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
Oculus Quill
Quill is a painting and animation software for virtual reality. It runs on Microsoft Windows with Oculus Rift headsets. It is used to create 3D paintings and animated cartoons. Quill was released on November 29, 2016, on the Oculus Store. Theater Elsewhere(formerly Quill Theater), an application for viewing creations made in Quill, was later made available following the release of the Oculus Quest. In September 2021, Facebook, now known as Meta Platforms, and the owner of Oculus, sold Quill to its original creator, who continues to develop and support the app. == Development == Quill was originally developed by Oculus Story Studio as an internal tool for the creative needs of the studio's project Dear Angelica directed by Saschka Unseld along with its art-director Wesley Allsbrook. == Controls == The software works on Oculus Rift utilizing its 6DoF motion controllers. Users can paint in 3D space using their hands naturally, and animate those paintings with keyframes. They can also capture videos and photos of their creations. == Reception == Dear Angelica, a VR story fully painted in Quill, was nominated for an Emmy Award in 2017.
Apps to analyse COVID-19 sounds
Apps to analyse COVID-19 sounds are mobile software applications designed to collect respiratory sounds and aid diagnosis in response to the COVID-19 pandemic. Numerous applications are in development, with different institutions and companies taking various approaches to privacy and data collection. Current efforts are aimed at gathering data. In a later stage, it is possible that sound apps will have the capacity (and ethical approvals) to provide information back to users. In order to develop and train signal analysis approaches, large datasets are required. == History == The COVID-19 outbreak was announced as a global pandemic by the World Health Organization in March 2020 and has affected a growing number of people globally. In this context, advanced artificial intelligence techniques are being considered as tools in aiding our response to global health crisis. Other COVID-19 apps which offer solutions for user tracking have been developed. At the same time a number of approaches which tries to use respiratory sounds and artificial intelligence to understand if the disease can be diagnosed have been proposed. A few studies are available as preprints (i.e. not yet peer-reviewed) documents. == Methodologies == The potential for using speech and sound analysis by artificial intelligence to help in this scenario, by surveying which types of related or contextually significant phenomena can be automatically assessed from speech or sound has been recently overviewed. These include the automatic recognition and monitoring of breathing, dry and wet coughing or sneezing sounds, speech under cold, eating behaviour, sleepiness, or pain. Additionally, the potential use-cases of intelligent speech analysis for COVID-19 diagnosed patients has also been presented. In particular, by analysing speech recordings from these patients, an audio-only-based model to automatically categorise the health state of patients from four aspects, including the severity of illness, sleep quality, fatigue, and anxiety, is constructed. This work shows promise in estimating the severity of illness. Machine learning methods have been explored to recognize and diagnose coughs from different diseases. These included a low complexity, automated recognition and diagnostic tool for screening respiratory infections that utilizes convolutional neural networks (CNNs) to detect cough within environment audio and diagnose three potential illnesses (i.e. bronchitis, bronchiolitis and pertussis) based on their unique cough audio features. A large-scale crowdsourced dataset of respiratory sounds has been collected to aid diagnosis of COVID-19: coughs and breathing sounds are sufficient to distinguish users affected by COVID-19 versus those affected by asthma or healthy controls. Behind these studies is the ambition that automated systems to screen for respiratory diseases based on voice, raw cough or other sound data would have positive medical applications in both clinical and public health arenas. == List of apps to analyse COVID-19 sounds ==
Automation integrator
An automation integrator is a systems integrator company or individual who makes different versions of automation hardware and software work together, generally combining several subsystems to work together as one large system. The title may refer to those who only integrate hardware, although these will often work with software integrators. Software created by automation integrators allows devices to communicate with each other, as well as collecting and reporting data. The magazine Control Engineering publishes an annual “Automation Integrator Guide” which lists over 2,000 automation integrators. They also give an annual system integrator of the year award to three automation integration firms. The Control System Integrators Association (CSIA) maintains a buyers' guide of over 1200 member and nonmember systems integrators known as the Industrial Automation Exchange, or CSIA Exchange for short. == Certification == The Control System Integrators Association (CSIA) certifies automation integrators, through an audit based on 79 critical criteria from the best practices manual. Companies must be associate members of the CSIA to be eligible for certification. Integrators can also receive certification through a program launched in 2012 by the Robotics Industries Association. == Industries == Automation Integrators work in a wide variety of industries which use robotics and automation. Some of the most common include:
Apptek
Applications Technology (AppTek) is a U.S. company headquartered in McLean, Virginia that specializes in artificial intelligence and machine learning for human language technologies. The company provides both managed and professional services for natural language processing (NLP) technologies including automatic speech recognition (ASR), neural machine translation (MT), natural-language understanding (NLU) and neural speech synthesis. AppTek's Head of Science, Prof. Dr. -Ing Hermann Ney, was awarded the IEEE James L. Flanagan Speech and Audio Processing Award in 2019 and the ISCA Medal for Scientific Achievement in 2021 for his work in natural language processing. == History == AppTek was acquired in 1998 by Lernout & Hauspie (at the time a NASDAQ publicly traded company), AppTek organized a management buy-out and went private again in 2001. In 2014, the company sold its hybrid machine translation technology to eBay and has since rebuilt the platform to modern neural-based approaches for machine translation. In 2020, SOSi acquired non-controlling interest in AppTek and became an exclusive reseller of AppTek products for U.S. federal, state, and local government entities.
Common data model
A common data model (CDM) can refer to any standardised data model which allows for data and information exchange between different applications and data sources. Common data models aim to standardise logical infrastructure so that related applications can "operate on and share the same data", and can be seen as a way to "organize data from many sources that are in different formats into a standard structure". A common data model has been described as one of the components of a "strong information system". A standardised common data model has also been described as a typical component of a well designed agile application besides a common communication protocol. Providing a single common data model within an organisation is one of the typical tasks of a data warehouse. == Examples of common data models == === Border crossings === X-trans.eu was a cross-border pilot project between the Free State of Bavaria (Germany) and Upper Austria with the aim of developing a faster procedure for the application and approval of cross-border large-capacity transports. The portal was based on a common data model that contained all the information required for approval. === Climate data === The Climate Data Store Common Data Model is a common data model set up by the Copernicus Climate Change Service for harmonising essential climate variables from different sources and data providers. === General information technology === Within service-oriented architecture, S-RAMP is a specification released by HP, IBM, Software AG, TIBCO, and Red Hat which defines a common data model for SOA repositories as well as an interaction protocol to facilitate the use of common tooling and sharing of data. Content Management Interoperability Services (CMIS) is an open standard for inter-operation of different content management systems over the internet, and provides a common data model for typed files and folders used with version control. The NetCDF software libraries for array-oriented scientific data implements a common data model called the NetCDF Java common data model, which consists of three layers built on top of each other to add successively richer semantics. === Health === Within genomic and medical data, the Observational Medical Outcomes Partnership (OMOP) research program established under the U.S. National Institutes of Health has created a common data model for claims and electronic health records which can accommodate data from different sources around the world. PCORnet, which was developed by the Patient-Centered Outcomes Research Institute, is another common data model for health data including electronic health records and patient claims. The Sentinel Common Data Model was initially started as Mini-Sentinel in 2008. It is used by the Sentinel Initiative of the USA's Food and Drug Administration. The Generalized Data Model was first published in 2019. It was designed to be a stand-alone data model as well as to allow for further transformation into other data models (e.g., OMOP, PCORNet, Sentinel). It has a hierarchical structure to flexibly capture relationships among data elements. The JANUS clinical trial data repository also provides a common data model which is based on the SDTM standard to represent clinical data submitted to regulatory agencies, such as tabulation datasets, patient profiles, listings, etc. === Logistics === SX000i is a specification developed jointly by the Aerospace and Defence Industries Association of Europe (ASD) and the American Aerospace Industries Association (AIA) to provide information, guidance and instructions to ensure compatibility and the commonality. The associated SX002D specification contains a common data model. === Microsoft Common Data Model === The Microsoft Common Data Model is a collection of many standardised extensible data schemas with entities, attributes, semantic metadata, and relationships, which represent commonly used concepts and activities in various businesses areas. It is maintained by Microsoft and its partners, and is published on GitHub. Microsoft's Common Data Model is used amongst others in Microsoft Dataverse and with various Microsoft Power Platform and Microsoft Dynamics 365 services. === Rail transport === RailTopoModel is a common data model for the railway sector. === Other === There are many more examples of various common data models for different uses published by different sources.
ViEWER
ViEWER, the Virtual Environment Workbench for Education and Research, is a proprietary, freeware computer program for Microsoft Windows written by researchers at the University of Idaho for the study of visual perception and complex immersive three-dimensional environments. It was created using C++ and OpenGL, and has been used by Dr. Brian Dyre, Dr. Steffen Werner, Dr. Ernesto Bustamante, Dr. Ben Barton, and their undergraduate and graduate researchers in visual perception, signal detection, and child-safety experiments.