AI Coding Neovim

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

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  Language-Theoretic Security

  Language-theoretic security, or LangSec, is an approach to software security that focuses on input handling, complexity, and program design as strategies to improve the verifiability of computer programs. It was introduced in 2005 by Robert J. Hansen and Meredith L. Patterson at BlackHat and in 2011 by Len Sassaman and Patterson. It aims to create a formal description of which software is likely to have security vulnerabilities of particular classes, and why. It considers programs to have an inherent parser component, whether or not explicit, composed of that part of the program which operates on external input before that input is fully parsed. A central hypothesis of language-theoretic security is that vulnerabilities in software increase according to the computational power of the notional input-accepting automaton equivalent to this parser, using the definitions of automata theory. The lower bound on this computational power is the input language complexity of the program. The extent to which reducing this complexity is possible is a function of the specification of the communication protocol or file format the program takes as input. == Parsing as a security mechanism == The behaviour of a program is defined with reference to its expected input. Unexpected input being used by a program is a factor in numerous security bugs, including the so-called Android master key vulnerability (CVE-2013-4787), because accepting unexpected input renders the program's specification ambiguous. In that instance, the unexpected ambiguity came in the form of a ZIP file with duplicate filenames. If a program fully parses its input and only acts on input that unambiguously meets the specification, it follows that the program will avoid these types of vulnerabilities. This is an intentional inversion of the Postel principle. Accepting only unambiguous and valid input is a more formal requirement than input validation or sanitization, and narrows the number of possible but unanticipated program states that can be induced in an application via user input. Conversely, failure to do this is associated with security vulnerabilities. Input sanitization in particular is held to be an inadequate approach to avoiding malicious input because it inherently ignores context-sensitive properties of the input; it can therefore result in paradoxical effects, such as sanitization code activating otherwise inert cross-site scripting payloads in browsers. === Parser differentials === If the language of accepted program input is sufficiently simple, it is possible to verify that two implementations parse the same input language consistently. This is advantageous because it shows no parser differential exists between the two implementations. The requisite level of simplicity is theoretically that for which there is a solution to the equivalence problem. If the two parsers involved in CVE-2013-4787 were equivalent - that is, if they rendered the same output state given the same input state - the vulnerability could not have existed. One strategy for doing this is to publish machine-readable specifications of a format or protocol, and then use a parser generator to generate the parser code. An example of a parser generator built for this purpose is DaeDaLus. The combination of Lex with any of GNU Bison, ANTLR, or Yacc also accomplishes this. However, many parser generators allow the mixing of general purpose code with the parsing definitions, which weakens the guarantees provided by parsing. === Analysis of injection attacks === Injection attacks are generally the result of differences between the serializer (or "unparser") and the corresponding parser at a layer boundary in a system; therefore, they are a special case of parser differentials. In a SQL injection attack, for example, an attacker is able to cause the application with which they are interacting to serialize a SQL query that has different semantics than intended. In the simplest case where the payload ends a string and adds new code, the payload has crossed the code-data boundary in SQL. In language-theoretic security, this is treated as a bug in the serializer of the SQL query, which should instead be written in a way that constrains its possible outputs to those within the scope of the intended query. === Parser combinators === If a parser generator is not used, it is still possible to avoid implementation bugs by using parser combinator such as Nom to implement the parser code. This has the drawback of relying on a programmer correctly translating the specification into the language of the parser generator library, though this task is still less error-prone than hand-coding a parser. == Input format complexity == Complexity in computer programs is associated with security vulnerabilities. Within the domain of language-theoretic security, complexity is described with reference to the computational power of the abstract machine necessary to implement the program, or more particularly, to implement the parser for its input language. This complexity describes whether it is possible to show that there is no unintended or undesired functionality in the program which might be exploitable by an attacker. To be bounded in complexity, the program's input must be well-defined both in terms of form and of semantics. === Weird machines === A weird machine is a model of computation in a program that exists in parallel with, but is distinct from, the intended abstract model of computation in that program. Some classes of weird machine arise from the multi-layered nature of computer programs, or the context in which the programs run; others result from the unanticipated functionality a program has due to its complexity or to software bugs. The more complex the computation model of a program, the more likely it is to implement a weird machine. Depending on context, the weird machine may or may not be concretely useful for an attacker. Since the space of weird machines in the context of some program is the universe of all possible states that are not within the program's intended states, many exploited states including remote code execution and injection attacks belong to the domain of weird machines. A reduction in weird machines is therefore a likely correlate with reduced program vulnerability. === SafeDocs project === SafeDocs is a DARPA project undertaken in 2018 to take existing file formats, create safer subsets of them, and develop programming tools to work for the safer formats. The initial test case for this was PDF. The purpose of creating safer subsets in this case is to lower the minimum bound on parser complexity so that it becomes possible to create tools that will generate correct, normative parsers for them. == Relation to programming languages == The analytic framework of language-theoretic security assumes programs to be virtual machines that execute their input. A document that is read by an application is in this sense a form of machine code, in a generalization of the data as code idea, following the automata theory description of parsers. === Type-safe programming languages === Parsing input and serializing output are operations that consume one data type and emit another. A programming language can therefore check that data is correctly parsed and contains the expected structure by checking data types, and correct serializing (or unparsing) can be implemented as operations on the data types that are relevant to the program's output. This approach can be used to show that the recognizer and unparser patterns have been implemented. It is also possible to implement type checking across a distributed system to enforce parsing and unparsing of the expected structures and to verify that the assumptions made in designing the compositional properties of a distributed system have been followed. === Memory-safe programming languages === In the general case, spatial memory correctness is undecidable. If any proof of spatial memory correctness is to be made, it is therefore necessary to bound the complexity of the code. Interpreted languages such as Java and Python effectively accomplish this via runtime bounds checking, and frameworks for runtime bounds checking also exist for C. The effect of these strategies for spatial memory correctness are to create a halt state in place of a spatial memory correctness violation; therefore, it can be shown that the program will not violate spatial memory correctness, but in exchange, it cannot be shown in the general case that programs will not have runtime bounds checking exceptions. Some programming languages, such as Rust, accomplish this using borrow checking. The borrow checker acts to assure spatial memory correctness by compile-time reference counting. Code for which spatial memory correctness cannot be shown to not be violated therefore does not compile, inherently limiting the complexity of the spatial memory correctness of the program to what is decidable. Thi

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  Shape factor (image analysis and microscopy)

  Shape factors are dimensionless quantities used in image analysis and microscopy that numerically describe the shape of a particle, independent of its size. Shape factors are calculated from measured dimensions, such as diameter, chord lengths, area, perimeter, centroid, moments, etc. The dimensions of the particles are usually measured from two-dimensional cross-sections or projections, as in a microscope field, but shape factors also apply to three-dimensional objects. The particles could be the grains in a metallurgical or ceramic microstructure, or the microorganisms in a culture, for example. The dimensionless quantities often represent the degree of deviation from an ideal shape, such as a circle, sphere or equilateral polyhedron. Shape factors are often normalized, that is, the value ranges from zero to one. A shape factor equal to one usually represents an ideal case or maximum symmetry, such as a circle, sphere, square or cube. == Aspect ratio == The most common shape factor is the aspect ratio, a function of the largest diameter and the smallest diameter orthogonal to it: A R = d min d max {\displaystyle A_{R}={\frac {d_{\min }}{d_{\max }}}} The normalized aspect ratio varies from approaching zero for a very elongated particle, such as a grain in a cold-worked metal, to near unity for an equiaxed grain. The reciprocal of the right side of the above equation is also used, such that the AR varies from one to approaching infinity. == Circularity == Another very common shape factor is the circularity (or isoperimetric quotient), a function of the perimeter P and the area A: f circ = 4 π A P 2 {\displaystyle f_{\text{circ}}={\frac {4\pi A}{P^{2}}}} The circularity of a circle is 1, and much less than one for a starfish footprint. The reciprocal of the circularity equation is also used, such that fcirc varies from one for a circle to infinity. == Elongation shape factor == The less-common elongation shape factor is defined as the square root of the ratio of the two second moments in of the particle around its principal axes. f elong = i 2 i 1 {\displaystyle f_{\text{elong}}={\sqrt {\frac {i_{2}}{i_{1}}}}} == Compactness shape factor == The compactness shape factor is a function of the polar second moment in of a particle and a circle of equal area A. f comp = A 2 2 π i 1 2 + i 2 2 {\displaystyle f_{\text{comp}}={\frac {A^{2}}{2\pi {\sqrt {{i_{1}}^{2}+{i_{2}}^{2}}}}}} The fcomp of a circle is one, and much less than one for the cross-section of an I-beam. == Waviness shape factor == The waviness shape factor of the perimeter is a function of the convex portion Pcvx of the perimeter to the total. f wav = P cvx P {\displaystyle f_{\text{wav}}={\frac {P_{\text{cvx}}}{P}}} Some properties of metals and ceramics, such as fracture toughness, have been linked to grain shapes. == An application of shape factors == Greenland, the largest island in the world, has an area of 2,166,086 km2; a coastline (perimeter) of 39,330 km; a north–south length of 2670 km; and an east–west length of 1290 km. The aspect ratio of Greenland is A R = 1290 2670 = 0.483 {\displaystyle A_{R}={\frac {1290}{2670}}=0.483} The circularity of Greenland is f circ = 4 π ( 2166086 ) 39330 2 = 0.0176. {\displaystyle f_{\text{circ}}={\frac {4\pi (2166086)}{39330^{2}}}=0.0176.} The aspect ratio is agreeable with an eyeball-estimate on a globe. Such an estimate on a typical flat map, using the Mercator projection, would be less accurate due to the distorted scale at high latitudes. The circularity is deceptively low, due to the fjords that give Greenland a very jagged coastline (see the coastline paradox). A low value of circularity does not necessarily indicate a lack of symmetry, and shape factors are not limited to microscopic objects.

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  Colors!

  Colors! is a series of digital painting applications for handheld game consoles and mobile devices. Originally created as a homebrew application for Nintendo DS (as Colors!), which was since legitimately distributed on PlayStation Vita, iOS, and Android, the project eventually evolved into an officially licensed application for Nintendo 3DS (as Colors! 3D) and Nintendo Switch (as Colors Live). == History == === Colors! === Colors! was originally released in June 2007 as a simple homebrew painting application for the Nintendo DS. It was developed by Jens Andersson, a programmer and designer on sabbatical from the games industry who wanted to experiment with the potential of the new handheld platform. Shortly after, Rafał Piasek created an online gallery where users could upload paintings made with the program. Colors! quickly became one of the best-known homebrew applications on the Nintendo DS, and in September 2008, it was also released for the iPhone and iPod Touch. As of August 2010, it had been downloaded almost half a million times. It was voted the most popular homebrew application on the Nintendo DS by readers of the R4 for DS blog. Development of Colors! DS homebrew officially ended in December 2010 although the official gallery still accepted submissions from DS users until 2020 when Colors! Gallery was discontinued. === Colors! 3D === Colors! 3D is a successor to the application Colors! for the Nintendo 3DS. It was released as an officially licensed application for the Nintendo eShop in North America on April 5, 2012, and in the PAL region on April 19, 2012. It was later released in Japan on August 21, 2013, published by Arc System Works. Colors! 3D allows users to draw on five layers, each on their own stereoscopic 3D plane. Drawing is done on the bottom screen, while the top screen displays the painting in 3D. While drawing, players can use the various controls on the Nintendo 3DS to change layers, zoom and pan, and alter the pressure of their brush. Pressing the L button allows users to access a menu to change brush type, size, and opacity, modify the layers, use the camera to provide references, and more. When the user finishes their painting, they can export it to the SD card for viewing in the Nintendo 3DS Camera application. Users can also upload their finished creations to an online gallery, viewed on the 3DS or the official website. Gallery features include hashtags and the ability to follow artists and post comments. Each painting also features a replay feature that allows viewers to see how it was drawn. The application also features local multiplayer, allowing several people to work cooperatively on a painting. In April 2024, the developers of Colors! 3D collaborated with the Pretendo Network project to officially add support for the application, meaning Colors! 3D will continue to operate as normal when using Pretendo Network. ==== Reception ==== IGN gave the application a score of 9.0 and an Editor's Choice award, praising its simple interface and tutorials. Destructoid gave the app a 9.0, calling it "a simple and incredibly fun tool with an amazing community of artists proudly displaying their beautiful and funny 3D images." Nintendo Life gave the app a 9/10, stating, "Though lacking in any structured play, Colors! 3D’s robust free drawing system and unique ability to let anyone create their own three-dimensional artwork more than make up for this." === Colors Live === A Nintendo Switch successor called Colors Live (stylised as Colors L!ve) was released in 2020 after being funded via a Kickstarter campaign. This expanded upon the features of previous installments by adding new brushes, increasing the maximum number of layers to ten, and introducing blend modes. A new game mode called Colors Quest was also included. A pressure-sensitive pen called the Colors SonarPen was developed in collaboration with GreenBulb to facilitate drawing on the Nintendo Switch, and comes pre-bundled with physical copies of the game. ==== Colors Quest ==== This new mode acts as a story-driven adventure wherein players are given a daily drawing challenge with a specific theme and certain stipulations that must be fulfilled. Once the drawing is complete, players must anonymously score other players' submissions, these scores are then aggregated to produce a personal ranking that measures the improvement in the player's art skills over time.

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  LumenVox

  LumenVox is a privately held speech recognition software company based in San Diego, California. LumenVox has been described as one of the market leaders in the speech recognition software industry. == History == LumenVox was founded in 2001 as subsidiary of Progressive Computing. According to LumenVox CEO Edward Miller, when Progressive had initially looked to add speech recognition to its own phone system, it found the existing offerings too expensive and recognized a niche in the market for a more affordable speech recognition product. This led to the development of LumenVox with an aim to bring speech recognition to small-to-midsized businesses. LumenVox is one of the major providers of automatic speech recognition for telephone systems, and as of 2006, became the second largest provider of speech recognition software. == Products == The primary LumenVox product is the LumenVox Speech Engine. It is a speaker-independent automatic speech recognizer that uses the Speech Recognition Grammar Specification for building and defining grammars. It has been integrated with several of the major voice platforms, including Avaya Voice Portal/Interactive Response, Aculab, and BroadSoft's BroadWorks. The Speech Engine was originally derived from CMU Sphinx, but LumenVox has added considerable development effort to make it a commercial-ready product. LumenVox also offers a product called the Speech Tuner, which provides a graphical means of testing and troubleshooting speech recognition applications. == Open source support == LumenVox was recognized as one of the top VoIP companies in 2008 for its work in providing its offerings to the open source community, an effort by the company that began in 2006 when it partnered with Digium. At that time, Digium, maintainer of the open source Asterisk PBX, integrated the LumenVox Speech Engine into Asterisk. This made LumenVox the first commercially available speech recognition engine for Asterisk. As one of the earlier commercial software integrations with Asterisk, the LumenVox integration has been described as one of the applications that helped to mainstream Asterisk. In 2009, LumenVox also began offering access to the Speech Engine as a monthly subscription, bringing the cost of entry down even lower for open source users. LumenVox is also integrated with the open source UniMRCP project, which provides open source client and server libraries for the Media Resource Control Protocol.

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  Real-time transcription

  Real-time transcription is the general term for transcription by court reporters using real-time text technologies to deliver computer text screens within a few seconds of the words being spoken. Specialist software allows participants in court hearings or depositions to make notes in the text and highlight portions for future reference. Real-time transcription is also used in the broadcasting environment where it is more commonly termed "captioning." == Career opportunities == Real-time reporting is used in a variety of industries, including entertainment, television, the Internet, and law. Specific careers include the following: Judicial reporters use a stenotype to provide instant transcripts on computer screens as a trial or deposition occurs. Communication access real-time translation (CART) reporters assist the hearing-impaired by transcribing spoken words, giving them personal access to the communications they need day to day. Television broadcast captioners use real-time reporting technology to allow hard-of-hearing or deaf people to see what is being said on live television broadcasts such as news, emergency broadcasts, sporting events, awards shows, and other programs. Internet information (or Webcast) reporters provide real-time reporting of sales meetings, press conferences, and other events, while simultaneously transmitting the transcripts to computers worldwide. Other rapid data entry positions. == History == Before the advent of the stenotype machine, court reporters wrote official trial transcripts by hand using a shorthand system of stenoforms that could later be translated into readable English. It often took eight years of training to learn this manual form of writing at the necessary speed. Walter Heironimus was among the first stenographers to make use of the stenotype machine during his work in the U.S. District Court system in New Jersey in 1935. A "transcript crisis" arose during the later half of the twentieth century due to the increasing volume of lawsuits. There were not enough number of court reporters to match the increasing number of trials. Not only were court reporters unavailable to attend many court proceedings, court transcripts were constantly late and the qualities varied. Some believed it was due to the non-interchangeability between court reporters, and others believed it was simply due to a labor shortage. In the meantime, magnetic audiotape recording, or known as electronic recording (ER) began to threaten all reporters' job since it could record long-hour courtroom trials and replace a court reporter's position in the courtroom. As a result, machine translation (MT) intended to serve as a solution for preventing ER from potentially replacing reporters' jobs. However, MT relied heavily on human labors operating behind the system and many started to question if it should be the right way to end the "transcript crisis." Later in 1964, set up by CIA, the Automatic Language Processing Advisory Committee (ALPAC) was set to review whether MT was capable of solving this crisis. They concluded that MT had failed to do so. Then Patrick O'Neill, a skilled and experienced court reporter, stayed to work on the stenotype-translation project with CIA and developed the prototype CAT system. After adopting the CAT system in court-reporting community, CAT was brought into the television broadcasting system, aiming to provide captions for the deaf or hard-of-hearing communities. In 1983, Linda Miller developed a further use for the CAT system. She successfully translated a lecture live on the television screen and provided a transcript for students. This technique is known as Computer-Aided Real-time Translation, or CART. == Court reporter == It is the court reporter's job to note down the exact words spoken by every participants during a court or deposition proceeding. Then court reporters will provide verbatim transcripts. The reason to have an official court transcript is that the real-time transcriptions allows attorneys and judges to have immediate access to the transcript. It also helps when there's a need to look up for information from the proceeding. Additionally, the deaf and the hard-of-hearing communities can also participate in the judicial process with the help of real-time transcriptions provided by court reporters. === Education and training === The required degree level for a court reporter to have is an Associate's degree or postsecondary certificate. In order to become a court reporter, more than 150 reporter training programs are provided at proprietary schools, community colleges, and four-year universities. After graduation, court reporters can choose to further pursue certifications to achieve a higher level of expertise and increase their marketability during a job search. In most states, Certificates of Proficiency from the NCRA or from state agencies are now required certificates for court reporters to have in order to qualify for appointments. The NCRA aims to set the national standard for the certification of court reporters, and since 1937 it has offered its certification program which is now accepted by 22 states instead of state licenses. Court reporter training programs include but not limited to: Training in rapid writing skill, or shorthand, which will enable students to record, with accuracy, at least 225 words per minute Training in typing, which will enable students to type at least 60 words per minute A general training in English, which covers aspects of grammar, word formation, punctuation, spelling and capitalization Taking Law related courses in order to understand the overall principles of civil and criminal law, legal terminology and common Latin phrases, rules of evidence, court procedures, the duties of court reporters, the ethics of the profession Visits to actual trials Taking courses in elementary anatomy and physiology and medical word study including medical prefixes, roots and suffixes. Other than official court reporters, who are assigned to and work for a particular court, other types of court reporters include free-lance reporter, who either works for a court reporting firm or self-employed. They are different from official court reporters in that they have the chances to work on a wider range of assignments and work on basis of hourly wage. Hearing reporters work at governmental agency hearings. Legislative reporters work in law-making bodies. The demand for reporters is not limited in just the court settings. Reporters are also needed in conferences, meetings, conventions, investigations, and a variety of industries with needs for employers with real-time data entry skills. == Non-English transcription == Transcription services are universally necessary, so it is not limited to the English language. A stenographer's ability to transcribe languages beyond only English is especially valuable as society as a whole becomes increasingly multilingual. Education in non-English transcription demands a comprehensive understanding of the given language. Phonetic differences between English and other languages are a particular challenge in carrying English transcription skills over into other languages. Stenography represents various sounds of a language in a formal system of shorthand, so differences within the sets of sounds that emerge in other languages require an alternative system of shorthand transcription. For example, the presence of many diphthongs and triphthongs in Spanish requires certain sounds to be distinguished that would not be present in transcribing English into shorthand. == Controversies == The usage of transcription in the context of linguistic discussions has been controversial. Typically, two kinds of linguistic records are considered to be scientifically relevant. First, linguistic records of general acoustic features, and secondly, records that only focuses on the distinctive phonemes of a language. While transcriptions are not entirely illegitimate, transcriptions without enough detailed commentary regarding any linguistic features, or transcriptions of poor quality resources, has a great chance of the content being misinterpreted. Besides misinterpretation, transcribers could also bring in cultural biases and ignorance that reflect onto their transcription. These instances may cause a disruption of reliability in the final real-time transcription, which could influence how the written utterance is seen as an evidence for a court-case. === Quality issues === Problems in the final resulting transcription can be caused by either the quality of the transcriber or the original source that is being transcribed. Transcribers can come from different levels of skill and training background. This makes the final transcription prone to poor quality, or if the transcription is being done by multiple people, lack of consistency in the content. If the source of the transcription is a recording, the problem may root back to the quality of the re

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  EffectsLab Pro

  EffectsLab Pro is a discontinued visual effects software product developed by FXhome. It has since been superseded by the FXhome HitFilm range. The company also produced a limited functionality version, EffectsLab Lite, containing just the Particle engine. A more extensive product, VisionLab Studio, combined the functionality of EffectsLab Pro and the company's CompositeLab Pro product with enhancements to both. == Effects Engines == The effects are generated by the program's effect engines: The Neon Light engine allows light beams to be drawn onto the video, allowing the generation of lightsaber-like weapons, neon lighting, fantasy glow effects and laser blasts. The Particle engine is used for particle effects, such as smoke, fire, explosions, and weather effects. The Muzzle Flash engine is designed for creating and animating muzzle flashes such as machine gun firing, tank blasts, etc. It's possible to rotate the created muzzle flash in 3D, making it the only engine with 3D use. The Optics engine is designed for creating artificial lens flares and light sources. It is useful for enhancing other light-based effects, and mimicking the distinctive flashes of light that accompany Star Wars' lightsaber battles. The Laser engine (introduced in EffectsLab Pro in late 2007) is designed as a simplified method of creating laser weapon effects, including the ability to add simulated perspective to the effect. == Presets == EffectsLab Pro allows the user to save the effects using presets. Since all effects are generated from settings in the different engines, it is fairly easy to generate an XML style description of the effect. It is also possible to share presets on FXhome's website.

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  Conference app

  A conference app, also known as an event app or meeting app, is a mobile app developed to help attendees and meeting planners manage their conference experience. It typically includes conference proceedings and venue information, allowing users to create personalized schedules and engage with other users. A conference app can be a native app or web-based. In recent years, conference apps have gained in popularity as a sustainable solution for event management by reducing paper produced by printed materials. Advanced features often include real-time notifications for updates or changes, integration with virtual meeting platforms for hybrid or fully online events, and analytics tools for organizers to measure attendance and engagement. Additionally, some apps support sponsorship and exhibitor features, enabling businesses to showcase their products or services directly within the app.

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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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  Computer Law & Security Review

  The Computer Law & Security Review is an international peer-reviewed journal published by Elsevier. It has been published six times a year since 1985 and is indexed in Scopus and SSCI. It is accessible to a wide range of professional legal and IT practitioners, businesses, academics, researchers, libraries and organisations in both the public and private sectors. The journal regularly covers: CLSR Briefing with special emphasis on UK/US developments European Union update National news from 10 European jurisdictions Pacific rim news column Refereed practitioner and academic papers on topics such as Web 2.0, IT security, Identity management, ID cards, RFID, interference with privacy, Internet law, telecoms regulation, online broadcasting, intellectual property, software law, e-commerce, outsourcing, data protection and freedom of information and many other topics. The Journal's Correspondent Panel includes more than 40 specialists in IT law and security. Each issue contains articles, case law analysis and current news on information and communications technology. Special Features High quality peer reviewed papers from internationally renowned practitioner and academic experts Latest developments reported in situ by more than 20 leading law firms from around the world Highly experienced and respected editor and correspondents panel Online access to all 23 volumes of CLSR with embedded web links to primary sources Contact details of all authors A pool of expertise that can collectively identify the key topics that need to be examined.

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  Opponent process

  The opponent process is a hypothesis of color vision that states that the human visual system interprets information about color by processing signals from the three types of photoreceptor cells in an antagonistic manner. The three types of cones are called L, M, and S. The names stand for "Long wavelength sensitive,” "middle wavelength sensitive," and "short wavelength sensitive." The opponent-process theory implicates three opponent channels: L versus M, S versus (L+M), and a luminance channel (+ versus -). These cone-opponent mechanisms were at one time thought to be the neural substrate for a psychological theory called Hering's Opponent Colors Theory, which calls for three psychologically important opponent color processes: red versus green, blue versus yellow, and black versus white (luminance). The Opponent Colors Theory is named for the German physiologist Ewald Hering who proposed the idea in the late 19th century. However, it has been argued that Hering’s Opponent Colors Theory lacks adequate phenomenological and empirical support, and may not be a necessary feature of normal human color experience. Correspondingly, considerable physiological and behavioral evidence proves that the physiological cone opponent mechanisms do not constitute the neurobiological basis for Hering's Opponent Colors Theory. == Color theory == === Complementary colors === When staring at a bright color for a while (e.g. red), then looking away at a white field, an afterimage is perceived, such that the original color will evoke its complementary color (cyan, in the case of red input). When complementary colors are combined or mixed, they "cancel each other out" and become neutral (white or gray). That is, complementary colors are never perceived as a mixture; there is no "greenish red" or "yellowish blue", despite claims to the contrary. The strongest color contrast that a color can have is its complementary color. Complementary colors may also be called "opposite colors" and they were originally considered the primary evidence in support of Hering's Opponent Colors Theory. There are two fatal problems with this evidence. First, the complement of red is not green, as called for by Hering's theory; it is bluish-green. And second, there exists a complementary color for every color, so there is nothing special about the set of complementary pairs picked out by Hering's theory. === Unique hues === The colors that define the extremes for each opponent channel are called unique hues, as opposed to composite (mixed) hues. Ewald Hering first defined the unique hues as red, green, blue, and yellow, and based them on the concept that these colors could not be simultaneously perceived. For example, a color cannot appear both red and green. These definitions have been experimentally refined and are represented today by average hue angles of 353° (carmine red), 128° (cobalt green), 228° (cobalt blue), 58° (yellow). The unique hues are a defining feature of many psychological color spaces, but there is substantial evidence showing that the unique hues are not hard wired in the nervous system, contrary to the stipulations of Hering's Opponent Colors Theory. Unique hues can differ between individuals and are often used in psychophysical research to measure variations in color perception due to color-vision deficiencies or color adaptation. While there is considerable inter-subject variability when defining unique hues experimentally, an individual's unique hues are very consistent, to within a few nanometers of wavelength. == Physiological basis == === Relation to LMS color space === The trichromatic theory is in conflict with Hering's Opponent Colors Theory, although it is compatible with a physiological opponent process that compares the outputs of the different classes of cone types. The poles of these cone opponent mechanisms do not correspond to the unique hues of Hering's Opponent Colors Theory and unlike the unique hues, have no privilege in color perception. Most humans have three different cone cells in their retinas that facilitate trichromatic color vision. Colors are determined by the proportional excitation of these three cone types, i.e. their quantum catch. The levels of excitation of each cone type are the parameters that define LMS color space. To calculate the opponent process tristimulus values from the LMS color space, the cone excitations must be compared: The luminous (achromatic) opponent channel is a weighted sum of all three cone cells (plus the rod cells in some conditions). The red–green opponent channel is equal to the difference of the L- and M-cones. The blue–yellow opponent channel is equal to the difference of the S-cone and the average/weighted sum of the L- and M-cones. Most mammals have no L cone (the primate L cone arose from a gene duplication of the M cone opsin gene). These mammals still show two kinds of opponent channels in their retinal ganglion cells: the achromatic channel and the blue-yellow opponency channel. === Cone opponent mechanisms are encoded in the retina === The output of different types of cones are compared by cells in the retina including retina bipolar cells (which compare signals from L and M cones) and bistratified retinal ganglion cells (which compare S cone signals with L and M cone signals). The output of bipolar cells is relayed to the visual cortex by the retinal ganglion cells (RGCs) by way of a thalamic relay station called the lateral geniculate nucleus (LGN) of the thalamus. Much of the scientific knowledge of retinal ganglion cell physiology was obtained by neural recordings of cells in the LGN. The cone-opponent mechanisms in the retina and LGN represent a fundamental physiological opponent process but do not represent the unique hues (or Hering's Opponent Colors Theory). For example, the colors that best elicit responses of the bistratified S-(L+M)-opponent neurons are best described as purplish (or lavender) and lime-green, not "blue" and "yellow". The neurons are sometimes referred to as "blue–yellow" neurons, but this is a historical artifact dating to the time when it was thought that Hering's Opponent Colors Theory was hardwired by the retina and the mismatch between the colors to which they are optimally tuned and Hering's Opponent Colors was overlooked. Cone opponent mechanisms exist in the retinas of many mammals, including monkeys, mice, and cats. In primates, the LGN contains three major classes of layers: Magnocellular layers (M, large-cell) – responsible largely for the luminance channel Parvocellular layers (P, small-cell) – responsible largely for red–green opponency Koniocellular layers (K) – responsible largely for blue–yellow opponency, poor spatial resolution, long latency Other mammals such as cats also have three cell types denoted as X (magno), Y (parvo), and W (konio). The W type is beyond most doubt homologous to the primate K type. There are some subtle differences between the M and X types as well as the Y and P types to make the correspondence unclear. === Advantage === Transmitting information in opponent-channel color space could be advantageous over transmitting it in LMS color space ("raw" signals from each cone type). There is some overlap in the wavelengths of light to which the three types of cones (L for long-wave, M for medium-wave, and S for short-wave light) respond, so it is more efficient for the visual system (from a perspective of dynamic range) to record differences between the responses of cones, rather than each type of cone's individual response. Hurvich and Jameson argued that the use of opponent-channel color space would increase color contrast, making the information easier to process by later stages of vision. === Color blindness === Color blindness can be classified by the cone cell that is affected (protan, deutan, tritan) or by the opponent channel that is affected (red–green or blue–yellow). In either case, the channel can either be inactive (in the case of dichromacy) or have a lower dynamic range (in the case of anomalous trichromacy). For example, individuals with deuteranopia see little difference between the red and green unique hues. == History == Johann Wolfgang von Goethe first studied the physiological effect of opposed colors in his Theory of Colours in 1810. Goethe arranged his color wheel symmetrically "for the colours diametrically opposed to each other in this diagram are those which reciprocally evoke each other in the eye. Thus, yellow demands purple; orange, blue; red, green; and vice versa: Thus again all intermediate gradations reciprocally evoke each other." Ewald Hering proposed opponent color theory in 1892. He thought that the colors red, yellow, green, and blue are special in that any other color can be described as a mix of them, and that they exist in opposite pairs. That is, either red or green is perceived and never greenish-red: Even though yellow is a mixture of red and green in the RGB color theory, humans

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  DAVI

  The Dutch Automated Vehicle Initiative (DAVI) is a research and demonstration initiative developing automated vehicles for use on public roads. The project is unique in that, besides simply making driverless cars, it also focuses on having automated vehicles share information among each other. The aim is to have the cars help to avoid traffic congestion by reducing the safety distance between the cars (from 2 seconds to 0.5 seconds) and avoiding sudden traffic slow-downs due to maneuvers undertaken by drivers.

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  Pattern playback

  The pattern playback is an early talking device that was built by Dr. Franklin S. Cooper and his colleagues, including John M. Borst and Caryl Haskins, at Haskins Laboratories in the late 1940s and completed in 1950. There were several different versions of this hardware device. Only one currently survives. The machine converts pictures of the acoustic patterns of speech in the form of a spectrogram back into sound. Using this device, Alvin Liberman, Frank Cooper, and Pierre Delattre (later joined by Katherine Safford Harris, Leigh Lisker, and others) were able to discover acoustic cues for the perception of phonetic segments (consonants and vowels). This research was fundamental to the development of modern techniques of speech synthesis, reading machines for the blind, the study of speech perception and speech recognition, and the development of the motor theory of speech perception. To create sound, the pattern playback machine uses an arc light source which is directed against a rotating disk with 50 concentric tracks whose transparencies vary systematically in order to produce 50 harmonics of a fundamental frequency. The light is further projected against a spectrogram, whose reflectance corresponds to the sound pressure level of the partial of the signal, and is then directed towards a photovoltaic cell by which the light variation is converted into sound pressure variations. The pattern playback was last used in an experimental study by Robert Remez in 1976. The pattern playback now resides in the Museum at Haskins Laboratories in New Haven, Connecticut. The technique of pattern playback also now refers, more generally, to algorithms or techniques for converting spectrograms, cochleagrams, and correlograms from pictures back into sounds. A demonstration is in the TV show Adventure. Pioneering technology in psycholinguistics (CBS Television. 1953). == Digital pattern playback == In the 1970s, digital pattern playbacks began to supplant the earlier version. An early prototype was developed by Patrick Nye, Philip Rubin, and colleagues at Haskins Laboratories. It combined a "Ubiquitous Spectrum Analyzer"[1] for automatic spectral analysis, along with a VAX GT-40 display processor for graphic manipulation of the displayed spectrogram, a form of "synthesis by art", and subsequent re-synthesis using a 40 channel filter bank. This hybrid hardware/software digital pattern playback was eventually replaced at Haskins Laboratories by the HADES analysis and display system, designed by Philip Rubin, and implemented in Fortran on the VAX family of computers. A more modern version has been described by Arai and colleagues [2]. An on-line demonstration is available [3].

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  LENA Foundation

  The LENA Foundation is an American nonprofit organisation which provides tools for measuring children's language acquisition and exposure. Specifically, the LENA system consists of a digital language processor which is worn by a child and records and analyses their auditory environment, using propriety software. It then presents a summary of child-adult conversation, such as conversation turns and word counts. The purpose of the LENA system is to encourage interactive talk between children (between the age of two to forty-eight months) and their caretakers. The LENA system is also used for research; while useful for researchers who wish to save transcription costs or observe the child in its natural state, the accuracy of this system, while often quite high, varies between contexts, for example notably in the case of hard of hearing children. Because of this, several researchers recommend caution in using only the LENA system on its own for the purposes of scientific research. == History == The LENA Foundation was established in 2009 by Terrance and Judith Paul, founders of Renaissance Learning, Inc., with the purpose of aiding children with disabilities and assisting with early learning. They were inspired by the book "Meaningful Differences in the Everyday Experience of American Children" by Dr. Betty Hart and Dr. Todd Risley. A pilot version of the LENA system was launched in February 2006. The LENA Research Foundation was registered as a tax-exempt 501(c)(3) nonprofit in September 2010. The organisation was renamed simply LENA in 2018 and adopted the tagline "Building brains through early talk." LENA has been used for parental feedback, linguistics or paediatrics research, and for specific clinical cases. == Scientific background == In 2018, research using the LENA system showed that there was a link between children's conversational turns and activation of Broca's area (a part of the brain responsible, although not necessarily essential, for language processing). The LENA foundation cites research by its own employees as evidence for the scientific basis of its technology. Said research claims that verbal interaction with young children has an effect on language acquisition, including verbal comprehension skills during adolescence. == LENA System == The LENA software analyses a child's natural language environment, such as verbal exposure, and provides several metrics, such as adult and child speech time, television/recorded audio time, word count, or conversation turn count. The LENA hardware is a recorder that is usually placed into a child's specially-designed vest. The software was trained on over 65,000 hours of manually annotated American English audio recordings. It splits the audio into segments which are categorised as "key child", "other child", "male adult", "noise", etc. The advantages of LENA as opposed to manual transcription are its speed and ease of use; the disadvantages are its potential inaccuracies and lack of transcription capability (which LENA does not profess to attempt). The LENA system has also been criticised for prioritising quantity of speaking over quality (i.e., mastery of the language, as opposed to babble). == Product lines == === LENA Start === LENA Start is a program for parents that utilises feedback from the LENA System in conjunction with weekly group sessions in order to address the home language environment. It was introduced in 2015 and implemented across several U.S. states. In October 2020, during the restrictions of the COVID-19 pandemic, Read Aloud Delaware began a virtual LENA Start program with families statewide, where parents received feedback and participated in one-hour Zoom workshops each week during the 10-week program. === LENA Grow === LENA Grow is a professional development program for teachers in early childhood classrooms. Before launching at sites around the country, the program was first piloted in Escambia County, Florida. === LENA Home === LENA Home is a supplement to existing parent coaching curricula. Typically, home visitors facilitate the use of the LENA System to help parents track their progress towards increasing interactive talk in their homes. === Developmental Snapshot === The LENA Developmental Snapshot, based on a 52-question parent survey, assesses both expressive and receptive language skills and provides an estimate of a child's developmental age from 2 months to 36 months.

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  Dabbler

  Dabbler is natural media drawing software for beginners. It was initially developed by Fractal Design Corporation. It is a simplified version of Fractal Design Painter, and included multimedia tutorials and a fullscreen interface. Dabbler was released as "Art Dabbler" after the MetaCreations merger, and rights were eventually transferred to Corel. Dabbler operating systems are Mac OS and Microsoft Windows.

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  Automated restaurant

  An automated restaurant or robotic restaurant is a restaurant that uses robots to do tasks such as delivering food and drink to the tables or cooking the food. Restaurant automation means the use of a restaurant management system to automate some or occasionally all of the major operations of a restaurant establishment. More recently, restaurants are opening that have completely or partially automated their services. These may include: taking orders, preparing food, serving, and billing. A few fully automated restaurants operate without any human intervention whatsoever. Robots are designed to help and sometimes replace human labour (such as waiters and chefs). The automation of restaurants may also allow for the option for greater customization of an order. == History == === Vending machines === In the late 19th and early 20th century a number of restaurants served food solely through vending machines. These restaurants were called automats or, in Japan, shokkenki. Customers ordered their food directly through the machines. === Sushi conveyors === Yoshiaki Shiraishi is a Japanese innovator who is known for the creation of conveyor belt sushi. He had the idea following difficulty staffing his small sushi restaurant and managing the restaurant on his own. He was inspired seeing beer bottles on a conveyor belt in an Asahi brewery. Yoshiaki's restaurants are an early example of restaurant automation; they used a conveyor belt to distribute dishes around the restaurant, eliminating the need for waiters. This example of automation dates back to the Japanese economic miracle; the first of Yoshiaki's conveyor belt sushi restaurants was opened under the name Mawaru Genroku Sushi in 1958, in Osaka. === Partial automation === As of 2011, across Europe, McDonald's had already begun implementing 7,000 touch screen kiosks that could handle cashiering duties. From 2015 to 2020, Zume had an automated pizza parlor. Later companies would try to produce smaller, less ambitious devices, with one robotics company producing a machine that could automate the slowest and most repetitive parts of assembling a pizza, such as spreading pizza sauce or placing slices of pepperoni, while leaving other customizations to employees. In 2020, a restaurant in the Netherlands began trialling the use of a robot to serve guests. In September 2021, Karakuri's 'Semblr' food service robot served personalised lunches for the 4,000 employees of grocery technology solutions provider ocado Group's head offices in Hatfield, UK. 2,700 different combinations of dishes were on offer. Customers could specify in grams what hot and cold items, proteins, sauces and fresh toppings they wanted. In 2021, Columbia University School of Engineering and Applied Science engineers developed a method of cooking 3D printed chicken with software-controlled robotic lasers. The “Digital Food” team exposed raw 3D printed chicken structures to both blue and infrared light. They then assessed the cooking depth, colour development, moisture retention and flavour differences of the laser-cooked 3D printed samples in comparison to stove-cooked meat. In June 2022 a California nonprofit chain of residential communities, Front Porch, experimented with robots in dining rooms at two locations to supplement wait staff by carrying plated food and drink to tables, and removing dishes. 65% of residents found the robots helpful, with 51% saying they let the staff spend more quality time with diners. 51% of staff were "excited" and 58% said they enabled more quality time with diners. The chain has 19 senior living communities (and 35 affordable housing communities), so it has potential to expand robots to more dining rooms. It is shifting to memory care, which may affect plans. == Rationales == === Advantages === Efficiency: Automated restaurants can significantly enhance operational efficiency by minimizing human error and reducing service time. With automated ordering, payment, and food preparation systems, customers can enjoy faster service and reduced waiting times. Cost savings: By reducing the need for human staff, automated restaurants can potentially lower labor costs. This can be particularly beneficial in areas with high labor expenses, as it allows for better resource allocation and cost management. Consistency: Automation ensures consistency in food quality and presentation. With precise portion control and standardized cooking methods, customers can expect the same quality and taste in their meals every time they visit. Enhanced customer experience: Self-service kiosks and automated systems provide customers with control and convenience. They can customize their orders, browse through menu options, and pay seamlessly, creating a more interactive and satisfying dining experience. === Disadvantages === Lack of personal touch: Automated restaurants may lack the personal interaction and warmth that traditional restaurants provide. Some customers prefer the human touch, personalized recommendations, and the social aspect of dining out. Technical issues: Reliance on technology means that technical glitches and malfunctions can occur, resulting in service disruptions or delays. Maintenance and technical support become critical in ensuring smooth operations. Limited menu complexity: The automation process may be better suited for standardized menu items rather than complex or customized dishes. The ability to cater to unique dietary preferences or accommodate special requests may be limited. Employment implications: Automated restaurants may result in job losses for traditional restaurant staff, potentially impacting the local workforce. It is important to consider the social and economic implications of adopting such technology. == Locations == Automated restaurants have been opening in many countries. Examples include: Nala Restaurant in Naperville, Illinois Fritz's Railroad Restaurant in Kansas City, Kansas Výtopna, a Railway Restaurant using model trains: franchise of various restaurants and coffeehouses in the Czech Republic Bagger's Restaurant in Nuremberg, Germany FuA-Men Restaurant, a ramen restaurant located in Nagoya, Japan Fōster Nutrition in Buenos Aires, Argentina Dalu Robot Restaurant in Jinan, China Haohai Robot Restaurant in Harbin, China Robot Kitchen Restaurant in Hong Kong Robo-Chef restaurant in Tehran, Iran, started in 2017, is the first robotic and "waiterless" restaurant of the Middle East. MIT graduates opened Spyce Kitchens in downtown Boston, Massachusetts, in 2018 Foodom, under Country Garden Holdings, opened January 12, 2020, in Guangzhou, China Robot Chacha, the first robot restaurant of India, is planning to open in the capital city of New Delhi. Kura Revolving Sushi Bar, with a number of locations in the United States, uses a tablets at tables for ordering, a conveyor belt to deliver food, and robots to deliver drinks and condiments. Chipotle Mexican Grill is beginning to deploy the Hyphen Makeline, which assembles up to 350 bowls and salads automatically per hour, and Chippy, an automatic tortilla chip fryer made by Miso Robotics. Serious Dumplings in Boca Raton, Florida

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