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  • Color vision

    Color vision

    Color vision (CV), a feature of visual perception, is an ability to perceive differences between light composed of different frequencies independently of light intensity. Color perception is a part of the larger visual system and is mediated by a complex process between neurons that begins with differential stimulation of different types of photoreceptors by light entering the eye. Those photoreceptors then emit outputs that are propagated through many layers of neurons ultimately leading to higher cognitive functions in the brain. Color vision is found in many animals and is mediated by similar underlying mechanisms with common types of biological molecules and a complex history of the evolution of color vision within different animal taxa. In primates, color vision may have evolved under selective pressure for a variety of visual tasks including the foraging for nutritious young leaves, ripe fruit, and flowers, as well as detecting predator camouflage and emotional states in other primates. == Wavelength == Isaac Newton discovered that white light after being split into its component colors when passed through a dispersive prism could be recombined to make white light by passing them through a different prism. The visible light spectrum ranges from about 380 to 740 nanometers. Spectral colors (colors that are produced by a narrow band of wavelengths) such as red, orange, yellow, green, cyan, blue, and violet can be found in this range. These spectral colors do not refer to a single wavelength, but rather to a set of wavelengths: red, 625–740 nm; orange, 590–625 nm; yellow, 565–590 nm; green, 500–565 nm; cyan, 485–500 nm; blue, 450–485 nm; violet, 380–450 nm. Wavelengths longer or shorter than this range are called infrared or ultraviolet, respectively. Humans cannot generally see these wavelengths, but other animals may. === Hue detection === Sufficient differences in wavelength cause a difference in the perceived hue; the just-noticeable difference in wavelength varies from about 1 nm in the blue-green and yellow wavelengths to 10 nm and more in the longer red and shorter blue wavelengths. Although the human eye can distinguish up to a few hundred hues, when those pure spectral colors are mixed together or diluted with white light, the number of distinguishable chromaticities can be much higher. In very low light levels, vision is scotopic: light is detected by rod cells of the retina. Rods are maximally sensitive to wavelengths near 500 nm and play little, if any, role in color vision. In brighter light, such as daylight, vision is photopic: light is detected by cone cells which are responsible for color vision. Cones are sensitive to a range of wavelengths, but are most sensitive to wavelengths near 555 nm. Between these regions, mesopic vision comes into play and both rods and cones provide signals to the retinal ganglion cells. The shift in color perception from dim light to daylight gives rise to differences known as the Purkinje effect. The perception of "white" is formed by the entire spectrum of visible light, or by mixing colors of just a few wavelengths in animals with few types of color receptors. In humans, white light can be perceived by combining wavelengths such as red, green, and blue, or just a pair of complementary colors such as blue and yellow. === Non-spectral colors === There are a variety of colors in addition to spectral colors and their hues. These include grayscale colors, shades of colors obtained by mixing grayscale colors with spectral colors, violet-red colors, impossible colors, and metallic colors. Grayscale colors include white, gray, and black. Rods contain rhodopsin, which reacts to light intensity, providing grayscale coloring. Shades include colors such as pink or brown. Pink is obtained from mixing red and white. Brown may be obtained from mixing orange with gray or black. Navy is obtained from mixing blue and black. Violet-red colors include hues and shades of magenta. The light spectrum is a line on which violet is one end and the other is red, and yet we see hues of purple that connect those two colors. Impossible colors are a combination of cone responses that cannot be naturally produced. For example, medium cones cannot be activated completely on their own; if they were, we would see a 'hyper-green' color. == Dimensionality == Color vision is categorized foremost according to the dimensionality of the color gamut, which is defined by the number of primaries required to represent the color vision. This is generally equal to the number of photopsins expressed: a correlation that holds for vertebrates but not invertebrates. The common vertebrate ancestor possessed four photopsins (expressed in cones) plus rhodopsin (expressed in rods), so was tetrachromatic. However, many vertebrate lineages have lost one or many photopsin genes, leading to lower-dimension color vision. The dimensions of color vision range from 1-dimensional and up: == Physiology of color perception == Perception of color begins with specialized retinal cells known as cone cells. Cone cells contain different forms of opsin – a pigment protein – that have different spectral sensitivities. Humans contain three types, resulting in trichromatic color vision. Each individual cone contains pigments composed of opsin apoprotein covalently linked to a light-absorbing prosthetic group: either 11-cis-hydroretinal or, more rarely, 11-cis-dehydroretinal. The cones are conventionally labeled according to the ordering of the wavelengths of the peaks of their spectral sensitivities: short (S), medium (M), and long (L) cone types. These three types do not correspond well to particular colors as we know them. Rather, the perception of color is achieved by a complex process that starts with the differential output of these cells in the retina and which is finalized in the visual cortex and associative areas of the brain. For example, while the L cones have been referred to simply as red receptors, microspectrophotometry has shown that their peak sensitivity is in the greenish-yellow region of the spectrum. Similarly, the S cones and M cones do not directly correspond to blue and green, although they are often described as such. The RGB color model, therefore, is a convenient means for representing color but is not directly based on the types of cones in the human eye. The peak response of human cone cells varies, even among individuals with typical color vision; in some non-human species this polymorphic variation is even greater, and it may well be adaptive. === Theories === Two complementary theories of color vision are the trichromatic theory and the opponent process theory. The trichromatic theory, or Young–Helmholtz theory, proposed in the 19th century by Thomas Young and Hermann von Helmholtz, posits three types of cones preferentially sensitive to blue, green, and red, respectively. Others have suggested that the trichromatic theory is not specifically a theory of color vision but a theory of receptors for all vision, including color but not specific or limited to it. Equally, it has been suggested that the relationship between the phenomenal opponency described by Ewald Hering and the physiological opponent processes are not straightforward (see below), making of physiological opponency a mechanism that is relevant to the whole of vision, and not just to color vision alone. Hering proposed the opponent process theory in 1872. It states that the visual system interprets color in an antagonistic way: red vs. green, blue vs. yellow, black vs. white. Both theories are generally accepted as valid, describing different stages in visual physiology, visualized in the adjacent diagram. Green–magenta and blue–yellow are scales with mutually exclusive boundaries. In the same way that there cannot exist a "slightly negative" positive number, a single eye cannot perceive a bluish-yellow or a reddish-green. Although these two theories are both currently widely accepted theories, past and more recent work has led to criticism of the opponent process theory, stemming from a number of what are presented as discrepancies in the standard opponent process theory. For example, the phenomenon of an after-image of complementary color can be induced by fatiguing the cells responsible for color perception, by staring at a vibrant color for a length of time, and then looking at a white surface. This phenomenon of complementary colors shows that cyan, rather than green, is the complement of red, and that magenta, rather than red, is the complement of green. It therefore also shows that the reddish-green color supposed to be impossible by opponent process theory is actually the color yellow. Although this phenomenon is more readily explained by the trichromatic theory, explanations for the discrepancy may include alterations to the opponent process theory, such as redefining the opponent colors as red vs. cyan, to reflect this effect. Despite such criticis

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  • 1DayLater

    1DayLater

    1DayLater was a free, web-based software that was focused on professional invoicing. The company was formed in 2009 and closed in October 2013. The main function of 1DayLater was to help users create invoices for clients. It could also be used to track time and other expenses, work to budgets, and to track projects. Multiple users could simultaneously work on the same projects together. PC Magazine (PCMag) voted 1DayLater as one of the 'Best Free Software of 2010'. == History == The software was developed by two brothers, Paul and David King; after they experienced similar frustrations while working freelance, the brothers wanted to create a product that would let them track time, expenses and business miles in a single online location. == Media coverage == 1DayLater had the following press coverage: BBC Webscape (July 2010) - Kate Russell gives her latest selection of the best sites on the World Wide Web PCMag (March 2010) - The best free software of 2010 Lifehacker (February 2010) - "A worthy addition to our 'Top Ten Tips and Tools for Freelancers'" Gigaom (February 2010) - Taking a closer look with 1DayLater The Journal (May 2009) - "Top Ten Brands of the North East" (UK) Techcrunch (January 2009) - "A 'feisty time tracking solution from the North East of England'"

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  • SwissCovid

    SwissCovid

    SwissCovid is a COVID-19 contact tracing app used for digital contact tracing in Switzerland. Use of the app is voluntary and based on a decentralized approach using Bluetooth Low Energy and Decentralized Privacy-Preserving Proximity Tracing (dp3t). == Development == The app was developed in collaboration with the FOPH by Federal Office for Information Technology, Systems and Communications FOITT, École polytechnique fédérale de Lausanne (EPFL) and the Swiss Federal Institute of Technology in Zurich (ETH) as well as other experts. == Non-interoperability with applications in European countries == There is an agreement between EU countries to make applications compatible. However, there is no legal basis for the SwissCovid application to be part of this portal even though technically speaking it is ready, according to Sang-Ill Kim, head of the digital transformation department of the Federal Office of Public Health. == Criticism == === Not full open source and dependence on Google and Apple === In June 2020, researchers Serge Vaudenay and Martin Vuagnoux published a critical analysis of the application, noting that it relies heavily on Google and Apple's exposure notification system, which is integrated into their respective Android and iOS operating systems. Since Google and Apple have not released the full source code of this system, this would call into question the truly open source nature of the application. The researchers note that the dp3t collective, which includes the developers of the application, has asked Google and Apple to release their code. Moreover, they criticize the official description of the application and its functionalities, as well as the adequacy of the legal basis for its effective operation. === Cyber attacks === Professor Serge Vaudenay and Martin Vuagnoux identify also various security vulnerabilities in the application. The system would thus allow a third party to trace the movements of a phone using the application by means of Bluetooth sensors scattered along its path, for example in a building. Another possible attack would be to copy identifiers from the phones of people who may be ill (for example, in a hospital), and to reproduce those identifiers in order to receive notification of exposure to COVID-19 and illegitimately benefit from quarantine (thus entitling them to paid leave, a postponed examination, or other benefits). The system would also allow a third party to use a phone using the application by means of Bluetooth sensors scattered along the way. Paul-Olivier Dehaye of Personaldata.io and professor Joel Reardon of the University of Calgary published in June 2020 several examples of AEM (Associated Encrypted Metadata) replay and manipulation attacks via software development kits (SDKs) found in benign third-party mobile applications downloaded by the general public and having the phone's Bluetooth access permissions and in September 2020 a paper indicating that "Bluetooth-based proximity tracing apps are fundamentally insecure with respect to an attacker leveraging a malevolent app or SDK". === Costs === According to a publication by the federal administration, "the costs of developing the software for the mobile phone application, the GR back-end and the code management system as well as the costs for access management for the cantonal doctors' services are estimated at a one-off amount of 1.65 million francs. However, the Zurich-based company Ubique, responsible for the development of the application, was finally awarded the mandate to develop the application for an amount of 1.8 million francs. Through the Botnar Foundation based in Basel, École polytechnique fédérale de Lausanne received 3.5 million Swiss francs for the development of the application

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  • Cloud robotics

    Cloud robotics

    Cloud robotics is a field of robotics that attempts to invoke cloud technologies such as cloud computing, cloud storage, and other Internet technologies centered on the benefits of converged infrastructure and shared services for robotics. When connected to the cloud, robots can benefit from the powerful computation, storage, and communication resources of a modern data center in the cloud, which can process and share information from various robots or agents (other machines, smart objects, humans, etc.). Humans can also delegate tasks to robots remotely through networks. Cloud computing technologies enable robot systems to be gain capability whilst reducing costs through cloud technologies. Thus, it is possible to build lightweight, low-cost, smarter robots with an intelligent "brain" in the cloud. The "brain" consists of data center, knowledge base, task planners, deep learning, information processing, environment models, communication support, etc. == Components == A cloud for robots potentially has at least six significant components: Building a "cloud brain" for robots, the main object of cloud robotics; Offering a global library of images, maps, and object data, often with geometry and mechanical properties, expert system, knowledge base (i.e. semantic web, data centres); Massively-parallel computation on demand for sample-based statistical modelling and motion planning, task planning, multi-robot collaboration, scheduling and coordination of system; Robot sharing of outcomes, trajectories, and dynamic control policies and robot learning support; Human sharing of open-source code, data, and designs for programming, experimentation, and hardware construction; On-demand human guidance and assistance for evaluation, learning, and error recovery; Augmented human–robot interaction through various ways (semantics knowledge base, Apple SIRI like service, etc.). == Applications == Autonomous mobile robots Google's self-driving cars are cloud robots. The cars use the network to access Google's enormous database of maps and satellite and environment model (like Streetview) and combines it with streaming data from GPS, cameras, and 3D sensors to monitor its own position within centimetres, and with past and current traffic patterns to avoid collisions. Each car can learn something about environments, roads, or driving, or conditions, and it sends the information to the Google cloud, where it can be used to improve the performance of other cars. Cloud medical robots a medical cloud (also called a healthcare cluster) consists of various services such as a disease archive, electronic medical records, a patient health management system, practice services, analytics services, clinic solutions, expert systems, etc. A robot can connect to the cloud to provide clinical service to patients, as well as deliver assistance to doctors (e.g. a co-surgery robot). Moreover, it also provides a collaboration service by sharing information between doctors and care givers about clinical treatment. Assistive robots A domestic robot can be employed for healthcare and life monitoring for elderly people. The system collects the health status of users and exchange information with cloud expert system or doctors to facilitate elderly peoples life, especially for those with chronic diseases. For example, the robots are able to provide support to prevent the elderly from falling down, emergency healthy support such as heart disease, blooding disease. Care givers of elderly people can also get notification when in emergency from the robot through network. Industrial robots As highlighted by the German government's Industry 4.0 Plan, "Industry is on the threshold of the fourth industrial revolution. Driven by the Internet, the real and virtual worlds are growing closer and closer together to form the Internet of Things. Industrial production of the future will be characterised by the strong individualisation of products under the conditions of highly flexible (large series) production, the extensive integration of customers and business partners in business and value-added processes, and the linking of production and high-quality services leading to so-called hybrid products." In manufacturing, such cloud based robot systems could learn to handle tasks such as threading wires or cables, or aligning gaskets from a professional knowledge base. A group of robots can share information for some collaborative tasks. Even more, a consumer is able to place customised product orders to manufacturing robots directly with online ordering systems. Another potential paradigm is shopping-delivery robot systems. Once an order is placed, a warehouse robot dispatches the item to an autonomous car or autonomous drone to deliver it to its recipient. == Research == RoboEarth was funded by the European Union's Seventh Framework Programme for research, technological development projects, specifically to explore the field of cloud robotics. The goal of RoboEarth is to allow robotic systems to benefit from the experience of other robots, paving the way for rapid advances in machine cognition and behaviour, and ultimately, for more subtle and sophisticated human-machine interaction. RoboEarth offers a Cloud Robotics infrastructure. RoboEarth's World-Wide-Web style database stores knowledge generated by humans – and robots – in a machine-readable format. Data stored in the RoboEarth knowledge base include software components, maps for navigation (e.g., object locations, world models), task knowledge (e.g., action recipes, manipulation strategies), and object recognition models (e.g., images, object models). The RoboEarth Cloud Engine includes support for mobile robots, autonomous vehicles, and drones, which require much computation for navigation. Rapyuta is an open source cloud robotics framework based on RoboEarth Engine developed by the robotics researcher at ETHZ. Within the framework, each robot connected to Rapyuta can have a secured computing environment (rectangular boxes) giving them the ability to move their heavy computation into the cloud. In addition, the computing environments are tightly interconnected with each other and have a high bandwidth connection to the RoboEarth knowledge repository. FogROS2 is an open-source extension to the Robot Operating System 2 (ROS 2) developed by researchers at UC Berkeley. It enables robots to offload computationally intensive tasks—such as SLAM, grasp planning, and motion planning—to cloud resources, thereby enhancing performance and reducing onboard computational requirements. FogROS2 automates the provisioning of cloud instances, deployment of ROS 2 nodes, and secure communication between robots and cloud services. The platform is designed to be compatible with existing ROS 2 applications without requiring code modifications. Further advancements include FogROS2-SGC, which facilitates secure global connectivity across different networks and locations, and FogROS2-FT, which introduces fault tolerance by replicating services across multiple cloud providers to ensure robustness against failures. KnowRob is an extensional project of RoboEarth. It is a knowledge processing system that combines knowledge representation and reasoning methods with techniques for acquiring knowledge and for grounding the knowledge in a physical system and can serve as a common semantic framework for integrating information from different sources. RoboBrain is a large-scale computational system that learns from publicly available Internet resources, computer simulations, and real-life robot trials. It accumulates everything robotics into a comprehensive and interconnected knowledge base. Applications include prototyping for robotics research, household robots, and self-driving cars. The goal is as direct as the project's name—to create a centralised, always-online brain for robots to tap into. The project is dominated by Stanford University and Cornell University. And the project is supported by the National Science Foundation, the Office of Naval Research, the Army Research Office, Google, Microsoft, Qualcomm, the Alfred P. Sloan Foundation and the National Robotics Initiative, whose goal is to advance robotics to help make the United States more competitive in the world economy. MyRobots is a service for connecting robots and intelligent devices to the Internet. It can be regarded as a social network for robots and smart objects (i.e. Facebook for robots). With socialising, collaborating and sharing, robots can benefit from those interactions too by sharing their sensor information giving insight on their perspective of their current state. COALAS is funded by the INTERREG IVA France (Channel) – England European cross-border co-operation programme. The project aims to develop new technologies for disabled people through social and technological innovation and through the users' social and psychological integrity. The objective is to produce a cognitive ambient

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  • EM algorithm and GMM model

    EM algorithm and GMM model

    In statistics, EM (expectation maximization) algorithm handles latent variables, while GMM is the Gaussian mixture model. == Background == In the picture below, are shown the red blood cell hemoglobin concentration and the red blood cell volume data of two groups of people, the Anemia group and the control group (i.e. the group of people without Anemia). As expected, people with Anemia have lower red blood cell volume and lower red blood cell hemoglobin concentration than those without Anemia. x {\displaystyle x} is a random vector such as x := ( red blood cell volume , red blood cell hemoglobin concentration ) {\displaystyle x:={\big (}{\text{red blood cell volume}},{\text{red blood cell hemoglobin concentration}}{\big )}} , and from medical studies it is known that x {\displaystyle x} are normally distributed in each group, i.e. x ∼ N ( μ , Σ ) {\displaystyle x\sim {\mathcal {N}}(\mu ,\Sigma )} . z {\displaystyle z} is denoted as the group where x {\displaystyle x} belongs, with z i = 0 {\displaystyle z_{i}=0} when x i {\displaystyle x_{i}} belongs to the Anemia group and z i = 1 {\displaystyle z_{i}=1} when x i {\displaystyle x_{i}} belongs to the control group. Also z ∼ Categorical ⁡ ( k , ϕ ) {\displaystyle z\sim \operatorname {Categorical} (k,\phi )} where k = 2 {\displaystyle k=2} , ϕ j ≥ 0 , {\displaystyle \phi _{j}\geq 0,} and ∑ j = 1 k ϕ j = 1 {\displaystyle \sum _{j=1}^{k}\phi _{j}=1} . See Categorical distribution. The following procedure can be used to estimate ϕ , μ , Σ {\displaystyle \phi ,\mu ,\Sigma } . A maximum likelihood estimation can be applied: ℓ ( ϕ , μ , Σ ) = ∑ i = 1 m log ⁡ ( p ( x ( i ) ; ϕ , μ , Σ ) ) = ∑ i = 1 m log ⁡ ∑ z ( i ) = 1 k p ( x ( i ) ∣ z ( i ) ; μ , Σ ) p ( z ( i ) ; ϕ ) {\displaystyle \ell (\phi ,\mu ,\Sigma )=\sum _{i=1}^{m}\log(p(x^{(i)};\phi ,\mu ,\Sigma ))=\sum _{i=1}^{m}\log \sum _{z^{(i)}=1}^{k}p\left(x^{(i)}\mid z^{(i)};\mu ,\Sigma \right)p(z^{(i)};\phi )} As the z i {\displaystyle z_{i}} for each x i {\displaystyle x_{i}} are known, the log likelihood function can be simplified as below: ℓ ( ϕ , μ , Σ ) = ∑ i = 1 m log ⁡ p ( x ( i ) ∣ z ( i ) ; μ , Σ ) + log ⁡ p ( z ( i ) ; ϕ ) {\displaystyle \ell (\phi ,\mu ,\Sigma )=\sum _{i=1}^{m}\log p\left(x^{(i)}\mid z^{(i)};\mu ,\Sigma \right)+\log p\left(z^{(i)};\phi \right)} Now the likelihood function can be maximized by making partial derivative over μ , Σ , ϕ {\displaystyle \mu ,\Sigma ,\phi } , obtaining: ϕ j = 1 m ∑ i = 1 m 1 { z ( i ) = j } {\displaystyle \phi _{j}={\frac {1}{m}}\sum _{i=1}^{m}1\{z^{(i)}=j\}} μ j = ∑ i = 1 m 1 { z ( i ) = j } x ( i ) ∑ i = 1 m 1 { z ( i ) = j } {\displaystyle \mu _{j}={\frac {\sum _{i=1}^{m}1\{z^{(i)}=j\}x^{(i)}}{\sum _{i=1}^{m}1\left\{z^{(i)}=j\right\}}}} Σ j = ∑ i = 1 m 1 { z ( i ) = j } ( x ( i ) − μ j ) ( x ( i ) − μ j ) T ∑ i = 1 m 1 { z ( i ) = j } {\displaystyle \Sigma _{j}={\frac {\sum _{i=1}^{m}1\{z^{(i)}=j\}(x^{(i)}-\mu _{j})(x^{(i)}-\mu _{j})^{T}}{\sum _{i=1}^{m}1\{z^{(i)}=j\}}}} If z i {\displaystyle z_{i}} is known, the estimation of the parameters results to be quite simple with maximum likelihood estimation. But if z i {\displaystyle z_{i}} is unknown it is much more complicated. Being z {\displaystyle z} a latent variable (i.e. not observed), with unlabeled scenario, the expectation maximization algorithm is needed to estimate z {\displaystyle z} as well as other parameters. Generally, this problem is set as a GMM since the data in each group is normally distributed. In machine learning, the latent variable z {\displaystyle z} is considered as a latent pattern lying under the data, which the observer is not able to see very directly. x i {\displaystyle x_{i}} is the known data, while ϕ , μ , Σ {\displaystyle \phi ,\mu ,\Sigma } are the parameter of the model. With the EM algorithm, some underlying pattern z {\displaystyle z} in the data x i {\displaystyle x_{i}} can be found, along with the estimation of the parameters. The wide application of this circumstance in machine learning is what makes EM algorithm so important. == EM algorithm in GMM == The EM algorithm consists of two steps: the E-step and the M-step. Firstly, the model parameters and the z ( i ) {\displaystyle z^{(i)}} can be randomly initialized. In the E-step, the algorithm tries to guess the value of z ( i ) {\displaystyle z^{(i)}} based on the parameters, while in the M-step, the algorithm updates the value of the model parameters based on the guess of z ( i ) {\displaystyle z^{(i)}} of the E-step. These two steps are repeated until convergence is reached. The algorithm in GMM is: Repeat until convergence: 1. (E-step) For each i , j {\displaystyle i,j} , set w j ( i ) := p ( z ( i ) = j | x ( i ) ; ϕ , μ , Σ ) {\displaystyle w_{j}^{(i)}:=p\left(z^{(i)}=j|x^{(i)};\phi ,\mu ,\Sigma \right)} 2. (M-step) Update the parameters ϕ j := 1 m ∑ i = 1 m w j ( i ) {\displaystyle \phi _{j}:={\frac {1}{m}}\sum _{i=1}^{m}w_{j}^{(i)}} μ j := ∑ i = 1 m w j ( i ) x ( i ) ∑ i = 1 m w j ( i ) {\displaystyle \mu _{j}:={\frac {\sum _{i=1}^{m}w_{j}^{(i)}x^{(i)}}{\sum _{i=1}^{m}w_{j}^{(i)}}}} Σ j := ∑ i = 1 m w j ( i ) ( x ( i ) − μ j ) ( x ( i ) − μ j ) T ∑ i = 1 m w j ( i ) {\displaystyle \Sigma _{j}:={\frac {\sum _{i=1}^{m}w_{j}^{(i)}\left(x^{(i)}-\mu _{j}\right)\left(x^{(i)}-\mu _{j}\right)^{T}}{\sum _{i=1}^{m}w_{j}^{(i)}}}} With Bayes' rule, the following result is obtained by the E-step: p ( z ( i ) = j | x ( i ) ; ϕ , μ , Σ ) = p ( x ( i ) | z ( i ) = j ; μ , Σ ) p ( z ( i ) = j ; ϕ ) ∑ l = 1 k p ( x ( i ) | z ( i ) = l ; μ , Σ ) p ( z ( i ) = l ; ϕ ) {\displaystyle p\left(z^{(i)}=j|x^{(i)};\phi ,\mu ,\Sigma \right)={\frac {p\left(x^{(i)}|z^{(i)}=j;\mu ,\Sigma \right)p\left(z^{(i)}=j;\phi \right)}{\sum _{l=1}^{k}p\left(x^{(i)}|z^{(i)}=l;\mu ,\Sigma \right)p\left(z^{(i)}=l;\phi \right)}}} According to GMM setting, these following formulas are obtained: p ( x ( i ) | z ( i ) = j ; μ , Σ ) = 1 ( 2 π ) n / 2 | Σ j | 1 / 2 exp ⁡ ( − 1 2 ( x ( i ) − μ j ) T Σ j − 1 ( x ( i ) − μ j ) ) {\displaystyle p\left(x^{(i)}|z^{(i)}=j;\mu ,\Sigma \right)={\frac {1}{(2\pi )^{n/2}\left|\Sigma _{j}\right|^{1/2}}}\exp \left(-{\frac {1}{2}}\left(x^{(i)}-\mu _{j}\right)^{T}\Sigma _{j}^{-1}\left(x^{(i)}-\mu _{j}\right)\right)} p ( z ( i ) = j ; ϕ ) = ϕ j {\displaystyle p\left(z^{(i)}=j;\phi \right)=\phi _{j}} In this way, a switch between the E-step and the M-step is possible, according to the randomly initialized parameters.

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  • WriterDuet

    WriterDuet

    WriterDuet is a screenwriting software for writing and editing screenplays and other forms of mass media. == History == WriterDuet was founded in 2013 by Guy Goldstein. In April 2015, WriterDuet acquired the domain for Scripped.com after they closed, citing a serious technical failure. In August 2016, WriterDuet released a localized version of its software in China. In May 2018, WriterDuet included Bechdel test analysis functions to address issues of gender diversity in the screenwriting industry. In 2018, WriterDuet published WriterSolo, an offline version of their app that runs on the browser and opens/saves files on the computer, Dropbox, Google Drive, and iCloud. In July 2019, WriterDuet made the WriterSolo browser app and desktop app available as pay-what-you-want under the web address FreeScreenwriting.com. == Features == WriterDuet is primarily used to outline, write, and format screenplays to the standards recommended by the AMPAS. It also supports formats for theater, novels, and video games. The software is powered by Firebase allowing users to write together in real-time from multiple devices. WriterDuet's main competitors in the screenwriting industry are Final Draft, Celtx, and Movie Magic Screenwriter.

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  • SMART Health Card

    SMART Health Card

    The SMART Health Card framework is an open source immunity passport program designed to store and share medical information in paper or digital form. It was initially launched as a vaccine passport during the COVID-19 pandemic, but is envisioned for use for other infectious diseases. SMART Health Cards include a QR code which can be scanned and verified using the official SMART Health Card Verifier mobile app, supported by Apple and Android. It was rolled out by the Vaccination Credential Initiative (VCI) based on technology developed at Boston Children's Hospital, and standards set by Health Level Seven International (HL7) and the World Wide Web Consortium (W3C). It is recognized by the International Organization for Standardization. == History == === Founding === In February 2009, United States president Barack Obama signed an economic stimulus package which included $19 billion in funds for investment in health information technology. The following month, researchers from Boston Children's Hospital and Harvard Medical School, Kenneth Mandl and Isaac Kohane, published an article in The New England Journal of Medicine calling for the modernization of electronic health records through API integrations on mobile devices. In April 2010, the pair secured a $15 million grant through the Office of the National Coordinator for Health Information Technology's Strategic Health IT Advanced Research Projects (SHARP) program. With this federal funding, the researchers began development of an interoperable healthcare IT platform they called "Substitutable Medical Applications and Reusable Technologies" (SMART). The first iteration of the platform API was previewed later that year, and "SMART Classic" was released in 2011. In 2013, SMART adopted the open-source Fast Health Interoperability Resources (FHIR) standard developed by Health Level Seven International (HL7). The newly named SMART on FHIR platform was debuted in February 2014 at the Health Information Management Systems Society conference. === 21st Century Cures Act === According to SMART Health IT, Mandl successfully lobbied for the inclusion of a universal API requirement in the 21st Century Cures Act, signed into law on December 13, 2016. The team also advocated for a federal rule establishing SMART as the universal API. In 2019, the Office of the National Coordinator for Health Information Technology published the "final rule" specifying the SMART framework as the standard to satisfy the requirements of the 21st Century Cures Act; the rule was implemented in June 2020. === COVID-19 === The SMART Health Card framework was deployed as a "de facto standard" for vaccine passports in the COVID-19 pandemic in the United States and other international jurisdictions. On January 14, 2021, the Mitre Corporation announced the launch of a new public–private partnership called the Vaccination Credential Initiative (VCI) alongside the CARIN Alliance, Cerner, Change Healthcare, The Commons Project Foundation, Epic Systems, Evernorth, Mayo Clinic, Microsoft, Oracle, Safe Health, and Salesforce. VCI's purpose was to employ the SMART Health Card framework in order to create a unified proof-of-vaccination system for COVID-19 vaccines.The California Department of Public Health introduced a Digital Covid-19 Vaccine Record portal in June 2021, allowing individuals to verify their vaccination status using the SMART Health Card reader. On August 5, 2021, New York Governor Andrew Cuomo announced the introduction of the "Excelsior Pass Plus" which would expand its Excelsior Pass program into other states and internationally by connecting it to the SMART Health Card system. As of August 27, 2021, 415,000 citizens of Louisiana had added their COVID-19 vaccination status to their state-run, SMART Health Card enabled LA Wallet. On September 8, 2021, Hawaii governor David Ige announced the rollout of the state's Hawaiʻi SMART Health Card. County-level health departments across the United States partnered with VaccineCheck to issue SMART Health Cards by verifying vaccine cards provided by the Centers for Disease Control and Prevention. The Government of Canada spent CAD$4.6 million to develop a proof-of-vaccination credential on the SMART Health Card framework, enabling its ArriveCAN travel application to store, recognize and verify credentials from every province, territory and foreign country. Since October 2021, Canadian provinces and territories used the SMART Health Card format as a requirement by the federal government, including British Columbia, Newfoundland and Labrador, the Northwest Territories, Nova Scotia, Nunavut, Ontario, Quebec, Saskatchewan and the Yukon. On October 13, 2021, the American Immunization Registry Association (AIRA) published a statement encouraging adoption of SMART Health Cards as a common standard "where allowed by local law and policy." "SMARTHealth.Cards" was listed as a supporting member of AIRA through the VCI. A SMART Health Cards Global Forum was held on October 28, 2021. The event featured keynote speakers Andy Slavitt (former Senior Pandemic Advisor to President Joe Biden’s COVID-19 pandemic response team) and Mike Leavitt (former United States Secretary of Health and Human Services). On December 20, 2021, Japan's Ministry of Health, Labour and Welfare launched its COVID-19 Vaccination Certificate Application using the SMART Health Card. By January 2022, about 80% of Americans who had received a COVID-19 vaccine had access to a SMART Health Card through their state governments, local businesses, universities and healthcare systems. == Participants == === Developers === SMART Health IT is based out of the Computational Health Informatics Program (CHIP) at the Boston Children's Hospital. CHIP's related projects include Apache cTAKES, Genomic Information Commons, HealthMap, and VaccineFinder. The SMART Health Card's project sponsor is HL7 International's Public Health Work Group, consisting of representatives from Allscripts, the Altarum Institute, Tennessee Department of Health and Washington State Department of Health. === Issuers === Official registries of authorized SMART Health Card issuers are maintained by SMART Health IT, the Vaccination Credential Initiative, and the CommonTrust Network. Authorized issuers include:

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  • GitHub Codespaces

    GitHub Codespaces

    GitHub Codespaces is a cloud-based online integrated development environment developed by GitHub. It allows users to create and manage development environments directly within the browser or through Visual Studio Code desktop. Codespaces is tightly integrated with GitHub repositories and enables on-demand coding, debugging, and testing in a full-featured development container hosted in the cloud. == Features == Instant development environments integrated with GitHub Browser-based and desktop access via Visual Studio Code Configurable Dockerfile or devcontainer.json environments Built-in support for GitHub Copilot, extensions, snippets, and SSH. == Licensing == GitHub Codespaces is proprietary software and available to GitHub users under various subscription plans. Codespaces includes a monthly usage quota for free tier users of 120 hours, and expanded access for GitHub education, Pro, Team, and GitHub Enterprise plans. == GitHub Classroom == GitHub Classroom is an educational tool developed by GitHub to streamline the process of managing programming assignments and coursework. Integrated with GitHub repositories, it allows instructors to distribute starter code, automate grading workflows, and track student progress. GitHub Classroom is widely used in computer science education and supports integration with GitHub Codespaces for cloud-based development environments. == Programming languages supported == == Extensions == Some of the popular extensions include:

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  • Oculus Quill

    Oculus Quill

    Quill is a painting and animation software for virtual reality. It runs on Microsoft Windows with Oculus Rift headsets. It is used to create 3D paintings and animated cartoons. Quill was released on November 29, 2016, on the Oculus Store. Theater Elsewhere(formerly Quill Theater), an application for viewing creations made in Quill, was later made available following the release of the Oculus Quest. In September 2021, Facebook, now known as Meta Platforms, and the owner of Oculus, sold Quill to its original creator, who continues to develop and support the app. == Development == Quill was originally developed by Oculus Story Studio as an internal tool for the creative needs of the studio's project Dear Angelica directed by Saschka Unseld along with its art-director Wesley Allsbrook. == Controls == The software works on Oculus Rift utilizing its 6DoF motion controllers. Users can paint in 3D space using their hands naturally, and animate those paintings with keyframes. They can also capture videos and photos of their creations. == Reception == Dear Angelica, a VR story fully painted in Quill, was nominated for an Emmy Award in 2017.

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  • TargetLink

    TargetLink

    TargetLink is a software for automatic code generation, based on a subset of Simulink/Stateflow models, produced by dSPACE GmbH. TargetLink requires an existing MATLAB/Simulink model to work on. TargetLink generates both ANSI-C and production code optimized for specific processors. It also supports the generation of AUTOSAR-compliant code for software components for the automotive sector. The management of all relevant information for code generation takes place in a central data container, called the Data Dictionary. Testing of the generated code is implemented in Simulink, which is also used for the specification of the underlying simulation models. TargetLink supports three simulation modes to test the generated code: Model-in-the-loop simulation (MIL): this mode allows the model design to be checked. An MIL simulation is also known as a floating-point simulation, since the variables are typically floating-point variables. Software-in-the-loop (SIL): the simulation is based on the execution of generated code, which runs on a PC system. The variables are typically plain or fixed point numbers. Processor-in-the-loop (PIL): in a PIL simulation, the generated code runs on the target hardware or on an evaluation board. So-called real-time frames are included, making it possible to transfer the simulation results as well as memory consumption and runtime information to the PC. The Motor Industry Software Reliability Association (MISRA) published official MISRA modeling guidelines for TargetLink in late 2007, which are particularly important for functional safety of safety-critical applications. In 2009, TÜV SÜD certified TargetLink for use during the development of safety-critical systems to ISO DIS 26262 and IEC 61508.

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  • Teaspiller

    Teaspiller

    Teaspiller was a US-based web application for customers to find accountants and hire them to do their taxes and accounting online. In 2013 the company was acquired by Intuit, Inc and added to its TurboTax product line. The Teaspiller employees and code were all acquired and the product was renamed as "TurboTax CPA select". It enabled accountants to work remotely with clients (share files, send secure messages, schedule appointments), as well as find new clients looking for their specific skills through a complex search algorithm. This was done through extended profiles containing licensing information, professional histories, user ratings, peer endorsements, association memberships, and practice areas. The service had been called an H&R Block killer by Business Insider as it helped customers find accountants to prepare tax returns online. As of 2011 it had 20,000 US accountants listed on the site. The application was built using the Django framework. == History == Teaspiller was built by Vemdara, LLC, a web company based in New York and founded in 2009 by Amit Vemuri (a former VP at Travelocity). The web application was launched in 2010. In 2013 the company was acquired by Intuit as part of their TurboTax product line and renamed as "TurboTax CPA select".

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  • Pandas (software)

    Pandas (software)

    Pandas (styled as pandas) is a software library written for the Python programming language for data manipulation and analysis. In particular, it offers data structures and operations for manipulating numerical tables and time series. It is free software released under the three-clause BSD license. The name is derived from the term "panel data", an econometrics term for data sets that include observations over multiple time periods for the same individuals, as well as a play on the phrase "Python data analysis". Wes McKinney started building what would become Pandas at AQR Capital while he was a researcher there from 2007 to 2010. The development of Pandas introduced into Python many comparable features of working with DataFrames that were established in the R programming language. The library is built upon another library, NumPy. == History == Developer Wes McKinney started working on Pandas in 2008 while at AQR Capital Management out of the need for a high performance, flexible tool to perform quantitative analysis on financial data. Before leaving AQR, he was able to convince management to allow him to open source the library in 2009. Another AQR employee, Chang She, joined the effort in 2012 as the second major contributor to the library. In 2015, Pandas signed on as a fiscally sponsored project of NumFOCUS, a 501(c)(3) nonprofit charity in the United States. == Data model == Pandas is built around data structures called Series and DataFrames. Data for these collections can be imported from various file formats such as comma-separated values, JSON, Parquet, SQL database tables or queries, and Microsoft Excel. === Series === A Series is a one-dimensional array-like object that stores a sequence of values together with an associated set of labels, called an index. It is built on top of NumPy's array and affords many similar functionalities, but instead of using implicit integer positions, a Series allows explicit index labels of many data types. A Series can be created from Python lists, dictionaries, or NumPy arrays. If no index is provided, pandas automatically assigns a default integer index ranging from 0 to n-1, where n is the number of items in the Series. A simple example with customized labels is: To access a value or list of values from a Series, use its index or list of indices: Series can be used arithmetically, as in the statement series_3 = series_1 + series_2. This will align data points with corresponding index values in series_1 and series_2 (similar to a join in relational algebra), then add them together to produce new values in series_3. A Series has various attributes, such as name (Series name), dtype (data type of values), shape (number of rows), values, and index. They can be used in many of the same operations as NumPy arrays, with additional methods for reindexing, label-based selection, and handling missing data. === DataFrame === A DataFrame is a two-dimensional, tabular data structure with labeled rows and columns. Each column is stored internally as a Series and may hold a different data type (numeric, string, boolean, etc.). DataFrames can be created by a variety of means, including dictionaries of lists, NumPy arrays, and external files such as CSV or Excel spreadsheets: To retrieve a DataFrame column as a Series, use either 1) the index (dict-like notation) or 2) the name of column if the name is a valid Python identifier (attribute-like access). DataFrames support operations such as column assignment, row and column deletion, label-based indexing with loc, position-based indexing with iloc, reshaping, grouping, and joining. Merge operations implement a subset of relational algebra and allow one-to-one, many-to-one, and many-to-many joins. Some common attributes of a DataFrame include dtypes (data type of each column), shape (dimensions of the DataFrame returned as a tuple with form (number of rows, number of columns)), index/columns (labels of the DataFrame's rows/columns, respectively, returned as an Index object), values (data in the DataFrame returned as a 2D array), and empty (returns True if the DataFrame is empty). === Index === Index objects hold metadata for Series and Dataframe objects, such as axis labels and names, and are automatically created from input data. By default, a pandas index is a series of integers ascending from 0, similar to the indices of Python arrays. However, indices can also use any NumPy data type, including floating point, timestamps, or strings. Indices are also immutable, which allows them to be safely shared across multiple objects. pandas' syntax for mapping index values to relevant data is the same syntax Python uses to map dictionary keys to values. For example, if s is a Series, s['a'] will return the data point at index a. Unlike dictionary keys, index values are not guaranteed to be unique. If a Series uses the index value a for multiple data points, then s['a'] will instead return a new Series containing all matching values. A DataFrame's column names are stored and implemented identically to an index. As such, a DataFrame can be thought of as having two indices: one column-based and one row-based. Because column names are stored as an index, these are not required to be unique. If data is a Series, then data['a'] returns all values with the index value of a. However, if data is a DataFrame, then data['a'] returns all values in the column(s) named a. To avoid this ambiguity, Pandas supports the syntax data.loc['a'] as an alternative way to filter using the index. Pandas also supports the syntax data.iloc[n], which always takes an integer n and returns the nth value, counting from 0. This allows a user to act as though the index is an array-like sequence of integers, regardless of how it is actually defined. pandas also supports hierarchical indices with multiple values per data point through the "MultiIndex" class. MultiIndex objects allow a single DataFrame to represent multiple dimensions, similar to a pivot table in Microsoft Excel, where each level can optionally carry its own unique name. In practice, data with more than 2 dimensions is often represented using DataFrames with hierarchical indices, instead of the higher-dimension Panel and Panel4D data structures. == Functionality == pandas supports a variety of indexing and subsetting techniques, allowing data to be selected by label, index, or Boolean conditions. For example, df[df['col1'] > 5] will return all rows in the DataFrame df for which the value of the column col1 exceeds 5. The library also implements grouping operations based on the split-apply-combine approach, enabling users to aggregate, transform, or restructure data according to column values or functions applied to index labels. For example, df['col1'].groupby(df['col2']) groups the data in 'col1' by their values in 'col2', while df.groupby(lambda i: i % 2) groups all data in the whole DataFrame by whether their index is even. The library also provides extensive tools for transforming, filtering and summarizing data. Users may apply arbitrary functions to Series and DataFrames, and because the library is built on top of Numpy, most NumPy functions can be applied directly to pandas objects as well. The library also includes built-in operations for arithmetic operations, string processing, and descriptive statistics such as mean, median, and standard deviation. These built-in functions are designed to handle missing data, usually represented by the floating-point value NaN. In addition, pandas includes tools for reorganizing data into different structural formats, with methods that can reshape tabular data between "wide" and "long" formats and pivot values based on column labels. pandas also implements a flexible set of relational operations for combining datasets. For instance, merge() links row in DataFrames based on one or more shared keys or indices, supporting one-to-one, one-to-many, and many-to-many relationships in a manner analogous to join operations in relational databases like SQL. DataFrames can also be concatenated or stacked together along an axis through the concat() method, and overlapping data can be further spliced together using combine_first() to fill in missing values. Furthermore, the library includes specialized support for working with time-series data. Features include the ability to interpolate values and filter using a range of timestamps, such as data['1/1/2023':'2/2/2023'] , which will return all dates between January 1 and February 2. Missing values in time-series data are represented by a dedicated NaT (Not a Timestamp) object, instead of the NaN value it uses elsewhere. == Criticisms == Pandas has been criticized for its inefficiency. The entire dataset must be loaded in RAM, and the library does not optimize query plans or support parallel computing across multiple cores. Wes McKinney, the creator of Pandas, has recommended Apache Arrow as an alternative to address these performance concerns and ot

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  • Robomart

    Robomart

    Robomart is an American technology company headquartered in Santa Monica, California that builds autonomous smart shops for cafes, ice cream parlors, and quick-service restaurants. The company’s white label platform gives retailers the option to expand their footprint at a significantly lower cost than traditional brick-and-mortar real-estate. Robomarts are equipped with a proprietary checkout-free system, temperature controlled compartments, sensors for autonomous operation, and external cameras for added security. The company licenses its technology and white label applications to retailers who manage their fleet of stores and deploy them to their consumers’ locations. After consumers have taken goods from the robomart, their order is automatically calculated, their card on file is charged and they are sent a receipt. The company has announced partnerships with Unilever, Mars, and Fatty Mart. == History == Robomart was founded by Ali Ahmed, Tigran Shahverdyan, and Emad Suhail Rahim. The company debuted at CES 2018 where it unveiled its concept of a self-driving store. At GITEX 2018 the company presented its first functional prototype of a fully driverless Robomart. At the 2019 Consumer Electronics Show the company demonstrated the technology behind its autonomous stores and checkout-free shopping experience. In January 2019, Robomart announced its first partnership with U.S. grocery chain Stop & Shop to test its driverless stores. In December 2020, Robomart deployed the Pharmacy Robomart in a trial in West Hollywood. In June 2021, the company launched its commercial service with a fleet of Pharmacy and Snacks Robomarts operating within West Hollywood and Central Hollywood. In August 2023, Robomart announced a $2 million seed round, putting its to-date funding at $3.4 million. == Partnerships == In September 2019, Robomart partnered with Avery Dennison to source the RFID tags used to enable its checkout-free shopping experience. In December 2020, Robomart partnered with Zeeba Vans to provide vehicles for its growing fleet. In June 2021, Robomart partnered with REEF Technology to provide inventory management and restocking services. In addition, REEF's Light Speed grocery division serves as the first merchant selling products through Robomart. == Products == The company currently offers three Robomart types. The frozen Robomart that stocks ice cream, the refrigerated Robomart that stocks perishable foods, and the ambient Robomart that stocks shelf-stable goods.

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  • Podium (company)

    Podium (company)

    Podium is a private technology company headquartered in Lehi, Utah that develops cloud-based software related to messaging, customer feedback, online reviews, selling products, and requesting payments. == History == Podium was founded in 2014 by Eric Rea and Dennis Steele, who developed a tool to help small businesses "build their online reputation" through online reviews. Podium was initially known as RepDrive before rebranding as Podium in 2015. In 2015, Podium moved from a spare bedroom to a new location above a Provo bike shop. In March 2020, Podium added payments technology to its product suite. In November 2021, Podium raised $201 million in Series D funding and was valued at $3 billion. == Product == Podium is a software-as-a-service platform designed to improve business online reputation. It helps users manage business interactions in one tool. Users can communicate reviews, texts, chats, and post payment directly within the app.

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  • Amazon Kinesis

    Amazon Kinesis

    Amazon Kinesis is a family of services provided by Amazon Web Services (AWS) for processing and analyzing real-time streaming data at a large scale. Launched in November 2013, it offers developers the ability to build applications that can consume and process data from multiple sources simultaneously. Kinesis supports multiple use cases, including real-time analytics, log and event data collection, and real-time processing of data generated by IoT devices. == History == Amazon Kinesis was launched by Amazon Web Services (AWS) in November 2013 as a managed service for processing and analyzing real-time streaming data at a large scale. The service was introduced to address the growing need for businesses to process and analyze data as it was generated, rather than in batches, allowing for real-time insights and decision-making. Since its launch, the Amazon Kinesis family of services has expanded to include four main components: Kinesis Data Streams, Kinesis Data Firehose, Kinesis Data Analytics, and Kinesis Video Streams. Each of these components serves a specific purpose in the processing and analysis of real-time streaming data. In August 2015, AWS announced the availability of Kinesis Data Firehose, a fully managed service for delivering real-time streaming data to destinations such as Amazon S3, Amazon Redshift, and Amazon Elasticsearch. A year later in August 2016, AWS launched Kinesis Data Analytics, enabling customers to analyze streaming data in real time using standard SQL queries. AWS introduced Kinesis Video Streams, a fully managed service for securely capturing, processing, and storing video streams for analytics and machine learning applications, was introduced by AWS in November 2017. == Components == Amazon Kinesis is composed of four main services: Kinesis Data Streams, Kinesis Data Firehose, Kinesis Data Analytics, and Kinesis Video Streams. === Kinesis Data Streams === Kinesis Data Streams is a scalable and durable real-time data streaming service that captures and processes gigabytes of data per second from multiple sources. It enables the storage and processing of data in real time, making it useful for applications that require immediate insights, such as monitoring and alerting. === Kinesis Data Firehose === Kinesis Data Firehose is a fully managed service for delivering real-time streaming data to destinations such as Amazon S3, Amazon Redshift, Amazon Elasticsearch, and AWS-partner data stores. With Data Firehose, users can configure and scale data delivery without manual intervention. === Kinesis Data Analytics === Kinesis Data Analytics enables the analysis of streaming data in real time using standard SQL or Apache Flink. === Kinesis Video Streams === Kinesis Video Streams is a fully managed service for securely capturing, processing, and storing video streams for analytics and machine learning. It supports multiple video codecs and streaming protocols, making it suitable for various use cases, such as security and surveillance, video-enabled IoT devices, and live event broadcasting. == Integration == Amazon Kinesis can be easily integrated with other AWS services, such as AWS Lambda, Amazon S3, Amazon Redshift, and Amazon OpenSearch. This integration enables developers to build end-to-end streaming data processing applications, taking advantage of the extensive AWS ecosystem. == Use cases == Some common use cases for Amazon Kinesis include: Real-time analytics: Analyzing streaming data in real time to provide immediate insights and make data-driven decisions. Log and event data collection: Collecting, processing, and analyzing log and event data generated by applications, infrastructure, and devices. IoT data processing: Processing and analyzing large volumes of data generated by IoT devices in real time. Machine learning: Ingesting and processing video streams for machine learning applications, such as object recognition, facial recognition, and sentiment analysis. == Pricing == Amazon Kinesis follows a pay-as-you-go pricing model, with costs depending on the chosen service, data volume, and processing power required. AWS provides a free tier for Kinesis Data Streams and Kinesis Data Firehose, allowing users to get started with the services at no cost.

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