The Federation of International Robot-soccer Association (FIRA) is an international organisation organising competitive soccer competitions between autonomous robots. The matches are usually five-a-side. == History == In 1996 and 1997, this competition was known as MiroSot and was held in Daejeon, Korea. The 1996 competition offered a challenging arena to the younger generation and researchers working with autonomous mobile robotic systems. From 1998 through 2008, it was called the FIRA Cup, and in 2009, it became the FIRA RoboWorld Cup & Congress. The 15th RoboWorld Cup was held at Amrita Vishwa Vidyapeetham, Bangalore, India in September 2010. In 2013, it took place in Kuala Lumpur, Malaysia. The championship started on August 24, 2013, and ended on August 29. At that time, it involved five categories: Micro-Robot Soccer Tournament, Amire, Naro, Simulated Robot, Android, Robo and Humanoid Robot. It attracted teams from Singapore, Indonesia, Taiwan, India, China, South Korea, the United Kingdom, Mexico, Canada, Russia and Malaysia. 80 teams from 11 countries participated. In 2018, the competition had 277 teams participating from 12 countries. === Past Events === == FIRA RoboWorld Cup & Congress == This competition has 4 leagues: FIRA AIR, FIRA Sports, FIRA Challenges, and FIRA Youth. Each league has its own competitions, and each competition can have several events. === FIRA AIR === The FIRA AIR league has two associated competitions, Autonomous Race and Emergency Service. === FIRA Sports === The FIRA Sports league has four associated competitions, HuroCup, RoboSot, SimuroSot, and AndroSot. This the robot soccer league. HuroCup consists of single events for bipedal humanoid robots. The events are: archery, sprint, marathon, united soccer, obstacle run, long jump, spartan race, marathon, weightlifting, and basketball. There is an all-round competition for the single robot that performs the best overall. === FIRA Challenges === The FIRA Challenges league has three associated competitions, Autonomous Cars, Autonomous Cars Simulation, Innovation and Business. === FIRA Youth === The FIRA Youth league has six associated challenges, Sport Robots, HuroCup Junior, CityRacer, DRV_Explorer, Cliff Hanger, and Mission Impossible.
Structured-light 3D scanner
A structured-light 3D scanner is a device used to capture the three-dimensional shape of an object by projecting light patterns, such as grids or stripes, onto its surface. The deformation of these patterns is recorded by cameras and processed using specialized algorithms to generate a detailed 3D model. Structured-light 3D scanning is widely employed in fields such as industrial design, quality control, cultural heritage preservation, augmented reality gaming, and medical imaging. Compared to laser-based 3D scanning, structured-light scanners use non-coherent light sources, such as LEDs or projectors, which enable faster data acquisition and eliminate potential safety concerns associated with lasers. However, the accuracy of structured-light scanning can be influenced by external factors, including ambient lighting conditions and the reflective properties of the scanned object. == Principle == Projecting a narrow band of light onto a three-dimensional surface creates a line of illumination that appears distorted when viewed from perspectives other than that of the projector. This distortion can be analyzed to reconstruct the geometry of the surface, a technique known as light sectioning. Projecting patterns composed of multiple stripes or arbitrary fringes simultaneously enables the acquisition of numerous data points at once, improving scanning speed. While various structured light projection techniques exist, parallel stripe patterns are among the most commonly used. By analyzing the displacement of these stripes, the three-dimensional coordinates of surface details can be accurately determined. === Generation of light patterns === Two major methods of stripe pattern generation have been established: Laser interference and projection. The laser interference method works with two wide planar laser beam fronts. Their interference results in regular, equidistant line patterns. Different pattern sizes can be obtained by changing the angle between these beams. The method allows for the exact and easy generation of very fine patterns with unlimited depth of field. Disadvantages are high cost of implementation, difficulties providing the ideal beam geometry, and laser typical effects like speckle noise and the possible self interference with beam parts reflected from objects. Typically, there is no means of modulating individual stripes, such as with Gray codes. The projection method uses incoherent light and basically works like a video projector. Patterns are usually generated by passing light through a digital spatial light modulator, typically based on one of the three currently most widespread digital projection technologies, transmissive liquid crystal, reflective liquid crystal on silicon (LCOS) or digital light processing (DLP; moving micro mirror) modulators, which have various comparative advantages and disadvantages for this application. Other methods of projection could be and have been used, however. Patterns generated by digital display projectors have small discontinuities due to the pixel boundaries in the displays. Sufficiently small boundaries however can practically be neglected as they are evened out by the slightest defocus. A typical measuring assembly consists of one projector and at least one camera. For many applications, two cameras on opposite sides of the projector have been established as useful. Invisible (or imperceptible) structured light uses structured light without interfering with other computer vision tasks for which the projected pattern will be confusing. Example methods include the use of infrared light or of extremely high framerates alternating between two exact opposite patterns. === Calibration === Geometric distortions by optics and perspective must be compensated by a calibration of the measuring equipment, using special calibration patterns and surfaces. A mathematical model is used for describing the imaging properties of projector and cameras. Essentially based on the simple geometric properties of a pinhole camera, the model also has to take into account the geometric distortions and optical aberration of projector and camera lenses. The parameters of the camera as well as its orientation in space can be determined by a series of calibration measurements, using photogrammetric bundle adjustment. === Analysis of stripe patterns === There are several depth cues contained in the observed stripe patterns. The displacement of any single stripe can directly be converted into 3D coordinates. For this purpose, the individual stripe has to be identified, which can for example be accomplished by tracing or counting stripes (pattern recognition method). Another common method projects alternating stripe patterns, resulting in binary Gray code sequences identifying the number of each individual stripe hitting the object. An important depth cue also results from the varying stripe widths along the object surface. Stripe width is a function of the steepness of a surface part, i.e. the first derivative of the elevation. Stripe frequency and phase deliver similar cues and can be analyzed by a Fourier transform. Finally, the wavelet transform has recently been discussed for the same purpose. In many practical implementations, series of measurements combining pattern recognition, Gray codes and Fourier transform are obtained for a complete and unambiguous reconstruction of shapes. Another method also belonging to the area of fringe projection has been demonstrated, utilizing the depth of field of the camera. It is also possible to use projected patterns primarily as a means of structure insertion into scenes, for an essentially photogrammetric acquisition. === Precision and range === The optical resolution of fringe projection methods depends on the width of the stripes used and their optical quality. It is also limited by the wavelength of light. An extreme reduction of stripe width proves inefficient due to limitations in depth of field, camera resolution and display resolution. Therefore, the phase shift method has been widely established: A number of at least 3, typically about 10 exposures are taken with slightly shifted stripes. The first theoretical deductions of this method relied on stripes with a sine wave shaped intensity modulation, but the methods work with "rectangular" modulated stripes, as delivered from LCD or DLP displays as well. By phase shifting, surface detail of e.g. 1/10 the stripe pitch can be resolved. Current optical stripe pattern profilometry hence allows for detail resolutions down to the wavelength of light, below 1 micrometer in practice or, with larger stripe patterns, to approx. 1/10 of the stripe width. Concerning level accuracy, interpolating over several pixels of the acquired camera image can yield a reliable height resolution and also accuracy, down to 1/50 pixel. Arbitrarily large objects can be measured with accordingly large stripe patterns and setups. Practical applications are documented involving objects several meters in size. Typical accuracy figures are: Planarity of a 2-foot (0.61 m) wide surface, to 10 micrometres (0.00039 in). Shape of a motor combustion chamber to 2 micrometres (7.9×10−5 in) (elevation), yielding a volume accuracy 10 times better than with volumetric dosing. Shape of an object 2 inches (51 mm) large, to about 1 micrometre (3.9×10−5 in) Radius of a blade edge of e.g. 10 micrometres (0.00039 in), to ±0.4 μm === Navigation === As the method can measure shapes from only one perspective at a time, complete 3D shapes have to be combined from different measurements in different angles. This can be accomplished by attaching marker points to the object and combining perspectives afterwards by matching these markers. The process can be automated, by mounting the object on a motorized turntable on robotic inspection cell, or CNC positioning device. Markers can as well be applied on a positioning device instead of the object itself. The 3D data gathered can be used to retrieve CAD (computer aided design) data and models from existing components (reverse engineering), hand formed samples or sculptures, natural objects or artifacts. === Challenges === As with all optical methods, reflective or transparent surfaces raise difficulties. Reflections cause light to be reflected either away from the camera or right into its optics. In both cases, the dynamic range of the camera can be exceeded. Transparent or semi-transparent surfaces also cause major difficulties. In these cases, coating the surfaces with a thin opaque lacquer just for measuring purposes is a common practice. A recent method handles highly reflective and specular objects by inserting a 1-dimensional diffuser between the light source (e.g., projector) and the object to be scanned. Alternative optical techniques have been proposed for handling perfectly transparent and specular objects. Double reflections and inter-reflections can cause the stripe pattern to be overlaid with unwanted ligh
Yao's test
In cryptography and the theory of computation, Yao's test is a test defined by Andrew Chi-Chih Yao in 1982, against pseudo-random sequences. A sequence of words passes Yao's test if an attacker with reasonable computational power cannot distinguish it from a sequence generated uniformly at random. == Formal statement == === Boolean circuits === Let P {\displaystyle P} be a polynomial, and S = { S k } k {\displaystyle S=\{S_{k}\}_{k}} be a collection of sets S k {\displaystyle S_{k}} of P ( k ) {\displaystyle P(k)} -bit long sequences, and for each k {\displaystyle k} , let μ k {\displaystyle \mu _{k}} be a probability distribution on S k {\displaystyle S_{k}} , and P C {\displaystyle P_{C}} be a polynomial. A predicting collection C = { C k } {\displaystyle C=\{C_{k}\}} is a collection of boolean circuits of size less than P C ( k ) {\displaystyle P_{C}(k)} . Let p k , S C {\displaystyle p_{k,S}^{C}} be the probability that on input s {\displaystyle s} , a string randomly selected in S k {\displaystyle S_{k}} with probability μ ( s ) {\displaystyle \mu (s)} , C k ( s ) = 1 {\displaystyle C_{k}(s)=1} , i.e. Moreover, let p k , U C {\displaystyle p_{k,U}^{C}} be the probability that C k ( s ) = 1 {\displaystyle C_{k}(s)=1} on input s {\displaystyle s} a P ( k ) {\displaystyle P(k)} -bit long sequence selected uniformly at random in { 0 , 1 } P ( k ) {\displaystyle \{0,1\}^{P(k)}} . We say that S {\displaystyle S} passes Yao's test if for all predicting collection C {\displaystyle C} , for all but finitely many k {\displaystyle k} , for all polynomial Q {\displaystyle Q} : === Probabilistic formulation === As in the case of the next-bit test, the predicting collection used in the above definition can be replaced by a probabilistic Turing machine, working in polynomial time. This also yields a strictly stronger definition of Yao's test (see Adleman's theorem). Indeed, one could decide undecidable properties of the pseudo-random sequence with the non-uniform circuits described above, whereas BPP machines can always be simulated by exponential-time deterministic Turing machines.
Classora
Classora is a knowledge base for the Internet oriented to data analysis. From a practical point of view, Classora is a digital repository that stores structured information and allows it to be displayed in multiple formats: analytically, graphically, geographically (through maps); as well as carry out OLAP analysis. The information contained in Classora comes from public sources and is uploaded into the system through bots and ETL processes. The Knowledge Base has a commercial API for semantic enhancement, and an open web through which any user can access to part of the information collected (it also allows users to complete data and share opinions). Internally, Classora is organized into Knowledge Units and Reports. A «Knowledge Unit» is any element of the World about which information may be stored and presented in the form of a data sheet (a person, a company, a country, etc.) A «Report» is a group of Knowledge Units: a ranking of companies, a sport classification table, a survey about people, etc. In fact, one of the technical capabilities of Classora is that it allows the comparison of reports and knowledge units gathered from different sources, thereby generating an added value for the media in which this information is published: digital media, interactive TV, etc. == Key definitions == === Knowledge unit === The units of knowledge (also known as entries) in Classora are data sheets that have a certain semantic equivalence with the articles on the Wikipedia: they store information about any element of the world, be it a film, a country, a company or an animal. However, they differ from Wikipedia in that Classora stores structured information, enriched with a metadata layer; and therefore it is able to automatically interpret the meaning of each unit of knowledge. === Data report === A report is a group of units of knowledge in which the repetition of elements is not allowed. This definition includes any list, poll, ranking, etc.; and, in general, any consultation that involves more than one unit of knowledge. Classora excels at the reports management due to its visualization capabilities, being able to display data in the form of tables, graphs and maps. Types of reports: Sports scores: Sports competitions results sanctioned by the competent institution. Rankings and lists: All types of interesting and curious lists, whether they have an implicit order or not. Polls: Units of knowledge that are ranked according to users’ votes. Queries to the Knowledge Base: Questions from users using CQL. Networks of connections: automatically calculated from the reports and the taxonomy of each Knowledge Unit. === Organizational taxonomy === An organizational taxonomy (also referred to as entry type) is a data sheet that brings together the common attributes of a set of units of knowledge. For instance, the organizational taxonomy F1 Driver displays attributes such as date of debut, team, etc.; and the organizational taxonomy Football Club presents attributes such as city, stadium, etc. In Classora, taxonomies are hierarchically organized, so that they inherit attributes from their parent taxonomies. For instance, F1 Driver is a subsidiary taxonomy of Sportsperson, which is a subsidiary taxonomy of Person, which in turn is a subsidiary taxonomy of Organism. The simplest type of entry in Classora is Classora Object. All the other taxonomies are its subsidiaries and inherit its attributes. In fact, the only attribute Classora Object possesses is name (all units of knowledge are required to have one name at least). == Architecture of Classora == === Data Extraction Module === The Data Extraction Module consists of a set of robots coordinated by software that also manages the potential incidents. Most of the information available in Classora is automatically uploaded through those robots, which connect to the main online public sources to gather all types of data. There are three categories of robots: Extraction robots: responsible for the massive uploading of reports from official public sources (FIFA, CIA, IMF, Eurostat...). They are used for either absolute or incremental data uploading. Data scanner robots: responsible for looking for and updating the data of a unit of knowledge. They use specific sources to perform this task: Wikipedia, IMDB, World Bank, etc. Content aggregators: they don’t connect to external sources. Instead, they generate new information using Classora’s internal database. === Participatory Module === In Classora’s Open Website, Internet users may participate providing their knowledge as they would on the Wikipedia. There are different ways to participate: adding or correcting data in the Knowledge Base, voting in surveys (participatory rankings) and creating new Knowledge Units and Data Reports. === Connectivity Module === The Knowledge Base is designed to be embedded in multi-platform, multi-channel systems, thus enabling its integration into mobile devices, tablets, interactive TV, etc. This integration may be carried out through specific plugins (for navigators or other devices) or an API REST that provides content in XML or JSON formats. The API is divided into three blocks of operations. The first one is the block of general utility tools (ranging from autosuggest components about geographical hierarchies to operations to obtain the list of today’s celebrity birthdays, using CQL). The second one is the block of operations for widget generation (graphs, maps, rankings) using information from the knowledge base. Finally, there is a block of operations designed for the publication of free-source content. == Project statistics == As of April 2012, 2,000,000 Knowledge Units, 15,000 Reports, around 10,000 Maps and several million potential Comparative Analyses had been added to Classora. According to the site of web metrics Alexa, Classora Open Website is ranked at 100,557 globally and at 2,880 in the Spanish traffic ranking. Users spend an average of 9 ½ minutes in Classora.
Data room
Data rooms are secure spaces used for housing data, usually of a privileged or confidential nature. They can be physical data rooms, virtual data rooms (VDRs), or data centers. They are primarily used for a variety of corporate purposes, including data storage, document exchange, file sharing, financial transactions, and legal proceedings. Today, data rooms are central to workflows in mergers and acquisitions, venture capital, and corporate restructuring, increasingly utilizing artificial intelligence to securely manage and review large datasets. Historically, data rooms were strictly physical locations heavily guarded and monitored. Today, the vast majority of corporate data rooms are hosted virtually on secure cloud platforms, though physical rooms are still occasionally used for highly sensitive government or proprietary intelligence. == Physical Data Rooms == In mergers and acquisitions (M&A), the traditional data room genuinely consists of a physically secured and continually monitored room, normally in the vendor's offices or those of their legal counsel. Bidders and their advisers visit this room in order to inspect and report on various documents, legal contracts, and financial statements made available during the due diligence process. Historically, physical data rooms presented significant logistical challenges. Often, only one bidder at a time was allowed to enter to maintain document integrity and confidentiality. If new documents or new versions of documents were required, they had to be brought in by courier as hardcopies. Teams involved in large due diligence processes typically had to be flown in from many regions or countries and remain available throughout the process. Because these teams comprised a number of experts in different fields—such as legal counsel, forensic accountants, and industry specialists—the overall cost of keeping such groups on call near the physical data room was often extremely high. == Virtual Data Rooms (VDRs) == To address the costs and logistical bottlenecks of physical data rooms, virtual data rooms (VDRs) were developed to provide secure, online dissemination of confidential information. A VDR is essentially a secure cloud repository with strictly controlled access. Access is managed through secure log-ons supplied by the vendor or authority, which can be disabled at any time if a bidder withdraws from a transaction. Because much of the information released during corporate transactions is highly confidential, VDRs utilize digital rights management (DRM) to control information. Restrictions are applied to the viewers' ability to release data to third parties by disabling forwarding, copying, or printing capabilities. Modern VDRs also employ dynamic watermarking and detailed auditing capabilities. Detailed auditing is required for legal reasons so that a precise digital footprint is kept of who has viewed which version of each document, and for how long. Furthermore, modern VDR platforms are typically built to comply with stringent information security standards such as ISO 27001 and SOC 2. Transitioning from sequential physical data rooms to parallel virtual data rooms has been shown to significantly reduce the duration of M&A transactions while allowing sellers to field multiple bidders simultaneously. == Key Applications == Data rooms are commonly used by legal, accounting, investment banking, and private equity firms. Primary applications include: Mergers and Acquisitions (M&A): VDRs are central to the sell-side M&A process. After potential buyers sign a Non-Disclosure Agreement (NDA) and review a Confidential Information Memorandum (CIM), they are granted data room access to perform deep financial due diligence, such as Quality of Earnings (QoE) analysis and legal liability assessments. Venture Capital and Startups: Startups use data rooms as a centralized location for key operational data, capitalization tables, and financial projections to streamline due diligence for angel investors and venture capital firms during fundraising rounds. Initial Public Offerings (IPOs): Taking a company public requires intense regulatory scrutiny. Data rooms are used to securely share company histories and financial audits with investment bankers, legal teams, and regulatory bodies. Corporate Restructuring and Insolvency: During bankruptcies or corporate carve-outs, data rooms are used to organize outstanding debt profiles, creditor agreements, and operational liabilities. == Emerging Technologies == In recent years, the management of virtual data rooms has increasingly incorporated Artificial Intelligence (AI) and Machine Learning (ML). Generative AI and Natural Language Processing (NLP) tools are now integrated into VDRs to automatically index thousands of documents, perform auto-redaction of personally identifiable information (PII), and assist buy-side analysts in identifying hidden liabilities within unstructured text data during the due diligence phase. Modern AI algorithms can extract line items from financial statements to instantly populate structured databases.
Instance selection
Instance selection (or dataset reduction, or dataset condensation) is an important data pre-processing step that can be applied in many machine learning (or data mining) tasks. Approaches for instance selection can be applied for reducing the original dataset to a manageable volume, leading to a reduction of the computational resources that are necessary for performing the learning process. Algorithms of instance selection can also be applied for removing noisy instances, before applying learning algorithms. This step can improve the accuracy in classification problems. Algorithm for instance selection should identify a subset of the total available data to achieve the original purpose of the data mining (or machine learning) application as if the whole data had been used. Considering this, the optimal outcome of IS would be the minimum data subset that can accomplish the same task with no performance loss, in comparison with the performance achieved when the task is performed using the whole available data. Therefore, every instance selection strategy should deal with a trade-off between the reduction rate of the dataset and the classification quality. == Instance selection algorithms == The literature provides several different algorithms for instance selection. They can be distinguished from each other according to several different criteria. Considering this, instance selection algorithms can be grouped in two main classes, according to what instances they select: algorithms that preserve the instances at the boundaries of classes and algorithms that preserve the internal instances of the classes. Within the category of algorithms that select instances at the boundaries it is possible to cite DROP3, ICF and LSBo. On the other hand, within the category of algorithms that select internal instances, it is possible to mention ENN and LSSm. In general, algorithm such as ENN and LSSm are used for removing harmful (noisy) instances from the dataset. They do not reduce the data as the algorithms that select border instances, but they remove instances at the boundaries that have a negative impact on the data mining task. They can be used by other instance selection algorithms, as a filtering step. For example, the ENN algorithm is used by DROP3 as the first step, and the LSSm algorithm is used by LSBo. There is also another group of algorithms that adopt different selection criteria. For example, the algorithms LDIS, CDIS and XLDIS select the densest instances in a given arbitrary neighborhood. The selected instances can include both, border and internal instances. The LDIS and CDIS algorithms are very simple and select subsets that are very representative of the original dataset. Besides that, since they search by the representative instances in each class separately, they are faster (in terms of time complexity and effective running time) than other algorithms, such as DROP3 and ICF. Besides that, there is a third category of algorithms that, instead of selecting actual instances of the dataset, select prototypes (that can be synthetic instances). In this category it is possible to include PSSA, PSDSP and PSSP. The three algorithms adopt the notion of spatial partition (a hyperrectangle) for identifying similar instances and extract prototypes for each set of similar instances. In general, these approaches can also be modified for selecting actual instances of the datasets. The algorithm ISDSP adopts a similar approach for selecting actual instances (instead of prototypes).
Data storage
Data storage is the recording (storing) of information (data) in a storage medium. Handwriting, phonographic recording, magnetic tape, and optical discs are all examples of storage media. Biological molecules such as RNA and DNA are considered by some as data storage. Recording may be accomplished with virtually any form of energy. Electronic data storage requires electrical power to store and retrieve data. Data stored in a digital, machine-readable medium is called digital data. Computer data storage is one of the core functions of a general-purpose computer. Electronic documents can be stored in much less space than paper documents. Barcodes and magnetic ink character recognition (MICR) are two ways of recording machine-readable data on paper. == Recording media == A recording medium is physical material that holds information. Newly created information is distributed and can be stored in four storage media–print, film, magnetic, and optical–and seen or heard in four information flows–telephone, radio, TV, and the Internet as well as being observed directly. Digital information is stored on electronic media in many different recording formats. With electronic media, the data and the recording media are sometimes referred to as "software" despite the more common use of the word to describe computer software. With (traditional art) static media, art materials such as crayons may be considered both equipment and medium as the wax, charcoal or chalk material from the equipment becomes part of the surface of the medium. Some recording media may be temporary, either by design or by nature. Volatile organic compounds may be used to purposely make data expire over time or to reduce environmental impact. Data such as smoke signals or skywriting are temporary by nature. Depending on the volatility, a gas (e.g., atmosphere, smoke) or a liquid surface such as a lake would be considered a temporary recording medium, if it could be considered a recording medium at all. == Global capacity, digitization, and trends == A 2003 UC Berkeley report estimated that about five exabytes of new information were produced in 2002 and that 92% of this data was stored on magnetic media (primarily hard disk drives). This was about twice the data produced in 1999. The amount of data transmitted over telecommunications systems in 2002 was nearly 18 exabytes—three and a half times more than was recorded on non-volatile storage. Telephone calls constituted 98% of the telecommunicated information in 2002. The researchers' highest estimate for the growth rate of newly stored information (uncompressed) was more than 30% per year. In a more limited study, the International Data Corporation estimated that the total amount of digital data in 2007 was 281 exabytes and that the total amount of digital data produced exceeded the global storage capacity for the first time. A 2011 article in Science estimated that the year 2002 was the beginning of the digital age for information storage: an age in which more information is stored on digital storage devices than on analog storage devices. In 1986, approximately 1% of the world's capacity to store information was in digital format; this grew to 3% by 1993, to 25% by 2000, and to 94% by 2007. These figures correspond to less than three compressed exabytes in 1986, and 295 compressed exabytes in 2007. The quantity of digital storage doubled roughly every three to four years. It is estimated that around 120 zettabytes of data will be generated in 2023, an increase of 60x from 2010, and that it will increase to 181 zettabytes generated in 2025. == Mass storage ==