PhyCV is the first computer vision library which utilizes algorithms directly derived from the equations of physics governing physical phenomena. The algorithms appearing in the first release emulate the propagation of light through a physical medium with natural and engineered diffractive properties followed by coherent detection. Unlike traditional algorithms that are a sequence of hand-crafted empirical rules, physics-inspired algorithms leverage physical laws of nature as blueprints. In addition, these algorithms can, in principle, be implemented in real physical devices for fast and efficient computation in the form of analog computing. Currently PhyCV has three algorithms, Phase-Stretch Transform (PST) and Phase-Stretch Adaptive Gradient-Field Extractor (PAGE), and Vision Enhancement via Virtual diffraction and coherent Detection (VEViD). All algorithms have CPU and GPU versions. PhyCV is now available on GitHub and can be installed from pip. == History == Algorithms in PhyCV are inspired by the physics of the photonic time stretch (a hardware technique for ultrafast and single-shot data acquisition). PST is an edge detection algorithm that was open-sourced in 2016 and has 800+ stars and 200+ forks on GitHub. PAGE is a directional edge detection algorithm that was open-sourced in February, 2022. PhyCV was originally developed and open-sourced by Jalali-Lab @ UCLA in May 2022. In the initial release of PhyCV, the original open-sourced code of PST and PAGE is significantly refactored and improved to be modular, more efficient, GPU-accelerated and object-oriented. VEViD is a low-light and color enhancement algorithm that was added to PhyCV in November 2022. == Background == === Phase-Stretch Transform (PST) === Phase-Stretch Transform (PST) is a computationally efficient edge and texture detection algorithm with exceptional performance in visually impaired images. The algorithm transforms the image by emulating propagation of light through a device with engineered diffractive property followed by coherent detection. It has been applied in improving the resolution of MRI image, extracting blood vessels in retina images, dolphin identification, and waste water treatment, single molecule biological imaging, and classification of UAV using micro Doppler imaging. === Phase-Stretch Adaptive Gradient-Field Extractor (PAGE) === Phase-Stretch Adaptive Gradient-Field Extractor (PAGE) is a physics-inspired algorithm for detecting edges and their orientations in digital images at various scales. The algorithm is based on the diffraction equations of optics. Metaphorically speaking, PAGE emulates the physics of birefringent (orientation-dependent) diffractive propagation through a physical device with a specific diffractive structure. The propagation converts a real-valued image into a complex function. Related information is contained in the real and imaginary components of the output. The output represents the phase of the complex function. === Vision Enhancement via Virtual diffraction and coherent Detection (VEViD) === Vision Enhancement via Virtual diffraction and coherent Detection (VEViD) an efficient and interpretable low-light and color enhancement algorithm that reimagines a digital image as a spatially varying metaphoric light field and then subjects the field to the physical processes akin to diffraction and coherent detection. The term “Virtual” captures the deviation from the physical world. The light field is pixelated and the propagation imparts a phase with an arbitrary dependence on frequency which can be different from the quadratic behavior of physical diffraction. VEViD can be further accelerated through mathematical approximations that reduce the computation time without appreciable sacrifice in image quality. A closed-form approximation for VEViD which we call VEViD-lite can achieve up to 200 FPS for 4K video enhancement. == PhyCV on the Edge == Featuring low-dimensionality and high-efficiency, PhyCV is ideal for edge computing applications. In this section, we demonstrate running PhyCV on NVIDIA Jetson Nano in real-time. === NVIDIA Jetson Nano Developer Kit === NVIDIA Jetson Nano Developer Kit is a small- sized and power-efficient platform for edge computing applications. It is equipped with an NVIDIA Maxwell architecture GPU with 128 CUDA cores, a quad-core ARM Cortex-A57 CPU, 4GB 64-bit LPDDR4 RAM, and supports video encoding and decoding up to 4K resolution. Jetson Nano also offers a variety of interfaces for connectivity and expansion, making it ideal for a wide range of AI and IoT applications. In our setup, we connect a USB camera to the Jetson Nano to acquire videos and demonstrate using PhyCV to process the videos in real-time. === Real-time PhyCV on Jetson Nano === We use the Jetson Nano (4GB) with NVIDIA JetPack SDK version 4.6.1, which comes with pre- installed Python 3.6, CUDA 10.2, and OpenCV 4.1.1. We further install PyTorch 1.10 to enable the GPU accelerated PhyCV. We demonstrate the results and metrics of running PhyCV on Jetson Nano in real-time for edge detection and low-light enhancement tasks. For 480p videos, both operations achieve beyond 38 FPS, which is sufficient for most cameras that capture videos at 30 FPS. For 720p videos, PhyCV low-light enhancement can operate at 24 FPS and PhyCV edge detection can operate at 17 FPS. == Highlights == === Modular Code Architecture === The code in PhyCV has a modular design which faithfully follows the physical process from which the algorithm was originated. Both PST and PAGE modules in the PhyCV library emulate the propagation of the input signal (original digital image) through a device with engineered diffractive property followed by coherent (phase) detection. The dispersive propagation applies a phase kernel to the frequency domain of the original image. This process has three steps in general, loading the image, initializing the kernel and applying the kernel. In the implementation of PhyCV, each algorithm is represented as a class in Python and each class has methods that simulate the steps described above. The modular code architecture follows the physics behind the algorithm. Please refer to the source code on GitHub for more details. === GPU Acceleration === PhyCV supports GPU acceleration. The GPU versions of PST and PAGE are built on PyTorch accelerated by the CUDA toolkit. The acceleration is beneficial for applying the algorithms in real-time image video processing and other deep learning tasks. The running time per frame of PhyCV algorithms on CPU (Intel i9-9900K) and GPU (NVIDIA TITAN RTX) for videos at different resolutions are shown below. Note that the PhyCV low-light enhancement operates in the HSV color space, so the running time also includes RGB to HSV conversion. However, for all running times using GPUs, we ignore the time of moving data from CPUs to GPUs and count the algorithm operation time only. == Installation and Examples == Please refer to the GitHub README file for a detailed technical documentation. == Current Limitations == === I/O (Input/Output) Bottleneck for Real-time Video Processing === When dealing with real-time video streams from cameras, the frames are captured and buffered in CPU and have to be moved to GPU to run the GPU-accelerated PhyCV algorithms. This process is time-consuming and it is a common bottleneck for real-time video-processing algorithms. === Lack of Parameter Adaptivity for Different Images === Currently, the parameters of PhyCV algorithms have to be manually tuned for different images. Although a set of pre-selected parameters work relatively well for a wide range of images, the lack of parameter adaptivity for different images remains a limitation for now.
Apache OpenNLP
The Apache OpenNLP library is a machine learning based toolkit for the processing of natural language text. It supports the most common NLP tasks, such as language detection, tokenization, sentence segmentation, part-of-speech tagging, named entity extraction, chunking, parsing and coreference resolution. These tasks are usually required to build more advanced text processing services.
Bootstrap (front-end framework)
Bootstrap (formerly Twitter Bootstrap) is a free and open-source CSS framework directed at responsive, mobile-first front-end web development. It contains HTML, CSS and (optionally) JavaScript-based design templates for typography, forms, buttons, navigation, and other interface components. As of May 2023, Bootstrap is the 17th most starred project (4th most starred library) on GitHub, with over 164,000 stars. According to W3Techs, Bootstrap is used by 19.2% of all websites. == Features == Bootstrap is an HTML, CSS and JS library that focuses on simplifying the development of informative web pages (as opposed to web applications). The primary purpose of adding it to a web project is to apply Bootstrap's choices of color, size, font and layout to that project. As such, the primary factor is whether the developers in charge find those choices to their liking. Once added to a project, Bootstrap provides basic style definitions for all HTML elements. The result is a uniform appearance for prose, tables and form elements across web browsers. In addition, developers can take advantage of CSS classes defined in Bootstrap to further customize the appearance of their contents. For example, Bootstrap has provisioned for light- and dark-colored tables, page headings, more prominent pull quotes, and text with a highlight. Bootstrap also comes with several JavaScript components which do not require other libraries like jQuery. They provide additional user interface elements such as dialog boxes, tooltips, progress bars, navigation drop-downs, and carousels. Each Bootstrap component consists of an HTML structure, CSS declarations, and in some cases accompanying JavaScript code. They also extend the functionality of some existing interface elements, including for example an auto-complete function for input fields. The most prominent components of Bootstrap are its layout components, as they affect an entire web page. The basic layout component is called "Container", as every other element in the page is placed in it. Developers can choose between a fixed-width container and a fluid-width container. While the latter always fills the width with the web page, the former uses one of the five predefined fixed widths, depending on the size of the screen showing the page: Smaller than 576 pixels 576–768 pixels 768–992 pixels 992–1200 pixels 1200–1400 pixels Larger than 1400 pixels Once a container is in place, other Bootstrap layout components implement a CSS Flexbox layout through defining rows and columns. A precompiled version of Bootstrap is available in the form of one CSS file and three JavaScript files that can be readily added to any project. The raw form of Bootstrap, however, enables developers to implement further customization and size optimizations. This raw form is modular, meaning that the developer can remove unneeded components, apply a theme and modify the uncompiled Sass files. == History == === Early beginnings === Bootstrap, originally named Twitter Blueprint, was developed by Mark Otto and Jacob Thornton at Twitter in 2010 as a framework to encourage consistency across internal tools. Before Bootstrap, various libraries were used for interface development, which led to inconsistencies and a high maintenance burden. According to Otto: A super small group of developers and I got together to design and build a new internal tool and saw an opportunity to do something more. Through that process, we saw ourselves build something much more substantial than another internal tool. Months later, we ended up with an early version of Bootstrap as a way to document and share common design patterns and assets within the company. After a few months of development by a small group, many developers at Twitter began to contribute to the project as a part of Hack Week, a hackathon-style week for the Twitter development team. It was renamed from Twitter Blueprint to Twitter Bootstrap and released as an open-source project on August 19, 2011. It has continued to be maintained by Otto, Thornton, a small group of core developers, and a large community of contributors. === Bootstrap 2 === On January 31, 2012, Bootstrap 2 was released, which added built-in support for Glyphicons, several new components, as well as changes to many of the existing components. This version supports responsive web design, meaning the layout of web pages adjusts dynamically, taking into account the characteristics of the device used (whether desktop, tablet, mobile phone). Shortly before the release of Bootstrap 2.1.2, Otto and Thornton left Twitter, but committed to continue to work on Bootstrap as an independent project. === Bootstrap 3 === On August 19, 2013, Bootstrap 3 was released. It redesigned components to use flat design and a mobile first approach. Bootstrap 3 features new plugin system with namespaced events. Bootstrap 3 dropped Internet Explorer 7 and Firefox 3.6 support, but there is an optional polyfill for these browsers. Bootstrap 3 was also the first version released under the twbs organization on GitHub instead of the Twitter one. === Bootstrap 4 === Otto announced Bootstrap 4 on October 29, 2014. The first alpha version of Bootstrap 4 was released on August 19, 2015. The first beta version was released on August 10, 2017. Otto suspended work on Bootstrap 3 on September 6, 2016, to free up time to work on Bootstrap 4. Bootstrap 4 was finalized on January 18, 2018. Significant changes include: Major rewrite of the code Replacing Less with Sass Addition of Reboot, a collection of element-specific CSS changes in a single file, based on Normalize Dropping support for IE8, IE9, and iOS 6 CSS Flexible Box support Adding navigation customization options Adding responsive spacing and sizing utilities Switching from the pixels unit in CSS to root ems Increasing global font size from 14px to 16px for enhanced readability Dropping the panel, thumbnail, pager, and well components Dropping the Glyphicons icon font Huge number of utility classes Improved form styling, buttons, drop-down menus, media objects and image classes Bootstrap 4 supports the latest versions of Google Chrome, Firefox, Internet Explorer, Opera, and Safari (except on Windows). It additionally supports back to IE10 and the latest Firefox Extended Support Release (ESR). === Bootstrap 5 === Bootstrap 5 was officially released on May 5, 2021. Major changes include: New offcanvas menu component Removing dependence on jQuery in favor of vanilla JavaScript Rewriting the grid to support responsive gutters and columns placed outside of rows Migrating the documentation from Jekyll to Hugo Dropping support for Internet Explorer Moving testing infrastructure from QUnit to Jasmine Adding custom set of SVG icons Adding CSS custom properties Improved API Enhanced grid system Improved customizing docs Updated forms RTL support Built in darkmode support
Comet (programming)
Comet is a web application model in which a long-held HTTPS request allows a web server to push data to a browser, without the browser explicitly requesting it. Comet is an umbrella term, encompassing multiple techniques for achieving this interaction. All these methods rely on features included by default in browsers, such as JavaScript, rather than on non-default plugins. The Comet approach differs from the original model of the web, in which a browser requests a complete web page at a time. The use of Comet techniques in web development predates the use of the word Comet as a neologism for the collective techniques. Comet is known by several other names, including Ajax Push, Reverse Ajax, Two-way-web, HTTP Streaming, and HTTP server push among others. The term Comet is not an acronym, but was coined by Alex Russell in his 2006 blog post. In recent years, the standardisation and widespread support of WebSocket and Server-sent events has rendered the Comet model obsolete. == History == === Early Java applets === The ability to embed Java applets into browsers (starting with Netscape Navigator 2.0 in March 1996) made two-way sustained communications possible, using a raw TCP socket to communicate between the browser and the server. This socket can remain open as long as the browser is at the document hosting the applet. Event notifications can be sent in any format – text or binary – and decoded by the applet. === The first browser-to-browser communication framework === The very first application using browser-to-browser communications was Tango Interactive, implemented in 1996–98 at the Northeast Parallel Architectures Center (NPAC) at Syracuse University using DARPA funding. TANGO architecture has been patented by Syracuse University. TANGO framework has been extensively used as a distance education tool. The framework has been commercialized by CollabWorx and used in a dozen or so Command&Control and Training applications in the United States Department of Defense. === First Comet applications === The first set of Comet implementations dates back to 2000, with the Pushlets, Lightstreamer, and KnowNow projects. Pushlets, a framework created by Just van den Broecke, was one of the first open source implementations. Pushlets were based on server-side Java servlets, and a client-side JavaScript library. Bang Networks – a Silicon Valley start-up backed by Netscape co-founder Marc Andreessen – had a lavishly financed attempt to create a real-time push standard for the entire web. In April 2001, Chip Morningstar began developing a Java-based (J2SE) web server which used two HTTP sockets to keep open two communications channels between the custom HTTP server he designed and a client designed by Douglas Crockford; a functioning demo system existed as of June 2001. The server and client used a messaging format that the founders of State Software, Inc. assented to coin as JSON following Crockford's suggestion. The entire system, the client libraries, the messaging format known as JSON and the server, became the State Application Framework, parts of which were sold and used by Sun Microsystems, Amazon.com, EDS and Volkswagen. In March 2006, software engineer Alex Russell coined the term Comet in a post on his personal blog. The new term was a play on Ajax (Ajax and Comet both being common household cleaners in the USA). In 2006, some applications exposed those techniques to a wider audience: Meebo’s multi-protocol web-based chat application enabled users to connect to AOL, Yahoo, and Microsoft chat platforms through the browser; Google added web-based chat to Gmail; JotSpot, a startup since acquired by Google, built Comet-based real-time collaborative document editing. New Comet variants were created, such as the Java-based ICEfaces JSF framework (although they prefer the term "Ajax Push"). Others that had previously used Java-applet based transports switched instead to pure-JavaScript implementations. == Implementations == Comet applications attempt to eliminate the limitations of the page-by-page web model and traditional polling by offering two-way sustained interaction, using a persistent or long-lasting HTTP connection between the server and the client. Since browsers and proxies are not designed with server events in mind, several techniques to achieve this have been developed, each with different benefits and drawbacks. The biggest hurdle is the HTTP 1.1 specification, which states "this specification... encourages clients to be conservative when opening multiple connections". Therefore, holding one connection open for real-time events has a negative impact on browser usability: the browser may be blocked from sending a new request while waiting for the results of a previous request, e.g., a series of images. This can be worked around by creating a distinct hostname for real-time information, which is an alias for the same physical server. This strategy is an application of domain sharding. Specific methods of implementing Comet fall into two major categories: streaming and long polling. === Streaming === An application using streaming Comet opens a single persistent connection from the client browser to the server for all Comet events. These events are incrementally handled and interpreted on the client side every time the server sends a new event, with neither side closing the connection. Specific techniques for accomplishing streaming Comet include the following: ==== Hidden iframe ==== A basic technique for dynamic web application is to use a hidden iframe HTML element (an inline frame, which allows a website to embed one HTML document inside another). This invisible iframe is sent as a chunked block, which implicitly declares it as infinitely long (sometimes called "forever frame"). As events occur, the iframe is gradually filled with script tags, containing JavaScript to be executed in the browser. Because browsers render HTML pages incrementally, each script tag is executed as it is received. Some browsers require a specific minimum document size before parsing and execution is started, which can be obtained by initially sending 1–2 kB of padding spaces. One benefit of the iframes method is that it works in every common browser. Two downsides of this technique are the lack of a reliable error handling method, and the impossibility of tracking the state of the request calling process. ==== XMLHttpRequest ==== The XMLHttpRequest (XHR) object, a tool used by Ajax applications for browser–server communication, can also be pressed into service for server–browser Comet messaging by generating a custom data format for an XHR response, and parsing out each event using browser-side JavaScript; relying only on the browser firing the onreadystatechange callback each time it receives new data. === Ajax with long polling === None of the above streaming transports work across all modern browsers without negative side-effects. This forces Comet developers to implement several complex streaming transports, switching between them depending on the browser. Consequently, many Comet applications use long polling, which is easier to implement on the browser side, and works, at minimum, in every browser that supports XHR. As the name suggests, long polling requires the client to poll the server for an event (or set of events). The browser makes an Ajax-style request to the server, which is kept open until the server has new data to send to the browser, which is sent to the browser in a complete response. The browser initiates a new long polling request in order to obtain subsequent events. IETF RFC 6202 "Known Issues and Best Practices for the Use of Long Polling and Streaming in Bidirectional HTTP" compares long polling and HTTP streaming. Specific technologies for accomplishing long-polling include the following: ==== XMLHttpRequest long polling ==== For the most part, XMLHttpRequest long polling works like any standard use of XHR. The browser makes an asynchronous request of the server, which may wait for data to be available before responding. The response can contain encoded data (typically XML or JSON) or Javascript to be executed by the client. At the end of the processing of the response, the browser creates and sends another XHR, to await the next event. Thus the browser always keeps a request outstanding with the server, to be answered as each event occurs. ==== Script tag long polling ==== While any Comet transport can be made to work across subdomains, none of the above transports can be used across different second-level domains (SLDs), due to browser security policies designed to prevent cross-site scripting attacks. That is, if the main web page is served from one SLD, and the Comet server is located at another SLD (which does not have cross-origin resource sharing enabled), Comet events cannot be used to modify the HTML and DOM of the main page, using those transports. This problem can be sidestepped by creating a proxy server in
Hyperscale computing
In computing, hyperscale is the ability of an architecture to scale appropriately as increased demand is added to the system. This typically involves the ability to seamlessly provide and add computing, memory, networking, and storage resources to a given node or set of nodes that make up a larger computing, distributed computing, or grid computing environment. Hyperscale computing is necessary in order to build a robust and scalable cloud, big data, map reduce, or distributed storage system and is often associated with the infrastructure required to run large distributed sites such as Google, Facebook, Twitter, Amazon, Microsoft, IBM Cloud, Oracle Cloud, or Cloudflare. Companies like Ericsson, AMD, and Intel provide hyperscale infrastructure kits for IT service providers. Companies like Scaleway, Switch, Alibaba, IBM, QTS, Neysa, Digital Realty Trust, Equinix, Oracle, Meta, Amazon Web Services, SAP, Microsoft, Google, and Cloudflare build data centers for hyperscale computing. Such companies are sometimes called "hyperscalers". They are recognized for their massive scale in cloud computing and data management, operating in environments that require extensive infrastructure to accommodate large-scale data processing and storage.
Coolgorilla
Coolgorilla was one of the earliest software developers that created 3rd party native applications for Apple iPod devices. Coolgorilla was an early adopter of using a sponsorship business model to enable mobile applications to be given away freely. Coolgorilla developed a series of Talking Phrasebooks for iPods in 2006. They partnered with online travel company lastminute.com who sponsored the applications enabling them to be made available to download completely free of charge. As mobile devices became more sophisticated, Coolgorilla developed the Talking Phrasebooks for Sony Ericsson and Nokia Mobile Devices which at the time were considerably noteworthy since the applications used real voice audio translations. With Apple's introduction of the iPhone in 2007, Coolgorilla developed a Web App before having four of the iPhone Talking Phrasebooks available to download from Apple's App Store on the day it opened in 2008. == Almanac in Chronological Order == On 23 December 2005, CoolGorilla, a new start-up, launched a trivia game for the iPod. It was titled "Rock and Pop Quiz". It was a quiz game that tested users' knowledge on bands such as U2, Metallica, Beyonce, and the Beatles. The quiz contained twenty megabytes of audible trivia questions. The free game was compatible with 3rd, 4th and 5th generation iPods, iPod mini and nano. In March 2006, Coolgorilla released "Movie Quiz for iPods" with a price of $5. It was an audio game narrated by New York's DJ Thomas, a radio and television host, voice over artist and event Master of Ceremonies. There were questions on Star Wars, Spiderman, The Godfather, Pulp Fiction, The Matrix, James Bond, and others. The user could keep track of their score. The game included a secret code for players who answered all questions correctly which enabled users to enter their name on the Coolgorilla Hall of Fame. In May 2006, Coolgorilla launched a World Cup Encyclopedia which was released prior to the 2006 FIFA World Cup. It had information on the World Cup schedule, details of every player from every team, every score from every world cup game ever played, stadium details, and manager profiles. It was a free download. In June 2006, Coolgorilla released a series of iPod Phrasebooks in German, Greek, French and Spanish. They were sponsored by lastminute.com and were free. The phrasebooks included common words and phrases for tourists with 750 sound files. They were accessed through the iPod's Notes feature. In April 2007, Coolgorilla released a downloadable version of the Talking Phrasebooks for Nokia and Sony Ericsson mobile devices. French, Spanish, German, Greek, Italian, and Portuguese were produced. The application provided real voice translations. They initially sold for £3 but 3 months later were offered for free. The branding was lastminute.com branding. Apple's iPhone was released at the end of June 2007. Soon after, Coolgorilla released an online all-in-one version of their Talking Phrasebooks for iPhone (Web App). The Phrasebooks were made available online in the form of a web app as iPhone did not yet allow for the download of additional apps. The app provided both text and audio translations in French, Spanish, Portuguese, Italian, German, and Greek. The iPhone translated the phrases using the recordings of real, native voice-over artists. A text translation on screen was also displayed. Apple's App Store opened in July 2008 with approximately 500 native apps available. Four of these Apps were Coolgorilla's Talking Phrasebooks for iPhone (Native Apps). There was French, German, Italian, and Spanish. These Apps carried lastminute.com branding and were available for free download. In the first three weeks following their release, the phrasebooks had over 350,000 downloads. Subsequently, Dutch, Arabic, Mandarin and Cantonese were also released. In October 2008, Coolgorilla released an iPhone London Travel Guide. Coolgorilla featured on NBC News in August 2009. In 2010, FIAT used the Italian Phrasebook to help promote the release of their FIAT 500 in the US. There has been no further activity since.
Plug compatibility
Plug compatibility is a characteristic of computer hardware that performs exactly like that of another vendor. Manufacturers who made replacements for IBM peripherals were referred to as plug-compatible manufacturers (PCMs). Later plug-compatible mainframe (also PCM) referred to IBM-compatible mainframe computers. PCM can also mean plug-compatible machine or plug-compatible module. == Plug compatibility and peripherals == Before the rise of the plug-compatible peripheral industry, computing systems were either configured with peripherals designed and built by the CPU vendor or designed to use vendor-selected rebadged devices. The first examples of plug-compatible IBM subsystems were tape drives and controls offered by Telex beginning 1965. Memorex in 1968 was first to enter the IBM plug-compatible disk market, followed shortly thereafter by a number of suppliers such as CDC, Itel, and Storage Technology Corporation. This was boosted by the world's largest user of computing equipment, the US General Services Administration, buying plug-compatible equipment. Eventually there were third-party plug-compatible alternatives to most first-party peripherals and first-party system main memory. == Plug compatibility and computer systems == A plug-compatible machine is one that is backward compatible with a prior machine. In particular, a new computer system that is plug-compatible has not only the same connectors and protocol interfaces to peripherals, but also binary-code compatibility—it runs the same software as the old system. A plug compatible manufacturer, or PCM, is a company that makes such products. One recurring theme in plug-compatible systems is the ability to be bug compatible as well. That is, if the forerunner system had software or interface problems, then the successor must have (or simulate) the same problems. Otherwise, the new system may generate unpredictable results, defeating the objective of full compatibility. Thus, it is important for customers to understand the difference between a bug and a feature, where the latter is defined as an intentional modification to the previous system (e.g. higher speed, lighter weight, smaller package, better operator controls, etc.). === Plug compatibility and IBM mainframes === The original example of plug-compatible mainframes was the Amdahl 470 mainframe computer which was plug-compatible with the IBM System 360 and 370, costing millions of dollars to develop. Similar systems were available from Comparex, Fujitsu, and Hitachi. Not all were large systems. Most of these system vendors eventually left the PCM market. In late 1981, there were eight PCM companies, and collectively they had 36 IBM-compatible models. == Non-computer usage of plug compatibility == Plug compatibility may also be used to describe replacement criteria for other components available from multiple sources. For example, a plug-compatible cooling fan may need to have not only the same physical size and shape, but also similar capability, run from the same voltage, use similar power, attach with a standard electrical connector, and have similar mounting arrangements. Some non-conforming units may be re-packaged or modified to meet plug-compatible requirements, as where an adapter plate is provided for mounting, or a different tool and instructions are supplied for installation, and these modifications would be reflected in the bill of materials for such components. Similar issues arise for computer system interfaces when competitors wish to offer an easy upgrade path. In general, plug-compatible systems are designed where industry or de facto standards have rigorously defined the environment, and there is a large installed population of machines that can benefit from third-party enhancements. Plug compatible does not mean identical. However, nothing prevents a company from developing follow-on products that are backward-compatible with its own early products.