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  Deep learning in photoacoustic imaging

  Photoacoustic imaging (PA) is based on the photoacoustic effect, in which optical absorption causes a rise in temperature, which causes a subsequent rise in pressure via thermo-elastic expansion. This pressure rise propagates through the tissue and is sensed via ultrasonic transducers. Due to the proportionality between the optical absorption, the rise in temperature, and the rise in pressure, the ultrasound pressure wave signal can be used to quantify the original optical energy deposition within the tissue. Photoacoustic imaging has applications of deep learning in both photoacoustic computed tomography (PACT) and photoacoustic microscopy (PAM). PACT utilizes wide-field optical excitation and an array of unfocused ultrasound transducers. Similar to other computed tomography methods, the sample is imaged at multiple view angles, which are then used to perform an inverse reconstruction algorithm based on the detection geometry (typically through universal backprojection, modified delay-and-sum, or time reversal ) to elicit the initial pressure distribution within the tissue. PAM on the other hand uses focused ultrasound detection combined with weakly focused optical excitation (acoustic resolution PAM or AR-PAM) or tightly focused optical excitation (optical resolution PAM or OR-PAM). PAM typically captures images point-by-point via a mechanical raster scanning pattern. At each scanned point, the acoustic time-of-flight provides axial resolution while the acoustic focusing yields lateral resolution. == Applications of deep learning in PACT == The first application of deep learning in PACT was by Reiter et al. in which a deep neural network was trained to learn spatial impulse responses and locate photoacoustic point sources. The resulting mean axial and lateral point location errors on 2,412 of their randomly selected test images were 0.28 mm and 0.37 mm respectively. After this initial implementation, the applications of deep learning in PACT have branched out primarily into removing artifacts from acoustic reflections, sparse sampling, limited-view, and limited-bandwidth. There has also been some recent work in PACT toward using deep learning for wavefront localization. There have been networks based on fusion of information from two different reconstructions to improve the reconstruction using deep learning fusion based networks. === Using deep learning to locate photoacoustic point sources === Traditional photoacoustic beamforming techniques modeled photoacoustic wave propagation by using detector array geometry and the time-of-flight to account for differences in the PA signal arrival time. However, this technique failed to account for reverberant acoustic signals caused by acoustic reflection, resulting in acoustic reflection artifacts that corrupt the true photoacoustic point source location information. In Reiter et al., a convolutional neural network (similar to a simple VGG-16 style architecture) was used that took pre-beamformed photoacoustic data as input and outputted a classification result specifying the 2-D point source location. ==== Deep learning for PA wavefront localization ==== Johnstonbaugh et al. was able to localize the source of photoacoustic wavefronts with a deep neural network. The network used was an encoder-decoder style convolutional neural network. The encoder-decoder network was made of residual convolution, upsampling, and high field-of-view convolution modules. A Nyquist convolution layer and differentiable spatial-to-numerical transform layer were also used within the architecture. Simulated PA wavefronts served as the input for training the model. To create the wavefronts, the forward simulation of light propagation was done with the NIRFast toolbox and the light-diffusion approximation, while the forward simulation of sound propagation was done with the K-Wave toolbox. The simulated wavefronts were subjected to different scattering mediums and Gaussian noise. The output for the network was an artifact free heat map of the targets axial and lateral position. The network had a mean error rate of less than 30 microns when localizing target below 40 mm and had a mean error rate of 1.06 mm for localizing targets between 40 mm and 60 mm. With a slight modification to the network, the model was able to accommodate multi target localization. A validation experiment was performed in which pencil lead was submerged into an intralipid solution at a depth of 32 mm. The network was able to localize the lead's position when the solution had a reduced scattering coefficient of 0, 5, 10, and 15 cm−1. The results of the network show improvements over standard delay-and-sum or frequency-domain beamforming algorithms and Johnstonbaugh proposes that this technology could be used for optical wavefront shaping, circulating melanoma cell detection, and real-time vascular surgeries. === Removing acoustic reflection artifacts (in the presence of multiple sources and channel noise) === Building on the work of Reiter et al., Allman et al. utilized a full VGG-16 architecture to locate point sources and remove reflection artifacts within raw photoacoustic channel data (in the presence of multiple sources and channel noise). This utilization of deep learning trained on simulated data produced in the MATLAB k-wave library, and then later reaffirmed their results on experimental data. === Ill-posed PACT reconstruction === In PACT, tomographic reconstruction is performed, in which the projections from multiple solid angles are combined to form an image. When reconstruction methods like filtered backprojection or time reversal, are ill-posed inverse problems due to sampling under the Nyquist-Shannon's sampling requirement or with limited-bandwidth/view, the resulting reconstruction contains image artifacts. Traditionally these artifacts were removed with slow iterative methods like total variation minimization, but the advent of deep learning approaches has opened a new avenue that utilizes a priori knowledge from network training to remove artifacts. In the deep learning methods that seek to remove these sparse sampling, limited-bandwidth, and limited-view artifacts, the typical workflow involves first performing the ill-posed reconstruction technique to transform the pre-beamformed data into a 2-D representation of the initial pressure distribution that contains artifacts. Then, a convolutional neural network (CNN) is trained to remove the artifacts, in order to produce an artifact-free representation of the ground truth initial pressure distribution. ==== Using deep learning to remove sparse sampling artifacts ==== When the density of uniform tomographic view angles is under what is prescribed by the Nyquist-Shannon's sampling theorem, it is said that the imaging system is performing sparse sampling. Sparse sampling typically occurs as a way of keeping production costs low and improving image acquisition speed. The typical network architectures used to remove these sparse sampling artifacts are U-net and Fully Dense (FD) U-net. Both of these architectures contain a compression and decompression phase. The compression phase learns to compress the image to a latent representation that lacks the imaging artifacts and other details. The decompression phase then combines with information passed by the residual connections in order to add back image details without adding in the details associated with the artifacts. FD U-net modifies the original U-net architecture by including dense blocks that allow layers to utilize information learned by previous layers within the dense block. Another technique was proposed using a simple CNN based architecture for removal of artifacts and improving the k-wave image reconstruction. ==== Removing limited-view artifacts with deep learning ==== When a region of partial solid angles are not captured, generally due to geometric limitations, the image acquisition is said to have limited-view. As illustrated by the experiments of Davoudi et al., limited-view corruptions can be directly observed as missing information in the frequency domain of the reconstructed image. Limited-view, similar to sparse sampling, makes the initial reconstruction algorithm ill-posed. Prior to deep learning, the limited-view problem was addressed with complex hardware such as acoustic deflectors and full ring-shaped transducer arrays, as well as solutions like compressed sensing, weighted factor, and iterative filtered backprojection. The result of this ill-posed reconstruction is imaging artifacts that can be removed by CNNs. The deep learning algorithms used to remove limited-view artifacts include U-net and FD U-net, as well as generative adversarial networks (GANs) and volumetric versions of U-net. One GAN implementation of note improved upon U-net by using U-net as a generator and VGG as a discriminator, with the Wasserstein metric and gradient penalty to stabilize training (WGAN-GP). ==== Pixel-wise interpolation

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  Human–robot collaboration

  Human-Robot Collaboration is the study of collaborative processes in human and robot agents work together to achieve shared goals. Many new applications for robots require them to work alongside people as capable members of human-robot teams. These include robots for homes, hospitals, and offices, space exploration and manufacturing. Human-Robot Collaboration (HRC) is an interdisciplinary research area comprising classical robotics, human-computer interaction, artificial intelligence, process design, layout planning, ergonomics, cognitive sciences, and psychology. Industrial applications of human-robot collaboration involve Collaborative Robots, or cobots, that physically interact with humans in a shared workspace to complete tasks such as collaborative manipulation or object handovers. == Collaborative Activity == Collaboration is defined as a special type of coordinated activity, one in which two or more agents work jointly with each other, together performing a task or carrying out the activities needed to satisfy a shared goal. The process typically involves shared plans, shared norms and mutually beneficial interactions. Although collaboration and cooperation are often used interchangeably, collaboration differs from cooperation as it involves a shared goal and joint action where the success of both parties depend on each other. For effective human-robot collaboration, it is imperative that the robot is capable of understanding and interpreting several communication mechanisms similar to the mechanisms involved in human-human interaction. The robot must also communicate its own set of intents and goals to establish and maintain a set of shared beliefs and to coordinate its actions to execute the shared plan. In addition, all team members demonstrate commitment to doing their own part, to the others doing theirs, and to the success of the overall task. == Theories Informing Human-Robot Collaboration == Human-human collaborative activities are studied in depth in order to identify the characteristics that enable humans to successfully work together. These activity models usually aim to understand how people work together in teams, how they form intentions and achieve a joint goal. Theories on collaboration inform human-robot collaboration research to develop efficient and fluent collaborative agents. === Belief Desire Intention Model === The belief-desire-intention (BDI) model is a model of human practical reasoning that was originally developed by Michael Bratman. The approach is used in intelligent agents research to describe and model intelligent agents. The BDI model is characterized by the implementation of an agent's beliefs (the knowledge of the world, state of the world), desires (the objective to accomplish, desired end state) and intentions (the course of actions currently under execution to achieve the desire of the agent) in order to deliberate their decision-making processes. BDI agents are able to deliberate about plans, select plans and execute plans. === Shared Cooperative Activity === Shared Cooperative Activity defines certain prerequisites for an activity to be considered shared and cooperative: mutual responsiveness, commitment to the joint activity and commitment to mutual support. An example case to illustrate these concepts would be a collaborative activity where agents are moving a table out the door, mutual responsiveness ensures that movements of the agents are synchronized; a commitment to the joint activity reassures each team member that the other will not at some point drop his side; and a commitment to mutual support deals with possible breakdowns due to one team member's inability to perform part of the plan. === Joint Intention Theory === Joint Intention Theory proposes that for joint action to emerge, team members must communicate to maintain a set of shared beliefs and to coordinate their actions towards the shared plan. In collaborative work, agents should be able to count on the commitment of other members, therefore each agent should inform the others when they reach the conclusion that a goal is achievable, impossible, or irrelevant. == Approaches to Human-Robot Collaboration == The approaches to human-robot collaboration include human emulation (HE) and human complementary (HC) approaches. Although these approaches have differences, there are research efforts to develop a unified approach stemming from potential convergences such as Collaborative Control. === Human Emulation === The human emulation approach aims to enable computers to act like humans or have human-like abilities in order to collaborate with humans. It focuses on developing formal models of human-human collaboration and applying these models to human-computer collaboration. In this approach, humans are viewed as rational agents who form and execute plans for achieving their goals and infer other people's plans. Agents are required to infer the goals and plans of other agents, and collaborative behavior consists of helping other agents to achieve their goals. === Human Complementary === The human complementary approach seeks to improve human-computer interaction by making the computer a more intelligent partner that complements and collaborates with humans. The premise is that the computer and humans have fundamentally asymmetric abilities. Therefore, researchers invent interaction paradigms that divide responsibility between human users and computer systems by assigning distinct roles that exploit the strengths and overcome the weaknesses of both partners. == Key Aspects == Specialization of Roles: Based on the level of autonomy and intervention, there are several human-robot relationships including master-slave, supervisor–subordinate, partner–partner, teacher–learner and fully autonomous robot. In addition to these roles, homotopy (a weighting function that allows a continuous change between leader and follower behaviors) was introduced as a flexible role distribution. Establishing shared goal(s): Through direct discussion about goals or inference from statements and actions, agents must determine the shared goals they are trying to achieve. Allocation of Responsibility and Coordination: Agents must decide how to achieve their goals, determine what actions will be done by each agent, and how to coordinate the actions of individual agents and integrate their results. Shared context: Agents must be able to track progress toward their goals. They must keep track of what has been achieved and what remains to be done. They must evaluate the effects of actions and determine whether an acceptable solution has been achieved. Communication: Any collaboration requires communication to define goals, negotiate over how to proceed and who will do what, and evaluate progress and results. Adaptation and learning: Collaboration over time require partners to adapt themselves to each other and learn from one's partner both directly or indirectly. Time and space: The time-space taxonomy divides human-robot interaction into four categories based on whether the humans and robots are using computing systems at the same time (synchronous) or different times (asynchronous) and while in the same place (collocated) or in different places (non-collocated). Ergonomics: Human factors and ergonomics are one of the key aspects for a sustainable human-robot collaboration. The robot control system can use biomechanical models and sensors to optimize various ergonomic metrics, such as muscle fatigue.

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  Office automation

  Office automation refers to the varied computer machinery and software used to digitally create, collect, store, manipulate, and relay office information needed for accomplishing basic tasks. Raw data storage, electronic transfer, and the management of electronic business information comprise the basic activities of an office automation system. Office automation helps in optimizing or automating existing office procedures. The backbone of office automation is a local area network, which allows users to transfer data, mail and voice across the network. All office functions, including dictation, typing, filing, copying, fax, telex, microfilm and records management, telephone and telephone switchboard operations, fall into this category. Office automation was a popular term in the 1970s and 1980s as the desktop computer exploded onto the scene. Advantages of office automation include that it can get many tasks accomplished faster, it eliminates the need for a large staff, less storage is required to store data, and multiple people can update data simultaneously in the event of changes in schedule. == Outline == Businesses can easily purchase and stock their wares with the aid of technology. Many of the manual tasks that used to be done by hand can now be done through hand held devices and UPC and SKU coding. In the retail setting, automation also increases choice. Customers can easily process their payments through automated credit card machines and no longer have to wait in line for an employee to process and manually type in the credit card numbers. Office payrolls have been automated, which means no one has to manually cut checks, and those checks that are cut can be printed through computer programs. Direct deposit can be automatically set up and this further reduces the manual process, and most employees who participate in direct deposit often find their paychecks come earlier than if they'd have to wait for their checks to be written and then cleared by the bank. Other ways automation has reduced employee manpower on tasks is automated voice direction. Through the use of prompts, automated phone menus and directed calls, the need for employees to be dedicated to answer the phones has been reduced, and in some cases, eliminated.

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  Tensor operator

  In pure and applied mathematics, quantum mechanics and computer graphics, a tensor operator generalizes the notion of operators which are scalars and vectors. A special class of these are spherical tensor operators which apply the notion of the spherical basis and spherical harmonics. The spherical basis closely relates to the description of angular momentum in quantum mechanics and spherical harmonic functions. The coordinate-free generalization of a tensor operator is known as a representation operator. == The general notion of scalar, vector, and tensor operators == In quantum mechanics, physical observables that are scalars, vectors, and tensors, must be represented by scalar, vector, and tensor operators, respectively. Whether something is a scalar, vector, or tensor depends on how it is viewed by two observers whose coordinate frames are related to each other by a rotation. Alternatively, one may ask how, for a single observer, a physical quantity transforms if the state of the system is rotated. Consider, for example, a system consisting of a molecule of mass M {\displaystyle M} , traveling with a definite center of mass momentum, p z ^ {\displaystyle p{\mathbf {\hat {z}} }} , in the z {\displaystyle z} direction. If we rotate the system by 90 ∘ {\displaystyle 90^{\circ }} about the y {\displaystyle y} axis, the momentum will change to p x ^ {\displaystyle p{\mathbf {\hat {x}} }} , which is in the x {\displaystyle x} direction. The center-of-mass kinetic energy of the molecule will, however, be unchanged at p 2 / 2 M {\displaystyle p^{2}/2M} . The kinetic energy is a scalar and the momentum is a vector, and these two quantities must be represented by a scalar and a vector operator, respectively. By the latter in particular, we mean an operator whose expected values in the initial and the rotated states are p z ^ {\displaystyle p{\mathbf {\hat {z}} }} and p x ^ {\displaystyle p{\mathbf {\hat {x}} }} . The kinetic energy on the other hand must be represented by a scalar operator, whose expected value must be the same in the initial and the rotated states. In the same way, tensor quantities must be represented by tensor operators. An example of a tensor quantity (of rank two) is the electrical quadrupole moment of the above molecule. Likewise, the octupole and hexadecapole moments would be tensors of rank three and four, respectively. Other examples of scalar operators are the total energy operator (more commonly called the Hamiltonian), the potential energy, and the dipole-dipole interaction energy of two atoms. Examples of vector operators are the momentum, the position, the orbital angular momentum, L {\displaystyle {\mathbf {L} }} , and the spin angular momentum, S {\displaystyle {\mathbf {S} }} . (Fine print: Angular momentum is a vector as far as rotations are concerned, but unlike position or momentum it does not change sign under space inversion, and when one wishes to provide this information, it is said to be a pseudovector.) Scalar, vector and tensor operators can also be formed by products of operators. For example, the scalar product L ⋅ S {\displaystyle {\mathbf {L} }\cdot {\mathbf {S} }} of the two vector operators, L {\displaystyle {\mathbf {L} }} and S {\displaystyle {\mathbf {S} }} , is a scalar operator, which figures prominently in discussions of the spin–orbit interaction. Similarly, the quadrupole moment tensor of our example molecule has the nine components Q i j = ∑ α q α ( 3 r α , i r α , j − r α 2 δ i j ) . {\displaystyle Q_{ij}=\sum _{\alpha }q_{\alpha }\left(3r_{\alpha ,i}r_{\alpha ,j}-r_{\alpha }^{2}\delta _{ij}\right).} Here, the indices i {\displaystyle i} and j {\displaystyle j} can independently take on the values 1, 2, and 3 (or x {\displaystyle x} , y {\displaystyle y} , and z {\displaystyle z} ) corresponding to the three Cartesian axes, the index α {\displaystyle \alpha } runs over all particles (electrons and nuclei) in the molecule, q α {\displaystyle q_{\alpha }} is the charge on particle α {\displaystyle \alpha } , and r α , i {\displaystyle r_{\alpha ,i}} is the i {\displaystyle i} -th component of the position of this particle. Each term in the sum is a tensor operator. In particular, the nine products r α , i r α , j {\displaystyle r_{\alpha ,i}r_{\alpha ,j}} together form a second rank tensor, formed by taking the outer product of the vector operator r α {\displaystyle {\mathbf {r} }_{\alpha }} with itself. == Rotations of quantum states == === Quantum rotation operator === The rotation operator about the unit vector n (defining the axis of rotation) through angle θ is U [ R ( θ , n ^ ) ] = exp ⁡ ( − i θ ℏ n ^ ⋅ J ) {\displaystyle U[R(\theta ,{\hat {\mathbf {n} }})]=\exp \left(-{\frac {i\theta }{\hbar }}{\hat {\mathbf {n} }}\cdot \mathbf {J} \right)} where J = (Jx, Jy, Jz) are the rotation generators (also the angular momentum matrices): J x = ℏ 2 ( 0 1 0 1 0 1 0 1 0 ) J y = ℏ 2 ( 0 i 0 − i 0 i 0 − i 0 ) J z = ℏ ( − 1 0 0 0 0 0 0 0 1 ) {\displaystyle J_{x}={\frac {\hbar }{\sqrt {2}}}{\begin{pmatrix}0&1&0\\1&0&1\\0&1&0\end{pmatrix}}\,\quad J_{y}={\frac {\hbar }{\sqrt {2}}}{\begin{pmatrix}0&i&0\\-i&0&i\\0&-i&0\end{pmatrix}}\,\quad J_{z}=\hbar {\begin{pmatrix}-1&0&0\\0&0&0\\0&0&1\end{pmatrix}}} and let R ^ = R ^ ( θ , n ^ ) {\displaystyle {\widehat {R}}={\widehat {R}}(\theta ,{\hat {\mathbf {n} }})} be a rotation matrix. According to the Rodrigues' rotation formula, the rotation operator then amounts to U [ R ( θ , n ^ ) ] = 1 1 − i sin ⁡ θ ℏ n ^ ⋅ J − 1 − cos ⁡ θ ℏ 2 ( n ^ ⋅ J ) 2 . {\displaystyle U[R(\theta ,{\hat {\mathbf {n} }})]=1\!\!1-{\frac {i\sin \theta }{\hbar }}{\hat {\mathbf {n} }}\cdot \mathbf {J} -{\frac {1-\cos \theta }{\hbar ^{2}}}({\hat {\mathbf {n} }}\cdot \mathbf {J} )^{2}.} An operator Ω ^ {\displaystyle {\widehat {\Omega }}} is invariant under a unitary transformation U if Ω ^ = U † Ω ^ U ; {\displaystyle {\widehat {\Omega }}={U}^{\dagger }{\widehat {\Omega }}U;} in this case for the rotation U ^ ( R ) {\displaystyle {\widehat {U}}(R)} , Ω ^ = U ( R ) † Ω ^ U ( R ) = exp ⁡ ( i θ ℏ n ^ ⋅ J ) Ω ^ exp ⁡ ( − i θ ℏ n ^ ⋅ J ) . {\displaystyle {\widehat {\Omega }}={U(R)}^{\dagger }{\widehat {\Omega }}U(R)=\exp \left({\frac {i\theta }{\hbar }}{\hat {\mathbf {n} }}\cdot \mathbf {J} \right){\widehat {\Omega }}\exp \left(-{\frac {i\theta }{\hbar }}{\hat {\mathbf {n} }}\cdot \mathbf {J} \right).} === Angular momentum eigenkets === The orthonormal basis set for total angular momentum is | j , m ⟩ {\displaystyle |j,m\rangle } , where j is the total angular momentum quantum number and m is the magnetic angular momentum quantum number, which takes values −j, −j + 1, ..., j − 1, j. A general state within the j subspace | ψ ⟩ = ∑ m c j m | j , m ⟩ {\displaystyle |\psi \rangle =\sum _{m}c_{jm}|j,m\rangle } rotates to a new state by: | ψ ¯ ⟩ = U ( R ) | ψ ⟩ = ∑ m c j m U ( R ) | j , m ⟩ {\displaystyle |{\bar {\psi }}\rangle =U(R)|\psi \rangle =\sum _{m}c_{jm}U(R)|j,m\rangle } Using the completeness condition: I = ∑ m ′ | j , m ′ ⟩ ⟨ j , m ′ | {\displaystyle I=\sum _{m'}|j,m'\rangle \langle j,m'|} we have | ψ ¯ ⟩ = I U ( R ) | ψ ⟩ = ∑ m m ′ c j m | j , m ′ ⟩ ⟨ j , m ′ | U ( R ) | j , m ⟩ {\displaystyle |{\bar {\psi }}\rangle =IU(R)|\psi \rangle =\sum _{mm'}c_{jm}|j,m'\rangle \langle j,m'|U(R)|j,m\rangle } Introducing the Wigner D matrix elements: D ( R ) m ′ m ( j ) = ⟨ j , m ′ | U ( R ) | j , m ⟩ {\displaystyle {D(R)}_{m'm}^{(j)}=\langle j,m'|U(R)|j,m\rangle } gives the matrix multiplication: | ψ ¯ ⟩ = ∑ m m ′ c j m D m ′ m ( j ) | j , m ′ ⟩ ⇒ | ψ ¯ ⟩ = D ( j ) | ψ ⟩ {\displaystyle |{\bar {\psi }}\rangle =\sum _{mm'}c_{jm}D_{m'm}^{(j)}|j,m'\rangle \quad \Rightarrow \quad |{\bar {\psi }}\rangle =D^{(j)}|\psi \rangle } For one basis ket: | j , m ¯ ⟩ = ∑ m ′ D ( R ) m ′ m ( j ) | j , m ′ ⟩ {\displaystyle |{\overline {j,m}}\rangle =\sum _{m'}{D(R)}_{m'm}^{(j)}|j,m'\rangle } For the case of orbital angular momentum, the eigenstates | ℓ , m ⟩ {\displaystyle |\ell ,m\rangle } of the orbital angular momentum operator L and solutions of Laplace's equation on a 3d sphere are spherical harmonics: Y ℓ m ( θ , ϕ ) = ⟨ θ , ϕ | ℓ , m ⟩ = ( 2 ℓ + 1 ) 4 π ( ℓ − m ) ! ( ℓ + m ) ! P ℓ m ( cos ⁡ θ ) e i m ϕ {\displaystyle Y_{\ell }^{m}(\theta ,\phi )=\langle \theta ,\phi |\ell ,m\rangle ={\sqrt {{(2\ell +1) \over 4\pi }{(\ell -m)! \over (\ell +m)!}}}\,P_{\ell }^{m}(\cos {\theta })\,e^{im\phi }} where Pℓm is an associated Legendre polynomial, ℓ is the orbital angular momentum quantum number, and m is the orbital magnetic quantum number which takes the values −ℓ, −ℓ + 1, ... ℓ − 1, ℓ The formalism of spherical harmonics have wide applications in applied mathematics, and are closely related to the formalism of spherical tensors, as shown below. Spherical harmonics are functions of the polar and azimuthal angles, ϕ and θ respectively, which can be conveniently collected into a unit vector n(θ, ϕ) pointing in the direction of those angles, in the Cartesian basis it is: n ^ ( θ , ϕ ) = cos ⁡ ϕ sin ⁡ θ e x + s

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  Richardson–Lucy deconvolution

  The Richardson–Lucy algorithm, also known as Lucy–Richardson deconvolution, is an iterative procedure for recovering an underlying image that has been blurred by a known point spread function. It was named after William Richardson and Leon B. Lucy, who described it independently. == Description == When an image is produced using an optical system and detected using photographic film, a charge-coupled device or a CMOS sensor, for example, it is inevitably blurred, with an ideal point source not appearing as a point but being spread out into what is known as the point spread function. Extended sources can be decomposed into the sum of many individual point sources, thus the observed image can be represented in terms of a transition matrix p operating on an underlying image: d i = ∑ j p i , j u j , {\displaystyle d_{i}=\sum _{j}p_{i,j}u_{j},} where u j {\displaystyle u_{j}} is the intensity of the underlying image at pixel j {\displaystyle j} , and d i {\displaystyle d_{i}} is the detected intensity at pixel i {\displaystyle i} . In general, a matrix whose elements are p i , j {\displaystyle p_{i,j}} describes the portion of light from source pixel j that is detected in pixel i. In most good optical systems (or in general, linear systems that are described as shift-invariant) the transfer function p can be expressed simply in terms of the spatial offset between the source pixel j and the observation pixel i: p i , j = P ( i − j ) , {\displaystyle p_{i,j}=P(i-j),} where P ( Δ i ) {\displaystyle P(\Delta i)} is called a point spread function. In that case the above equation becomes a convolution. This has been written for one spatial dimension, but most imaging systems are two-dimensional, with the source, detected image, and point spread function all having two indices. So a two-dimensional detected image is a convolution of the underlying image with a two-dimensional point spread function P ( Δ x , Δ y ) {\displaystyle P(\Delta x,\Delta y)} plus added detection noise. In order to estimate u j {\displaystyle u_{j}} given the observed d i {\displaystyle d_{i}} and a known P ( Δ i x , Δ j y ) {\displaystyle P(\Delta i_{x},\Delta j_{y})} , the following iterative procedure is employed in which the estimate of u j {\displaystyle u_{j}} (called u ^ j ( t ) {\displaystyle {\hat {u}}_{j}^{(t)}} ) for iteration number t is updated as follows: u ^ j ( t + 1 ) = u ^ j ( t ) ∑ i d i c i p i j , {\displaystyle {\hat {u}}_{j}^{(t+1)}={\hat {u}}_{j}^{(t)}\sum _{i}{\frac {d_{i}}{c_{i}}}p_{ij},} where c i = ∑ j p i j u ^ j ( t ) , {\displaystyle c_{i}=\sum _{j}p_{ij}{\hat {u}}_{j}^{(t)},} and ∑ j p i j = 1 {\displaystyle \sum _{j}p_{ij}=1} is assumed. It has been shown empirically that if this iteration converges, it converges to the maximum likelihood solution for u j {\displaystyle u_{j}} . Writing this more generally for two (or more) dimensions in terms of convolution with a point spread function P: u ^ ( t + 1 ) = u ^ ( t ) ⋅ ( d u ^ ( t ) ⊗ P ⊗ P ∗ ) , {\displaystyle {\hat {u}}^{(t+1)}={\hat {u}}^{(t)}\cdot \left({\frac {d}{{\hat {u}}^{(t)}\otimes P}}\otimes P^{}\right),} where the division and multiplication are element-wise, ⊗ {\displaystyle \otimes } indicates a 2D convolution, and P ∗ {\displaystyle P^{}} is the mirrored point spread function, or the inverse Fourier transform of the Hermitian transpose of the optical transfer function. In problems where the point spread function p i j {\displaystyle p_{ij}} is not known a priori, a modification of the Richardson–Lucy algorithm has been proposed, in order to accomplish blind deconvolution. == Derivation == In the context of fluorescence microscopy, the probability of measuring a set of number of photons (or digitalization counts proportional to detected light) m = [ m 0 , … , m K ] {\displaystyle \mathbf {m} =[m_{0},\dots ,m_{K}]} for expected values E = [ E 0 , … , E K ] {\displaystyle \mathbf {E} =[E_{0},\dots ,E_{K}]} for a detector with K + 1 {\displaystyle K+1} pixels is given by P ( m ∣ E ) = ∏ i K Poisson ⁡ ( E i ) = ∏ i K E i m i e − E i m i ! . {\displaystyle P(\mathbf {m} \mid \mathbf {E} )=\prod _{i}^{K}\operatorname {Poisson} (E_{i})=\prod _{i}^{K}{\frac {E_{i}^{m_{i}}e^{-E_{i}}}{m_{i}!}}.} Since in the context of maximum-likelihood estimation the aim is to locate the maximum of the likelihood function without concern for its absolute value, it is convenient to work with ln ⁡ ( P ) {\displaystyle \ln(P)} : ln ⁡ P ( m ∣ E ) = ∑ i K [ ( m i ln ⁡ E i − E i ) − ln ⁡ ( m i ! ) ] . {\displaystyle \ln P(\mathbf {m} \mid \mathbf {E} )=\sum _{i}^{K}[(m_{i}\ln E_{i}-E_{i})-\ln(m_{i}!)].} Moreover, since ln ⁡ ( m i ! ) {\displaystyle \ln(m_{i}!)} is a constant, it does not give any additional information regarding the position of the maximum, so consider α ( m ∣ E ) = ∑ i K [ m i ln ⁡ E i − E i ] , {\displaystyle \alpha (\mathbf {m} \mid \mathbf {E} )=\sum _{i}^{K}[m_{i}\ln E_{i}-E_{i}],} where α {\displaystyle \alpha } is something that shares the same maximum position as P ( m ∣ E ) {\displaystyle P(\mathbf {m} \mid \mathbf {E} )} . Now consider that E {\displaystyle \mathbf {E} } comes from a ground truth x {\displaystyle \mathbf {x} } and a measurement H {\displaystyle \mathbf {H} } which is assumed to be linear. Then E = H x , {\displaystyle \mathbf {E} =\mathbf {H} \mathbf {x} ,} where a matrix multiplication is implied. This can also be written in the form E m = ∑ n K H m n x n , {\displaystyle E_{m}=\sum _{n}^{K}H_{mn}x_{n},} where it can be seen how H {\displaystyle H} mixes or blurs the ground truth. It can also be shown that the derivative of an element of E {\displaystyle \mathbf {E} } , ( E i ) {\displaystyle (E_{i})} with respect to some other element of x j {\displaystyle x_{j}} can be written as It is easy to see this by writing a matrix H {\displaystyle \mathbf {H} } of, say, 5 × 5 and two arrays E {\displaystyle \mathbf {E} } and x {\displaystyle \mathbf {x} } of 5 elements and check it. This last equation can be interpreted as how much one element of x {\displaystyle \mathbf {x} } , say element i {\displaystyle i} , influences the other elements j ≠ i {\displaystyle j\neq i} (and of course the case i = j {\displaystyle i=j} is also taken into account). For example, in a typical case an element of the ground truth x {\displaystyle \mathbf {x} } will influence nearby elements in E {\displaystyle \mathbf {E} } but not the very distant ones (a value of 0 {\displaystyle 0} is expected on those matrix elements). Now, the key and arbitrary step: x {\displaystyle \mathbf {x} } is not known but may be estimated by x ^ {\displaystyle {\hat {\mathbf {x} }}} . Let's call x ^ old {\displaystyle {\hat {\mathbf {x} }}_{\text{old}}} and x ^ new {\displaystyle {\hat {\mathbf {x} }}_{\text{new}}} the estimated ground truths while using the RL algorithm, where the hat symbol is used to distinguish ground truth from estimator of the ground truth where ∂ ∂ x {\displaystyle {\frac {\partial }{\partial \mathbf {x} }}} stands for a K {\displaystyle K} -dimensional gradient. Performing the partial derivative of α ( m ∣ E ( x ) ) {\displaystyle \alpha (\mathbf {m} \mid \mathbf {E} (\mathbf {x} ))} yields the following expression: ∂ α ( m ∣ E ( x ) ) ∂ x j = ∂ ∂ x j ∑ i K [ m i ln ⁡ E i − E i ] = ∑ i K [ m i E i ∂ ∂ x j E i − ∂ ∂ x j E i ] = ∑ i K ∂ E i ∂ x j [ m i E i − 1 ] . {\displaystyle {\frac {\partial \alpha (\mathbf {m} \mid \mathbf {E} (\mathbf {x} ))}{\partial x_{j}}}={\frac {\partial }{\partial x_{j}}}\sum _{i}^{K}[m_{i}\ln E_{i}-E_{i}]=\sum _{i}^{K}\left[{\frac {m_{i}}{E_{i}}}{\frac {\partial }{\partial x_{j}}}E_{i}-{\frac {\partial }{\partial x_{j}}}E_{i}\right]=\sum _{i}^{K}{\frac {\partial E_{i}}{\partial x_{j}}}\left[{\frac {m_{i}}{E_{i}}}-1\right].} By substituting (1), it follows that ∂ α ( m ∣ E ( x ) ) ∂ x j = ∑ i K H i j [ m i E i − 1 ] . {\displaystyle {\frac {\partial \alpha (\mathbf {m} \mid \mathbf {E} (\mathbf {x} ))}{\partial x_{j}}}=\sum _{i}^{K}H_{ij}\left[{\frac {m_{i}}{E_{i}}}-1\right].} Note that H j i T = H i j {\displaystyle H_{ji}^{T}=H_{ij}} by the definition of a matrix transpose. And hence Since this equation is true for all j {\displaystyle j} spanning all the elements from 1 {\displaystyle 1} to K {\displaystyle K} , these K {\displaystyle K} equations may be compactly rewritten as a single vectorial equation ∂ α ( m ∣ E ( x ) ) ∂ x = H T [ m E − 1 ] , {\displaystyle {\frac {\partial \alpha (\mathbf {m} \mid \mathbf {E} (\mathbf {x} ))}{\partial \mathbf {x} }}=\mathbf {H} ^{T}\left[{\frac {\mathbf {m} }{\mathbf {E} }}-\mathbf {1} \right],} where H T {\displaystyle \mathbf {H} ^{T}} is a matrix, and m {\displaystyle \mathbf {m} } , E {\displaystyle \mathbf {E} } and 1 {\displaystyle \mathbf {1} } are vectors. Now, as a seemingly arbitrary but key step, let where 1 {\displaystyle \mathbf {1} } is a vector of ones of size K {\displaystyle K} (same as m {\displaystyle \mathbf {m} } , E {\displaystyle \mathbf {E} } and x {\displaystyle \mathbf {x} } ), and the d

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  Blobotics

  Blobotics is a term describing research into chemical-based computer processors based on ions rather than electrons. Andrew Adamatzky, a computer scientist at the University of the West of England, Bristol used the term in an article in New Scientist March 28, 2005 [1]. The aim is to create 'liquid logic gates' which would be 'infinitely reconfigurable and self-healing'. The process relies on the Belousov–Zhabotinsky reaction, a repeating cycle of three separate sets of reactions. Such a processor could form the basis of a robot which, using artificial sensors, interact with its surroundings in a way which mimics living creatures. The coining of the term was featured by ABC radio in Australia [2].

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  Voice user interface

  A voice user interface (VUI) enables spoken human interaction with computers, using speech recognition to understand spoken commands and answer questions, and typically text to speech to play a reply. A voice command device is a device controlled with a voice user interface. Voice user interfaces have been added to automobiles, home automation systems, computer operating systems, home appliances like washing machines and microwave ovens, and television remote controls. They are the primary way of interacting with virtual assistants on smartphones and smart speakers. Older automated attendants (which route phone calls to the correct extension) and interactive voice response systems (which conduct more complicated transactions over the phone) can respond to the pressing of keypad buttons via DTMF tones, but those with a full voice user interface allow callers to speak requests and responses without having to press any buttons. Newer voice command devices are speaker-independent, so they can respond to multiple voices, regardless of accent or dialectal influences. They are also capable of responding to several commands at once, separating vocal messages, and providing appropriate feedback, accurately imitating a natural conversation. == Overview == A VUI is the interface to any speech application. Only a short time ago, controlling a machine by simply talking to it was only possible in science fiction. Until recently, this area was considered to be artificial intelligence. However, advances in technologies like text-to-speech, speech-to-text, natural language processing, and cloud services contributed to the mass adoption of these types of interfaces. VUIs have become more commonplace, and people are taking advantage of the value that these hands-free, eyes-free interfaces provide in many situations. VUIs rely on the ability to process input reliably, inconsistent performance often leads to decreased user engagement and negative feedback. Designing a good VUI requires interdisciplinary talents of computer science, linguistics and human factors such as psychology. Even with advanced development tools, constructing an effective VUI requires understanding of both the tasks to be performed, as well as the target audience that will use the final system. The closer the VUI matches the user's mental model of the task, the easier it will be to use with little or no training, resulting in both higher efficiency and higher user satisfaction. A VUI designed for the general public should emphasize ease of use and provide a lot of help and guidance for first-time callers. In contrast, a VUI designed for a small group of power users (including field service workers), should focus more on productivity and less on help and guidance. Such applications should streamline the call flows, minimize prompts, eliminate unnecessary iterations and allow elaborate "mixed initiative dialogs", which enable callers to enter several pieces of information in a single utterance and in any order or combination. In short, speech applications have to be carefully crafted for the specific business process that is being automated. Not all business processes render themselves equally well for speech automation. In general, the more complex the inquiries and transactions are, the more challenging they will be to automate, and the more likely they will be to fail with the general public. In some scenarios, automation is simply not applicable, so live agent assistance is the only option. A legal advice hotline, for example, would be very difficult to automate. On the flip side, speech is perfect for handling quick and routine transactions, like changing the status of a work order, completing a time or expense entry, or transferring funds between accounts. == History == Early applications for VUI included voice-activated dialing of phones, either directly or through a (typically Bluetooth) headset or vehicle audio system. In 2007, a CNN business article reported that voice command was over a billion dollar industry and that companies like Google and Apple were trying to create speech recognition features. In the years since the article was published, the world has witnessed a variety of voice command devices. Additionally, Google has created a speech recognition engine called Pico TTS and Apple released Siri. Voice command devices are becoming more widely available, and innovative ways for using the human voice are always being created. For example, Business Week suggests that the future remote controller is going to be the human voice. Currently Xbox Live allows such features and Jobs hinted at such a feature on the new Apple TV. == Voice command software products on computing devices == Both Apple Mac and Windows PC provide built in speech recognition features for their latest operating systems. === Microsoft Windows === Two Microsoft operating systems, Windows 7 and Windows Vista, provide speech recognition capabilities. Microsoft integrated voice commands into their operating systems to provide a mechanism for people who want to limit their use of the mouse and keyboard, but still want to maintain or increase their overall productivity. ==== Windows Vista ==== With Windows Vista voice control, a user may dictate documents and emails in mainstream applications, start and switch between applications, control the operating system, format documents, save documents, edit files, efficiently correct errors, and fill out forms on the Web. The speech recognition software learns automatically every time a user uses it, and speech recognition is available in English (U.S.), English (U.K.), German (Germany), French (France), Spanish (Spain), Japanese, Chinese (Traditional), and Chinese (Simplified). In addition, the software comes with an interactive tutorial, which can be used to train both the user and the speech recognition engine. ==== Windows 7 ==== In addition to all the features provided in Windows Vista, Windows 7 provides a wizard for setting up the microphone and a tutorial on how to use the feature. ==== Mac OS X ==== All Mac OS X computers come pre-installed with the speech recognition software. The software is user-independent, and it allows for a user to, "navigate menus and enter keyboard shortcuts; speak checkbox names, radio button names, list items, and button names; and open, close, control, and switch among applications." However, the Apple website recommends a user buy a commercial product called Dictate. === Commercial products === If a user is not satisfied with the built in speech recognition software or a user does not have a built speech recognition software for their OS, then a user may experiment with a commercial product such as Braina Pro or DragonNaturallySpeaking for Windows PCs, and Dictate, the name of the same software for Mac OS. == Voice command mobile devices == Any mobile device running Android OS, Microsoft Windows Phone, iOS 9 or later, or Blackberry OS provides voice command capabilities. In addition to the built-in speech recognition software for each mobile phone's operating system, a user may download third party voice command applications from each operating system's application store: Apple App store, Google Play, Windows Phone Marketplace (initially Windows Marketplace for Mobile), or BlackBerry App World. === Android OS === Google has developed an open source operating system called Android, which allows a user to perform voice commands such as: send text messages, listen to music, get directions, call businesses, call contacts, send email, view a map, go to websites, write a note, and search Google. The speech recognition software is available for all devices since Android 2.2 "Froyo", but the settings must be set to English. Google allows for the user to change the language, and the user is prompted when he or she first uses the speech recognition feature if he or she would like their voice data to be attached to their Google account. If a user decides to opt into this service, it allows Google to train the software to the user's voice. Google introduced the Google Assistant with Android 7.0 "Nougat". It is much more advanced than the older version. Amazon.com has the Echo that uses Amazon's custom version of Android to provide a voice interface. === Microsoft Windows === Windows Phone is Microsoft's mobile device's operating system. On Windows Phone 7.5, the speech app is user independent and can be used to: call someone from your contact list, call any phone number, redial the last number, send a text message, call your voice mail, open an application, read appointments, query phone status, and search the web. In addition, speech can also be used during a phone call, and the following actions are possible during a phone call: press a number, turn the speaker phone on, or call someone, which puts the current call on hold. Windows 10 introduces Cortana, a voice control system that replaces the formerly used voice control on Windows

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  Feed forward (control)

  A feed forward (sometimes written feedforward) is an element or pathway within a control system that passes a controlling signal from a source in its external environment to a load elsewhere in its external environment. This is often a command signal from an external operator. In control engineering, a feedforward control system is a control system that uses sensors to detect disturbances affecting the system and then applies an additional input to minimize the effect of the disturbance. This requires a mathematical model of the system so that the effect of disturbances can be properly predicted. A control system which has only feed-forward behavior responds to its control signal in a pre-defined way without responding to the way the system reacts; it is in contrast with a system that also has feedback, which adjusts the input to take account of how it affects the system, and how the system itself may vary unpredictably. In a feed-forward system, the control variable adjustment is not error-based. Instead it is based on knowledge about the process in the form of a mathematical model of the process and knowledge about, or measurements of, the process disturbances. Some prerequisites are needed for control scheme to be reliable by pure feed-forward without feedback: the external command or controlling signal must be available, and the effect of the output of the system on the load should be known (that usually means that the load must be predictably unchanging with time). Sometimes pure feed-forward control without feedback is called 'ballistic', because once a control signal has been sent, it cannot be further adjusted; any corrective adjustment must be by way of a new control signal. In contrast, 'cruise control' adjusts the output in response to the load that it encounters, by a feedback mechanism. These systems could relate to control theory, physiology, or computing. == Overview == With feed-forward or feedforward control, the disturbances are measured and accounted for before they have time to affect the system. In the house example, a feed-forward system may measure the fact that the door is opened and automatically turn on the heater before the house can get too cold. The difficulty with feed-forward control is that the effects of the disturbances on the system must be accurately predicted, and there must not be any unmeasured disturbances. For instance, if a window was opened that was not being measured, the feed-forward-controlled thermostat might let the house cool down. The term has specific meaning within the field of CPU-based automatic control. The discipline of feedforward control as it relates to modern, CPU based automatic controls is widely discussed, but is seldom practiced due to the difficulty and expense of developing or providing for the mathematical model required to facilitate this type of control. Open-loop control and feedback control, often based on canned PID control algorithms, are much more widely used. There are three types of control systems: open-loop, feed-forward, and feedback. An example of a pure open-loop control system is manual non-power-assisted steering of a motor car; the steering system does not have access to an auxiliary power source and does not respond to varying resistance to turning of the direction wheels; the driver must make that response without help from the steering system. In comparison, power steering has access to a controlled auxiliary power source, which depends on the engine speed. When the steering wheel is turned, a valve is opened which allows fluid under pressure to turn the wheels. A sensor monitors that pressure so that the valve only opens enough to cause the correct pressure to reach the wheel turning mechanism. This is feed-forward control where the output of the system, the change in direction of travel of the vehicle, plays no part in the system. See Model predictive control. If the driver is included in the system, then they do provide a feedback path by observing the direction of travel and compensating for errors by turning the steering wheel. In that case you have a feedback system, and the block labeled System in Figure(c) is a feed-forward system. In other words, systems of different types can be nested, and the overall system regarded as a black-box. Feedforward control is distinctly different from open-loop control and teleoperator systems. Feedforward control requires a mathematical model of the plant (process and/or machine being controlled) and the plant's relationship to any inputs or feedback the system might receive. Neither open-loop control nor teleoperator systems require the sophistication of a mathematical model of the physical system or plant being controlled. Control based on operator input without integral processing and interpretation through a mathematical model of the system is a teleoperator system and is not considered feedforward control. == History == Historically, the use of the term feedforward is found in works by Harold S. Black in US patent 1686792 (invented 17 March 1923) and D. M. MacKay as early as 1956. While MacKay's work is in the field of biological control theory, he speaks only of feedforward systems. MacKay does not mention feedforward control or allude to the discipline of feedforward controls. MacKay and other early writers who use the term feedforward are generally writing about theories of how human or animal brains work. Black also has US patent 2102671 invented 2 August 1927 on the technique of feedback applied to electronic systems. The discipline of feedforward controls was largely developed by professors and graduate students at Georgia Tech, MIT, Stanford and Carnegie Mellon. Feedforward is not typically hyphenated in scholarly publications. Meckl and Seering of MIT and Book and Dickerson of Georgia Tech began the development of the concepts of Feedforward Control in the mid-1970s. The discipline of Feedforward Controls was well defined in many scholarly papers, articles and books by the late 1980s. == Benefits == The benefits of feedforward control are significant and can often justify the extra cost, time and effort required to implement the technology. Control accuracy can often be improved by as much as an order of magnitude if the mathematical model is of sufficient quality and implementation of the feedforward control law is well thought out. Energy consumption by the feedforward control system and its driver is typically substantially lower than with other controls. Stability is enhanced such that the controlled device can be built of lower cost, lighter weight, springier materials while still being highly accurate and able to operate at high speeds. Other benefits of feedforward control include reduced wear and tear on equipment, lower maintenance costs, higher reliability and a substantial reduction in hysteresis. Feedforward control is often combined with feedback control to optimize performance. == Model == The mathematical model of the plant (machine, process or organism) used by the feedforward control system may be created and input by a control engineer or it may be learned by the control system. Control systems capable of learning and/or adapting their mathematical model have become more practical as microprocessor speeds have increased. The discipline of modern feedforward control was itself made possible by the invention of microprocessors. Feedforward control requires integration of the mathematical model into the control algorithm such that it is used to determine the control actions based on what is known about the state of the system being controlled. In the case of control for a lightweight, flexible robotic arm, this could be as simple as compensating between when the robot arm is carrying a payload and when it is not. The target joint angles are adjusted to place the payload in the desired position based on knowing the deflections in the arm from the mathematical model's interpretation of the disturbance caused by the payload. Systems that plan actions and then pass the plan to a different system for execution do not satisfy the above definition of feedforward control. Unless the system includes a means to detect a disturbance or receive an input and process that input through the mathematical model to determine the required modification to the control action, it is not true feedforward control. === Open system === In control theory, an open system is a feed forward system that does not have any feedback loop to control its output. In contrast, a closed system uses on a feedback loop to control the operation of the system. In an open system, the output of the system is not fed back into the input to the system for control or operation. == Applications == === Physiological feed-forward system === In physiology, feed-forward control is exemplified by the normal anticipatory regulation of heartbeat in advance of actual physical exertion by the central autonomic network. Feed-forward

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  Shape table

  Shape tables are a feature of the Apple II ROMs which allows for manipulation of small images encoded as a series of vectors. An image (or shape) can be drawn in the high-resolution graphics mode—with scaling and rotation—via software routines in the ROM. Shape tables are supported via Applesoft BASIC and from machine code in the "Programmer's Aid" package that was bundled with the original Integer BASIC ROMs for that computer. Applesoft's high-resolution graphics routines were not optimized for speed, so shape tables were not typically used for performance-critical software such as games, which were typically written in assembly language and used pre-shifted bitmap shapes. Shape tables were used primarily for static shapes and sometimes for fancy text; Beagle Bros offered a number of fonts in Font Mechanic as Applesoft shape tables. == Technical details == The vectors of a two-dimensional graphic, each encoding a direction from the previous pixel along with a flag indicating whether the new pixel should be illuminated or not, were encoded up to three in a byte. These were stored in a table via the Monitor or the POKE command. From there, the graphic could be referenced by number (a table could contain up to 255 shapes), and built-in Applesoft routines permitted scaling, rotating, and drawing or erasing the shape. An XOR mode was also available to allow the shape to be visible on any color background; this had the advantage, also, of allowing the shape to be easily erased by redrawing it. Apple did not provide any utilities for creating shape tables; they had to be created by hand, usually by plotting on graph paper, then calculating the hexadecimal values and entering them into the computer. Beagle Bros created a shape table editing program, which eliminated the "number crunching", called Apple Mechanic, and a related program, Font Mechanic.

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  Computer-aided lean management

  Computer-aided lean management, in business management, is a methodology of developing and using software-controlled, lean systems integration. Its goal is to drive innovation towards cost and cycle-time savings. It attempts to create an efficient use of capital and resources through the development and use of one integrated system model to run a business's planning, engineering, design, maintenance, and operations. == Overview == Computer-Aided Lean Management (CALM) is a management philosophy that uses software to reduce risk and inefficiencies. CALM acts on uncertainties and business inefficiencies to increase profitability through the use of computational decision-making tools that enable opportunities for additional value creation. It is based on the application of software to enable continuous improvement through an Integrated System Model (ISM) of the business’s physical assets, business processes, and machine learning. This integration of software applications using lean principles was developed in the aerospace industry and has migrated to the energy industry. The creation of an ISM removes the barriers posed by the silos or stovepipes inherent in the departmentalization of most companies. Integration enables lean uses of information for the creation of actionable knowledge. CALM strives to create such a lean management approach to running the company through the rigors of software enforcement. From this software enforcement comes clear policy and procedures that are adhered to, activity-based costing, measurement of effectiveness, and the capability of using advanced algorithms for dramatic improvements in optimization of resources. CALM creates business capabilities through software to enable technology application, streamlining of processes, and a lean organizational structure. The methodology is based on a common sense approach for running a business, by measuring actions taken and using those measurements to design more efficient processes. == History == CALM was inspired by lean processes and techniques that were already dominant management technologies with a wide diversity of applications and successes. Motorola and General Electric had been known for the concepts of Six Sigma; Boeing had been managing mass (using modular and flexible assembly options), and Toyota combined elements of these methodologies to create the Toyota Production System. Boeing then took the Toyota model and added computer-aided enforcement of lean methodologies throughout the manufacturing process. One of the major sources for CALM's outgrowth was integrated definition (IDEF) modeling in aerospace manufacturing that was pioneered by the U.S. Air Force in the 1970s. IDEF is a methodology designed to model the end-to-end decisions, actions, and activities of an organization or system so that costs, performance, and cycle times can be optimized. IDEF methods have been adapted for wider use in automotive, aerospace, pharmaceuticals, and software development industries. IDEF methods serve as a starting point to understand lean management through semantic data modeling. The IDEF process begins by mapping the existing functions of an enterprise, creating a graphical model, or road map, that shows what controls each important function, who performs it, what resources are required for carrying it out, what it produces, how much it costs, and what relationships it has to other functions of the organization. IDEF simulations have been found to be efficient at streamlining and modernizing both companies and governmental agencies. Perhaps the best-developed evolution of the IDEF model beyond Toyota was at Boeing. Their project life-cycle process has grown into a rigorous software system that links people, tasks, tools, materials, and the environmental impact of any newly planned project, before any building is allowed to begin. Routinely, more than half of the time for any given project is spent building the precedence diagrams, or three-dimensional process maps, integrating with outside suppliers, and designing the implementation plan–all on the computer. Once real activity is initiated, an action tracker is used to monitor inputs and outputs versus the schedule and delivery metrics in real time throughout the organization. When the execution of a new airplane design begins, it is so well organized that it consistently cuts both costs and build time in half for each successive generation of airframe. Boeing created a complex lean management process called 'define and control airplane configuration/manufacturing resource management' (DCAC/MRM). The process was built with the help of the operations research and computer sciences departments of the University of Pittsburgh. The manufacture of the Boeing 777 was ultimately a success, and it became the precursor to succeeding generations of CALM at Boeing. The methodology of CALM has recently been applied to field orientated infrastructure based businesses with highly interdependent systems, such as electric utilities where a smart grid concept is being researched and developed. The management of infrastructure-based industries like oil, gas, electricity, water, transportation, and renewables requires massive investments in interdependent, physical infrastructure, as well as simultaneous attention to disparate market forces. In infrastructure businesses that manage field assets, uncertainty is the biggest impediment to profitability, rather than the maintenance of efficient supply chains or the management of factory assembly lines. These businesses are dominated by risk from uncertainties such as weather, market variations, transportation disruptions, government actions, logistic difficulties, geology, and asset reliability. CALM has been applied to deal with these types of infrastructure based challenges.

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  Human–robot interaction

  Human–robot interaction (HRI) is the study of interactions between humans and robots. Human–robot interaction is a multidisciplinary field with contributions from human–computer interaction, artificial intelligence, robotics, natural language processing, design, psychology and philosophy. A subfield known as physical human–robot interaction (pHRI) has tended to focus on device design to enable people to safely interact with robotic systems. == Origins == Human–robot interaction has been a topic of both science fiction and academic speculation even before any robots existed. Because much of active HRI development depends on natural language processing, many aspects of HRI are continuations of human communications, a field of research which is much older than robotics. The origin of HRI as a discrete problem was stated by 20th-century author Isaac Asimov in 1941, in his novel I, Robot. Asimov coined Three Laws of Robotics, namely: A robot may not injure a human being or, through inaction, allow a human being to come to harm. A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws. These three laws provide an overview of the goals engineers and researchers hold for safety in the HRI field, although the fields of robot ethics and machine ethics are more complex than these three principles. However, generally human–robot interaction prioritizes the safety of humans that interact with potentially dangerous robotics equipment. Solutions to this problem range from the philosophical approach of treating robots as ethical agents (individuals with moral agency), to the practical approach of creating safety zones. These safety zones use technologies such as lidar to detect human presence or physical barriers to protect humans by preventing any contact between machine and operator. Although initially robots in the human–robot interaction field required some human intervention to function, research has expanded this to the extent that fully autonomous systems are now far more common than in the early 2000s. Autonomous systems include from simultaneous localization and mapping systems which provide intelligent robot movement to natural-language processing and natural-language generation systems which allow for natural, human-esque interaction which meet well-defined psychological benchmarks. Anthropomorphic robots (machines which imitate human body structure) are better described by the biomimetics field, but overlap with HRI in many research applications. Examples of robots which demonstrate this trend include Willow Garage's PR2 robot, the NASA Robonaut, and Honda ASIMO. However, robots in the human–robot interaction field are not limited to human-like robots: Paro and Kismet are both robots designed to elicit emotional response from humans, and so fall into the category of human–robot interaction. Goals in HRI range from industrial manufacturing through Cobots, medical technology through rehabilitation, autism intervention, and elder care devices, entertainment, human augmentation, and human convenience. Future research therefore covers a wide range of fields, much of which focuses on assistive robotics, robot-assisted search-and-rescue, and space exploration. == The goal of friendly human–robot interactions == Robots are artificial agents with capacities of perception and action in the physical world often referred by researchers as workspace. Their use has been generalized in factories but nowadays they tend to be found in the most technologically advanced societies in such critical domains as search and rescue, military battle, mine and bomb detection, scientific exploration, law enforcement, entertainment and hospital care. These new domains of applications imply a closer interaction with the user, sharing the workspace but also goals in terms of task achievement. The subfield of physical human–robot interaction (pHRI) has largely focused on device design to enable people to safely interact with robotic systems but is increasingly developing algorithmic approaches in an attempt to support fluent and expressive interactions between humans and robotic systems. With the advance in AI, the research is focusing on one part towards the safest physical interaction but also on a socially correct interaction, dependent on cultural criteria. The goal is to build an intuitive, and easy communication with the robot through speech, gestures, and facial expressions. Kerstin Dautenhahn refers to friendly Human–robot interaction as "Robotiquette" defining it as the "social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans" The robot has to adapt itself to our way of expressing desires and orders and not the contrary. But every day environments such as homes have much more complex social rules than those implied by factories or even military environments. Thus, the robot needs perceiving and understanding capacities to build dynamic models of its surroundings. It needs to categorize objects, recognize and locate humans and further recognize their emotions. The need for dynamic capacities pushes forward every sub-field of robotics. Furthermore, by understanding and perceiving social cues, robots can enable collaborative scenarios with humans. For example, with the rapid rise of personal fabrication machines such as desktop 3D printers, laser cutters, etc., entering our homes, scenarios may arise where robots can collaboratively share control, co-ordinate and achieve tasks together. Industrial robots have already been integrated into industrial assembly lines and are collaboratively working with humans. The social impact of such robots have been studied and has indicated that workers still treat robots and social entities, rely on social cues to understand and work together. On the other end of HRI research the cognitive modelling of the "relationship" between human and the robots benefits the psychologists and robotic researchers the user study are often of interests on both sides. This research endeavours part of human society. For effective human – humanoid robot interaction numerous communication skills and related features should be implemented in the design of such artificial agents/systems. == General HRI research == HRI research spans a wide range of fields, some general to the nature of HRI. === Methods for perceiving humans === Methods for perceiving humans in the environment are based on sensor information. Research on sensing components and software led by Microsoft provide useful results for extracting the human kinematics (see Kinect). An example of older technique is to use colour information for example the fact that for light skinned people the hands are lighter than the clothes worn. In any case a human modelled a priori can then be fitted to the sensor data. The robot builds or has (depending on the level of autonomy the robot has) a 3D mapping of its surroundings to which is assigned the humans locations. Most methods intend to build a 3D model through vision of the environment. The proprioception sensors permit the robot to have information over its own state. This information is relative to a reference. Theories of proxemics may be used to perceive and plan around a person's personal space. A speech recognition system is used to interpret human desires or commands. By combining the information inferred by proprioception, sensor and speech the human position and state (standing, seated). In this matter, natural-language processing is concerned with the interactions between computers and human (natural) languages, in particular how to program computers to process and analyze large amounts of natural-language data. For instance, neural-network architectures and learning algorithms that can be applied to various natural-language processing tasks including part-of-speech tagging, chunking, named-entity recognition, and semantic role labeling. === Methods for motion planning === Motion planning in dynamic environments is a challenge that can at the moment only be achieved for robots with 3 to 10 degrees of freedom. Humanoid robots or even 2 armed robots, which can have up to 40 degrees of freedom, are unsuited for dynamic environments with today's technology. However lower-dimensional robots can use the potential field method to compute trajectories which avoid collisions with humans. === Cognitive models and theory of mind === Humans exhibit negative social and emotional responses as well as decreased trust toward some robots that closely, but imperfectly, resemble humans; this phenomenon has been termed the "Uncanny Valley". However recent research in telepresence robots has established that mimicking human body postures and expressive gestures has made the robots likeable and engaging in a remote setting. Further, the presence o

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  Auto-defrost

  Auto-defrost, automatic defrost or self-defrosting is a technique which regularly defrosts the evaporator in a refrigerator or freezer. Appliances using this technique are often called frost free, frostless, or no-frost. == Mechanism == The defrost mechanism in a refrigerator heats the cooling element (evaporator coil) for a short period of time and melts the frost that has formed on it. The resulting water drains through a duct at the back of the unit. Defrosting is controlled by an electric or electronic timer. For every 6, 8, 10, 12 or 24 hours of compressor operation, it turns on a defrost heater for 15 minutes to half an hour. The defrost heater, having a typical power rating of 350W to 600W, is often mounted just below the evaporator in top and bottom-freezer models. It can also be located below and in the middle of the evaporator in side-by-side models. It may be protected from short circuits by means of fusible links. In older refrigerators, the timer runs continuously. In newer designs, the timer only runs while the compressor runs, so the longer the refrigerator door is closed, the less time the heater will run for and the more energy is saved. A defrost thermostat opens the heater circuit when the evaporator temperature rises above a preset temperature, 40°F (5°C) or more, thereby preventing excessive heating of the freezer compartment. The defrost timer is such that either the compressor or the defrost heater is on, but not both at the same time. Inside the freezer, air is circulated by means of one or more fans. In a typical design cold air from the freezer compartment is ducted to the fresh food compartment and circulated back into the freezer compartment. Air circulation helps sublimate any ice or frost that may form on frozen items in the freezer compartment. While defrosting, this fan is stopped to prevent heated-up air from reaching the food compartment. Instead of the normal cooling elements being embedded in the freezer liner, auto-defrost elements are behind or beneath the liner. This allows them to be heated for short periods of time to dispose of frost, without heating the contents of the freezer. Alternatively, some systems use the hot gas in the condenser to defrost the evaporator. This is done by means of a circuit that is cross-linked by a three-way valve. The hot gas quickly heats up the evaporator and defrosts it. This system is primarily used in commercial applications such as ice-cream displays. == Application == While this technique was originally applied to the refrigerator compartment, it was later used for freezer compartment as well. A combined refrigerator/freezer which applies self-defrosting to the refrigerator compartment only is usually called "partial frost free" or semi-automatic defrost (some brands call these "Auto Defrost" while Frigidaire referred to their semi-automatic models as "Cycla-Matic," Kelvinator often named these models as "Cyclic Defrost" ). These refrigerators usually have a pan underneath where water from the melted frost in the refrigerator section evaporates. Freezers with automatic defrosting and combined refrigerator/freezer units which also apply self defrosting to their freezer compartment are called "frost free". The latter usually feature an air connection between the two compartments with the air passage to the refrigerator compartment regulated by a damper. By this means, a controlled portion of the air coming from the freezer reaches the refrigerator. Some older models have no air circulation between their freezer and refrigerator sections. Instead, they use an independent cooling system (for example: an evaporator coil with a defrost heater and a circulating fan in the freezer and a cold-plate or open-coil evaporator in the refrigerator. "Frost-Free" refrigerator/freezer units usually use a heating element to defrost their evaporators, a pan to collect and evaporate water from the frost that melts from the cold plate and/or evaporator coil, a timer which turns off the compressor and turns on the defrost element usually from once to 4 times a day for periods usually ranging from 15 to 30 minutes, a defrost limiter thermostat that turns off the heating element before the temperature rises too much while the timer is still in its defrost phase. Some models also feature a drain heater to prevent ice from blocking the drain. Other early types of refrigerators also use hot gas defrost instead of electric heaters. These reverse the evaporator and condenser sides for the defrost cycle. Some newer refrigerator/freezer models have a computer that monitors how many times each door is opened and uses this data to control defrost scheduling thereby reducing power use. == Advantages == No need to manually defrost the frost buildup, therefore power consumption will not increase with time. Food packaging is easier to see. Most frozen food will not stick together. Smells are limited, especially in total frost-free appliances because the air always circulates. Better temperature management. == Disadvantages == The system can be more expensive to run when usage is high and if the fan continues or starts to run when the door is opened. A thermal cutout safety device is required to prevent overheating of the heating element. Increased electrical and mechanical complexity compared to a basic upright freezer or chest freezer, making it more prone to component failure. The temperature of the freezer contents rises during the defrosting cycles, especially if there is a light load in the freezer. This can cause "freezer burn" on articles placed in the freezer, from partially defrosting, then re-freezing On hot, humid days condensation will sometimes form around the refrigerator doors. Defrosting may not be completed by the time the defrost timer cycles back to normal operation (especially in hot, humid conditions with frequent door openings), leaving ice/frost on the evaporator coils. This condition can lead to "icing" which will interfere with the operation of the refrigerator. In laboratories, self-defrosting freezers must not be used to store certain delicate reagents such as enzymes, because the temperature cycling can degrade them. In addition, water can evaporate out of containers that do not have a very tight seal, altering the concentration of the reagents. Self-defrosting freezers should never be used to store flammable chemicals.

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  Jordan Antiquities Database and Information System

  The Jordan Antiquities Database and Information System (JADIS) was a computer database of antiquities in Jordan, the first of its kind in the Arab world. It was established by the Department of Antiquities in 1990, in cooperation with the American Center for Oriental Research in Amman and sponsored by the United States Agency for International Development. JADIS was in use until 2002, when it was superseded by a new system, MEGA-J. Over 10,841 antiquities were registered in the database. An introduction and printed summary of the database was published by the Department of Antiquities in 1994, edited by Gaetano Palumbo.

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  Qlone

  Qlone is a 3D scanning app based on photogrammetry for creation of 3D models on mobile devices. The resultant 3D models can be exported for external use. Qlone was featured at the Apple Worldwide Developers Conference in 2021. It was also featured on BBC Click. == Qlone features == === 3D scanning === 3D scanning with Qlone requires the use of an included mat design. The user prints the mat onto a sheet of paper, then places the object to be scanned in the centre of the mat. An augmented reality dome within the Qlone app guides the user through the subsequent scanning process. The iOS version of Qlone allows scanning without the mat. === 3D editing === Qlone's editing features allow users to adjust 3D scanned models using texture mapping, polygon mesh size simplification, digital sculpting, cleaning and smoothing, and artistic effects. === File export === Qlone exports directly to multiple 3D platforms including SketchFab, i.materialise, Lens Studio for Snapchat, Shapeways and CGTrader. Models can also be exported in different 3D formats for use in other 3D tools – OBJ, STL, FBX, USDZ, GLB (Binary gLTF), PLY, and X3D. == Use in Science, Education and Academia == Due to its inexpensive, simple and accessible nature for creating 3D models, Qlone was used in many academically educational and scientific research projects. The European Space Agency used Qlone to scan rocks in a Tele-Robotic rock collection experiment. Neurosurgeons from the University of Southern California and surgeons from Tulane University School of Medicine used Qlone to create 3D models of cadaveric specimens and anatomical models with the aim of increasing access to such components for enhancing anatomy training and allowing realistic surgical simulations for neurosurgeons and practitioners worldwide. Archaeologists from Texas A&M University used Qlone to create 3D replicas of artifacts and models and students from Vancouver iTech Preparatory Middle School used Qlone to create 3D scans of more than 100 artifacts from Fort Vancouver National Historic Site.

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  Auto-defrost

  Auto-defrost, automatic defrost or self-defrosting is a technique which regularly defrosts the evaporator in a refrigerator or freezer. Appliances using this technique are often called frost free, frostless, or no-frost. == Mechanism == The defrost mechanism in a refrigerator heats the cooling element (evaporator coil) for a short period of time and melts the frost that has formed on it. The resulting water drains through a duct at the back of the unit. Defrosting is controlled by an electric or electronic timer. For every 6, 8, 10, 12 or 24 hours of compressor operation, it turns on a defrost heater for 15 minutes to half an hour. The defrost heater, having a typical power rating of 350W to 600W, is often mounted just below the evaporator in top and bottom-freezer models. It can also be located below and in the middle of the evaporator in side-by-side models. It may be protected from short circuits by means of fusible links. In older refrigerators, the timer runs continuously. In newer designs, the timer only runs while the compressor runs, so the longer the refrigerator door is closed, the less time the heater will run for and the more energy is saved. A defrost thermostat opens the heater circuit when the evaporator temperature rises above a preset temperature, 40°F (5°C) or more, thereby preventing excessive heating of the freezer compartment. The defrost timer is such that either the compressor or the defrost heater is on, but not both at the same time. Inside the freezer, air is circulated by means of one or more fans. In a typical design cold air from the freezer compartment is ducted to the fresh food compartment and circulated back into the freezer compartment. Air circulation helps sublimate any ice or frost that may form on frozen items in the freezer compartment. While defrosting, this fan is stopped to prevent heated-up air from reaching the food compartment. Instead of the normal cooling elements being embedded in the freezer liner, auto-defrost elements are behind or beneath the liner. This allows them to be heated for short periods of time to dispose of frost, without heating the contents of the freezer. Alternatively, some systems use the hot gas in the condenser to defrost the evaporator. This is done by means of a circuit that is cross-linked by a three-way valve. The hot gas quickly heats up the evaporator and defrosts it. This system is primarily used in commercial applications such as ice-cream displays. == Application == While this technique was originally applied to the refrigerator compartment, it was later used for freezer compartment as well. A combined refrigerator/freezer which applies self-defrosting to the refrigerator compartment only is usually called "partial frost free" or semi-automatic defrost (some brands call these "Auto Defrost" while Frigidaire referred to their semi-automatic models as "Cycla-Matic," Kelvinator often named these models as "Cyclic Defrost" ). These refrigerators usually have a pan underneath where water from the melted frost in the refrigerator section evaporates. Freezers with automatic defrosting and combined refrigerator/freezer units which also apply self defrosting to their freezer compartment are called "frost free". The latter usually feature an air connection between the two compartments with the air passage to the refrigerator compartment regulated by a damper. By this means, a controlled portion of the air coming from the freezer reaches the refrigerator. Some older models have no air circulation between their freezer and refrigerator sections. Instead, they use an independent cooling system (for example: an evaporator coil with a defrost heater and a circulating fan in the freezer and a cold-plate or open-coil evaporator in the refrigerator. "Frost-Free" refrigerator/freezer units usually use a heating element to defrost their evaporators, a pan to collect and evaporate water from the frost that melts from the cold plate and/or evaporator coil, a timer which turns off the compressor and turns on the defrost element usually from once to 4 times a day for periods usually ranging from 15 to 30 minutes, a defrost limiter thermostat that turns off the heating element before the temperature rises too much while the timer is still in its defrost phase. Some models also feature a drain heater to prevent ice from blocking the drain. Other early types of refrigerators also use hot gas defrost instead of electric heaters. These reverse the evaporator and condenser sides for the defrost cycle. Some newer refrigerator/freezer models have a computer that monitors how many times each door is opened and uses this data to control defrost scheduling thereby reducing power use. == Advantages == No need to manually defrost the frost buildup, therefore power consumption will not increase with time. Food packaging is easier to see. Most frozen food will not stick together. Smells are limited, especially in total frost-free appliances because the air always circulates. Better temperature management. == Disadvantages == The system can be more expensive to run when usage is high and if the fan continues or starts to run when the door is opened. A thermal cutout safety device is required to prevent overheating of the heating element. Increased electrical and mechanical complexity compared to a basic upright freezer or chest freezer, making it more prone to component failure. The temperature of the freezer contents rises during the defrosting cycles, especially if there is a light load in the freezer. This can cause "freezer burn" on articles placed in the freezer, from partially defrosting, then re-freezing On hot, humid days condensation will sometimes form around the refrigerator doors. Defrosting may not be completed by the time the defrost timer cycles back to normal operation (especially in hot, humid conditions with frequent door openings), leaving ice/frost on the evaporator coils. This condition can lead to "icing" which will interfere with the operation of the refrigerator. In laboratories, self-defrosting freezers must not be used to store certain delicate reagents such as enzymes, because the temperature cycling can degrade them. In addition, water can evaporate out of containers that do not have a very tight seal, altering the concentration of the reagents. Self-defrosting freezers should never be used to store flammable chemicals.

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