Sunday, August 28, 2016

New subscription model on the App Store and we have some information about possible

Lei feng's network (search for "Lei feng's network", public interest) by the writer Wu Nan, Dalian Maritime University, Associate Professor, research sharing economy.

New subscription model on the App Store, and we have some information about possible effects

, Subscription model 2.0

Phil Schiller (Apple Senior Vice President of global marketing, starting from December 2015 to take over App Store) on the Verge interview June 8, 2016 when the initiative refers to changes in the App Store in the subscription, Apple follow-up on its website also gives a specific description:

Subscription model will apply to all types of App, also applies to the Mac App Store. Only 5 before App allows subscription: News, cloud services, personals, audio, and video;

Developers and Apple into subscription mode: is 70%/30% into the first year, second year read 85%/15%;

Subscriptions by default is: automatic renewals;

Subscription model has multiple price points. For example, you can offer different prices in different countries or regions development can change the subscription price, users will be prompted whether or not to accept. Can provide different levels of service, the price can be different;

Subscription model expected formal launch in the fall of 2016.

So why does Apple App Store you want to modify the rules? M & M'S iPhone 5 Case

Second, Apple problem M & M'S iPhone 5 Case

For Apple, the most important is the iOS eco. By the vertical integration of a hardware + software-class user experience, attracting a sufficient number of users and developers, forming a positive feedback, constitute the iOS eco, and contributed to the prosperity of the whole (Android is another prosperous ECO). Conversely, the reason for this is Windows Mobile final failure. The competition at this stage is not a single product, but the ecological environment of war. Windows platform does not have a sufficient number of developers, and even cell phones to do well has no hope of winning.

At present, the iOS eco-status is:

2016 WWDC ' data are registered developers increased by 2 million a year, to 13 million, annual growth 18%. In contrast, IDC's data are in 2014 18.5 million developers around the world, including professional developers 11 million. Assuming that 2015 growth 10%, 20.35 million developers around the world. That is, Apple "has" close to 64% developers.

Apple service revenues, end of the year 2016 the first quarter data as in the figure, it is not difficult to see App Store revenue (including Apps, video, music and software) level of importance.

New subscription model on the App Store, and we have some information about possible effects

(Source: ASYMCO)

In the App Store revenue distribution is very uneven. According to the following chart data for April 2016, game, social classes, entertainment, music App live very moist, high society. Most of the "middle class" Developer App revenues low and the user only once, affecting them in the iOS eco-sustainable living, which could hamper the profitability of ecological prosperity and Apple.

New subscription model on the App Store, and we have some information about possible effects

 (Source: The Verge)

Even development of the Monument Valley USTWO--the art level of the game (swept States App Store launched more than two years in total downloads 2600duowanci, revenues of approximately US $ 14 million) behind the developers, their income is to sell a software only (subsequent expansion "forgotten coast" selling software for the second time). Such a charging model unsustainable for developers to make money.

New subscription model on the App Store, and we have some information about possible effects

  (Photo: Medium)

In other words, Apple iOS on the ecological problems facing is: most developers can't make money (for the most part middle-class developer, or even the upper classes).

Apple's solution is that the subscription model 2.0.

Third, Apple's solution: in the existing business models based on a subscription model 2.0

Subscription mode 2.0 App, in the ideal case:

1, users have access to better services, perhaps even lower-priced services (subscriptions must be less than the purchase fee, used to cancel subscription).

2, access to sustainable income, have the motivation to continue improving quality App and service quality. That is, solve developers ' problems.

3, iOS eco-sustainable prosperity, benefit Apple.

But problems may occur. For example, the subscription model needs to change consumption patterns and habits of the users, buy into the same as gas utilities every month, how many people are willing to accept (whilst automatic renewals have been disturbed by the user)? Part of the developer's erroneous estimate of the situation, after migrating to a subscription model, lost users. Similar answer those questions only to the free competition of the market (but only Apple can see these background data).

Four, for all effects of Apple:

Apple iOS is similar to the presence of God in the world, because the world has the right to modify the basic rules. And share costs and state tax policy can stimulate and change the behavior of developers. Moreover, this is the first time Apple's determination to display a willingness to cut into.

If Apple is a country, and Apple is a has 13 million developers, about 1 billion iOS devices (data sources) go beyond the geographical limits of a superpower. All citizens of the country are affected.

As far as the existing business model, installed Apps and App Store revenue is proportional to the amount. As of today June 2016 App installation is as follows (source), but this trend may be a turning point. According to the Apple earnings last quarter iPhone sales to 74.8 million units in the quarter iPhone sales increase of only 0.4%, which hit its lowest since 2007 Apple introduced iPhone sales. In turn, this means that the next trend will slowly. Subscription model 2.0 in App install incremental leveled when Apple increased revenue.

New subscription model on the App Store, and we have some information about possible effects

 (Source: ASYMCO)

Developer:

Developers of the middle class has the potential to make money by subscription model 2.0, and is also an incentive to game developers. Meanwhile, subscription model 2.0 may also activate the Pro Apps market. Software development productivity is in the iPad Pro and Apple into enterprise marketing planning (SAP and Apple cooperation, Apple and IBM cooperation).

Developers need to answer the question: exactly what kind of business model? One-time payment, free installation and +App purchase or a subscription model?

1, a one-time payment model: the benefits of App download installation are related, while in the middle of an existing App Store developers recommend and there is no advantage in the discovery, is one reason now brush list seriously.

2, increase of 2.0 + subscription model is divided into: means a new model to make money is possible. That is, the initial setup cost reduction potential can be activated by the customer (demand), counting on the follow-up continues to subscribe to make money.

3, subscription model 2.0 and "free +App buy" mode provides more price points (200 different price points), and can charge different in different markets. This means that developers can take advantage of the subscription model 2.0 markets set prices to "best balance between supply and demand."

So, developers to their App essentially has the correct estimates of supply and demand in different markets in order to benefit from a subscription model. Instead, the error estimate of the situation can be fatal injuries.

User:

Overall, the App quality, and service should be improved. However, canceling subscriptions can be very hard to find.

Of course there are some bold imagination:

Google also benefits Play mode to 85%/15%, but Google Play no first 12 month subscription limit, directly 85%/15%-sharing model. For Microsoft, the iOS by leaps and bounds at the enterprise-level productivity tools, Office is dangerous, buy LinkedIn may not be able to solve the problem.

M & M'S iPhone 5 Case

Sunday, August 21, 2016

Sweep the robot how do indoor location

In August this year, Lei feng's network in Shenzhen will hold an unprecedented global influence of artificial intelligence and robotics Innovation Conference. When Lei feng's network (search for "Lei feng's network", public interest) will be published "artificial intelligence and robot Top25 list of innovative enterprises". At present, we are visiting related companies in the area of artificial intelligence, robots, sift through them eventually elected to the list list of companies. If you want to join our list, please contact: 2020@leiphone.com.

Lei feng's network: the writer Zhang Yukun/Liu Wei from bupt human-computer and cognition Lab (male: man machine and cognition lab). Path planning is the core of sweeping robot, robot localization and map building for path planning of services, this is to sweep the positioning of robot path planning. See article: sweeping path planning of robot is what to do?

Sweep the robot how do indoor location?

Am sure screen readers should have had the experience of sweeping, think back to sweep the process can be broken down into two main movements: went to a place to clean it. Correspondingly, as a replacement for human sweeping labor--sweep the robot also contains two main systems: autonomous navigation system and cleaning system.

If cleaning system is sweeping the robot dubbed "sweep" of the name of the capital, is to sweep the robot heart; then the autonomous navigation system is dubbed "robot" in the name of energy, is to sweep the robot's brain. If there is no autonomous navigation system, then it can only be called a "sweeping machine" instead of "sweeping robot". Let us look at sweeping robot "CLOUT" is generated.

| Three classic robot navigation problems

Sweep the robot how do indoor location?

Speaking of autonomous robot navigation, in simple terms can be summed up by MIT Professor John j. Leonard and former Sydney University Professor Hugh Durrant-Whyte raised three questions:

 (1) Where am I ?

Starbucks iPhone 5 Case

 (2) Where I am going?

 (3) How should I go there?

The first problem is the robot localization problem, namely how to based on the information now and previously known from observations, determine the robot's position in the current environment. The second and third questions, in fact, is to specify a target, and then plan a path to achieving this goal. For mobile robots in General, this is a point that point-to-point navigation. To sweep the robot, its goal is not to reach a certain point, but traversing a certain area, in order to achieve the cleaning of the room. Today we take a look at the first question, namely sweeping robot localization.

, Including sweeping robot, positioning is the most basic part of autonomous navigation of mobile robots, are also issues that must be resolved to complete a task. When it comes to positioning, we first thought may be the GPS positioning, positioning the base station device, such as an outdoor location. Starbucks iPhone 5 Case

In contrast, sweeping robot localization are indoor positioning, which require high positioning accuracy (at least in sub-meters), real-time, such as GPS and base station positioning methods can not meet. Sweeping robot localization in General can be divided into relative positioning and absolute positioning, we see below.

| Relative positioning method

Dead reckoning method (Dead-Reckoning Method) is a classic method of relative position and sweep the robot is currently the most widely used method of a location. It uses robots equipped with various sensors to obtain dynamic information, obtained by recursive cumulative formula first estimated position of the State. Dead reckoning sensors used are: encoder inertial sensors (such as gyroscopes, accelerometers) and so on.

Coding method using optical encoder mounted on wheels record wheel speed, and obtained in relation to the last sampling time position and attitude change, through the accumulation of these displacements can be estimated robot positions. Encoder advantages are simple and inexpensive, but its easier to calibration errors and to skid, bumps and other factors, large errors. But because disks are cheap, simple to use, and can be used within a short distance of the robot position estimation.

Inertial sensor uses gyroscopes and accelerometers are angular acceleration and the acceleration of information, through the integral access to location information. Under normal circumstances, using the positioning accuracy of inertial sensor above an encoder but its accuracy is also affected by gyro drift, sensitivity calibration errors, and other problems. Whether using disks or the inertial sensors, they all have a common drawback: cumulative errors, with the increasing travel time, distance, error increases. Relative positioning method is not suitable for long distances accurately.

| Absolute positioning method

Absolute location refers to the robot through access to the outside world some known reference information such as location, by calculating the relationship between ourselves and the reference information, and then calculate their own location ... absolute positioning are mainly based on the beacon's position, environment map model match, Visual locating method.

Beacon-based positioning

Sweep the robot how do indoor location?

Beacon position refers to nautical or aviation radio base station radio waves to achieve positioning and navigation technologies. Indoor positioning of the robot, it is a robot through various sensors receive a beacon or observation environment in known locations, calculated relative to the robot and the beacon location into known beacon position coordinate, work out the absolute coordinates of the robot to achieve positioning. Used to locate the beacon must meet 3 criteria:

(1) the beacon position remains constant and the absolute coordinates of the beacon is known;

(2) the beacon has active and passive character, easily identifiable;

(3) the beacon location from observations in all directions.

Beacon positioned mainly trilateration and triangulation. Trilateration is based on the measuring of the robot and the distance to determine the location of mobile robot beacons. Trilateration positioning system transmitter requires at least 3 known locations (or receiver) and receiver (or transmitter) is installed on a mobile robot. The idea of triangulation and trilateration is broadly in line, by measuring the angle between the mobile robot beacons to locate.

Sweep the robot how do indoor location?

Beacon-based positioning system relies on a series of beacons known features in the environment, and need to install sensors in mobile robot beacons were observed. There are many kinds of sensors for beacon observations, such as Ultrasonic sensors, lidar, vision sensors, and so on. Can measure in real time, no cumulative error, high precision, good stability, provide fast, stable and accurate absolute position information, but installation and maintenance costs are high. Appeared in the market more mature based on positioning beacons beacon positioned to sweep the robot, such as GPS satellite positioning technique for simulating Proscenic, Northstar navigation and positioning technology of iRobot, but because its prices are more expensive, they are used for relatively high-end products.

Environmental map model match

Is the robot through a variety of sensors to detect the surrounding environment, using perceive local maps constructed by local environmental information, and complete Web site stored in advance with map matching. Gained by matching our place in the global environment in order to determine its own position. This method because of the strict conditions, only a few relatively simple environment.

Sweep the robot how do indoor location?

Vision-based localization

Scientific research statistics show that human access to information from the outside world about 75% from the Visual, Visual system are robots and humans perceive the environment closest to the detection methods. Benefit from the development of pattern recognition, machine vision, vision-based robot localization has become a research topic.

Vision-based positioning is divided into monocular, binocular vision.

Three dimensional information of monocular vision cannot be obtained directly, only through the mobile access points in depth information, applicable to the task is relatively simple and the depth of information required is not high, if the geometry of the object model is used, take 3 or more features at the target point can obtain such information, but accuracy is not high. Starbucks iPhone 5 Case

Binocular stereo three-dimensional measurement is based on the principle of Parallax, which left the camera at any point on the image plane as long as they can in the right camera image plane, found on the corresponding matches, you can determine which information to obtain the corresponding three dimensional coordinates of a point.

At present, the sweeping robot based on Visual positioning products have been launched, Dyson and iRobot in 2015, 2014 and the high-end sweeping robot based on Visual positioning RoomBa980 and 360Eye.

Sweep the robot how do indoor location?

| Summary

Independent positioning is to sweep the robot path planning Foundation. After years of study, while constrained by factors such as cost, production, dead reckoning method is still the most widely used method of positioning, but through algorithm optimization using hybrid positioning, to minimise the effect of the error. And with high Visual locating method of positioning accuracy of location further mature, their costs will decrease and gradually from the top end of the market to the mass market, then swept the positioning accuracy of robot, intelligence has generally improved.

Lei Feng network Note: reprints please contact the authorized and retain complete information may not delete, modify articles.

Wednesday, August 10, 2016

Apple car and move with Korea battery intensive cooperation

Apple car and move, with Korea battery intensive cooperation

According to the Korea ETNews media coverage, Apple has a Korea small companies signed a confidentiality agreement, Apple will use the company's battery technology, both to Protect Titan project, development of new battery.

The industry believes that with Apple's style, which focus on developing only available to Apple self-driving car innovation in battery technology. So Apple is more likely to be sent for partner's research and development base, directly involved in the development of batteries, instead of using the batteries on the market. So that it can be from a completely different design, functionality, and performance perspectives to develop only fit for the battery. According to sources revealed that the beginning of the year, had been represented by an Apple battery Apple Development Department staff to Korea this battery manufacturers.

This Korea battery developers about 20 battery experts, the company holds a unique air-cell battery patent. Its available battery product is cylindrical lithium-ion secondary battery, two fingers thick.

With a closed cylindrical battery, air cell batteries in the battery pack for each unit provides more surface area, and are available in the normal process of charging and discharging, to achieve effective cooling. In emergency situations, hollow-core battery gases can also be discharged through the center channel security. In addition, the hollow cylindrical cells can be accomplished without welding batteries in parallel and in series. Meanwhile, if a single battery unit appears to be damaged, simply replace a single cell to, you do not need to replace the whole battery pack. Hello Kitty Samsung Note 3 case

Hello Kitty Note 3 Case

"Since we signed confidentiality agreements with Apple, so we cannot reveal the details of this project," the battery company's executives said. Hello Kitty Note 3 Case

Wednesday, August 3, 2016

These top Chinese hackers in the BlackHat world s Pilgrim

If the Internet is a kind of belief, then no beliefs so firmly defend a country like it.

If the Internet is one gorgeous Crown, then hacker technology is no doubt a bright diamond on the Crown.

If the Internet was a weapon, then the top hackers is precious wealth of a country.

Looks good, is China's top hackers are familiar with the world.

In 2009, Chinese hackers MJ0011 was invited to Korea POC presentation at the hackers Conference;

In 2014, 2 groups of Chinese BlackHat hacker hacker issues top meeting;

In 2015, the Group 5 issues from China "occupation" of Korea POC "half", 9 issues group of China to shine BlackHat.

There are less than a day in 2016, the hacker community the biggest rally of BlackHat USA Conference in Las Vegas. From all over the world flocked to Las Vegas for more than 10,000 believers hack, the podium Daniel not only framed the research trend of hackers in the world this year, also gushing challenge unknown to break through all the hacker spirit. Came to the stage, to the world to share their research results for most hackers, Daniel, also stood on the podium at the Olympics, exudes a special significance.

In 2016, the BlackHat Spotlight accept "worship", with 8 teams from China, 15 top, Daniel. Leaving Syria, let us meet these normally reclusive, mysterious top Chinese hackers.

Chen, and Fu Yubin, and He Qidan, and Marco Grassi

These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's

Four hackers Tencent Cohen from the famous laboratories, and Chen from the KeenTeam start-up times to today's senior hacker, has a brilliant record.

In 2013, he represents the transformation of KeenTeam play top international breaking competition "Pwn2Own", in blasting iPhone Safari and KeenTeam him a fame, to date, he has become the loophole, keeping God.

Under the divine blessing of Wu Shi hacker, Cohen vulnerability lab model sword and medals, moves and bizarre way. In terms of vulnerability mining, relying on advanced algorithms Cohen laboratories can compete with Google's artificial intelligence network of thousands of hosts.

In 2016, "Pwn2Own" contest, their vulnerability with an Apple graphics processing mechanisms break Safari, it becomes "crack in the World Masters" cleared. And the team share a theme, it is associated with this.

As we all know, Apple has very strict sandbox system, but inevitably many applications and graphics components for data exchange, a graphics program in theory, is a very good attacking the entrance. Although many hackers are aware of this fact, but failed to live this life. Because graphics vulnerability finding and difficulty of exploitation beyond the imagination.

Simply put, if you want a system exception, you need to build a unique input values. But found this very strange input values, like a needle in a haystack. Of course, God is a great God, because they can be found in the ocean data the odd result.

The speech at the BlackHat, their secret is to attack the secret to Apple's graphics system.

Of course, Cohen laboratory Marco Grassi on the study also credited, as you can see, Marco Grassi sounds is not a Chinese name, it comes from Italy. Italy who have traveled long distances, for the cause of liberation of the Chinese people, it is a spirit of God? Accordingly, the net of Lei feng felt he could among the Chinese God accepts worship list.

About lab you Cohen Daniel, can refer to the depth of the Lei Feng network interview:

Cohen lab Wu Shi: the people who stand between 0 and 1

The hacker Chen and TEL: make friends with vulnerability

Wei Tao Zhang Yulong

Alexander Mcqueen iPhone

These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's

Two hackers from Baidu X-Lab.

X-Lab Baidu Baidu is cutting-edge security research team, most recently in the area of security repeatedly scored new achievements. As X-Lab leader Wei Tao is an industry-recognized security and Daniel. Wei Tao served as a professor at Peking University, in deep skill system protection and mobile security.

This time they shared themes around the N-Day vulnerability.

In his eyes, 0-Day who have not been found vulnerabilities is invincible, but in the real world, but they are not the most popular "weapon"; but who has been out for a long time without repair of most "old vulnerabilities."

In simple terms, the largest killer in the world, is not a top tier of nuclear weapons, and probably everybody the chance to grasp the knife and a pistol. (Legally armed United States children's shoes a congratulatory message)

Wei Tao believes that

That were brought to light out for weeks or even months of Android vulnerability tends to have a clear and stable code. But for various reasons, manufacturers will not be repaired in the first time. Specific causes include hotfixes that are cumbersome, time consuming, too long, complex models fit, or simply don't need to put too much effort in terms of security.

X-Lab is working on a "secret weapon" is used to solve this problem. This program when the user online for mobile phones without the perception of patches, and for third-party manufacturers don't have the source code of the software are also available.

How is this secret weapon being produced, it is two hackers to reveal the content.

Head of the TK in Yang

These top Chinese hackers in the BlackHat world's

TK (Tombkeeper) from Tencent's black lab, he is red hacker community network. Referred to as Gynecologic masters his early "he abandoned medicine for black" interpretation of a period of intellectual freedom to pursue the story. Essential insight into the strong desire for the world to let him form a tight and clear view of the world. Problems know about hackers, TK's answer is almost always ranked first.

His "hacker how lonely life? "The answer is:

Cool, not lonely at all. Very few lonely is the lonely:

These top Chinese hackers in the BlackHat world's

Many in the industry, Daniel recognized, TK is and "fire gods" similar to meet hackers for many years. It is because he looks at things, "God's perspective", his main focus is not a single vulnerability "one city, one of the gains and losses", but repeatedly found that Microsoft "vulnerability mitigation" structural defects. Because of this, only his 2014 won Microsoft's $ 100,000 "reward programme" story.

The outbreak of the great God again in 2016. Using a business opportunity, he depends entirely on deducing the brain on the plane, I found a clean sweep in 20 years major structural vulnerabilities--BadTunnel Windows all versions.

In an interview, he once said to Lei feng's network:

Because Windows implements a lot of protocols and features, but these agreements and are designed and implemented by different people. Everyone, of course, are responsible for their own work. These agreements alone seems to have no problem. But the operating system is the need to integrate these protocols work together when vulnerabilities appear.

The BlackHat, is the story of BadTunnel and thinking of him. Using this vulnerability, hackers can invade Internet Explorer, Edg, Microsoft Office and many third-party software through USB or even a Web server, you can monitor all actions of any computer.

For example with his title, is that big brother is watching you. Alexander Mcqueen iPhone

More legend about TK leader, can refer to the network of Lei feng's articles:

The TK leader: and several stories relating to the black lab

Wang Tielei, Chen Xiaobo, and Xu Hao

These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's

Three Daniel Pangu from people very familiar with the team. The first jailbreak iPhone team has brought some benefits to many people, let people enjoy a free out of Apple's control. In recent years, Pangu iOS team during the Vietnam war, China Team in many more, come to the fore. They not only maintained the ability to jailbreak iOS 9.3.3, but also with multiple sets of vulnerabilities that can be jailbreak iOS 10 jailbreak to be released technology. Speak with technology, they are no rivals in the world.

This brings the question is, use vulnerabilities in the iOS 9.2 jailbreak structure. Although the vulnerability has been fixed by Apple, but this exploit is still very delicate and there is a shared value.

From the speech content, Pangu is the dry delivery, without the slightest reservation. Of course, in the latest iOS security research, they still retain a huge technological advantage, from this point of view, they stood on the podium at BlackHat, demonstrating.

Pan Gu team if you want to know the latest trends, you can refer to Lei feng's network (search for "Lei feng's network", public interest) Base:

MOSEC: Pangea team's ambitions of grace

Jian Yun Ji Lei

These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's

Jian Yun from 360 Team Unicorn, and his friend Ji Lei from Cypress.

Jian Yun nickname "lone white". The radio amateurs for the career he loved to "not madness not to survive".

Other than eat, sleep, I lie on the bench. From my work five years to now, pay rent, and almost all the rest of money on components. I took about more than 200,000 to buy devices over the years.

This is said in a net of Lei Feng Jian Yun.

Power line communication (PLC), power line carrier. This is a power-line technology as a medium of information exchange. It has two technology standards: Prime and G3. Both of these standards are widely used in automatic generation control and power monitoring. Two results of hacker is, through a special method, PLC data can be obtained, on the Internet and powerful threat to the industrial controller. But the same technology can monitor for network attacks by hackers.

If the Jian Yun made "hacker toy" interested can refer to the network of Lei feng's articles:

The secret! A radio toy for hackers

Fang Xiaodun

These top Chinese hackers in the BlackHat world's

Fang Xiaodun, founder of the well-known vulnerabilities community cloud. His title should have been: "how to build the Internet's immune system" Alexander Mcqueen iPhone 5

Many people know that because of recent small changes above the clouds, causing him to temporarily unable to reach Las Vegas, stood before the hackers of the world talk about Internet security fears and dreams.

However, Lei feng's network and had visited many other hackers, they expressed a common view: Fang Xiaodun and dark clouds to the progress of China's security industry, far outweigh the negative effects.

From this point of view, Fang Xiaodun and dark clouds build Internet dream of the immune system, and not a step backwards. BlackHat stage is waiting for the return of the hacker.

These top Chinese hackers in the BlackHat world's These top Chinese hackers in the BlackHat world's

Chinese hacker army, including Luan Shangcong from Ali Baba, his speech focused on the cloud and XEN virtualization vulnerabilities; another Bai Xiaolong from Tsinghua University (sound), he is interested in Apple's ZeroConf (zero network configuration) security vulnerabilities. 

In a sense, the hacker spirit is the spirit of our culture are scarce. But it gives the answer: year after year, as witnessed by Chinese hackers from alone into the military.

Our hackers, and accept the Quartet's pilgrimage.