AI Coding For Game Development

AI Coding For Game Development — independent reviews, comparisons, pricing and step-by-step guides on Aizhi.

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  Continuum robot

  A continuum robot is a type of robot that is characterised by infinite degrees of freedom and number of joints. These characteristics allow continuum manipulators to adjust and modify their shape at any point along their length, granting them the possibility to work in confined spaces and complex environments where standard rigid-link robots cannot operate. In particular, we can define a continuum robot as an actuatable structure whose constitutive material forms curves with continuous tangent vectors. This is a fundamental definition that allows to distinguish between continuum robots and snake-arm robots or hyper-redundant manipulators: the presence of rigid links and joints allows them to only approximately perform curves with continuous tangent vectors. The design of continuum robots is bioinspired, as the intent is to resemble biological trunks, snakes and tentacles. Several concepts of continuum robots have been commercialised and can be found in many different domains of application, ranging from the medical field to undersea exploration. == Classification == Continuum robots can be categorised according to two main criteria: structure and actuation. === Structure === The main characteristic of the design of continuum robots is the presence of a continuously curving core structure, named backbone, whose shape can be actuated. The backbone must also be compliant, meaning that the backbone yields smoothly to external loads. According to the design principles chosen for the continuum manipulator, we can distinguish between: single-backbone: these continuum manipulators have one central elastic backbone through which actuation/transmission elements can run. multi-backbone: the structure of these continuum robots has two or more elastic elements (either rods or tubes) parallel to each other and constrained with one another in some way. concentric-tube: the backbone is made of concentric tubes that are free to rotate and translate between each other, depending on the actuation happening at the base of the robot. === Actuation === The actuation strategy of continuum manipulators can be distinguished between extrinsic or intrinsic actuation, depending on where the actuation happens: extrinsic actuation: the actuation happens outside the main structure of the robot and the forces are transmitted via mechanical transmission; among these techniques, there are cable/tendon driven actuators and multi-backbone strategies. intrinsic actuation: the actuation mechanism operates within the structure of the robot; these strategies include pneumatic or hydraulic chambers and the shape memory effect. The Actuated Flexible Manifold (AFM), introduced by Medina, Shapiro, and Shvalb (2016), models flexible grid-based robots that approximate smooth manifolds using discrete segments, each contributing one degree of freedom. Their work provides forward and inverse kinematics for planar and spatial configurations, bridging hyper-redundant and continuum robotics. == Advantages == The particular design of continuum robots offers several advantages with respect to rigid-link robots. First of all, as already said, continuum robots can more easily operate in environments that require a high level of dexterity, adaptability and flexibility. Moreover, the simplicity of their structure makes continuum robots more prone to miniaturisation. The rise of continuum robots has also paved the way for the development of soft continuum manipulators. These continuum manipulators are made of highly compliant materials that are flexible and can adapt and deform according to the surrounding environment. The "softness" of their material grants higher safety in human-robot interactions. == Disadvantages == The particular design of continuum robots also introduces many challenges. To properly and safely use continuum robots, it is crucial to have an accurate force and shape sensing system. Traditionally, this is done using cameras that are not suitable for some of the applications of continuum robots (e.g. minimally invasive surgery), or using electromagnetic sensors that are however disturbed by the presence of magnetic objects in the environment. To solve this issue, in the last years fiber-Bragg-grating sensors have been proposed as a possible alternative and have shown promising results. It is also necessary to notice that while the mechanical properties of rigid-link robots are fully understood, the comprehension of the behaviour and properties of continuum robots is still subject of study and debate. This poses new challenges in developing accurate models and control algorithms for this kind of robots. == Modelling == Creating an accurate model that can predict the shape of a continuum robot allows to properly control the robot's shape. There are three main approaches to model continuum robots: Cosserat rod theory: this approach is an exact solution to the static of a continuum robot, as it is not subject to any assumption. It solves a set of equilibrium equations between position, orientation, internal force and torque of the robot. This method requires to be solved numerically and it is therefore computationally expensive, due to its high complexity. Constant curvature: this technique assumes the backbone to be made of a series of mutually tangent sections that can be approximated as arcs with constant curvature. This approach is also known as piecewise constant-curvature. This assumption can be applied to the entire segment of the backbone or to its subsegments. This model has shown promising results, however it must be taken into account that the segment/subsegments of the backbone may not comply to the constant curvature assumption and therefore the model's behaviour may not entirely reflect the behaviour of the robot. Rigid-link model: this approach is based on the assumption that the continuum robot can be divided in small segments with rigid links. This is a strong assumption, since if the number of segments is too low, the model hardly behaves like the continuum robot, while increasing the number of segments means increasing the number of variables, and thus complexity. Despite this limitation, rigid-link modelling allows the use of the standard control techniques that are well known for rigid-link robots. It has been proven that this model can be coupled with shape and force sensing to mitigate its inaccuracy and can lead to promising results. == Sensing == To develop accurate control algorithms, it is necessary to complement the presented modelling techniques with real time shape sensing. The following options are currently available: Electromagnetic (EM) sensing: shape is reconstructed thanks to the mutual induction between a magnetic field generator and a magnetic field sensor. The most common external EM tracking system is the commercially available NDI Aurora: small sensors can be placed on the robot and their position is tracked in an external generated magnetic field. The validity of this method has been extensively assessed, however its performance is hindered by the limited workspace, whose dimension depends on the magnetic field. Another alternative is to embed the sensors internally in the continuum robot, combining magnetic sensors with Hall effect sensors: the magnetic field is measured at the level of the Hall effect sensors in order to estimate the deflection of the robot. However, it has been noticed that the higher the bending of the manipulator, the higher is the estimation error, due to crosstalk between sensors and magnets. Optical sensing: fiber Bragg grating sensors incorporated in an optical fiber can be embedded into the backbone of the continuum robot to estimate its shape; these sensors can only reflect a small range of the input light spectrum depending on their strain; therefore, by measuring the strain on each sensor it is possible to obtain the shape of the robot. This type of sensor is however expensive and is more prone to breaking in case of excessive strain, and this can happen in robots that can perform high deflections. == Control strategies == The control strategies can be distinguished in static and dynamic; the first one is based on the steady-state assumption, while the latter also considers the dynamic behaviour of the continuum robot. We can also differentiate between model-based controllers, that depend on a model of the robot, and model-free, that learn the robot's behaviour from data. Model-based static controllers: they rely on one of the modelling approaches presented above; once the model is defined, the kinematics must be inverted to obtain the desired actuator or configuration space variables. There are several ways to do this, like differential inverse kinematics, direct inversion or optimization. Model-free static controllers: these approaches learn directly, via machine learning techniques (e.g. regression methods and neural networks), the inverse kinematic or the direct kinematic representation of the con

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  Mathematical morphology

  Mathematical morphology (MM) is a theory and technique for analyzing and processing geometrical structures. It's based on set theory, lattice theory, topology, and random functions. MM is most commonly applied to digital images, but it can be employed as well on graphs, surface meshes, solids, and many other spatial structures. Topological and geometrical continuous-space concepts such as size, shape, convexity, connectivity, and geodesic distance, were introduced by MM on both continuous and discrete spaces. MM is also the foundation of morphological image processing, which consists of a set of operators that transform images according to the above characterizations. The basic morphological operators are erosion, dilation, opening and closing. MM was originally developed for binary images, and was later extended to grayscale functions and images. The subsequent generalization to complete lattices is widely accepted today as MM's theoretical foundation. == History == Mathematical Morphology was developed in 1964 by the collaborative work of Georges Matheron and Jean Serra, at the École des Mines de Paris, France. Matheron supervised the PhD thesis of Serra, devoted to the quantification of mineral characteristics from thin cross sections, and this work resulted in a novel practical approach, as well as theoretical advancements in integral geometry and topology. In 1968, the Centre de Morphologie Mathématique was founded by the École des Mines de Paris in Fontainebleau, France, led by Matheron and Serra. During the rest of the 1960s and most of the 1970s, MM dealt essentially with binary images, treated as sets, and generated a large number of binary operators and techniques: Hit-or-miss transform, dilation, erosion, opening, closing, granulometry, thinning, skeletonization, ultimate erosion, conditional bisector, and others. A random approach was also developed, based on novel image models. Most of the work in that period was developed in Fontainebleau. From the mid-1970s to mid-1980s, MM was generalized to grayscale functions and images as well. Besides extending the main concepts (such as dilation, erosion, etc.) to functions, this generalization yielded new operators, such as morphological gradients, top-hat transform and the Watershed (MM's main segmentation approach). In the 1980s and 1990s, MM gained a wider recognition, as research centers in several countries began to adopt and investigate the method. MM started to be applied to a large number of imaging problems and applications, especially in the field of non-linear filtering of noisy images. In 1986, Serra further generalized MM, this time to a theoretical framework based on complete lattices. This generalization brought flexibility to the theory, enabling its application to a much larger number of structures, including color images, video, graphs, meshes, etc. At the same time, Matheron and Serra also formulated a theory for morphological filtering, based on the new lattice framework. The 1990s and 2000s also saw further theoretical advancements, including the concepts of connections and levelings. In 1993, the first International Symposium on Mathematical Morphology (ISMM) took place in Barcelona, Spain. Since then, ISMMs are organized every 2–3 years: Fontainebleau, France (1994); Atlanta, USA (1996); Amsterdam, Netherlands (1998); Palo Alto, CA, USA (2000); Sydney, Australia (2002); Paris, France (2005); Rio de Janeiro, Brazil (2007); Groningen, Netherlands (2009); Intra (Verbania), Italy (2011); Uppsala, Sweden (2013); Reykjavík, Iceland (2015); Fontainebleau, France (2017); and Saarbrücken, Germany (2019). =

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  NER model

  NER is one of several formulas for accessing live subtitles in television broadcasts and events that are produced using speech recognition. The three letters stand for number, edit error and recognition error. It has been promoted as an alternative to Word error rate (Word Error Rate) which is a more objective measure. The overall score is calculated as follows: Firstly, the number of edit and recognition errors is deducted from the total number of words in the live subtitles. This number is then divided by the total number of words in the live subtitles and finally multiplied by one hundred. N E R v a l u e = N − E − R N ∗ 100 {\displaystyle NERvalue={\frac {N-E-R}{N}}100} . The acronyms stand for the following: N (number) = total number of words in the live subtitles E (Edit error) = edit error R (Recognition error) = recognition error This measurement process has been used for public television broadcasts in European countries like Italy and Switzerland. One major drawback with NER is that it requires a human assessor to rate errors as either: 1 Minor edition or recognition errors 2 Normal edition or recognition errors 3 Serious errors which are then weighted in the assessment process. This is both subjective, time consuming and costly. Also, NER fails to account for words left out subtitles which is something that does not take account of the D/deaf audience who want verbatim subtitles. As a result, NER cannot accurately reflect the audience's experience of subtitles. Another problem is the inconsistency of human evaluation of subtitles, particularly with live subtitles, where there are differing opinions of the importance of subtitle errors. By way of contrast, Word error rate is an objective measure of subtitle errors, since it measures the textual discrepancy between the subtitles and the speech.

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  Chasys Photo

  Chasys Photo (previously called Chasys Draw Artist, then Chasys Draw IES) is a suite of applications including a layer-based raster graphics editor with adjustment layers, linked layers, timeline and frame-based animation, icon editing, image stacking and comprehensive plug-in support (Chasys Draw IES Artist), a fast multi-threaded image file converter (Chasys Draw IES Converter) and a fast image viewer (Chasys Draw IES Viewer), with RAW image support in all components. It supports the native file formats of several competitors including Adobe Photoshop, Affinity Photo, Corel Photo-Paint, GIMP, Krita, Paint.NET and PaintShop Pro, and the whole suite is designed to make effective use of multi-core processors, touch-screens and pen-input devices. The software is developed by John Paul Chacha in Nairobi, Kenya. Chasys Draw IES is currently released as freeware, and is available for computers running Microsoft Windows operating systems. It is available in three distributions: the standard distro, a portable version and a Microsoft Store version. The suite is coded in a blend of C, C++ and assembly language. It runs on x86 processors and supports the MMX, SSE, SSE2, S-SSE3, and SSE4.1 instruction sets. == History == Chasys Draw is a project that was started in November 2001 by John Paul Chacha, mostly as a hobby than anything else. The original Chasys Draw was a rather simple bitmap editor done in Visual Basic, a lot like MS Paint save for its ability to do gradients. This application underwent many changes, eventually leading up to Chasys Draw 5. This was the first version to have its own native format, referred to simply as CD5. Major updates to the graphics code in May 2002 resulted in Chasys Draw DTFx (Direct Tool eFfects). The new graphics code being referred to here was actually a miniature bitmap abstraction engine that allowed for fast per-pixel operations and direct image buffer access (much as the DIB engine does for GDI). The engine was named JpDRAW. This version was also done in VB, but was much faster than all the previous versions. The new graphics code allowed for more tools to be implemented than was ever possible before. Later on in 2002, the developer decided to completely abandon VB as a programming platform and moved all the code to C/C++. The move to C/C++ allowed the development of a full-fledged graphics engine which was named JpDRAW2. Chasys was renamed to Chasys Draw Artist, and the CD5 image format was also updated to reflect the new features. By coincidence, the module that implemented the file format was the fifth module to be added, so the format was called Chasys Draw module 5, retaining the .cd5 file extension. First public release In April 2004, Chasys Draw Artist was released to the public via the internet for the first time (version 1.27). The release was done via betanews). In 2005, Chasys Draw underwent major user interface changes as well as internal changes. By December of that year, the project had reached version 1.63. This was the first version to introduce advanced features such as anti-aliasing. It was also the first version with full support for alpha channels. The CD5 image format was also upgraded to version 2, adding advanced compression, full alpha channels, encryption and metadata. Version 1.63 was the first version to win an IEEE (Kenya chapter) award in ICT. The "chazy-glass" interface, from which the all later versions' user interfaces borrowed, was introduced in version 1.80. Chasys Draw Artist adopted photo editing features in version 2.01. Comprehensive tutorials were added and many features were re-designed to make them easier to use. Multi-threading was introduced to accelerate some tasks, such as the improved auto-save engine. Utilities such as a converter and browser were added. Version 2.43 of Chasys Draw Artist was quietly released to the public in late 2007 without any announcements. It featured many fixes to the formal version 2.42, as well as many new features. The quiet release was due to a decision to re-build Chasys Draw Artist from scratch, while still continuing support for the old architecture. An experimental version 2.45 was released only to beta-testers for the purpose of testing new technologies that would be included in the new architecture and was officially withdrawn in May 2008. During the time when the versions 2.43~2.45 were being released, work was underway to create a new layer-based Chasys Draw, which was released as Chasys Draw IES (Image Editing Suite), with the initial version number 2.50. A new multi-layer tag-based image format was created to support layering and blending modes; this was named CD5 v3. The next version introduced animation and multi-resolution support as editing modes, and the next one brought in an unlimited undo engine, new plug-ins and several internal fixes. Further development led to the introduction of super-resolution and image stacking, support for video and video capture, Anti-aliasing, metadata save and restore, a "Pen and Path" tool, physical measurement specification, and a video sequence composer engine. The user interface was enhanced with adaptive scrolling and the auto-save engine was optimized. Some memory management was added for machines with low RAM. By version 2.60, Chasys Draw IES was capable of loading Photoshop's PSD files, as well as load and save JPEG 2000. This version also had shell integration with thumbnails and application-level support for multi-monitor display setups. Metadata was extended to support save, restore and scaling for text formatting and path data. There was also a new palette with exchangeable swatches, loadable from all kinds of palette files. A slicing tool for web and user interface design was also included. A C++ code module output for inline image generation was added, as was a constrained recolor brush. The concept of a "fully anti-aliased work-flow" was introduced in version 2.62, in which all drawing and selection tools were anti-aliased by default. Support for Photoshop plug-ins using Adobe's 8bf format was added in version 2.66, allowing users to utilize thousands of free plug-ins available online. Equivalents for the Pantone palettes (PMS 100 to 814-2x) were added, and the "Just-in-Time" memory compressor significantly reduced the editor's memory requirements. First freeware release Chasys Draw IES went freeware on 6 June 2009. With the coming of the freeware IES, two blending modes (Hue and Chroma) were added. Textures were improved to allow multiple layer-based textures. The TextArt G3 engine was enhanced with LINK metadata, and alpha shift was improved. IES 2.72 added the Luma Wand tool, fixed PNG and TIFF transparency issues, and fixed Smart-Paste transparency. IES 2.74 introduced alpha protection, and 2.75 followed with a new adjustments engine that faced out many effects implemented by the effects engine. The adjustments engine was designed to appeal to experienced image editors. IES 2.76 introduced a new transform engine and the Resizer for IES plug-in supporting multi-core and 18 scaling methods, including customizable windowed Sinc interpolation. IES 2.77 added Greyscale with Tint adjustment, separated the Lock and Click-Thru layer properties, extended the Cloning Brush with three options (this, below and composite) and also extended the Color Picker with multiple point sampling. IES 3.01 brought a new look and many breakthrough tools to the suite. It was geared toward touch and was fully compatible with Windows 7. The toolbox was reorganized, with some tools being grouped and new ones added. Some message boxes were replaced with a new popup system, and the working of the workspace was changed to use a back-blitter, which enabled the addition of new blending modes, Screen and Mask. The printing interface was modified and given accurate proofing. Alpha Function Adjustment was added and a new Anti-Quantization Engine included for all adjustments to remove the need for 16 bits per channel editing. An internal clipboard was created to cater for copying images that are too large for the Windows clipboard, and translucency full-page gradients added. Some new tutorials were added and keyboard shortcuts made configurable. IES 3.05 brought the power of custom full-page gradients to the suite, supporting .ggr, .grd and .gra gradients. New gradient styles were included, as was support for Adobe color tables (.act), palette previewing, point color editing and a highly improved TextArt engine. Digital lightroom IES 3.11 was introduced on 14 December 2009. It was done on a new development base and added a new application, raw-Input. This was a RAW image format processor based on dcraw. This application allowed the use of Chasys Draw IES in processing digital negatives, which are popular with professional photographers. Chasys Draw IES 3.24 was released with a re-designed user interface, powered by a higher performance graphics core and better memory management. A history palette w

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  AI agent

  In the context of generative artificial intelligence, AI agents (also referred to as compound AI systems or agentic AI) are a class of intelligent agents that can pursue goals, use tools, and take actions with varying degrees of autonomy. In practice, they usually operate within human-defined objectives, constraints, and available tools. == Overview == AI agents possess several key attributes, including goal-directed behavior, natural language interfaces, the capacity to use external tools, and the ability to perform multi-step tasks. Their control flow is frequently driven by large language models (LLMs). Agent systems may also include memory components, planning logic, tool interfaces, and orchestration software for coordinating agent components. AI agents do not have a standard definition. NIST describes agentic AI as an emerging area requiring standards for secure operation, interoperability, and reliable interaction with external systems. A common application of AI agents is task automation: for example, booking travel plans based on a user's prompted request. Companies such as Google, Microsoft and Amazon Web Services have offered platforms for deploying pre-built AI agents. Several protocols have been proposed for standardizing inter-agent communication, with examples including the Model Context Protocol, Gibberlink, and many others. Some of these protocols are also used for connecting agents to external applications. In December 2025, Linux Foundation announced the formation of the Agentic AI Foundation (AAIF), with the goal of ensuring agentic AI evolves transparently and collaboratively. == History == AI agents have been traced back to research from the 1990s, with Harvard professor Milind Tambe noting that the definition of an AI agent was not clear at the time. Researcher Andrew Ng has been credited with spreading the term "agentic" to a wider audience in 2024. == Training and testing == Researchers have attempted to build world models and reinforcement learning environments to train or evaluate AI agents. For example, video games such as Minecraft and No Man's Sky as well as replicas of company websites, have also been used for training such agents. == Autonomous capabilities == The Financial Times compared the autonomy of AI agents to the SAE classification of self-driving cars, likening most applications to level 2 or level 3, with some achieving level 4 in highly specialized circumstances, and level 5 being theoretical. == Cognitive architecture == The following are some internal design options for reasoning within an agent: Retrieval-augmented generation ReAct (Reason + Act) pattern is an iterative process in which an AI agent alternates between reasoning and taking actions, receives observations from the environment or external tools, and integrates these observations into subsequent reasoning steps. Reflexion, which uses an LLM to create feedback on the agent's plan of action and stores that feedback in a memory cache. A tool/agent registry, for organizing software functions or other agents that the agent can use. One-shot model querying, which queries the model once to create the plan of action. === Reference architecture === Ken Huang proposed an AI agent reference architecture, which consists of seven interconnected layers, with each layer building on the functionality of the layers beneath it: Layer 1: Foundation models - provide the core AI engines to power agent capabilities. Layer 2: Data operations - manage the complex data infrastructure required for AI agent operations, including Vector database, data loaders, RAG. Layer 3: Agent frameworks - sophisticated software and tools that simplify the development and management of the AI agents. Layer 4: Deployment and infrastructure - provide the robust technical foundation for running AI agents. Layer 5: Evaluation and observability - focus on assessing the safety and performance of AI agents. Layer 6: Security and compliance - a crucial protective framework ensuring AI agents operate safely, securely, and conform to regulatory boundaries. At this layer security and compliance features embedded into all the AI agent stack layers are integrated together. Layer 7: Agent ecosystem - represents the AI agents' interface with real-world applications and users. == Orchestration patterns == To execute complex tasks, autonomous agents are often integrated with other agents or specialized tools. These configurations, known as orchestration patterns or workflows, include the following: Prompt chaining: A sequence where the output of one step serves as the input for the next. Routing: The classification of an input to direct it to a specialized downstream task or tool. Parallelization: The simultaneous execution of multiple tasks. Sequential processing: A fixed, linear progression of tasks through a predefined pipeline. Planner-critic: An iterative pattern where one agent generates a proposal and another evaluates it to provide feedback for refinement. == Multimodal AI agents == In addition to large language models (LLMs), vision-language models (VLMs) and multimodal foundation models can be used as the basis for agents. In September 2024, Allen Institute for AI released an open-source vision-language model. Nvidia released a framework for developers to use VLMs, LLMs and retrieval-augmented generation for building AI agents that can analyze images and videos, including video search and video summarization. Microsoft released a multimodal agent model – trained on images, video, software user interface interactions, and robotics data – that the company claimed can manipulate software and robots. == Applications == As of April 2025, per the Associated Press, there are few real-world applications of AI agents. As of June 2025, per Fortune, many companies are primarily experimenting with AI agents. The Information divided AI agents into seven archetypes: business-task agents, for acting within enterprise software; conversational agents, which act as chatbots for customer support; research agents, for querying and analyzing information (such as OpenAI Deep Research); analytics agents, for analyzing data to create reports; software developer or coding agents (such as Cursor); domain-specific agents, which include specific subject matter knowledge; and web browser agents (such as OpenAI Operator). By mid-2025, AI agents have been used in video game development, gambling (including sports betting), cryptocurrency wallets (including cryptocurrency trading and meme coins) and social media. In August 2025, New York Magazine described software development as the most definitive use case of AI agents. Likewise, by October 2025, noting a decline in expectations, The Information noted AI coding agents and customer support as the primary use cases by businesses. In November 2025, The Wall Street Journal reported that few companies that deployed AI agents have received a return on investment. === Applications in government === Several government bodies in the United States and United Kingdom have deployed or announced the deployment of agents, at the local and national level. The city of Kyle, Texas deployed an AI agent from Salesforce in March 2025 for 311 customer service. In November 2025, the Internal Revenue Service stated that it would use Agentforce, AI agents from Salesforce, for the Office of Chief Counsel, Taxpayer Advocate Services and the Office of Appeals. That same month, Staffordshire Police announced that they would trial Agentforce agents for handling non-emergency 101 calls in the United Kingdom starting in 2026. In December 2025, the Department of Neighborhoods in Detroit, Michigan, in partnership with a local business, deployed a pilot project in two Detroit districts for an AI agent to be used for customer service calls. In February 2025, Thomas Shedd, the director of the Technology Transformation Services, proposed using AI coding agents across the United States federal government. A recruiter for the Department of Government Efficiency proposed in April 2025 to use AI agents to automate the work of about 70,000 United States federal government employees, as part of a startup with funding from OpenAI and a partnership agreement with Palantir. This proposal was criticized by experts for its impracticality, if not impossibility, and the lack of corresponding widespread adoption by businesses. In December 2025, the Food and Drug Administration announced that it would offer "agentic AI capabilities" to its staff for "meeting management, pre-market reviews, review validation, post-market surveillance, inspections and compliance and administrative functions." That same month, the United States Department of Defense launched GenAI.mil, an internal platform for American military personnel to use generative AI-based applications based on Google Gemini, including "intelligent agentic workflows". Defense Secretary Pete Hegseth listed applications such as "[conducting] deep r

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  Pixel-art scaling algorithms

  Pixel art scaling algorithms are graphical filters that attempt to enhance the appearance of hand-drawn 2D pixel art graphics. These algorithms are a form of automatic image enhancement. Pixel art scaling algorithms employ methods significantly different than the common methods of image rescaling, which have the goal of preserving the appearance of images. As pixel art graphics are commonly used at very low resolutions, they employ careful coloring of individual pixels. This results in graphics that rely on a high amount of stylized visual cues to define complex shapes. Several specialized algorithms have been developed to handle re-scaling of such graphics. These specialized algorithms can improve the appearance of pixel-art graphics, but in doing so they introduce changes. Such changes may be undesirable, especially if the goal is to faithfully reproduce the original appearance. Since a typical application of this technology is improving the appearance of fourth-generation and earlier video games on arcade and console emulators, many pixel art scaling algorithms are designed to run in real-time for sufficiently small input images at 60-frames per second. This places constraints on the type of programming techniques that can be used for this sort of real-time processing. Many work only on specific scale factors. 2× is the most common scale factor, while 3×, 4×, 5×, and 6× exist but are less used. == Algorithms == === SAA5050 'Diagonal Smoothing' === The Mullard SAA5050 Teletext character generator chip (1980) used a primitive pixel scaling algorithm to generate higher-resolution characters on the screen from a lower-resolution representation from its internal ROM. Internally, each character shape was defined on a 5 × 9 pixel grid, which was then interpolated by smoothing diagonals to give a 10 × 18 pixel character, with a characteristically angular shape, surrounded to the top and the left by two pixels of blank space. The algorithm only works on monochrome source data, and assumes the source pixels will be logically true or false depending on whether they are 'on' or 'off'. Pixels 'outside the grid pattern' are assumed to be off. The algorithm works as follows: A B C --\ 1 2 D E F --/ 3 4 1 = B | (A & E & !B & !D) 2 = B | (C & E & !B & !F) 3 = E | (!A & !E & B & D) 4 = E | (!C & !E & B & F) Note that this algorithm, like the Eagle algorithm below, has a flaw: If a pattern of 4 pixels in a hollow diamond shape appears, the hollow will be obliterated by the expansion. The SAA5050's internal character ROM carefully avoids ever using this pattern. The degenerate case: becomes: === EPX/Scale2×/AdvMAME2× === Eric's Pixel Expansion (EPX) is an algorithm developed by Eric Johnston at LucasArts around 1992, when porting the SCUMM engine games from the IBM PC (which ran at 320 × 200 × 256 colors) to the early color Macintosh computers, which ran at more or less double that resolution. The algorithm works as follows, expanding P into 4 new pixels based on P's surroundings: 1=P; 2=P; 3=P; 4=P; IF C==A => 1=A IF A==B => 2=B IF D==C => 3=C IF B==D => 4=D IF of A, B, C, D, three or more are identical: 1=2=3=4=P Later implementations of this same algorithm (as AdvMAME2× and Scale2×, developed around 2001) are slightly more efficient but functionally identical: 1=P; 2=P; 3=P; 4=P; IF C==A AND C!=D AND A!=B => 1=A IF A==B AND A!=C AND B!=D => 2=B IF D==C AND D!=B AND C!=A => 3=C IF B==D AND B!=A AND D!=C => 4=D AdvMAME2× is available in DOSBox via the scaler=advmame2x dosbox.conf option. The AdvMAME4×/Scale4× algorithm is just EPX applied twice to get 4× resolution. ==== Scale3×/AdvMAME3× and ScaleFX ==== The AdvMAME3×/Scale3× algorithm (available in DOSBox via the scaler=advmame3x dosbox.conf option) can be thought of as a generalization of EPX to the 3× case. The corner pixels are calculated identically to EPX. 1=E; 2=E; 3=E; 4=E; 5=E; 6=E; 7=E; 8=E; 9=E; IF D==B AND D!=H AND B!=F => 1=D IF (D==B AND D!=H AND B!=F AND E!=C) OR (B==F AND B!=D AND F!=H AND E!=A) => 2=B IF B==F AND B!=D AND F!=H => 3=F IF (H==D AND H!=F AND D!=B AND E!=A) OR (D==B AND D!=H AND B!=F AND E!=G) => 4=D 5=E IF (B==F AND B!=D AND F!=H AND E!=I) OR (F==H AND F!=B AND H!=D AND E!=C) => 6=F IF H==D AND H!=F AND D!=B => 7=D IF (F==H AND F!=B AND H!=D AND E!=G) OR (H==D AND H!=F AND D!=B AND E!=I) => 8=H IF F==H AND F!=B AND H!=D => 9=F There is also a variant improved over Scale3× called ScaleFX, developed by Sp00kyFox, and a version combined with Reverse-AA called ScaleFX-Hybrid. === Eagle === Eagle works as follows: for every in pixel, we will generate 4 out pixels. First, set all 4 to the color of the pixel we are currently scaling (as nearest-neighbor). Next look at the three pixels above, to the left, and diagonally above left: if all three are the same color as each other, set the top left pixel of our output square to that color in preference to the nearest-neighbor color. Work similarly for all four pixels, and then move to the next one. Assume an input matrix of 3 × 3 pixels where the centermost pixel is the pixel to be scaled, and an output matrix of 2 × 2 pixels (i.e., the scaled pixel) first: |Then . . . --\ CC |S T U --\ 1 2 . C . --/ CC |V C W --/ 3 4 . . . |X Y Z | IF V==S==T => 1=S | IF T==U==W => 2=U | IF V==X==Y => 3=X | IF W==Z==Y => 4=Z Thus if we have a single black pixel on a white background it will vanish. This is a bug in the Eagle algorithm but is solved by other algorithms such as EPX, 2xSaI, and HQ2x. === 2×SaI === 2×SaI, short for 2× Scale and Interpolation engine, was inspired by Eagle. It was designed by Derek Liauw Kie Fa, also known as Kreed, primarily for use in console and computer emulators, and it has remained fairly popular in this niche. Many of the most popular emulators, including ZSNES and VisualBoyAdvance, offer this scaling algorithm as a feature. Several slightly different versions of the scaling algorithm are available, and these are often referred to as Super 2×SaI and Super Eagle. The 2xSaI family works on a 4 × 4 matrix of pixels where the pixel marked A below is scaled: I E F J G A B K --\ W X H C D L --/ Y Z M N O P For 16-bit pixels, they use pixel masks which change based on whether the 16-bit pixel format is 565 or 555. The constants colorMask, lowPixelMask, qColorMask, qLowPixelMask, redBlueMask, and greenMask are 16-bit masks. The lower 8 bits are identical in either pixel format. Two interpolation functions are described: INTERPOLATE(uint32 A, UINT32 B). -- linear midpoint of A and B if (A == B) return A; return ( ((A & colorMask) >> 1) + ((B & colorMask) >> 1) + (A & B & lowPixelMask) ); Q_INTERPOLATE(uint32 A, uint32 B, uint32 C, uint32 D) -- bilinear interpolation; A, B, C, and D's average x = ((A & qColorMask) >> 2) + ((B & qColorMask) >> 2) + ((C & qColorMask) >> 2) + ((D & qColorMask) >> 2); y = (A & qLowPixelMask) + (B & qLowPixelMask) + (C & qLowPixelMask) + (D & qLowPixelMask); y = (y >> 2) & qLowPixelMask; return x + y; The algorithm checks A, B, C, and D for a diagonal match such that A==D and B!=C, or the other way around, or if they are both diagonals or if there is no diagonal match. Within these, it checks for three or four identical pixels. Based on these conditions, the algorithm decides whether to use one of A, B, C, or D, or an interpolation among only these four, for each output pixel. The 2xSaI arbitrary scaler can enlarge any image to any resolution and uses bilinear filtering to interpolate pixels. Since Kreed released the source code under the GNU General Public License, it is freely available to anyone wishing to utilize it in a project released under that license. Developers wishing to use it in a non-GPL project would be required to rewrite the algorithm without using any of Kreed's existing code. It is available in DOSBox via scaler=2xsai option. === hqnx family === Maxim Stepin's hq2x, hq3x, and hq4x are for scale factors of 2:1, 3:1, and 4:1 respectively. Each work by comparing the color value of each pixel to those of its eight immediate neighbors, marking the neighbors as close or distant, and using a pre-generated lookup table to find the proper proportion of input pixels' values for each of the 4, 9 or 16 corresponding output pixels. The hq3x family will perfectly smooth any diagonal line whose slope is ±0.5, ±1, or ±2 and which is not anti-aliased in the input; one with any other slope will alternate between two slopes in the output. It will also smooth very tight curves. Unlike 2xSaI, it anti-aliases the output. hqnx was initially created for the Super NES emulator ZSNES. The author of bsnes has released a space-efficient implementation of hq2x to the public domain. A port to shaders, which has comparable quality to the early versions of xBR, is available. Before the port, a shader called "scalehq" has often been confused for hqx. === xBR family === There are 6 filters in this family: xBR , xBRZ, xBR-Hybrid, Super xBR, xBR+3D and Super xBR+3D. xBR ("scale by rules"), cre

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  Photoanalysis

  Photoanalysis (or photo analysis) refers to the study of pictures to compile various types of data, for example, to measure the size distribution of virtually anything that can be captured by photo. Photoanalysis technology has changed the way mines and mills quantify fragmented material. Images are an effective way to document conditions before, after, and even during blasting activities. The technology is advancing at a high rate, and lenses, storage media memory, light sensitivity and resolution have been improving steadily. Today's digital cameras and camcorders include high-resolution optics, compact size, automatic time and date stamps, good battery life, shutters to freeze motion, and computers to autofocus and eliminate jitter using image stabilization. == Mining == Photoanalysis in mining operations can provide an automated system that forewarns a company of potential problems with materials, leading to economies and reduced damage caused from over-sized materials. It can also help determine the effectiveness of blasts. A company can use this technology to monitor materials moving on a conveyor belt in an underground environment, to measure piles left over from a blast, and even measure the amount of material being carried by dump trucks or vessels to a destination. Photoanalysis is being used on SAG mills worldwide to control the size of rock being crushed. Companies are using this technology to determine the size of particles being processed in the SAG Mill.[1] Archived 2009-05-23 at the Wayback Machine Having oversize material entering the SAG mill makes an operation less efficient, costing companies money in electrical and maintenance costs. Photoanalysis technology can eliminate unwanted material before it enters the mill, keeping rock crushing costs low. == Forestry == Wood chip size can affect the overall quality of a product. With automated photoanalysis systems, companies can remove any unwanted wrong-size particles without stopping their mill process. Photoanalysis can affect how efficiently forestry companies operate. In mills worldwide, photoanalysis technology is improving the use of lumber products, cutting back on the amount of trees being used to operate, and saving companies money through quality control optimization.[2] With the current downturn in the North American forestry industry, operators are looking at making their mills more efficient and effective when processing materials. Photoanalysis technology helps identify any weaknesses in the process by continuously monitoring different sections of an operation. == Agriculture == Agricultural companies can, using photoanalysis, monitor conveyor belts of food without contaminating the product by touching it. Other benefits of photoanalysis systems include: Automated removal of any unwanted material on food conveyor Improved quality control for the most important parts of the agricultural process Pinpoint accuracy that helps the efficiency and effectiveness of product handling techniques The importance of photoanalysis technology is being noticed by the agricultural industry as it identifies any unwanted materials going through the process. In an example, if a mouse is on a conveyor of corn, photoanalysis technology would be able to identify the unwanted object and remove it before it contaminates the whole process. == Origins of photoanalysis technology == Photoanalysis technology was created by using the Waterloo Image Enhancement Process in the 1980s. After further development of the imaging process with explosives producer DuPont, engineers Tom Palangio and Takis Katsabanis began selling photoanalysis software commercially. They later renamed the process WipFrag, standing for Waterloo Image Process Fragmentation Today, photoanalysis technology has evolved into stabilized and portable systems that can automatically capture and analyze results instantly. Thousands of these products are currently being used around the world to measure fragmented material. == Photoanalysis equipment photos == == Fragmentation analysis == Fragmentation analysis is becoming a popular term in mining, agricultural and forestry industries. With the majority of money in these industries directed towards the proper sizing of materials, companies are using fragmentation analysis to determine various factors within an operation.[3] The two main ways a company keeps track of fragmented material are through manual and automated sieving procedures. Manual sieving involves extracting a sample of material to analyze the size distribution. The results can be tabulated within two days. Automated sieving is an advanced way of sieving materials running through a process. Without having to extract the material, photoanalysis can take place, allowing for immediate results with pinpoint accuracy. == Blast Fragmentation Software == Operators are using fragmentation analysis to determine the effectiveness of various blasts. With automated sieving technology, workers can track the success of these blasts and receive instant results. Companies are using these results to determine what blasting method yielded the best results for their specific operation. The common variables associated with blast optimization are the provided Particle Size Distribution (PSD) from a shovel fragmentation system, geology including rock type and fracturing, and energy factor. By using photoanalysis the fragmented materials can be monitored, offering pinpoint accuracy and allowing mine operators to make adjustments to future blasting procedures. See Optical Granulometry to view the automated sieving process. == Pre-crushing analysis == Maintenance costs can be significantly reduced if an operation focuses on the fragmentation of the particles passing through their process. Automated sieving systems can detect and help remove any oversize material before it enters the crusher and causes maintenance problems. It also helps determine the effectiveness of the mining process prior to crushing; the sizing of material is always a critical part of operations in the mining, forestry and agricultural industries. Having an analysis taking place at every major point in an operation allows for the proper tracking of material being processed. Engineers can then determine what part of the process needs improving based solely on the size of material. == Post-crushing analysis == Measuring how effective industrial crushers are, can help save a company millions of dollars in energy costs on an annual basis. There are two components that affect a typical crusher: the size of the material inputted, and the speed at which the crusher is moving. If the user can find a perfect balance between these two components, the materials will be crushed to the right size in the shortest time possible. Meeting the material standards set by governments and large companies can be hard. Having a post-crushing analysis taking place ensures that no oversize material gets shipped; eliminating the chance of getting fined for not meeting industry specifications.

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  Semi-automation

  Semi-automation is a process or procedure that is performed by the combined activities of man and machine with both human and machine steps typically orchestrated by a centralized computer controller. Within manufacturing, production processes may be fully manual, semi-automated, or fully automated. In this case, semi-automation may vary in its degree of manual and automated steps. Semi-automated manufacturing processes are typically orchestrated by a computer controller which sends messages to the worker at the time in which he/she should perform a step. The controller typically waits for feedback that the human performed step has been completed via either a human-machine interface or via electronic sensors distributed within the process. Controllers within semi-automated processes may either directly control machinery or send signals to machinery distributed within the process. Centralized computer controllers within semi-automated processes orchestrate processes by instructing the worker, providing electronic communication and control to process equipment, tools, or machines, as well as perform data management to record and ensure that the process meets established process criteria. Many manufacturers choose not to fully automate a process, and instead implement semi-automation due to the complexity of the task, or the number of products produced is too low to justify the investment in full automation. Other processes may not be fully automated because it may reduce the flexibility to easily adapt the processes to reflect production needs.

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  KE Software

  KE Software is a formerly Australian-owned computer software company based in Manchester, United Kingdom, which specialises in collection management programs for museums, galleries and archives. The Axiell Group acquired the firm in 2014. == History == KE Software had its origins in investigations into electronic systems for managing natural science collections conducted in the late 1970s under a joint program of the University of Melbourne, the then National Museum of Victoria and the Australian Museum, which led to the development of the Titan Database in 1984. Much of the credit for the development of the project was due to the work of Martin Hallett of the Museum of Victoria which evolved into Textpress, and by 2000, the KE EMu database program. KE Software was bought by Axiell in 2014 and the team merged with the Axiell staff. Axiell continues to sell and support EMu. == Products == The firm has two main products: the Ke EMu Electronic Museum management system, a collections management system for museums; and Vitalware Vital Records Management System. The first version of Ke EMu was launched in 1997 and uses the Texpress database engine with client/server architecture on a Windows or Unix/Linux server. Ke Emu is consistent with the Dublin Core / Darwin Core standards for archive and museum catalogue metadata. "The company’s clients include the three largest museums in the world.: == KE EMu == KE EMu is considered one of the more effective and purpose-designed museum cataloguing programs. particularly in the creation of public interfaces to museum catalogue data. KE EMu was further developed in 1997 as a multilingual platform, which has been utilised in bilingual institutions such as the Canadian Museum of Civilisation. Subsequently this evolved into Texpress and KE EMu (standing for Electronic MUseum) in 2000, which is "now used across the world in natural science museums with huge collections'". KE EMu is used by a large number of museums and galleries around the world, including the Smithsonian Anthropological Collection, American Museum of Natural HistoryVancouver Art Gallery, New York Botanical Garden, the University of Chicago Research Archives, the University of Pennsylvania Museum in Philadelphia, the National Museum of Australia, the Australian Museum, Museum of Victoria, University of Melbourne Archives, and the Alexander Turnbull Library, National Library of New Zealand. There are over 300 clients, and more than 5000 users of the EMu software worldwide. The program has been described as providing "...comprehensive museum management (collection management plus other administrative needs for a museum), workflow and project management, flexible metadata, various stats and metrics, and comprehensive web interface with support for mobile devices and kiosks" == KE Vitalware == The firm's vitalware software is used by a number of governments and commercial organisations for managing and accessing large data sets, such as the birth records of the Trinidad and Tobago Registrar General, the Government of Anguilla, Ministry for Infrastructure, Communications, Utility and Housing, and the Mississippi Department of Information Technology Services. == Further development == A specialist tracking component for KE EMu has been developed by Forbes Hawkins of Museum Victoria. This enables locations to be barcoded, and data to be updated as items are moved around the stores, or between venues, display, laboratories and other locations. This system has been considered by Museums around the world. The company has been working with Australian government agencies to digitize birth deaths and marriage registers in order to cross match identity data. The program has also been used for managing the Australian Plant Disease Database and the Australian Plant Pest Database as the program "...has several features that have proven to be invaluable for a plant disease database".

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  Aseprite

  Aseprite ( ace-prite) is a proprietary, source-available image editor designed primarily for pixel art drawing and animation. It runs on Windows, macOS, and Linux, and features different tools for image and animation editing such as layers, frames, tilemap support, command-line interface, Lua scripting, among others. It is developed by Igara Studio S.A. and led by the developers David, Gaspar, and Martín Capello. Aseprite can be downloaded as freeware, (albeit it does not have the ability to save sprites) or purchased on Steam or Itch.io. Aseprite source code and binaries are distributed under EULA, educational, and Steam proprietary licenses. == History == Aseprite, formerly known as Allegro Sprite Editor, had its first release in 2001 as a free software project under the GPLv2 license. This license was kept until August 2016 with version v1.1.8, when the developers switched to a EULA, thus making the software proprietary. On the 1st of September 2016, the main developer, David Capello, wrote a post on the Aseprite Devblog explaining this change. The EULA permits others to download the Aseprite source code, compile it, and use it for personal purposes, but forbids its redistribution to third parties. After the license change, LibreSprite, a free and open source version of it, was created. Both before and after the license change, Aseprite was sold online, on Steam, itch.io, and the project's website. The project's code repository was hosted on Google Code until August 2014, when it was migrated to GitHub, where it remains hosted to date. As of October 2022, its repository has had 68 contributors and around 19 thousand stars. From 2014 to 2021, Aseprite had 66 different releases. Aseprite was used in the development of several notable games such as TowerFall (2013), Celeste (2018), Minit (2018), Wargroove (2019), Loop Hero (2021), Eastward (2021), Unpacking (2021), Haiku the Robot (2022) and Pizza Tower (2023). == Design and features == The main design purpose of Aseprite is to create animated 2D pixel-art sprites. Some of its features include: Layers and frames, with layer grouping and animation tagging Pixel-art specific transformations and tools (pixel-perfect modes, custom brushes, etc.) Animation real-time preview and onion skinning Tilemap and tileset modes Color palette managing, including 65 default palettes Color profiles and modes (RGBA, indexed and grayscale) Non-square pixels Command line interface (CLI) and Lua scripting Aseprite uses its own binary file type to store data, which is typically saved with .ase or .aseprite extensions. Different third-party projects were developed to support parsing of .ase files in programming languages including C#, Python and JavaScript, and in game engines such as Unity and Godot. Images and animations can be exported to different file formats including PNG, GIF, FLC, FLI, JPEG, PCX, TGA, ICO, SVG, and bitmap (BMP).

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  JSGF

  JSGF stands for Java Speech Grammar Format or the JSpeech Grammar Format (in a W3C Note). Developed by Sun Microsystems, it is a textual representation of grammars for use in speech recognition for technologies like XHTML+Voice. JSGF adopts the style and conventions of the Java programming language in addition to use of traditional grammar notations. The Speech Recognition Grammar Specification was derived from this specification. == Example == The following JSGF grammar will recognize the words coffee, tea, and milk.

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  Eaze

  Eaze is an American company based in San Francisco, California that launched a medical cannabis delivery app of the same name in 2014. == History == Eaze was launched in 2014 by Keith McCarty to deliver medical marijuana to patients in California. McCarty started the company in his San Francisco apartment with four employees. The company provides a mobile app to connect users with cannabis dispensaries, but does not grow or sell marijuana itself, and has been nicknamed “the Uber of Weed”. As of 2017, the company operates in more than 100 cities within California. In 2017, Eaze reported 300 percent growth over the previous year. It has 81 employees, and performs 120,000 deliveries per month to 250,000 users. A survey of Eaze users revealed that 66% are male, 57% are between 22 and 34, just over half have a bachelor's degree, and 49% have an annual income over $75,000. The company's vaporizer cartridge sales reached $1 million in sales in 4 months, and 31% of customers had ordered a vaporizer by the end of 2016. In 2016, Eaze founder Keith McCarty stepped down from his position as CEO and was replaced by Jim Patterson, who served as the company's chief product and technology officer. == EazeMD == EazeMD is a service that helps people acquire a medical marijuana card. It is a California-based telemedicine service in which physicians assess patients through an online video chat. It is California's largest telemedicine service for marijuana referrals. In June 2017, a former employee of one of these physicians accessed patient data in the physician's records system, causing a security breach. However, there was no evidence that Eaze data was accessed. == Eaze Insights == Eaze Insights conducts surveys of their users and compiles data into reports on cannabis use. Statistics from their reports have been cited in Seattle Weekly, Forbes, The Huffington Post, Business Insider, Fortune, and other general interest publications. == Financing == The company announced its $10 million Series A funding in April 2015 by multiple venture capital firms, including the Snoop Dogg-backed Casa Verde Capital. In October 2016, Eaze announced its series B funding in the amount of $13 million from five investors, making the company "the highest-funded startup in the history of the cannabis industry, as well as its fastest-growing one". In September 2017, the company raised another $27 million in venture funding. The Series B funding was led by Bailey Capital, joined by DCM Ventures, Kaya Ventures, and FJ Labs. According to the company' officials in 2017, Eaze managed to raise more than $52 million since its inception in 2014.

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  Qapital

  Qapital is a personal finance mobile application (app) for the iOS and Android operating systems, developed by Qapital, LLC. The app is designed to motivate users to save money through a gamification of their spending behavior. It moves money from a user's checking account to a separate Qapital account, when certain rules are triggered. Its database is used by psychology professor Dan Ariely to study consumer behavior. Qapital was released in Sweden in 2013, then in the US in early 2015. The application was later withdrawn from the Swedish market in April 2015, in order to focus on the US market. == History == The idea for Qapital was conceived by ex-bankers in Sweden. The software was designed by twin brothers Daniel and Andreas Källbom of Studio Källbom and released in Sweden in December 2013. The original software was a personal finance dashboard, similar to Mint.com, to show its users how they spent their money. Qapital introduced the app into the US market with a different design in 2014 and started focusing exclusively on the US market. The app was re-designed to focus on building savings rather than managing personal finances. The Swedish version shut down in April 2015. The app was initially restricted to the iOS platform, but an Android version was released at the end of 2015. Shortly after its US launch, Qapital invited psychology professor Dan Ariely to join its team as its "chief behavioral economist". He uses the app's database to conduct research into behavioral economics and Qapital in turn uses Ariely's research in design and programming decisions. In 2017, Qapital added checking and debit card services to the app. == Concept and features == Qapital is a free personal finance app for iOS and Android devices, intended to encourage its users to save money. Qapital directs each of its users to set savings goals, then automatically transfers money from their checking account to an account for savings, when a rule established in the app is met. It uses the "if this then that" (IFTTT) rule-based web-service. For example, one rule could be that if a user purchases a cup of coffee, then the app will round up the charge to the nearest dollar and deposit the difference into savings. Users connect their bank accounts to Qapital, so it knows when purchases are made. When a rule is met, money for savings are transferred to a Qapital account operated in partnership with Lincoln Savings Bank. As of 2015, Qapital can connect to more than 180 other apps, such as Facebook, Twitter, Dropbox and Instagram. For example, connecting to Jawbone allows the user to set a rule that if they take a certain number of steps during the day, a set amount of money is transferred to savings. The app also allows users to monitor activity among their other financial accounts, such as deposits and withdrawals. == Reception == In an October 2015 review, PC Magazine gave Qapital four out of five marks and an editor rating of "excellent." The review praised the app for having a "lovely design" and criticized it for being a, "bit simplistic in some of its rules." Bankrate, in a May 2015 review, gave the app a score of 3/5 for "ease of use," 5/5 for "features," 4/5 for "effectiveness," 4/5 for "value," for a total score of 16/20. The reviewer criticized Qapital's savings account for providing a low-interest rate, but concluded that its numerous features make the app "intriguing" and "it would be difficult to find a standard bank app more fun to use than Qapital."

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  Glossary of robotics

  Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots. Robotics is related to the sciences of electronics, engineering, mechanics, and software. The following is a list of common definitions related to the Robotics field. == A == Actuator: a motor that translates control signals into mechanical movement. The control signals are usually electrical but may, more rarely, be pneumatic or hydraulic. The power supply may likewise be any of these. It is common for electrical control to be used to modulate a high-power pneumatic or hydraulic motor. Aerobot: a robot capable of independent flight on other planets. A type of aerial robot. Arduino: The current platform of choice for small-scale robotic experimentation and physical computing. Artificial intelligence: is the intelligence of machines and the branch of computer science that aims to create it. Aura (satellite): a robotic spacecraft launched by NASA in 2004 which collects atmospheric data from Earth. Automaton: an early self-operating robot, performing exactly the same actions, over and over. Autonomous vehicle: a vehicle equipped with an autopilot system, which is capable of driving from one point to another without input from a human operator. == B == Biomimetic: See Bionics. Bionics: also known as biomimetics, biognosis, biomimicry, or bionical creativity engineering is the application of biological methods and systems found in nature to the study and design of engineering systems and modern technology. == C == CAD/CAM (computer-aided design and computer-aided manufacturing): These systems and their data may be integrated into robotic operations. Čapek, Karel: Czech author who coined the term 'robot' in his 1921 play, Rossum's Universal Robots. Chandra X-ray Observatory: a robotic spacecraft launched by NASA in 1999 to collect astronomical data. Cloud robotics: robots empowered with more capacity and intelligence from cloud. Combat, robot: a hobby or sport event where two or more robots fight in an arena to disable each other. This has developed from a hobby in the 1990s to several TV series worldwide. Cruise missile: a robot-controlled guided missile that carries an explosive payload. Cyborg: also known as a cybernetic organism, a being with both biological and artificial (e.g. electronic, mechanical or robotic) parts. == D == Degrees of freedom: the extent to which a robot can move itself; expressed in terms of Cartesian coordinates (x, y, and z) and angular movements (yaw, pitch, and roll). Delta robot: a tripod linkage, used to construct fast-acting manipulators with a wide range of movement. Drive Power: The energy source or sources for the robot actuators. == E == Emergent behaviour, a complicated resultant behaviour that emerges from the repeated operation of simple underlying behaviours. Envelope (Space), Maximum The volume of space encompassing the maximum designed movements of all robot parts including the end-effector, workpiece, and attachments. Explosive ordnance disposal robot A mobile robot designed to assess whether an object contains explosives; some carry detonators that can be deposited at the object and activated after the robot withdraws. == F == FIRST(For Inspiration and Recognition of Science and Technology): an organization founded by inventor Dean Kamen in 1989 in order to develop ways to inspire students in engineering and technology fields. Forward chaining: a process in which events or received data are considered by an entity to intelligently adapt its behavior. == G == Gynoid: A humanoid robot designed to look like a human female. == H == Haptic: tactile feedback technology using the operator's sense of touch. Also sometimes applied to robot manipulators with their own touch sensitivity. Hexapod (platform): A movable platform using six linear actuators. Often used in flight simulators and fairground rides, they also have applications as a robotic manipulator. Hexapod (walker): A six-legged walking robot, using a simple insect-like locomotion. Human–computer interaction. Humanoid: A robotic entity designed to resemble a human being in form, function, or both. Hydraulics: the control of mechanical force and movement, generated by the application of liquid under pressure. cf. pneumatics. == I == Industrial robot: A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. Insect robot: A small robot designed to imitate insect behaviors rather than complex human behaviors. == K == Kalman filter: a mathematical technique to estimate the value of a sensor measurement, from a series of intermittent and noisy values. Kinematics: the study of motion, as applied to robots. This includes both the design of linkages to perform motion, their power, control and stability; also their planning, such as choosing a sequence of movements to achieve a broader task. Inverse Kinematics: the process of determining joint angles required for a robot's end-effector to reach a desired position and orientation in space. Used in motion planning to calculate motor commands from target positions. == L == Linear actuator A form of motor that generates a linear movement directly. == M == Manipulator or gripper: A robotic 'hand'. Mobile robot: A self-propelled and self-contained robot that is capable of moving over a mechanically unconstrained course. Muting: The deactivation of a presence-sensing safeguarding device during a portion of the robot cycle. Mecanum wheel: A wheel fitted with angled rollers that enables a robot vehicle to move in multiple directions, including sideways. == O == Ornithopter – An aerial robot or drone that achieves flight through a flapping-wing mechanism rather than rotating blades or fixed wings, often utilized for highly maneuverable flight. == P == Parallel manipulator: an articulated robot or manipulator based on a number of kinematic chains, actuators and joints, in parallel. cf. serial manipulator. Pendant: Any portable control device that permits an operator to control the robot from within the restricted envelope (space) of the robot. Pneumatics: the control of mechanical force and movement, generated by the application of compressed gas. cf. hydraulics. Powered exoskeleton: is a wearable mobile machine that allow for limb movement with increased strength and endurance. Prosthetic robots: programmable manipulators or devices for missing human limbs. == R == Remote manipulator: A manipulator under direct human control, often used for work with hazardous materials. Robonaut: a development project conducted by NASA to create humanoid robots capable of using space tools and working in similar environments to suited astronauts. == S == Sensor fusion:The process of combining data from multiple sensors, such as LiDAR, cameras, global positioning systems (GPS), and inertial measurement units (IMUs), to produce a more accurate and reliable understanding of an environment than using a single sensor alone. It is widely used in robotics and autonomous systems to improve perception, localization, and decision-making. Serial manipulator: an articulated robot or manipulator with a single series kinematic chain of actuators. cf. parallel manipulator. Service robots are machines that extend human capabilities. Servo, a motor that moves to and maintains a set position under command, rather than continuously moving. Servomechanism An automatic device that uses error-sensing negative feedback to correct the performance of a mechanism. Single Point of Control The ability to operate the robot such that initiation or robot motion from one source of control is possible only from that source and cannot be overridden from another source. Slow Speed Control A mode of robot motion control where the velocity of the robot is limited to allow persons sufficient time either to withdraw the hazardous motion or stop the robot. Snake robot A robot component resembling a tentacle or elephant's trunk, where many small actuators are used to allow continuous curved motion of a robot component, with many degrees of freedom. This is usually applied to snake-arm robots, which use this as a flexible manipulator. A rarer application is the snakebot, where the entire robot is mobile and snake-like, so as to gain access through narrow spaces. Stepper motor Stewart platform A movable platform using six linear actuators, hence also known as a Hexapod. Subsumption architecture A robot architecture that uses a modular, bottom-up design beginning with the least complex behavioral tasks. Surgical robot, a remote manipulator used for keyhole surgery Swarm robotics involve large numbers of mostly simple physical robots. Their actions may seek to incorporate emergent behavior observed in social insects (swarm intelligence). Synchro == T == Teach Mode: The control state that al

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  Normalization (image processing)

  In image processing, normalization is a process that changes the range of pixel intensity values, a kind of intensity mapping. Applications include photographs with poor contrast due to glare, for example. A typical case is contrast stretching. In more general fields of data processing, such as digital signal processing, it is referred to as dynamic range expansion. The purpose of dynamic range expansion in the various applications is usually to bring the image, or other type of signal, into a range that is more familiar or normal to the senses, hence the term normalization. Often, the motivation is to achieve consistency in dynamic range for a set of data, signals, or images to avoid mental distraction or fatigue. For example, a newspaper will strive to make all of the images in an issue share a similar range of grayscale. Auto-normalization in image processing software typically normalizes to the full dynamic range of the number system specified in the image file format. == Definition == Normalization transforms an n-dimensional grayscale image I : { X ⊆ R n } → { Min , . . , Max } {\displaystyle I:\{\mathbb {X} \subseteq \mathbb {R} ^{n}\}\rightarrow \{{\text{Min}},..,{\text{Max}}\}} with intensity values in the range ( Min , Max ) {\displaystyle ({\text{Min}},{\text{Max}})} , into a new image I N : { X ⊆ R n } → { newMin , . . , newMax } {\displaystyle I_{N}:\{\mathbb {X} \subseteq \mathbb {R} ^{n}\}\rightarrow \{{\text{newMin}},..,{\text{newMax}}\}} with intensity values in the range ( newMin , newMax ) {\displaystyle ({\text{newMin}},{\text{newMax}})} . The linear normalization of a grayscale digital image is performed according to the formula I N = ( I − Min ) newMax − newMin Max − Min + newMin {\displaystyle I_{N}=(I-{\text{Min}}){\frac {{\text{newMax}}-{\text{newMin}}}{{\text{Max}}-{\text{Min}}}}+{\text{newMin}}} For example, if the intensity range of the image is 50 to 180 and the desired range is 0 to 255 the process entails subtracting 50 from each of pixel intensity, making the range 0 to 130. Then each pixel intensity is multiplied by 255/130, making the range 0 to 255. Normalization might also be non-linear, as the relationship between I {\displaystyle I} and I N {\displaystyle I_{N}} may not be linear. An example of non-linear normalization is when the normalization follows a sigmoid function, in which case the normalized image is computed according to the formula I N = ( newMax − newMin ) 1 1 + e − I − β α + newMin {\displaystyle I_{N}=({\text{newMax}}-{\text{newMin}}){\frac {1}{1+e^{-{\frac {I-\beta }{\alpha }}}}}+{\text{newMin}}} Where α {\displaystyle \alpha } defines the width of the input intensity range, and β {\displaystyle \beta } defines the intensity around which the range is centered. Gamma correction (log/inverse log) is also a common transformation function. === Colorspace === Intensity operations generally operate on a colorspace that maps to the human perception of lightness without intentionally changing the other properties. This can be done, for example, by operating on the L component of the CIELAB color space, or approximately by operating on the Y component of YCbCr. It is also possible to operate on each of the RGB color channels, though the result will not always make sense. == Contrast stretching == This is the most significant and essential technique of spatial-based image enhancement. The basic intent of this contrast enhancement technique is to adjust the local contrast in the image so as to bring out the clear regions or objects in the image. Low-contrast images often result from poor or non-uniform lighting conditions, a limited dynamic range of the imaging sensor, or improper settings of the lens aperture. This operation tries to change the intensity of the pixel in the image, particularly in the input image, to obtain an enhanced image. It is based on the number of techniques, namely local, global, dark and bright levels of contrast. The contrast enhancement is considered as the amount of color or gray differentiation that lies among the different features in an image. The contrast enhancement improves the quality of image by increasing the luminance difference between the foreground and background. A contrast stretching transformation can be achieved by: Stretching the dark range of input values into a wider range of output values: This involves increasing the brightness of the darker areas in the image to enhance details and improve visibility. Shifting the mid-range of input values: This involves adjusting the brightness levels of the mid-tones in the image to improve overall contrast and clarity. Compressing the bright range of input values: This process involves reducing the brightness of the brighter areas in the image to prevent overexposure resulting in a more balanced and visually appealing image. It can be described as the following piecewise funciton: I N = { s 1 r 1 I if I < r 1 s 2 − s 1 r 1 − r 2 ( I − r 1 ) if r 1 ≤ I ≤ r 2 1 − s 2 1 − r 2 ( I − r 2 ) if I > r 2 {\displaystyle I_{N}={\begin{cases}{\frac {s_{1}}{r_{1}}}I&{\text{if }}Ir_{2}\end{cases}}} Where: ( r 1 , s 1 ) {\displaystyle (r_{1},s_{1})} defines the transition point between the "dark" range to the "main" range. ( r 2 , s 2 ) {\displaystyle (r_{2},s_{2})} defines the transition point between the "main" range to the "bright" range. A typical linear stretch is obtained when ( r 1 , s 1 ) = ( r min , 0 ) {\displaystyle (r_{1},s_{1})=(r_{\text{min}},0)} and ( r 2 , s 2 ) = ( r max , 1 ) {\displaystyle (r_{2},s_{2})=(r_{\text{max}},1)} , where r min {\displaystyle r_{\text{min}}} and r max {\displaystyle r_{\text{max}}} denote the minimum and maximum levels in the source image. === Global contrast stretching === Global Contrast Stretching considers all color palate ranges at once to determine the maximum and minimum values for the entire RGB color image. This approach utilizes the combination of RGB colors to derive a single maximum and minimum value for contrast stretching across the entire image. === Local contrast stretching === Local contrast stretching (LCS) is an image enhancement method that focuses on locally adjusting each pixel's value to improve the visualization of structures within an image, particularly in both the darkest and lightest portions. It operates by utilizing sliding windows, known as kernels, which traverse the image. The central pixel within each kernel is adjusted using the following formula: I p ( x , y ) = 255 × [ I 0 ( x , y ) − m i n ] ( m a x − m i n ) {\displaystyle I_{p}(x,y)=255\times {\frac {[I_{0}(x,y)-min]}{(max-min)}}} Where: Ip(x,y) is the color level for the output pixel (x,y) after the contrast stretching process. I0(x,y) is the color level input for data pixel (x, y). max is the maximum value for color level in the input image within the selected kernel. min is the minimum value for color level in the input image within the selected kernel. A piecewise form (see above) may also be used. LCS can be applied to the three color channels of an image separately.

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