A box blur (also known as a box linear filter) is a spatial domain linear filter in which each pixel in the resulting image has a value equal to the average value of its neighboring pixels in the input image. It is a form of low-pass ("blurring") filter. A 3 by 3 box blur ("radius 1") can be written as matrix 1 9 [ 1 1 1 1 1 1 1 1 1 ] . {\displaystyle {\frac {1}{9}}{\begin{bmatrix}1&1&1\\1&1&1\\1&1&1\end{bmatrix}}.} Due to its property of using equal weights, it can be implemented using a much simpler accumulation algorithm, which is significantly faster than using a sliding-window algorithm. Box blurs are frequently used to approximate a Gaussian blur. By the central limit theorem, repeated application of a box blur will approximate a Gaussian blur. In the frequency domain, a box blur has zeros and negative components. That is, a sine wave with a period equal to the size of the box will be blurred away entirely, and wavelengths shorter than the size of the box may be phase-reversed, as seen when two bokeh circles touch to form a bright spot where there would be a dark spot between two bright spots in the original image. == Extensions == Gwosdek, et al. has extended Box blur to take a fractional radius: the edges of the 1-D filter are expanded with a fraction. It makes slightly better gaussian approximation possible due to the elimination of integer-rounding error. Mario Klingemann has a "stack blur" that tries to better emulate gaussian's look in one pass by stacking weights: 1 9 [ 1 2 3 2 1 ] {\displaystyle {\frac {1}{9}}{\begin{bmatrix}1&2&3&2&1\end{bmatrix}}} The triangular impulse response it forms decomposes to two rounds of box blur. Stacked Integral Image by Bhatia et al. takes the weighted average of a few box blurs to fit the gaussian response curve. == Implementation == The following pseudocode implements a 3x3 box blur. The example does not handle the edges of the image, which would not fit inside the kernel, so that these areas remain unblurred. In practice, the issue is better handled by: Introducing an alpha channel to represent the absence of colors; Extending the boundary by filling in values, ranked by quality: Fill in a mirrored image at the border Fill in a constant color extending from the last pixel Pad in a fixed color A number of optimizations can be applied when implementing the box blur of a radius r and N pixels: The box blur is a separable filter, so that only two 1D passes of averaging 2 r + 1 pixels will be needed, one horizontal and one vertical, for each pixel. This lowers the complexity from O(Nr2) to O(Nr). In digital signal processing terminology, each pass is a moving-average filter. Accumulation. Instead of discarding the sum for each pixel, the algorithm re-uses the previous sum, and updates it by subtracting away the old pixel and adding the new pixel in the blurring range. A summed-area table can be used similarly. This lowers the complexity from O(Nr) to O(N). When being used in multiple passes to approximate a Gaussian blur, the cascaded integrator–comb filter construction allows for doing the equivalent operation in a single pass.
Read Along
Read Along, formerly known as Bolo, is an Android language-learning app for children developed by Google for the Android operating system. The application was released on the Play Store on March 7, 2019. It features a character named Diya helping children learn to read through illustrated stories. It has the facility to learn English and Indian major languages i.e. Hindi, Bengali, Tamil, Telugu, Marathi and Urdu, as well as Spanish, Portuguese and Arabic. == Technology == The app uses text-to-speech technology, through which the character named Dia reads the story, as well as speech-to-text technology, which mechanically identifies the matches between the text and the reading of the user. The story of Chhota Bheem and Katha Kids was added in September 2019. In April 2020, a new version of the application was released. In September 2020, it added Arabic language to its language option. A web version was launched in August 2022.
Uncertain database
An uncertain database is a kind of database studied in database theory. The goal of uncertain databases is to manage information on which there is some uncertainty. Uncertain databases make it possible to explicitly represent and manage uncertainty on the data, usually in a succinct way. == Formal definition == At the basis of uncertain databases is the notion of possible world. Specifically, a possible world of an uncertain database is a (certain) database which is one of the possible realizations of the uncertain database. A given uncertain database typically has more than one, and potentially infinitely many, possible worlds. A formalism to represent uncertain databases then explains how to succinctly represent a set of possible worlds into one uncertain database. == Types of uncertain databases == Uncertain database models differ in how they represent and quantify these possible worlds: Incomplete databases are a compact representation of the set of possible worlds – the use of NULL in SQL, arguably the most commonplace instantiation of uncertain databases, is an example of incomplete database model. Probabilistic databases are a compact representation of a probability distribution over the set of possible worlds. Fuzzy databases are a compact representation of a fuzzy set of the possible worlds. Though mostly studied in the relational setting, uncertain database models can also be defined in other relational models such as graph databases or XML databases. === Incomplete database === The most common database model is the relational model. Multiple incomplete database models have been defined over the relational model, that form extensions to the relational algebra. These have been called Imieliński–Lipski algebras: Relations with NULL values, also called Codd tables c-tables v-tables === Example === The following table is a relation of an incomplete database, described in the formalism of NULL values: There are infinitely many possible worlds for this incomplete database, obtained by replacing the "NULL" values with concrete values. For instance, the following relation is a possible world:
Knowledge spillover
Knowledge spillover is an exchange of ideas among individuals. Knowledge spillover is usually replaced by terminations of technology spillover, R&D spillover and/or spillover (economics) when the concept is specific to technology management and innovation economics. In knowledge management economics, knowledge spillovers are non-rival knowledge market costs incurred by a party not agreeing to assume the costs that has a spillover effect of stimulating technological improvements in a neighbor through one's own innovation. Such innovations often come from specialization within an industry. There are two kinds of knowledge spillovers: internal and external. Internal knowledge spillover occurs if there is a positive impact of knowledge between individuals within an organization that produces goods and/or services. An external knowledge spillover occurs when the positive impact of knowledge is between individuals outside of a production organization. Marshall–Arrow–Romer (MAR) spillovers, Porter spillovers and Jacobs spillovers are three types of spillovers. == Conceptualizations == === Marshall–Arrow–Romer === Marshall–Arrow–Romer (MAR) spillover has its origins in 1890, where the English economist Alfred Marshall developed a theory of knowledge spillovers. Knowledge spillovers later were extended by economists Kenneth Arrow (1962) and Paul Romer (1986). In 1992, Edward Glaeser, Hedi Kallal, José Scheinkman, and Andrei Shleifer pulled together the Marshall–Arrow–Romer views on knowledge spillovers and accordingly named the view MAR spillover in 1992. Under the Marshall–Arrow–Romer (MAR) spillover view, the proximity of firms within a common industry often affects how well knowledge travels among firms to facilitate innovation and growth. The closer the firms are to one another, the greater the MAR spillover. The exchange of ideas is largely from employee to employee, in that employees from different firms in an industry exchange ideas about new products and new ways to produce goods. The opportunity to exchange ideas that lead to innovations key to new products and improved production methods. Research on the Cambridge IT Cluster (UK) suggests that technological knowledge spillovers might only happen rarely and are less important than other cluster benefits such as labour market pooling. === Porter === Porter (1990), like MAR, argues that knowledge spillovers in specialized, geographically concentrated industries stimulate growth. He insists, however, that local competition, as opposed to local monopoly, fosters the pursuit and rapid adoption of innovation. He gives examples of Italian ceramics and gold jewellery industries, in which hundreds of firms are located together and fiercely compete to innovate since the alternative to innovation is demise. Porter's externalities are maximized in cities with geographically specialized, competitive industries. === Jacobs === Under the Jacobs spillover view, the proximity of firms from different industries affect how well knowledge travels among firms to facilitate innovation and growth. This is in contrast to MAR spillovers, which focus on firms in a common industry. The diverse proximity of a Jacobs spillover brings together ideas among individuals with different perspectives to encourage an exchange of ideas and foster innovation in an industrially diverse environment. Developed in 1969 by urbanist Jane Jacobs and John Jackson the concept that Detroit’s shipbuilding industry from the 1830s was the critical antecedent leading to the 1890s development of the auto industry in Detroit since the gasoline engine firms easily transitioned from building gasoline engines for ships to building them for automobiles. == Incoming and outgoing spillovers == Knowledge spillover has asymmetric directions. The focal entity and receives or outflows know-how to others, creating incoming and outgoing spillovers. Cassiman and Veugelers (2002) use survey data and estimate incoming and outgoing spillover and study the economic impacts. Incoming spillover increases growth opportunity and productivity improvements of receivers, while outgoing spillover leads to free rider problem in the technology competition. Chen et al. (2013) use econometric method to gauge incoming spillover, a way that applies for all companies without survey. They find that incoming spillover explains R&D profits of industrial firms. == Policy implications == As information is largely non-rival in nature, certain measures must be taken to ensure that, for the originator, the information remains a private asset. As the market cannot do this efficiently, public regulations have been implemented to facilitate a more appropriate equilibrium. As a result, the concept of intellectual property rights have developed and ensure the ability of entrepreneurs to temporarily hold on to the profitability of their ideas through patents, copyrights, trade secrets, and other governmental safeguards. Conversely, such barriers to entry prevent the exploitation of informational developments by rival firms within an industry. For example, Wang (2023) indicates that technology spillovers are reduced by 27% to 51% when trade secrets laws are implemented by the Uniform Trade Secrets Act in the US. On the other hand, when the research and development of a private firm results in a social benefit, unaccounted for within the market price, often greater than the private return of the firm's research, then a subsidy to offset the underproduction of that benefit might be offered to the firm in return for its continued output of that benefit. Government subsidies are often controversial, and while they might often result in a more appropriate social equilibrium, they could also lead to undesirable political repercussions as such a subsidy must come from taxpayers, some of whom may not directly benefit from the researching firm's subsidized knowledge spillover. The concept of knowledge spillover is also used to justify subsidies to foreign direct investment, as foreign investors help diffuse technology among local firms. == Examples == Business parks are a good specific example of concentrated businesses that may benefit from MAR spillover. Many semiconductor firms intentionally located their research and development facilities in Silicon Valley to take advantage of MAR spillover. In addition, the film industry in Los Angeles, California, and elsewhere relies on a geographic concentration of specialists (directors, producers, scriptwriters, and set designers) to bring together narrow aspects of movie-making into a final product. A general example of a knowledge spillover could be the collective growth associated with the research and development of online social networking tools like Facebook, YouTube, and Twitter. Such tools have not only created a positive feedback loop, and a host of originally unintended benefits for their users, but have also created an explosion of new software, programming platforms, and conceptual breakthroughs that have perpetuated the development of the industry as a whole. The advent of online marketplaces, the utilization of user profiles, the widespread democratization of information, and the interconnectivity between tools within the industry have all been products of each tool's individual developments. These developments have since spread outside the industry into the mainstream media as news and entertainment firms have developed their own market feedback applications within the tools themselves, and their own versions of online networking tools (e.g. CNN’s iReport).
Kinodynamic planning
In robotics and motion planning, kinodynamic planning is a class of problems for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles. The term was coined by Bruce Donald, Pat Xavier, John Canny, and John Reif. Donald et al. developed the first polynomial-time approximation schemes (PTAS) for the problem. By providing a provably polynomial-time ε-approximation algorithm, they resolved a long-standing open problem in optimal control. Their first paper considered time-optimal control ("fastest path") of a point mass under Newtonian dynamics, amidst polygonal (2D) or polyhedral (3D) obstacles, subject to state bounds on position, velocity, and acceleration. Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics. == Modern approaches == Since the foundational theoretical work of the 1990s, the field has evolved significantly with new algorithmic approaches that address the computational and practical limitations of early methods. === Sampling-based methods === Many practical heuristic algorithms based on stochastic optimization and iterative sampling have been developed by a wide range of authors to address the kinodynamic planning problem. Popular approaches include extensions of RRT algorithms such as RRT for kinodynamic systems, and sampling-based methods like Model Predictive Path Integral (MPPI) control. These stochastic techniques have been shown to work well in practice and can handle complex, high-dimensional state spaces more efficiently than deterministic methods. However, all motion planning methods are subject to the PSPACE-hardnesss of classical motion planning even without dynamics, which means (assuming the usual structural complexity conjectures) they all can be worst-case exponential-time in the state-space dimension (the number of degrees of freedom). On the other hand, the deterministic methods have provable guarantees of completeness, accuracy, and complexity (for fixed dimension, they are polynomial-time not only in the geometric complexity, but also in ( 1 / ε ) {\displaystyle (1/\varepsilon )} , the closeness of the desired approximation), whereas most of the recent heuristic/stochastic methods sacrifice at least one of these criteria. === Mixed-integer optimization approaches === Recent advances in mixed-integer programming have enabled new deterministic approaches to kinodynamic planning. These methods formulate the planning problem as an optimization task that simultaneously determines the spatial path and control sequence while respecting all kinodynamic constraints. By using techniques such as McCormick envelopes to handle bilinear constraints, these approaches can provide globally optimal solutions with mathematical guarantees while achieving significant computational speedups over traditional methods. === Genetic algorithm approaches === Genetic algorithms have also been adapted for kinodynamic planning, particularly for gradient-free optimization in challenging terrain. These methods use evolutionary computation to optimize trajectories over receding horizons, with specialized mutation operators that ensure vehicle controls remain within operational limits. This approach is particularly useful when dealing with non-differentiable cost functions or when gradient information is unavailable or unreliable. === Three-dimensional terrain planning === The foundational theoretical work of the 1990s was extended to higher degrees of freedom, and even to n {\displaystyle n} -link, 3D open-chain kinematic robots under full Lagrangian dynamics. However, many of the subsequent heuristic techniques (typically employing stochastic optimization) were confined to planar environments. More recent kinodynamic planning has extended beyond these planar environments to handle complex 3D terrains represented as simplicial complexes or triangular meshes. This advancement is particularly important for applications such as autonomous vehicle navigation in off-road environments, where elevation changes and terrain geometry significantly impact vehicle dynamics. These methods must account for pitch angles, surface curvature, and the coupling between terrain geometry and vehicle kinodynamic constraints. == Performance and guarantees == The landscape of performance guarantees in kinodynamic planning has evolved considerably. While early heuristic methods could not guarantee optimality, recent mixed-integer approaches have demonstrated the ability to find globally optimal solutions with proven constraint satisfaction. Experimental comparisons have shown that modern optimization-based planners can achieve execution times several orders of magnitude faster than sampling-based methods while maintaining strict adherence to kinodynamic constraints. However, the choice of method often depends on the specific application requirements. Sampling-based methods remain valuable for their ability to quickly find feasible solutions in high-dimensional spaces and their robustness to modeling uncertainties. Optimization-based methods excel when optimality guarantees and constraint compliance are critical, particularly in safety-critical applications. == Applications == Kinodynamic planning finds applications across numerous domains including: Autonomous vehicles: Path planning for cars, trucks, and other ground vehicles that must respect acceleration, steering, and velocity limits Aerial robotics: Trajectory planning for quadrotors and other unmanned aerial vehicles with dynamic constraints Manipulation: Planning for robotic arms where joint velocities, accelerations, and torques are limited Legged locomotion: Footstep and trajectory planning for walking and running robots Space robotics: Planning under thrust and fuel constraints for spacecraft and rovers
Clara.io
Clara.io is web-based freemium 3D computer graphics software developed by Exocortex, a Canadian software company. The free or "Basic" component of their freemium offering, however, places severe restrictions, such as on saving models and importing texture maps, which are undisclosed in the company's own descriptions of their plans.vf TMN == History == Clara.io was announced in July 2013, and first presented as part of the official SIGGRAPH 2013 program later that month. By November 2013, when the open beta period started, Clara.io had 14,000 registered users. Clara.io claimed to have 26,000 registered users in January 2014, which grew to 85,000 by December 2014. Clara.io was permanently shut down on December 31, 2022, but the site is currently still partially functional to logged-in users. == Features == Polygonal modeling Constructive solid geometry Key frame animation Skeletal animation Hierarchical scene graph Texture mapping Photorealistic rendering (streaming cloud rendering using V-Ray Cloud) Scene publishing via HTML iframe embedding FBX, Collada, OBJ, STL and Three.js import/export Collaborative real-time editing Revision control (versioning & history) Scripting, Plugins & REST APIs 3D model library Unlisted and Private scenes (paid subscriptions only). == Technology == Clara.io is developed using HTML5, JavaScript, WebGL and Three.js. Clara.io does not rely on any browser plugins and thus runs on any platform that has a modern standards compliant browser. == Screenshots ==
E-Science librarianship
E-Science librarianship refers to a role for librarians in e-Science. == Early scholars == Early references to e-Science and librarianship involve information studies scholars researching cyberinfrastructure and emerging networked information and knowledge communities. Notably Christine Borgman, Professor and Presidential Chair in Information Studies at the University of California, Los Angeles (UCLA) was a key player in bringing e-Science, and the idea of networked knowledge communities, to the attention of the library profession. In 2004, as a visiting fellow at the Oxford Internet Institute, she conducted research and lectured publicly on e-Science, Digital Libraries, and Knowledge Communities. In 2007 Anna K. Gold, formerly of MIT and Cal Poly, San Luis Obispo, authored a series of articles in D-Lib Magazine that opened the door for academic libraries to begin exploring roles, skills, and strategies for engaging in e-Science: Cyberinfrastructure, Data, and Libraries, Part 1: A Cyberinfrastructure Primer for Librarians and Cyberinfrastructure, Data, and Libraries, Part 2: Libraries and the Data Challenge: Roles and Actions for Libraries. == Academic research and health sciences libraries == In 2007, the Association of Research Libraries (ARL) e-Science task force issued its report on e-Science and librarianship. The ARL's report encouraged its member libraries to position themselves to engage with researchers involved in e-Science (eScience) by cultivating new research support strategies and developing their digital scholarship infrastructure. E-Science has multiple attributes; Tony and Jessie Hey framed e-Science for the library community by characterizing it as a research methodology: "e-Science is not a new scientific discipline in its own right: e-Science is shorthand for the set of tools and technologies required to support collaborative, networked science". In addition to academic libraries' interests in providing support for their researchers engaging in e-Science, the health sciences library community also emerged as a major proponent for creating librarian positions for supporting the information needs of large-scale, networked, research collaborations on their campuses. Neil Rambo, current director of NYU's Health Sciences Library and former director of University of Washington Health Sciences Library, was the first to use the term in the Journal of the Medical Library Association, in his 2009 editorial e-Science and the Biomedical Library. Rambo's definition of e-Science highlighted the potential e-Science held for creating data as a research product: "E-science is a new research methodology, fueled by networked capabilities and the practical possibility of gathering and storing vast amounts of data." In response to this article the University of Massachusetts Medical School Lamar Soutter Library and National Network of Libraries of Medicine, New England Region encouraged health sciences libraries to cooperate to identify skills and develop a program for training e-Science Librarians. Then, in 2013, Shannon Bohle, an archivist who was employed in the library at Cold Spring Harbor Laboratory, an NCI-designated basic cancer research facility, used experience gained there and previous papers and presentations about preserving scientific archival materials to expand the traditional definition of e-Science by including the terms, principles, and practices used in archival science. These included in the definition the "long-term storage and accessibility of all materials generated through the scientific process," as well as examples of material types traditionally preserved in archives, like "electronic/digitized laboratory notebooks, raw and fitted data sets, manuscript production and draft versions, pre-prints," as well as library materials ("print and/or electronic publications"). == Roles == Many areas of science are about to be transformed by the availability of vast amounts of new scientific data that can potentially provide insights at a level of detail never before envisaged. However, this new data dominant era brings new challenges for the scientists and they will need the skills and technologies both of computer scientists and of the library community to manage, search and curate these new data resources. Libraries will not be immune from change in this new world of research. Karen Williams identifies roles in the following areas for librarians in the developing world of e-Science. Campus Engagement Content/Collection Development and Management Teaching and Learning Scholarly Communication E-Scholarship and Digital Tools Reference/Help Services Outreach Fund Raising Exhibit and Event Planning Leadership == Challenges for research libraries == E-science tends toward inter- and multidisciplinary approaches that depend on computation and computer science. Research libraries have traditionally been discipline focused and, although increasingly technologically sophisticated, do not have systems of the scale or complexity of the e-science environment. E-science is data intensive, but research libraries have not typically been responsible for scientific data. E-science is frequently conducted in a team context, often distributed across multiple institutions and on a global scale. The primary constituency of libraries generally comprises those affiliated with the local institution. Licenses for electronic content are typically restricted to a particular institutional community, and the infrastructure to move institutional licenses into a multi-institutional environment is not well developed. E-science challenges all these traditional paradigms of research library organization and services. == Skills == Garritano & Carlson were among the first to outline a skill set for librarians seeking to support the data needs of e-Science; they identified five skill categories librarians new to this area should expect to adapt or develop when participating on such projects: Library and information science expertise Subject expertise Partnerships and outreach (both internal and external) Participating in sponsored research Balancing workload An example of librarians reconfiguring traditional librarian skills to meet the needs of researchers engaging in e-Science is Witt & Carlson's adaptation of the traditional reference interview into a "data interview" in order to provide effective data management and e-Science services. This interview consists of ten practical queries necessary for understanding the provenance and expectations for the preservation of datasets typical of e-Science that also help illustrate some of the educational tools and skills needed by a librarian new to e-Science. "What is the story of the data? What form and format are the data in? What is the expected lifespan of the dataset? How could the data be used, reused, and repurposed? How large is the dataset, and what is its rate of growth? Who are the potential audiences for the data? Who owns the data? Does the dataset include any sensitive information? What publications or discoveries have resulted from the data? How should the data be made accessible?" == Resources == In 2009 the Lamar Soutter Library at the University of Massachusetts Medical School (UMMS) and the National Network of Libraries of Medicine, New England Region (NN/LM NER) funded an e-Science program for building the skills highlighted above for librarians. Elaine Russo Martin, Director of Library Services at the Lamar Soutter Library and Director of the NN/LM NER developed this comprehensive e-Science program to build librarians' subject expertise in the sciences, developing their data management skills, and their familiarity with cyberinfrastructure and e-Science. Three major products of this program are the e-Science web portal for librarians, the E-Science Symposium, and the New England Collaborative Data Management Curriculum (NECDMC). This portal includes educational resources for specific tools and subject/discipline tutorials and modules to assist librarians new to e-Science. UMMS and NN/LM NER also publish an open access journal called the Journal of eScience Librarianship.