AI Coding Laptop

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  Natural language understanding

  Natural language understanding (NLU) or natural language interpretation (NLI) is a subset of natural language processing in artificial intelligence that deals with machine reading comprehension. NLU has been considered an AI-hard problem. There is considerable commercial interest in the field because of its application to automated reasoning, machine translation, question answering, news-gathering, text categorization, voice-activation, archiving, and large-scale content analysis. == History == The program STUDENT, written in 1964 by Daniel Bobrow for his PhD dissertation at MIT, is one of the earliest known attempts at NLU by a computer. Eight years after John McCarthy coined the term artificial intelligence, Bobrow's dissertation (titled Natural Language Input for a Computer Problem Solving System) showed how a computer could understand simple natural language input to solve algebra word problems. A year later, in 1965, Joseph Weizenbaum at MIT wrote ELIZA, an interactive program that carried on a dialogue in English on any topic, the most popular being psychotherapy. ELIZA worked by simple parsing and substitution of key words into canned phrases and Weizenbaum sidestepped the problem of giving the program a database of real-world knowledge or a rich lexicon. Yet ELIZA gained surprising popularity as a toy project and can be seen as a very early precursor to current commercial systems such as those used by Ask.com. In 1969, Roger Schank at Stanford University introduced the conceptual dependency theory for NLU. This model, partially influenced by the work of Sydney Lamb, was extensively used by Schank's students at Yale University, such as Robert Wilensky, Wendy Lehnert, and Janet Kolodner. In 1970, William A. Woods introduced the augmented transition network (ATN) to represent natural language input. Instead of phrase structure rules ATNs used an equivalent set of finite-state automata that were called recursively. ATNs and their more general format called "generalized ATNs" continued to be used for a number of years. In 1971, Terry Winograd finished writing SHRDLU for his PhD thesis at MIT. SHRDLU could understand simple English sentences in a restricted world of children's blocks to direct a robotic arm to move items. The successful demonstration of SHRDLU provided significant momentum for continued research in the field. Winograd continued to be a major influence in the field with the publication of his book Language as a Cognitive Process. At Stanford, Winograd would later advise Larry Page, who co-founded Google. In the 1970s and 1980s, the natural language processing group at SRI International continued research and development in the field. A number of commercial efforts based on the research were undertaken, e.g., in 1982 Gary Hendrix formed Symantec Corporation originally as a company for developing a natural language interface for database queries on personal computers. However, with the advent of mouse-driven graphical user interfaces, Symantec changed direction. A number of other commercial efforts were started around the same time, e.g., Larry R. Harris at the Artificial Intelligence Corporation and Roger Schank and his students at Cognitive Systems Corp. In 1983, Michael Dyer developed the BORIS system at Yale which bore similarities to the work of Roger Schank and W. G. Lehnert. The third millennium saw the introduction of systems using machine learning for text classification, such as the IBM Watson. However, experts debate how much "understanding" such systems demonstrate: e.g., according to John Searle, Watson did not even understand the questions. John Ball, cognitive scientist and inventor of the Patom Theory, supports this assessment. Natural language processing has made inroads for applications to support human productivity in service and e-commerce, but this has largely been made possible by narrowing the scope of the application. There are thousands of ways to request something in a human language that still defies conventional natural language processing. According to Wibe Wagemans, "To have a meaningful conversation with machines is only possible when we match every word to the correct meaning based on the meanings of the other words in the sentence – just like a 3-year-old does without guesswork." == Scope and context == The umbrella term "natural language understanding" can be applied to a diverse set of computer applications, ranging from small, relatively simple tasks such as short commands issued to robots, to highly complex endeavors such as the full comprehension of newspaper articles or poetry passages. Many real-world applications fall between the two extremes, for instance text classification for the automatic analysis of emails and their routing to a suitable department in a corporation does not require an in-depth understanding of the text, but needs to deal with a much larger vocabulary and more diverse syntax than the management of simple queries to database tables with fixed schemata. Throughout the years various attempts at processing natural language or English-like sentences presented to computers have taken place at varying degrees of complexity. Some attempts have not resulted in systems with deep understanding, but have helped overall system usability. For example, Wayne Ratliff originally developed the Vulcan program with an English-like syntax to mimic the English speaking computer in Star Trek. Vulcan later became the dBase system whose easy-to-use syntax effectively launched the personal computer database industry. Systems with an easy-to-use or English-like syntax are, however, quite distinct from systems that use a rich lexicon and include an internal representation (often as first order logic) of the semantics of natural language sentences. Hence the breadth and depth of "understanding" aimed at by a system determine both the complexity of the system (and the implied challenges) and the types of applications it can deal with. The "breadth" of a system is measured by the sizes of its vocabulary and grammar. The "depth" is measured by the degree to which its understanding approximates that of a fluent native speaker. At the narrowest and shallowest, English-like command interpreters require minimal complexity, but have a small range of applications. Narrow but deep systems explore and model mechanisms of understanding, but they still have limited application. Systems that attempt to understand the contents of a document such as a news release beyond simple keyword matching and to judge its suitability for a user are broader and require significant complexity, but they are still somewhat shallow. Systems that are both very broad and very deep are beyond the current state of the art. == Components and architecture == Regardless of the approach used, most NLU systems share some common components. The system needs a lexicon of the language and a parser and grammar rules to break sentences into an internal representation. The construction of a rich lexicon with a suitable ontology requires significant effort, e.g., the Wordnet lexicon required many person-years of effort. The system also needs theory from semantics to guide the comprehension. The interpretation capabilities of a language-understanding system depend on the semantic theory it uses. Competing semantic theories of language have specific trade-offs in their suitability as the basis of computer-automated semantic interpretation. These range from naive semantics or stochastic semantic analysis to the use of pragmatics to derive meaning from context. Semantic parsers convert natural-language texts into formal meaning representations. Advanced applications of NLU also attempt to incorporate logical inference within their framework. This is generally achieved by mapping the derived meaning into a set of assertions in predicate logic, then using logical deduction to arrive at conclusions. Therefore, systems based on functional languages such as Lisp need to include a subsystem to represent logical assertions, while logic-oriented systems such as those using the language Prolog generally rely on an extension of the built-in logical representation framework. The management of context in NLU can present special challenges. A large variety of examples and counter examples have resulted in multiple approaches to the formal modeling of context, each with specific strengths and weaknesses.

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  Integreat

  Integreat (former project name: Refguide+) is an open source mobile app that provides local information and services tailored to refugees and migrants coming to Germany. The content is maintained by local organizations, such as local governments or integration officers, and made available in locally relevant languages. It was developed by Tür an Tür - Digitalfabrik gGmbH (formerly Tür an Tür - Digital Factory gGmbH) in Augsburg together with a team of researchers and students from the Technical University of Munich. == History == In 1997, the Augsburg association "Tür an Tür", which has been working for refugees since 1992, published the brochure "First Steps", which answers local everyday questions. Since addresses and contact persons change quickly, some information is already outdated after a few weeks. Students of business informatics at the Technical University of Munich therefore developed the app Integreat within eight months together with the association and the social department of the city of Augsburg. The app was then also used by other cities and districts within months. As of February 3, 2022, information is available at 72 locations, including Munich, Dortmund, Nuremberg and Augsburg. == Mode of action == Refugees need information on areas such as registration, contact persons, health care, education, family, work and everyday life. Integreat seeks to provide refugees with this information by allowing them to select their geographic location and receive locally relevant information. This information is available offline once the app is opened so it can be used without an internet connection. In addition, the content is translated into the native languages of refugees and migrants to facilitate access. The content is licensed with a CC BY 4.0 license to facilitate collaboration and translation between content creators and dissemination of the content. Integreat is now being used for a broader migrant audience and says it can also support professionals, volunteers, and counseling centers. == Comparable mobile apps == Other mobile apps that are likewise intended to provide initial orientation for refugees include the app Ankommen, a joint project of the Federal Office for Migration and Refugees, the Goethe-Institut, the Federal Employment Agency and the Bavarian Broadcasting Corporation, which is intended as a companion for the first few weeks in Germany, and the Welcome App, a company-sponsored non-profit initiative for information about Germany and asylum procedures with a regional focus, and a book by the Konrad Adenauer Foundation (KAS) and Verlag Herder with a corresponding app Deutschland - Erste Informationen für Flüchtlinge (Germany - First Information for Refugees) as a companion for Arabic-speaking refugees in Germany.

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  Kleene star

  In formal language theory, the Kleene star (or Kleene operator or Kleene closure) refers to two related unary operations, that can be applied either to an alphabet of symbols or to a formal language, a set of strings (finite sequences of symbols). The Kleene star operator on an alphabet V generates the set V of all finite-length strings over V, that is, finite sequences whose elements belong to V; in mathematics, it is more commonly known as the free monoid construction. The Kleene star operator on a language L generates another language L, the set of all strings that can be obtained as a concatenation of zero or more members of L. In both cases, repetitions are allowed. The Kleene star operators are named after American mathematician Stephen Cole Kleene, who first introduced and widely used it to characterize automata for regular expressions. == Of an alphabet == Given an alphabet V {\displaystyle V} , define V 0 = { ε } {\displaystyle V^{0}=\{\varepsilon \}} (the set consists only of the empty string), V 1 = V , {\displaystyle V^{1}=V,} and define recursively the set V i + 1 = { w v : w ∈ V i and v ∈ V } {\displaystyle V^{i+1}=\{wv:w\in V^{i}{\text{ and }}v\in V\}} for each i > 0 , {\displaystyle i>0,} where w v {\displaystyle wv} denotes the string obtained by appending the single character v {\displaystyle v} to the end of w {\displaystyle w} . Here, V i {\displaystyle V^{i}} can be understood to be the set of all strings of length exactly i {\displaystyle i} , with characters from V {\displaystyle V} . The definition of Kleene star on V {\displaystyle V} is V ∗ = ⋃ i ≥ 0 V i = V 0 ∪ V 1 ∪ V 2 ∪ V 3 ∪ V 4 ∪ ⋯ . {\displaystyle V^{}=\bigcup _{i\geq 0}V^{i}=V^{0}\cup V^{1}\cup V^{2}\cup V^{3}\cup V^{4}\cup \cdots .} == Of a language == Given a language L {\displaystyle L} (any finite or infinite set of strings), define L 0 = { ε } {\displaystyle L^{0}=\{\varepsilon \}} (the language consisting only of the empty string), L 1 = L , {\displaystyle L^{1}=L,} and define recursively the set L i + 1 = { w v : w ∈ L i and v ∈ L } {\displaystyle L^{i+1}=\{wv:w\in L^{i}{\text{ and }}v\in L\}} for each i > 0 , {\displaystyle i>0,} where w v {\displaystyle wv} denotes the string obtained by concatenating w {\displaystyle w} and v {\displaystyle v} . Here, L i {\displaystyle L^{i}} can be understood to be the set of all strings that can be obtained by concatenating exactly i {\displaystyle i} strings from L {\displaystyle L} , allowing repetitions. The definition of Kleene star on L {\displaystyle L} is L ∗ = ⋃ i ≥ 0 L i = L 0 ∪ L 1 ∪ L 2 ∪ L 3 ∪ L 4 ∪ ⋯ . {\displaystyle L^{}=\bigcup _{i\geq 0}L^{i}=L^{0}\cup L^{1}\cup L^{2}\cup L^{3}\cup L^{4}\cup \cdots .} == Kleene plus == In some formal language studies, (e.g. AFL theory) a variation on the Kleene star operation called the Kleene plus is used. The Kleene plus omits the V 0 {\displaystyle V^{0}} or L 0 {\displaystyle L^{0}} term in the above unions. In other words, the Kleene plus on V {\displaystyle V} is V + = ⋃ i ≥ 1 V i = V 1 ∪ V 2 ∪ V 3 ∪ ⋯ , {\displaystyle V^{+}=\bigcup _{i\geq 1}V^{i}=V^{1}\cup V^{2}\cup V^{3}\cup \cdots ,} or V + = V ∗ V . {\displaystyle V^{+}=V^{}V.} == Examples == Example of Kleene star applied to a set of strings: {"ab","c"} = { ε, "ab", "c", "abab", "abc", "cab", "cc", "ababab", "ababc", "abcab", "abcc", "cabab", "cabc", "ccab", "ccc", ...}. Example of Kleene star applied to a set of strings without the prefix property: {"a","ab","b"} = { ε, "a", "ab", "b", "aa", "aab", "aba", "abab", "abb", "ba", "bab", "bb", ...};In this example, the string "aab" can be obtained in two different ways. The Sardinas-Patterson algorithm can be used to check for a given V whether any member of V can be obtained in more than one way. Example of Kleene and Kleene plus applied to a set of characters (following the C programming language convention where a character is denoted by single quotes and a string is denoted by double quotes): {'a', 'b', 'c'} = { ε, "a", "b", "c", "aa", "ab", "ac", "ba", "bb", "bc", "ca", "cb", "cc", "aaa", "aab", ...}. {'a', 'b', 'c'}+ = { "a", "b", "c", "aa", "ab", "ac", "ba", "bb", "bc", "ca", "cb", "cc", "aaa", "aab", ...}. == Properties == If V {\displaystyle V} is any finite or countably infinite set of characters, then V ∗ {\displaystyle V^{}} is a countably infinite set. As a result, each formal language over a finite or countably infinite alphabet Σ {\displaystyle \Sigma } is countable, since it is a subset of the countably infinite set Σ ∗ {\displaystyle \Sigma ^{}} . ( L ∗ ) ∗ = L ∗ {\displaystyle (L^{})^{}=L^{}} , which means that the Kleene star operator is an idempotent unary operator, as ( L ∗ ) i = L ∗ {\displaystyle (L^{})^{i}=L^{}} for every i ≥ 1 {\displaystyle i\geq 1} . V ∗ = { ε } {\displaystyle V^{}=\{\varepsilon \}} , if V {\displaystyle V} is the empty set ∅. For the version of the Kleene star operator on languages, L ∗ = { ε } {\displaystyle L^{}=\{\varepsilon \}} when L {\displaystyle L} is either the empty set ∅ or the singleton set { ε } {\displaystyle \{\varepsilon \}} . == Generalization == Strings form a monoid with concatenation as the binary operation and ε the identity element. In addition to strings, the Kleene star is defined for any monoid. More precisely, let (M, ⋅) be a monoid, and S ⊆ M. Then S is the smallest submonoid of M containing S; that is, S contains the neutral element of M, the set S, and is such that if x,y ∈ S, then x⋅y ∈ S. Furthermore, the Kleene star is generalized by including the -operation (and the union) in the algebraic structure itself by the notion of complete star semiring.

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  News analytics

  In trading strategy, news analysis refers to the measurement of the various qualitative and quantitative attributes of textual (unstructured data) news stories. Some of these attributes are: sentiment, relevance, and novelty. Expressing news stories as numbers and metadata permits the manipulation of everyday information in a mathematical and statistical way. This data is often used in financial markets as part of a trading strategy or by businesses to judge market sentiment and make better business decisions. News analytics are usually derived through automated text analysis and applied to digital texts using elements from natural language processing and machine learning such as latent semantic analysis, support vector machines, "bag of words" among other techniques. == Applications and strategies == The application of sophisticated linguistic analysis to news and social media has grown from an area of research to mature product solutions since 2007. News analytics and news sentiment calculations are now routinely used by both buy-side and sell-side in alpha generation, trading execution, risk management, and market surveillance and compliance. There is however a good deal of variation in the quality, effectiveness and completeness of currently available solutions. A large number of companies use news analysis to help them make better business decisions. Academic researchers have become interested in news analysis especially with regards to predicting stock price movements, volatility and traded volume. Provided a set of values such as sentiment and relevance as well as the frequency of news arrivals, it is possible to construct news sentiment scores for multiple asset classes such as equities, Forex, fixed income, and commodities. Sentiment scores can be constructed at various horizons to meet the different needs and objectives of high and low frequency trading strategies, whilst characteristics such as direction and volatility of asset returns as well as the traded volume may be addressed more directly via the construction of tailor-made sentiment scores. Scores are generally constructed as a range of values. For instance, values may range between 0 and 100, where values above and below 50 convey positive and negative sentiment, respectively. === Absolute return strategies === The objective of absolute return strategies is absolute (positive) returns regardless of the direction of the financial market. To meet this objective, such strategies typically involve opportunistic long and short positions in selected instruments with zero or limited market exposure. In statistical terms, absolute return strategies should have very low correlation with the market return. Typically, hedge funds tend to employ absolute return strategies. Below, a few examples show how news analysis can be applied in the absolute return strategy space with the purpose to identify alpha opportunities applying a market neutral strategy or based on volatility trading. Example 1 Scenario: The gap between the news sentiment scores for direction, S {\displaystyle S} , of Company X {\displaystyle X} and Market Y {\displaystyle Y} has moved beyond + 20 {\displaystyle +20} . That is, S X − S Y {\displaystyle S_{X}-S_{Y}} ≥ 20 {\displaystyle 20} . Action: Buy the stock on Company X {\displaystyle X} and short the future on Market Y {\displaystyle Y} . Exit Strategy: When the gap in the news sentiment scores for direction of Company X {\displaystyle X} and Market Y {\displaystyle Y} has disappeared, S X − S Y {\displaystyle S_{X}-S_{Y}} = 0 {\displaystyle 0} , sell the stock on Company X {\displaystyle X} and go long the future on Market Y {\displaystyle Y} to close the positions. Example 2 Scenario: The news sentiment score for volatility of Company X {\displaystyle X} goes above 70 {\displaystyle 70} out of 100 {\displaystyle 100} indicating an expected volatility above the option implied volatility. Action: Buy a short-dated straddle (the purchase of both a put and a call) on the stock of Company X {\displaystyle X} . Exit Strategy: Keep the straddle on Company X {\displaystyle X} until expiry or until a certain profit target has been reached. === Relative return strategies === The objective of relative return strategies is to either replicate (passive management) or outperform (active management) a theoretical passive reference portfolio or benchmark. To meet these objectives such strategies typically involve long positions in selected instruments. In statistical terms, relative return strategies often have high correlation with the market return. Typically, mutual funds tend to employ relative return strategies. Below, a few examples show how news analysis can be applied in the relative return strategy space with the purpose to outperform the market applying a stock picking strategy and by making tactical tilts to ones asset allocation model. Example 1 Scenario: The news sentiment score for direction of Company X {\displaystyle X} goes above 70 {\displaystyle 70} out of 100 {\displaystyle 100} . Action: Buy the stock on Company X {\displaystyle X} . Exit Strategy: When the news sentiment score for direction of Company X {\displaystyle X} falls below 60 {\displaystyle 60} , sell the stock on Company X {\displaystyle X} to close the position. Example 2 Scenario: The news sentiment score for direction of Sector Z {\displaystyle Z} goes above 70 {\displaystyle 70} out of 100 {\displaystyle 100} . Action: Include Sector Z {\displaystyle Z} as a tactical bet in the asset allocation model. Exit Strategy: When the news sentiment score for direction of Sector Z {\displaystyle Z} falls below 60 {\displaystyle 60} , remove the tactical bet for Sector Z {\displaystyle Z} from the asset allocation model. === Financial risk management === The objective of financial risk management is to create economic value in a firm or to maintain a certain risk profile of an investment portfolio by using financial instruments to manage risk exposures, particularly credit risk and market risk. Other types include Foreign exchange, Shape, Volatility, Sector, Liquidity, Inflation risks, etc. Below, a few examples show how news analysis can be applied in the financial risk management space with the purpose to either arrive at better risk estimates in terms of Value at Risk (VaR) or to manage the risk of a portfolio to meet ones portfolio mandate. Example 1 Scenario: The bank operates a VaR model to manage the overall market risk of its portfolio. Action: Estimate the portfolio covariance matrix taking into account the development of the news sentiment score for volume. Implement the relevant hedges to bring the VaR of the bank in line with the desired levels. Example 2 Scenario: A portfolio manager operates his portfolio towards a certain desired risk profile. Action: Estimate the portfolio covariance matrix taking into account the development of the news sentiment score for volume. Scale the portfolio exposure according to the targeted risk profile. === Computer algorithms using news analytics === Within 0.33 seconds, computer algorithms using news analytics can notify subscribers which company the news is about, if the news article sentiment is positive or negative, if the news is ranked as high or low relative importance … relative relevance. the stock price reaction and the increase in trade volume is concentrated in the first 5 seconds after an news article is released. === Algorithmic order execution === The objective of algorithmic order execution, which is part of the concept of algorithmic trading, is to reduce trading costs by optimizing on the timing of a given order. It is widely used by hedge funds, pension funds, mutual funds, and other institutional traders to divide up large trades into several smaller trades to manage market impact, opportunity cost, and risk more effectively. The example below shows how news analysis can be applied in the algorithmic order execution space with the purpose to arrive at more efficient algorithmic trading systems. Example 1 Scenario: A large order needs to be placed in the market for the stock on Company X {\displaystyle X} . Action: Scale the daily volume distribution for Company X {\displaystyle X} applied in the algorithmic trading system, thus taking into account the news sentiment score for volume. This is followed by the creation of the desired trading distribution forcing greater market participation during the periods of the day when volume is expected to be heaviest. == Effects == Being able to express news stories as numbers permits the manipulation of everyday information in a statistical way that allows computers not only to make decisions once made only by humans, but to do so more efficiently. Since market participants are always looking for an edge, the speed of computer connections and the delivery of news analysis, measured in milliseconds, have become essential.

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  Continuum robot

  A continuum robot is a type of robot that is characterised by infinite degrees of freedom and number of joints. These characteristics allow continuum manipulators to adjust and modify their shape at any point along their length, granting them the possibility to work in confined spaces and complex environments where standard rigid-link robots cannot operate. In particular, we can define a continuum robot as an actuatable structure whose constitutive material forms curves with continuous tangent vectors. This is a fundamental definition that allows to distinguish between continuum robots and snake-arm robots or hyper-redundant manipulators: the presence of rigid links and joints allows them to only approximately perform curves with continuous tangent vectors. The design of continuum robots is bioinspired, as the intent is to resemble biological trunks, snakes and tentacles. Several concepts of continuum robots have been commercialised and can be found in many different domains of application, ranging from the medical field to undersea exploration. == Classification == Continuum robots can be categorised according to two main criteria: structure and actuation. === Structure === The main characteristic of the design of continuum robots is the presence of a continuously curving core structure, named backbone, whose shape can be actuated. The backbone must also be compliant, meaning that the backbone yields smoothly to external loads. According to the design principles chosen for the continuum manipulator, we can distinguish between: single-backbone: these continuum manipulators have one central elastic backbone through which actuation/transmission elements can run. multi-backbone: the structure of these continuum robots has two or more elastic elements (either rods or tubes) parallel to each other and constrained with one another in some way. concentric-tube: the backbone is made of concentric tubes that are free to rotate and translate between each other, depending on the actuation happening at the base of the robot. === Actuation === The actuation strategy of continuum manipulators can be distinguished between extrinsic or intrinsic actuation, depending on where the actuation happens: extrinsic actuation: the actuation happens outside the main structure of the robot and the forces are transmitted via mechanical transmission; among these techniques, there are cable/tendon driven actuators and multi-backbone strategies. intrinsic actuation: the actuation mechanism operates within the structure of the robot; these strategies include pneumatic or hydraulic chambers and the shape memory effect. The Actuated Flexible Manifold (AFM), introduced by Medina, Shapiro, and Shvalb (2016), models flexible grid-based robots that approximate smooth manifolds using discrete segments, each contributing one degree of freedom. Their work provides forward and inverse kinematics for planar and spatial configurations, bridging hyper-redundant and continuum robotics. == Advantages == The particular design of continuum robots offers several advantages with respect to rigid-link robots. First of all, as already said, continuum robots can more easily operate in environments that require a high level of dexterity, adaptability and flexibility. Moreover, the simplicity of their structure makes continuum robots more prone to miniaturisation. The rise of continuum robots has also paved the way for the development of soft continuum manipulators. These continuum manipulators are made of highly compliant materials that are flexible and can adapt and deform according to the surrounding environment. The "softness" of their material grants higher safety in human-robot interactions. == Disadvantages == The particular design of continuum robots also introduces many challenges. To properly and safely use continuum robots, it is crucial to have an accurate force and shape sensing system. Traditionally, this is done using cameras that are not suitable for some of the applications of continuum robots (e.g. minimally invasive surgery), or using electromagnetic sensors that are however disturbed by the presence of magnetic objects in the environment. To solve this issue, in the last years fiber-Bragg-grating sensors have been proposed as a possible alternative and have shown promising results. It is also necessary to notice that while the mechanical properties of rigid-link robots are fully understood, the comprehension of the behaviour and properties of continuum robots is still subject of study and debate. This poses new challenges in developing accurate models and control algorithms for this kind of robots. == Modelling == Creating an accurate model that can predict the shape of a continuum robot allows to properly control the robot's shape. There are three main approaches to model continuum robots: Cosserat rod theory: this approach is an exact solution to the static of a continuum robot, as it is not subject to any assumption. It solves a set of equilibrium equations between position, orientation, internal force and torque of the robot. This method requires to be solved numerically and it is therefore computationally expensive, due to its high complexity. Constant curvature: this technique assumes the backbone to be made of a series of mutually tangent sections that can be approximated as arcs with constant curvature. This approach is also known as piecewise constant-curvature. This assumption can be applied to the entire segment of the backbone or to its subsegments. This model has shown promising results, however it must be taken into account that the segment/subsegments of the backbone may not comply to the constant curvature assumption and therefore the model's behaviour may not entirely reflect the behaviour of the robot. Rigid-link model: this approach is based on the assumption that the continuum robot can be divided in small segments with rigid links. This is a strong assumption, since if the number of segments is too low, the model hardly behaves like the continuum robot, while increasing the number of segments means increasing the number of variables, and thus complexity. Despite this limitation, rigid-link modelling allows the use of the standard control techniques that are well known for rigid-link robots. It has been proven that this model can be coupled with shape and force sensing to mitigate its inaccuracy and can lead to promising results. == Sensing == To develop accurate control algorithms, it is necessary to complement the presented modelling techniques with real time shape sensing. The following options are currently available: Electromagnetic (EM) sensing: shape is reconstructed thanks to the mutual induction between a magnetic field generator and a magnetic field sensor. The most common external EM tracking system is the commercially available NDI Aurora: small sensors can be placed on the robot and their position is tracked in an external generated magnetic field. The validity of this method has been extensively assessed, however its performance is hindered by the limited workspace, whose dimension depends on the magnetic field. Another alternative is to embed the sensors internally in the continuum robot, combining magnetic sensors with Hall effect sensors: the magnetic field is measured at the level of the Hall effect sensors in order to estimate the deflection of the robot. However, it has been noticed that the higher the bending of the manipulator, the higher is the estimation error, due to crosstalk between sensors and magnets. Optical sensing: fiber Bragg grating sensors incorporated in an optical fiber can be embedded into the backbone of the continuum robot to estimate its shape; these sensors can only reflect a small range of the input light spectrum depending on their strain; therefore, by measuring the strain on each sensor it is possible to obtain the shape of the robot. This type of sensor is however expensive and is more prone to breaking in case of excessive strain, and this can happen in robots that can perform high deflections. == Control strategies == The control strategies can be distinguished in static and dynamic; the first one is based on the steady-state assumption, while the latter also considers the dynamic behaviour of the continuum robot. We can also differentiate between model-based controllers, that depend on a model of the robot, and model-free, that learn the robot's behaviour from data. Model-based static controllers: they rely on one of the modelling approaches presented above; once the model is defined, the kinematics must be inverted to obtain the desired actuator or configuration space variables. There are several ways to do this, like differential inverse kinematics, direct inversion or optimization. Model-free static controllers: these approaches learn directly, via machine learning techniques (e.g. regression methods and neural networks), the inverse kinematic or the direct kinematic representation of the con

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  Image moment

  In image processing, computer vision and related fields, an image moment is a certain particular weighted average (moment) of the image pixels' intensities, or a function of such moments, usually chosen to have some attractive property or interpretation. Image moments are useful to describe objects after segmentation. Simple properties of the image which are found via image moments include area (or total intensity), its centroid, and information about its orientation. == Raw moments == For a 2D continuous function f(x,y) the moment (sometimes called "raw moment") of order (p + q) is defined as M p q = ∫ − ∞ ∞ ∫ − ∞ ∞ x p y q f ( x , y ) d x d y {\displaystyle M_{pq}=\int \limits _{-\infty }^{\infty }\int \limits _{-\infty }^{\infty }x^{p}y^{q}f(x,y)\,dx\,dy} for p,q = 0,1,2,... Adapting this to scalar (grayscale) image with pixel intensities I(x,y), raw image moments Mij are calculated by M i j = ∑ x ∑ y x i y j I ( x , y ) {\displaystyle M_{ij}=\sum _{x}\sum _{y}x^{i}y^{j}I(x,y)\,\!} In some cases, this may be calculated by considering the image as a probability density function, i.e., by dividing the above by ∑ x ∑ y I ( x , y ) {\displaystyle \sum _{x}\sum _{y}I(x,y)\,\!} A uniqueness theorem states that if f(x,y) is piecewise continuous and has nonzero values only in a finite part of the xy plane, moments of all orders exist, and the moment sequence (Mpq) is uniquely determined by f(x,y). Conversely, (Mpq) uniquely determines f(x,y). In practice, the image is summarized with functions of a few lower order moments. === Examples === Simple image properties derived via raw moments include: Area (for binary images) or sum of grey level (for greytone images): M 00 {\displaystyle M_{00}} Centroid: { x ¯ , y ¯ } = { M 10 M 00 , M 01 M 00 } {\displaystyle \{{\bar {x}},\ {\bar {y}}\}=\left\{{\frac {M_{10}}{M_{00}}},{\frac {M_{01}}{M_{00}}}\right\}} == Central moments == Central moments are defined as μ p q = ∫ − ∞ ∞ ∫ − ∞ ∞ ( x − x ¯ ) p ( y − y ¯ ) q f ( x , y ) d x d y {\displaystyle \mu _{pq}=\int \limits _{-\infty }^{\infty }\int \limits _{-\infty }^{\infty }(x-{\bar {x}})^{p}(y-{\bar {y}})^{q}f(x,y)\,dx\,dy} where x ¯ = M 10 M 00 {\displaystyle {\bar {x}}={\frac {M_{10}}{M_{00}}}} and y ¯ = M 01 M 00 {\displaystyle {\bar {y}}={\frac {M_{01}}{M_{00}}}} are the components of the centroid. If ƒ(x, y) is a digital image, then the previous equation becomes μ p q = ∑ x ∑ y ( x − x ¯ ) p ( y − y ¯ ) q f ( x , y ) {\displaystyle \mu _{pq}=\sum _{x}\sum _{y}(x-{\bar {x}})^{p}(y-{\bar {y}})^{q}f(x,y)} The central moments of order up to 3 are: μ 00 = M 00 , μ 01 = 0 , μ 10 = 0 , μ 11 = M 11 − x ¯ M 01 = M 11 − y ¯ M 10 , μ 20 = M 20 − x ¯ M 10 , μ 02 = M 02 − y ¯ M 01 , μ 21 = M 21 − 2 x ¯ M 11 − y ¯ M 20 + 2 x ¯ 2 M 01 , μ 12 = M 12 − 2 y ¯ M 11 − x ¯ M 02 + 2 y ¯ 2 M 10 , μ 30 = M 30 − 3 x ¯ M 20 + 2 x ¯ 2 M 10 , μ 03 = M 03 − 3 y ¯ M 02 + 2 y ¯ 2 M 01 . {\displaystyle {\begin{aligned}\mu _{00}&=M_{00},&\mu _{01}&=0,\\\mu _{10}&=0,&\mu _{11}&=M_{11}-{\bar {x}}M_{01}=M_{11}-{\bar {y}}M_{10},\\\mu _{20}&=M_{20}-{\bar {x}}M_{10},&\mu _{02}&=M_{02}-{\bar {y}}M_{01},\\\mu _{21}&=M_{21}-2{\bar {x}}M_{11}-{\bar {y}}M_{20}+2{\bar {x}}^{2}M_{01},&\mu _{12}&=M_{12}-2{\bar {y}}M_{11}-{\bar {x}}M_{02}+2{\bar {y}}^{2}M_{10},\\\mu _{30}&=M_{30}-3{\bar {x}}M_{20}+2{\bar {x}}^{2}M_{10},&\mu _{03}&=M_{03}-3{\bar {y}}M_{02}+2{\bar {y}}^{2}M_{01}.\end{aligned}}} It can be shown that: μ p q = ∑ m p ∑ n q ( p m ) ( q n ) ( − x ¯ ) ( p − m ) ( − y ¯ ) ( q − n ) M m n {\displaystyle \mu _{pq}=\sum _{m}^{p}\sum _{n}^{q}{p \choose m}{q \choose n}(-{\bar {x}})^{(p-m)}(-{\bar {y}})^{(q-n)}M_{mn}} Central moments are translational invariant. === Examples === Information about image orientation can be derived by first using the second order central moments to construct a covariance matrix. μ 20 ′ = μ 20 / μ 00 = M 20 / M 00 − x ¯ 2 μ 02 ′ = μ 02 / μ 00 = M 02 / M 00 − y ¯ 2 μ 11 ′ = μ 11 / μ 00 = M 11 / M 00 − x ¯ y ¯ {\displaystyle {\begin{aligned}\mu '_{20}&=\mu _{20}/\mu _{00}=M_{20}/M_{00}-{\bar {x}}^{2}\\\mu '_{02}&=\mu _{02}/\mu _{00}=M_{02}/M_{00}-{\bar {y}}^{2}\\\mu '_{11}&=\mu _{11}/\mu _{00}=M_{11}/M_{00}-{\bar {x}}{\bar {y}}\end{aligned}}} The covariance matrix of the image I ( x , y ) {\displaystyle I(x,y)} is now cov ⁡ [ I ( x , y ) ] = [ μ 20 ′ μ 11 ′ μ 11 ′ μ 02 ′ ] . {\displaystyle \operatorname {cov} [I(x,y)]={\begin{bmatrix}\mu '_{20}&\mu '_{11}\\\mu '_{11}&\mu '_{02}\end{bmatrix}}.} The eigenvectors of this matrix correspond to the major and minor axes of the image intensity, so the orientation can thus be extracted from the angle of the eigenvector associated with the largest eigenvalue towards the axis closest to this eigenvector. It can be shown that this angle Θ is given by the following formula: Θ = 1 2 arctan ⁡ ( 2 μ 11 ′ μ 20 ′ − μ 02 ′ ) {\displaystyle \Theta ={\frac {1}{2}}\arctan \left({\frac {2\mu '_{11}}{\mu '_{20}-\mu '_{02}}}\right)} The above formula holds as long as: μ 20 ′ − μ 02 ′ ≠ 0 {\displaystyle \mu '_{20}-\mu '_{02}\neq 0} The eigenvalues of the covariance matrix can easily be shown to be λ i = μ 20 ′ + μ 02 ′ 2 ± 4 μ ′ 11 2 + ( μ ′ 20 − μ ′ 02 ) 2 2 , {\displaystyle \lambda _{i}={\frac {\mu '_{20}+\mu '_{02}}{2}}\pm {\frac {\sqrt {4{\mu '}_{11}^{2}+({\mu '}_{20}-{\mu '}_{02})^{2}}}{2}},} and are proportional to the squared length of the eigenvector axes. The relative difference in magnitude of the eigenvalues are thus an indication of the eccentricity of the image, or how elongated it is. The eccentricity is 1 − λ 2 λ 1 . {\displaystyle {\sqrt {1-{\frac {\lambda _{2}}{\lambda _{1}}}}}.} == Moment invariants == Moments are well-known for their application in image analysis, since they can be used to derive invariants with respect to specific transformation classes. The term invariant moments is often abused in this context. However, while moment invariants are invariants that are formed from moments, the only moments that are invariants themselves are the central moments. Note that the invariants detailed below are exactly invariant only in the continuous domain. In a discrete domain, neither scaling nor rotation are well defined: a discrete image transformed in such a way is generally an approximation, and the transformation is not reversible. These invariants therefore are only approximately invariant when describing a shape in a discrete image. === Translation invariants === The central moments μi j of any order are, by construction, invariant with respect to translations. === Scale invariants === Invariants ηi j with respect to both translation and scale can be constructed from central moments by dividing through a properly scaled zero-th central moment: η i j = μ i j μ 00 ( 1 + i + j 2 ) {\displaystyle \eta _{ij}={\frac {\mu _{ij}}{\mu _{00}^{\left(1+{\frac {i+j}{2}}\right)}}}\,\!} where i + j ≥ 2. Note that translational invariance directly follows by only using central moments. === Rotation invariants === As shown in the work of Hu, invariants with respect to translation, scale, and rotation can be constructed: I 1 = η 20 + η 02 {\displaystyle I_{1}=\eta _{20}+\eta _{02}} I 2 = ( η 20 − η 02 ) 2 + 4 η 11 2 {\displaystyle I_{2}=(\eta _{20}-\eta _{02})^{2}+4\eta _{11}^{2}} I 3 = ( η 30 − 3 η 12 ) 2 + ( 3 η 21 − η 03 ) 2 {\displaystyle I_{3}=(\eta _{30}-3\eta _{12})^{2}+(3\eta _{21}-\eta _{03})^{2}} I 4 = ( η 30 + η 12 ) 2 + ( η 21 + η 03 ) 2 {\displaystyle I_{4}=(\eta _{30}+\eta _{12})^{2}+(\eta _{21}+\eta _{03})^{2}} I 5 = ( η 30 − 3 η 12 ) ( η 30 + η 12 ) [ ( η 30 + η 12 ) 2 − 3 ( η 21 + η 03 ) 2 ] + ( 3 η 21 − η 03 ) ( η 21 + η 03 ) [ 3 ( η 30 + η 12 ) 2 − ( η 21 + η 03 ) 2 ] {\displaystyle I_{5}=(\eta _{30}-3\eta _{12})(\eta _{30}+\eta _{12})[(\eta _{30}+\eta _{12})^{2}-3(\eta _{21}+\eta _{03})^{2}]+(3\eta _{21}-\eta _{03})(\eta _{21}+\eta _{03})[3(\eta _{30}+\eta _{12})^{2}-(\eta _{21}+\eta _{03})^{2}]} I 6 = ( η 20 − η 02 ) [ ( η 30 + η 12 ) 2 − ( η 21 + η 03 ) 2 ] + 4 η 11 ( η 30 + η 12 ) ( η 21 + η 03 ) {\displaystyle I_{6}=(\eta _{20}-\eta _{02})[(\eta _{30}+\eta _{12})^{2}-(\eta _{21}+\eta _{03})^{2}]+4\eta _{11}(\eta _{30}+\eta _{12})(\eta _{21}+\eta _{03})} I 7 = ( 3 η 21 − η 03 ) ( η 30 + η 12 ) [ ( η 30 + η 12 ) 2 − 3 ( η 21 + η 03 ) 2 ] − ( η 30 − 3 η 12 ) ( η 21 + η 03 ) [ 3 ( η 30 + η 12 ) 2 − ( η 21 + η 03 ) 2 ] . {\displaystyle I_{7}=(3\eta _{21}-\eta _{03})(\eta _{30}+\eta _{12})[(\eta _{30}+\eta _{12})^{2}-3(\eta _{21}+\eta _{03})^{2}]-(\eta _{30}-3\eta _{12})(\eta _{21}+\eta _{03})[3(\eta _{30}+\eta _{12})^{2}-(\eta _{21}+\eta _{03})^{2}].} These are well-known as Hu moment invariants. The first one, I1, is analogous to the moment of inertia around the image's centroid, where the pixels' intensities are analogous to physical density. The first six, I1 ... I6, are reflection symmetric, i.e. they are unchanged if the image is changed to a mirror image. The last one, I7, is reflection antisymmetric (changes sign under reflection), which enables it to distinguish mirror images of otherwise identical im

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  List of chatbots

  A chatbot is a software application or web interface that is designed to mimic human conversation through text or voice interactions. Modern chatbots are typically online and use generative artificial intelligence systems that are capable of maintaining a conversation with a user in natural language and simulating the way a human would behave as a conversational partner. Such chatbots often use large language models (LLMs) and natural language processing, but simpler chatbots have existed for decades. == LLM chatbots == == General chatbots == == Historical chatbots ==

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  Point-set registration

  In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation (e.g., scaling, rotation and translation) that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model (or coordinate frame), and mapping a new measurement to a known data set to identify features or to estimate its pose. Raw 3D point cloud data are typically obtained from Lidars and RGB-D cameras. 3D point clouds can also be generated from computer vision algorithms such as triangulation, bundle adjustment, and more recently, monocular image depth estimation using deep learning. For 2D point set registration used in image processing and feature-based image registration, a point set may be 2D pixel coordinates obtained by feature extraction from an image, for example corner detection. Point cloud registration has extensive applications in autonomous driving, motion estimation and 3D reconstruction, object detection and pose estimation, robotic manipulation, simultaneous localization and mapping (SLAM), panorama stitching, virtual and augmented reality, and medical imaging. As a special case, registration of two point sets that only differ by a 3D rotation (i.e., there is no scaling and translation), is called the Wahba Problem and also related to the orthogonal procrustes problem. == Formulation == The problem may be summarized as follows: Let { M , S } {\displaystyle \lbrace {\mathcal {M}},{\mathcal {S}}\rbrace } be two finite size point sets in a finite-dimensional real vector space R d {\displaystyle \mathbb {R} ^{d}} , which contain M {\displaystyle M} and N {\displaystyle N} points respectively (e.g., d = 3 {\displaystyle d=3} recovers the typical case of when M {\displaystyle {\mathcal {M}}} and S {\displaystyle {\mathcal {S}}} are 3D point sets). The problem is to find a transformation to be applied to the moving "model" point set M {\displaystyle {\mathcal {M}}} such that the difference (typically defined in the sense of point-wise Euclidean distance) between M {\displaystyle {\mathcal {M}}} and the static "scene" set S {\displaystyle {\mathcal {S}}} is minimized. In other words, a mapping from R d {\displaystyle \mathbb {R} ^{d}} to R d {\displaystyle \mathbb {R} ^{d}} is desired which yields the best alignment between the transformed "model" set and the "scene" set. The mapping may consist of a rigid or non-rigid transformation. The transformation model may be written as T {\displaystyle T} , using which the transformed, registered model point set is: The output of a point set registration algorithm is therefore the optimal transformation T ⋆ {\displaystyle T^{\star }} such that M {\displaystyle {\mathcal {M}}} is best aligned to S {\displaystyle {\mathcal {S}}} , according to some defined notion of distance function dist ⁡ ( ⋅ , ⋅ ) {\displaystyle \operatorname {dist} (\cdot ,\cdot )} : where T {\displaystyle {\mathcal {T}}} is used to denote the set of all possible transformations that the optimization tries to search for. The most popular choice of the distance function is to take the square of the Euclidean distance for every pair of points: where ‖ ⋅ ‖ 2 {\displaystyle \|\cdot \|_{2}} denotes the vector 2-norm, s m {\displaystyle s_{m}} is the corresponding point in set S {\displaystyle {\mathcal {S}}} that attains the shortest distance to a given point m {\displaystyle m} in set M {\displaystyle {\mathcal {M}}} after transformation. Minimizing such a function in rigid registration is equivalent to solving a least squares problem. == Types of algorithms == When the correspondences (i.e., s m ↔ m {\displaystyle s_{m}\leftrightarrow m} ) are given before the optimization, for example, using feature matching techniques, then the optimization only needs to estimate the transformation. This type of registration is called correspondence-based registration. On the other hand, if the correspondences are unknown, then the optimization is required to jointly find out the correspondences and transformation together. This type of registration is called simultaneous pose and correspondence registration. === Rigid registration === Given two point sets, rigid registration yields a rigid transformation which maps one point set to the other. A rigid transformation is defined as a transformation that does not change the distance between any two points. Typically such a transformation consists of translation and rotation. In rare cases, the point set may also be mirrored. In robotics and computer vision, rigid registration has the most applications. === Non-rigid registration === Given two point sets, non-rigid registration yields a non-rigid transformation which maps one point set to the other. Non-rigid transformations include affine transformations such as scaling and shear mapping. However, in the context of point set registration, non-rigid registration typically involves nonlinear transformation. If the eigenmodes of variation of the point set are known, the nonlinear transformation may be parametrized by the eigenvalues. A nonlinear transformation may also be parametrized as a thin plate spline. === Other types === Some approaches to point set registration use algorithms that solve the more general graph matching problem. However, the computational complexity of such methods tend to be high and they are limited to rigid registrations. In this article, we will only consider algorithms for rigid registration, where the transformation is assumed to contain 3D rotations and translations (possibly also including a uniform scaling). The PCL (Point Cloud Library) is an open-source framework for n-dimensional point cloud and 3D geometry processing. It includes several point registration algorithms. == Correspondence-based registration == Correspondence-based methods assume the putative correspondences m ↔ s m {\displaystyle m\leftrightarrow s_{m}} are given for every point m ∈ M {\displaystyle m\in {\mathcal {M}}} . Therefore, we arrive at a setting where both point sets M {\displaystyle {\mathcal {M}}} and S {\displaystyle {\mathcal {S}}} have N {\displaystyle N} points and the correspondences m i ↔ s i , i = 1 , … , N {\displaystyle m_{i}\leftrightarrow s_{i},i=1,\dots ,N} are given. === Outlier-free registration === In the simplest case, one can assume that all the correspondences are correct, meaning that the points m i , s i ∈ R 3 {\displaystyle m_{i},s_{i}\in \mathbb {R} ^{3}} are generated as follows:where l > 0 {\displaystyle l>0} is a uniform scaling factor (in many cases l = 1 {\displaystyle l=1} is assumed), R ∈ SO ( 3 ) {\displaystyle R\in {\text{SO}}(3)} is a proper 3D rotation matrix ( SO ( d ) {\displaystyle {\text{SO}}(d)} is the special orthogonal group of degree d {\displaystyle d} ), t ∈ R 3 {\displaystyle t\in \mathbb {R} ^{3}} is a 3D translation vector and ϵ i ∈ R 3 {\displaystyle \epsilon _{i}\in \mathbb {R} ^{3}} models the unknown additive noise (e.g., Gaussian noise). Specifically, if the noise ϵ i {\displaystyle \epsilon _{i}} is assumed to follow a zero-mean isotropic Gaussian distribution with standard deviation σ i {\displaystyle \sigma _{i}} , i.e., ϵ i ∼ N ( 0 , σ i 2 I 3 ) {\displaystyle \epsilon _{i}\sim {\mathcal {N}}(0,\sigma _{i}^{2}I_{3})} , then the following optimization can be shown to yield the maximum likelihood estimate for the unknown scale, rotation and translation:Note that when the scaling factor is 1 and the translation vector is zero, then the optimization recovers the formulation of the Wahba problem. Despite the non-convexity of the optimization (cb.2) due to non-convexity of the set SO ( 3 ) {\displaystyle {\text{SO}}(3)} , seminal work by Berthold K.P. Horn showed that (cb.2) actually admits a closed-form solution, by decoupling the estimation of scale, rotation and translation. Similar results were discovered by Arun et al. In addition, in order to find a unique transformation ( l , R , t ) {\displaystyle (l,R,t)} , at least N = 3 {\displaystyle N=3} non-collinear points in each point set are required. More recently, Briales and Gonzalez-Jimenez have developed a semidefinite relaxation using Lagrangian duality, for the case where the model set M {\displaystyle {\mathcal {M}}} contains different 3D primitives such as points, lines and planes (which is the case when the model M {\displaystyle {\mathcal {M}}} is a 3D mesh). Interestingly, the semidefinite relaxation is empirically tight, i.e., a certifiably globally optimal solution can be extracted from the solution of the semidefinite relaxation. === Robust registration === The least squares formulation (cb.2) is known to perform arbitrarily badly in the presence of outliers. An outlier correspondence is a pair of measurements s i ↔ m i {\displaystyle s_{i}\leftrightarrow m_{i}} that departs from the generative model (cb.1). In this case, one can consider a differen

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  Screenpal

  ScreenPal (formerly known as Screencast-O-Matic) is cross-platform screen capture and screen recording software originally developed in 2006. == History == The company was founded by AJ Gregory in 2006 as Screencast-O-Matic. The software includes features for screen recording, screenshot capture, video editing, image editing, and a video and image hosting service. It is available for Windows and Mac operating systems, and has mobile apps for iOS and Android. The company launched a video editor in 2015. It began offering free video and image hosting in 2019, with premium hosting options for subscribers. In 2023, it was rebranded as ScreenPal.

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  Eigenface

  An eigenface ( EYE-gən-) is the name given to a set of eigenvectors when used in the computer vision problem of human face recognition. The approach of using eigenfaces for recognition was developed by Sirovich and Kirby and used by Matthew Turk and Alex Pentland in face classification. The eigenvectors are derived from the covariance matrix of the probability distribution over the high-dimensional vector space of face images. The eigenfaces themselves form a basis set of all images used to construct the covariance matrix. This produces dimension reduction by allowing the smaller set of basis images to represent the original training images. Classification can be achieved by comparing how faces are represented by the basis set. == History == The eigenface approach began with a search for a low-dimensional representation of face images. Sirovich and Kirby showed that principal component analysis could be used on a collection of face images to form a set of basis features. These basis images, known as eigenpictures, could be linearly combined to reconstruct images in the original training set. If the training set consists of M images, principal component analysis could form a basis set of N images, where N < M. The reconstruction error is reduced by increasing the number of eigenpictures; however, the number needed is always chosen less than M. For example, if you need to generate a number of N eigenfaces for a training set of M face images, you can say that each face image can be made up of "proportions" of all the K "features" or eigenfaces: Face image1 = (23% of E1) + (2% of E2) + (51% of E3) + ... + (1% En). In 1991 M. Turk and A. Pentland expanded these results and presented the eigenface method of face recognition. In addition to designing a system for automated face recognition using eigenfaces, they showed a way of calculating the eigenvectors of a covariance matrix such that computers of the time could perform eigen-decomposition on a large number of face images. Face images usually occupy a high-dimensional space and conventional principal component analysis was intractable on such data sets. Turk and Pentland's paper demonstrated ways to extract the eigenvectors based on matrices sized by the number of images rather than the number of pixels. Once established, the eigenface method was expanded to include methods of preprocessing to improve accuracy. Multiple manifold approaches were also used to build sets of eigenfaces for different subjects and different features, such as the eyes. == Generation == A set of eigenfaces can be generated by performing a mathematical process called principal component analysis (PCA) on a large set of images depicting different human faces. Informally, eigenfaces can be considered a set of "standardized face ingredients", derived from statistical analysis of many pictures of faces. Any human face can be considered to be a combination of these standard faces. For example, one's face might be composed of the average face plus 10% from eigenface 1, 55% from eigenface 2, and even −3% from eigenface 3. Remarkably, it does not take many eigenfaces combined together to achieve a fair approximation of most faces. Also, because a person's face is not recorded by a digital photograph, but instead as just a list of values (one value for each eigenface in the database used), much less space is taken for each person's face. The eigenfaces that are created will appear as light and dark areas that are arranged in a specific pattern. This pattern is how different features of a face are singled out to be evaluated and scored. There will be a pattern to evaluate symmetry, whether there is any style of facial hair, where the hairline is, or an evaluation of the size of the nose or mouth. Other eigenfaces have patterns that are less simple to identify, and the image of the eigenface may look very little like a face. The technique used in creating eigenfaces and using them for recognition is also used outside of face recognition: handwriting recognition, lip reading, voice recognition, sign language/hand gestures interpretation and medical imaging analysis. Therefore, some do not use the term eigenface, but prefer to use 'eigenimage'. === Practical implementation === To create a set of eigenfaces, one must: Prepare a training set of face images. The pictures constituting the training set should have been taken under the same lighting conditions, and must be normalized to have the eyes and mouths aligned across all images. They must also be all resampled to a common pixel resolution (r × c). Each image is treated as one vector, simply by concatenating the rows of pixels in the original image, resulting in a single column with r × c elements. For this implementation, it is assumed that all images of the training set are stored in a single matrix T, where each column of the matrix is an image. Subtract the mean. The average image a has to be calculated and then subtracted from each original image in T. Calculate the eigenvectors and eigenvalues of the covariance matrix S. Each eigenvector has the same dimensionality (number of components) as the original images, and thus can itself be seen as an image. The eigenvectors of this covariance matrix are therefore called eigenfaces. They are the directions in which the images differ from the mean image. Usually this will be a computationally expensive step (if at all possible), but the practical applicability of eigenfaces stems from the possibility to compute the eigenvectors of S efficiently, without ever computing S explicitly, as detailed below. Choose the principal components. Sort the eigenvalues in descending order and arrange eigenvectors accordingly. The number of principal components k is determined arbitrarily by setting a threshold ε on the total variance. Total variance ⁠ v = ( λ 1 + λ 2 + . . . + λ n ) {\displaystyle v=(\lambda _{1}+\lambda _{2}+...+\lambda _{n})} ⁠, n = number of components, and λ {\displaystyle \lambda } represents component eigenvalue. k is the smallest number that satisfies ( λ 1 + λ 2 + . . . + λ k ) v > ϵ {\displaystyle {\frac {(\lambda _{1}+\lambda _{2}+...+\lambda _{k})}{v}}>\epsilon } These eigenfaces can now be used to represent both existing and new faces: we can project a new (mean-subtracted) image on the eigenfaces and thereby record how that new face differs from the mean face. The eigenvalues associated with each eigenface represent how much the images in the training set vary from the mean image in that direction. Information is lost by projecting the image on a subset of the eigenvectors, but losses are minimized by keeping those eigenfaces with the largest eigenvalues. For instance, working with a 100 × 100 image will produce 10,000 eigenvectors. In practical applications, most faces can typically be identified using a projection on between 100 and 150 eigenfaces, so that most of the 10,000 eigenvectors can be discarded. === Matlab example code === Here is an example of calculating eigenfaces with Extended Yale Face Database B. To evade computational and storage bottleneck, the face images are sampled down by a factor 4×4=16. Note that although the covariance matrix S generates many eigenfaces, only a fraction of those are needed to represent the majority of the faces. For example, to represent 95% of the total variation of all face images, only the first 43 eigenfaces are needed. To calculate this result, implement the following code: === Computing the eigenvectors === Performing PCA directly on the covariance matrix of the images is often computationally infeasible. If small images are used, say 100 × 100 pixels, each image is a point in a 10,000-dimensional space and the covariance matrix S is a matrix of 10,000 × 10,000 = 108 elements. However the rank of the covariance matrix is limited by the number of training examples: if there are N training examples, there will be at most N − 1 eigenvectors with non-zero eigenvalues. If the number of training examples is smaller than the dimensionality of the images, the principal components can be computed more easily as follows. Let T be the matrix of preprocessed training examples, where each column contains one mean-subtracted image. The covariance matrix can then be computed as S = TTT and the eigenvector decomposition of S is given by S v i = T T T v i = λ i v i {\displaystyle \mathbf {Sv} _{i}=\mathbf {T} \mathbf {T} ^{T}\mathbf {v} _{i}=\lambda _{i}\mathbf {v} _{i}} However TTT is a large matrix, and if instead we take the eigenvalue decomposition of T T T u i = λ i u i {\displaystyle \mathbf {T} ^{T}\mathbf {T} \mathbf {u} _{i}=\lambda _{i}\mathbf {u} _{i}} then we notice that by pre-multiplying both sides of the equation with T, we obtain T T T T u i = λ i T u i {\displaystyle \mathbf {T} \mathbf {T} ^{T}\mathbf {T} \mathbf {u} _{i}=\lambda _{i}\mathbf {T} \mathbf {u} _{i}} Meaning that, if ui is an eigenvector of TTT, then vi = Tui is an eigenvector of S. If we have

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  Stixel

  In computer vision, a stixel (portmanteau of "stick" and "pixel") is a superpixel representation of depth information in an image, in the form of a vertical stick that approximates the closest obstacles within a certain vertical slice of the scene. Introduced in 2009, stixels have applications in robotic navigation and advanced driver-assistance systems, where they can be used to define a representation of robotic environments and traffic scenes with a medium level of abstraction. == Definition == One of the problems of scene understanding in computer vision is to determine horizontal freespace around the camera, where the agent can move, and the vertical obstacles delimiting it. An image can be paired with depth information (produced e.g. from stereo disparity, lidar, or monocular depth estimation), allowing a dense tridimensional reconstruction of the observed scene. One drawback of dense reconstruction is the large amount of data involved, since each pixel in the image is mapped to an element of a point cloud. Vision problems characterised by planar freespace delimited by mostly vertical obstacles, such as traffic scenes or robotic navigation, can benefit from a condensed representation that allows to save memory and processing time. Stixels are thin vertical rectangles representing a slice of a vertical surface belonging to the closest obstacle in the observed scene. They allow to dramatically reduce the amount of information needed to represent a scene in such problems. A stixel is characterised by three parameters: vertical coordinate of the bottom, height of the stick, and depth. Stixels have fixed width, with each stixel spanning over a certain number of image columns, allowing downsampling of the horizontal image resolution. In the original formulation, each column of the image would contain at most one stixel, and later extensions were developed to allow multiple stixels on each column, allowing to represent multiple objects at different distances. == Stixel estimation == The input to stixel estimation is a dense depth map, that can be computed from stereo disparity or other means. The original approach computes an occupancy grid that can be segmented to estimate the freespace, with dynamic programming providing an efficient method to find an optimal segmentation. Alternative approaches can be used instead of occupancy grid mapping, such as manifold-based methods. The freespace boundary provides the base points of the obstacles at closest longitudinal distance, however multiple objects at different distances might appear in each column of the image. To fully define the obstacles, their height should be estimated, and this is accomplished by segmenting the depth of the object from the depth of the background. A membership function over the pixels can be defined based on the depth value, where the membership represents the confidence of a pixel belonging to the closest vertical obstacle or to the background, and a cut separating the obstacles from the background can again be computed effectively with dynamic programming. Once both the freespace and the obstacle height are known, the stixels can be estimated by fusing the information over the columns spanned by each stixel, and finally a refined depth of the stixel can be estimated via model fitting over the depth of the pixels covered by the stixel, possibly paired with confidence information (e.g. disparity confidence produced by methods such as semi-global matching).

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  Google Books Ngram Viewer

  The Google Books Ngram Viewer is an online search engine that charts the frequencies of any set of search strings using a yearly count of n-grams found in printed sources published between 1500 and 2022 in Google's text corpora in English, Chinese (simplified), French, German, Hebrew, Italian, Russian, or Spanish. There are also some specialized English corpora, such as American English, British English, and English Fiction. The program can search for a word or a phrase. The n-grams are matched with the text within the selected corpus, and if found in 40 or more books, are then displayed as a graph. The program supports searches for parts of speech and wildcards. It is routinely used in research. == History == The Ngram Viewer was created by Google software engineers Will Brockman and Jon Orwant , who teamed up with Harvard researchers Jean-Baptiste Michel and Erez Lieberman Aiden. The service was released on December 16, 2010. Before the release, it was difficult to quantify the rate of linguistic change because of the absence of a database that was designed for this purpose, said Steven Pinker, a well-known linguist who was one of the co-authors of the Science paper published on the same day. The Google Books Ngram Viewer was developed in the hope of opening a new window to quantitative research in the humanities field, and the database contained 500 billion words from 5.2 million books publicly available from the very beginning. The intended audience was scholarly, but the Google Books Ngram Viewer made it possible for anyone with a computer to see a graph that represents the diachronic change of the use of words and phrases with ease. Lieberman said in response to The New York Times that the developers aimed to provide even children with the ability to browse cultural trends throughout history. In the Science paper, Lieberman and his collaborators called the method of high-volume data analysis in digitized texts "culturomics". == Usage == Commas delimit user-entered search terms, where each comma-separated term is searched in the database as an n-gram (for example, "nursery school" is a 2-gram or bigram). The Ngram Viewer then returns a plotted line chart. Due to limitations on the size of the Ngram database, only matches found in at least 40 books are indexed. == Limitations == The data sets of the Ngram Viewer have been criticized for their reliance upon inaccurate optical character recognition (OCR) and for including large numbers of incorrectly dated and categorized texts. Because of these errors, and because they are uncontrolled for bias (such as the increasing amount of scientific literature, which causes other terms to appear to decline in popularity), care must be taken in using the corpora to study language or test theories. Furthermore, the data sets may not reflect general linguistic or cultural change and can only hint at such an effect because they do not involve any metadata like date published, author, length, or genre, to avoid any potential copyright infringements. Systemic errors like the confusion of s and f in pre-19th century texts (due to the use of ſ, the long s, which is similar in appearance to f) can cause systemic bias. Although the Google Books team claims that the results are reliable from 1800 onwards, poor OCR and insufficient data mean that frequencies given for languages such as Chinese may only be accurate from 1970 onward, with earlier parts of the corpus showing no results at all for common terms, and data for some years containing more than 50% noise. Guidelines for doing research with data from Google Ngram have been proposed that try to address some of the issues discussed above.

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  Webmail

  Webmail (or web-based email) is an email service that can be accessed using a standard web browser. It contrasts with email service accessible through a specialised email client software. Additionally, many internet service providers (ISP) provide webmail as part of their internet service package. Similarly, some web hosting providers also provide webmail as a part of their hosting package. As with any web application, webmail's main advantage over the use of a desktop email client is the ability to send and receive email anywhere from a web browser. == History == === Early implementations === The first Web Mail implementation was developed at CERN in 1993 by Phillip Hallam-Baker as a test of the HTTP protocol stack, but was not developed further. In the next two years, however, several people produced working webmail applications. In Europe, there were three implementations, Søren Vejrum's "WWW Mail", Luca Manunza's "WebMail", and Remy Wetzels' "WebMail". Søren Vejrum's "WWW Mail" was written when he was studying and working at the Copenhagen Business School in Denmark, and was released on February 28, 1995. Luca Manunza's "WebMail" was written while he was working at CRS4 in Sardinia, from an idea of Gianluigi Zanetti, with the first source release on March 30, 1995. Remy Wetzels' "WebMail" was written while he was studying at the Eindhoven University of Technology in the Netherlands for the DSE and was released early January 1995. In the United States, Matt Mankins wrote "Webex", and Bill Fitler, while at Lotus cc:Mail, began working on an implementation which he demonstrated publicly at Lotusphere on January 24, 1995. Customers who saw the cc:Mail demonstration were very enthusiastic, one recalling that they were "like an angry mob. People were yelling, 'We want this now!'". Matt Mankins, under the supervision of Dr. Burt Rosenberg at the University of Miami, released his "Webex" application source code in a post to comp.mail.misc on August 8, 1995, although it had been in use as the primary email application at the School of Architecture where Mankins worked for some months prior. Bill Fitler's webmail implementation was further developed as a commercial product, which Lotus announced and released in the fall of 1995 as cc:Mail for the World Wide Web 1.0; thereby providing an alternative means of accessing a cc:Mail message store (the usual means being a cc:Mail desktop application that operated either via dialup or within the confines of a local area network). Early commercialization of webmail was also achieved when "Webex" began to be sold by Mankins' company, DotShop, Inc., at the end of 1995. Within DotShop, "Webex" changed its name to "EMUmail"; which would be sold to companies like UPS and Rackspace until its sale to Accurev in 2001. EMUmail was one of the first applications to feature a free version that included embedded advertising, as well as a licensed version that did not. Hotmail and Four11's RocketMail both launched in 1996 as free services and immediately became very popular. === Widespread deployment === As the 1990s progressed, and into the 2000s, it became more common for the general public to have access to webmail because: many Internet service providers (such as EarthLink) and web hosting providers (such as Verio) began bundling webmail into their service offerings (often in parallel with POP/SMTP services); many other enterprises (such as universities and large corporations) also started offering webmail as a way for their user communities to access their email (either locally managed or outsourced); webmail service providers (such as Hotmail and RocketMail) emerged in 1996 as a free service to the general public, and rapidly gained in popularity. In some cases, webmail application software is developed in-house by the organizations running and managing the application, and in some cases it is obtained from software companies that develop and sell such applications, usually as part of an integrated mail server package (an early example being Netscape Messaging Server). The market for webmail application software has continued into the 2010s. == Rendering and compatibility == Email users may find the use of both a webmail client and a desktop client using the POP3 protocol presents some difficulties. For example, email messages that are downloaded by the desktop client and are removed from the server will no longer be available on the webmail client. The user is limited to previewing messages using the web client before they are downloaded by the desktop email client. However, one may choose to leave the emails on the server, in which case this problem does not occur. The use of both a webmail client and a desktop client using the IMAP4 protocol allows the contents of the mailbox to be consistently displayed in both the webmail and desktop clients and any action the user performs on messages in one interface will be reflected when the email is accessed via the other interface. There are significant differences in rendering capabilities for many popular webmail services such as Gmail, Outlook.com and Yahoo! Mail. Due to the varying treatment of HTML tags, such as