The Matrix is an American cyberpunk media franchise consisting of four feature films, beginning with The Matrix (1999) and continuing with three sequels, Reloaded (2003), Revolutions (2003), and Resurrections (2021). The first three films were written and directed by the Wachowskis and produced by Joel Silver. The screenplay for the fourth film was written by Lana Wachowski, David Mitchell and Aleksandar Hemon, was directed by Lana Wachowski, and was produced by Grant Hill, James McTeigue, and Lana Wachowski. The franchise is owned by Warner Bros., which distributed the films along with Village Roadshow Pictures. The latter, along with Silver Pictures, are the two production companies that worked on the first three films. The series features a cyberpunk story of the technological fall of humanity, in which the creation of artificial intelligence led the way to a race of powerful and self-aware machines that imprisoned humans in a neural interactive simulation — the Matrix — to be farmed as a power source. Occasionally, some of the prisoners manage to break free from the system and, considered a threat, become pursued by the artificial intelligence both inside and outside of it. The films focus on the plight of Neo (Keanu Reeves), Trinity (Carrie-Anne Moss), and Morpheus (Laurence Fishburne and Yahya Abdul-Mateen II) trying to free humanity from the system while pursued by its guardians, such as Agent Smith (Hugo Weaving, Abdul-Mateen II, and Jonathan Groff). The story references numerous norms, particularly philosophical, religious, and spiritual ideas, but also the dilemma of choice vs. control, the brain in a vat thought experiment, messianism, and the concepts of interdependency and love. Influences include the principles of mythology, anime, and Hong Kong action films (particularly "heroic bloodshed" and martial arts movies). The film series is notable for its use of heavily choreographed action sequences and "bullet time" slow-motion effects, which revolutionized action films to come. The characters and setting of the films are further explored in other media set in the same fictional universe, including animation, comics, and video games. The comic "Bits and Pieces of Information" and the Animatrix short film The Second Renaissance act as prequels to the films, explaining how the franchise's setting came to be. The video game Enter the Matrix connects the story of the Animatrix short "Final Flight of the Osiris" with the events of Reloaded, while the online video game The Matrix Online was a direct sequel to Revolutions. These were typically written, commissioned, or approved by the Wachowskis. The first film was an important critical and commercial success, winning four Academy Awards, introducing popular culture symbols such as the red pill and blue pill, and influencing action filmmaking. For those reasons, it has been added to the National Film Registry for preservation. Its first sequel was also a commercial success, becoming the highest-grossing R-rated film in history, until it was surpassed by Deadpool in 2016. As of 2006, the franchise has generated US$3 billion in revenue. A fourth film, The Matrix Resurrections, was released on December 22, 2021, with Lana Wachowski producing, cowriting, and directing and Reeves and Moss reprising their roles. A fifth film is currently in development with Drew Goddard set to write and direct with Lana Wachowski executive producing. == Setting == The series depicts a future in which Earth is dominated by a race of self-aware machines that was spawned from the creation of artificial intelligence early in the 21st century. At one point conflict arose between humanity and machines, and the machines rebelled against their creators. Humans attempted to block out the machines' source of solar power by covering the sky in thick, stormy clouds. A massive war emerged between the two adversaries which ended with the machines victorious, capturing humanity. Having lost their definite source of energy, the machines devised a way to extract the human body's bioelectric and thermal energies by enclosing people in pods, while their minds are controlled by cybernetic implants connecting them to a simulated reality called The Matrix. The virtual reality world simulated by the Matrix resembles human civilization around the turn of the 21st century (this time period was chosen because it is supposedly the pinnacle of human civilization). The environment inside the Matrix – called a "residual self-image" (the mental projection of a digital self) – is practically indistinguishable from reality (although scenes set within the Matrix are presented on-screen with a green tint to the footage, and a general bias towards the color green), and the vast majority of humans connected to it are unaware of its true nature. Most of the central characters in the series are able to gain superhuman abilities within the Matrix by taking advantage of their understanding of its true nature to manipulate its virtual physical laws. The films take place both inside the Matrix and outside of it, in the real world; the parts that take place in the Matrix are set in a vast Western megacity. The virtual world is first introduced in The Matrix. The short comic "Bits and Pieces of Information" and the Animatrix short film The Second Renaissance show how the initial conflict between humanity and machines came about, and how and why the Matrix was first developed. Its history and purpose are further explained in The Matrix Reloaded. In The Matrix Revolutions a new status quo is established in the Matrix's place in humankind and machines' conflict. This was further explored in The Matrix Online, a now-defunct MMORPG. == Films == === Future === During production of the original trilogy, the Wachowskis told their close collaborators that, "at that time they had no intention of making another Matrix film after The Matrix Revolutions". In February 2015, in promotion interviews for Jupiter Ascending, Lilly Wachowski called a return to The Matrix "a particularly repelling idea in these times", noting studios' tendencies to "greenlight" sequels, reboots, and adaptations, in preference to original material. Meanwhile, Lana Wachowski, in addressing rumors about a potential reboot, stated that "...they had not heard anything, but she believed that the studio might be looking to replace them". At various times, Keanu Reeves and Hugo Weaving each confirmed their interest and willingness to reprise their roles in potential future installments of the Matrix films, with the stipulation that the Wachowskis were involved in the creative and production process. These comments were made prior to the announcement in August 2019 that Lana Wachowski would direct a fourth Matrix film ultimately titled The Matrix Resurrections. Following the release of Resurrections, producer James McTeigue said that there were no plans for further Matrix films, though he believed that the film's open ending meant that could change in the future. In April 2024, it was announced that Warner Bros. was developing a new installment in the franchise with Drew Goddard attached to write and direct following a successful pitch with studio executives. It will mark the first installment to not be directed by either Wachowski sister although Lana will serve as an executive producer. ==== Other projects ==== In March 2017, The Hollywood Reporter wrote that Warner Bros. was in the early stages of developing a re-launch of the franchise. Consideration was given to producing a Matrix television series, but was dismissed as the studio opted to pursue negotiations with Zak Penn in writing a treatment for a new film, with Michael B. Jordan eyed for the lead role. According to the article, the Wachowskis were not involved at that point. In response to the report, Penn refuted all statements regarding a reboot, remake, or continuation, remarking that he was working on stories set in the pre-established continuity. Potential plotlines being considered by Warner Bros. Pictures included a prequel film about a young Morpheus, or an alternate storyline with a focus on one of his descendants. By April 2018, Penn described the script as "being at a nascent stage". Later, in September 2019, Jordan addressed the rumors of his involvement by saying he was "flattered", but without making a definitive statement. In October 2019, Penn confirmed the script he wrote is set within an earlier time period than the first three films in the franchise. == Cast and crew == === Cast === === Crew === The following is a list of crew members who have participated in the making of the Matrix film series. == Production == The Matrix series includes four feature films. The first three were written and directed by the Wachowskis and produced by Joel Silver, starring Keanu Reeves, Laurence Fishburne, Carrie-Anne Moss and Hugo Weaving. The series was filmed in Australia and began with 1999's The Matrix, which depicts the
Viola–Jones object detection framework
The Viola–Jones object detection framework is a machine learning object detection framework proposed in 2001 by Paul Viola and Michael Jones. It was motivated primarily by the problem of face detection, although it can be adapted to the detection of other object classes. In short, it consists of a sequence of classifiers. Each classifier is a single perceptron with several binary masks (Haar features). To detect faces in an image, a sliding window is computed over the image. For each image, the classifiers are applied. If at any point, a classifier outputs "no face detected", then the window is considered to contain no face. Otherwise, if all classifiers output "face detected", then the window is considered to contain a face. The algorithm is efficient for its time, able to detect faces in 384 by 288 pixel images at 15 frames per second on a conventional 700 MHz Intel Pentium III. It is also robust, achieving high precision and recall. While it has lower accuracy than more modern methods such as convolutional neural network, its efficiency and compact size (only around 50k parameters, compared to millions of parameters for typical CNN like DeepFace) means it is still used in cases with limited computational power. For example, in the original paper, they reported that this face detector could run on the Compaq iPAQ at 2 fps (this device has a low power StrongARM without floating point hardware). == Problem description == Face detection is a binary classification problem combined with a localization problem: given a picture, decide whether it contains faces, and construct bounding boxes for the faces. To make the task more manageable, the Viola–Jones algorithm only detects full view (no occlusion), frontal (no head-turning), upright (no rotation), well-lit, full-sized (occupying most of the frame) faces in fixed-resolution images. The restrictions are not as severe as they appear, as one can normalize the picture to bring it closer to the requirements for Viola-Jones. any image can be scaled to a fixed resolution for a general picture with a face of unknown size and orientation, one can perform blob detection to discover potential faces, then scale and rotate them into the upright, full-sized position. the brightness of the image can be corrected by white balancing. the bounding boxes can be found by sliding a window across the entire picture, and marking down every window that contains a face. This would generally detect the same face multiple times, for which duplication removal methods, such as non-maximal suppression, can be used. The "frontal" requirement is non-negotiable, as there is no simple transformation on the image that can turn a face from a side view to a frontal view. However, one can train multiple Viola-Jones classifiers, one for each angle: one for frontal view, one for 3/4 view, one for profile view, a few more for the angles in-between them. Then one can at run time execute all these classifiers in parallel to detect faces at different view angles. The "full-view" requirement is also non-negotiable, and cannot be simply dealt with by training more Viola-Jones classifiers, since there are too many possible ways to occlude a face. == Components of the framework == A full presentation of the algorithm is in. Consider an image I ( x , y ) {\displaystyle I(x,y)} of fixed resolution ( M , N ) {\displaystyle (M,N)} . Our task is to make a binary decision: whether it is a photo of a standardized face (frontal, well-lit, etc) or not. Viola–Jones is essentially a boosted feature learning algorithm, trained by running a modified AdaBoost algorithm on Haar feature classifiers to find a sequence of classifiers f 1 , f 2 , . . . , f k {\displaystyle f_{1},f_{2},...,f_{k}} . Haar feature classifiers are crude, but allows very fast computation, and the modified AdaBoost constructs a strong classifier out of many weak ones. At run time, a given image I {\displaystyle I} is tested on f 1 ( I ) , f 2 ( I ) , . . . f k ( I ) {\displaystyle f_{1}(I),f_{2}(I),...f_{k}(I)} sequentially. If at any point, f i ( I ) = 0 {\displaystyle f_{i}(I)=0} , the algorithm immediately returns "no face detected". If all classifiers return 1, then the algorithm returns "face detected". For this reason, the Viola-Jones classifier is also called "Haar cascade classifier". === Haar feature classifiers === Consider a perceptron f w , b {\displaystyle f_{w,b}} defined by two variables w ( x , y ) , b {\displaystyle w(x,y),b} . It takes in an image I ( x , y ) {\displaystyle I(x,y)} of fixed resolution, and returns f w , b ( I ) = { 1 , if ∑ x , y w ( x , y ) I ( x , y ) + b > 0 0 , else {\displaystyle f_{w,b}(I)={\begin{cases}1,\quad {\text{if }}\sum _{x,y}w(x,y)I(x,y)+b>0\\0,\quad {\text{else}}\end{cases}}} A Haar feature classifier is a perceptron f w , b {\displaystyle f_{w,b}} with a very special kind of w {\displaystyle w} that makes it extremely cheap to calculate. Namely, if we write out the matrix w ( x , y ) {\displaystyle w(x,y)} , we find that it takes only three possible values { + 1 , − 1 , 0 } {\displaystyle \{+1,-1,0\}} , and if we color the matrix with white on + 1 {\displaystyle +1} , black on − 1 {\displaystyle -1} , and transparent on 0 {\displaystyle 0} , the matrix is in one of the 5 possible patterns shown on the right. Each pattern must also be symmetric to x-reflection and y-reflection (ignoring the color change), so for example, for the horizontal white-black feature, the two rectangles must be of the same width. For the vertical white-black-white feature, the white rectangles must be of the same height, but there is no restriction on the black rectangle's height. ==== Rationale for Haar features ==== The Haar features used in the Viola-Jones algorithm are a subset of the more general Haar basis functions, which have been used previously in the realm of image-based object detection. While crude compared to alternatives such as steerable filters, Haar features are sufficiently complex to match features of typical human faces. For example: The eye region is darker than the upper-cheeks. The nose bridge region is brighter than the eyes. Composition of properties forming matchable facial features: Location and size: eyes, mouth, bridge of nose Value: oriented gradients of pixel intensities Further, the design of Haar features allows for efficient computation of f w , b ( I ) {\displaystyle f_{w,b}(I)} using only constant number of additions and subtractions, regardless of the size of the rectangular features, using the summed-area table. === Learning and using a Viola–Jones classifier === Choose a resolution ( M , N ) {\displaystyle (M,N)} for the images to be classified. In the original paper, they recommended ( M , N ) = ( 24 , 24 ) {\displaystyle (M,N)=(24,24)} . ==== Learning ==== Collect a training set, with some containing faces, and others not containing faces. Perform a certain modified AdaBoost training on the set of all Haar feature classifiers of dimension ( M , N ) {\displaystyle (M,N)} , until a desired level of precision and recall is reached. The modified AdaBoost algorithm would output a sequence of Haar feature classifiers f 1 , f 2 , . . . , f k {\displaystyle f_{1},f_{2},...,f_{k}} . The details of the modified AdaBoost algorithm is detailed below. ==== Using ==== To use a Viola-Jones classifier with f 1 , f 2 , . . . , f k {\displaystyle f_{1},f_{2},...,f_{k}} on an image I {\displaystyle I} , compute f 1 ( I ) , f 2 ( I ) , . . . f k ( I ) {\displaystyle f_{1}(I),f_{2}(I),...f_{k}(I)} sequentially. If at any point, f i ( I ) = 0 {\displaystyle f_{i}(I)=0} , the algorithm immediately returns "no face detected". If all classifiers return 1, then the algorithm returns "face detected". === Learning algorithm === The speed with which features may be evaluated does not adequately compensate for their number, however. For example, in a standard 24x24 pixel sub-window, there are a total of M = 162336 possible features, and it would be prohibitively expensive to evaluate them all when testing an image. Thus, the object detection framework employs a variant of the learning algorithm AdaBoost to both select the best features and to train classifiers that use them. This algorithm constructs a "strong" classifier as a linear combination of weighted simple “weak” classifiers. h ( x ) = sgn ( ∑ j = 1 M α j h j ( x ) ) {\displaystyle h(\mathbf {x} )=\operatorname {sgn} \left(\sum _{j=1}^{M}\alpha _{j}h_{j}(\mathbf {x} )\right)} Each weak classifier is a threshold function based on the feature f j {\displaystyle f_{j}} . h j ( x ) = { − s j if f j < θ j s j otherwise {\displaystyle h_{j}(\mathbf {x} )={\begin{cases}-s_{j}&{\text{if }}f_{j}<\theta _{j}\\s_{j}&{\text{otherwise}}\end{cases}}} The threshold value θ j {\displaystyle \theta _{j}} and the polarity s j ∈ ± 1 {\displaystyle s_{j}\in \pm 1} are determined in the training, as well as the coefficients α j {\displaystyle \alpha _{j}} . Here a simplified version of the lea
Auto-defrost
Auto-defrost, automatic defrost or self-defrosting is a technique which regularly defrosts the evaporator in a refrigerator or freezer. Appliances using this technique are often called frost free, frostless, or no-frost. == Mechanism == The defrost mechanism in a refrigerator heats the cooling element (evaporator coil) for a short period of time and melts the frost that has formed on it. The resulting water drains through a duct at the back of the unit. Defrosting is controlled by an electric or electronic timer. For every 6, 8, 10, 12 or 24 hours of compressor operation, it turns on a defrost heater for 15 minutes to half an hour. The defrost heater, having a typical power rating of 350W to 600W, is often mounted just below the evaporator in top and bottom-freezer models. It can also be located below and in the middle of the evaporator in side-by-side models. It may be protected from short circuits by means of fusible links. In older refrigerators, the timer runs continuously. In newer designs, the timer only runs while the compressor runs, so the longer the refrigerator door is closed, the less time the heater will run for and the more energy is saved. A defrost thermostat opens the heater circuit when the evaporator temperature rises above a preset temperature, 40°F (5°C) or more, thereby preventing excessive heating of the freezer compartment. The defrost timer is such that either the compressor or the defrost heater is on, but not both at the same time. Inside the freezer, air is circulated by means of one or more fans. In a typical design cold air from the freezer compartment is ducted to the fresh food compartment and circulated back into the freezer compartment. Air circulation helps sublimate any ice or frost that may form on frozen items in the freezer compartment. While defrosting, this fan is stopped to prevent heated-up air from reaching the food compartment. Instead of the normal cooling elements being embedded in the freezer liner, auto-defrost elements are behind or beneath the liner. This allows them to be heated for short periods of time to dispose of frost, without heating the contents of the freezer. Alternatively, some systems use the hot gas in the condenser to defrost the evaporator. This is done by means of a circuit that is cross-linked by a three-way valve. The hot gas quickly heats up the evaporator and defrosts it. This system is primarily used in commercial applications such as ice-cream displays. == Application == While this technique was originally applied to the refrigerator compartment, it was later used for freezer compartment as well. A combined refrigerator/freezer which applies self-defrosting to the refrigerator compartment only is usually called "partial frost free" or semi-automatic defrost (some brands call these "Auto Defrost" while Frigidaire referred to their semi-automatic models as "Cycla-Matic," Kelvinator often named these models as "Cyclic Defrost" ). These refrigerators usually have a pan underneath where water from the melted frost in the refrigerator section evaporates. Freezers with automatic defrosting and combined refrigerator/freezer units which also apply self defrosting to their freezer compartment are called "frost free". The latter usually feature an air connection between the two compartments with the air passage to the refrigerator compartment regulated by a damper. By this means, a controlled portion of the air coming from the freezer reaches the refrigerator. Some older models have no air circulation between their freezer and refrigerator sections. Instead, they use an independent cooling system (for example: an evaporator coil with a defrost heater and a circulating fan in the freezer and a cold-plate or open-coil evaporator in the refrigerator. "Frost-Free" refrigerator/freezer units usually use a heating element to defrost their evaporators, a pan to collect and evaporate water from the frost that melts from the cold plate and/or evaporator coil, a timer which turns off the compressor and turns on the defrost element usually from once to 4 times a day for periods usually ranging from 15 to 30 minutes, a defrost limiter thermostat that turns off the heating element before the temperature rises too much while the timer is still in its defrost phase. Some models also feature a drain heater to prevent ice from blocking the drain. Other early types of refrigerators also use hot gas defrost instead of electric heaters. These reverse the evaporator and condenser sides for the defrost cycle. Some newer refrigerator/freezer models have a computer that monitors how many times each door is opened and uses this data to control defrost scheduling thereby reducing power use. == Advantages == No need to manually defrost the frost buildup, therefore power consumption will not increase with time. Food packaging is easier to see. Most frozen food will not stick together. Smells are limited, especially in total frost-free appliances because the air always circulates. Better temperature management. == Disadvantages == The system can be more expensive to run when usage is high and if the fan continues or starts to run when the door is opened. A thermal cutout safety device is required to prevent overheating of the heating element. Increased electrical and mechanical complexity compared to a basic upright freezer or chest freezer, making it more prone to component failure. The temperature of the freezer contents rises during the defrosting cycles, especially if there is a light load in the freezer. This can cause "freezer burn" on articles placed in the freezer, from partially defrosting, then re-freezing On hot, humid days condensation will sometimes form around the refrigerator doors. Defrosting may not be completed by the time the defrost timer cycles back to normal operation (especially in hot, humid conditions with frequent door openings), leaving ice/frost on the evaporator coils. This condition can lead to "icing" which will interfere with the operation of the refrigerator. In laboratories, self-defrosting freezers must not be used to store certain delicate reagents such as enzymes, because the temperature cycling can degrade them. In addition, water can evaporate out of containers that do not have a very tight seal, altering the concentration of the reagents. Self-defrosting freezers should never be used to store flammable chemicals.
Transcription software
Transcription software assists in the conversion of human speech into a text transcript. Audio or video files can be transcribed manually or automatically. Transcriptionists can replay a recording several times in a transcription editor and type what they hear. By using transcription hot keys, the manual transcription can be accelerated, the sound filtered, equalized or have the tempo adjusted when the clarity is not great. With speech recognition technology, transcriptionists can automatically convert recordings to text transcripts by opening recordings in a PC and uploading them to a cloud for automatic transcription, or transcribe recordings in real-time by using digital dictation. Depending on quality of recordings, machine generated transcripts may still need to be manually verified. The accuracy rate of the automatic transcription depends on several factors such as background noises, speakers' distance to the microphone, and accents. Transcription software, as with transcription services, is often used for business, legal, or medical purposes. Compared with audio content, a text transcript is searchable, takes up less computer memory, and can be used as an alternate method of communication, such as for subtitles and closed captions. Some clinical environments also use digital tools to support transcription workflows, including ambient documentation systems that employ Speech recognition to capture portions of clinical encounters and generate draft notes for later review. These tools are typically used alongside conventional transcription methods. The definition of transcription "software", as compared with transcription "service", is that the former is sufficiently automated that a user can run the entire system without engaging outside personnel. New software-as-a-service and cloud computing models use artificial intelligence, machine learning and natural language processing to convert speech to text and continuously learn new phrases and accents. AI transcription can, however, lead to hallucinations and other errors. == Development == Research at Google released a free android app Google Live Transcribe, it runs on Google Cloud. Google Chrome developed and has an available built in English Live Caption. Google Docs, Google Translate, Google Assistant, GBoard Google Text to Speech engine support transcription tool too. OpenAI launched Whisper, an open-source speech recognition deep learning model in September 2022. In 2024, an AI-powered transcription platform, Transkriptor, was launched, enabling the automatic conversion of audio and video recordings into text using speech recognition technology, with support for transcription in 100 languages and processing of content uploaded via a web interface as well as mobile and browser extensions. It is part of the Tor.app suite of AI-based language processing tools.
Open-source robotics
Open-source robotics is a branch of robotics where robots are developed with open-source hardware and free and open-source software, publicly sharing blueprints, schematics, and source code. It is thus closely related to the open design movement, the maker movement and open science. == Requirements == Open source robotics means that information about the hardware is easily discerned, so that others can easily rebuild it. In turn, this requires design to use only easily available standard subcomponents and tools, and for the build process to be documented in detail including a bill of materials and detailed ('Ikea style') step-by-step building and testing instructions. (A CAD file alone is not sufficient, as it does not show the steps for performing or testing the build). These requirements are standard to open source hardware in general, and are formalised by various licences, certifications, especially those defined by the peer-reviewed journals Journal of Open Hardware and HardwareX. Licensing requirements for software are the same as for any open source software. But in addition, for software components to be of practical use in real robot systems, they need to be compatible with other software, usually as defined by some robotics middleware community standard. == Hardware systems == Applications to date include: Robot arms, e.g. PARA or Thor Wheeled mobile robots. e.g. OpenScout Four-legged robots such as the Open Dynamic Robot Initiative UAV quadcopters (drones) such as Agilicious Humanoid robots, e.g. iCub, Berkeley Humanoid Lite Self-driving cars, e.g. OpenPodcar (→ Personal rapid transit) Submersible robots, eg. OpenFish Laboratory robotics such as chemical liquid handling Vertical farming Swarm robots, e.g. HeRoSwarm Domestic tasks: vacuum cleaning, floor washing and grass mowing Robot sports including robot combat and autonomous racing Education == Hardware subcomponents == Most open source hardware definitions allow non-open subcomponents to be used in modular design, as long as they are easily available. However many designs try to push openness down into as many subcomponents as possible, with the aim of ultimately reaching fully open designs. Open hardware manual-drive vehicles and their subcomponents, such as from Open Source Ecology, are often used as starting points and extended with automation systems. Open subcomponents can include open-source computing hardware as subcomponents, such as Arduino and RISC-V, as well as open source motors and drivers such as the Open Source Motor Controller and ODrive. Open hardware robotics interface boards can simplify interfacing between middleware software and physical hardware. == Software subcomponents == === Middleware === Robotics middleware is software which links multiple other software components together. In robotics, this specifically means real-time communication systems with standardized message passing protocols. The predominant open source middleware is ROS2, the robot operating system, now as version 2. Other alternatives include ROS1, YARP — used in the iCub, URBI, and Orca. Open source middleware is usually run on an open source operating system, especially the Ubuntu distribution of Linux. === Driver software === Most robot sensors and actuators require software drivers. There is little standardization of open source software at this level, because each hardware device is different. Creating open drivers for closed hardware is difficult as it requires both low level programming and reverse engineering. === Simulation software === Open source robotics simulators include Gazebo, MuJoCo and Webots. Open source 3D game engines such as Godot are also sometimes used as simulators, when equipped with suitable middleware interfaces. === Automation software === At the level of AI, many standard algorithms have open source software implementations, mostly in ROS2. Major components include: Machine vision systems such as the YOLO object detector. 3D photogrammetry Navigation including SLAM and planning such as nav2 Arm inverse kinematics such as moveIt2 == Community == The first signs of the increasing popularity of building and sharing robot designs were found with the maker culture community. What began with small competitions for remote operated vehicles (e.g. Robot combat), soon developed to the building of autonomous telepresence robots such as Sparky and then true robots (being able to take decisions themselves) as the Open Automaton Project. Several commercial companies now also produce kits for making simple robots. The community has adopted open source hardware licenses, certifications, and peer-reviewed publications, which check that source has been made correctly and permanently available under community definitions, and which validate that this has been done. These processes have become critically important due to many historical projects claiming to be open source but them reverting on the promise due to commercialisation or other pressures. As with other forms of open source hardware, the community continues to debate precise criteria for 'ease of build'. A common standard is that designs should be buildable by a technical university student, in a few days, using typical fablab tools, but definitions of all of these subterms can also be debated. Compared to other forms of open source hardware, open source robotics typically includes a large software element, so involves software as well as hardware engineers. Open source concepts are more established in open source software than hardware, so robotics is a field in which those concepts can be shared and transferred from software to hardware. While the community in open source robotics is multi-faceted with a wide range of backgrounds, a sizable sub-community uses the ROS middleware and meets at the ROSCon conferences to discuss development of ROS itself and automation components built on it.
Trigram
Trigrams are a special case of the n-gram, where n is 3. They are often used in natural language processing for performing statistical analysis of texts and in cryptography for control and use of ciphers and codes. See results of analysis of "Letter Frequencies in the English Language". == Frequency == Context is very important, varying analysis rankings and percentages are easily derived by drawing from different sample sizes, different authors; or different document types: poetry, science-fiction, technology documentation; and writing levels: stories for children versus adults, military orders, and recipes. Typical cryptanalytic frequency analysis finds that the 16 most common character-level trigrams in English are: Because encrypted messages sent by telegraph often omit punctuation and spaces, cryptographic frequency analysis of such messages includes trigrams that straddle word boundaries. This causes trigrams such as "edt" to occur frequently, even though it may never occur in any one word of those messages. == Examples == The sentence "the quick red fox jumps over the lazy brown dog" has the following word-level trigrams: the quick red quick red fox red fox jumps fox jumps over jumps over the over the lazy the lazy brown lazy brown dog And the word-level trigram "the quick red" has the following character-level trigrams (where an underscore "_" marks a space): the he_ e_q _qu qui uic ick ck_ k_r _re red
Subvocal recognition
Subvocal recognition (SVR) is the process of taking subvocalization and converting the detected results to a digital output, aural or text-based. A silent speech interface is a device that allows speech communication without using the sound made when people vocalize their speech sounds. It works by the computer identifying the phonemes that an individual pronounces from nonauditory sources of information about their speech movements. These are then used to recreate the speech using speech synthesis. == Input methods == Silent speech interface systems have been created using ultrasound and optical camera input of tongue and lip movements. Electromagnetic devices are another technique for tracking tongue and lip movements. The detection of speech movements by electromyography of speech articulator muscles and the larynx is another technique. Another source of information is the vocal tract resonance signals that get transmitted through bone conduction called non-audible murmurs. They have also been created as a brain–computer interface using brain activity in the motor cortex obtained from intracortical microelectrodes. == Uses == Such devices are created as aids to those unable to create the sound phonation needed for audible speech such as after laryngectomies. Another use is for communication when speech is masked by background noise or distorted by self-contained breathing apparatus. A further practical use is where a need exists for silent communication, such as when privacy is required in a public place, or hands-free data silent transmission is needed during a military or security operation. In 2002, the Japanese company NTT DoCoMo announced it had created a silent mobile phone using electromyography and imaging of lip movement. The company stated that "the spur to developing such a phone was ridding public places of noise," adding that, "the technology is also expected to help people who have permanently lost their voice." The feasibility of using silent speech interfaces for practical communication has since then been shown. In 2019, Arnav Kapur, a researcher from the Massachusetts Institute of Technology, conducted a study known as AlterEgo. Its implementation of the silent speech interface enables direct communication between the human brain and external devices through stimulation of the speech muscles. By leveraging neural signals associated with speech and language, the AlterEgo system deciphers the user's intended words and translates them into text or commands without the need for audible speech. == Research and patents == With a grant from the U.S. Army, research into synthetic telepathy using subvocalization is taking place at the University of California, Irvine under lead scientist Mike D'Zmura. NASA's Ames Research Laboratory in Mountain View, California, under the supervision of Charles Jorgensen is conducting subvocalization research. The Brain Computer Interface R&D program at Wadsworth Center under the New York State Department of Health has confirmed the existing ability to decipher consonants and vowels from imagined speech, which allows for brain-based communication using imagined speech, however using EEGs instead of subvocalization techniques. US Patents on silent communication technologies include: US Patent 6587729 "Apparatus for audibly communicating speech using the radio frequency hearing effect", US Patent 5159703 "Silent subliminal presentation system", US Patent 6011991 "Communication system and method including brain wave analysis and/or use of brain activity", US Patent 3951134 "Apparatus and method for remotely monitoring and altering brain waves". Latter two rely on brain wave analysis. == In fiction == The decoding of silent speech using a computer played an important role in Arthur C. Clarke's story and Stanley Kubrick's associated film A Space Odyssey. In this, HAL 9000, a computer controlling spaceship Discovery One, bound for Jupiter, discovers a plot to deactivate it by the mission astronauts Dave Bowman and Frank Poole through lip reading their conversations. In Orson Scott Card's series (including Ender's Game), the artificial intelligence can be spoken to while the protagonist wears a movement sensor in his jaw, enabling him to converse with the AI without making noise. He also wears an ear implant. In Speaker for the Dead and subsequent novels, author Orson Scott Card described an ear implant, called a "jewel", that allows subvocal communication with computer systems. Author Robert J. Sawyer made use of subvocal recognition to allow silent commands to the cybernetic 'companion implants' used by the advanced Neanderthal characters in his Neanderthal Parallax trilogy of science fiction novels. In Earth, David Brin depicts this technology and its uses as a normal gear in the near future. In Down and Out in the Magic Kingdom, Cory Doctorow has cellphone technology become silent through a cochlear implant and miking the throat to pick up subvocalization. William Gibson's Sprawl Trilogy frequently uses sub-vocalization systems in various devices. In Kage Baker's Company novels, the immortal cyborgs communicate subvocally. In the Hugo Award-winning Hyperion Cantos by Dan Simmons, the characters often use subvocalization to communicate. In the Culture novels by Iain M. Banks, more highly advanced species often communicate subvocally through their technology. In Deus Ex: Human Revolution (2011), the protagonist is augmented with a subvocalization implant for sending covert communications (and a corresponding cochlear implant for receiving covert communications). In the tabletop RPG and video game series Shadowrun, player characters can communicate via subvocal microphones in some instances. In Paranoia, all citizens can speak to the computer via their "cerebral cortech" implants. Alistair Reynolds Revelation Space trilogy frequently uses sub-vocalization systems in various devices.