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  Visual servoing

  Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all

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  Zero-day vulnerability

  A zero-day (also known as a 0-day) is a vulnerability or security hole in a computer system unknown to its developers or anyone capable of mitigating it. Until the vulnerability is remedied, threat actors can exploit it in a zero-day exploit, or zero-day attack. The term "zero-day" originally referred to the number of days since a new piece of software was released to the public, so "zero-day software" was obtained by hacking into a developer's computer before release. Eventually the term was applied to the vulnerabilities that allowed this hacking, and to the number of days that the vendor has had to fix them. Vendors who discover the vulnerability may create patches or advise workarounds to mitigate it, though users need to deploy that mitigation to eliminate the vulnerability in their systems. Zero-day attacks are severe threats. == Definition == Despite developers' goal of delivering a product that works entirely as intended, virtually all products contain software and hardware bugs. If a bug creates a security risk, it is called a vulnerability. Vulnerabilities vary in their ability to be exploited by malicious actors. Some are not usable at all, while others can be used to disrupt the device with a denial of service attack. The most dangerous allow the attacker to inject and run their own code, without the user being aware of it. Although the term "zero-day" initially referred to the time since the vendor had become aware of the vulnerability, zero-day vulnerabilities can also be defined as the subset of vulnerabilities for which no patch or other fix is available. A zero-day exploit is any exploit that takes advantage of such a vulnerability. == Exploits == An exploit is the delivery mechanism that takes advantage of the vulnerability to penetrate the target's systems, for such purposes as disrupting operations, installing malware, or exfiltrating data. Researchers Lillian Ablon and Andy Bogart write that "little is known about the true extent, use, benefit, and harm of zero-day exploits". Exploits based on zero-day vulnerabilities are considered more dangerous than those that take advantage of a known vulnerability. However, it is likely that most cyberattacks use known vulnerabilities, not zero-days. Governments of states are the primary users of zero-day exploits, not only because of the high cost of finding or buying vulnerabilities, but also the significant cost of writing the attack software. Nevertheless, anyone can use a vulnerability, and according to research by the RAND Corporation, "any serious attacker can always get an affordable zero-day for almost any target". Many targeted attacks and most advanced persistent threats rely on zero-day vulnerabilities. In 2017, the average time to develop an exploit from a zero-day vulnerability was estimated at 22 days. The difficulty of developing exploits has been increasing over time due to increased anti-exploitation features in popular software. === Window of vulnerability === Zero-day vulnerabilities are often classified as alive—meaning that there is no public knowledge of the vulnerability—and dead—the vulnerability has been disclosed, but not patched. If the software's maintainers are actively searching for vulnerabilities, it is a living vulnerability; such vulnerabilities in unmaintained software are called immortal. Zombie vulnerabilities can be exploited in older versions of the software but have been patched in newer versions. Even publicly known and zombie vulnerabilities are often exploitable for an extended period. Security patches can take months to develop, or may never be developed. A patch can have negative effects on the functionality of software and users may need to test the patch to confirm functionality and compatibility. Larger organizations may fail to identify and patch all dependencies, while smaller enterprises and personal users may not install patches. Research suggests that risk of cyberattack increases if the vulnerability is made publicly known or a patch is released. Cybercriminals can reverse engineer the patch to find the underlying vulnerability and develop exploits, often faster than users install the patch. According to research by RAND Corporation published in 2017, zero-day exploits remain usable for 6.9 years on average, although those purchased from a third party only remain usable for 1.4 years on average. The researchers were unable to determine if any particular platform or software (such as open-source software) had any relationship to the life expectancy of a zero-day vulnerability. Although the RAND researchers found that 5.7 percent of a stockpile of secret zero-day vulnerabilities will have been discovered by someone else within a year, another study found a higher overlap rate, as high as 10.8 percent to 21.9 percent per year. == Countermeasures == Because, by definition, there is no patch that can block a zero-day exploit, all systems employing the software or hardware with the vulnerability are at risk. This includes secure systems such as banks and governments that have all patches up to date. Security systems are designed around known vulnerabilities, and repeated exploitations of a zero-day exploit could continue undetected for an extended period of time. Although there have been many proposals for a system that is effective at detecting zero-day exploits, this remains an active area of research in 2023. Many organizations have adopted defense-in-depth tactics so that attacks are likely to require breaching multiple levels of security, which makes it more difficult to achieve. Conventional cybersecurity measures such as training and access control — including multi-factor authentication, least-privilege access, and air-gapping makes it harder to compromise systems with a zero-day exploit. Since writing perfectly secure software is impossible, some researchers argue that driving up the cost of exploits is considered a good strategy to reduce the burden of cyberattacks. == Market == Zero-day exploits can fetch millions of dollars. There are three main types of buyers: White: the vendor, or to third parties such as the Zero Day Initiative that disclose to the vendor. Often such disclosure is in exchange for a bug bounty. Not all companies respond positively to disclosures, as they can cause legal liability and operational overhead. It is not uncommon to receive cease-and-desist letters from software vendors after disclosing a vulnerability for free. Gray: the largest and most lucrative. Government or intelligence agencies buy zero-days and may use it in an attack, stockpile the vulnerability, or notify the vendor. The United States federal government is one of the largest buyers. As of 2013, the Five Eyes (United States, United Kingdom, Canada, Australia, and New Zealand) captured the plurality of the market and other significant purchasers included Russia, India, Brazil, Malaysia, Singapore, North Korea, and Iran. Middle Eastern countries were poised to become the biggest spenders. Black: organized crime, which typically prefers exploit software rather than just knowledge of a vulnerability. These users are more likely to employ "half-days" where a patch is already available. In 2015, the markets for government and crime were estimated at least ten times larger than the white market. Sellers are often hacker groups that seek out vulnerabilities in widely used software for financial reward. Some will only sell to certain buyers, while others will sell to anyone. White market sellers are more likely to be motivated by non pecuniary rewards such as recognition and intellectual challenge. Selling zero-day exploits is legal. Despite calls for more regulation, law professor Mailyn Fidler says there is little chance of an international agreement because key players such as Russia and Israel are not interested. The sellers and buyers that trade in zero-days tend to be secretive, relying on non-disclosure agreements and classified information laws to keep the exploits secret. If the vulnerability becomes known, it can be patched and its value consequently crashes. Because the market lacks transparency, it can be hard for parties to find a fair price. Sellers might not be paid if the vulnerability was disclosed before it was verified, or if the buyer declined to purchase it but used it anyway. With the proliferation of middlemen, sellers could never know to what use the exploits could be put. Buyers could not guarantee that the exploit was not sold to another party. Both buyers and sellers advertise on the dark web. Research published in 2022 based on maximum prices paid as quoted by a single exploit broker found a 44 percent annualized inflation rate in exploit pricing. Remote zero-click exploits could fetch the highest price, while those that require local access to the device are much cheaper. Vulnerabilities in widely used software are also more expensive. They estimated that around 400 to 1,500 people sold exploits to th

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  VOCEDplus

  VOCEDplus is a free international research database about tertiary education, maintained and developed by staff at the c (NCVER) in Adelaide, South Australia. The focus of the database content is the relation of post-compulsory education and training to workforce needs, skills development, and social inclusion. == Structure == The content of the VOCEDplus database encompasses vocational education and training (VET), higher education, lifelong learning, informal learning, VET in schools, adult and community education, apprenticeships/traineeships, international education, providers of education and training, and workforce development. It is international in scope and contains over 84,000 English language records, many with links to full text documents. VOCEDplus contains extensive Australian materials and includes a wide range of international information, covering outcomes of tertiary education in the shape of published research, practice, policy, and statistics. Entries are included for the following types of publications: reports; annual reports; papers; discussion papers; occasional papers; working papers; books; book chapters; conference papers; conference proceedings; journals; journal articles; policy documents; published statistics; theses; podcasts; and teaching and training materials. Each database entry contains standard bibliographic information and an abstract. Many entries include full text access via the publisher's website or a digitised copy. == History == === 1989-1997 === In the early years VOCEDplus was known as VOCED. The original database was produced by a network of clearinghouses across Australia with the aim of sharing activities in the technical and further education (TAFE) sector. VOCED was produced in hardcopy and an electronic version was distributed on diskette. === 1997-2001 === 1997 - the first web version of VOCED was made available from the National Centre for Vocational Education Research (NCVER) organisational website 1998 - a major project to upgrade the database and expand its international coverage commenced 2001 - creation of VOCED's own website 2001 - VOCED endorsed as the UNESCO international database for technical and vocational education and training (TVET) research information === 2001-2009 === Many changes to the database and website occurred during this period with a focus on continuous improvement to meet the needs of users and utilise emerging technologies. 2006 - materials produced for two adult literacy and learning programs funded by the Australian Department of Education, Employment and Workplace Relations (DEEWR) - the Workplace English Language and Learning (WELL) Programme and the Adult Literacy National Project (ALNP) included in VOCED 2007 - the Australian clearinghouse network transferred most of the hardcopy collections to NCVER, to form a centralised repository of resources 2009 - materials produced by Reframing the Future (RTF) a vocational education and training workforce development initiative of the Australian, State and Territory Governments included in VOCED === 2009-2014 === A major rebuild of the database and website was undertaken during this period to take advantage of the potential of new technologies to provide improved services and incorporate Web 2.0 technologies (RSS feeds, and share and bookmark tools). 2009 - scope expanded to more fully encompass the higher education sector 2011 - launch of VOCEDplus with the name change representing the enhanced features and extended focus 2012 - a major retrospective digitisation project commenced and by the end of the 2012-2013 financial year a total of 9,328 publications (593,534 pages/microfiche frames) had been digitised, ensuring these publications are available electronically for free === 2014-2019 === A number of significant curated content products were released during this period. 2015 - release of a refreshed look to adopt the new NCVER branding plus a number of search enhancements (Guided search, Expert search, and Glossary search) were added 2015 - first in the series of 'Focus on...' pages released 2016 - launch of the 'Pod Network', a convenient and efficient platform that allows instant access to research and a multitude of resources on a range of subjects 2017 - completion of the 'Pod Network', consisting of 20 Pods (on broad subjects including Apprenticeships and traineeships, Foundation skills, Teaching and learning, Career development, and Students) and 74 Podlets (on narrow topics including Online learning, Social media, VET in schools, STEM skills, and Adult literacy) 2018 - launch of the 'Timeline of Australian VET Policy Initiatives' and the 'VET Knowledge Bank' which contains a suite of products capturing Australia's diverse, complex and ever-changing VET system 2019 - after an internal review, a refreshed, streamlined version of the 'Pod Network' was released, consisting of 13 Pods and 20 Podlets 2019 - launch of the 'VET Practitioner Resource' which contains a range of information to support VET practitioners in their work and is organised into three sections: (1) Teaching, training and assessment: standards, guidance, research and good practice resources to inform daily work; (2) Practitioners as researchers: information for undertaking practitioner-led research; and (3) The VET workforce: information about VET teachers and trainers, and the professional development needs of the VET workforce 2019 - VOCEDplus celebrated 30 years of providing information to the tertiary education sector and the homepage was refreshed to make it more modern and easier to use === 2020- === VOCEDplus continued to be accessible throughout the COVID-19 pandemic. 2020-2021 - the VET Knowledge Bank added a dedicated page, 'COVID-19 announcements', that showcases the measures introduced by the Australian, state and territory governments to mitigate the impact of the pandemic and promote economic recovery 2020-2024 - published research about the effects of the pandemic on education and training, providers, students, labour markets, employment and employees was collected and made permanently available in the database 2024 - VOCEDplus celebrated 35 years of providing information to the tertiary education sector. The homepage was refreshed and a number of enhancements and new features were implemented including a new My Profile feature, improvements to My Selection, accessible search history and saved searches, enhanced search functionality, and improved navigation.

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  Content Threat Removal

  Content Threat Removal (CTR) is a cybersecurity technology intended to defeat the threat posed by handling digital content in the cyberspace. Unlike other defenses, including antivirus software and sandboxed execution, CTR does not rely on being able to detect threats. Similar to Content Disarm and Reconstruction, CTR is designed to remove the threat without knowing whether it has done so and acts without knowing if data contains a threat or not. Detection strategies work by detecting unsafe content, and then blocking or removing that content. Content that is deemed safe is delivered to its destination. In contrast, Content Threat Removal assumes all data is hostile and delivers none of it to the destination, regardless of whether it is actually hostile. Although no data is delivered, the business information carried by the data is delivered using new data created for the purpose. == Threat == Advanced attacks continuously defeat defenses that are based on detection. These are often referred to as zero-day attacks, because as soon as they are discovered attack detection mechanisms must be updated to identify and neutralize the attack, and until they are, all systems are unprotected. These attacks succeed because attackers find new ways of evading detection. Polymorphic code can be used to evade the detection of known unsafe data and sandbox detection allows attacks to evade dynamic analysis. == Method == A Content Threat Removal defence works by intercepting data on its way to its destination. The business information carried by the data is extracted and the data is discarded. Then entirely new, clean and safe data is built to carry the information to its destination. The effect of building new data to carry the business information is that any unsafe elements of the original data are left behind and discarded. This includes executable data, macros, scripts and malformed data that trigger vulnerabilities in applications. While CTR is a form of content transformation, not all transformations provide a complete defence against the content threat. == Applicability == CTR is applicable to user-to-user traffic, such as email and chat, and machine-to-machine traffic, such as web services. Data transfers can be intercepted by in-line application layer proxies and these can transform the way information content is delivered to remove any threat. CTR works by extracting business information from data and it is not possible to extract information from executable code. This means CTR is not directly applicable to web browsing, since most web pages are code. It can, however, be applied to content that is downloaded from, and uploaded to, websites. Although most web pages cannot be transformed to render them safe, web browsing can be isolated and the remote access protocols used to reach the isolated environment can be subjected to CTR. CTR provides a solution to the problem of stegware. It naturally removes detectable steganography and eliminates symbiotic and permutation steganography through normalisation.

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  Artificial reproduction

  Artificial reproduction is the re-creation of life brought about by means other than natural ones. It is new life built by human plans and projects. Examples include artificial selection, artificial insemination, in vitro fertilization, artificial womb, artificial cloning, and kinematic replication. Artificial reproduction is one aspect of artificial life. Artificial reproduction can be categorized into one of two classes according to its capacity to be self-sufficient: non-assisted reproductive technology and assisted reproductive technology. Cutting plants' stems and placing them in compost is a form of assisted artificial reproduction, xenobots are an example of a more autonomous type of reproduction, while the artificial womb presented in the movie the Matrix illustrates a non assisted hypothetical technology. The idea of artificial reproduction has led to various technologies. == Theology == Humans have aspired to create life since immemorial times. Most theologies and religions have conceived this possibility as exclusive of deities. Christian religions consider the possibility of artificial reproduction, in most cases, as heretical and sinful. == Philosophy == Although ancient Greek philosophy raised the concept that man could imitate the creative capacity of nature, classic Greeks thought that if possible, human beings would reproduce things as nature does, and vice versa, nature would do the things that man does in the same way. Aristotle, for example, wrote that if nature made tables, it would make them just as men do. In other words, Aristotle said that if nature were to create a table, such table will look like a human-made table. Correspondingly, Descartes envisioned the human body, and nature, as a machine. Cartesian philosophy does not stop seeing a perfect mirror between nature and the artificial. However, Kant revolutionized this old idea by criticizing such naturalism. Kant pedagogically wrote: "Reason, in order to be taught by nature, must approach nature with its principles in one hand, according to which the agreement among appearances can count as laws, and, in the other hand, the experiment thought out in accord with these principles—in order to be instructed by nature not like a pupil, who has recited to him whatever the teacher wants to say, but like an appointed judge who compels witnesses to answer the questions he puts to them.". Humans are not instructed by nature but rather use nature as raw material to invent. Humans find alternatives to the natural restrictions imposed by natural laws thus, nature is not necessarily mirrored. In accordance with Kant (and contrary to what Aristotle thought) Karl Marx, Alfred Whitehead, Jaques Derrida and Juan David García Bacca noticed that nature is incapable of reproducing tables; or airplanes, or submarines, or computers. If nature tried to create airplanes, it would produce birds. If nature tried to create submarines, it would get fishes. If nature tried to create computers, brains would grow. And if nature tried to create man, modern man, monkeys will be evolved. According to Whitehead, if we look for something natural in artificial life, in the most elaborate cases, if anything, only atoms remain natural. Juan David Garcia Bacca summarized, “It will not come out from wood, it will not be born, a galley; from clay, a vessel; from linen, a dress; from iron, a lever,...From natural, artificial. In the artificial, the natural is reduced to a simple raw material, even though it is perfectly specified with natural specification. The artificial is the real, positive, and original negation of the natural: of species, of genus and of essence. Thus, its ontology is superior to natural ontology. And for this very reason Marx did not attach any importance to Darwin, whose evolutionism is confined to the natural order: to changes, at most, from variety to variety, from species to species... natural. For the same reason, nature has no dialectics, even though continuous evolution and selection can occur. The dialectic cannot emerge from the natural, for deeper reasons than, using today's terms, from a bird, an airplane cannot emerge; from fish, a submarine; from ears, a telephone; from eyes, a television; from a brain, a digital computer; from feet, a car; from hands, an engine; from Euclid, Descartes; from Aristotle, Newton; from Plato, Marx.” According to García Bacca, the major difference between natural causes and artificial causes is that nature does not have plans and projects, while humans design things following plans and projects. In contrast, other influential authors such as Michael Behe have depicted the concept and promoted the idea of intelligent design, a notion that has aroused several doubts and heated controversies, as it reframe natural causes in accordance with a natural plan. Previous ideas that have also provided a positive 'sense' to natural reproduction, are orthogenesis, syntropy, orgone and morphic resonance, among others. Although, these ideas have been historically marginalized and often called pseudoscience, recently Bio-semioticians are reconsidering some of them under symbolic approaches. Current metaphysics of science actually recognizes that the artificial ways of reproduction are diverse from nature, i.e., unnatural, anti-natural or supernatural. Because Biosemiotics does not focus on the function of life but on its meaning, it has a better understanding of the artificial than classic biology. == Science == Biology, being the study of cellular life, addresses reproduction in terms of growth and cellular division (i.e., binary fission, mitosis and meiosis); however, the science of artificial reproduction is not restricted by the mirroring of these natural processes.The science of artificial reproduction is actually transcending the natural forms, and natural rules, of reproduction. For example, xenobots have redefined the classical conception of reproduction. Although xenobots are made of eukariotic cells they do not reproduce by mitosis, but rather by kinematic replication. Such constructive replication does not involve growing but rather building. == Assisted reproductive technologies == Assisted reproductive technology (ART)'s purpose is to assist the development of a human embryo, commonly because of medical concerns due to fertility limitations. == Non-assisted reproductive technologies == Non-assisted reproductive technologies (NART) could have medical motivations but are mostly driven by a wider heterotopic ambition. Although, NARTs are initially designed by humans, they are programed to become independent of humans to a relative or absolute extent. James Lovelock proposed that such novelties could overcome humans. === Artificial cloning === Cloning is the cellular reproductive processes where two or more genetically identical organisms are created, either by natural or artificial means. Artificial cloning normally involves editing the genetic code, somatic cell nuclear transfer and 3D bioprinting. === Non-assisted artificial womb === A non-assisted artificial womb or artificial uterus is a device that allow for ectogenesis or extracorporeal pregnancy by growing an embryonic form outside the body of an organism (that would normally carry the embryo to term) without any human assistance. The aspect of non-assistance is the key distinction between the current artificial womb technology (AWT) in modern medical research, which still relies on human assistance. With this non-assisted hypothetical technology, a zygote or stem cells are used to create an embryo that is then incubated and monitored by artificial intelligence (AI) within a chamber composed of biocompatible material. The AI maintains the necessary conditions for the embryo to develop and thrive, proceeding to mimic organic labor and childbirth in order to best help the embryo adjust to the outside world. Ectogenesis—gestation, depicted in the science fiction movie The Matrix, is a fast approaching reality. This type of innovation presupposes that vertebrate wombs are not the only way for bearing humans or other similar forms of life. === Kinematic replication === Self-replication without binary fission, meiosis, mitosis (or any other form of cellular reproduction that involves division and growing) can be achieved. Xenobots are an example of kinematic replication. They are biobots, named after the African clawed frog (Xenopus laevis). Xenobots are cellular life forms designed by using artificial intelligence to build more of themselves by combining frog cells in a liquid medium. The term kinematic replication is usually reserved for biomolecules (e.g. DNA, RNA, prions, etc.) and artificially designed cellular forms (e.g. xenobots). === Machine constructive replication === Machine constructive replication mimics human traditional manufacturing but is entirely self-automated. Such constructive replication is a more general form of kinematic replication, which does not necessarily

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  System Service Descriptor Table

  The System Service Descriptor Table (SSDT) is an internal dispatch table within Microsoft Windows. == Function == The SSDT maps syscalls to kernel function addresses. When a syscall is issued by a user space application, it contains the service index as parameter to indicate which syscall is called. The SSDT is then used to resolve the address of the corresponding function within ntoskrnl.exe. In modern Windows kernels, two SSDTs are used: One for generic routines (KeServiceDescriptorTable) and a second (KeServiceDescriptorTableShadow) for graphical routines. A parameter passed by the calling userspace application determines which SSDT shall be used. == Hooking == Modification of the SSDT allows to redirect syscalls to routines outside the kernel. These routines can be either used to hide the presence of software or to act as a backdoor to allow attackers permanent code execution with kernel privileges. For both reasons, hooking SSDT calls is often used as a technique in both Windows kernel mode rootkits and antivirus software. In 2010, many computer security products which relied on hooking SSDT calls were shown to be vulnerable to exploits using race conditions to attack the products' security checks.

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  ImageNet

  The ImageNet project is a large visual database designed for use in visual object recognition software research. More than 14 million images have been hand-annotated by the project to indicate what objects are pictured and in at least one million of the images, bounding boxes are also provided. ImageNet contains more than 20,000 categories, with a typical category, such as "balloon" or "strawberry", consisting of several hundred images. The database of annotations of third-party image URLs is freely available directly from ImageNet, though the actual images are not owned by ImageNet. Since 2010, the ImageNet project runs an annual software contest, the ImageNet Large Scale Visual Recognition Challenge (ILSVRC), where software programs compete to correctly classify and detect objects and scenes. The challenge uses a "trimmed" list of one thousand non-overlapping classes. == History == AI researcher Fei-Fei Li began working on the idea for ImageNet in 2006. At a time when most AI research focused on models and algorithms, Li wanted to expand and improve the data available to train AI algorithms. In 2007, Li met with Princeton professor Christiane Fellbaum, one of the creators of WordNet, to discuss the project. As a result of this meeting, Li went on to build ImageNet starting from the roughly 22,000 nouns of WordNet and using many of its features. She was also inspired by a 1987 estimate that the average person recognizes roughly 30,000 different kinds of objects. As an assistant professor at Princeton, Li assembled a team of researchers to work on the ImageNet project. They used Amazon Mechanical Turk to help with the classification of images. Labeling started in July 2008 and ended in April 2010. It took 49K workers from 167 countries filtering and labeling over 160M candidate images. They had enough budget to have each of the 14 million images labelled three times. The original plan called for 10,000 images per category, for 40,000 categories at 400 million images, each verified 3 times. They found that humans can classify at most 2 images/sec. At this rate, it was estimated to take 19 human-years of labor (without rest). They presented their database for the first time as a poster at the 2009 Conference on Computer Vision and Pattern Recognition (CVPR) in Florida, titled "ImageNet: A Preview of a Large-scale Hierarchical Dataset". The poster was reused at Vision Sciences Society 2009. In 2009, Alex Berg suggested adding object localization as a task. Li approached PASCAL Visual Object Classes contest in 2009 for a collaboration. It resulted in the subsequent ImageNet Large Scale Visual Recognition Challenge starting in 2010, which has 1000 classes and object localization, as compared to PASCAL VOC which had just 20 classes and 19,737 images (in 2010). === Significance for deep learning === On 30 September 2012, a convolutional neural network (CNN) called AlexNet achieved a top-5 error of 15.3% in the ImageNet 2012 Challenge, more than 10.8 percentage points lower than that of the runner-up. Using convolutional neural networks was feasible due to the use of graphics processing units (GPUs) during training, an essential ingredient of the deep learning revolution. According to The Economist, "Suddenly people started to pay attention, not just within the AI community but across the technology industry as a whole." In 2015, AlexNet was outperformed by Microsoft's very deep CNN with over 100 layers, which won the ImageNet 2015 contest, having 3.57% error on the test set. Andrej Karpathy estimated in 2014 that with concentrated effort, he could reach 5.1% error rate, and ~10 people from his lab reached ~12-13% with less effort. It was estimated that with maximal effort, a human could reach 2.4%. == Dataset == ImageNet crowdsources its annotation process. Image-level annotations indicate the presence or absence of an object class in an image, such as "there are tigers in this image" or "there are no tigers in this image". Object-level annotations provide a bounding box around the (visible part of the) indicated object. ImageNet uses a variant of the broad WordNet schema to categorize objects, augmented with 120 categories of dog breeds to showcase fine-grained classification. In 2012, ImageNet was the world's largest academic user of Mechanical Turk. The average worker identified 50 images per minute. The original plan of the full ImageNet would have roughly 50M clean, diverse and full resolution images spread over approximately 50K synsets. This was not achieved. The summary statistics given on April 30, 2010: Total number of non-empty synsets: 21841 Total number of images: 14,197,122 Number of images with bounding box annotations: 1,034,908 Number of synsets with SIFT features: 1000 Number of images with SIFT features: 1.2 million === Categories === The categories of ImageNet were filtered from the WordNet concepts. Each concept, since it can contain multiple synonyms (for example, "kitty" and "young cat"), so each concept is called a "synonym set" or "synset". There were more than 100,000 synsets in WordNet 3.0, majority of them are nouns (80,000+). The ImageNet dataset filtered these to 21,841 synsets that are countable nouns that can be visually illustrated. Each synset in WordNet 3.0 has a "WordNet ID" (wnid), which is a concatenation of part of speech and an "offset" (a unique identifying number). Every wnid starts with "n" because ImageNet only includes nouns. For example, the wnid of synset "dog, domestic dog, Canis familiaris" is "n02084071". The categories in ImageNet fall into 9 levels, from level 1 (such as "mammal") to level 9 (such as "German shepherd"). === Image format === The images were scraped from online image search (Google, Picsearch, MSN, Yahoo, Flickr, etc) using synonyms in multiple languages. For example: German shepherd, German police dog, German shepherd dog, Alsatian, ovejero alemán, pastore tedesco, 德国牧羊犬. ImageNet consists of images in RGB format with varying resolutions. For example, in ImageNet 2012, "fish" category, the resolution ranges from 4288 x 2848 to 75 x 56. In machine learning, these are typically preprocessed into a standard constant resolution, and whitened, before further processing by neural networks. For example, in PyTorch, ImageNet images are by default normalized by dividing the pixel values so that they fall between 0 and 1, then subtracting by [0.485, 0.456, 0.406], then dividing by [0.229, 0.224, 0.225]. These are the mean and standard deviations for ImageNet, so this whitens the input data. === Labels and annotations === Each image is labelled with exactly one wnid. Dense SIFT features (raw SIFT descriptors, quantized codewords, and coordinates of each descriptor/codeword) for ImageNet-1K were available for download, designed for bag of visual words. The bounding boxes of objects were available for about 3000 popular synsets with on average 150 images in each synset. Furthermore, some images have attributes. They released 25 attributes for ~400 popular synsets: Color: black, blue, brown, gray, green, orange, pink, red, violet, white, yellow Pattern: spotted, striped Shape: long, round, rectangular, square Texture: furry, smooth, rough, shiny, metallic, vegetation, wooden, wet === ImageNet-21K === The full original dataset is referred to as ImageNet-21K. ImageNet-21k contains 14,197,122 images divided into 21,841 classes. Some papers round this up and name it ImageNet-22k. The full ImageNet-21k was released in Fall of 2011, as fall11_whole.tar. There is no official train-validation-test split for ImageNet-21k. Some classes contain only 1-10 samples, while others contain thousands. === ImageNet-1K === There are various subsets of the ImageNet dataset used in various context, sometimes referred to as "versions". One of the most highly used subsets of ImageNet is the "ImageNet Large Scale Visual Recognition Challenge (ILSVRC) 2012–2017 image classification and localization dataset". This is also referred to in the research literature as ImageNet-1K or ILSVRC2017, reflecting the original ILSVRC challenge that involved 1,000 classes. ImageNet-1K contains 1,281,167 training images, 50,000 validation images and 100,000 test images. Each category in ImageNet-1K is a leaf category, meaning that there are no child nodes below it, unlike ImageNet-21K. For example, in ImageNet-21K, there are some images categorized as simply "mammal", whereas in ImageNet-1K, there are only images categorized as things like "German shepherd", since there are no child-words below "German shepherd". === Later developments === In the WordNet they built ImageNet on, there were 2832 synsets in the "person" subtree. During 2018--2020 period, they removed the download of the ImageNet-21k as they went through extensive filtering in these person synsets. Out of these 2832 synsets, 1593 were deemed "potentially offensive". Out of the remaining 1239, 1081 were deemed not really "visual". The result was that only 158 syn

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  Event store

  An event store is a type of database optimized for storage of events. Conceptually, an event store records only the events affecting an entity, dossier, or policy, and the state of the entity at any point in its history can be reconstructed by replaying its contributing events in sequential order. Events (and their corresponding data) are the only "real" facts that should be stored in the database. All other objects can be derived from these events, meaning they are instantiated in memory by runtime code as needed (e.g. for showing in a user interface). In theory, any object that aggregates over recorded event data is not stored in the database. Instead these objects are built 'on the fly', by traversing the event history. When the aggregated object instance is no longer needed, it can simply be discarded (released from memory). == Example with insurance policies == For example, the event store concept of a database can be applied to insurance policies or pension dossiers. In these policies or dossiers the instantiation of each object that make up the dossier or policy (the person, partner(s), employments, etc.) can be derived and can be instantiated in memory based on the real world events. == Double timeline == A crucial part of an event store database is that each event has a double timeline: This enables event stores to correct errors of events that have been entered into the event store database before. The two dates are: Valid date is the date at which the event has become valid. Transaction date is the date at which the event is entered into the database. == Error correction == Another crucial part of an event store database is that events that are stored are not allowed to be changed. Once stored, also erroneous events are not changed anymore. The only way to change (or better: correct) these events is to instantiate a new event with the new values and using the double timeline. A correcting event would have the new values of the original event, with an event data of that corrected event, but a different transaction date. This mechanism ensures reproducibility at each moment in the time, even in the time period before the correction has taken place. It also allows to reproduce situations based on erroneous events (if required). == Advantages and disadvantages == One advantage of the event store concept is that handling the effects of back dated events (events that take effect before previous events and that may even invalidate them) is much easier. An event store will simplify the code in that rolling back erroneous situations and rolling up the new, correct situations is not needed anymore. Disadvantage may be that the code needs to re-instantiate all objects in memory based on the events each time a service call is received for a specific dossier or policy. == Compared to regular databases == In regular databases, handling backdated events to correct previous, erroneous events can be painful as it often results in rolling back all previous, erroneous transactions and objects and rolling up the new, correct transactions and objects. In an event store, only the new event (and its corresponding facts) are stored. The code will then redetermine the transactions and objects based on the new facts in memory.

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  Biohybrid system

  Biohybrid systems refer to the integration of biological materials, such as cells or tissues, with artificial components, including electronics or mechanical structure. This combination incorporates the capabilities of living organisms with the precision of man-made technology. As a result, these systems perform tasks that neither biology nor machines could achieve independently. Biohybrid systems might use lab-cultured muscle cells to power small robots or combine sensors with living tissue for better health sensing. The intent behind these systems is to combine the benefits of biological and technological components to introduce new solutions for complex medical challenges. Biohybrid systems may have transformative potential across sectors, such as robotics to create actuators and sensors that mimic natural muscle and nerve function, medicine in developing smart implants and drug delivery systems, in prosthetics for enhancing user control through neural or muscular interfaces and environmental sustainability for deploying biohybrid solutions for pollution sensing or remediation. == Origin == The term "biohybrid" is a compound of "bio" from biology (meaning life) and "hybrid" (referring to a combination of distinct elements), denoting a field of study. Its use helps distinguish such systems from purely biological constructs or entirely synthetic machines. Early academic mentions may include bio actuated robotics papers and foundational tissue-robot integration studies published in journals like Nature Biotechnology or Science Robotics. The emergence of the term reflects a growing recognition of the need to describe systems that do not fit cleanly into traditional categories. == Design principles == One of the most significant biohybrid challenges is to engineer interfaces between living tissue and artificial materials that are efficient. This means having precise control over adhesion at the surface, diffusion of nutrients, and signal conduction. Actuation mechanisms within the heart of these systems generate movement or mechanical response. These may be in the form of living muscle cells such as skeletal myocytes or cardiomyocytes, soft pneumatic actuators, or electrical stimulation-responsive tissues. Materials selection is equally critical. Hydrogels, elastomers like PDMS (polydimethylsiloxane), and biopolymers are commonly used due to their softness and biocompatibility. These materials must support cell viability, resist immune attack, and allow the integration of mechanical or electrical components. == Key components == At their core, biohybrid systems work by bridging living biological parts with technology. Through this integration, functionality that neither system could accomplish singularly is possible. Biological parts may be cells, tissues, or even organs—occasionally cultured in a laboratory setting. These biological parts carry out biologically inspired behaviors, such as muscle contraction or chemical sensing in the body. Technological components may constitute devices like sensors, electronic components, and mechanical structure. These manipulate the system, supply power, or transfer data. An example is a sensor that is implantable within a body and detects glucose levels as it sends information to a smart phone. By integrating these artificial and biological parts, biohybrid systems can perform advanced functions, such as tissue regeneration, real-time health monitoring, or the recovery of motor function in paralysis patients. Biohybrid systems generally consist of two major components: the biological and the mechanical. Biological components may include muscle cells for contraction, endothelial cells for vascularization, and stem cells for regenerative capabilities. Mechanical components comprise soft actuators that mimic organic motion, synthetic scaffolds that provide support and structure, and microfluidic systems that facilitate the delivery of nutrients and removal of waste. These components are combined in a manner that allows for dynamic, lifelike behavior—such as the contraction of tissue or the propagation of mechanical waves—while maintaining biocompatibility and durability. == Applications == The range of applications for biohybrid systems is broad and continuously expanding. In robotics, biohybrid structures have been used to engineer microscopic, muscle-driven machines, such as Harvard University's biohybrid stingray robot. In medical applications, they offer new alternatives for organ repair and augmentation, including biohybrid heart valves and esophageal scaffolds. Biohybrids are also promising in neural interfaces, where the goal is to create long-lasting, stable interaction between mechanical devices and brain tissue. Muscle-actuated drug response platforms are under exploration in pharmacology for modelling and real-time screening. == Examples == Several high-profile research projects have demonstrated the potential of biohybrid systems: Harvard researchers developed a biohybrid swimming ray powered by rat cardiac cells layered onto a gold skeleton, mimicking the motion of a real stingray. At the Massachusetts Institute of Technology, a cardiac pump actuated entirely by living heart muscle cells was engineered to simulate the behavior of a beating heart. Bio actuated soft robots have been built to simulate gut peristalsis, using muscle contractions to replicate natural wave-like movement in the digestive tract. == Challenges and limitations == As with many technologies that involve living systems, biohybrid systems raise important ethical and biomedical questions. Cell sourcing remains a key issue, particularly when embryonic or animal-derived cells are used. Long-term viability is another concern—living tissues must be kept alive with nutrients and oxygen, and they often degrade or elicit immune responses when implanted. Powering these biological parts presents logistical and ethical hurdles as well. Systems must either include internal mechanisms for nutrient delivery or be supported externally, which can limit portability and independence. == Future directions == Researchers are exploring self-directed, self-regulated organ substitutes and regenerative implants that can respond to their surroundings in real-time. These systems may be integrated with artificial intelligence to make them adjust to stimuli and coordinate complex behaviors. Future potential applications are wearable biohybrid systems for rehabilitation, space medicine devices for long-duration missions, and implantable devices that integrate into human physiology.

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  Trazzler

  Trazzler is a travel destination app that specializes in unique and local destinations. The initial concept was developed by Adam Rugel and Biz Stone in 2006 at Twitter's original offices under the name "71 miles". More than 10,000 writers and photographers have contributed and more than $350,000 in freelance contracts have been issued as a result of Trazzeler's weekly writing and photography contests. Investors in the company include SV Angel, AOL Founder Steve Case, and the Twitter founders, Evan Williams, Jack Dorsey, and Biz Stone. The company's partners are the City of Chicago, Hawaii Tourism Authority, Fairmont Hotels & Resorts, Salon.com, and Air New Zealand. Trazzler is designed for use on the iOS, Android, and Facebook.

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  Scenery generator

  A scenery generator (or terrain generator) is a software used to create landscape images, 3D models, and animations. These programs often use procedural generation to generate the landscapes, or sometimes created and rendered by a 3D artist. These programs are often used in video games or movies. Basic elements of landscapes created by scenery generators include terrain, water, foliage, and clouds. The process for basic random generation uses a diamond square algorithm. == Common features == Most scenery generators can create basic heightmaps to simulate the variation of elevation in basic terrain. Common techniques include Simplex noise, fractals, or the diamond-square algorithm, which can generate 2-dimensional heightmaps. A version of scenery generator can be very simplistic. Using a diamond-square algorithm with some extra steps involving fractals, an algorithm for random generation of terrain can be made with only 120 lines of code. The program in example takes a grid and then divides the grid repeatedly. Each smaller grid is then split into squares and diamonds and the algorithm then makes the randomized terrain for each square and diamond. Most programs for creating landscapes also allow for adjustment and editing of the landscape. For example, World Creator allows for terrain sculpting, which uses a similar brush system as Photoshop, and allows for additional terrain enhancement with its procedural techniques such as erosion, sediments, and more. Other tools in the World Creator program include terrain stamping, which allows you to import elevation maps and use them as a base. The programs tend to also allow for additional placement of rocks, trees, etc. These can be done procedurally or by hand depending on the program. Typically the models used for the placement objects are the same as to lessen the amount of work that would be done if the user was to create a multitude of different trees. The terrain generated the computer does a generation of multifractals then integrates them until finally rendering them onto the screen. These techniques are typically done “on-the-fly” which typically for a 128 × 128 resolution terrain would mean 1.5 seconds on a CPU from the early 1990s. == Applications == Scenery generators are commonly used in movies, animations, 3D rendering, and video games. For example, Industrial Light & Magic used E-on Vue to create the fictional environments for Pirates of the Caribbean: Dead Man's Chest. In such live-action cases, a 3D model of the generated environment is rendered and blended with live-action footage. Scenery generated by the software may also be used to create completely computer-generated scenes. In the case of animated movies such as Kung Fu Panda, the raw generation is assisted by hand-painting to accentuate subtle details. Environmental elements not commonly associated with landscapes, such as ocean waves, have also been handled by the software. Scenery generation is used in most 3D based video-games. These typically use either custom or purchased engines that contain their own scenery generators. For some games they tend to use a procedurally generated terrain. These typically use a form of height mapping and use of Perlin noise. This will create a grid that with one point in a 2D coordinate will create the same heightmap as it is pseudorandom, meaning it will result in the same output with the same input. This can then easily be translated into the product 3D image. These can then be changed from the editor tools in most engines if the terrain will be custom built. With recent developments neural networks can be built to create or texture the terrain based on previously suggested artwork or heightmap data. These would be generated using algorithms that have been able to identify images and similarities between them. With the info the machine can take other heightmaps and render a very similar looking image to the style image. This can be used to create similar images in example a Studio Ghibli or Van Gogh art-style. == Software == Most game engines, whether custom or proprietary, will have terrain generation built in. Some terrain generator programs include, Terragen, which can create terrain, water, atmosphere and lighting; L3DT, which provides similar functions to Terragen, and has a 2048 × 2048 resolution limit; and World Creator, which can create terrain, and is fully GPU powered. === List of 3D terrain generation software ===

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  Kindara

  Kindara is a femtech company headquartered in Colorado that develops apps that help women identify their fertile window. The products are used for women trying to get pregnant, or women who want to track their menstrual cycle for overall health. Their latest product, Priya Fertility and Ovulation Monitor, maximizes a woman's chance of getting pregnancy by identifying her most fertile days. == Overview == Kindara was founded in 2011 by husband-and-wife team Will Sacks and Kati Bicknell. The company launched its free mobile application in 2012. Kindara's mobile application allows women to track signs of fertility, such as basal body temperature, cervical fluid, and the position of the cervix to determine when ovulation is occurring. Kindara also sells a thermometer, Wink, which records basal body temperature and syncs automatically to the Kindara fertility application. In 2018, Kindara was acquired by the company Prima-Temp.

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  Energy-based model

  An energy-based model (EBM), also called Canonical Ensemble Learning (CEL) or Learning via Canonical Ensemble (LCE), is an application of canonical ensemble formulation from statistical physics for learning from data. The approach prominently appears in generative artificial intelligence. EBMs provide a unified framework for many probabilistic and non-probabilistic approaches to such learning, particularly for training graphical and other structured models. An EBM learns the characteristics of a target dataset and generates a similar but larger dataset. EBMs detect the latent variables of a dataset and generate new datasets with a similar distribution. Energy-based generative neural networks is a class of generative models, which aim to learn explicit probability distributions of data in the form of energy-based models, the energy functions of which are parameterized by modern deep neural networks. Boltzmann machines are a special form of energy-based models with a specific parametrization of the energy. == Description == For a given input x {\displaystyle x} , the model describes an energy E θ ( x ) {\displaystyle E_{\theta }(x)} such that the Boltzmann distribution P θ ( x ) = e − β E θ ( x ) Z ( θ ) {\displaystyle P_{\theta }(x)={e^{-\beta E_{\theta }(x)} \over Z(\theta )}} is a probability (density), and typically β = 1 {\displaystyle \beta =1} . Since the normalization constant: Z ( θ ) := ∫ x ∈ X e − β E θ ( x ) d x {\displaystyle Z(\theta ):=\int _{x\in X}e^{-\beta E_{\theta }(x)}dx} (also known as the partition function) depends on all the Boltzmann factors of all possible inputs x {\displaystyle x} , it cannot be easily computed or reliably estimated during training simply using standard maximum likelihood estimation. However, for maximizing the likelihood during training, the gradient of the log-likelihood of a single training example x {\displaystyle x} is given by using the chain rule: ∂ θ log ⁡ ( P θ ( x ) ) = E x ′ ∼ P θ [ ∂ θ E θ ( x ′ ) ] − ∂ θ E θ ( x ) ( ∗ ) {\displaystyle \partial _{\theta }\log \left(P_{\theta }(x)\right)=\mathbb {E} _{x'\sim P_{\theta }}[\partial _{\theta }E_{\theta }(x')]-\partial _{\theta }E_{\theta }(x)\,()} The expectation in the above formula for the gradient can be approximately estimated by drawing samples x ′ {\displaystyle x'} from the distribution P θ {\displaystyle P_{\theta }} using Markov chain Monte Carlo (MCMC). Early energy-based models, such as the 2003 Boltzmann machine by Hinton, estimated this expectation via blocked Gibbs sampling. Newer approaches make use of more efficient Stochastic Gradient Langevin Dynamics (LD), drawing samples using: x 0 ′ ∼ P 0 , x i + 1 ′ = x i ′ − α 2 ∂ E θ ( x i ′ ) ∂ x i ′ + ϵ {\displaystyle x_{0}'\sim P_{0},x_{i+1}'=x_{i}'-{\frac {\alpha }{2}}{\frac {\partial E_{\theta }(x_{i}')}{\partial x_{i}'}}+\epsilon } , where ϵ ∼ N ( 0 , α ) {\displaystyle \epsilon \sim {\mathcal {N}}(0,\alpha )} . A replay buffer of past values x i ′ {\displaystyle x_{i}'} is used with LD to initialize the optimization module. The parameters θ {\displaystyle \theta } of the neural network are therefore trained in a generative manner via MCMC-based maximum likelihood estimation: the learning process follows an "analysis by synthesis" scheme, where within each learning iteration, the algorithm samples the synthesized examples from the current model by a gradient-based MCMC method (e.g., Langevin dynamics or Hybrid Monte Carlo), and then updates the parameters θ {\displaystyle \theta } based on the difference between the training examples and the synthesized ones – see equation ( ∗ ) {\displaystyle ()} . This process can be interpreted as an alternating mode seeking and mode shifting process, and also has an adversarial interpretation. Essentially, the model learns a function E θ {\displaystyle E_{\theta }} that associates low energies to correct values, and higher energies to incorrect values. After training, given a converged energy model E θ {\displaystyle E_{\theta }} , the Metropolis–Hastings algorithm can be used to draw new samples. The acceptance probability is given by: P a c c ( x i → x ∗ ) = min ( 1 , P θ ( x ∗ ) P θ ( x i ) ) . {\displaystyle P_{acc}(x_{i}\to x^{})=\min \left(1,{\frac {P_{\theta }(x^{})}{P_{\theta }(x_{i})}}\right).} == History == The term "energy-based models" was first coined in a 2003 JMLR paper where the authors defined a generalisation of independent components analysis to the overcomplete setting using EBMs. Other early work on EBMs proposed models that represented energy as a composition of latent and observable variables. == Characteristics == EBMs demonstrate useful properties: Simplicity and stability. The EBM is the only object that needs to be designed and trained. Separate networks need not be trained to ensure balance. Adaptive computation time. An EBM can generate sharp, diverse samples or (more quickly) coarse, less diverse samples. Given infinite time, this procedure produces true samples. Flexibility. In Variational Autoencoders (VAE) and flow-based models, the generator learns a map from a continuous space to a (possibly) discontinuous space containing different data modes. EBMs can learn to assign low energies to disjoint regions (multiple modes). Adaptive generation. EBM generators are implicitly defined by the probability distribution, and automatically adapt as the distribution changes (without training), allowing EBMs to address domains where generator training is impractical, as well as minimizing mode collapse and avoiding spurious modes from out-of-distribution samples. Compositionality. Individual models are unnormalized probability distributions, allowing models to be combined through product of experts or other hierarchical techniques. == Experimental results == On image datasets such as CIFAR-10 and ImageNet 32x32, an EBM model generated high-quality images relatively quickly. It supported combining features learned from one type of image for generating other types of images. It was able to generalize using out-of-distribution datasets, outperforming flow-based and autoregressive models. EBM was relatively resistant to adversarial perturbations, behaving better than models explicitly trained against them with training for classification. == Applications == Target applications include natural language processing, robotics and computer vision. The first energy-based generative neural network is the generative ConvNet proposed in 2016 for image patterns, where the neural network is a convolutional neural network. The model has been generalized to various domains to learn distributions of videos, and 3D voxels. They are made more effective in their variants. They have proven useful for data generation (e.g., image synthesis, video synthesis, 3D shape synthesis, etc.), data recovery (e.g., recovering videos with missing pixels or image frames, 3D super-resolution, etc), data reconstruction (e.g., image reconstruction and linear interpolation ). == Alternatives == EBMs compete with techniques such as variational autoencoders (VAEs), generative adversarial networks (GANs) or normalizing flows. == Extensions == === Joint energy-based models === Joint energy-based models (JEM), proposed in 2020 by Grathwohl et al., allow any classifier with softmax output to be interpreted as energy-based model. The key observation is that such a classifier is trained to predict the conditional probability p θ ( y | x ) = e f → θ ( x ) [ y ] ∑ j = 1 K e f → θ ( x ) [ j ] for y = 1 , … , K and f → θ = ( f 1 , … , f K ) ∈ R K , {\displaystyle p_{\theta }(y|x)={\frac {e^{{\vec {f}}_{\theta }(x)[y]}}{\sum _{j=1}^{K}e^{{\vec {f}}_{\theta }(x)[j]}}}\ \ {\text{ for }}y=1,\dotsc ,K{\text{ and }}{\vec {f}}_{\theta }=(f_{1},\dotsc ,f_{K})\in \mathbb {R} ^{K},} where f → θ ( x ) [ y ] {\displaystyle {\vec {f}}_{\theta }(x)[y]} is the y-th index of the logits f → {\displaystyle {\vec {f}}} corresponding to class y. Without any change to the logits it was proposed to reinterpret the logits to describe a joint probability density: p θ ( y , x ) = e f → θ ( x ) [ y ] Z ( θ ) , {\displaystyle p_{\theta }(y,x)={\frac {e^{{\vec {f}}_{\theta }(x)[y]}}{Z(\theta )}},} with unknown partition function Z ( θ ) {\displaystyle Z(\theta )} and energy E θ ( x , y ) = − f θ ( x ) [ y ] {\displaystyle E_{\theta }(x,y)=-f_{\theta }(x)[y]} . By marginalization, we obtain the unnormalized density p θ ( x ) = ∑ y p θ ( y , x ) = ∑ y e f → θ ( x ) [ y ] Z ( θ ) =: e − E θ ( x ) , {\displaystyle p_{\theta }(x)=\sum _{y}p_{\theta }(y,x)=\sum _{y}{\frac {e^{{\vec {f}}_{\theta }(x)[y]}}{Z(\theta )}}=:e^{-E_{\theta }(x)},} therefore, E θ ( x ) = − log ⁡ ( ∑ y e f → θ ( x ) [ y ] Z ( θ ) ) , {\displaystyle E_{\theta }(x)=-\log \left(\sum _{y}{\frac {e^{{\vec {f}}_{\theta }(x)[y]}}{Z(\theta )}}\right),} so that any classifier can be used to define an energy function E θ ( x ) {\displaystyle E_{\theta }(x)} .

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  Cybersecurity in space

  Cybersecurity in space involves the defense of all space assets (e.g. navigation systems, satellites, ground antennas, networks, etc.). The security of space can be affected by attacks such as disruption, corruption as well as the destruction of depended-upon assets/collected data. Government (e.g. militaries) and non-government sectors (e.g. financial industries) have started to become more reliant on numerous space-based services. Due to the criticality of these services, space security experts have identified these assets as high-value targets (HVT) that can cause detrimental consequences to all of Earth. == Scope and definitions == Space assets are broken down by three sub-sectors: the space component, the ground component, and the individual user component. The architecture of space assets is extremely complex and allows for a frequent attack vector utilized, the disruption by radio frequency (RF) cyber-attacks. In 2020, a memorandum was published by President Donald Trump, Space Policy Directive‑5 (SPD‑5). It established principles to ensure the safeguarding of all space assets. In 2023, the National Institute of Standards and Technology’s (NIST) published IR 8270, Introduction to Cybersecurity for Commercial Satellite Operations. This report established a baseline risk-management framework (RMF) to be implemented into space operations. == History == During the Cold War in the 1950s-1960s, the United States and Russia entered what was called the “Space Race”. By 1957, the Soviet Union successfully launched the first satellite into space named Sputnik. By 1961, the first key milestone was accomplished when the Soviet Union’s Yuri Gagarin became the first human to orbit Earth. This was later followed by the first American, Alan Shepard, to be launched into space; this was followed by John Glenn becoming the first American to orbit Earth in 1962. In 1969, a pinnacle milestone was reached when Apollo 11 launched into space and Neil Armstrong became the first man to walk on the moon. As space operations furthered, Commercial off-the-shelf products became increasingly popular but resulted in a rapid increase to the cyber-attack surface. Public awareness of space security did not increase until 2022, when the Viasat KA-SAT incident occurred, resulting in the disruption of a large number of modems across Europe. The attack was later accredited to Russia by the U.S. and the U.K. Policy and standards started to rapidly increase by 2020. The establishment of SPD-5 was released in 2020 followed by asset hardening instructions in 2022, and NIST’s IR 8270 in 2023. It was not until 2025 that Europe published their own findings in the Space Threat Landscape 2025 Report. This document led to the EU’s security proposals and standards. == Threats == === Radio-frequency Interference and Global Navigation Satellite Systems (GNSS) Spoofing === Space services are highly dependent on RF links for systems such as GNSS, however, a consequence of this dependency on RF is denial of service and deception. In 2017, the Black Sea maritime event occurred when numerous ships were subject to spoofing. Space services depend on RF links susceptible to jamming (denial) and spoofing (deception), including for GNSS/Positioning, Navigation, and Timing (PNT). Annotated incidents include the 2017 Black Sea maritime spoofing event affecting numerous ships, and extensive aviation GNSS spoofing patterns surveyed in various regions during 2024–2025. === Network intrusion and malware === Cyber threats can intrude and infect assets with malware. They do this by finding misconfiguration vulnerabilities, remote-management interfaces, and/or supply-chain vulnerabilities mainly in ground networks and user terminals. When KA-SAT occurred, it resulted from bulk modem disturbances. Forensic analysts later suggested malicious management controls and wiper malware as the root cause. === Supply-chain and lifecycle risks === The outsource of COTS components, external vendors, and software defined payloads allowed for vulnerabilities to emerge in the System/Product Lifecycle. In response, EU recommended the implementation of lifecycle-wide controls as mitigating factors. === Espionage, disruption, and influence === As Advanced Persistent Threats (APTs), Global Positioning System (GPS) intervention, and information warfare increased, assets like transponders became more frequent targets of attack. == Noteworthy incidents == The Viasat KA‑SAT incident of 2022, where a large number of modems in Europe were disrupted, resulted in the loss of telemetry access to a significant amount of wind turbines in Germany. The mass GNSS deception of the Black Sea in 2017 affected numerous ships when they started to convey fake central locations in Russia. Between 2024 and 2025, there was a mass, repetitive aviation GNSS spoofing that affected the aircraft of various regions. == Standards, guidelines, and best practices == SPD‑5 (U.S.) – This established risk-based engineering, verifying and ensuring positive control, and the implementation of risk mitigation controls. NIST IR 8270 – This created a RMF for COTS satellites. CISA/FBI SATCOM Advisory (AA22‑076) – Provided guidance on hardening techniques such as least-privileged, access control, encryption, etc.). ENISA Space Threat Landscape 2025 – It established the categorization of assets to organize threats, ensuring the observation of system/product lifecycle, and an RMF for COTS satellites. ECSS‑E‑ST‑80C (2024) – This established a standard for securing lifecycles in space, covering all segments (e.g. ground, launch, etc.). == Regulation and governance == As of 2025, there is no international regulations established for space assets, but the U.S., EU, and ESA institutional initiatives have published standards to address security concerns. The U.S. implemented SPD-5 and the Federal Communications Commission (FCC); the FCC addressed orbital debris. While the EU created standards to address technological mandates and support the implementation of NIS2. Lastly, the ESA created a special operations center to safeguard their satellites. International governance is still evolving, but forums have been held by the United Nations Committee on the Peaceful Uses of Outer Space. International conversations under forums such as the UN Committee on the Peaceful Uses of Outer Space (COPUOS) progressively note the cyber–space safety relationship, though formal global norms specific to space cybersecurity continue evolving. == Risk management approaches == Through RMF, mitigation controls have been implemented to reduce the risk of exploitation while increasing the security of space. Controls addressing mitigation include proper configuration, system hardening, zero-trust architectures, encryption, etc. Both the government and industries have placed an emphasis on incident response procedures to identify, contain, and remediate breaches.

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  Operational image

  An operational image, also known as operative image, is an image that serves a functional, rather than aesthetic, purpose. Operational images are not intended to be viewed by people as representations of the real world; they are created to be used as instruments in performing some task or operation, often by machine automation. Operational images are used in a wide variety of applications, such as weapons targeting and guidance systems, and assisting surgeons performing robot-assisted surgery. The term "operational image" was first coined in 2000 by German filmmaker Harun Farocki in the first part of his three-part audiovisual installation, Eye/Machine. Farocki's installation included operational images used by militaries, such as weapons guidance and targeting systems. Eye/Machine featured images shown to the public by the United States military from the cameras used by laser-guided missiles in the Gulf War. Farocki defined operational images as "Images without a social goal, not for edification, not for reflection," and that they "do not represent an object, but rather are part of an operation." According to Volker Pantenburg, operational images are more accurately characterized as "visualizations of data". He describes operational images as a "working image" or an image that "performs work". Operational images are ubiquitous in modern society, used for a variety of military and non-military applications, such as inspecting sewer piping, and assisting surgeons performing robotic surgery.

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