The condensation algorithm (Conditional Density Propagation) is a computer vision algorithm. The principal application is to detect and track the contour of objects moving in a cluttered environment. Object tracking is one of the more basic and difficult aspects of computer vision and is generally a prerequisite to object recognition. Being able to identify which pixels in an image make up the contour of an object is a non-trivial problem. Condensation is a probabilistic algorithm that attempts to solve this problem. The algorithm itself is described in detail by Isard and Blake in a publication in the International Journal of Computer Vision in 1998. One of the most interesting facets of the algorithm is that it does not compute on every pixel of the image. Rather, pixels to process are chosen at random, and only a subset of the pixels end up being processed. Multiple hypotheses about what is moving are supported naturally by the probabilistic nature of the approach. The evaluation functions come largely from previous work in the area and include many standard statistical approaches. The original part of this work is the application of particle filter estimation techniques. The algorithm's creation was inspired by the inability of Kalman filtering to perform object tracking well in the presence of significant background clutter. The presence of clutter tends to produce probability distributions for the object state which are multi-modal and therefore poorly modeled by the Kalman filter. The condensation algorithm in its most general form requires no assumptions about the probability distributions of the object or measurements. == Algorithm overview == The condensation algorithm seeks to solve the problem of estimating the conformation of an object described by a vector x t {\displaystyle \mathbf {x_{t}} } at time t {\displaystyle t} , given observations z 1 , . . . , z t {\displaystyle \mathbf {z_{1},...,z_{t}} } of the detected features in the images up to and including the current time. The algorithm outputs an estimate to the state conditional probability density p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} by applying a nonlinear filter based on factored sampling and can be thought of as a development of a Monte-Carlo method. p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} is a representation of the probability of possible conformations for the objects based on previous conformations and measurements. The condensation algorithm is a generative model since it models the joint distribution of the object and the observer. The conditional density of the object at the current time p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} is estimated as a weighted, time-indexed sample set { s t ( n ) , n = 1 , . . . , N } {\displaystyle \{s_{t}^{(n)},n=1,...,N\}} with weights π t ( n ) {\displaystyle \pi _{t}^{(n)}} . N is a parameter determining the number of sample sets chosen. A realization of p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} is obtained by sampling with replacement from the set s t {\displaystyle s_{t}} with probability equal to the corresponding element of π t {\displaystyle \pi _{t}} . The assumptions that object dynamics form a temporal Markov chain and that observations are independent of each other and the dynamics facilitate the implementation of the condensation algorithm. The first assumption allows the dynamics of the object to be entirely determined by the conditional density p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} . The model of the system dynamics determined by p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} must also be selected for the algorithm, and generally includes both deterministic and stochastic dynamics. The algorithm can be summarized by initialization at time t = 0 {\displaystyle t=0} and three steps at each time t: === Initialization === Form the initial sample set and weights by sampling according to the prior distribution. For example, specify as Gaussian and set the weights equal to each other. === Iterative procedure === Sample with replacement N {\displaystyle N} times from the set { s 0 ( n ) , n = 1 , . . . , N } {\displaystyle \{s_{0}^{(n)},n=1,...,N\}} with probability { π 0 ( n ) , n = 1 , . . . , N } {\displaystyle \{\pi _{0}^{(n)},n=1,...,N\}} to generate a realization of p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} . Apply the learned dynamics p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} to each element of this new set, to generate a new set { s t ( n ) } {\displaystyle \{s_{t}^{(n)}\}} . To take into account the current observation z t {\displaystyle \mathbf {z_{t}} } , set π t ( n ) = p ( z t | s ( n ) ) ∑ j = 1 N p ( z t | s ( j ) ) {\displaystyle \pi _{t}^{(n)}={\frac {p(\mathbf {z_{t}} |s^{(n)})}{\sum _{j=1}^{N}p(\mathbf {z_{t}} |s^{(j)})}}} for each element { s t ( n ) } {\displaystyle \{s_{t}^{(n)}\}} . This algorithm outputs the probability distribution p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} which can be directly used to calculate the mean position of the tracked object, as well as the other moments of the tracked object. Cumulative weights can instead be used to achieve a more efficient sampling. == Implementation considerations == Since object-tracking can be a real-time objective, consideration of algorithm efficiency becomes important. The condensation algorithm is relatively simple when compared to the computational intensity of the Ricatti equation required for Kalman filtering. The parameter N {\displaystyle N} , which determines the number of samples in the sample set, will clearly hold a trade-off in efficiency versus performance. One way to increase efficiency of the algorithm is by selecting a low degree of freedom model for representing the shape of the object. The model used by Isard 1998 is a linear parameterization of B-splines in which the splines are limited to certain configurations. Suitable configurations were found by analytically determining combinations of contours from multiple views, of the object in different poses, and through principal component analysis (PCA) on the deforming object. Isard and Blake model the object dynamics p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} as a second order difference equation with deterministic and stochastic components: p ( x t | x t − 1 ) ∝ e − 1 2 | | B − 1 ( ( x t − x ¯ ) − A ( x t − 1 − x ¯ ) ) | | 2 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )\propto e^{-{\frac {1}{2}}||B^{-1}((\mathbf {x_{t}} -\mathbf {\bar {x}} )-A(\mathbf {x_{t-1}} -\mathbf {\bar {x}} ))||^{2})}} where x ¯ {\displaystyle \mathbf {\bar {x}} } is the mean value of the state, and A {\displaystyle A} , B {\displaystyle B} are matrices representing the deterministic and stochastic components of the dynamical model respectively. A {\displaystyle A} , B {\displaystyle B} , and x ¯ {\displaystyle \mathbf {\bar {x}} } are estimated via Maximum Likelihood Estimation while the object performs typical movements. The observation model p ( z | x ) {\displaystyle p(\mathbf {z} |\mathbf {x} )} cannot be directly estimated from the data, requiring assumptions to be made in order to estimate it. Isard 1998 assumes that the clutter which may make the object not visible is a Poisson random process with spatial density λ {\displaystyle \lambda } and that any true target measurement is unbiased and normally distributed with standard deviation σ {\displaystyle \sigma } . The basic condensation algorithm is used to track a single object in time. It is possible to extend the condensation algorithm using a single probability distribution to describe the likely states of multiple objects to track multiple objects in a scene at the same time. Since clutter can cause the object probability distribution to split into multiple peaks, each peak represents a hypothesis about the object configuration. Smoothing is a statistical technique of conditioning the distribution based on both past and future measurements once the tracking is complete in order to reduce the effects of multiple peaks. Smoothing cannot be directly done in real-time since it requires information of future measurements. == Applications == The algorithm can be used for vision-based robot localization of mobile robots. Instead of tracking the position of an object in the scene, however, the position of the camera platform is tracked. This allows the camera platform to be globally localized given a visual map of the environment. Extensions of the condensation algorithm have also been used to recognize human gestures in image sequences. This application of the condensation algorithm impacts the ran
Confidential computing
Confidential computing is a security and privacy-enhancing computational technique focused on protecting data in use. Confidential computing can be used in conjunction with storage and network encryption, which protect data at rest and data in transit respectively. It is designed to address software, protocol, cryptographic, and basic physical and supply-chain attacks, although some critics have demonstrated architectural and side-channel attacks effective against the technology. The technology protects data in use by performing computations in a hardware-based trusted execution environment (TEE). Confidential data is released to the TEE only once it is assessed to be trustworthy. Different types of confidential computing define the level of data isolation used, whether virtual machine, application, or function, and the technology can be deployed in on-premise data centers, edge locations, or the public cloud. It is often compared with other privacy-enhancing computational techniques such as fully homomorphic encryption, secure multi-party computation, and Trusted Computing. Confidential computing is promoted by the Confidential Computing Consortium (CCC) industry group, whose membership includes major providers of the technology. == Properties == Trusted execution environments (TEEs) "prevent unauthorized access or modification of applications and data while they are in use, thereby increasing the security level of organizations that manage sensitive and regulated data". Trusted execution environments can be instantiated on a computer's processing components such as a central processing unit (CPU) or a graphics processing unit (GPU). In their various implementations, TEEs can provide different levels of isolation including virtual machine, individual application, or compute functions. Typically, data in use in a computer's compute components and memory exists in a decrypted state and can be vulnerable to examination or tampering by unauthorized software or administrators. According to the CCC, confidential computing protects data in use through a minimum of three properties: Data confidentiality: "Unauthorized entities cannot view data while it is in use within the TEE". Data integrity: "Unauthorized entities cannot add, remove, or alter data while it is in use within the TEE". Code integrity: "Unauthorized entities cannot add, remove, or alter code executing in the TEE". In addition to trusted execution environments, remote cryptographic attestation is an essential part of confidential computing. The attestation process assesses the trustworthiness of a system and helps ensure that confidential data is released to a TEE only after it presents verifiable evidence that it is genuine and operating with an acceptable security posture. It allows the verifying party to assess the trustworthiness of a confidential computing environment through an "authentic, accurate, and timely report about the software and data state" of that environment. "Hardware-based attestation schemes rely on a trusted hardware component and associated firmware to execute attestation routines in a secure environment". Without attestation, a compromised system could deceive others into trusting it, claim it is running certain software in a TEE, and potentially compromise the confidentiality or integrity of the data being processed or the integrity of the trusted code. == Technical approaches == Technical approaches to confidential computing may vary in which software, infrastructure and administrator elements are allowed to access confidential data. The "trust boundary," which circumscribes a trusted computing base (TCB), defines which elements have the potential to access confidential data, whether they are acting benignly or maliciously. Confidential computing implementations enforce the defined trust boundary at a specific level of data isolation. The three main types of confidential computing are: Virtual machine isolation Application isolation, also known as process isolation Function isolation, also known as library isolation Virtual machine isolation removes the elements controlled by the computer infrastructure or cloud provider, but allows potential data access by elements inside a virtual machine running on the infrastructure. Application or process isolation permits data access only by authorized software applications or processes. Function or library isolation is designed to permit data access only by authorized subroutines or modules within a larger application, blocking access by any other system element, including unauthorized code in the larger application. == Threat model == As confidential computing is concerned with the protection of data in use, only certain threat models can be addressed by this technique. Other types of attacks are better addressed by other privacy-enhancing technologies. === In scope === The following threat vectors are generally considered in scope for confidential computing: Software attacks: including attacks on the host’s software and firmware. This may include the operating system, hypervisor, BIOS, other software and workloads. Protocol attacks: including "attacks on protocols associated with attestation as well as workload and data transport". This includes vulnerabilities in the "provisioning or placement of the workload" or data that could cause a compromise. Cryptographic attacks: including "vulnerabilities found in ciphers and algorithms due to a number of factors, including mathematical breakthroughs, availability of computing power and new computing approaches such as quantum computing". The CCC notes several caveats in this threat vector, including relative difficulty of upgrading cryptographic algorithms in hardware and recommendations that software and firmware be kept up-to-date. A multi-faceted, defense-in-depth strategy is recommended as a best practice. Basic physical attacks: including cold boot attacks, bus and cache snooping and plugging attack devices into an existing port, such as a PCI Express slot or USB port. Basic upstream supply-chain attacks: including attacks that would compromise TEEs through changes such as added debugging ports. The degree and mechanism of protection against these threats varies with specific confidential computing implementations. === Out of scope === Threats generally defined as out of scope for confidential computing include: Sophisticated physical attacks: including physical attacks that "require long-term and/or invasive access to hardware" such as chip scraping techniques and electron microscope probes. Upstream hardware supply-chain attacks: including attacks on the CPU manufacturing process, CPU supply chain in key injection/generation during manufacture. Attacks on components of a host system that are not directly providing the capabilities of the trusted execution environment are also generally out-of-scope. Availability attacks: confidential computing is designed to protect the confidentiality and integrity of protected data and code. It does not address availability attacks such as Denial of Service or Distributed Denial of Service attacks. == Use cases == Confidential computing can be deployed in the public cloud, on-premise data centers, or distributed "edge" locations, including network nodes, branch offices, industrial systems and others. === Data privacy and security === Confidential computing protects the confidentiality and integrity of data and code from the infrastructure provider, unauthorized or malicious software and system administrators, and other cloud tenants, which may be a concern for organizations seeking control over sensitive or regulated data. The additional security capabilities offered by confidential computing can help accelerate the transition of more sensitive workloads to the cloud or edge locations. === Multi-party analytics === Confidential computing can enable multiple parties to engage in joint analysis using confidential or regulated data inside a TEE while preserving privacy and regulatory compliance. In this case, all parties benefit from the shared analysis, but no party's sensitive data or confidential code is exposed to the other parties or system host. Examples include multiple healthcare organizations contributing data to medical research, or multiple banks collaborating to identify financial fraud or money laundering. Oxford University researchers proposed the alternative paradigm called "Confidential Remote Computing" (CRC), which supports confidential operations in Trusted Execution Environments across endpoint computers considering multiple stakeholders as mutually distrustful data, algorithm and hardware providers. === Confidential generative AI === Confidential computing technologies can be applied to various stages of a generative AI deployments to help increase data or model privacy, security, and regulatory compliance. TEEs and remote attestation can protect the integrity of data during AI model training, keep
Rake (software)
Rake is a software task management and a build automation tool created by Jim Weirich. It allows the user to specify tasks and to describe dependencies as well as to group tasks into namespaces. It is similar to SCons and Make. Rake was written in Ruby and has been part of the standard library of Ruby since version 1.9. == Examples == The tasks that should be executed need to be defined in a configuration file called Rakefile. A Rakefile has no special syntax and contains executable Ruby code. === Tasks === The basic unit in Rake is the task. A task has a name and an action block, that defines its functionality. The following code defines a task called greet that will output the text "Hello, Rake!" to the console. When defining a task, you can optionally add dependencies, that is one task can depend on the successful completion of another task. Calling the "seed" task from the following example will first execute the "migrate" task and only then proceed with the execution of the "seed" task.Tasks can also be made more versatile by accepting arguments. For example, the "generate_report" task will take a date as argument. If no argument is supplied the current date is used.A special type of task is the file task, which can be used to specify file creation tasks. The following task, for example, is given two object files, i.e. "a.o" and "b.o", to create an executable program.Another useful tool is the directory convenience method, that can be used to create directories upon demand. === Rules === When a file is named as a prerequisite but it does not have a file task defined for it, Rake will attempt to synthesize a task by looking at a list of rules supplied in the Rakefile. For example, suppose we were trying to invoke task "mycode.o" with no tasks defined for it. If the Rakefile has a rule that looks like this: This rule will synthesize any task that ends in ".o". It has as a prerequisite that a source file with an extension of ".c" must exist. If Rake is able to find a file named "mycode.c", it will automatically create a task that builds "mycode.o" from "mycode.c". If the file "mycode.c" does not exist, Rake will attempt to recursively synthesize a rule for it. When a task is synthesized from a rule, the source attribute of the task is set to the matching source file. This allows users to write rules with actions that reference the source file. === Advanced rules === Any regular expression may be used as the rule pattern. Additionally, a proc may be used to calculate the name of the source file. This allows for complex patterns and sources. The following rule is equivalent to the example above: NOTE: Because of a quirk in Ruby syntax, parentheses are required around a rule when the first argument is a regular expression. The following rule might be used for Java files: === Namespaces === To better organize big Rakefiles, tasks can be grouped into namespaces. Below is an example of a simple Rake recipe:
Convolution
In mathematics (in particular, functional analysis), convolution is a mathematical operation on two functions f {\displaystyle f} and g {\displaystyle g} that produces a third function f ∗ g {\displaystyle fg} , as the integral of the product of the two functions after one is reflected about the y-axis and shifted. The term convolution refers to both the resulting function and to the process of computing it. The integral is evaluated for all values of shift, producing the convolution function. The choice of which function is reflected and shifted before the integral does not change the integral result (see commutativity). Graphically, it expresses how the 'shape' of one function is modified by the other. Some features of convolution are similar to cross-correlation: for real-valued functions, of a continuous or discrete variable, convolution f ∗ g {\displaystyle fg} differs from cross-correlation f ⋆ g {\displaystyle f\star g} only in that either f ( x ) {\displaystyle f(x)} or g ( x ) {\displaystyle g(x)} is reflected about the y-axis in convolution; thus it is a cross-correlation of g ( − x ) {\displaystyle g(-x)} and f ( x ) {\displaystyle f(x)} , or f ( − x ) {\displaystyle f(-x)} and g ( x ) {\displaystyle g(x)} . For complex-valued functions, the cross-correlation operator is the adjoint of the convolution operator. Convolution has applications that include probability, statistics, acoustics, spectroscopy, signal processing and image processing, computer vision and human vision, geophysics, engineering, physics, and differential equations. The convolution can be defined for functions on Euclidean space and other groups (as algebraic structures). For example, periodic functions, such as the discrete-time Fourier transform, can be defined on a circle and convolved by periodic convolution. (See row 18 at DTFT § Properties.) A discrete convolution can be defined for functions on the set of integers. Generalizations of convolution have applications in the field of numerical analysis and numerical linear algebra, and in the design and implementation of finite impulse response filters in signal processing. Computing the inverse of the convolution operation is known as deconvolution. == Definition == The convolution of f {\displaystyle f} and g {\displaystyle g} is written f ∗ g {\displaystyle fg} , denoting the operator with the symbol ∗ {\displaystyle } . It is defined as the integral of the product of the two functions after one is reflected about the y-axis and shifted. As such, it is a particular kind of integral transform: ( f ∗ g ) ( t ) := ∫ − ∞ ∞ f ( τ ) g ( t − τ ) d τ . {\displaystyle (fg)(t):=\int _{-\infty }^{\infty }f(\tau )g(t-\tau )\,d\tau .} An equivalent definition is (see commutativity): ( f ∗ g ) ( t ) := ∫ − ∞ ∞ f ( t − τ ) g ( τ ) d τ . {\displaystyle (fg)(t):=\int _{-\infty }^{\infty }f(t-\tau )g(\tau )\,d\tau .} While the symbol t {\displaystyle t} is used above, it need not represent the time domain. At each t {\displaystyle t} , the convolution formula can be described as the area under the function f ( τ ) {\displaystyle f(\tau )} weighted by the function g ( − τ ) {\displaystyle g(-\tau )} shifted by the amount t {\displaystyle t} . As t {\displaystyle t} changes, the weighting function g ( t − τ ) {\displaystyle g(t-\tau )} emphasizes different parts of the input function f ( τ ) {\displaystyle f(\tau )} ; If t {\displaystyle t} is a positive value, then g ( t − τ ) {\displaystyle g(t-\tau )} is equal to g ( − τ ) {\displaystyle g(-\tau )} that slides or is shifted along the τ {\displaystyle \tau } -axis toward the right (toward + ∞ {\displaystyle +\infty } ) by the amount of t {\displaystyle t} , while if t {\displaystyle t} is a negative value, then g ( t − τ ) {\displaystyle g(t-\tau )} is equal to g ( − τ ) {\displaystyle g(-\tau )} that slides or is shifted toward the left (toward − ∞ {\displaystyle -\infty } ) by the amount of | t | {\displaystyle |t|} . For functions f {\displaystyle f} , g {\displaystyle g} supported on only [ 0 , ∞ ) {\displaystyle [0,\infty )} (i.e., zero for negative arguments), the integration limits can be truncated, resulting in: ( f ∗ g ) ( t ) = ∫ 0 t f ( τ ) g ( t − τ ) d τ for f , g : [ 0 , ∞ ) → R . {\displaystyle (fg)(t)=\int _{0}^{t}f(\tau )g(t-\tau )\,d\tau \quad \ {\text{for }}f,g:[0,\infty )\to \mathbb {R} .} For the multi-dimensional formulation of convolution, see domain of definition (below). === Notation === A common engineering notational convention is: f ( t ) ∗ g ( t ) := ∫ − ∞ ∞ f ( τ ) g ( t − τ ) d τ ⏟ ( f ∗ g ) ( t ) , {\displaystyle f(t)g(t)\mathrel {:=} \underbrace {\int _{-\infty }^{\infty }f(\tau )g(t-\tau )\,d\tau } _{(fg)(t)},} which has to be interpreted carefully to avoid confusion. For instance, f ( t ) ∗ g ( t − t 0 ) {\displaystyle f(t)g(t-t_{0})} is equivalent to ( f ∗ g ) ( t − t 0 ) {\displaystyle (fg)(t-t_{0})} , but f ( t − t 0 ) ∗ g ( t − t 0 ) {\displaystyle f(t-t_{0})g(t-t_{0})} is in fact equivalent to ( f ∗ g ) ( t − 2 t 0 ) {\displaystyle (fg)(t-2t_{0})} . === Relations with other transforms === Given two functions f ( t ) {\displaystyle f(t)} and g ( t ) {\displaystyle g(t)} with bilateral Laplace transforms (two-sided Laplace transform) F ( s ) = ∫ − ∞ ∞ e − s u f ( u ) d u {\displaystyle F(s)=\int _{-\infty }^{\infty }e^{-su}\ f(u)\ {\text{d}}u} and G ( s ) = ∫ − ∞ ∞ e − s v g ( v ) d v {\displaystyle G(s)=\int _{-\infty }^{\infty }e^{-sv}\ g(v)\ {\text{d}}v} respectively, the convolution operation ( f ∗ g ) ( t ) {\displaystyle (fg)(t)} can be defined as the inverse Laplace transform of the product of F ( s ) {\displaystyle F(s)} and G ( s ) {\displaystyle G(s)} . More precisely, F ( s ) ⋅ G ( s ) = ∫ − ∞ ∞ e − s u f ( u ) d u ⋅ ∫ − ∞ ∞ e − s v g ( v ) d v = ∫ − ∞ ∞ ∫ − ∞ ∞ e − s ( u + v ) f ( u ) g ( v ) d u d v {\displaystyle {\begin{aligned}F(s)\cdot G(s)&=\int _{-\infty }^{\infty }e^{-su}\ f(u)\ {\text{d}}u\cdot \int _{-\infty }^{\infty }e^{-sv}\ g(v)\ {\text{d}}v\\&=\int _{-\infty }^{\infty }\int _{-\infty }^{\infty }e^{-s(u+v)}\ f(u)\ g(v)\ {\text{d}}u\ {\text{d}}v\end{aligned}}} Let t = u + v {\displaystyle t=u+v} , then F ( s ) ⋅ G ( s ) = ∫ − ∞ ∞ ∫ − ∞ ∞ e − s t f ( u ) g ( t − u ) d u d t = ∫ − ∞ ∞ e − s t ∫ − ∞ ∞ f ( u ) g ( t − u ) d u ⏟ ( f ∗ g ) ( t ) d t = ∫ − ∞ ∞ e − s t ( f ∗ g ) ( t ) d t . {\displaystyle {\begin{aligned}F(s)\cdot G(s)&=\int _{-\infty }^{\infty }\int _{-\infty }^{\infty }e^{-st}\ f(u)\ g(t-u)\ {\text{d}}u\ {\text{d}}t\\&=\int _{-\infty }^{\infty }e^{-st}\underbrace {\int _{-\infty }^{\infty }f(u)\ g(t-u)\ {\text{d}}u} _{(fg)(t)}\ {\text{d}}t\\&=\int _{-\infty }^{\infty }e^{-st}(fg)(t)\ {\text{d}}t.\end{aligned}}} Note that F ( s ) ⋅ G ( s ) {\displaystyle F(s)\cdot G(s)} is the bilateral Laplace transform of ( f ∗ g ) ( t ) {\displaystyle (fg)(t)} . A similar derivation can be done using the unilateral Laplace transform (one-sided Laplace transform). The convolution operation also describes the output (in terms of the input) of an important class of operations known as linear time-invariant (LTI). See LTI system theory for a derivation of convolution as the result of LTI constraints. In terms of the Fourier transforms of the input and output of an LTI operation, no new frequency components are created. The existing ones are only modified (amplitude and/or phase). In other words, the output transform is the pointwise product of the input transform with a third transform (known as a transfer function). See Convolution theorem for a derivation of that property of convolution. Conversely, convolution can be derived as the inverse Fourier transform of the pointwise product of two Fourier transforms. == Visual explanation == == Historical developments == One of the earliest uses of the convolution integral appeared in D'Alembert's derivation of Taylor's theorem in Recherches sur différents points importants du système du monde, published in 1754. Also, an expression of the type: ∫ f ( u ) ⋅ g ( x − u ) d u {\displaystyle \int f(u)\cdot g(x-u)\,du} is used by Sylvestre François Lacroix on page 505 of his book entitled Treatise on differences and series, which is the last of 3 volumes of the encyclopedic series: Traité du calcul différentiel et du calcul intégral, Chez Courcier, Paris, 1797–1800. Soon thereafter, convolution operations appear in the works of Pierre Simon Laplace, Jean-Baptiste Joseph Fourier, Siméon Denis Poisson, and others. The term itself did not come into wide use until the 1950s or 1960s. Prior to that it was sometimes known as Faltung (which means folding in German), composition product, superposition integral, and Carson's integral. Yet it appears as early as 1903, though the definition is rather unfamiliar in older uses. The operation: ∫ 0 t φ ( s ) ψ ( t − s ) d s , 0 ≤ t < ∞ , {\displaystyle \int _{0}^{t}\varphi (s)\psi (t-s)\,ds,\quad 0\leq t<\infty ,} is a particular case of composition products considered by the Italian mathematician Vito Volterra in 1913. == Circular c
NumPy
NumPy (pronounced NUM-py) is a library for the Python programming language, adding support for large, multi-dimensional arrays and matrices, along with a large collection of high-level mathematical functions to operate on these arrays. The predecessor of NumPy, Numeric, was originally created by Jim Hugunin with contributions from several other developers. In 2005, Travis Oliphant created NumPy by incorporating features of the competing Numarray into Numeric, with extensive modifications. NumPy is open-source software and has many contributors. NumPy is fiscally sponsored by NumFOCUS. == History == === matrix-sig === The Python programming language was not originally designed for numerical computing, but attracted the attention of the scientific and engineering community early on. In 1995 the special interest group (SIG) matrix-sig was founded with the aim of defining an array computing package; among its members was Python designer and maintainer Guido van Rossum, who extended Python's syntax (in particular the indexing syntax) to make array computing easier. === Numeric === An implementation of a matrix package was completed by Jim Fulton, then expanded to support multi-dimensional arrays by Jim Hugunin and called Numeric (also variously known as the "Numerical Python extensions" or "NumPy"), with influences from the APL family of languages, Basis, MATLAB, FORTRAN, S and S+, and others. Hugunin, a graduate student at the Massachusetts Institute of Technology (MIT), joined the Corporation for National Research Initiatives (CNRI) in 1997 to work on JPython, leaving Paul Dubois of Lawrence Livermore National Laboratory (LLNL) to take over as maintainer. Other early contributors include David Ascher, Konrad Hinsen and Travis Oliphant. === Numarray === A new package called Numarray was written as a more flexible replacement for Numeric. Like Numeric, it too is now deprecated. Numarray had faster operations for large arrays, but was slower than Numeric on small ones, so for a time both packages were used in parallel for different use cases. The last version of Numeric (v24.2) was released on 11 November 2005, while the last version of numarray (v1.5.2) was released on 24 August 2006. There was a desire to get Numeric into the Python standard library, but Guido van Rossum decided that the code was not maintainable in its state then. === NumPy === In early 2005, NumPy developer Travis Oliphant wanted to unify the community around a single array package and ported Numarray's features to Numeric, releasing the result as NumPy 1.0 in 2006. This new project was part of SciPy. To avoid installing the large SciPy package just to get an array object, this new package was separated and called NumPy. Support for Python 3 was added in 2011 with NumPy version 1.5.0. In 2011, PyPy started development on an implementation of the NumPy API for PyPy. As of 2023, it is not yet fully compatible with NumPy. == Features == NumPy targets the CPython reference implementation of Python, which is a non-optimizing bytecode interpreter. Mathematical algorithms written for this version of Python often run much slower than compiled equivalents due to the absence of compiler optimization. NumPy addresses the slowness problem partly by providing multidimensional arrays and functions and operators that operate efficiently on arrays; using these requires rewriting some code, mostly inner loops, using NumPy. Using NumPy in Python gives functionality comparable to MATLAB since they are both interpreted, and they both allow the user to write fast programs as long as most operations work on arrays or matrices instead of scalars. In comparison, MATLAB boasts a large number of additional toolboxes, notably Simulink, whereas NumPy is intrinsically integrated with Python, a more modern and complete programming language. Moreover, complementary Python packages are available; SciPy is a library that adds more MATLAB-like functionality and Matplotlib is a plotting package that provides MATLAB-like plotting functionality. Although MATLAB can perform sparse matrix operations, NumPy alone cannot perform such operations and requires the use of the scipy.sparse library. Internally, both MATLAB and NumPy rely on BLAS and LAPACK for efficient linear algebra computations. Python bindings of the widely used computer vision library OpenCV utilize NumPy arrays to store and operate on data. Since images with multiple channels are simply represented as three-dimensional arrays, indexing, slicing or masking with other arrays are very efficient ways to access specific pixels of an image. The NumPy array as universal data structure in OpenCV for images, extracted feature points, filter kernels and many more vastly simplifies the programming workflow and debugging. Importantly, many NumPy operations release the global interpreter lock, which allows for multithreaded processing. NumPy also provides a C API, which allows Python code to interoperate with external libraries written in low-level languages. === The ndarray data structure === The core functionality of NumPy is its "ndarray", for n-dimensional array, data structure. These arrays are strided views on memory. In contrast to Python's built-in list data structure, these arrays are homogeneously typed: all elements of a single array must be of the same type. Such arrays can also be views into memory buffers allocated by C/C++, Python, and Fortran extensions to the CPython interpreter without the need to copy data around, giving a degree of compatibility with existing numerical libraries. This functionality is exploited by the SciPy package, which wraps a number of such libraries (notably BLAS and LAPACK). NumPy has built-in support for memory-mapped ndarrays. === Limitations === Inserting or appending entries to an array is not as trivially possible as it is with Python's lists. The np.pad(...) routine to extend arrays actually creates new arrays of the desired shape and padding values, copies the given array into the new one and returns it. NumPy's np.concatenate([a1,a2]) operation does not actually link the two arrays but returns a new one, filled with the entries from both given arrays in sequence. Reshaping the dimensionality of an array with np.reshape(...) is only possible as long as the number of elements in the array does not change. These circumstances originate from the fact that NumPy's arrays must be views on contiguous memory buffers. Algorithms that are not expressible as a vectorized operation will typically run slowly because they must be implemented in "pure Python", while vectorization may increase memory complexity of some operations from constant to linear, because temporary arrays must be created that are as large as the inputs. Runtime compilation of numerical code has been implemented by several groups to avoid these problems; open source solutions that interoperate with NumPy include numexpr and Numba. Cython and Pythran are static-compiling alternatives to these. Many modern large-scale scientific computing applications have requirements that exceed the capabilities of the NumPy arrays. For example, NumPy arrays are usually loaded into a computer's memory, which might have insufficient capacity for the analysis of large datasets. Further, NumPy operations are executed on a single CPU. However, many linear algebra operations can be accelerated by executing them on clusters of CPUs or of specialized hardware, such as GPUs and TPUs, which many deep learning applications rely on. As a result, several alternative array implementations have arisen in the scientific python ecosystem over the recent years, such as Dask for distributed arrays and TensorFlow or JAX for computations on GPUs. Because of its popularity, these often implement a subset of NumPy's API or mimic it, so that users can change their array implementation with minimal changes to their code required. A library named CuPy, accelerated by Nvidia's CUDA framework, has also shown potential for faster computing, being a 'drop-in replacement' of NumPy. == Examples == NumPy is conventionally imported as np. === Basic operations === === Universal functions === === Linear algebra === === Multidimensional arrays === === Incorporation with OpenCV === === Nearest-neighbor search === Functional Python and vectorized NumPy version. === F2PY === Quickly wrap native code for faster scripts.
Automate This
Automate This: How Algorithms Came to Rule Our World is a book written by Christopher Steiner and published by Penguin Group. == Book == Steiner begins his study of algorithms on Wall Street in the 1980s but also provides examples from other industries. For example, he explains the history of Pandora Radio and the use of algorithms in music identification. He expresses concern that such use of algorithms may lead to the homogenization of music over time. Steiner also discusses the algorithms that eLoyalty (now owned by Mattersight Corporation following divestiture of the technology) was created by dissecting 2 million speech patterns and can now identify a caller's personality style and direct the caller with a compatible customer support representative. Steiner's book shares both the warning and the opportunity that algorithms bring to just about every industry in the world, and the pros and cons of the societal impact of automation (e.g. impact on employment).
Nextcloud
Nextcloud is a modular workspace platform designed to provide teams and businesses with a comprehensive environment for digital collaboration. Beyond central data management, it integrates office suites like Collabora Online and EuroOffice office suites. for seamless, cooperative workflows. The platform features built-in tools for chat, videoconferencing, and a privacy-focused AI assistant capable of running entirely on local LLMs. Supported by a rich ecosystem of apps, it can be hosted in the cloud or on premises and can scale up to millions of users. It has been translated into over 100 languages. == Features == Nextcloud files are stored in conventional directory structures, accessible via WebDAV if necessary. A SQLite, MySQL/MariaDB or PostgreSQL database is required to provide additional functionality like permissions, shares, and comments. Nextcloud can synchronize with local clients running Windows (Windows 8.1 and above), macOS (10.14 or later), Linux and FreeBSD. Nextcloud permits user and group administration locally or via different backends like OpenID or LDAP. Content can be shared inside the system by defining granular read/write permissions between users and groups. Nextcloud users can create public URLs when sharing files. Logging of file-related actions, as well as disallowing access based on file access rules is also available. Security options like brute-force protection and multi-factor authentication using TOTP, WebAuthn, Oauth2, and OpenID Connect are available. Nextcloud has planned new features such as monitoring capabilities, full-text search and Kerberos authentication, as well as audio/video conferencing, expanded federation and smaller user interface improvements. == History == In April 2016 Frank Karlitschek and most core contributors left ownCloud Inc. These included some of ownCloud's staff according to sources near to the ownCloud community. Karlitschek and many of these contributors went on to fork ownCloud, creating Nextcloud. The fork was preceded by a blog post of Karlitschek announcing his departure and raising questions about the management of the ownCloud, its community, and priorities between growth, money, and sustainability. There have been no official statements about the reason for the fork. However, Karlitschek mentioned the fork several times in a talk at the 2018 FOSDEM conference and in two appearances on the FLOSS Weekly podcast, emphasizing cultural mismatch between open source developers and business oriented people not used to the open source community. On June 2, within 12 hours of the announcement of the fork, the American entity "ownCloud Inc." announced that it is shutting down with immediate effect, stating that "[...] main lenders in the US have cancelled our credit. Following American law, we are forced to close the doors of ownCloud, Inc. with immediate effect and terminate the contracts of 8 employees." ownCloud Inc. accused Karlitschek of poaching developers, while Nextcloud developers such as Arthur Schiwon stated that he "decided to quit because not everything in the ownCloud Inc. company world evolved as I imagined". ownCloud GmbH continued operations, secured financing from new investors and took over the business of ownCloud Inc. In April 2018 Informationstechnikzentrum Bund (ITZBund) reported Nextcloud won the tender for "Bundescloud" (Germany government cloud) project. In August 2019 it was announced that the governments of France, Sweden and the Netherlands would use Nextcloud for file transfer. In January 2020 Nextcloud 18 "Nextcloud Hub" was released. The major change was direct integration with an Office suite (OnlyOffice) and Nextcloud announced that their goal was to compete with Office 365 and Google Docs. A partnership with Ionos was revealed – its hosting location in Germany and compliance with GDPR should support the goal of data sovereignty. In spring 2020 remote work and web conferencing usage increased due to the COVID-19 pandemic and Nextcloud released version 19 with chat and videoconferencing Talk app integrated into the application core. Communication with an optional "high performance back-end" allows self-hosting of web conferences with more than 10 participants. Collabora Online was introduced as another integrated office suite. In August 2021 Nextcloud was chosen as a collaboration platform for European cloud software GAIA-X. In a September 2021 European Commission report it was mentioned as "the most widely deployed Open Source content collaboration platform" Following the 2025 United States tariffs against the European Union, fear of overreliance on US cloud providers such as Microsoft 365 and Google Workspace increased, with Nextcloud being one of the foremost contenders to replace them. Some governmental organisations including the European Data Protection Supervisor and the German state of Schleswig-Holstein have since switched from Microsoft's Sharepoint to Nextcloud. According to Nextcloud, during the first 5 months of 2025, customer interest in the software had tripled.