Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all
Core FTP
Core FTP LE is a freeware secure FTP client for Windows, developed by CoreFTP.com. Features include FTP, SSL/TLS, SFTP via SSH, and HTTP/HTTPS support. Secure FTP clients encrypt account information and data transferred across the internet, protecting data from being seen, or sniffed across networks. Core FTP is a traditional FTP client with local files displayed on the left, remote files on the right. Core FTP Server is a secure FTP server for Windows, developed by CoreFTP.com, starting in 2010. == Licensing == CoreFTP LE is free for personal, educational, non-profit, and business use.
Asynchronous module definition
Asynchronous module definition (AMD) is a specification for the programming language JavaScript. It defines an application programming interface (API) that defines code modules and their dependencies, and loads them asynchronously if desired. Implementations of AMD provide the following benefits: Website performance improvements. AMD implementations load smaller JavaScript files, and then only when they are needed. Fewer page errors. AMD implementations allow developers to define dependencies that must load before a module is executed, so the module does not try to use outside code that is not available yet.... In addition to loading multiple JavaScript files at runtime, AMD implementations allow developers to encapsulate code in smaller, more logically-organized files, in a way similar to other programming languages such as Java. For production and deployment, developers can concatenate and minify JavaScript modules based on an AMD API into one file, the same as traditional JavaScript. AMD provides some CommonJS interoperability. It allows for using a similar exports and require() interface in the code, although its own define() interface is more basal and preferred. The AMD specification is implemented by Dojo Toolkit, RequireJS, and other libraries.
Europa-Lehrmittel
The Verlag Europa-Lehrmittel Nourney, Vollmer GmbH & Co. KG (English: European educational media), based in Haan (district Gruiten) near Düsseldorf, Germany, develops educational media for vocational training and further education as used in vocational schools, universities, companies and further education institutions for industrial-technical, business, social, health as well as gastronomic professions. The contents are delivered in print as well as in digital formats, including offered as apps, simulations, software and through an exam preparation portal. The publisher has its own digital learning platform, the Europathek. General partner is Nourney, Vollmer & Co. GmbH, a school and specialist book publisher. == History == The publishing house was founded in Wuppertal in 1948, when the first books were published. In Eislingen/Fils a construction office was set up to create the technical drawings for the textbooks - today the drawing office of the publisher in Ostfildern. A little over 40 years later, in 1989, a new company building was built in Haan-Gruiten. In 1997, Europa-Lehrmittel acquired the Fachbuchverlag Pfanneberg with its program aimed at gastronomic professions. Further program expansions in vocational training were realized by adding titles of the publishing houses Lau, Gerber, Pluspunkt, parts of the Verlag Handwerk und Technik program and that of the Gildebuchverlag. In 2013, the scientific and technical university titles of Verlag Harri Deutsch were taken over, including the bestselling "Handbook of Mathematics" by Ilya Nikolaevich Bronstein and Konstantin Adolfovic Semendyayev. In addition, Europa-Lehrmittel's first exam apps appeared. In 2017, the publisher introduced its own digital learning platform named Europathek. The Prüfungsdoc (English: Examination Doc) platform, which enables targeted online preparation for exams, went online the same year. In 2018, the titles of the Düsseldorf publishing house SOL for self-organized learning were incorporated into Europa-Lehrmittel's program. == Program == The program meanwhile includes well over 2000 print and digital publications, including specialist titles on metal technology, automotive and electrical engineering (like "Tabellenbuch Metall" (English: Metal Book of Tables)), on business administration, as well as works for the gastronomic profession (e.g. "Der junge Koch" (English: The Young Cook)). Many titles also appear as licensed editions in over 20 different languages on all continents. All contents are presented in an annual catalog, on the website, in schools, in companies, and at trade fairs and congresses. The publisher is a member of the Deutscher Hauswirtschaftsrat. == Digital educational media == Europathek: In addition to digital books, Europathek also provides media packages, additional materials and e-learning contents. The online contents of the 'media shelf' can be used per web browser. There are also software versions and apps for offline use, with the help of which the obtained titles can be viewed after downloading. Prüfungsdoc (English: Examination Doc): Prüfungsdoc offers web-based learning, practice and repetition to prepare for the intermediate and final examinations. This includes simulations of the exams with direct evaluation of the results.
Pull technology
Pull coding or client pull is a style of network communication, where the initial request for data originates from the client, and then is responded to by the server. The reverse is known as push technology, where the server pushes data to clients. Pull requests form the foundation of network computing, where many clients request data from centralized servers. Pull is used extensively on the Internet for HTTP page requests from websites. A push can also be simulated using multiple pulls within a short amount of time. For example, when pulling POP3 email messages from a server, a client can make regular pull requests, every few minutes. To the user, the email then appears to be pushed, as emails appear to arrive close to real-time. A trade-off of this system is that it places a heavier load on both the server and network to function correctly. Many web feeds, such as RSS are technically pulled by the client. With RSS, the user's RSS reader polls the server periodically for new content; the server does not send information to the client unrequested. This continual polling is inefficient and has contributed to the shutdown or reduction of several popular RSS feeds that could not handle the bandwidth. For solving this problem, the WebSub protocol, as another example of a push code, was devised. Podcasting is specifically a pull technology. When a new podcast episode is published to an RSS feed, it sits on the server until it is requested by a feed reader, mobile podcasting app, or directory. Directories such as Apple Podcasts (iTunes), The Blubrry Directory, and many apps' directories request the RSS feed periodically to update the Podcast's listing on those platforms. Subscribers to those RSS feeds via app or reader will get the episodes when they request the RSS feed next time, independent of when the directory listing updates.
Materialized view
In computing, a materialized view is a database object that contains the results of a query. For example, it may be a local copy of data located remotely, or may be a subset of the rows and/or columns of a table or join result, or may be a summary using an aggregate function. The process of setting up a materialized view is sometimes called materialization. This is a form of caching the results of a query, similar to memoization of the value of a function in functional languages, and it is sometimes described as a form of precomputation. As with other forms of precomputation, database users typically use materialized views for performance reasons, i.e. as a form of optimization. Materialized views that store data based on remote tables were also known as snapshots (deprecated Oracle terminology). In any database management system following the relational model, a view is a virtual table representing the result of a database query. Whenever a query or an update addresses an ordinary view's virtual table, the DBMS converts these into queries or updates against the underlying base tables. A materialized view takes a different approach: the query result is cached as a concrete ("materialized") table (rather than a view as such) that may be updated from the original base tables from time to time. This enables much more efficient access, at the cost of extra storage and of some data being potentially out-of-date. Materialized views find use especially in data warehousing scenarios, where frequent queries of the actual base tables can be expensive. In a materialized view, indexes can be built on any column. In contrast, in a normal view, it's typically only possible to exploit indexes on columns that come directly from (or have a mapping to) indexed columns in the base tables; often this functionality is not offered at all. == Implementations == === Oracle === Materialized views were implemented first by the Oracle Database: the Query rewrite feature was added from version 8i. Example syntax to create a materialized view in Oracle: === PostgreSQL === In PostgreSQL, version 9.3 and newer natively support materialized views. In version 9.3, a materialized view is not auto-refreshed, and is populated only at time of creation (unless WITH NO DATA is used). It may be refreshed later manually using REFRESH MATERIALIZED VIEW. In version 9.4, the refresh may be concurrent with selects on the materialized view if CONCURRENTLY is used. Example syntax to create a materialized view in PostgreSQL: === SQL Server === Microsoft SQL Server differs from other RDBMS by the way of implementing materialized view via a concept known as "Indexed Views". The main difference is that such views do not require a refresh because they are in fact always synchronized to the original data of the tables that compound the view. To achieve this, it is necessary that the lines of origin and destination are "deterministic" in their mapping, which limits the types of possible queries to do this. This mechanism has been realised since the 2000 version of SQL Server. Example syntax to create a materialized view in SQL Server: === Stream processing frameworks === Apache Kafka (since v0.10.2), Apache Spark (since v2.0), Apache Flink, Kinetica DB, Materialize, RisingWave, and Epsio all support materialized views on streams of data. === Others === Materialized views are also supported in Sybase SQL Anywhere. In IBM Db2, they are called "materialized query tables". ClickHouse supports materialized views that automatically refresh on merges. MySQL doesn't support materialized views natively, but workarounds can be implemented by using triggers or stored procedures or by using the open-source application Flexviews. Materialized views can be implemented in Amazon DynamoDB using data modification events captured by DynamoDB Streams. Google announced in 8 April 2020 the availability of materialized views for BigQuery as a beta release.
Daylight Computer Co.
Daylight Computer Co. is a Public Benefit Company that designs and manufactures devices that do not emit blue light or flicker. Anjan Katta, the company's founder and CEO, stated that he started the company to reduce his personal eyestrain and the distraction that came with conventional devices. The first device that the company released is the Daylight DC-1, a tablet using a monochrome transflective liquid-crystal display designed for outdoor use, while also being usable indoors with an amber backlight. The company's goal is to create a "healthy computer." == History == In June 2018, Anjan Katta began the process of designing a device that did not emit blue light or flicker. He was inspired by the Kindle stating that he wanted to create a device that was, "an analog object that happens to have digital magical capabilities.” By 2020, he created his first scientific prototype and created the first proof-of-concept prototype in 2021. In the early research and development stages of the device, Katta had spent $300,000 of his own money. Eventually, Katta obtained a $12 million investment from current and former executives of companies such as Oculus, Pinterest, and Dropbox. In 2024, the company held a launch party at the Conservatory of Flowers in Golden Gate Park for the Daylight DC1, the company's first device. The event had roughly 200 attendees. Later that year, Daylight sold out its first run of 5,000 devices. The Daylight DC1 is a 1.2 pound tablet that runs its own operating system, SolOS, based on Android 13. It has a refresh rate of 60 Hz, fast enough to process video. In 2025, the product was demonstrated by Danny Jones on the Joe Rogan Experience. The company has been described by outlets such as Wired and VentureBeat as a "returning computing to hippie ideals" and being a product for "techno-hippies." The company is headquartered in San Francisco, California.