Thanks for sharing this one Matt, great post demonstrating a lot of principles I've read about and, lucky for me, trained with on a few occasions as well. Koryu Uchinadi and the IRKRS provide some really interesting insights into the development (and at times de-evolution) of martial arts, particularly with karate, though that might be because my principle martial art of choice is karate, so I'm a little biased I find it really interesting to read about the changes and alterations made in the process of bringing particular styles into more mainstream acceptance as well.