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Path tracing

Path tracing is a rendering algorithm in computer graphics that simulates how light interacts with objects and participating media to generate realistic (physically plausible) images. It is based on earlier, more limited, ray tracing algorithms. Path tracing is used to create photorealistic images for artistic purposes, and for applications such as architectural rendering and product design. It is also used to render frames for animated films, and visual effects for film and television. Because it can be very accurate and unbiased, it is commonly used to generate reference images when testing the quality of other rendering algorithms. The technique uses the Monte Carlo method to compute estimates of global illumination and simulate the ways different materials reflect (or scatter), transmit, absorb, and emit light. It can incorporate simple modeling of the effects of aperture and lens (depth of field, and bokeh) and shutter speed (motion blur), or more realistic simulation of the optical components in a camera. The algorithm works by describing illumination in a scene using the rendering equation, or light transport equation, and finding an approximate solution using Monte Carlo integration. An inefficient (but accurate) version of the algorithm can be very simple, and involves tracing a ray from the camera, allowing this ray to bounce in random directions as it hits different objects in the scene, and computing the amount of light transmitted along the path to the camera whenever the path encounters a light source. This process is repeated many times for each pixel (each repetition, with generated path and transmitted light, is called a sample), and the results are averaged. One main difference between this algorithm and standard ray tracing is that a single unbranching path is traced each time, while "Whitted-style" or "Cook-style" ray tracing recursively samples branching paths (e.g. when light is both reflected and refracted by a glass object). More practical versions incorporate improvements such as quasi-Monte Carlo methods (techniques that distribute samples more evenly), importance sampling (take more samples of paths that are likely to transport more light), and next event estimation (allow a very limited form of branching, and sample additional paths that connect to the lights more directly). Because path tracing uses random samples there is noise in the final image, which decreases as more samples are taken. Images commonly require many thousands of samples per pixel (spp) to reduce noise to an acceptable level, and denoising techniques (e.g. based on neural networks) are often used. Denoising is usually necessary when path tracing is used for real-time rendering in video games, because relatively few samples can be taken. Many alternative algorithms for path tracing have been developed, although they do not always outperform more straightforward implementations. These include bidirectional path tracing (which traces paths forwards from the light source as well as backwards from the camera), Metropolis light transport, and ways of combining path tracing with photon mapping. Video games often use biased versions of path tracing to improve performance (e.g. limiting the number of bounces in each path). A family of techniques called ReSTIR has been developed that can help real-time path tracing by sharing data between nearby pixels and consecutive frames. == History == Like all ray tracing methods, path tracing is based on ray casting, which Arthur Appel used for computer graphics rendering in the late 1960s. In 1980, John Turner Whitted published a recursive ray tracing algorithm that allows rendering images of scenes containing mirrored surfaces and refractive transparent objects. In 1984, Cook et al. described a form of ray tracing called distributed ray tracing, which uses Monte Carlo integration to render effects such as depth of field, motion blur, reflection from rough surfaces, and area lights. The same year, the radiosity method (not a ray tracing method) was published, which was the first physically based method for rendering diffuse global illumination. In 1986, Jim Kajiya published a paper exploring how to use distributed ray tracing to render physically-based global illumination, and this paper also introduced and named the method called "path tracing". Path tracing and other distributed ray tracing techniques were further refined in the late 1980s and early 1990s by researchers such as James Arvo and Peter Shirley, and by Greg Ward in the open source Radiance software. Despite being theoretically able to render any lighting, the original form of path tracing can sometimes be very inefficient (or noisy) for rendering light that is reflected or refracted before illuminating a visible surface, including diffuse global illumination where light enters an area through narrow gaps, because it traces paths only from the camera. To address this, variations of path tracing that trace paths from both the camera and from light sources, called bidirectional path tracing, were published in 1993 by Eric Lafortune and Yves Willems, and in 1997 by Eric Veach and Leonidas Guibas. In 1997 Veach and Guibas also published an alternative method called Metropolis light transport, which combines bidirectional path tracing with the Metropolis method. Veach's lengthy Ph.D. dissertation described both techniques, along with the theoretical background of path tracing; later, the book Physically Based Rendering (which won an Academy Award for Technical Achievement in 2014) helped to make information about path tracing more widely available. Path tracing requires tracing a large number of paths of light in order to produce an image with a visually acceptable amount of noise. This made path tracing very slow on computers available in the 1980s and 1990s, and noise remained a problem when trying to reproduce the style of earlier computer graphics animated films. Most animated films produced until around 2010, by studios such as Pixar, used rasterization-based rendering, with ray tracing used selectively for reflections (and later for precomputed or cached global illumination). However the speed of computers rapidly increased during the 1990s. Blue Sky Studios pioneered using Monte Carlo ray tracing for global illumination in animation, including in the 1998 short film "Bunny", but they did not disclose the precise techniques used. Path tracing gradually become more practical for film production in the early 2000s. The Arnold renderer, developed by Marcos Fajardo, was used by Sony Pictures Imageworks to produce the feature-length film Monster House, released in 2006. Pixar rewrote their RenderMan software to use path tracing, and released their first feature-length path-traced film Finding Dory in 2016. Although path tracing still had a large computational cost, animation studios discovered that less human labor was required when using it, for example because global illumination no longer needed to be faked by manually placing lights. The amount of noise present in path traced images still caused difficulties, particularly when rendering motion blur (which was used extensively by earlier animated films) but denoising techniques were developed to address this. New techniques were also needed for rendering hair and fur, and to handle the extremely large scenes sometimes required by films. Renderers such as Arnold, and Disney's Hyperion, originally only used CPUs for rendering, but as GPUs became more capable (and APIs such as CUDA, OpenCL, and OptiX were released) researchers and developers began adapting algorithms and implementations to use GPUs. GPUs can dramatically reduce rendering time: for example using a high-end GPU to accelerate portions of the rendering code can make it over 30 times faster than using only a high-end CPU. == Description == Kajiya's 1986 paper defined a recursive integral equation called the rendering equation, which describes a simplified form of light transport. Using Monte Carlo integration for the integral on the right side of the equation leads fairly directly to the path tracing algorithm: I ( x , x ′ ) = g ( x , x ′ ) [ ϵ ( x , x ′ ) + ∫ S ρ ( x , x ′ , x ″ ) I ( x ′ , x ″ ) d x ″ ] {\displaystyle I(x,x')=g(x,x')\left[\epsilon (x,x')+\int _{S}\rho (x,x',x'')I(x',x'')dx''\right]} This expresses I(x,x'), the light arriving at point x from point x', as the product of a geometry term, g(x,x'), which is 0 if there is something blocking the light between the two points and 1 otherwise, and the amount of light leaving point x' and traveling towards x. The light leaving point x' is the sum of the light emitted by the surface at x', and the integral of the light arriving at x' from all other points in the scene (the integration domain S) and being reflected towards x. The factor ρ(x,x',x''), which calculates how much light is reflected, must take into account the angles at which the light is arriving and leaving, and
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Brian Deer Classification System

The Brian Deer Classification System (BDC) is a library classification system used to organize materials in libraries with specialized Indigenous collections. The system was created in the mid-1970s by Canadian librarian A. Brian Deer, a Kahnawake Mohawk. It has been adapted for use in a British Columbia version, and also by a small number of First Nations libraries in Canada. == History and usage == Deer designed his classification system while working in the library of the National Indian Brotherhood (now the Assembly of First Nations) from 1974 to 1976. Instead of using a standard library classification scheme, such as that of the Library of Congress, he created a new system to organize the library's historic indigenous research materials and papers. He later worked at the library of the Union of British Columbia Indian Chiefs, where he developed a system for its holdings. He returned to Kahnawake, working at its Cultural Centre at Kahnawake and the Kahnawake Branch branch of the Mohawk Nation Office. His system was flexible, and he created new forms for their collections. The new systems Deer created were designed specifically for the materials in each collection according to the concerns of local Indigenous people at the time (for example, categories included land claims, treaty rights, resource management, and Elders' stories). Between 1978 and 1980, the system was adapted for use in British Columbia by Gene Joseph and Keltie McCall while they were working at the Union of British Columbia Indian Chiefs, becoming known as BDC-BC. Joseph later adapted it further for use in the Xwi7xwa Library at University of British Columbia, Vancouver. Though the Brian Deer Classification was not created as a universal classification solution for Indigenous resources, the system has provided a foundation for specialized libraries to create their own localized classification schemes. Variations of the Brian Deer Classification System are used in a small number of Canadian libraries. One prominent library using BDC is the X̱wi7x̱wa Library at the University of British Columbia, which uses a British Columbia-focused version of BDC along with First Nations House of Learning subject headings. The Union of British Columbia Indian Chiefs Resource Centre issued a revised BDC-BC in 2014, with the goal of providing users with a more flexible and culturally appropriate approach to organizing their resources. The Aanischaaukamikw Cree Cultural Institute in Oujé-Bougoumou, Quebec, implemented a local adaptation of BDC when they opened in 2012. In 2020 the Carrier Sekani Tribal Council in Prince George, British Columbia, shifted from organizing its library with the Dewey Decimal Classification to using a version of the BDC. They added new subject heading categories for topics of local interest such as the crisis of Missing and murdered Indigenous women. Simon Fraser University Library began developing the Indigenous Curriculum Resource Centre (ICRC) in 2020, with the physical space opening in 2023. The ICRC is Call to Action 21 of SFU's Aboriginal Reconciliation Council's final report, Walk This Path With Us. Through its collection, the ICRC supports those interested in learning about how and why decolonizing pedagogy and teaching practices are important. The physical items in the collection are catalogued using a modified Brian Deer Classification system. In 2022 Kwantlen Polytechnic University’s χʷəχʷéy̓əm Indigenous Collection released a revised BDC-BC System. This BDC contains works exclusively with Indigenous authored materials and expands the cuttering systems of previous BDC, with the result that much of the collection reflects a spatial relationality. The implementation of this BDC was possible due to the tireless work at Xwi7xwa Library, Union of British Columbia Indian Chiefs Resource Centre, and Simon Fraser University Library's Indigenous Curriculum Resource Centre. == Structure == The high-level organizational structure of BDC reflects a First Nations worldview, with an emphasis on relationships between and among people, animals, and the land. Subcategories demonstrate the relationships among First Nations by grouping them geographically as opposed to alphabetically; the latter is a practice frequently used for specific topics in the Library of Congress Classification. The top-level hierarchy of the X̱wi7x̱wa Library adaptation of BDC-BC demonstrates the emphasis on access to subjects prioritized by a First Nation collection: Reference Materials Local History History International Education Economic Development Housing and Community Development Criminal Justice System Constitution (Canada) and First Nations Self Government Rights and Title Natural Resources Community Resources Health World View Fine Arts Languages Literature The system is not designed to provide a comprehensive description of all topics of interest to North American Indigenous peoples; in addition, its use is limited in scope, being intended for small and specialized libraries. While English is used in the classification scheme as a common language among First Nations peoples and non-Indigenous library users, Indigenous spellings and terminology that local library users would expect to find are used to provide access. Short and easily remembered call numbers are used to facilitate use by both library workers and patrons, with the recognition that Indigenous libraries often have a small staff and limited resources to devote to cataloging. Beyond its simplicity, one potential drawback of the system is its shortage of clear guidelines for application, which provides flexibility but can also result in inconsistencies within and between library catalogs. Because few libraries use the BDC and there are limited examples for use as case studies, implementing the system and keeping it up-to-date can prove a challenge for libraries with limited resources. However, X̱wi7x̱wa Library head librarian Ann Doyle describes the system as "an important part of the body of Indigenous scholarship" that should be retained as a reflection of Indigenous worldviews, as well as for ease of access for Indigenous library users.
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Kullback–Leibler Upper Confidence Bound

In multi-armed bandit problems, KL-UCB (for Kullback–Leibler Upper Confidence Bound) is a UCB-type algorithm that is asymptotically optimal, in the sense that its regret matches the problem-dependent Lai-Robbins lower bound. == Multi-armed bandit problem == The Multi-armed bandit problem is a sequential game where one player has to choose at each turn between K {\displaystyle K} actions (arms). Behind every arm a {\displaystyle a} there is an unknown distribution ν a {\displaystyle \nu _{a}} that lies in a set D {\displaystyle {\mathcal {D}}} known by the player (for example, D {\displaystyle {\mathcal {D}}} can be the set of Gaussian distributions or Bernoulli distributions). At each turn t {\displaystyle t} the player chooses (pulls) an arm a t {\displaystyle a_{t}} , he then gets an observation X t {\displaystyle X_{t}} of the distribution ν a t {\displaystyle \nu _{a_{t}}} . === Regret minimization === The goal is to minimize the regret at time T {\displaystyle T} that is defined as R T := ∑ a = 1 K Δ a E [ N a ( T ) ] {\displaystyle R_{T}:=\sum _{a=1}^{K}\Delta _{a}\mathbb {E} [N_{a}(T)]} where μ a := E [ ν a ] {\displaystyle \mu _{a}:=\mathbb {E} [\nu _{a}]} is the mean of arm a {\displaystyle a} μ ∗ := max a μ a {\displaystyle \mu ^{}:=\max _{a}\mu _{a}} is the highest mean Δ a := μ ∗ − μ a {\displaystyle \Delta _{a}:=\mu ^{}-\mu _{a}} N a ( t ) {\displaystyle N_{a}(t)} is the number of pulls of arm a {\displaystyle a} up to turn t {\displaystyle t} The player has to find an algorithm that chooses at each turn t {\displaystyle t} which arm to pull based on the previous actions and observations ( a s , X s ) s < t {\displaystyle (a_{s},X_{s})_{s μ } {\displaystyle {\mathcal {K}}_{inf}(\nu ,\mu ,{\mathcal {D}}):=\inf \left\{\mathrm {KL} (\nu ,{\tilde {\nu }})\ |\ {\tilde {\nu }}\in {\mathcal {D}},\ \mathbb {E} [{\tilde {\nu }}]>\mu \right\}} K L {\displaystyle \mathrm {KL} } is the Kullback–Leibler divergence ν ^ a ( t ) {\displaystyle {\hat {\nu }}_{a}(t)} is the empirical distribution of arm a {\displaystyle a} at turn t {\displaystyle t} δ t {\displaystyle \delta _{t}} is a well-chosen sequence of positive numbers, often equal to ln ⁡ t + c ln ⁡ ln ⁡ t {\displaystyle \ln t+c\ln \ln t} with c > 0 {\displaystyle c>0} . Then we choose the arm a t {\displaystyle a_{t}} with the highest index: a t := arg ⁡ max a U a ( t ) {\displaystyle a_{t}:=\arg \max _{a}U_{a}(t)} We note that the algorithm does not require knowledge of T {\displaystyle T} . === Example === In the special case of Gaussian distribution with fixed variance σ 2 {\displaystyle \sigma ^{2}} , we have: U a ( t ) = μ ^ a ( t ) + 2 σ 2 δ t N a ( t ) {\displaystyle U_{a}(t)={\hat {\mu }}_{a}(t)+{\sqrt {\frac {2\sigma ^{2}\delta _{t}}{N_{a}(t)}}}} with μ ^ a ( t ) {\displaystyle {\hat {\mu }}_{a}(t)} being the empirical mean of arm a {\displaystyle a} at turn t {\displaystyle t} . === Pseudocode === The player gets the set D for each arm i do: n[i] ← 1; nu[i] ← None; d ← ln(K) for t from 1 to K do: select arm t observe reward r n[t] ← n[t] + 1 nu[t] ← update empirical distribution for t from K+1 to T do: for each arm i do: index[i] ← compute_index(n[i], nu[i], D, d) select arm a with highest index[a] observe reward r n[a] ← n[a] + 1 nu[a] ← update empirical distribution d ← ln(t+1) == Theoretical results == In the multi-armed bandit problem we have the Lai–Robbins asymptotic lower bound on regret. The algorithm KL-UCB matches this lower bound for one-dimensional exponential families with δ t := ln ⁡ t + 3 ln ⁡ ln ⁡ t {\displaystyle \delta _{t}:=\ln t+3\ln \ln t} and for distributions bounded in [ 0 , 1 ] {\displaystyle [0,1]} with δ t := ln ⁡ t + ln ⁡ ln ⁡ t {\displaystyle \delta _{t}:=\ln t+\ln \ln t} . === Lai–Robbins lower bound === In 1985 Lai and Robbins proved an asymptotic, problem-dependent lower bound on regret. It states that for every consistent algorithm on the set D {\displaystyle {\mathcal {D}}} — that is, an algorithm for which, for every ( ν 1 , … , ν K ) ∈ D K {\displaystyle (\nu _{1},\dots ,\nu _{K})\in {\mathcal {D}}^{K}} , the regret R T {\displaystyle R_{T}} is subpolynomial (i.e. R T = o T → + ∞ ( T α ) {\displaystyle R_{T}=o_{T\to +\infty }(T^{\alpha })} for all α > 0 {\displaystyle \alpha >0} ) — we have: R T ≥ ( ∑ a : μ a < μ ∗ Δ a K inf ( ν a , μ ∗ , D ) ) ln ⁡ T + o T → + ∞ ( ln ⁡ T ) . {\displaystyle R_{T}\geq \left(\sum _{a:\mu _{a}<\mu ^{}}{\frac {\Delta _{a}}{{\mathcal {K}}_{\inf }(\nu _{a},\mu ^{},{\mathcal {D}})}}\right)\ln T+o_{T\to +\infty }(\ln T).} This bound is asymptotic (as T → + ∞ {\displaystyle T\to +\infty } ) and gives a first-order lower bound of order ln ⁡ T {\displaystyle \ln T} with the optimal constant in front of it. === Regret bound for KL-UCB === The algorithm matches the Lai–Robbins lower bound for one-dimensional exponential-family distributions and for distributions bounded in [ 0 , 1 ] {\displaystyle [0,1]} . ==== One-dimensional exponential family ==== For D {\displaystyle {\mathcal {D}}} being the set of one-dimensional exponential families, with δ t := ln ⁡ t + 3 ln ⁡ ln ⁡ t {\displaystyle \delta _{t}:=\ln t+3\ln \ln t} we have the following upper bound on the regret of KL-UCB: R T ≤ ( ∑ a : μ a < μ ∗ Δ a K inf ( ν a , μ ∗ , D ) ) ln ⁡ T + O T ( ln ⁡ T ) . {\displaystyle R_{T}\leq \left(\sum _{a:\mu _{a}<\mu ^{}}{\frac {\Delta _{a}}{{\mathcal {K}}_{\inf }(\nu _{a},\mu ^{},{\mathcal {D}})}}\right)\ln T+O_{T}({\sqrt {\ln T}}).} ==== Bounded distributions in [0,1] ==== For D = P ( [ 0 , 1 ] ) {\displaystyle {\mathcal {D}}={\mathcal {P}}([0,1])} (the set of distributions supported on [ 0 , 1 ] {\displaystyle [0,1]} ), and for δ t := ln ⁡ t + ln ⁡ ln ⁡ t {\displaystyle \delta _{t}:=\ln t+\ln \ln t} , we have the following upper bound on the regret of KL-UCB: R T ≤ ( ∑ a : μ a < μ ∗ Δ a K inf ( ν a , μ ∗ , D ) ) ln ⁡ T + O T ( ( ln ⁡ T ) 4 / 5 ln ⁡ ln ⁡ T ) . {\displaystyle R_{T}\leq \left(\sum _{a:\mu _{a}<\mu ^{}}{\frac {\Delta _{a}}{{\mathcal {K}}_{\inf }(\nu _{a},\mu ^{},{\mathcal {D}})}}\right)\ln T+O_{T}{\big (}(\ln T)^{4/5}\ln \ln T{\big )}.} === Runtime === For D = P ( [ 0 , 1 ] ) {\displaystyle {\mathcal {D}}={\mathcal {P}}([0,1])} , the runtime needed per step and for an arm k {\displaystyle k} with n {\displaystyle n} observations is O ( n ( ln ⁡ n ) 2 ) {\displaystyle {\mathcal {O}}{\big (}n(\ln n)^{2}{\big )}} . This is higher than that of other optimal algorithms, such as NPTS with O ( n ) {\displaystyle {\mathcal {O}}(n)} . MED with O ( n ln ⁡ n ) {\displaystyle {\mathcal {O}}(n\ln n)} . and IMED with O ( n ln ⁡ n ) {\displaystyle {\mathcal {O}}(n\ln n)} . The high runtime of KL-UCB is due to a two-level optimisation: for each arm and candidate mean μ {\displaystyle \mu } , the algorithm evaluates K inf ( ν ^ a ( t ) , μ , D ) {\displaystyle {\mathcal {K}}_{\inf }({\hat {\nu }}_{a}(t),\mu ,{\mathcal {D}})} and then maximises μ {\displaystyle \mu } subject to N a ( t ) K inf ( ν ^ a ( t ) , μ , D ) ≤ δ t {\displaystyle N_{a}(t)\,{\mathcal {K}}_{\inf }({\hat {\nu }}_{a}(t),\mu ,{\mathcal {D}})\leq \delta _{t}} . For distributions bounded in [ 0 , 1 ] {\displaystyle [0,1]} the inner problem has no closed form and must be solved numerically, which increases the per-step cost.
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AlphaTensor

AlphaTensor is an artificial intelligence system developed by DeepMind for discovering efficient matrix multiplication algorithms using reinforcement learning. Introduced in 2022, the system was based on AlphaZero and formulated the search for matrix multiplication algorithms as a single-player game called TensorGame. AlphaTensor was designed to search for new ways to multiply matrices with fewer scalar multiplication operations. Matrix multiplication is a fundamental operation in linear algebra, numerical analysis, scientific computing, computer graphics, and machine learning. The system discovered thousands of matrix multiplication algorithms, including algorithms that rediscovered known human-designed methods and others that improved on previously known results for particular matrix sizes and mathematical settings. == Background == Matrix multiplication is one of the basic operations in numerical computing. The standard algorithm for multiplying two square matrices has cubic time complexity, while faster algorithms such as the Strassen algorithm reduce the number of multiplication operations by using more complex algebraic decompositions. Finding optimal matrix multiplication algorithms can be difficult because it involves searching through a large space of possible tensor decompositions. AlphaTensor approached this problem by representing algorithm discovery as TensorGame, in which each move corresponds to an operation that reduces a tensor representing matrix multiplication. The goal of the game is to find a low-rank decomposition of the matrix multiplication tensor, corresponding to an efficient multiplication algorithm. == Development == AlphaTensor was developed by DeepMind and described in a paper published in Nature in October 2022. The system built on the reinforcement-learning approach used in AlphaZero, which had previously been applied to games such as Go, chess, and shogi. Unlike those games, TensorGame involved a very large search space, requiring changes to the AlphaZero-style search method and neural network architecture. DeepMind released source code and discovered algorithms associated with the publication through a public GitHub repository. == Results == AlphaTensor discovered matrix multiplication algorithms over both standard arithmetic and finite fields. One widely reported result was a method for multiplying 4 × 4 matrices over the field with two elements using 47 multiplication operations, improving on the 49 operations required by applying Strassen's algorithm recursively in that setting. The system also found algorithms optimized for particular computer hardware, including algorithms designed for graphics processing units and Tensor Processing Units. DeepMind stated that some of the hardware-specific algorithms improved practical execution time compared with commonly used algorithms on the tested hardware. == Significance == AlphaTensor was described as an example of using machine learning not only to apply existing algorithms, but to assist in discovering new ones. The work was connected to broader research in algorithm discovery, automated machine learning, program synthesis, and computational complexity theory, especially the open problem of determining the optimal complexity of matrix multiplication. AlphaTensor later became part of a broader group of Google DeepMind systems for algorithm and mathematical discovery, alongside systems such as AlphaDev and AlphaEvolve.
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Boundary vector field

The boundary vector field (BVF) is an external force for parametric active contours (i.e. Snakes). In the fields of computer vision and image processing, parametric active contours are widely used for segmentation and object extraction. The active contours move progressively towards its target based on the external forces. There are a number of shortcomings in using the traditional external forces, including the capture range problem, the concave object extraction problem, and high computational requirements. The BVF is generated by an interpolation scheme which reduces the computational requirement significantly, and at the same time, improves the capture range and concave object extraction capability. The BVF is also tested in moving object tracking and is proven to provide fast detection method for real time video applications.
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Ubiquitous robot

Ubiquitous robot is a term used in an analogous way to ubiquitous computing. Software useful for "integrating robotic technologies with technologies from the fields of ubiquitous and pervasive computing, sensor networks, and ambient intelligence". The emergence of mobile phone, wearable computers and ubiquitous computing makes it likely that human beings will live in a ubiquitous world in which all devices are fully networked. The existence of ubiquitous space resulting from developments in computer and network technology will provide motivations to offer desired services by any IT device at any place and time through user interactions and seamless applications. This shift has hastened the ubiquitous revolution, which has further manifested itself in the new multidisciplinary research area, ubiquitous robotics. It initiates the third generation of robotics following the first generation of the industrial robot and the second generation of the personal robot. Ubiquitous robot (Ubibot) is a robot incorporating three components including virtual software robot or avatar, real-world mobile robot and embedded sensor system in surroundings. Software robot within a virtual world can control a real-world robot as a brain and interact with human beings. Researchers of KAIST, Korea describe these three components as a Sobot (Software robot), Mobot (Mobile robot), and Embot (Embedded robot).
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Kinodynamic planning

In robotics and motion planning, kinodynamic planning is a class of problems for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles. The term was coined by Bruce Donald, Pat Xavier, John Canny, and John Reif. Donald et al. developed the first polynomial-time approximation schemes (PTAS) for the problem. By providing a provably polynomial-time ε-approximation algorithm, they resolved a long-standing open problem in optimal control. Their first paper considered time-optimal control ("fastest path") of a point mass under Newtonian dynamics, amidst polygonal (2D) or polyhedral (3D) obstacles, subject to state bounds on position, velocity, and acceleration. Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics. == Modern approaches == Since the foundational theoretical work of the 1990s, the field has evolved significantly with new algorithmic approaches that address the computational and practical limitations of early methods. === Sampling-based methods === Many practical heuristic algorithms based on stochastic optimization and iterative sampling have been developed by a wide range of authors to address the kinodynamic planning problem. Popular approaches include extensions of RRT algorithms such as RRT for kinodynamic systems, and sampling-based methods like Model Predictive Path Integral (MPPI) control. These stochastic techniques have been shown to work well in practice and can handle complex, high-dimensional state spaces more efficiently than deterministic methods. However, all motion planning methods are subject to the PSPACE-hardnesss of classical motion planning even without dynamics, which means (assuming the usual structural complexity conjectures) they all can be worst-case exponential-time in the state-space dimension (the number of degrees of freedom). On the other hand, the deterministic methods have provable guarantees of completeness, accuracy, and complexity (for fixed dimension, they are polynomial-time not only in the geometric complexity, but also in ( 1 / ε ) {\displaystyle (1/\varepsilon )} , the closeness of the desired approximation), whereas most of the recent heuristic/stochastic methods sacrifice at least one of these criteria. === Mixed-integer optimization approaches === Recent advances in mixed-integer programming have enabled new deterministic approaches to kinodynamic planning. These methods formulate the planning problem as an optimization task that simultaneously determines the spatial path and control sequence while respecting all kinodynamic constraints. By using techniques such as McCormick envelopes to handle bilinear constraints, these approaches can provide globally optimal solutions with mathematical guarantees while achieving significant computational speedups over traditional methods. === Genetic algorithm approaches === Genetic algorithms have also been adapted for kinodynamic planning, particularly for gradient-free optimization in challenging terrain. These methods use evolutionary computation to optimize trajectories over receding horizons, with specialized mutation operators that ensure vehicle controls remain within operational limits. This approach is particularly useful when dealing with non-differentiable cost functions or when gradient information is unavailable or unreliable. === Three-dimensional terrain planning === The foundational theoretical work of the 1990s was extended to higher degrees of freedom, and even to n {\displaystyle n} -link, 3D open-chain kinematic robots under full Lagrangian dynamics. However, many of the subsequent heuristic techniques (typically employing stochastic optimization) were confined to planar environments. More recent kinodynamic planning has extended beyond these planar environments to handle complex 3D terrains represented as simplicial complexes or triangular meshes. This advancement is particularly important for applications such as autonomous vehicle navigation in off-road environments, where elevation changes and terrain geometry significantly impact vehicle dynamics. These methods must account for pitch angles, surface curvature, and the coupling between terrain geometry and vehicle kinodynamic constraints. == Performance and guarantees == The landscape of performance guarantees in kinodynamic planning has evolved considerably. While early heuristic methods could not guarantee optimality, recent mixed-integer approaches have demonstrated the ability to find globally optimal solutions with proven constraint satisfaction. Experimental comparisons have shown that modern optimization-based planners can achieve execution times several orders of magnitude faster than sampling-based methods while maintaining strict adherence to kinodynamic constraints. However, the choice of method often depends on the specific application requirements. Sampling-based methods remain valuable for their ability to quickly find feasible solutions in high-dimensional spaces and their robustness to modeling uncertainties. Optimization-based methods excel when optimality guarantees and constraint compliance are critical, particularly in safety-critical applications. == Applications == Kinodynamic planning finds applications across numerous domains including: Autonomous vehicles: Path planning for cars, trucks, and other ground vehicles that must respect acceleration, steering, and velocity limits Aerial robotics: Trajectory planning for quadrotors and other unmanned aerial vehicles with dynamic constraints Manipulation: Planning for robotic arms where joint velocities, accelerations, and torques are limited Legged locomotion: Footstep and trajectory planning for walking and running robots Space robotics: Planning under thrust and fuel constraints for spacecraft and rovers
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Master data management

Master data management (MDM) is a discipline in which business and information technology collaborate to ensure the uniformity, accuracy, stewardship, semantic consistency, and accountability of the enterprise's official shared master data assets. == Reasons for master data management == Data consistency and accuracy: MDM ensures that the organization's critical data is consistent and accurate across all systems, reducing discrepancies and errors caused by multiple, siloed copies of the same data. Improved decision-making: By providing a single version of the truth (SVOT), MDM enables organizations to deliver the right data to decision makers, allowing them to clearly understand business performance and make informed, data-driven decisions. Operational efficiency: With the consistent and accurate data provided by an MDM, operational processes such as reporting and inventory management can be automated to improve efficiency. Employee learning, onboarding, and customer service also become more efficient, as MDM data facilitates rapid, accurate, and thorough information retrieval, permitting more employee time to be spent on work. Regulatory compliance: MDM tries to help organizations comply with industry standards and regulations by ensuring that master data is accurately recorded, maintained, and audited. However, issues with data quality, classification, and reconciliation may require data transformation. As with other Extract, Transform, Load-based data movements, these processes are expensive and inefficient, reducing return on investment for a project. == Business unit and product line segmentation == As a result of business unit and product line segmentation, the same entity (whether a customer, supplier, or product) will be included in different product lines. This leads to data redundancy and even confusion. For example, a customer takes out a mortgage at a bank. If the marketing and customer service departments have separate databases, advertisements might still be sent to the customer, even though they've already signed up. The two parts of the bank are unaware, and the customer is sent irrelevant communications. Record linkage can associate different records corresponding to the same entity, mitigating this issue. == Mergers and acquisitions == One of the most common problems for master data management is company growth through mergers or acquisitions. Reconciling these separate master data systems can present difficulties, as existing applications have dependencies on the master databases. Ideally, database administrators resolve this problem through deduplication of the master data as part of the merger. Over time, as further mergers and acquisitions occur, the problem can multiply. Data reconciliation processes can become extremely complex or even unreliable. Some organizations end up with 10, 15, or even 100 separate and poorly integrated master databases. This can cause serious problems in customer satisfaction, operational efficiency, decision support, and regulatory compliance. Another problem involves determining the proper degrees of detail and normalization to include in the master data schema. For example, in a federated Human Resources environment, the enterprise software may focus on storing people's data as current status, adding a few fields to identify the date of hire, date of last promotion, etc. However, this simplification can introduce business-impacting errors into dependent systems for planning and forecasting. The stakeholders of such systems may be forced to build a parallel network of new interfaces to track the onboarding of new hires, planned retirements, and divestment, which works against one of the aims of master data management. == People, processes and technology == Master data management is enabled by technology, but is more than the technologies that enable it. An organization's master data management capability will also include people and processes in its definition. === People === Several roles should be staffed within MDM. Most prominently, the Data Owner and the Data Steward. Several people would likely be allocated to each role and each person responsible for a subset of Master Data (e.g. one data owner for employee master data, another for customer master data). The Data Owner is responsible for the requirements for data definition, data quality, data security, etc. as well as for compliance with data governance and data management procedures. The Data Owner should also be funding improvement projects in case of deviations from the requirements. The Data Steward is running the master data management on behalf of the data owner and probably also being an advisor to the Data Owner. === Processes === Master data management can be viewed as a "discipline for specialized quality improvement" defined by the policies and procedures put in place by a data governance organization. It has the objective of providing processes for collecting, aggregating, matching, consolidating, quality-assuring, persisting and distributing master data throughout an organization to ensure a common understanding, consistency, accuracy and control, in the ongoing maintenance and application use of that data. Processes commonly seen in master data management include source identification, data collection, data transformation, normalization, rule administration, error detection and correction, data consolidation, data storage, data distribution, data classification, taxonomy services, item master creation, schema mapping, product codification, data enrichment, hierarchy management, business semantics management and data governance. === Technology === A master data management tool can be used to support master data management by removing duplicates, standardizing data (mass maintaining), and incorporating rules to eliminate incorrect data from entering the system to create an authoritative source of master data. Master data are the products, accounts, and parties for which the business transactions are completed. Where the technology approach produces a "golden record" or relies on a "source of record" or "system of record", it is common to talk of where the data is "mastered". This is accepted terminology in the information technology industry, but care should be taken, both with specialists and with the wider stakeholder community, to avoid confusing the concept of "master data" with that of "mastering data". ==== Implementation models ==== There are several models for implementing a technology solution for master data management. These depend on an organization's core business, its corporate structure, and its goals. These include: Source of record Registry Consolidation Coexistence Transaction/centralized ===== Source of record ===== This model identifies a single application, database, or simpler source (e.g. a spreadsheet) as being the "source of record" (or "system of record" where solely application databases are relied on). The benefit of this model is its conceptual simplicity, but it may not fit with the realities of complex master data distribution in large organizations. The source of record can be federated, for example by groups of attributes (so that different attributes of a master data entity may have different sources of record) or geographically (so that different parts of an organization may have different master sources). Federation is only applicable in certain use cases, where there is a clear delineation of which subsets of records will be found in which sources. The source of record model can be applied more widely than simply to master data, for example to reference data. ==== Transmission of master data ==== There are several ways in which master data may be collated and distributed to other systems. This includes: Data consolidation – The process of capturing master data from multiple sources and integrating it into a single hub (operational data store) for replication to other destination systems. Data federation – The process of providing a single virtual view of master data from one or more sources to one or more destination systems. Data propagation – The process of copying master data from one system to another, typically through point-to-point interfaces in legacy systems. == Change management in implementation == Challenges in adopting master data management within large organizations often arise when stakeholders disagree on a "single version of the truth" concept is not affirmed by stakeholders, who believe that their local definition of the master data is necessary. For example, the product hierarchy used to manage inventory may be entirely different from the product hierarchies used to support marketing efforts or pay sales representatives. It is above all necessary to identify if different master data is genuinely required. If it is required, then the solution implemented (technology and process) must be able to allow multiple versions of the truth to exist but will prov
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Clip Studio Paint

Clip Studio Paint (previously marketed as Manga Studio in North America), informally known in Japan as Kurisuta (クリスタ), is a family of software applications developed by Japanese graphics software company Celsys. It is used for the digital creation of comics, general illustration, and 2D animation. The software is available in versions for macOS, Windows, iOS, iPadOS, Android, and ChromeOS. The program is widely used by amateur and professional comics creators, and animation studios. The application is sold in editions with varying feature sets. The full-featured edition is a page-based, layered drawing program, with support for bitmap and vector art, text, imported 3D models, and frame-by-frame animation. It is designed for use with a stylus and a graphics tablet or tablet computer. It has drawing tools which emulate natural media such as pencils, ink pens, and brushes, as well as patterns and decorations. It is distinguished from similar programs by features designed for creating comics: tools for creating panel layouts, perspective rulers, sketching, inking, applying tones and textures, coloring, and creating word balloons and captions. == History == The application has it origins in a program for macOS and Windows, released in Japan in 2001 as "Comic Studio". It was sold as "Manga Studio" in the Western market by E Frontier America until 2007, then by Smith Micro Software. Early versions were designed for creating black and white art with only spot color (a typical format for Japanese manga), with version 4 adding support for full-color art. Celsys developed Clip Studio Paint as a replacement for this product, based on the company's Illust Studio application, and it was released on May 31, 2012. It was initially distributed in Western markets as "Manga Studio 5", but in 2016, the branding was unified worldwide as "Clip Studio Paint". At this time, version 1.5.4 introduced a new file format (extension .clip) and frame-by-frame animation. In late 2017, Celsys took over direct support for the software worldwide, and ceased its relationship with Smith Micro. In July 2018, Celsys began a partnership with Graphixly for distribution in North America, South America, and Europe. Clip Studio Paint for the Apple iPad was introduced in November 2017, and for the iPhone in December 2019. Clip Studio Paint for Samsung Galaxy tablets and smartphones was released in August 2020 on the Galaxy Store, with versions for other Android devices and Chromebooks released in December. The Windows and macOS versions of the software have been sold and distributed either from the developer's web site or on DVD, and purchased either with a perpetual license or an ongoing subscription. The versions for iPhone, iPad, and Android-based devices are distributed through the corresponding app stores free of charge, but require a subscription – which includes cloud storage – for unrestricted use. Without a subscription, the tablet versions can be used only for a specified number of months, and the phone versions can be used only for 30 hours per month. From 2013 to 2023, regular updates for version 1 were distributed free of additional charge to both perpetual and subscription users. Since the release of version 2 in 2023, feature updates are included only in subscription plans and are available to perpetual licenses at an additional cost. Perpetual licenses can be upgraded permanently or with an annual "update pass". The "update pass" provides early access to features to be included in subsequent perpetual licenses for 12 months, after which the software reverts to the original license if not renewed. In March 2024, version 3 was released, and version 4 introduced additional features in March 2025. == Editions == Clip Studio Paint is available in three editions, with differing feature sets and prices: Debut (bundle-only grade), Pro (adding support for vector-based drawing, custom textures, and comics-focused features), and EX (adding support for multi-page documents, book exporting, and 2D animation). Companion programs include Clip Studio (for managing and sharing digital assets distributed through the Clip Studio web site, managing licenses, and getting updates and support) and Clip Studio Modeler (for setting up 3D materials to use in Clip Studio Paint).
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Metadirectory

A metadirectory system provides for the flow of data between one or more directory services and databases in order to maintain synchronization of that data. It is an important part of identity management systems. The data being synchronized typically are collections of entries that contain user profiles and possibly authentication or policy information. Most metadirectory deployments synchronize data into at least one LDAP-based directory server, to ensure that LDAP-based applications such as single sign-on and portal servers have access to recent data, even if the data is mastered in a non-LDAP data source. Metadirectory products support filtering and transformation of data in transit. Most identity management suites from commercial vendors include a metadirectory product, or a user provisioning product.
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Kinodynamic planning

In robotics and motion planning, kinodynamic planning is a class of problems for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles. The term was coined by Bruce Donald, Pat Xavier, John Canny, and John Reif. Donald et al. developed the first polynomial-time approximation schemes (PTAS) for the problem. By providing a provably polynomial-time ε-approximation algorithm, they resolved a long-standing open problem in optimal control. Their first paper considered time-optimal control ("fastest path") of a point mass under Newtonian dynamics, amidst polygonal (2D) or polyhedral (3D) obstacles, subject to state bounds on position, velocity, and acceleration. Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics. == Modern approaches == Since the foundational theoretical work of the 1990s, the field has evolved significantly with new algorithmic approaches that address the computational and practical limitations of early methods. === Sampling-based methods === Many practical heuristic algorithms based on stochastic optimization and iterative sampling have been developed by a wide range of authors to address the kinodynamic planning problem. Popular approaches include extensions of RRT algorithms such as RRT for kinodynamic systems, and sampling-based methods like Model Predictive Path Integral (MPPI) control. These stochastic techniques have been shown to work well in practice and can handle complex, high-dimensional state spaces more efficiently than deterministic methods. However, all motion planning methods are subject to the PSPACE-hardnesss of classical motion planning even without dynamics, which means (assuming the usual structural complexity conjectures) they all can be worst-case exponential-time in the state-space dimension (the number of degrees of freedom). On the other hand, the deterministic methods have provable guarantees of completeness, accuracy, and complexity (for fixed dimension, they are polynomial-time not only in the geometric complexity, but also in ( 1 / ε ) {\displaystyle (1/\varepsilon )} , the closeness of the desired approximation), whereas most of the recent heuristic/stochastic methods sacrifice at least one of these criteria. === Mixed-integer optimization approaches === Recent advances in mixed-integer programming have enabled new deterministic approaches to kinodynamic planning. These methods formulate the planning problem as an optimization task that simultaneously determines the spatial path and control sequence while respecting all kinodynamic constraints. By using techniques such as McCormick envelopes to handle bilinear constraints, these approaches can provide globally optimal solutions with mathematical guarantees while achieving significant computational speedups over traditional methods. === Genetic algorithm approaches === Genetic algorithms have also been adapted for kinodynamic planning, particularly for gradient-free optimization in challenging terrain. These methods use evolutionary computation to optimize trajectories over receding horizons, with specialized mutation operators that ensure vehicle controls remain within operational limits. This approach is particularly useful when dealing with non-differentiable cost functions or when gradient information is unavailable or unreliable. === Three-dimensional terrain planning === The foundational theoretical work of the 1990s was extended to higher degrees of freedom, and even to n {\displaystyle n} -link, 3D open-chain kinematic robots under full Lagrangian dynamics. However, many of the subsequent heuristic techniques (typically employing stochastic optimization) were confined to planar environments. More recent kinodynamic planning has extended beyond these planar environments to handle complex 3D terrains represented as simplicial complexes or triangular meshes. This advancement is particularly important for applications such as autonomous vehicle navigation in off-road environments, where elevation changes and terrain geometry significantly impact vehicle dynamics. These methods must account for pitch angles, surface curvature, and the coupling between terrain geometry and vehicle kinodynamic constraints. == Performance and guarantees == The landscape of performance guarantees in kinodynamic planning has evolved considerably. While early heuristic methods could not guarantee optimality, recent mixed-integer approaches have demonstrated the ability to find globally optimal solutions with proven constraint satisfaction. Experimental comparisons have shown that modern optimization-based planners can achieve execution times several orders of magnitude faster than sampling-based methods while maintaining strict adherence to kinodynamic constraints. However, the choice of method often depends on the specific application requirements. Sampling-based methods remain valuable for their ability to quickly find feasible solutions in high-dimensional spaces and their robustness to modeling uncertainties. Optimization-based methods excel when optimality guarantees and constraint compliance are critical, particularly in safety-critical applications. == Applications == Kinodynamic planning finds applications across numerous domains including: Autonomous vehicles: Path planning for cars, trucks, and other ground vehicles that must respect acceleration, steering, and velocity limits Aerial robotics: Trajectory planning for quadrotors and other unmanned aerial vehicles with dynamic constraints Manipulation: Planning for robotic arms where joint velocities, accelerations, and torques are limited Legged locomotion: Footstep and trajectory planning for walking and running robots Space robotics: Planning under thrust and fuel constraints for spacecraft and rovers
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Sedona Canada Principles

The Sedona Canada Principles are a set of authoritative guidelines published by The Sedona Conference to aid members of the Canadian legal community involved in the identification, collection, preservation, review and production of electronically stored information (ESI). The principles were drafted by a small group of lawyers, judges and technologists called the Sedona Working Group 7 or Sedona Canada. Sedona Canada is an offshoot of The Sedona Conference which is an American "non-profit ... research and educational institute dedicated to the advanced study of law and policy in the areas of antitrust law, complex litigation, and intellectual property rights". == Background == Civil procedure in Canada is jurisdictional with each province following its own rules of civil procedure. However, each province must address the fact that due to the advancement of technology the discovery process enshrined in the rules of civil procedure can be potentially derailed due to the sheer volume of electronically stored information (ESI). When dealing with litigation matters that involve electronically stored information (ESI), the discovery process is commonly called e-discovery. The problems associated with e-discovery in Canada led to the creation of the Sedona Canada Principles. Rule 29.1.03(4) of the wikibooks:Ontario Rules of Civil Procedure specifically refers to the Sedona Canada Principles in referencing Principles re Electronic Discovery although it has been reported that this rule has been largely ignored in practice. == Summary == The Sedona Canada Principles largely refer to the processes found in the Electronic Discovery Reference Model. The principles urge proportionality due to the potentially enormous volumes of documents that may be discoverable when dealing with ESI. They also encourage good faith in the document preservation stage and regular meetings between parties to discuss the scope of the litigation. Parties are urged to be aware of the potential costs involved in producing relevant ESI but are advised that only reasonably accessible ESI need be produced. The principles stipulate that parties should not be required to search for or collect deleted material unless there is an agreement or court order related to those terms. The use of electronic tools and processes such as data sampling and web harvesting are acceptable practices. Parties are encouraged to agree early in the litigation process on production format required for the exchange of relevant documents as part of the discovery process (native files, pdf, tiff, metadata requirements etc.). Agreements or direction should be sought, if necessary, with respect to privilege or other confidential information related to production of electronic documents and data. Parties should be aware that legal precedents can be formed as a result of e-discovery practices and sanctions can be considered for a party's failure to meet their discovery obligations unless it can be demonstrated that the failure was not intentional. All parties must bear the “reasonable” costs associated with e-discovery but other arrangements can be agreed upon by the parties or by court order. == Caselaw == In Warman v. National Post Company proportionality was at issue in a case where the plaintiff was suing the defendant for libel. A motion was brought by the defendant to have the plaintiff provide a mirror image of his hard drive in an effort to prove an internet article was indeed authored by the plaintiff. Issues of proportionality and the work of the Sedona Conference and Sedona Canada Principles were factored in to the decision to grant the defendant only limited access to the hard drive. In Innovative Health Group Inc. v. Calgary Health Region the plaintiff's legal obligation to produce imaged hard drives is in question. Justice Conrad refers to the advice of Sedona Canada on proportionality and problems associated with time and expense related to the difficulties associated with electronically stored information. In York University v. Michael Markicevic Justice Brown specifically refers to the need for the parties to agree upon a formal e-discovery plan to be drafted in consultation with Sedona Canada Principles. In Friends of Lansdowne v. Ottawa Master MacLeod refers to the need for Sedona Canada principles and states “This is particularly true in the current information age when e-mail is ubiquitous and multiple copies or variants of messages may be held on various kinds of data storage devices including individual hard drives, e-mail and Blackberry servers. Even documents that ultimately exist in paper form normally begin their life on computers and negotiations frequently involve exchanges of electronic drafts. To find every scrap of paper and every electronic trace of relevant information has become a nightmarish task that threatens to render any kind of litigation extravagantly expensive.” == Criticism == Critics of the Sedona Canada Principles believe they should address system integrity and that the true history of any file preserved cannot be identified without proof of the integrity of the electronic record systems management it comes from. Other criticism is more directed to the Sedona Canada working group and complaints that it is insular and irrelevant.
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Topological deep learning

Topological deep learning (TDL) is a research field that extends deep learning to handle complex, non-Euclidean data structures. Traditional deep learning models, such as convolutional neural networks (CNNs) and recurrent neural networks (RNNs), excel in processing data on regular grids and sequences. However, scientific and real-world data often exhibit more intricate data domains encountered in scientific computations, including point clouds, meshes, time series, scalar fields graphs, or general topological spaces like simplicial complexes and CW complexes. TDL addresses this by incorporating topological concepts to process data with higher-order relationships, such as interactions among multiple entities and complex hierarchies. This approach leverages structures like simplicial complexes and hypergraphs to capture global dependencies and qualitative spatial properties, offering a more nuanced representation of data. TDL also encompasses methods from computational and algebraic topology that permit studying properties of neural networks and their training process, such as their predictive performance or generalization properties. The mathematical foundations of TDL are algebraic topology, differential topology, and geometric topology. Therefore, TDL can be generalized for data on differentiable manifolds, knots, links, tangles, curves, etc. == History and motivation == Traditional techniques from deep learning often operate under the assumption that a dataset is residing in a highly-structured space (like images, where convolutional neural networks exhibit outstanding performance over alternative methods) or a Euclidean space. The prevalence of new types of data, in particular graphs, meshes, and molecules, resulted in the development of new techniques, culminating in the field of geometric deep learning, which originally proposed a signal-processing perspective for treating such data types. While originally confined to graphs, where connectivity is defined based on nodes and edges, follow-up work extended concepts to a larger variety of data types, including simplicial complexes and CW complexes, with recent work proposing a unified perspective of message-passing on general combinatorial complexes. An independent perspective on different types of data originated from topological data analysis, which proposed a new framework for describing structural information of data, i.e., their "shape," that is inherently aware of multiple scales in data, ranging from local information to global information. While at first restricted to smaller datasets, subsequent work developed new descriptors that efficiently summarized topological information of datasets to make them available for traditional machine-learning techniques, such as support vector machines or random forests. Such descriptors ranged from new techniques for feature engineering over new ways of providing suitable coordinates for topological descriptors, or the creation of more efficient dissimilarity measures. Contemporary research in this field is largely concerned with either integrating information about the underlying data topology into existing deep-learning models or obtaining novel ways of training on topological domains. == Learning on topological spaces == One of the core concepts in topological deep learning is considering the domain upon which this data is defined and supported. In case of Euclidean data, such as images, this domain is a grid, upon which the pixel value of the image is supported. In a more general setting this domain might be a topological domain. Studying and developing deep learning models that are supported ln topological domains constitute the essence of topological deep learning. Next, we introduce the most common topological domains that are encountered in a deep learning setting. These domains include, but not limited to, graphs, simplicial complexes, cell complexes, combinatorial complexes and hypergraphs. Given a finite set S of abstract entities, a neighborhood function N {\displaystyle {\mathcal {N}}} on S is an assignment that attach to every point x {\displaystyle x} in S a subset of S or a relation. Such a function can be induced by equipping S with an auxiliary structure. Edges provide one way of defining relations among the entities of S. More specifically, edges in a graph allow one to define the notion of neighborhood using, for instance, the one hop neighborhood notion. Edges however, limited in their modeling capacity as they can only be used to model binary relations among entities of S since every edge is connected typically to two entities. In many applications, it is desirable to permit relations that incorporate more than two entities. The idea of using relations that involve more than two entities is central to topological domains. Such higher-order relations allow for a broader range of neighborhood functions to be defined on S to capture multi-way interactions among entities of S. Next we review the main properties, advantages, and disadvantages of some commonly studied topological domains in the context of deep learning, including (abstract) simplicial complexes, regular cell complexes, hypergraphs, and combinatorial complexes. ==== Comparisons among topological domains ==== Each of the enumerated topological domains has its own characteristics, advantages, and limitations: Simplicial complexes Simplest form of higher-order domains. Extensions of graph-based models. Admit hierarchical structures, making them suitable for various applications. Hodge theory can be naturally defined on simplicial complexes. Require relations to be subsets of larger relations, imposing constraints on the structure. Cell Complexes Generalize simplicial complexes. Provide more flexibility in defining higher-order relations. Each cell in a cell complex is homeomorphic to an open ball, attached together via attaching maps. Boundary cells of each cell in a cell complex are also cells in the complex. Represented combinatorially via incidence matrices. Hypergraphs Allow arbitrary set-type relations among entities. Relations are not imposed by other relations, providing more flexibility. Do not explicitly encode the dimension of cells or relations. Useful when relations in the data do not adhere to constraints imposed by other models like simplicial and cell complexes. Combinatorial Complexes : Generalize and bridge the gaps between simplicial complexes, cell complexes, and hypergraphs. Allow for hierarchical structures and set-type relations. Combine features of other complexes while providing more flexibility in modeling relations. Can be represented combinatorially, similar to cell complexes. ==== Hierarchical structure and set-type relations ==== The properties of simplicial complexes, cell complexes, and hypergraphs give rise to two main features of relations on higher-order domains, namely hierarchies of relations and set-type relations. ===== Rank function ===== A rank function on a higher-order domain X is an order-preserving function rk: X → Z, where rk(x) attaches a non-negative integer value to each relation x in X, preserving set inclusion in X. Cell and simplicial complexes are common examples of higher-order domains equipped with rank functions and therefore with hierarchies of relations. ===== Set-type relations ===== Relations in a higher-order domain are called set-type relations if the existence of a relation is not implied by another relation in the domain. Hypergraphs constitute examples of higher-order domains equipped with set-type relations. Given the modeling limitations of simplicial complexes, cell complexes, and hypergraphs, we develop the combinatorial complex, a higher-order domain that features both hierarchies of relations and set-type relations. The learning tasks in TDL can be broadly classified into three categories: Cell classification: Predict targets for each cell in a complex. Examples include triangular mesh segmentation, where the task is to predict the class of each face or edge in a given mesh. Complex classification: Predict targets for an entire complex. For example, predict the class of each input mesh. Cell prediction: Predict properties of cell-cell interactions in a complex, and in some cases, predict whether a cell exists in the complex. An example is the prediction of linkages among entities in hyperedges of a hypergraph. In practice, to perform the aforementioned tasks, deep learning models designed for specific topological spaces must be constructed and implemented. These models, known as topological neural networks, are tailored to operate effectively within these spaces. === Topological neural networks === Central to TDL are topological neural networks (TNNs), specialized architectures designed to operate on data structured in topological domains. Unlike traditional neural networks tailored for grid-like structures, TNNs are adept at handling more intricate data representations, such as graphs
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Single source of truth

In information science and information technology, single source of truth (SSOT) architecture, or single point of truth (SPOT) architecture, for information systems is the practice of structuring information models and associated data schemas such that every data element is mastered (or edited) in only one place, providing data normalization to a canonical form (for example, in database normalization or content transclusion). There are several scenarios with respect to copies and updates: The master data is never copied and instead only references to it are made; this means that all reads and updates go directly to the SSOT. The master data is copied but the copies are only read and only the master data is updated; if requests to read data are only made on copies, this is an instance of CQRS. The master data is copied and the copies are updated; this needs a reconciliation mechanism when there are concurrent updates. Updates on copies can be thrown out whenever a concurrent update is made on the master, so they are not considered fully committed until propagated to the master. (many blockchains work that way.) Concurrent updates are merged. (if an automatic merge fails, it could fall back on another strategy, which could be the previous strategy or something else like manual intervention, which most source version control systems do.) The advantages of SSOT architectures include easier prevention of mistaken inconsistencies (such as a duplicate value/copy somewhere being forgotten), and greatly simplified version control. Without a SSOT, dealing with inconsistencies implies either complex and error-prone consensus algorithms, or using a simpler architecture that's liable to lose data in the face of inconsistency (the latter may seem unacceptable but it is sometimes a very good choice; it is how most blockchains operate: a transaction is actually final only if it was included in the next block that is mined). Ideally, SSOT systems provide data that are authentic (and authenticatable), relevant, and referable. Deployment of an SSOT architecture is becoming increasingly important in enterprise settings where incorrectly linked duplicate or de-normalized data elements (a direct consequence of intentional or unintentional denormalization of any explicit data model) pose a risk for retrieval of outdated, and therefore incorrect, information. Common examples (i.e., example classes of implementation) are as follows: In electronic health records (EHRs), it is imperative to accurately validate patient identity against a single referential repository, which serves as the SSOT. Duplicate representations of data within the enterprise would be implemented by the use of pointers rather than duplicate database tables, rows, or cells. This ensures that data updates to elements in the authoritative location are comprehensively distributed to all federated database constituencies in the larger overall enterprise architecture. EHRs are an excellent class for exemplifying how SSOT architecture is both poignantly necessary and challenging to achieve: it is challenging because inter-organization health information exchange is inherently a cybersecurity competence hurdle, and nonetheless it is necessary, to prevent medical errors, to prevent the wasted costs of inefficiency (such as duplicated work or rework), and to make the primary care and medical home concepts feasible (to achieve competent care transitions). Single-source publishing as a general principle or ideal in content management relies on having SSOTs, via transclusion or (otherwise, at least) substitution. Substitution happens via libraries of objects that can be propagated as static copies which are later refreshed when necessary (that is, when refreshing of the copy-paste or import is triggered by a larger updating event). Component content management systems are a class of content management systems that aim to provide competence on this level. == Implementation == === Ontologic interactions === An acknowledged prerequisite (of the notion that any given single source of truth can exist) is that it depends on the ontologic condition that no more than a single truth (about any particular fact or idea) exists, an assertion that is ontologic in both the IT sense and the general sense of that word. In many instances, this presents no problem (for example, within particular namespaces, or even across them, as long as naming collisions or broader name conflicts are adequately handled). The broadest contexts (and thus thorniest, regarding ontologic discrepancies) require adequate epistemic regime comparison and reconciliation (or at least negotiation or transactional exchanges). An archetypal example of this class of reconciliation is that two theological seminary libraries, from two different religions (X and Y), could exchange information with an SSOT architecture, but the unification of truth would reside on the level of the statement that "religion X asserts that God is purple whereas religion Y asserts that God is green", rather than on the level of "God is purple" or "God is green". === Architectures or architectural features === An ideal implementation of SSOT is rarely possible in most enterprises. This is because many organisations have multiple information systems, each of which needs access to data relating to the same entities (e.g., customer). Often these systems are purchased as commercial off-the-shelf products from vendors and cannot be modified in trivial ways. Each of these various systems therefore needs to store its own version of common data or entities, and therefore each system must retain its own copy of a record (hence immediately violating the SSOT approach defined above). For example, an enterprise resource planning (ERP) system (such as SAP or Oracle e-Business Suite) may store a customer record; the customer relationship management (CRM) system also needs a copy of the customer record (or part of it) and the warehouse dispatch system might also need a copy of some or all of the customer data (e.g., shipping address). In cases where vendors do not support such modifications, it is not always possible to replace these records with pointers to the SSOT. For organisations (with more than one information system) wishing to implement a Single Source of Truth (without modifying all but one master system to store pointers to other systems for all entities), some supporting architectures are: Master data management (MDM) Event store and event sourcing (ES) ==== Master data management (MDM) ==== A master data management system typically serves as the source of truth for an organization's metadata, helping to ensure accuracy and consistency throughout that organizations multiple data sources. Typically the MDM acts as a hub for multiple systems, many of which could allow (be the source of truth for) updates to different aspects of information on a given entity. For example, the CRM system may be the "source of truth" for most aspects of the customer, and is updated by a call centre operator. However, a customer may (for example) also update their address via a customer service web site, with a different back-end database from the CRM system. The MDM application receives updates from multiple sources, acts as a broker to determine which updates are to be regarded as authoritative (the golden record) and then syndicates this updated data to all subscribing systems. The MDM application normally requires an ESB to syndicate its data to multiple subscribing systems. ==== Event store and event sourcing (ES) ==== In event oriented architectures, it has become increasingly common to find an implementation of the Event Sourcing pattern which stores the system state as an ordered sequence of state changes. To do this, you need an Event Store, a particular type of database designed to hold all the events that change the state of the system. The event store in an Event Sourcing + Command Query Responsibility Separation + Domain Driven Design + Messaging architecture is in fact a "single source of truth", with the additional advantage that it can also act as an Enterprise Service Bus as it can listen directly to the event store for status changes as everything passes by. In addition, by saving all the events, it also plays the role of Data Warehouse. One last advantage is that through this system the Shared Database pattern can be implemented, another technique not mentioned to obtain a single source of truth. ==== Data warehouse (DW) ==== While the primary purpose of a data warehouse is to support reporting and analysis of data that has been combined from multiple sources, the fact that such data has been combined (according to business logic embedded in the data transformation and integration processes) means that the data warehouse is often used as a de facto SSOT. Generally, however, the data available from the data warehouse are not used to update other systems; rather the DW becomes
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Information strategist

An information strategist analyses the information flow within an organisation and directs its information resources to better serve the organisation's strategic goals. They work with information technology or within a corporate library to direct high quality information from a variety of sources to users, based upon their profiles and needs. In warfare, information strategists not only seek to improve information flows for their own side but also try to disrupt the information flows of the enemy in order to demoralize and deceive them.
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