C3D Toolkit is a proprietary cross-platform geometric modeling kit software developed by Russian C3D Labs (previously part of ASCON Group). It's written in C++ . It can be licensed by other companies for use in their 3D computer graphics software products. The most widely known software in which C3D Toolkit is typically used are computer aided design (CAD), computer-aided manufacturing (CAM), and computer-aided engineering (CAE) systems. C3D Toolkit provides routines for 3D modeling, 3D constraint solving, polygonal mesh-to-B-rep conversion, 3D visualization, and 3D file conversions etc. == History == Nikolai Golovanov is a graduate of the Mechanical Engineering department of Bauman Moscow State Technical University as a designer of space launch vehicles. Upon his graduation, he began with the Kolomna Engineering Design bureau, which at the time employed the future founders of ASCON, Alexander Golikov and Tatiana Yankina. While at the bureau, Dr Golovanov developed software for analyzing the strength and stability of shell structures. In 1989, Alexander Golikov and Tatiana Yankina left Kolomna to start up ASCON as a private company. Although they began with just an electronic drawing board, even then they were already conceiving the idea of three-dimensional parametric modeling. This radical concept eventually changed flat drawings into three-dimensional models. The ASCON founders shared their ideas with Nikolai Golovanov, and in 1996 he moved to take up his current position with ASCON. As of 2012 he was involved in developing algorithms for C3D Toolkit. In 2012 the earliest version of the C3D Modeller kernel was extracted from KOMPAS-3D CAD. It was later adopted to a range of different platforms and advertised as a separate product. == Overview == It incorporates five modules: C3D Modeler constructs geometric models, generates flat projections of models, performs triangulations, calculates the inertial characteristics of models, and determines whether collisions occur between the elements of models; C3D Modeler for ODA enables advanced 3D modeling operations through the ODA's standard "OdDb3DSolid" API from the Open Design Alliance; C3D Solver makes connections between the elements of geometric models, and considers the geometric constraints of models being edited; C3D B-Shaper converts polygonal models to boundary representation (B-rep) bodies; C3D Vision controls the quality of rendering for 3D models using mathematical apparatus and software, and the workstation hardware; C3D Converter reads and writes geometric models in a variety of standard exchange formats. == Features == == Development == == Applications == Since 2013 - the date the company started issuing a license for the toolkit -, several companies have adopted C3D software components for their products, users include: Recently, C3D Modeler has been adapted to ODA Platform. In April 2017, C3D Viewer was launched for end users. The application allows to read 3D models in common formats and write it to the C3D file format. Free version is available.
Contextual image classification
Contextual image classification, a topic of pattern recognition in computer vision, is an approach of classification based on contextual information in images. "Contextual" means this approach is focusing on the relationship of the nearby pixels, which is also called neighbourhood. The goal of this approach is to classify the images by using the contextual information. == Introduction == Similar as processing language, a single word may have multiple meanings unless the context is provided, and the patterns within the sentences are the only informative segments we care about. For images, the principle is same. Find out the patterns and associate proper meanings to them. As the image illustrated below, if only a small portion of the image is shown, it is very difficult to tell what the image is about. Even try another portion of the image, it is still difficult to classify the image. However, if we increase the contextual of the image, then it makes more sense to recognize. As the full images shows below, almost everyone can classify it easily. During the procedure of segmentation, the methods which do not use the contextual information are sensitive to noise and variations, thus the result of segmentation will contain a great deal of misclassified regions, and often these regions are small (e.g., one pixel). Compared to other techniques, this approach is robust to noise and substantial variations for it takes the continuity of the segments into account. Several methods of this approach will be described below. == Applications == === Functioning as a post-processing filter to a labelled image === This approach is very effective against small regions caused by noise. And these small regions are usually formed by few pixels or one pixel. The most probable label is assigned to these regions. However, there is a drawback of this method. The small regions also can be formed by correct regions rather than noise, and in this case the method is actually making the classification worse. This approach is widely used in remote sensing applications. === Improving the post-processing classification === This is a two-stage classification process: For each pixel, label the pixel and form a new feature vector for it. Use the new feature vector and combine the contextual information to assign the final label to the === Merging the pixels in earlier stages === Instead of using single pixels, the neighbour pixels can be merged into homogeneous regions benefiting from contextual information. And provide these regions to classifier. === Acquiring pixel feature from neighbourhood === The original spectral data can be enriched by adding the contextual information carried by the neighbour pixels, or even replaced in some occasions. This kind of pre-processing methods are widely used in textured image recognition. The typical approaches include mean values, variances, texture description, etc. === Combining spectral and spatial information === The classifier uses the grey level and pixel neighbourhood (contextual information) to assign labels to pixels. In such case the information is a combination of spectral and spatial information. === Powered by the Bayes minimum error classifier === Contextual classification of image data is based on the Bayes minimum error classifier (also known as a naive Bayes classifier). Present the pixel: A pixel is denoted as x 0 {\displaystyle x_{0}} . The neighbourhood of each pixel x 0 {\displaystyle x_{0}} is a vector and denoted as N ( x 0 ) {\displaystyle N(x_{0})} . The values in the neighbourhood vector is denoted as f ( x i ) {\displaystyle f(x_{i})} . Each pixel is presented by the vector ξ = ( f ( x 0 ) , f ( x 1 ) , … , f ( x k ) ) {\displaystyle \xi =\left(f(x_{0}),f(x_{1}),\ldots ,f(x_{k})\right)} x i ∈ N ( x 0 ) ; i = 1 , … , k {\displaystyle x_{i}\in N(x_{0});\quad i=1,\ldots ,k} The labels (classification) of pixels in the neighbourhood N ( x 0 ) {\displaystyle N(x_{0})} are presented as a vector η = ( θ 0 , θ 1 , … , θ k ) {\displaystyle \eta =\left(\theta _{0},\theta _{1},\ldots ,\theta _{k}\right)} θ i ∈ { ω 0 , ω 1 , … , ω k } {\displaystyle \theta _{i}\in \left\{\omega _{0},\omega _{1},\ldots ,\omega _{k}\right\}} ω s {\displaystyle \omega _{s}} here denotes the assigned class. A vector presents the labels in the neighbourhood N ( x 0 ) {\displaystyle N(x_{0})} without the pixel x 0 {\displaystyle x_{0}} η ^ = ( θ 1 , θ 2 , … , θ k ) {\displaystyle {\hat {\eta }}=\left(\theta _{1},\theta _{2},\ldots ,\theta _{k}\right)} The neighbourhood: Size of the neighbourhood. There is no limitation of the size, but it is considered to be relatively small for each pixel x 0 {\displaystyle x_{0}} . A reasonable size of neighbourhood would be 3 × 3 {\displaystyle 3\times 3} of 4-connectivity or 8-connectivity ( x 0 {\displaystyle x_{0}} is marked as red and placed in the centre). The calculation: Apply the minimum error classification on a pixel x 0 {\displaystyle x_{0}} , if the probability of a class ω r {\displaystyle \omega _{r}} being presenting the pixel x 0 {\displaystyle x_{0}} is the highest among all, then assign ω r {\displaystyle \omega _{r}} as its class. θ 0 = ω r if P ( ω r ∣ f ( x 0 ) ) = max s = 1 , 2 , … , R P ( ω s ∣ f ( x 0 ) ) {\displaystyle \theta _{0}=\omega _{r}\quad {\text{ if }}\quad P(\omega _{r}\mid f(x_{0}))=\max _{s=1,2,\ldots ,R}P(\omega _{s}\mid f(x_{0}))} The contextual classification rule is described as below, it uses the feature vector x 1 {\displaystyle x_{1}} rather than x 0 {\displaystyle x_{0}} . θ 0 = ω r if P ( ω r ∣ ξ ) = max s = 1 , 2 , … , R P ( ω s ∣ ξ ) {\displaystyle \theta _{0}=\omega _{r}\quad {\text{ if }}\quad P(\omega _{r}\mid \xi )=\max _{s=1,2,\ldots ,R}P(\omega _{s}\mid \xi )} Use the Bayes formula to calculate the posteriori probability P ( ω s ∣ ξ ) {\displaystyle P(\omega _{s}\mid \xi )} P ( ω s ∣ ξ ) = p ( ξ ∣ ω s ) P ( ω s ) p ( ξ ) {\displaystyle P(\omega _{s}\mid \xi )={\frac {p(\xi \mid \omega _{s})P(\omega _{s})}{p\left(\xi \right)}}} The number of vectors is the same as the number of pixels in the image. For the classifier uses a vector corresponding to each pixel x i {\displaystyle x_{i}} , and the vector is generated from the pixel's neighbourhood. The basic steps of contextual image classification: Calculate the feature vector ξ {\displaystyle \xi } for each pixel. Calculate the parameters of probability distribution p ( ξ ∣ ω s ) {\displaystyle p(\xi \mid \omega _{s})} and P ( ω s ) {\displaystyle P(\omega _{s})} Calculate the posterior probabilities P ( ω r ∣ ξ ) {\displaystyle P(\omega _{r}\mid \xi )} and all labels θ 0 {\displaystyle \theta _{0}} . Get the image classification result. == Algorithms == === Template matching === The template matching is a "brute force" implementation of this approach. The concept is first create a set of templates, and then look for small parts in the image match with a template. This method is computationally high and inefficient. It keeps an entire templates list during the whole process and the number of combinations is extremely high. For a m × n {\displaystyle m\times n} pixel image, there could be a maximum of 2 m × n {\displaystyle 2^{m\times n}} combinations, which leads to high computation. This method is a top down method and often called table look-up or dictionary look-up. === Lower-order Markov chain === The Markov chain also can be applied in pattern recognition. The pixels in an image can be recognised as a set of random variables, then use the lower order Markov chain to find the relationship among the pixels. The image is treated as a virtual line, and the method uses conditional probability. === Hilbert space-filling curves === The Hilbert curve runs in a unique pattern through the whole image, it traverses every pixel without visiting any of them twice and keeps a continuous curve. It is fast and efficient. === Markov meshes === The lower-order Markov chain and Hilbert space-filling curves mentioned above are treating the image as a line structure. The Markov meshes however will take the two dimensional information into account. === Dependency tree === The dependency tree is a method using tree dependency to approximate probability distributions.
Brain.js
Brain.js is a JavaScript library used for neural networking, which is released as free and open-source software under the MIT License. It can be used in both the browser and Node.js backends. Brain.js is most commonly used as a simple introduction to neural networking, as it hides complex mathematics and has a familiar modern JavaScript syntax. It is maintained by members of the Brain.js organization and open-source contributors. == Examples == Creating a feedforward neural network with backpropagation: Creating a recurrent neural network: Train the neural network on RGB color contrast:
AirSim
AirSim (Aerial Informatics and Robotics Simulation) is an open-source, cross-platform simulator for drones, ground vehicles such as cars and various other objects, built on Epic Games’ proprietary Unreal Engine 4 as a platform for AI research. It is developed by Microsoft and can be used to experiment with deep learning, computer vision and reinforcement learning algorithms for autonomous vehicles. This allows testing of autonomous solutions without worrying about real-world damage. AirSim provides some 12 kilometers of roads with 20 city blocks and APIs to retrieve data and control vehicles in a platform independent way. The APIs are accessible via a variety of programming languages, including C++, C#, Python and Java. AirSim supports hardware-in-the-loop with driving wheels and flight controllers such as PX4 for physically and visually realistic simulations. The platform also supports common robotic platforms, such as Robot Operating System (ROS). It is developed as an Unreal plug-in that can be dropped into any Unreal environment. An experimental release for a Unity plug-in is also available. On December 15, 2023 Microsoft has shutdown the development of the project.
D3web
d3web is a free, open-source platform for knowledge-based systems (expert systems). Its core is written in Java using XML and/or Office-based formats for the knowledge storage. All of its components are distributed under the terms of the Lesser General Public Licence (LGPL). The d3web diagnostic core implements reasoning and persistence components for problem-solving knowledge including decision trees, (heuristic) rules, set-covering models and diagnostic flowcharts. The software can be integrated into foreign applications (embedded or OEM), but a number of off-the-shelf components already exist. == Components == d3web is a component-based software platform providing applications for authoring and using/executing problem-solving knowledge. The following applications are primarily using d3web: KnowWE (Knowledge Wiki Environment): A semantic wiki building on JSPWiki. Problem-solving knowledge can be authored and executed through the wiki interface. Developed knowledge bases can be exported to be used in OEM or embedded reasoners. Additionally, knowledge exchange via OWL ontologies is provided. KnowME (Knowledge Modelling Environment): A rich-client application for the development of d3web knowledge bases. Problem-solving knowledge can be authored and executed within the desktop application. Developed knowledge bases can be used in OEM or embedded reasoners. The software KnowME is no longer under active development. It is replaced by the KnowWE component (see above). Dialog2: A web-based application for demonstrating the capabilities of the d3web core reasoner. The web servlet is based on Java Server Faces. It can be used out of box or as a starting point for own developments for building knowledge-based interview systems. == Application Domains == A number of industrial and academic projects already used or are currently using the d3web platform. The main application domains are: medical diagnosis, documentation, and therapy: technical fault diagnosis monitoring of technical devices. Some applications (both, commercial and free) created using the d3web diagnostic engine: SmartCare(c): a medical closed-loop system for weaning mechanically ventilated patients, created by Dräger SonoConsult Archived 2011-12-16 at the Wayback Machine: a medical support system for evaluating sonographic examinations (German only) eDOC: a web-based system for self-diagnosing various medical issues (German only) == History == The development of d3web originates from the research work of Prof. Dr. Frank Puppe (University Würzburg, Germany) going back to the 1980s, starting with the medical expert systems MED1 and MED2 . Whereas the original systems were focussed on medical diagnosis the applicability of the approach was generalized by the successor D3 . As the predecessors were implemented in the LISP programming language, d3web is a full Java re-implementation.
Mountain car problem
Mountain Car, a standard testing domain in Reinforcement learning, is a problem in which an under-powered car must drive up a steep hill. Since gravity is stronger than the car's engine, even at full throttle, the car cannot simply accelerate up the steep slope. The car is situated in a valley and must learn to leverage potential energy by driving up the opposite hill before the car is able to make it to the goal at the top of the rightmost hill. The domain has been used as a test bed in various reinforcement learning papers. == Introduction == The mountain car problem, although fairly simple, is commonly applied because it requires a reinforcement learning agent to learn on two continuous variables: position and velocity. For any given state (position and velocity) of the car, the agent is given the possibility of driving left, driving right, or not using the engine at all. In the standard version of the problem, the agent receives a negative reward at every time step when the goal is not reached; the agent has no information about the goal until an initial success. == History == The mountain car problem appeared first in Andrew Moore's PhD thesis (1990). It was later more strictly defined in Singh and Sutton's reinforcement learning paper with eligibility traces. The problem became more widely studied when Sutton and Barto added it to their book Reinforcement Learning: An Introduction (1998). Throughout the years many versions of the problem have been used, such as those which modify the reward function, termination condition, and the start state. == Techniques used to solve mountain car == Q-learning and similar techniques for mapping discrete states to discrete actions need to be extended to be able to deal with the continuous state space of the problem. Approaches often fall into one of two categories, state space discretization or function approximation. === Discretization === In this approach, two continuous state variables are pushed into discrete states by bucketing each continuous variable into multiple discrete states. This approach works with properly tuned parameters but a disadvantage is information gathered from one state is not used to evaluate another state. Tile coding can be used to improve discretization and involves continuous variables mapping into sets of buckets offset from one another. Each step of training has a wider impact on the value function approximation because when the offset grids are summed, the information is diffused. === Function approximation === Function approximation is another way to solve the mountain car. By choosing a set of basis functions beforehand, or by generating them as the car drives, the agent can approximate the value function at each state. Unlike the step-wise version of the value function created with discretization, function approximation can more cleanly estimate the true smooth function of the mountain car domain. === Eligibility traces === One aspect of the problem involves the delay of actual reward. The agent is not able to learn about the goal until a successful completion. Given a naive approach for each trial the car can only backup the reward of the goal slightly. This is a problem for naive discretization because each discrete state will only be backed up once, taking a larger number of episodes to learn the problem. This problem can be alleviated via the mechanism of eligibility traces, which will automatically backup the reward given to states before, dramatically increasing the speed of learning. Eligibility traces can be viewed as a bridge from temporal difference learning methods to Monte Carlo methods. == Technical details == The mountain car problem has undergone many iterations. This section focuses on the standard well-defined version from Sutton (2008). === State variables === Two-dimensional continuous state space. V e l o c i t y = ( − 0.07 , 0.07 ) {\displaystyle Velocity=(-0.07,0.07)} P o s i t i o n = ( − 1.2 , 0.6 ) {\displaystyle Position=(-1.2,0.6)} === Actions === One-dimensional discrete action space. m o t o r = ( l e f t , n e u t r a l , r i g h t ) {\displaystyle motor=(left,neutral,right)} === Reward === For every time step: r e w a r d = − 1 {\displaystyle reward=-1} === Update function === For every time step: A c t i o n = [ − 1 , 0 , 1 ] {\displaystyle Action=[-1,0,1]} V e l o c i t y = V e l o c i t y + ( A c t i o n ) ∗ 0.001 + cos ( 3 ∗ P o s i t i o n ) ∗ ( − 0.0025 ) {\displaystyle Velocity=Velocity+(Action)0.001+\cos(3Position)(-0.0025)} P o s i t i o n = P o s i t i o n + V e l o c i t y {\displaystyle Position=Position+Velocity} === Starting condition === Optionally, many implementations include randomness in both parameters to show better generalized learning. P o s i t i o n = − 0.5 {\displaystyle Position=-0.5} V e l o c i t y = 0.0 {\displaystyle Velocity=0.0} === Termination condition === End the simulation when: P o s i t i o n ≥ 0.6 {\displaystyle Position\geq 0.6} == Variations == There are many versions of the mountain car which deviate in different ways from the standard model. Variables that vary include but are not limited to changing the constants (gravity and steepness) of the problem so specific tuning for specific policies become irrelevant and altering the reward function to affect the agent's ability to learn in a different manner. An example is changing the reward to be equal to the distance from the goal, or changing the reward to zero everywhere and one at the goal. Additionally, a 3D mountain car can be used, with a 4D continuous state space.
TRAIGA
TRAIGA, or the Texas Responsible Artificial Intelligence Governance Act, is a state law regulating the development and deployment of artificial intelligence (AI) systems in Texas. Sponsored by Representative Giovanni Capriglione, the Act establishes a framework governing certain uses of AI, outlines prohibited uses, and creates obligations on state government entities, among other provisions. TRAIGA was signed into law in 2025 and took effect on January 1, 2026. The law applies to AI developers and deployers that conduct business in Texas or whose systems are used by Texas residents. It prohibits the intentional development or deployment of AI systems to incite harm, violate constitutional rights, engage in unlawful discrimination, and produce child sexual abuse material or unlawful deepfakes. TRAIGA also establishes the Texas Artificial Intelligence Council and creates a regulatory sandbox program. The Texas Attorney General is charged with enforcement. It has received attention as one of the first comprehensive AI-related laws enacted by a U.S. state. Legal analysts have compared it to the European Union (EU) Artificial Intelligence Act and the Colorado AI Act, noting its intent-based discrimination standard and narrower scope relative to those frameworks. == Background == In June 2023, Texas Governor Greg Abbott signed House Bill 2060, which created an Artificial Intelligence Advisory Council within the Texas Department of Information Resources. The Council was tasked with monitoring the use of AI systems across state government. Its membership included representatives from law enforcement, academia, and the legal profession. After submitting a report to state policymakers, the Council was disbanded in December 2024. Separately, the Texas House Select Committee on Artificial Intelligence and Emerging Technologies was created in 2023 to examine the political and social implications of artificial intelligence. Among its recommendations was the creation of a regulatory sandbox to allow for controlled testing of AI systems. This recommendation informed the regulatory sandbox provision included in TRAIGA. == History == In December 2024, Representative Capriglione introduced House Bill 1709, the Texas Responsible Artificial Intelligence Governance Act. The bill sought to create a statewide framework for artificial intelligence, including transparency requirements for companies deploying AI systems, restrictions on certain uses of AI, and the creation of a regulatory sandbox. Modeled in part on the EU Artificial Intelligence Act and the Colorado AI Act, House Bill 1709 focused on "high-risk" AI systems and included provisions addressing private sector liability. House Bill 1709 did not advance during the legislative session. Industry stakeholders raised concerns that several provisions were overly burdensome. The bill informed the development of a revised proposal, House Bill 149, also titled the Texas Responsible Artificial Intelligence Governance Act. The revised version removed requirements for private companies to notify consumers when they interact with AI systems and to conduct impact assessments, among other provisions. In April 2025, an amended version of House Bill 149 passed the Texas House of Representatives and was referred to the Senate Committee on Business and Commerce. The bill later received approval from both chambers, where the House voted on amendments adopted by the Senate. On May 31, 2025, the state legislature passed House Bill 149, one of several AI-related bills considered during the legislative session. Governor Abbott signed TRAIGA into law on June 22, 2025. During the legislative process, a proposed federal moratorium on state-level AI regulation initially raised questions about the enforceability of state AI laws, including TRAIGA. At the time of signing, Governor Abbott stated that Texas would ensure compliance with applicable federal requirements. In July 2025, the United States Senate voted to remove the proposed moratorium from federal legislation. The Act took effect on January 1, 2026. == Provisions == === Definitions and scope === TRAIGA applies to AI developers and deployers that advertise or conduct business in Texas, develop products used by Texas residents, or develop or deploy AI systems within the state. The Act also applies to Texas state and local government entities. The Act defines a developer as a person who develops an AI system and a deployer as one who deploys an AI system in Texas. Consumers are defined as Texas residents. The Act defines an artificial intelligence system as a machine-based system that "infers from the inputs the system receives how to generate outputs, including content, decisions, predictions, or recommendations, that can influence physical or virtual environments." === Government use === The Act requires government agencies to provide consumers with plain language notices before interacting with AI systems. It also prohibits government agencies from using artificial intelligence systems to assign social scores to consumers. It also restricts the use of AI systems to identify individuals using biometric data without the individual’s consent. === Prohibitions === The Act prohibits the development or deployment of artificial intelligence systems intended to cause harm, self-harm, or criminal activity. It also prohibits the development or deployment of AI systems designed to violate constitutional rights or unlawfully discriminate based on protected classes. In addition, the Act prohibits the development or deployment of AI systems that are intended to produce or distribute child sexual abuse material or unlawful deepfakes. === Enforcement === Enforcement authority under the Act rests with the Texas Attorney General. The Act does not create a private right of action. The Act requires the Texas Attorney General to create an online complaint system where consumers may submit allegations of potential violations. The Attorney General can investigate complaints received through this system and may request information relevant to the operation of an AI system, including information about training data. Before initiating an enforcement action, the Attorney General must provide a written notice to the alleged violator, who is then provided with a 60-day period to cure the alleged violation. === Penalties === If a violation is not cured, the Act authorizes civil penalties. Penalties range from $10,000 to $12,000 per curable violation and from $80,000 to $200,000 per non-curable violation. The Act also authorizes additional penalties of $2,000 to $40,000 for each day the violation continues. If the Attorney General determines that a person certified or licensed by a state agency has violated the Act and recommends enforcement, the relevant agency may impose additional administrative sanctions, including license suspension or further monetary penalties. === Safe harbor === The Act provides an affirmative defense for AI developers and deployers who identify potential violations through internal testing or auditing or who demonstrate compliance with National Institute of Standards and Technology (NIST)'s Artificial Intelligence Risk Management Framework or a comparable risk management framework. The Act also affords protection to developers and deployers when a third party uses their AI systems in a way that violates the Act. === Texas Artificial Intelligence Council === The Act creates the Texas Artificial Intelligence Council to assist the state legislatures in evaluating artificial intelligence policy and oversight. The Council is charged with developing recommendations for state agencies regarding the use of AI systems and with overseeing the regulatory sandbox. TRAIGA gives the Council the ability to organize AI-related training for state entities and issue reports concerning artificial intelligence. The Council does not have binding rulemaking authority. The Council consists of seven members appointed by the governor, the lieutenant governor, and the speaker of the Texas House of Representatives. === Regulatory sandbox === The Act directs the Texas Department of Information Resources to create a regulatory sandbox program that allows participants to test AI systems under state supervision in a modified regulatory setting. To join the program, companies must submit applications that describe their AI systems and intended use. Approved participants may operate within the sandbox for up to 36 months. During that period, the Attorney General is restricted from initiating enforcement actions for certain categories of violations. == Reception == === Support === During legislative testimony, the Texas Public Policy Foundation stated that TRAIGA would benefit Texas businesses by reducing legal ambiguity and creating clearer compliance standards. Representatives of business groups also expressed support, stating that the Act would not impose overly burdensome regulations. The consum