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
Fluency Voice Technology
Fluency Voice Technology was a company that developed and sold packaged speech recognition solutions for use in call centers. Fluency's Speech Recognition solutions are used by call centers worldwide to improve customer service and significantly reduce costs and are available on-premises and hosted. == History == 1998 – Fluency was created as a spin-off from the Voice Research & Development team of a company called netdecisions. This R&D operation was established in Cambridge UK. The focus of the development was speech recognition systems based on the VXML standard. 2001 – Fluency became a separate entity in May 2001. Fluency began the creation of a software development platform specifically aimed at automating call center activities. This platform became Fluency's VoiceRunner. 2002 to 2004 – Fluency establishes accomplishes many successful deployments in customer sites such as National Express and Barclaycard. 2003 – Fluency expanded into the USA. Fluency also acquires Vocalis of Cambridge, UK in August 2003. 2004 – Fluency receives £6 million investment from leading European Venture Capitalists and establishes a global OEM partnership with Avaya, and the acquisition of SRC Telecom. 2008 – Fluency is acquired by Syntellect Ltd == Customers == Call Centers around the world use Fluency to improve service and reduce costs. They include Travelodge, Standard Life Bank, Sutton and East Surrey Water, Pizza Hut, CWT, Barclays, Powergen, First Choice, OutRight, J D Williams, Capital Blue Cross, Chelsea Building Society, EDF, bss, TV Licensing and Capita Software Services.
Best AI Content Generators in 2026
Trying to pick the best AI content generator? An AI content generator is software that uses machine learning to help you get more done — it scales effortlessly from a single task to thousands. The best picks balance beginner-friendly simplicity with the depth power users need, and they ship updates often. Whether you are a beginner or a pro, the right AI content generator slots into your workflow and pays for itself fast. This guide breaks down the top picks, their pros and cons, and who each one is best for.
Synchronous context-free grammar
Synchronous context-free grammars (SynCFG or SCFG; not to be confused with stochastic CFGs) are a type of formal grammar designed for use in transfer-based machine translation. Rules in these grammars apply to two languages at the same time, capturing grammatical structures that are each other's translations. The theory of SynCFGs borrows from syntax-directed transduction and syntax-based machine translation, modeling the reordering of clauses that occurs when translating a sentence by correspondences between phrase-structure rules in the source and target languages. Performance of SCFG-based MT systems has been found comparable with, or even better than, state-of-the-art phrase-based machine translation systems. Several algorithms exist to perform translation using SynCFGs. == Formalism == Rules in a SynCFG are superficially similar to CFG rules, except that they specify the structure of two phrases at the same time; one in the source language (the language being translated) and one in the target language. Numeric indices indicate correspondences between non-terminals in both constituent trees. Chiang gives the Chinese/English example: X → (yu X1 you X2, have X2 with X1) This rule indicates that an X phrase can be formed in Chinese with the structure "yu X1 you X2", where X1 and X2 are variables standing in for subphrases; and that the corresponding structure in English is "have X2 with X1" where X1 and X2 are independently translated to English. == Software == cdec, MT decoding package that supports SynCFGs Joshua, a machine translation decoding system written in Java
Michael Kearns (computer scientist)
Michael Justin Kearns is an American computer scientist, professor and National Center Chair at the University of Pennsylvania, the founding director of Penn's Singh Program in Networked & Social Systems Engineering (NETS), the founding director of Warren Center for Network and Data Sciences, and also holds secondary appointments in Penn's Wharton School and department of Economics. He is a leading researcher in computational learning theory and algorithmic game theory, and interested in machine learning, artificial intelligence, computational finance, algorithmic trading, computational social science and social networks. He previously led the Advisory and Research function in Morgan Stanley's Artificial Intelligence Center of Excellence team, and is currently an Amazon Scholar within Amazon Web Services. == Biography == Kearns was born into an academic family, where his father David R Kearns is Professor Emeritus at University of California, San Diego in chemistry, who won Guggenheim Fellowship in 1969, and his uncle Thomas R. Kearns is Professor Emeritus at Amherst College in Philosophy and Law, Jurisprudence, and Social Thought. His paternal grandfather Clyde W. Kearns was a pioneer in insecticide toxicology and was a professor at University of Illinois at Urbana–Champaign in Entomology, and his maternal grandfather Chen Shou-Yi (1899–1978) was a professor at Pomona College in history and literature, who was born in Canton (Guangzhou, China) into a family noted for their scholarship and educational leadership. Kearns received his B.S. degree at the University of California at Berkeley in math and computer science in 1985, and Ph.D. in computer science from Harvard University in 1989, under the supervision of Turing Award winner Leslie Valiant. His doctoral dissertation was The Computational Complexity of Machine Learning, later published by MIT press as part of the ACM Doctoral Dissertation Award Series in 1990. Before joining AT&T Bell Labs in 1991, he continued with postdoctoral positions at the Laboratory for Computer Science at MIT hosted by Ronald Rivest, and at the International Computer Science Institute (ICSI) in UC Berkeley hosted by Richard M. Karp, both of whom are Turing Award winners. Kearns is currently a full professor and National Center Chair at the University of Pennsylvania, where his appointment is split across the Department of Computer and Information Science, and Statistics and Operations and Information Management in the Wharton School. Prior to joining the Penn faculty in 2002, he spent a decade (1991–2001) in AT&T Labs and Bell Labs, including as head of the AI department with colleagues including Michael L. Littman, David A. McAllester, and Richard S. Sutton; Secure Systems Research department; and Machine Learning department with members such as Michael Collins and the leader Fernando Pereira. Other AT&T Labs colleagues in Algorithms and Theoretical Computer Science included Yoav Freund, Ronald Graham, Mehryar Mohri, Robert Schapire, and Peter Shor, as well as Sebastian Seung, Yann LeCun, Corinna Cortes, and Vladimir Vapnik (the V in VC dimension). Kearns was named Fellow of the Association for Computing Machinery (2014) for contributions to machine learning, and a fellow of the American Academy of Arts and Sciences (2012). His former graduate students and postdoctoral visitors include Ryan W. Porter, John Langford, and Jennifer Wortman Vaughan. Kearns' work has been reported by media, such as MIT Technology Review (2014) Can a Website Help You Decide to Have a Kid?, Bloomberg News (2014) Schneiderman (and Einstein) Pressure High-Speed Trading and NPR audio (2012) Online Education Grows Up, And For Now, It's Free. == Academic life == === Computational learning theory === Kearns and Umesh Vazirani published An introduction to computational learning theory, which has been a standard text on computational learning theory since it was published in 1994. === Weak learnability and the origin of Boosting algorithms === The question "is weakly learnability equivalent to strong learnability?" posed by Kearns and Valiant (Unpublished manuscript 1988, ACM Symposium on Theory of Computing 1989) is the origin of boosting machine learning algorithms, which got a positive answer by Robert Schapire (1990, proof by construction, not practical) and Yoav Freund (1993, by voting, not practical) and then they developed the practical AdaBoost (European Conference on Computational Learning Theory 1995, Journal of Computer and System Sciences 1997), an adaptive boosting algorithm that won the prestigious Gödel Prize (2003). == Honors and awards == 2021. Member of the U. S. National Academy of Sciences. 2014. ACM Fellow. For contributions to machine learning, artificial intelligence, and algorithmic game theory and computational social science. 2012. American Academy of Arts and Sciences Fellow. == Selected works == 2019. The Ethical Algorithm: The Science of Socially Aware Algorithm Design. (with Aaron Roth). Oxford University Press. 1994. An introduction to computational learning theory. (with Umesh Vazirani). MIT press. Widely used as a text book in computational learning theory courses. 1990. The computational complexity of machine learning. MIT press. Based on his 1989 doctoral dissertation; ACM Doctoral Dissertation Award Series in 1990 Archived 2014-11-03 at the Wayback Machine 1989. Cryptographic limitations on learning Boolean formulae and finite automata. (with Leslie Valiant) Proceedings of the twenty-first annual ACM symposium on Theory of computing (STOC'89). The open question: is weakly learnability equivalent to strong learnability?; The origin of boosting algorithms; Important publication in machine learning.
Apertus (LLM)
Apertus is a public large language model, developed by the Swiss AI Initiative (a collaboration between EPFL, ETH Zurich, and the Swiss National Supercomputing Centre). It was released on September 2, 2025, under the free and open-source Apache 2.0 license. Designed initially for business and research use cases around the world, Apertus was trained on over 1800 languages, and comes in 8 billion or 70 billion parameter versions and is available on Hugging Face for download. The model was developed aiming to adhere to European copyright law, and is one of the first examples of AI as a public good in the vein of AI Sovereignty. It is also the first large model to comply with the European Union's Artificial Intelligence Act. At its launch, the model creators emphasized multilinguality, transparency, and auditability as priorities in contrast to commercial frontier model. While international reception was largely positive, the first iteration was significantly behind the capabilities of frontier models and needs adaptation for many use cases with chatbots being a secondary but not a primary use case. As of late 2025, it was considered the largest and most capable fully open model. The capability of future models will depend in part on how much more funding can be secured.
Top 10 AI Voice Assistants Compared (2026)
Comparing the best AI voice assistant? An AI voice assistant is software that uses machine learning to help you get more done — it lowers the barrier so anyone can produce professional output. Privacy matters too: check whether your data trains the model and whether a no-log or enterprise tier is available. Whether you are a beginner or a pro, the right AI voice assistant slots into your workflow and pays for itself fast. Below we compare features, pricing, and real output so you can choose with confidence.