Once upon a time Melbourne had freight trams!"
  +url: "https://hexbear.net/pictrs/image/8c898091-0789-46a2-a023-d587d0f0bc7e.jpeg"
  +body: """
    cross-posted from: [hexbear.net/post/534457](https://hexbear.net/post/534457)\n
    \n
    > Do you think Melbourne should bring them back?
    """
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App\Entity\Entry {#1578
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App\Entity\Entry {#1578
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App\Entity\Entry {#1578
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    cross-posted from: [lemmy.world/post/4578009](https://lemmy.world/post/4578009)\n
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    > The last wild Atlantic salmon that return to U.S. rivers have had their **most productive year in more than a decade**, raising hopes they may be weathering myriad ecological threats.\n
    > \n
    > Officials counted more than 1,500 of the salmon in the Penobscot River, which is home to the country’s largest run of Atlantic salmon, Maine state data show. That is the most since 2011 when researchers counted about 2,900 of them.\n
    > \n
    > The salmon were **once abundant in American rivers**, but factors such as overfishing, loss of habitat and pollution reduced their populations to only a handful of rivers in Maine. The fish are protected by the Endangered Species Act, and sometimes only a few hundred of them return from the ocean to the rivers in a year.\n
    > \n
    > The greater survival of the salmon **could be evidence that conservation measures to protect them are paying off**, said Sean Ledwin, director of the Maine Department of Marine Resources sea-run fish programs. The count of river herring is also up, and that could be aiding the salmon on their perilous journey from the sea to the river.
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