Automated negotiation is a form of interaction in systems that are composed of multiple autonomous agents, in which the aim is to reach agreements through an iterative process of making offers. Automated negotiation can be employed for many tasks human negotiators regularly engage in, such as bargaining and joint decision making. The main topics in automated negotiation revolve around the design of protocols and negotiating strategies. == History == Through digitization, the beginning of the 21st century has seen a growing interest in the automation of negotiation and e-negotiation systems, for example in the setting of e-commerce. This interest is fueled by the promise of automated agents being able to negotiate on behalf of human negotiators, and to find better outcomes than human negotiators. == Examples == Examples of automated negotiation include: Online dispute resolution, in which disagreements between parties are settled. Sponsored search auction, where bids are placed on advertisement keywords. Content negotiation, in which user agents negotiate over HTTP about how to best represent a web resource. Negotiation support systems, in which negotiation decision-making activities are supported by an information system.
Event store
An event store is a type of database optimized for storage of events. Conceptually, an event store records only the events affecting an entity, dossier, or policy, and the state of the entity at any point in its history can be reconstructed by replaying its contributing events in sequential order. Events (and their corresponding data) are the only "real" facts that should be stored in the database. All other objects can be derived from these events, meaning they are instantiated in memory by runtime code as needed (e.g. for showing in a user interface). In theory, any object that aggregates over recorded event data is not stored in the database. Instead these objects are built 'on the fly', by traversing the event history. When the aggregated object instance is no longer needed, it can simply be discarded (released from memory). == Example with insurance policies == For example, the event store concept of a database can be applied to insurance policies or pension dossiers. In these policies or dossiers the instantiation of each object that make up the dossier or policy (the person, partner(s), employments, etc.) can be derived and can be instantiated in memory based on the real world events. == Double timeline == A crucial part of an event store database is that each event has a double timeline: This enables event stores to correct errors of events that have been entered into the event store database before. The two dates are: Valid date is the date at which the event has become valid. Transaction date is the date at which the event is entered into the database. == Error correction == Another crucial part of an event store database is that events that are stored are not allowed to be changed. Once stored, also erroneous events are not changed anymore. The only way to change (or better: correct) these events is to instantiate a new event with the new values and using the double timeline. A correcting event would have the new values of the original event, with an event data of that corrected event, but a different transaction date. This mechanism ensures reproducibility at each moment in the time, even in the time period before the correction has taken place. It also allows to reproduce situations based on erroneous events (if required). == Advantages and disadvantages == One advantage of the event store concept is that handling the effects of back dated events (events that take effect before previous events and that may even invalidate them) is much easier. An event store will simplify the code in that rolling back erroneous situations and rolling up the new, correct situations is not needed anymore. Disadvantage may be that the code needs to re-instantiate all objects in memory based on the events each time a service call is received for a specific dossier or policy. == Compared to regular databases == In regular databases, handling backdated events to correct previous, erroneous events can be painful as it often results in rolling back all previous, erroneous transactions and objects and rolling up the new, correct transactions and objects. In an event store, only the new event (and its corresponding facts) are stored. The code will then redetermine the transactions and objects based on the new facts in memory.
Control engineering
Control engineering, also known as control systems engineering and, in some European countries, automation engineering, is an engineering discipline that deals with control systems, applying control theory to design equipment and systems with desired behaviors in control environments. The discipline of controls overlaps and is usually taught along with electrical engineering, chemical engineering and mechanical engineering at many institutions around the world. The practice uses sensors and detectors to measure the output performance of the process being controlled; these measurements are used to provide corrective feedback helping to achieve the desired performance. Systems designed to perform without requiring human input are called automatic control systems (such as cruise control for regulating the speed of a car). Multi-disciplinary in nature, control systems engineering activities focus on implementation of control systems mainly derived by mathematical modeling of a diverse range of systems. == Overview == Modern day control engineering is a relatively new field of study that gained significant attention during the 20th century with the advancement of technology. It can be broadly defined or classified as practical application of control theory. Control engineering plays an essential role in a wide range of control systems, from simple household washing machines to high-performance fighter aircraft. It seeks to understand physical systems, using mathematical modelling, in terms of inputs, outputs and various components with different behaviors; to use control system design tools to develop controllers for those systems; and to implement controllers in physical systems employing available technology. A system can be mechanical, electrical, fluid, chemical, financial or biological, and its mathematical modelling, analysis and controller design uses control theory in one or many of the time, frequency and complex-s domains, depending on the nature of the design problem. Control engineering is the engineering discipline that focuses on the modeling of a diverse range of dynamic systems (e.g. mechanical systems) and the design of controllers that will cause these systems to behave in the desired manner. Although such controllers need not be electrical, many are and hence control engineering is often viewed as a subfield of electrical engineering. Electrical circuits, digital signal processors and microcontrollers can all be used to implement control systems. Control engineering has a wide range of applications from the flight and propulsion systems of commercial airliners to the cruise control present in many modern automobiles. In most cases, control engineers utilize feedback when designing control systems. This is often accomplished using a proportional–integral–derivative controller (PID controller) system. For example, in an automobile with cruise control the vehicle's speed is continuously monitored and fed back to the system, which adjusts the motor's torque accordingly. Where there is regular feedback, control theory can be used to determine how the system responds to such feedback. In practically all such systems stability is important and control theory can help ensure stability is achieved. Although feedback is an important aspect of control engineering, control engineers may also work on the control of systems without feedback. This is known as open loop control. A classic example of open loop control is a washing machine that runs through a pre-determined cycle without the use of sensors. == History == Automatic control systems were first developed over two thousand years ago. The first feedback control device on record is thought to be the ancient Ktesibios's water clock in Alexandria, Egypt, around the third century BCE. It kept time by regulating the water level in a vessel and, therefore, the water flow from that vessel. This certainly was a successful device as water clocks of similar design were still being made in Baghdad when the Mongols captured the city in 1258 CE. A variety of automatic devices have been used over the centuries to accomplish useful tasks or simply just to entertain. The latter includes the automata, popular in Europe in the 17th and 18th centuries, featuring dancing figures that would repeat the same task over and over again; these automata are examples of open-loop control. Milestones among feedback, or "closed-loop" automatic control devices, include the temperature regulator of a furnace attributed to Drebbel, circa 1620, and the centrifugal flyball governor used for regulating the speed of steam engines by James Watt in 1788. In his 1868 paper "On Governors", James Clerk Maxwell was able to explain instabilities exhibited by the flyball governor using differential equations to describe the control system. This demonstrated the importance and usefulness of mathematical models and methods in understanding complex phenomena, and it signaled the beginning of mathematical control and systems theory. Elements of control theory had appeared earlier but not as dramatically and convincingly as in Maxwell's analysis. Control theory made significant strides over the next century. New mathematical techniques, as well as advances in electronic and computer technologies, made it possible to control significantly more complex dynamical systems than the original flyball governor could stabilize. New mathematical techniques included developments in optimal control in the 1950s and 1960s followed by progress in stochastic, robust, adaptive, nonlinear control methods in the 1970s and 1980s. Applications of control methodology have helped to make possible space travel and communication satellites, safer and more efficient aircraft, cleaner automobile engines, and cleaner and more efficient chemical processes. Before it emerged as a unique discipline, control engineering was practiced as a part of mechanical engineering and control theory was studied as a part of electrical engineering since electrical circuits can often be easily described using control theory techniques. In the first control relationships, a current output was represented by a voltage control input. However, not having adequate technology to implement electrical control systems, designers were left with the option of less efficient and slow responding mechanical systems. A very effective mechanical controller that is still widely used in some hydro plants is the governor. Later on, previous to modern power electronics, process control systems for industrial applications were devised by mechanical engineers using pneumatic and hydraulic control devices, many of which are still in use today. === Mathematical modelling === David Quinn Mayne, (1930–2024) was among the early developers of a rigorous mathematical method for analysing Model predictive control algorithms (MPC). It is currently used in tens of thousands of applications and is a core part of the advanced control technology by hundreds of process control producers. MPC's major strength is its capacity to deal with nonlinearities and hard constraints in a simple and intuitive fashion. His work underpins a class of algorithms that are probably correct, heuristically explainable, and yield control system designs which meet practically important objectives. == Control systems == == Control theory == == Education == At many universities around the world, control engineering courses are taught primarily in electrical engineering and mechanical engineering, but some courses can be instructed in mechatronics engineering, and aerospace engineering. In others, control engineering is connected to computer science, as most control techniques today are implemented through computers, often as embedded systems (as in the automotive field). The field of control within chemical engineering is often known as process control. It deals primarily with the control of variables in a chemical process in a plant. It is taught as part of the undergraduate curriculum of any chemical engineering program and employs many of the same principles in control engineering. Other engineering disciplines also overlap with control engineering as it can be applied to any system for which a suitable model can be derived. However, specialised control engineering departments do exist, for example, in Italy there are several master in Automation & Robotics that are fully specialised in Control engineering or the Department of Automatic Control and Systems Engineering at the University of Sheffield or the Department of Robotics and Control Engineering at the United States Naval Academy and the Department of Control and Automation Engineering at the Istanbul Technical University. Control engineering has diversified applications that include science, finance management, and even human behavior. Students of control engineering may start with a linear control system course dealing with the time and complex-s domain, which req
Ordered dithering
Ordered dithering is any image dithering algorithm which uses a pre-set threshold map tiled across an image. It is commonly used to display a continuous image on a display of smaller color depth. For example, Microsoft Windows uses it in 16-color graphics modes. With the most common "Bayer" threshold map, the algorithm is characterized by noticeable crosshatch patterns in the result. == Threshold map == The algorithm reduces the number of colors by applying a threshold map M to the pixels displayed, causing some pixels to change color, depending on the distance of the original color from the available color entries in the reduced palette. The first threshold maps were designed by hand to minimise the perceptual difference between a grayscale image and its two-bit quantisation for up to a 4x4 matrix. An optimal threshold matrix is one that for any possible quantisation of color has the minimum possible texture so that the greatest impression of the underlying feature comes from the image being quantised. It can be proven that for matrices whose side length is a power of two there is an optimal threshold matrix. The map may be rotated or mirrored without affecting the effectiveness of the algorithm. This threshold map (for sides with length as power of two) is also known as a Bayer matrix or, when unscaled, an index matrix. For threshold maps whose dimensions are a power of two, the map can be generated recursively via: M 2 n = 1 ( 2 n ) 2 [ 4 M n 4 M n + 2 J n 4 M n + 3 J n 4 M n + J n ] = J 2 ⊗ M n + 1 n 2 M 2 ⊗ J n , {\displaystyle \mathbf {M} _{2n}={\frac {1}{(2n)^{2}}}{\begin{bmatrix}4\mathbf {M} _{n}&4\mathbf {M} _{n}+2\mathbf {J} _{n}\\4\mathbf {M} _{n}+3\mathbf {J} _{n}&4\mathbf {M} _{n}+\mathbf {J} _{n}\end{bmatrix}}=\mathbf {J} _{2}\otimes \mathbf {M} _{n}+{\frac {1}{n^{2}}}\mathbf {M} _{2}\otimes \mathbf {J} _{n},} where J n {\displaystyle \mathbf {J} _{n}} are n × n {\displaystyle n\times n} matrices of ones and ⊗ {\displaystyle \otimes } is the Kronecker product. While the metric for texture that Bayer proposed could be used to find optimal matrices for sizes that are not a power of two, such matrices are uncommon as no simple formula for finding them exists, and relatively small matrix sizes frequently give excellent practical results (especially when combined with other modifications to the dithering algorithm). This function can also be expressed using only bit arithmetic: M(i, j) = bit_reverse(bit_interleave(bitwise_xor(i, j), i)) / n ^ 2 == Pre-calculated threshold maps == Rather than storing the threshold map as a matrix of n {\displaystyle n} × n {\displaystyle n} integers from 0 to n 2 {\displaystyle n^{2}} , depending on the exact hardware used to perform the dithering, it may be beneficial to pre-calculate the thresholds of the map into a floating point format, rather than the traditional integer matrix format shown above. For this, the following formula can be used: Mpre(i,j) = Mint(i,j) / n^2 This generates a standard threshold matrix. for the 2×2 map: this creates the pre-calculated map: Additionally, normalizing the values to average out their sum to 0 (as done in the dithering algorithm shown below) can be done during pre-processing as well by subtracting 1⁄2 of the largest value from every value: Mpre(i,j) = Mint(i,j) / n^2 – 0.5 maxValue creating the pre-calculated map: == Algorithm == The ordered dithering algorithm renders the image normally, but for each pixel, it offsets its color value with a corresponding value from the threshold map according to its location, causing the pixel's value to be quantized to a different color if it exceeds the threshold. For most dithering purposes, it is sufficient to simply add the threshold value to every pixel (without performing normalization by subtracting 1⁄2), or equivalently, to compare the pixel's value to the threshold: if the brightness value of a pixel is less than the number in the corresponding cell of the matrix, plot that pixel black, otherwise, plot it white. This lack of normalization slightly increases the average brightness of the image, and causes almost-white pixels to not be dithered. This is not a problem when using a gray scale palette (or any palette where the relative color distances are (nearly) constant), and it is often even desired, since the human eye perceives differences in darker colors more accurately than lighter ones, however, it produces incorrect results especially when using a small or arbitrary palette, so proper normalization should be preferred. In other words, the algorithm performs the following transformation on each color c of every pixel: c ′ = n e a r e s t _ p a l e t t e _ c o l o r ( c + r × ( M ( x mod n , y mod n ) − 1 / 2 ) ) {\displaystyle c'=\mathrm {nearest\_palette\_color} {\mathopen {}}\left(c+r\times \left(M(x{\bmod {n}},y{\bmod {n}})-1/2\right){\mathclose {}}\right)} where M(i, j) is the threshold map on the i-th row and j-th column, c′ is the transformed color, and r is the amount of spread in color space. Assuming an RGB palette with 23N evenly distanced colors where each color (a triple of red, green and blue values) is represented by an octet from 0 to 255, one would typically choose r ≈ 255 N {\textstyle r\approx {\frac {255}{N}}} . (1⁄2 is again the normalizing term.) Because the algorithm operates on single pixels and has no conditional statements, it is very fast and suitable for real-time transformations. Additionally, because the location of the dithering patterns always stays the same relative to the display frame, it is less prone to jitter than error-diffusion methods, making it suitable for animations. Because the patterns are more repetitive than error-diffusion method, an image with ordered dithering compresses better. Ordered dithering is more suitable for line-art graphics as it will result in straighter lines and fewer anomalies. The values read from the threshold map should preferably scale into the same range as the minimal difference between distinct colors in the target palette. Equivalently, the size of the map selected should be equal to or larger than the ratio of source colors to target colors. For example, when quantizing a 24 bpp image to 15 bpp (256 colors per channel to 32 colors per channel), the smallest map one would choose would be 4×2, for the ratio of 8 (256:32). This allows expressing each distinct tone of the input with different dithering patterns. === A variable palette: pattern dithering === == Non-Bayer approaches == The above thresholding matrix approach describes the Bayer family of ordered dithering algorithms. A number of other algorithms are also known; they generally involve changes in the threshold matrix, which changes the distribution of the "noise" introduced by all kinds of dithering (the difference between the original image and the dithered image). === Halftone === Halftone dithering performs a form of clustered dithering, creating a look similar to halftone patterns, using a specially crafted matrix. === Void and cluster === The Void and cluster algorithm uses a pre-generated blue noise as the matrix for the dithering process. The blue noise matrix keeps the Bayer's good high frequency content, but with a more uniform coverage of all the frequencies involved shows a much lower amount of patterning. The "voids-and-cluster" method gets its name from the matrix generation procedure, where a black image with randomly initialized white pixels is gaussian-blurred to find the brightest and darkest parts, corresponding to voids and clusters. After a few swaps have evenly distributed the bright and dark parts, the pixels are numbered by importance. It takes significant computational resources to generate the blue noise matrix: on a modern computer a 64×64 matrix requires a couple seconds using the original algorithm. This algorithm can be extended to make animated dither masks which also consider the axis of time. This is done by running the algorithm in three dimensions and using a kernel which is a product of a two-dimensional gaussian kernel on the XY plane, and a one-dimensional Gaussian kernel on the Z axis. === Simulated Annealing === Simulated annealing can generate dither masks by starting with a flat histogram and swapping values to optimize a loss function. The loss function controls the spectral properties of the mask, allowing it to make blue noise or noise patterns meant to be filtered by specific filters. The algorithm can also be extended over time for animated dither masks with chosen temporal properties.
ActivTrak
ActivTrak is an American company that produces workforce analytics and productivity software. The company was founded in 2009 by Birch Grove Software and is headquartered in Austin, Texas. The company has raised US$77.5 million in funding and is backed by Sapphire Ventures and Elsewhere Partners. == History == ActivTrak was founded in 2009 by Herb Axilrod and Anton Seidler in Dallas, Texas. ActivTrak's first on-demand software product launched in 2012, and the workforce analytics platform launched in 2015. It uses data sourced from more than 9,500 customers and 900,000 users. In 2019, ActivTrak raised $20 million in a Series A round of funding with Elsewhere Partners, a growth-stage venture capital firm that principally invests in B2B startups. Rita Selvaggi assumed the role of CEO. In 2020, ActivTrak raised $50M in a Series B round of funding with Sapphire Ventures and Elsewhere Partners. The company also introduced the ActivTrak Productivity Lab, an online resource about workforce productivity research, industry benchmark data, and best practices. == Product == ActivTrak is a workforce analytics and productivity platform that uses reports, dashboards, and data analysis. The platform uses machine learning (AI) to collect and analyze user activity data and produce reports about workforce productivity. The software runs on Microsoft Windows, Mac, Chrome, Terminal Services, and VDI. It includes the ActivTrak Agent, which runs in the background and collects data. It responds to user activity, sensing mouse and keyboard movement in the active window(s) of the user's device. This data is collected and stored in a database that aggregates the data based on the user's request. ActivTrak does not utilize keystroke logging, content scraping, camera access, video recording or mobile device monitoring. The database leverages data analytics to generate account and team benchmarks, and identify productivity patterns and outliers. == Awards == Built In, 100 Best Midsize Places to Work in Austin, 2025 G2, Winter: Best Estimated ROI, High Performer, Best Relationship, Best Support, Users Most Likely to Recommend, Easiest Setup, Easiest Admin, Best Meets Requirements, Users Love Us, 2025 TrustRadius, Buyer’s Choice, 2025 Deloitte Technology Fast 500, No. 468 Fastest-Growing Company, 2024 Product Marketing Alliance, AI Marketing Innovation, 2024 Fortune Best Workplaces in Technology™, 2024 Inc. 5000, No. 2335 of America’s Fastest-Growing Private Companies, 2024 Fortune Best Workplaces in Texas™, 2024 Reworked IMPACT Gold Award: Most Innovative Workplace Productivity Solution, 2024 TrustRadius, Most Loved, 2024 Great Place To Work-Certified™, 2024 Inc. 5000 Regionals: Southwest, 2024 Brandon Hall Group, Best Advance in HR Predictive Analytics Technology, 2024
Snap (computer graphics)
In computer graphics, snapping allows an object to be easily positioned in alignment with grid lines, guide lines or another object, by causing it to automatically jump to an exact position when the user drags it to the proximity of the desired location. Some CAD software provides a "Snap" pull-down menu with diverse options as preferences for the practice of the operation. In Windows, with the "snap windows" option enabled, snapping a window against the top (or side) edge of the screen causes it to change into full screen (or half-screen for multitasking). Software snapping is analogous to hardware detents which serve to indicate discrete values or steps of an input device.
Open-source robotics
Open-source robotics is a branch of robotics where robots are developed with open-source hardware and free and open-source software, publicly sharing blueprints, schematics, and source code. It is thus closely related to the open design movement, the maker movement and open science. == Requirements == Open source robotics means that information about the hardware is easily discerned, so that others can easily rebuild it. In turn, this requires design to use only easily available standard subcomponents and tools, and for the build process to be documented in detail including a bill of materials and detailed ('Ikea style') step-by-step building and testing instructions. (A CAD file alone is not sufficient, as it does not show the steps for performing or testing the build). These requirements are standard to open source hardware in general, and are formalised by various licences, certifications, especially those defined by the peer-reviewed journals Journal of Open Hardware and HardwareX. Licensing requirements for software are the same as for any open source software. But in addition, for software components to be of practical use in real robot systems, they need to be compatible with other software, usually as defined by some robotics middleware community standard. == Hardware systems == Applications to date include: Robot arms, e.g. PARA or Thor Wheeled mobile robots. e.g. OpenScout Four-legged robots such as the Open Dynamic Robot Initiative UAV quadcopters (drones) such as Agilicious Humanoid robots, e.g. iCub, Berkeley Humanoid Lite Self-driving cars, e.g. OpenPodcar (→ Personal rapid transit) Submersible robots, eg. OpenFish Laboratory robotics such as chemical liquid handling Vertical farming Swarm robots, e.g. HeRoSwarm Domestic tasks: vacuum cleaning, floor washing and grass mowing Robot sports including robot combat and autonomous racing Education == Hardware subcomponents == Most open source hardware definitions allow non-open subcomponents to be used in modular design, as long as they are easily available. However many designs try to push openness down into as many subcomponents as possible, with the aim of ultimately reaching fully open designs. Open hardware manual-drive vehicles and their subcomponents, such as from Open Source Ecology, are often used as starting points and extended with automation systems. Open subcomponents can include open-source computing hardware as subcomponents, such as Arduino and RISC-V, as well as open source motors and drivers such as the Open Source Motor Controller and ODrive. Open hardware robotics interface boards can simplify interfacing between middleware software and physical hardware. == Software subcomponents == === Middleware === Robotics middleware is software which links multiple other software components together. In robotics, this specifically means real-time communication systems with standardized message passing protocols. The predominant open source middleware is ROS2, the robot operating system, now as version 2. Other alternatives include ROS1, YARP — used in the iCub, URBI, and Orca. Open source middleware is usually run on an open source operating system, especially the Ubuntu distribution of Linux. === Driver software === Most robot sensors and actuators require software drivers. There is little standardization of open source software at this level, because each hardware device is different. Creating open drivers for closed hardware is difficult as it requires both low level programming and reverse engineering. === Simulation software === Open source robotics simulators include Gazebo, MuJoCo and Webots. Open source 3D game engines such as Godot are also sometimes used as simulators, when equipped with suitable middleware interfaces. === Automation software === At the level of AI, many standard algorithms have open source software implementations, mostly in ROS2. Major components include: Machine vision systems such as the YOLO object detector. 3D photogrammetry Navigation including SLAM and planning such as nav2 Arm inverse kinematics such as moveIt2 == Community == The first signs of the increasing popularity of building and sharing robot designs were found with the maker culture community. What began with small competitions for remote operated vehicles (e.g. Robot combat), soon developed to the building of autonomous telepresence robots such as Sparky and then true robots (being able to take decisions themselves) as the Open Automaton Project. Several commercial companies now also produce kits for making simple robots. The community has adopted open source hardware licenses, certifications, and peer-reviewed publications, which check that source has been made correctly and permanently available under community definitions, and which validate that this has been done. These processes have become critically important due to many historical projects claiming to be open source but them reverting on the promise due to commercialisation or other pressures. As with other forms of open source hardware, the community continues to debate precise criteria for 'ease of build'. A common standard is that designs should be buildable by a technical university student, in a few days, using typical fablab tools, but definitions of all of these subterms can also be debated. Compared to other forms of open source hardware, open source robotics typically includes a large software element, so involves software as well as hardware engineers. Open source concepts are more established in open source software than hardware, so robotics is a field in which those concepts can be shared and transferred from software to hardware. While the community in open source robotics is multi-faceted with a wide range of backgrounds, a sizable sub-community uses the ROS middleware and meets at the ROSCon conferences to discuss development of ROS itself and automation components built on it.