AI Generator Outfit

AI Generator Outfit — independent reviews, comparisons, pricing and step-by-step guides on Aizhi.

  • Podium (company)

    Podium (company)

    Podium is a private technology company headquartered in Lehi, Utah that develops cloud-based software related to messaging, customer feedback, online reviews, selling products, and requesting payments. == History == Podium was founded in 2014 by Eric Rea and Dennis Steele, who developed a tool to help small businesses "build their online reputation" through online reviews. Podium was initially known as RepDrive before rebranding as Podium in 2015. In 2015, Podium moved from a spare bedroom to a new location above a Provo bike shop. In March 2020, Podium added payments technology to its product suite. In November 2021, Podium raised $201 million in Series D funding and was valued at $3 billion. == Product == Podium is a software-as-a-service platform designed to improve business online reputation. It helps users manage business interactions in one tool. Users can communicate reviews, texts, chats, and post payment directly within the app.

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  • Grammatical evolution

    Grammatical evolution

    Grammatical evolution (GE) is a genetic programming (GP) technique (or approach) from evolutionary computation pioneered by Conor Ryan, JJ Collins and Michael O'Neill in 1998 at the BDS Group in the University of Limerick. As in any other GP approach, the objective is to find an executable program, program fragment, or function, which will achieve a good fitness value for a given objective function. In most published work on GP, a LISP-style tree-structured expression is directly manipulated, whereas GE applies genetic operators to an integer string, subsequently mapped to a program (or similar) through the use of a grammar, which is typically expressed in Backus–Naur form. One of the benefits of GE is that this mapping simplifies the application of search to different programming languages and other structures. == Problem addressed == In type-free, conventional Koza-style GP, the function set must meet the requirement of closure: all functions must be capable of accepting as their arguments the output of all other functions in the function set. Usually, this is implemented by dealing with a single data-type such as double-precision floating point. While modern Genetic Programming frameworks support typing, such type-systems have limitations that Grammatical Evolution does not suffer from. == GE's solution == GE offers a solution to the single-type limitation by evolving solutions according to a user-specified grammar (usually a grammar in Backus-Naur form). Therefore, the search space can be restricted, and domain knowledge of the problem can be incorporated. The inspiration for this approach comes from a desire to separate the "genotype" from the "phenotype": in GP, the objects the search algorithm operates on and what the fitness evaluation function interprets are one and the same. In contrast, GE's "genotypes" are ordered lists of integers which code for selecting rules from the provided context-free grammar. The phenotype, however, is the same as in Koza-style GP: a tree-like structure that is evaluated recursively. This model is more in line with how genetics work in nature, where there is a separation between an organism's genotype and the final expression of phenotype in proteins, etc. Separating genotype and phenotype allows a modular approach. In particular, the search portion of the GE paradigm needn't be carried out by any one particular algorithm or method. Observe that the objects GE performs search on are the same as those used in genetic algorithms. This means, in principle, that any existing genetic algorithm package, such as the popular GAlib, can be used to carry out the search, and a developer implementing a GE system need only worry about carrying out the mapping from list of integers to program tree. It is also in principle possible to perform the search using some other method, such as particle swarm optimization (see the remark below); the modular nature of GE creates many opportunities for hybrids as the problem of interest to be solved dictates. Brabazon and O'Neill have successfully applied GE to predicting corporate bankruptcy, forecasting stock indices, bond credit ratings, and other financial applications. GE has also been used with a classic predator-prey model to explore the impact of parameters such as predator efficiency, niche number, and random mutations on ecological stability. It is possible to structure a GE grammar that for a given function/terminal set is equivalent to genetic programming. == Criticism == Despite its successes, GE has been the subject of some criticism. One issue is that as a result of its mapping operation, GE's genetic operators do not achieve high locality which is a highly regarded property of genetic operators in evolutionary algorithms. == Variants == Although GE was originally described in terms of using an Evolutionary Algorithm, specifically, a Genetic Algorithm, other variants exist. For example, GE researchers have experimented with using particle swarm optimization to carry out the searching instead of genetic algorithms with results comparable to that of normal GE; this is referred to as a "grammatical swarm"; using only the basic PSO model it has been found that PSO is probably equally capable of carrying out the search process in GE as simple genetic algorithms are. (Although PSO is normally a floating-point search paradigm, it can be discretized, e.g., by simply rounding each vector to the nearest integer, for use with GE.) Yet another possible variation that has been experimented with in the literature is attempting to encode semantic information in the grammar in order to further bias the search process. Other work showed that, with biased grammars that leverage domain knowledge, even random search can be used to drive GE. == Related work == GE was originally a combination of the linear representation as used by the Genetic Algorithm for Developing Software (GADS) and Backus Naur Form grammars, which were originally used in tree-based GP by Wong and Leung in 1995 and Whigham in 1996. Other related work noted in the original GE paper was that of Frederic Gruau, who used a conceptually similar "embryonic" approach, as well as that of Keller and Banzhaf, which similarly used linear genomes. == Implementations == There are several implementations of GE. These include the following.

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  • Calibration (statistics)

    Calibration (statistics)

    There are two main uses of the term calibration in statistics that denote special types of statistical inference problems. Calibration can mean a reverse process to regression, where instead of a future dependent variable being predicted from known explanatory variables, a known observation of the dependent variables is used to predict a corresponding explanatory variable; procedures in statistical classification to determine class membership probabilities which assess the uncertainty of a given new observation belonging to each of the already established classes. In addition, calibration is used in statistics with the usual general meaning of calibration. For example, model calibration can be also used to refer to Bayesian inference about the value of a model's parameters, given some data set, or more generally to any type of fitting of a statistical model. As Philip Dawid puts it, "a forecaster is well calibrated if, for example, of those events to which he assigns a probability 30 percent, the long-run proportion that actually occurs turns out to be 30 percent." == In classification == Calibration in classification means transforming classifier scores into class membership probabilities. An overview of calibration methods for two-class and multi-class classification tasks is given by Gebel (2009). A classifier might separate the classes well, but be poorly calibrated, meaning that the estimated class probabilities are far from the true class probabilities. In this case, a calibration step may help improve the estimated probabilities. A variety of metrics exist that are aimed to measure the extent to which a classifier produces well-calibrated probabilities. Foundational work includes the Expected Calibration Error (ECE). Into the 2020s, variants include the Adaptive Calibration Error (ACE) and the Test-based Calibration Error (TCE), which address limitations of the ECE metric that may arise when classifier scores concentrate on narrow subset of the [0,1] range. A 2020s advancement in calibration assessment is the introduction of the Estimated Calibration Index (ECI). The ECI extends the concepts of the Expected Calibration Error (ECE) to provide a more nuanced measure of a model's calibration, particularly addressing overconfidence and underconfidence tendencies. Originally formulated for binary settings, the ECI has been adapted for multiclass settings, offering both local and global insights into model calibration. This framework aims to overcome some of the theoretical and interpretative limitations of existing calibration metrics. Through a series of experiments, Famiglini et al. demonstrate the framework's effectiveness in delivering a more accurate understanding of model calibration levels and discuss strategies for mitigating biases in calibration assessment. An online tool has been proposed to compute both ECE and ECI. The following univariate calibration methods exist for transforming classifier scores into class membership probabilities in the two-class case: Assignment value approach, see Garczarek (2002) Bayes approach, see Bennett (2002) Isotonic regression, see Zadrozny and Elkan (2002) Platt scaling (a form of logistic regression), see Lewis and Gale (1994) and Platt (1999) Bayesian Binning into Quantiles (BBQ) calibration, see Naeini, Cooper, Hauskrecht (2015) Beta calibration, see Kull, Filho, Flach (2017) === In probability prediction and forecasting === In prediction and forecasting, a Brier score is sometimes used to assess prediction accuracy of a set of predictions, specifically that the magnitude of the assigned probabilities track the relative frequency of the observed outcomes. Philip E. Tetlock employs the term "calibration" in this sense in his 2015 book Superforecasting. This differs from accuracy and precision. For example, as expressed by Daniel Kahneman, "if you give all events that happen a probability of .6 and all the events that don't happen a probability of .4, your discrimination is perfect but your calibration is miserable". In meteorology, in particular, as concerns weather forecasting, a related mode of assessment is known as forecast skill. == In regression == The calibration problem in regression is the use of known data on the observed relationship between a dependent variable and an independent variable to make estimates of other values of the independent variable from new observations of the dependent variable. This can be known as "inverse regression"; there is also sliced inverse regression. The following multivariate calibration methods exist for transforming classifier scores into class membership probabilities in the case with classes count greater than two: Reduction to binary tasks and subsequent pairwise coupling, see Hastie and Tibshirani (1998) Dirichlet calibration, see Gebel (2009) === Example === One example is that of dating objects, using observable evidence such as tree rings for dendrochronology or carbon-14 for radiometric dating. The observation is caused by the age of the object being dated, rather than the reverse, and the aim is to use the method for estimating dates based on new observations. The problem is whether the model used for relating known ages with observations should aim to minimise the error in the observation, or minimise the error in the date. The two approaches will produce different results, and the difference will increase if the model is then used for extrapolation at some distance from the known results.

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  • Tensor product network

    Tensor product network

    A tensor product network, in artificial neural networks, is a network that exploits the properties of tensors to model associative concepts such as variable assignment. Orthonormal vectors are chosen to model the ideas (such as variable names and target assignments), and the tensor product of these vectors construct a network whose mathematical properties allow the user to easily extract the association from it.

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  • Artificial brain

    Artificial brain

    An artificial brain (or artificial mind) is software and hardware with cognitive abilities similar to those of the animal or human brain. Research investigating "artificial brains" and brain emulation plays three important roles in science: An ongoing attempt by neuroscientists to understand how the human brain works, known as cognitive neuroscience. A thought experiment in the philosophy of artificial intelligence, demonstrating that it is possible, at least in theory, to create a machine that has all the capabilities of a human being. A long-term project to create machines exhibiting behavior comparable to those of animals with complex central nervous system such as mammals and most particularly humans. The ultimate goal of creating a machine exhibiting human-like behavior or intelligence is sometimes called strong AI. An example of the first objective is the project reported by Aston University in Birmingham, England where researchers are using biological cells to create "neurospheres" (small clusters of neurons) in order to develop new treatments for diseases including Alzheimer's, motor neurone and Parkinson's disease. The second objective is a reply to arguments such as John Searle's Chinese room argument, Hubert Dreyfus's critique of AI or Roger Penrose's argument in The Emperor's New Mind. These critics argued that there are aspects of human consciousness or expertise that can not be simulated by machines. One reply to their arguments is that the biological processes inside the brain can be simulated to any degree of accuracy. This reply was made as early as 1950, by Alan Turing in his classic paper "Computing Machinery and Intelligence". The third objective is generally called artificial general intelligence by researchers. However, Ray Kurzweil prefers the term "strong AI". In his book The Singularity is Near, he focuses on whole brain emulation using conventional computing machines as an approach to implementing artificial brains, and claims (on grounds of computer power continuing an exponential growth trend) that this could be done by 2025. Henry Markram, director of the Blue Brain project (which is attempting brain emulation), made a similar claim (2020) at the Oxford TED conference in 2009. == Approaches to brain simulation == W. Ross Ashby's pioneering work in cybernetics provided an early mathematical framework for understanding adaptive brain-like systems. In his 1952 book Design for a Brain, Ashby proposed that the brain could be modeled as an ultrastable system that maintains equilibrium through continuous adaptation to environmental perturbations. His approach used differential equations and state-space models to describe how neural systems could exhibit purposeful behavior through feedback mechanisms. Ashby's homeostat, a physical machine built in 1948, demonstrated these principles through an electromechanical device with four interconnected units that automatically adjusted their parameters to maintain stability when disturbed. The homeostat represented one of the first attempts to build an artificial system exhibiting brain-like adaptive behavior, influencing subsequent work in adaptive systems, neural networks, and artificial intelligence. Although direct human brain emulation using artificial neural networks on a high-performance computing engine is a commonly discussed approach, there are other approaches. An alternative artificial brain implementation could be based on Holographic Neural Technology (HNeT) non linear phase coherence/decoherence principles. The analogy has been made to quantum processes through the core synaptic algorithm which has strong similarities to the quantum mechanical wave equation. EvBrain is a form of evolutionary software that can evolve "brainlike" neural networks, such as the network immediately behind the retina. In November 2008, IBM received a US$4.9 million grant from the Pentagon for research into creating intelligent computers. The Blue Brain project is being conducted with the assistance of IBM in Lausanne. The project is based on the premise that it is possible to artificially link the neurons "in the computer" by placing thirty million synapses in their proper three-dimensional position. Some proponents of strong AI speculated in 2009 that computers in connection with Blue Brain and Soul Catcher may exceed human intellectual capacity by around 2015, and that it is likely that we will be able to download the human brain at some time around 2050. While Blue Brain is able to represent complex neural connections on the large scale, the project does not achieve the link between brain activity and behaviors executed by the brain. In 2012, project Spaun (Semantic Pointer Architecture Unified Network) attempted to model multiple parts of the human brain through large-scale representations of neural connections that generate complex behaviors in addition to mapping. Spaun's design recreates elements of human brain anatomy. The model, consisting of approximately 2.5 million neurons, includes features of the visual and motor cortices, GABAergic and dopaminergic connections, the ventral tegmental area (VTA), substantia nigra, and others. The design allows for several functions in response to eight tasks, using visual inputs of typed or handwritten characters and outputs carried out by a mechanical arm. Spaun's functions include copying a drawing, recognizing images, and counting. There are good reasons to believe that, regardless of implementation strategy, the predictions of realising artificial brains in the near future are optimistic. In particular brains (including the human brain) and cognition are not currently well understood, and the scale of computation required is unknown. Another near term limitation is that all current approaches for brain simulation require orders of magnitude larger power consumption compared with a human brain. The human brain consumes about 20 W of power, whereas current supercomputers may use as much as 1 MW—i.e., an order of 100,000 more. == Artificial brain thought experiment == Some critics of brain simulation believe that it is simpler to create general intelligent action directly without imitating nature. Some commentators have used the analogy that early attempts to construct flying machines modeled them after birds, but that modern aircraft do not look like birds.

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  • Huber loss

    Huber loss

    In statistics, the Huber loss is a loss function used in robust regression, that is less sensitive to outliers in data than the squared error loss. A variant for classification is also sometimes used. == Definition == The Huber loss function describes the penalty incurred by an estimation procedure f. Huber (1964) defines the loss function piecewise by L δ ( a ) = { 1 2 a 2 for | a | ≤ δ , δ ⋅ ( | a | − 1 2 δ ) , otherwise. {\displaystyle L_{\delta }(a)={\begin{cases}{\frac {1}{2}}{a^{2}}&{\text{for }}|a|\leq \delta ,\\[4pt]\delta \cdot \left(|a|-{\frac {1}{2}}\delta \right),&{\text{otherwise.}}\end{cases}}} This function is quadratic for small values of a, and linear for large values, with equal values and slopes of the different sections at the two points where | a | = δ {\displaystyle |a|=\delta } . The variable a often refers to the residuals, that is to the difference between the observed and predicted values a = y − f ( x ) {\displaystyle a=y-f(x)} , so the former can be expanded to L δ ( y , f ( x ) ) = { 1 2 ( y − f ( x ) ) 2 for | y − f ( x ) | ≤ δ , δ ⋅ ( | y − f ( x ) | − 1 2 δ ) , otherwise. {\displaystyle L_{\delta }(y,f(x))={\begin{cases}{\frac {1}{2}}{\left(y-f(x)\right)}^{2}&{\text{for }}\left|y-f(x)\right|\leq \delta ,\\[4pt]\delta \ \cdot \left(\left|y-f(x)\right|-{\frac {1}{2}}\delta \right),&{\text{otherwise.}}\end{cases}}} The Huber loss is the convolution of the absolute value function with the rectangular function, scaled and translated. Thus it "smoothens out" the former's corner at the origin. == Motivation == Two very commonly used loss functions are the squared loss, L ( a ) = a 2 {\displaystyle L(a)=a^{2}} , and the absolute loss, L ( a ) = | a | {\displaystyle L(a)=|a|} . The squared loss function results in an arithmetic mean-unbiased estimator, and the absolute-value loss function results in a median-unbiased estimator (in the one-dimensional case, and a geometric median-unbiased estimator for the multi-dimensional case). The squared loss has the disadvantage that it has the tendency to be dominated by outliers—when summing over a set of a {\displaystyle a} 's (as in ∑ i = 1 n L ( a i ) {\textstyle \sum _{i=1}^{n}L(a_{i})} ), the sample mean is influenced too much by a few particularly large a {\displaystyle a} -values when the distribution is heavy tailed: in terms of estimation theory, the asymptotic relative efficiency of the mean is poor for heavy-tailed distributions. As defined above, the Huber loss function is strongly convex in a uniform neighborhood of its minimum a = 0 {\displaystyle a=0} ; at the boundary of this uniform neighborhood, the Huber loss function has a differentiable extension to an affine function at points a = − δ {\displaystyle a=-\delta } and a = δ {\displaystyle a=\delta } . These properties allow it to combine much of the sensitivity of the mean-unbiased, minimum-variance estimator of the mean (using the quadratic loss function) and the robustness of the median-unbiased estimator (using the absolute value function). == Pseudo-Huber loss function == The Pseudo-Huber loss function can be used as a smooth approximation of the Huber loss function. It combines the best properties of L2 squared loss and L1 absolute loss by being strongly convex when close to the target/minimum and less steep for extreme values. The scale at which the Pseudo-Huber loss function transitions from L2 loss for values close to the minimum to L1 loss for extreme values and the steepness at extreme values can be controlled by the δ {\displaystyle \delta } value. The Pseudo-Huber loss function ensures that derivatives are continuous for all degrees. It is defined as L δ ( a ) = δ 2 ( 1 + ( a / δ ) 2 − 1 ) . {\displaystyle L_{\delta }(a)=\delta ^{2}\left({\sqrt {1+(a/\delta )^{2}}}-1\right).} As such, this function approximates a 2 / 2 {\displaystyle a^{2}/2} for small values of a {\displaystyle a} , and approximates a straight line with slope δ {\displaystyle \delta } for large values of a {\displaystyle a} . While the above is the most common form, other smooth approximations of the Huber loss function also exist. == Variant for classification == For classification purposes, a variant of the Huber loss called modified Huber is sometimes used. Given a prediction f ( x ) {\displaystyle f(x)} (a real-valued classifier score) and a true binary class label y ∈ { + 1 , − 1 } {\displaystyle y\in \{+1,-1\}} , the modified Huber loss is defined as L ( y , f ( x ) ) = { max ( 0 , 1 − y f ( x ) ) 2 for y f ( x ) > − 1 , − 4 y f ( x ) otherwise. {\displaystyle L(y,f(x))={\begin{cases}\max(0,1-y\,f(x))^{2}&{\text{for }}\,\,y\,f(x)>-1,\\[4pt]-4y\,f(x)&{\text{otherwise.}}\end{cases}}} The term max ( 0 , 1 − y f ( x ) ) {\displaystyle \max(0,1-y\,f(x))} is the hinge loss used by support vector machines; the quadratically smoothed hinge loss is a generalization of L {\displaystyle L} . == Applications == The Huber loss function is used in robust statistics, M-estimation and additive modelling.

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  • Generalized multidimensional scaling

    Generalized multidimensional scaling

    Generalized multidimensional scaling (GMDS) is an extension of metric multidimensional scaling, in which the target space is non-Euclidean. When the dissimilarities are distances on a surface and the target space is another surface, GMDS allows finding the minimum-distortion embedding of one surface into another. GMDS is an emerging research direction. Currently, main applications are recognition of deformable objects (e.g. for three-dimensional face recognition) and texture mapping.

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  • Mating pool

    Mating pool

    Mating pool is a concept used in evolutionary algorithms and means a population of parents for the next population. The mating pool is formed by candidate solutions that the selection operators deem to have the highest fitness in the current population. Solutions that are included in the mating pool are referred to as parents. Individual solutions can be repeatedly included in the mating pool, with individuals of higher fitness values having a higher chance of being included multiple times. Crossover operators are then applied to the parents, resulting in recombination of genes recognized as superior. Lastly, random changes in the genes are introduced through mutation operators, increasing the genetic variation in the gene pool. Those two operators improve the chance of creating new, superior solutions. A new generation of solutions is thereby created, the children, who will constitute the next population. Depending on the selection method, the total number of parents in the mating pool can be different to the size of the initial population, resulting in a new population that’s smaller. To continue the algorithm with an equally sized population, random individuals from the old populations can be chosen and added to the new population. At this point, the fitness value of the new solutions is evaluated. If the termination conditions are fulfilled, processes come to an end. Otherwise, they are repeated. The repetition of the steps result in candidate solutions that evolve towards the most optimal solution over time. The genes will become increasingly uniform towards the most optimal gene, a process called convergence. If 95% of the population share the same version of a gene, the gene has converged. When all the individual fitness values have reached the value of the best individual, i.e. all the genes have converged, population convergence is achieved. == Mating pool creation == Several methods can be applied to create a mating pool. All of these processes involve the selective breeding of a particular number of individuals within a population. There are multiple criteria that can be employed to determine which individuals make it into the mating pool and which are left behind. The selection methods can be split into three general types: fitness proportionate selection, ordinal based selection and threshold based selection. === Fitness proportionate selection === In the case of fitness proportionate selection, random individuals are selected to enter the pool. However, the ones with a higher level of fitness are more likely to be picked and therefore have a greater chance of passing on their features to the next generation. One of the techniques used in this type of parental selection is the roulette wheel selection. This approach divides a hypothetical circular wheel into different slots, the size of which is equal to the fitness values of each potential candidate. Afterwards, the wheel is rotated and a fixed point determines which individual gets picked. The greater the fitness value of an individual, the higher the probability of being chosen as a parent by the random spin of the wheel. Alternatively, stochastic universal sampling can be implemented. This selection method is also based on the rotation of a spinning wheel. However, in this case there is more than one fixed point and as a result all of the mating pool members will be selected simultaneously. === Ordinal based selection === The ordinal based selection methods include the tournament and ranking selection. Tournament selection involves the random selection of individuals of a population and the subsequent comparison of their fitness levels. The winners of these “tournaments” are the ones with the highest values and will be put into the mating pool as parents. In ranking selection all the individuals are sorted based on their fitness values. Then, the selection of the parents is made according to the rank of the candidates. Every individual has a chance of being chosen, but higher ranked ones are favored === Threshold based selection === The last type of selection method is referred to as the threshold based method. This includes the truncation selection method, which sorts individuals based on their phenotypic values on a specific trait and later selects the proportion of them that are within a certain threshold as parents.

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  • Granular computing

    Granular computing

    Granular computing is an emerging computing paradigm of information processing that concerns the processing of complex information entities called "information granules", which arise in the process of data abstraction and derivation of knowledge from information or data. Generally speaking, information granules are collections of entities that usually originate at the numeric level and are arranged together due to their similarity, functional or physical adjacency, indistinguishability, coherency, or the like. At present, granular computing is more a theoretical perspective than a coherent set of methods or principles. As a theoretical perspective, it encourages an approach to data that recognizes and exploits the knowledge present in data at various levels of resolution or scales. In this sense, it encompasses all methods which provide flexibility and adaptability in the resolution at which knowledge or information is extracted and represented. == Types of granulation == As mentioned above, granular computing is not an algorithm or process; there is no particular method that is called "granular computing". It is rather an approach to looking at data that recognizes how different and interesting regularities in the data can appear at different levels of granularity, much as different features become salient in satellite images of greater or lesser resolution. On a low-resolution satellite image, for example, one might notice interesting cloud patterns representing cyclones or other large-scale weather phenomena, while in a higher-resolution image, one misses these large-scale atmospheric phenomena but instead notices smaller-scale phenomena, such as the interesting pattern that is the streets of Manhattan. The same is generally true of all data: At different resolutions or granularities, different features and relationships emerge. The aim of granular computing is to try to take advantage of this fact in designing more effective machine-learning and reasoning systems. There are several types of granularity that are often encountered in data mining and machine learning, and we review them below: === Value granulation (discretization/quantization) === One type of granulation is the quantization of variables. It is very common that in data mining or machine-learning applications the resolution of variables needs to be decreased in order to extract meaningful regularities. An example of this would be a variable such as "outside temperature" (temp), which in a given application might be recorded to several decimal places of precision (depending on the sensing apparatus). However, for purposes of extracting relationships between "outside temperature" and, say, "number of health-club applications" (club), it will generally be advantageous to quantize "outside temperature" into a smaller number of intervals. ==== Motivations ==== There are several interrelated reasons for granulating variables in this fashion: Based on prior domain knowledge, there is no expectation that minute variations in temperature (e.g., the difference between 80–80.7 °F (26.7–27.1 °C)) could have an influence on behaviors driving the number of health-club applications. For this reason, any "regularity" which our learning algorithms might detect at this level of resolution would have to be spurious, as an artifact of overfitting. By coarsening the temperature variable into intervals the difference between which we do anticipate (based on prior domain knowledge) might influence number of health-club applications, we eliminate the possibility of detecting these spurious patterns. Thus, in this case, reducing resolution is a method of controlling overfitting. By reducing the number of intervals in the temperature variable (i.e., increasing its grain size), we increase the amount of sample data indexed by each interval designation. Thus, by coarsening the variable, we increase sample sizes and achieve better statistical estimation. In this sense, increasing granularity provides an antidote to the so-called curse of dimensionality, which relates to the exponential decrease in statistical power with increase in number of dimensions or variable cardinality. Independent of prior domain knowledge, it is often the case that meaningful regularities (i.e., which can be detected by a given learning methodology, representational language, etc.) may exist at one level of resolution and not at another. For example, a simple learner or pattern recognition system may seek to extract regularities satisfying a conditional probability threshold such as p ( Y = y j | X = x i ) ≥ α . {\displaystyle p(Y=y_{j}|X=x_{i})\geq \alpha .} In the special case where α = 1 , {\displaystyle \alpha =1,} this recognition system is essentially detecting logical implication of the form X = x i → Y = y j {\displaystyle X=x_{i}\rightarrow Y=y_{j}} or, in words, "if X = x i , {\displaystyle X=x_{i},} then Y = y j {\displaystyle Y=y_{j}} ". The system's ability to recognize such implications (or, in general, conditional probabilities exceeding threshold) is partially contingent on the resolution with which the system analyzes the variables. As an example of this last point, consider the feature space shown to the right. The variables may each be regarded at two different resolutions. Variable X {\displaystyle X} may be regarded at a high (quaternary) resolution wherein it takes on the four values { x 1 , x 2 , x 3 , x 4 } {\displaystyle \{x_{1},x_{2},x_{3},x_{4}\}} or at a lower (binary) resolution wherein it takes on the two values { X 1 , X 2 } . {\displaystyle \{X_{1},X_{2}\}.} Similarly, variable Y {\displaystyle Y} may be regarded at a high (quaternary) resolution or at a lower (binary) resolution, where it takes on the values { y 1 , y 2 , y 3 , y 4 } {\displaystyle \{y_{1},y_{2},y_{3},y_{4}\}} or { Y 1 , Y 2 } , {\displaystyle \{Y_{1},Y_{2}\},} respectively. At the high resolution, there are no detectable implications of the form X = x i → Y = y j , {\displaystyle X=x_{i}\rightarrow Y=y_{j},} since every x i {\displaystyle x_{i}} is associated with more than one y j , {\displaystyle y_{j},} and thus, for all x i , {\displaystyle x_{i},} p ( Y = y j | X = x i ) < 1. {\displaystyle p(Y=y_{j}|X=x_{i})<1.} However, at the low (binary) variable resolution, two bilateral implications become detectable: X = X 1 ↔ Y = Y 1 {\displaystyle X=X_{1}\leftrightarrow Y=Y_{1}} and X = X 2 ↔ Y = Y 2 {\displaystyle X=X_{2}\leftrightarrow Y=Y_{2}} , since every X 1 {\displaystyle X_{1}} occurs iff Y 1 {\displaystyle Y_{1}} and X 2 {\displaystyle X_{2}} occurs iff Y 2 . {\displaystyle Y_{2}.} Thus, a pattern recognition system scanning for implications of this kind would find them at the binary variable resolution, but would fail to find them at the higher quaternary variable resolution. ==== Issues and methods ==== It is not feasible to exhaustively test all possible discretization resolutions on all variables in order to see which combination of resolutions yields interesting or significant results. Instead, the feature space must be preprocessed (often by an entropy analysis of some kind) so that some guidance can be given as to how the discretization process should proceed. Moreover, one cannot generally achieve good results by naively analyzing and discretizing each variable independently, since this may obliterate the very interactions that we had hoped to discover. A sample of papers that address the problem of variable discretization in general, and multiple-variable discretization in particular, is as follows: Chiu, Wong & Cheung (1991), Bay (2001), Liu et al. (2002), Wang & Liu (1998), Zighed, Rabaséda & Rakotomalala (1998), Catlett (1991), Dougherty, Kohavi & Sahami (1995), Monti & Cooper (1999), Fayyad & Irani (1993), Chiu, Cheung & Wong (1990), Nguyen & Nguyen (1998), Grzymala-Busse & Stefanowski (2001), Ting (1994), Ludl & Widmer (2000), Pfahringer (1995), An & Cercone (1999), Chiu & Cheung (1989), Chmielewski & Grzymala-Busse (1996), Lee & Shin (1994), Liu & Wellman (2002), Liu & Wellman (2004). === Variable granulation (clustering/aggregation/transformation) === Variable granulation is a term that could describe a variety of techniques, most of which are aimed at reducing dimensionality, redundancy, and storage requirements. We briefly describe some of the ideas here, and present pointers to the literature. ==== Variable transformation ==== A number of classical methods, such as principal component analysis, multidimensional scaling, factor analysis, and structural equation modeling, and their relatives, fall under the genus of "variable transformation." Also in this category are more modern areas of study such as dimensionality reduction, projection pursuit, and independent component analysis. The common goal of these methods in general is to find a representation of the data in terms of new variables, which are a linear or nonlinear transformation of the original variables, and in which important stati

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  • LamaH

    LamaH

    LamaH (Large-Sample Data for Hydrology and Environmental Sciences) is a cross-state initiative for unified data preparation and collection in the field of catchment hydrology. Hydrological datasets, for example, are an integral component for creating flood forecasting models. == Features == LamaH datasets always consist of a combination of meteorological time series (e.g., precipitation, temperature) and hydrologically relevant catchment attributes (e.g., elevation, slope, forest area, soil, bedrock) aggregated over the respective catchment as well as associated hydrological time series at the catchment outlet (discharge). By evaluating the large and heterogeneous sample (large-sample) of catchments, it is possible to gain insights into the hydrological cycle that would probably not be achievable with local and small-scale studies. The structure of the dataset allows an evaluation based on machine learning methods (deep learning). The accompanying paper explains not only the data preparation but also any limitations, uncertainties and possible applications. == Difference to CAMELS == The LamaH datasets are quite similar to the CAMELS datasets, but additionally feature: Further basin delineations (based on intermediate catchments) and attributes (e.g. flow distance and altitude difference between two topologically adjacent discharge gauges), enabling the setup of an interconnected hydrological network Attributes for classifying catchments and runoff gauges according to the degree and type of (anthropogenic) influence == Availability == LamaH datasets are available for the following regions: Central Europe (Austria and its hydrological upstream areas in Germany, Czech Republic, Switzerland, Slovakia, Italy, Liechtenstein, Slovenia and Hungary) / 859 catchments CAMELS datasets are available for (ranked by publication date): Contiguous USA (exclusive Alaska and Hawaii) / 671 catchments Chile / 516 catchments Brazil / 897 catchments Great Britain / 671 catchments Australia / 222 catchments Both the CAMELS and LamaH datasets are licensed with Creative Commons and are therefore available barrier-free for the public.

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  • Stochastic variance reduction

    Stochastic variance reduction

    (Stochastic) variance reduction is an algorithmic approach to minimizing functions that can be decomposed into finite sums. By exploiting the finite sum structure, variance reduction techniques are able to achieve convergence rates that are impossible to achieve with methods that treat the objective as an infinite sum, as in the classical Stochastic approximation setting. Variance reduction approaches are widely used for training machine learning models such as logistic regression and support vector machines as these problems have finite-sum structure and uniform conditioning that make them ideal candidates for variance reduction. == Finite sum objectives == A function f {\displaystyle f} is considered to have finite sum structure if it can be decomposed into a summation or average: f ( x ) = 1 n ∑ i = 1 n f i ( x ) , {\displaystyle f(x)={\frac {1}{n}}\sum _{i=1}^{n}f_{i}(x),} where the function value and derivative of each f i {\displaystyle f_{i}} can be queried independently. Although variance reduction methods can be applied for any positive n {\displaystyle n} and any f i {\displaystyle f_{i}} structure, their favorable theoretical and practical properties arise when n {\displaystyle n} is large compared to the condition number of each f i {\displaystyle f_{i}} , and when the f i {\displaystyle f_{i}} have similar (but not necessarily identical) Lipschitz smoothness and strong convexity constants. The finite sum structure should be contrasted with the stochastic approximation setting which deals with functions of the form f ( θ ) = E ξ ⁡ [ F ( θ , ξ ) ] {\textstyle f(\theta )=\operatorname {E} _{\xi }[F(\theta ,\xi )]} which is the expected value of a function depending on a random variable ξ {\textstyle \xi } . Any finite sum problem can be optimized using a stochastic approximation algorithm by using F ( ⋅ , ξ ) = f ξ {\displaystyle F(\cdot ,\xi )=f_{\xi }} . == Rapid Convergence == Stochastic variance reduced methods without acceleration are able to find a minima of f {\displaystyle f} within accuracy ϵ > {\displaystyle \epsilon >} , i.e. f ( x ) − f ( x ∗ ) ≤ ϵ {\displaystyle f(x)-f(x_{})\leq \epsilon } in a number of steps of the order: O ( ( L μ + n ) log ⁡ ( 1 ϵ ) ) . {\displaystyle O\left(\left({\frac {L}{\mu }}+n\right)\log \left({\frac {1}{\epsilon }}\right)\right).} The number of steps depends only logarithmically on the level of accuracy required, in contrast to the stochastic approximation framework, where the number of steps O ( L / ( μ ϵ ) ) {\displaystyle O{\bigl (}L/(\mu \epsilon ){\bigr )}} required grows proportionally to the accuracy required. Stochastic variance reduction methods converge almost as fast as the gradient descent method's O ( ( L / μ ) log ⁡ ( 1 / ϵ ) ) {\displaystyle O{\bigl (}(L/\mu )\log(1/\epsilon ){\bigr )}} rate, despite using only a stochastic gradient, at a 1 / n {\displaystyle 1/n} lower cost than gradient descent. Accelerated methods in the stochastic variance reduction framework achieve even faster convergence rates, requiring only O ( ( n L μ + n ) log ⁡ ( 1 ϵ ) ) {\displaystyle O\left(\left({\sqrt {\frac {nL}{\mu }}}+n\right)\log \left({\frac {1}{\epsilon }}\right)\right)} steps to reach ϵ {\displaystyle \epsilon } accuracy, potentially n {\displaystyle {\sqrt {n}}} faster than non-accelerated methods. Lower complexity bounds. for the finite sum class establish that this rate is the fastest possible for smooth strongly convex problems. == Approaches == Variance reduction approaches fall within four main categories: table averaging methods, full-gradient snapshot methods, recursive estimator methods (e.g., SARAH), and dual methods. Each category contains methods designed for dealing with convex, non-smooth, and non-convex problems, each differing in hyper-parameter settings and other algorithmic details. === SAGA === In the SAGA method, the prototypical table averaging approach, a table of size n {\displaystyle n} is maintained that contains the last gradient witnessed for each f i {\displaystyle f_{i}} term, which we denote g i {\displaystyle g_{i}} . At each step, an index i {\displaystyle i} is sampled, and a new gradient ∇ f i ( x k ) {\displaystyle \nabla f_{i}(x_{k})} is computed. The iterate x k {\displaystyle x_{k}} is updated with: x k + 1 = x k − γ [ ∇ f i ( x k ) − g i + 1 n ∑ i = 1 n g i ] , {\displaystyle x_{k+1}=x_{k}-\gamma \left[\nabla f_{i}(x_{k})-g_{i}+{\frac {1}{n}}\sum _{i=1}^{n}g_{i}\right],} and afterwards table entry i {\displaystyle i} is updated with g i = ∇ f i ( x k ) {\displaystyle g_{i}=\nabla f_{i}(x_{k})} . SAGA is among the most popular of the variance reduction methods due to its simplicity, easily adaptable theory, and excellent performance. It is the successor of the SAG method, improving on its flexibility and performance. === SVRG === The stochastic variance reduced gradient method (SVRG), the prototypical snapshot method, uses a similar update except instead of using the average of a table it instead uses a full-gradient that is reevaluated at a snapshot point x ~ {\displaystyle {\tilde {x}}} at regular intervals of m ≥ n {\displaystyle m\geq n} iterations. The update becomes: x k + 1 = x k − γ [ ∇ f i ( x k ) − ∇ f i ( x ~ ) + ∇ f ( x ~ ) ] , {\displaystyle x_{k+1}=x_{k}-\gamma [\nabla f_{i}(x_{k})-\nabla f_{i}({\tilde {x}})+\nabla f({\tilde {x}})],} This approach requires two stochastic gradient evaluations per step, one to compute ∇ f i ( x k ) {\displaystyle \nabla f_{i}(x_{k})} and one to compute ∇ f i ( x ~ ) , {\displaystyle \nabla f_{i}({\tilde {x}}),} where-as table averaging approaches need only one. Despite the high computational cost, SVRG is popular as its simple convergence theory is highly adaptable to new optimization settings. It also has lower storage requirements than tabular averaging approaches, which make it applicable in many settings where tabular methods can not be used. === SARAH === The SARAH (stochastic recursive gradient) method maintains a recursive estimator of the gradient rather than storing a table of past gradients (as in SAGA) or computing periodic full-gradient snapshots (as in SVRG). At the start of an inner loop, a full gradient is computed at a reference point x ~ {\displaystyle {\tilde {x}}} : v 0 = ∇ f ( x ~ ) {\displaystyle v_{0}=\nabla f({\tilde {x}})} . For inner iterations, with a sampled index i k {\displaystyle i_{k}} , the gradient estimator and iterate are updated by: v k = ∇ f i k ( x k ) − ∇ f i k ( x k − 1 ) + v k − 1 , x k + 1 = x k − γ v k . {\displaystyle v_{k}=\nabla f_{i_{k}}(x_{k})-\nabla f_{i_{k}}(x_{k-1})+v_{k-1},\qquad x_{k+1}=x_{k}-\gamma v_{k}.} This recursion requires two component-gradient evaluations per step ∇ f i k ( x k ) {\displaystyle \nabla f_{i_{k}}(x_{k})} and ∇ f i k ( x k − 1 ) {\displaystyle \nabla f_{i_{k}}(x_{k-1})} but does not need to store per-sample gradients, resulting in lower memory cost than table-averaging methods. SARAH admits linear convergence for strongly convex functions and has been extended to more general nonconvex and composite problems. === SDCA === Exploiting the dual representation of the objective leads to another variance reduction approach that is particularly suited to finite-sums where each term has a structure that makes computing the convex conjugate f i ∗ , {\displaystyle f_{i}^{},} or its proximal operator tractable. The standard SDCA method considers finite sums that have additional structure compared to generic finite sum setting: f ( x ) = 1 n ∑ i = 1 n f i ( x T v i ) + λ 2 ‖ x ‖ 2 , {\displaystyle f(x)={\frac {1}{n}}\sum _{i=1}^{n}f_{i}(x^{T}v_{i})+{\frac {\lambda }{2}}\|x\|^{2},} where each f i {\displaystyle f_{i}} is 1 dimensional and each v i {\displaystyle v_{i}} is a data point associated with f i {\displaystyle f_{i}} . SDCA solves the dual problem: max α ∈ R n − 1 n ∑ i = 1 n f i ∗ ( − α i ) − λ 2 ‖ 1 λ n ∑ i = 1 n α i v i ‖ 2 , {\displaystyle \max _{\alpha \in \mathbb {R} ^{n}}-{\frac {1}{n}}\sum _{i=1}^{n}f_{i}^{}(-\alpha _{i})-{\frac {\lambda }{2}}\left\|{\frac {1}{\lambda n}}\sum _{i=1}^{n}\alpha _{i}v_{i}\right\|^{2},} by a stochastic coordinate ascent procedure, where at each step the objective is optimized with respect to a randomly chosen coordinate α i {\displaystyle \alpha _{i}} , leaving all other coordinates the same. An approximate primal solution x {\displaystyle x} can be recovered from the α {\displaystyle \alpha } values: x = 1 λ n ∑ i = 1 n α i v i {\displaystyle x={\frac {1}{\lambda n}}\sum _{i=1}^{n}\alpha _{i}v_{i}} . This method obtains similar theoretical rates of convergence to other stochastic variance reduced methods, while avoiding the need to specify a step-size parameter. It is fast in practice when λ {\displaystyle \lambda } is large, but significantly slower than the other approaches when λ {\displaystyle \lambda } is small. == Accelerated approaches == Accelerated variance reduction methods are built upon the standard methods above. The earliest approaches make use of proximal operators t

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  • Synaptic transistor

    Synaptic transistor

    A synaptic transistor is an electrical device that can learn in ways similar to a neural synapse. It optimizes its own properties for the functions it has carried out in the past. The device mimics the behavior of the property of neurons called spike-timing-dependent plasticity, or STDP. == Structure == Its structure is similar to that of a field effect transistor, where an ionic liquid takes the place of the gate insulating layer between the gate electrode and the conducting channel. That channel is composed of samarium nickelate (SmNiO3, or SNO) rather than the field effect transistor's doped silicon. == Function == A synaptic transistor has a traditional immediate response whose amount of current that passes between the source and drain contacts varies with voltage applied to the gate electrode. It also produces a much slower learned response such that the conductivity of the SNO layer varies in response to the transistor's STDP history, essentially by shuttling oxygen ions between the SNO and the ionic liquid. The analog of strengthening a synapse is to increase the SNO's conductivity, which essentially increases gain. Similarly, weakening a synapse is analogous to decreasing the SNO's conductivity, lowering the gain. The input and output of the synaptic transistor are continuous analog values, rather than digital on-off signals. While the physical structure of the device has the potential to learn from history, it contains no way to bias the transistor to control the memory effect. An external supervisory circuit converts the time delay between input and output into a voltage applied to the ionic liquid that either drives ions into the SNO or removes them. A network of such devices can learn particular responses to "sensory inputs", with those responses being learned through experience rather than explicitly programmed.

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  • Play Integrity API

    Play Integrity API

    Play Integrity API (formerly known as SafetyNet) consists of several application programming interfaces (APIs) offered by the Google Play Services to support security sensitive applications and enforce DRM. Currently, these APIs include device integrity verification, app verification, recaptcha and web address verification. It uses an environment called DroidGuard to perform the attestation. == Attestation == The SafetyNet Attestation API, one of the APIs under the SafetyNet umbrella, provides verification that the integrity of the device is not compromised. In practice, non-official ROMs such as LineageOS fail the hardware attestation and thus prevent the user from using a non-compliant ROM with third-party apps (mainly banking) that require the API. Due to this, some consider this a monopolistic practice deterring the entrance of competing mobile operating systems in the market. It requires a network connection to Google servers and validates the hardware signatures. Amongst the checks, the API looks for bootloader unlock status, ROM signatures, kernel strings, it also uses AVB2.0 and dm-verity attestations. Upon successful checks, Google Play will mark the device as Certified. The attestation runs in an environment called DroidGuard (com.google.android.gms.unstable). The SafetyNet Attestation API (one of the four APIs under the SafetyNet umbrella) has been deprecated. As of 6 October 2023, Google planned to replace it with the Play Integrity API by the end of January 2025. The transition ended on 20 May 2025, breaking applications which hadn't been updated. These attestations are offered by Google Play Services and thus are not available on free Android environments, like AOSP. Therefore, developers can require the API to be available and may refuse to execute on AOSP builds. == Google Play Protect == Under the same umbrella, Play Protect is a mechanism to find and remove "vulnerable" apps from one's Android device as well as store apps. Although it's meant to scan for malware-containing apps, it also looks for non-DRM compliant apps. == Criticism == Multiple groups have criticised SafetyNet and the Play Integrity API. Criticisms include that it offers weaker protection compared to alternatives such as Android's hardware attestation API, which provides a stronger form of verification while having the ability to remain compatible with more secure Android operating systems like GrapheneOS. Critics argued it undermines competition by effectively requiring developers to rely on Google's proprietary services, strengthening its monopoly over the Android ecosystem and disadvantaging alternative, privacy-focused operating systems. Users have also developed tools, such as the Play Integrity Fix module for Magisk/KernelSU/APatch, which tricks the attestation using leaked fingerprints of vulnerable devices. Furthermore, some have questioned the effectiveness of the attestation, claiming it does not deliver the level of security promised by Google and instead serves more as a form of vendor lock-in than a meaningful security measure. Activists have also raised concerns that it may violate antitrust and competition laws, like the Digital Markets Act.

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  • Promoter based genetic algorithm

    Promoter based genetic algorithm

    The promoter based genetic algorithm (PBGA) is a genetic algorithm for neuroevolution developed by F. Bellas and R.J. Duro in the Integrated Group for Engineering Research (GII) at the University of Coruña, in Spain. It evolves variable size feedforward artificial neural networks (ANN) that are encoded into sequences of genes for constructing a basic ANN unit. Each of these blocks is preceded by a gene promoter acting as an on/off switch that determines if that particular unit will be expressed or not. == PBGA basics == The basic unit in the PBGA is a neuron with all of its inbound connections as represented in the following figure: The genotype of a basic unit is a set of real valued weights followed by the parameters of the neuron and proceeded by an integer valued field that determines the promoter gene value and, consequently, the expression of the unit. By concatenating units of this type we can construct the whole network. With this encoding it is imposed that the information that is not expressed is still carried by the genotype in evolution but it is shielded from direct selective pressure, maintaining this way the diversity in the population, which has been a design premise for this algorithm. Therefore, a clear difference is established between the search space and the solution space, permitting information learned and encoded into the genotypic representation to be preserved by disabling promoter genes. == Results == The PBGA was originally presented within the field of autonomous robotics, in particular in the real time learning of environment models of the robot. It has been used inside the Multilevel Darwinist Brain (MDB) cognitive mechanism developed in the GII for real robots on-line learning. In another paper it is shown how the application of the PBGA together with an external memory that stores the successful obtained world models, is an optimal strategy for adaptation in dynamic environments. Recently, the PBGA has provided results that outperform other neuroevolutionary algorithms in non-stationary problems, where the fitness function varies in time.

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  • Inverted pendulum

    Inverted pendulum

    An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and falls over without additional help. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downward, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done either by applying a torque at the pivot point, by moving the pivot point horizontally as part of a feedback system, changing the rate of rotation of a mass mounted on the pendulum on an axis parallel to the pivot axis and thereby generating a net torque on the pendulum, or by oscillating the pivot point vertically. A simple demonstration of moving the pivot point in a feedback system is achieved by balancing an upturned broomstick on the end of one's finger. A second type of inverted pendulum is a tiltmeter for tall structures, which consists of a wire anchored to the bottom of the foundation and attached to a float in a pool of oil at the top of the structure that has devices for measuring movement of the neutral position of the float away from its original position. == Overview == A pendulum with its bob hanging directly below the support pivot is at a stable equilibrium point, where it remains motionless because there is no torque on the pendulum. If displaced from this position, it experiences a restoring torque that returns it toward the equilibrium position. A pendulum with its bob in an inverted position, supported on a rigid rod directly above the pivot, 180° from its stable equilibrium position, is at an unstable equilibrium point. At this point again there is no torque on the pendulum, but the slightest displacement away from this position causes a gravitation torque on the pendulum that accelerates it away from equilibrium, causing it to fall over. In order to stabilize a pendulum in this inverted position, a feedback control system can be used, which monitors the pendulum's angle and moves the position of the pivot point sideways when the pendulum starts to fall over, to keep it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms (PID controllers, state-space representation, neural networks, fuzzy control, genetic algorithms, etc.). Variations on this problem include multiple links, allowing the motion of the cart to be commanded while maintaining the pendulum, and balancing the cart-pendulum system on a see-saw. The inverted pendulum is related to rocket or missile guidance, where the center of gravity is located behind the center of drag causing aerodynamic instability. The understanding of a similar problem can be shown by simple robotics in the form of a balancing cart. Balancing an upturned broomstick on the end of one's finger is a simple demonstration, and the problem is solved by self-balancing personal transporters such as the Segway PT, the self-balancing hoverboard and the self-balancing unicycle. Another way that an inverted pendulum may be stabilized, without any feedback or control mechanism, is by oscillating the pivot rapidly up and down. This is called Kapitza's pendulum. If the oscillation is sufficiently strong (in terms of its acceleration and amplitude) then the inverted pendulum can recover from perturbations in a strikingly counterintuitive manner. If the driving point moves in simple harmonic motion, the pendulum's motion is described by the Mathieu equation. == Equations of motion == The equations of motion of inverted pendulums are dependent on what constraints are placed on the motion of the pendulum. Inverted pendulums can be created in various configurations resulting in a number of Equations of Motion describing the behavior of the pendulum. === Stationary pivot point === In a configuration where the pivot point of the pendulum is fixed in space, the equation of motion is similar to that for an uninverted pendulum. The equation of motion below assumes no friction or any other resistance to movement, a rigid massless rod, and the restriction to 2-dimensional movement. θ ¨ − g ℓ sin ⁡ θ = 0 {\displaystyle {\ddot {\theta }}-{g \over \ell }\sin \theta =0} Where θ ¨ {\displaystyle {\ddot {\theta }}} is the angular acceleration of the pendulum, g {\displaystyle g} is the standard gravity on the surface of the Earth, ℓ {\displaystyle \ell } is the length of the pendulum, and θ {\displaystyle \theta } is the angular displacement measured from the equilibrium position. When θ ¨ {\displaystyle {\ddot {\theta }}} added to both sides, it has the same sign as the angular acceleration term: θ ¨ = g ℓ sin ⁡ θ {\displaystyle {\ddot {\theta }}={g \over \ell }\sin \theta } Thus, the inverted pendulum accelerates away from the vertical unstable equilibrium in the direction initially displaced, and the acceleration is inversely proportional to the length. Tall pendulums fall more slowly than short ones. Derivation using torque and moment of inertia: The pendulum is assumed to consist of a point mass, of mass m {\displaystyle m} , affixed to the end of a massless rigid rod, of length ℓ {\displaystyle \ell } , attached to a pivot point at the end opposite the point mass. The net torque of the system must equal the moment of inertia times the angular acceleration: τ n e t = I θ ¨ {\displaystyle {\boldsymbol {\tau }}_{\mathrm {net} }=I{\ddot {\theta }}} The torque due to gravity providing the net torque: τ n e t = m g ℓ sin ⁡ θ {\displaystyle {\boldsymbol {\tau }}_{\mathrm {net} }=mg\ell \sin \theta \,\!} Where θ {\displaystyle \theta \ } is the angle measured from the inverted equilibrium position. The resulting equation: I θ ¨ = m g ℓ sin ⁡ θ {\displaystyle I{\ddot {\theta }}=mg\ell \sin \theta \,\!} The moment of inertia for a point mass: I = m R 2 {\displaystyle I=mR^{2}} In the case of the inverted pendulum the radius is the length of the rod, ℓ {\displaystyle \ell } . Substituting in I = m ℓ 2 {\displaystyle I=m\ell ^{2}} m ℓ 2 θ ¨ = m g ℓ sin ⁡ θ {\displaystyle m\ell ^{2}{\ddot {\theta }}=mg\ell \sin \theta \,\!} Mass and ℓ 2 {\displaystyle \ell ^{2}} is divided from each side resulting in: θ ¨ = g ℓ sin ⁡ θ {\displaystyle {\ddot {\theta }}={g \over \ell }\sin \theta } === Inverted pendulum on a cart === An inverted pendulum on a cart consists of a mass m {\displaystyle m} at the top of a pole of length ℓ {\displaystyle \ell } pivoted on a horizontally moving base as shown in the adjacent image. The cart is restricted to linear motion and is subject to forces resulting in or hindering motion. === Essentials of stabilization === The essentials of stabilizing the inverted pendulum can be summarized qualitatively in three steps. 1. If the tilt angle θ {\displaystyle \theta } is to the right, the cart must accelerate to the right and vice versa. 2. The position of the cart x {\displaystyle x} relative to track center is stabilized by slightly modulating the null angle (the angle error that the control system tries to null) by the position of the cart, that is, null angle = θ + k x {\displaystyle =\theta +kx} where k {\displaystyle k} is small. This makes the pole want to lean slightly toward track center and stabilize at track center where the tilt angle is exactly vertical. Any offset in the tilt sensor or track slope that would otherwise cause instability translates into a stable position offset. A further added offset gives position control. 3. A normal pendulum subject to a moving pivot point such as a load lifted by a crane, has a peaked response at the pendulum radian frequency of ω p = g / ℓ {\displaystyle \omega _{p}={\sqrt {g/\ell }}} . To prevent uncontrolled swinging, the frequency spectrum of the pivot motion should be suppressed near ω p {\displaystyle \omega _{p}} . The inverted pendulum requires the same suppression filter to achieve stability. As a consequence of the null angle modulation strategy, the position feedback is positive, that is, a sudden command to move right produces an initial cart motion to the left followed by a move right to rebalance the pendulum. The interaction of the pendulum instability and the positive position feedback instability to produce a stable system is a feature that makes the mathematical analysis an interesting and challenging problem. === From Lagrange's equations === The equations of motion c

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