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  • Stereo cameras

    Stereo cameras

    The stereo cameras approach is a method of distilling a noisy video signal into a coherent data set that a computer can begin to process into actionable symbolic objects, or abstractions. Stereo cameras is one of many approaches used in the broader fields of computer vision and machine vision. == Calculation == In this approach, two cameras with a known physical relationship (i.e. a common field of view the cameras can see, and how far apart their focal points sit in physical space) are correlated via software. By finding mappings of common pixel values, and calculating how far apart these common areas reside in pixel space, a rough depth map can be created. This is very similar to how the human brain uses stereoscopic information from the eyes to gain depth cue information, i.e. how far apart any given object in the scene is from the viewer. The camera attributes must be known, focal length and distance apart etc., and a calibration done. Once this is completed, the systems can be used to sense the distances of objects by triangulation. Finding the same singular physical point in the two left and right images is known as the correspondence problem. Correctly locating the point gives the computer the capability to calculate the distance that the robot or camera is from the object. On the BH2 Lunar Rover the cameras use five steps: a bayer array filter, photometric consistency dense matching algorithm, a Laplace of Gaussian (LoG) edge detection algorithm, a stereo matching algorithm and finally uniqueness constraint. == Uses == This type of stereoscopic image processing technique is used in applications such as 3D reconstruction, robotic control and sensing, crowd dynamics monitoring and off-planet terrestrial rovers; for example, in mobile robot navigation, tracking, gesture recognition, targeting, 3D surface visualization, immersive and interactive gaming. Although the Xbox Kinect sensor is also able to create a depth map of an image, it uses an infrared camera for this purpose, and does not use the dual-camera technique. Other approaches to stereoscopic sensing include time of flight sensors and ultrasound.

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  • Film-out

    Film-out

    Film-out is the process in the computer graphics, video production and filmmaking disciplines of transferring images or animation from videotape or digital files to a traditional film print. Film-out is a broad term that encompasses the conversion of frame rates, color correction, as well as the actual printing, also called scannior recording. The film-out process is different depending on the regional standard of the master videotape in question – NTSC, PAL, or SECAM – or likewise on the several emerging region-independent formats of high definition video (HD video); thus each type is covered separately, taking into account regional film-out industries, methods and technical considerations. == Live action video == Many modern documentaries and low-budget films are shot on videotape or other digital video media, instead of film stock, and completed as digital video. Video production means substantially lower costs than 16 mm or 35 mm film production on all levels. Until recently, the relatively low cost of video ended when the issue of a theatrical presentation was raised, which required a print for film projection. With the growing presence of digital projection, this is becoming less of a factor. === Standard definition (SD) video === Film-out of standard-definition video – or any source that has an incompatible frame rate – is the up-conversion of video media to film for theatrical viewing. The video-to-film conversion process consists of two major steps: first, the conversion of video into digital film frames which are then stored on a computer or on HD videotape; and secondly, the printing of these digital film frames onto actual film. To understand these two steps, it is important to understand how video and film differ. Film (sound film, at least) has remained unchanged for almost a century and creates the illusion of moving images through the rapid projection of still images, frames, upon a screen, typically 24 per second. Traditional interlaced SD video has no real frame rate, (though the term frame is applied to video, it has a different meaning). Instead, video consists of a very fast succession of horizontal lines that continually cascade down the television screen – streaming top to bottom, before jumping back to the top and then streaming down to the bottom again, repeatedly, almost 60 alternating screen-fulls every second for NTSC, or exactly 50 such screen-fulls per second for PAL and SECAM. Since visual movement in video is infused in this continuous cascade of scan lines, there is no discrete image or real frame that can be identified at any one time. Therefore, when transferring video to film, it is necessary to invent individual film frames, 24 for every second of elapsed time. The bulk of the work done by a film-out company is this first step, creating film frames out of the stream of interlaced video. Each company employs its own (often proprietary) technology for turning interlaced video into high-resolution digital video files of 24 discrete images every second, called 24 progressive video or 24p. The technology must filter out all the visually unappealing artifacting that results from the inherent mismatch between video and film movement. Moreover, the conversion process usually requires human intervention at every edit point of a video program, so that each type of scene can be calibrated for maximum visual quality. The use of archival footage in video especially calls for extra attention. Step two, the scanning to film, is the rote part of the process. This is the mechanical step where lasers print each of the newly created frames of the 24p video, stored on computer files or HD videotape, onto rolls of film. Most companies that do film-out, do all the stages of the process themselves for a lump sum. The job includes converting interlaced video into 24p and often a color correction session – (calibrating the image for theatrical projection), before scanning to physical film, (possibly followed by color correction of the film print made from the digital intermediary) – is offered. At the very least, film-out can be understood as the process of converting interlaced video to 24p and then scanning it to film. ==== NTSC video ==== NTSC is the most challenging of the formats when it comes to standards conversion and, specifically, converting to film prints. NTSC runs at the approximate rate of 29.97 video frames (consisting of two interlaced screen-fulls of scan lines, called fields, per frame) per second. In this way, NTSC resolves actual live action movement at almost – but not quite – 60 alternating half-resolution images every second. Because of this 29.97 rate, no direct correlation to film frames at 24 frames per second can be achieved. NTSC is hardest to reconcile with film, thus motivating its own unique processes. ==== PAL and SECAM video ==== PAL and SECAM run at 25 interlaced video frames per second, which can be slowed down or frame-dropped, then deinterlaced, to correlate frame for frame with film running at 24 actual frames per second. PAL and SECAM are less complex and demanding than NTSC for film-out. PAL and SECAM conversions do agitate, though, with the unpleasant choice between slowing down video (and audio pitch, noticeably) by four percent, from 25 to 24 frames per second, in order to maintain a 1:1 frame match, slightly changing the rhythm and feel of the program; or maintaining original speed by periodically dropping frames, thereby creating jerkiness and possible loss of vital detail in fast-moving action or precise edits. === High definition (HD) digital video === High definition digital video can be shot at a variety of frame rates, including 29.97 interlaced (like NTSC) or progressive; or 25 interlaced (like PAL) or progressive; or even 24-progressive (just like film). HD, if shot in 24-progressive, scans nearly perfectly to film without the need for a frame or field conversion process. Other issues remain though, based on the different resolutions, color spaces, and compression schemes that exist in the high-definition video world. == Computer graphics and animation == Artists working with CGI-Computer-generated imagery animation computers create pictures frame by frame. Once the finished product is done, the frames are outputted, normally in a DPX file. These picture data files can then be put on to film using a film recorder for film out. SGI computers started the high-end CGI-Computer-generated imagery animation systems, but with faster computers and the growth of Linux-based systems, many others are on the market now. Movies fully rendered and animated in CGI such as Toy Story, and Antz utilize the film-out method to produce 35mm copies for archival and release prints. Most CGI work is done in 2K Display resolution files (about the size of QXGA) and then output to the Film-out device for creation of 35 mm elements. With 4K Display resolution digital intermediates on the rise, newer types of film-out recorders are being developed to accept 4k resolution files. A 2K movie requires a Storage Area Network storage several terabytes in size to be properly stored and played out. Computer graphics files are handled the same way but in single frames and may use DPX, TIFF or other file formats. == Digital intermediates == Film-out-recording is the last step of digital intermediate workflow. DPX files that were scanned on a motion picture film scanner are stored on a storage area network (often abbreviated as SAN). The scanned DPX footage is edited and composited-FX on workstations, then mastered back on film. Film restoration is also done this way. A "film intermediate" is an analog variation of a digital intermediate, where a project shot on digital video is printed onto film stock and transferred back to digital video to emulate film. The term was coined after it was used on the Oscar-winning 2012 short film "Curfew". The process was also used on the films Dune (2021) and The Batman (2022). == Images for graphic design and print industries == The days of newspapers and magazines shooting 35mm film are almost gone. Digital cameras can now shoot all the images needed, storing them as files (e.g. JPEG, DPX or another format) that are readily edited prior to use. Once the final copy is approved, it can be filmed out for publishing. Digital stills are not the only way to get pictures used in the graphic design and print industries. Film scanners and computer graphics programs are also common sources for graphic design and print industries. == Types of devices == The following devices are used in film-out processes: CRT recorder. Camera and a special TV display Kinescope – early type Electronic Video Recording or EVR – early type EBR Electron Beam Film Recorder 16 mm by 3M Laser film recorder, like Kodak's high-end Lightning II recorder and Arri's Arrilaser. DLP Film recorder, like Cinevation's real-time Cinevator. == History == Lately it has become possible to transfer video images, inclu

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  • Ibotta

    Ibotta

    Ibotta, Inc. is an American mobile technology company headquartered in Denver, Colorado. Founded in 2011, the company offers cash back rewards on various purchases through its Ibotta Performance Network and direct to consumer app. Ibotta partners with CPG (consumer packaged goods) brands and network publishers to provide these rewards. As of 2024, the company operates solely in the United States. The company's rewards-as-a-service offering, the Ibotta Performance Network, went live in 2022. In August 2019, Ibotta received a $1 billion valuation after its Series D funding, and in 2023, the company surpassed $1.5 billion cash rewards paid to over 50 million consumers since the company's founding. Ibotta became a publicly traded company in April 2024 with a listing on the New York Stock Exchange. As of September 2025, Ibotta is trading at approximately $27.13 per share, marking a 69% decline from its initial public offering price of $88 per share on April 18, 2024. == History == === Founding through early 2019 === Ibotta was founded by current CEO Bryan Leach. The company was incorporated in 2011 and the app launched to both the App Store and Google Play stores in 2012. Early investors included entrepreneur and computer scientist Jim Clark and Tom “TJ” Jermoluk, Chairman of @Home Network. In 2015, Ibotta expanded beyond item level grocery, adding the ability to get cash back on in-store retail purchases. In 2016, in-app mobile commerce began, allowing users to navigate from the Ibotta app to its partners' apps to earn cash back on purchases. In 2016 with a Series C investment, Ibotta had raised over $73 million in funding. In March of that year, Ibotta partnered with Anheuser-Busch to offer cash back for adults who purchased its products. In May, the company partnered with LiveRamp so that companies could use their CRM data to create segmented, personalized campaigns. At the time, the company had around 200 full- and part-time employees and moved from offices in Lower Downtown Denver (LoDo) to a 40,000-square-foot office in the central Denver business district. A year later, the company had to expand to a second floor as it added almost another 100 employees. In 2017, Ibotta added cash back for Uber to its app as well as cash back rewards for online and mobile purchases. In 2018, Ibotta was listed on the Inc. 5,000 list as one of the fastest growing private companies in the U.S. A year later, in January 2019, the Ibotta app had been downloaded more than 30 million times with users receiving a reported $500 million in cash back rewards. That year, Ibotta was the largest mobile company in Colorado with six million monthly active users. === August 2019 to present === In August 2019, Ibotta was valued at $1 billion, following a Series D round of funding. The round was led by Koch Disruptive Technologies, a subsidiary of Koch Industries. 2019 was also the year the company introduced Pay with Ibotta, which allowed users to complete purchases at key retailers on the Ibotta app and earn instant cash back in the process. With that new service, users were able to enter their purchase total and use a QR code to checkout and receive immediate cash back. In 2020, the company partnered with Trees for the Future to plant up to 1 million trees as part of an Earth Month campaign to raise awareness about the waste of unused paper coupons. In response to the COVID-19 pandemic, Ibotta partnered with CPG brands in their “Here to Help” campaign and together committed over $10 million in cash back to American consumers. The company added the ability to earn cash back from online grocery pick-up and delivery orders. Later that year, Ibotta started its free Thanksgiving program, providing users with 100% cash back on select groceries needed for a Thanksgiving meal. By 2022, the company had provided approximately 10 million Thanksgiving meals. In 2021, Ibotta acquired the company OctoShop (originally InStok), a shopping browser extension company. The OctoShop app enables users to compare prices across stores and set restock and price-drop alerts. In April 2022, the Ibotta Performance Network (IPN) was launched. The IPN allows brands to deliver digital offers to consumers through third party publishers. Retailers including Walmart, Dollar General and Family Dollar, food delivery services including Instacart, and convenience stores including Shell are all part of the Ibotta Performance Network. This pay-per-sales or success-based performance network reaches over 200 million consumers. On April 18, 2024, Ibotta had its initial public offering (IPO), trading on the New York Stock Exchange (NYSE) under the ticker symbol IBTA. It was the largest technology IPO in Colorado history. In October 2025, Ibotta announced a partnership with technology and analytics company Circana, integrating Circana's Household Lift measurement into Ibotta campaigns to give CPG brands an increased understanding of the impact of their promotional campaigns. On November 3, 2025, Ibotta launched LiveLift, a tool for companies to measure the return on investment of digital promotions, in order to optimize performance marketing goals. === Athletic partnerships === Ibotta became the official jersey patch partner of the New Orleans Pelicans, a professional men's basketball team in the National Basketball Association (NBA), for the 2020–2021 and 2023–2024 seasons. Ibotta became the official jersey patch partner of the 2023 NBA champion Denver Nuggets baskeetball team beginning in the 2023–2024 season. In March 2023, F1 driver Logan Sargeant, the first U.S. racer to compete in F1 since 2015, partnered with Ibotta. The Ibotta logo was displayed on Sargeant's racing helmet throughout his F1 career. In June 2023, UConn Huskies women's basketball player Paige Bueckers entered into a "name, image, and likeness" (NIL) promotional agreement with Ibotta. According to a press release by Ibotta, the company has agreements with The Brandr Group, which finds NIL opportunities for women college athletes, and the Pearpop social media marketing platform to promote Ibotta. == Legal issues == In April 2025, shareholders filed a class action lawsuit—Fortune v. Ibotta, Inc., in the U.S. District Court for the District of Colorado (Case No. 25-cv-01213)—alleging that the registration statement in connection with Ibotta’s April 2024 initial public offering omitted material information. The complaint claims that, although Ibotta disclosed detailed terms for its contract with Walmart Inc., it failed to warn investors that its agreement with The Kroger Co., its second-largest client, was terminable at will and thus could be canceled without warning, creating a misleading impression of stability.

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  • Sample (graphics)

    Sample (graphics)

    In computer graphics, a sample is an intersection of a channel and a pixel. The diagram below depicts a 24-bit pixel, consisting of 3 samples for Red, Green, and Blue. In this particular diagram, the Red sample occupies 9 bits, the Green sample occupies 7 bits and the Blue sample occupies 8 bits, totaling 24 bits per pixel. Note that the samples do not have to be equal size and not all samples are mandatory in a pixel. Also, a pixel can consist of more than 3 samples (e.g. 4 samples of the RGBA color space). A sample is related to a subpixel on a physical display.

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  • Magiran

    Magiran

    Magiran (Persian: مگیران)—Iran's publications database—is a digital library that was founded in 2000 and includes digitized versions of scientific journals, which currently provides the possibility of searching among the full text of 1,500 journals. Registration is required for full access to the database, but access to some items such as newspapers is also possible without registration. A list of Iranian researchers is also maintained there.

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  • Visual analytics

    Visual analytics

    Visual analytics is a multidisciplinary science and technology field that emerged from information visualization and scientific visualization. It focuses on how analytical reasoning can be facilitated by interactive visual interfaces. == Overview == Visual analytics is "the science of analytical reasoning facilitated by interactive visual interfaces." It can address problems whose size, complexity, and need for closely coupled human and machine analysis may make them otherwise intractable. Visual analytics advances scientific and technological development across multiple domains, including analytical reasoning, human–computer interaction, data transformations, visual representation for computation and analysis, analytic reporting, and the transition of new technologies into practice. As a research agenda, visual analytics brings together several scientific and technical communities from computer science, information visualization, cognitive and perceptual sciences, interactive design, graphic design, and social sciences. Visual analytics integrates new computational and theory-based tools with innovative interactive techniques and visual representations to enable human-information discourse. The design of the tools and techniques is based on cognitive, design, and perceptual principles. This science of analytical reasoning provides the reasoning framework upon which one can build both strategic and tactical visual analytics technologies for threat analysis, prevention, and response. Analytical reasoning is central to the analyst's task of applying human judgments to reach conclusions from a combination of evidence and assumptions. Visual analytics has some overlapping goals and techniques with information visualization and scientific visualization. There is currently no clear consensus on the boundaries between these fields, but broadly speaking the three areas can be distinguished as follows: Scientific visualization deals with data that has a natural geometric structure (e.g., MRI data, wind flows). Information visualization handles abstract data structures such as trees or graphs. Visual analytics is especially concerned with coupling interactive visual representations with underlying analytical processes (e.g., statistical procedures, data mining techniques) such that high-level, complex activities can be effectively performed (e.g., sense making, reasoning, decision making). Visual analytics seeks to marry techniques from information visualization with techniques from computational transformation and analysis of data. Information visualization forms part of the direct interface between user and machine, amplifying human cognitive capabilities in six basic ways: by increasing cognitive resources, such as by using a visual resource to expand human working memory, by reducing search, such as by representing a large amount of data in a small space, by enhancing the recognition of patterns, such as when information is organized in space by its time relationships, by supporting the easy perceptual inference of relationships that are otherwise more difficult to induce, by perceptual monitoring of a large number of potential events, and by providing a manipulable medium that, unlike static diagrams, enables the exploration of a space of parameter values These capabilities of information visualization, combined with computational data analysis, can be applied to analytic reasoning to support the sense-making process. == History == As an interdisciplinary approach, visual analytics has its roots in information visualization, cognitive sciences, and computer science. The term and scope of the field was defined in the early 2000s through researchers such as Jim Thomas, Kristin A. Cook, John Stasko, Pak Chung Wong, Daniel A. Keim and David S. Ebert. As a reaction to the September 11, 2001 attacks the United States Department of Homeland Security was established in late 2002, combining dozens of previously separated government agencies. Building upon earlier work on visual data mining by Daniel A. Keim starting in the late 1990s, this simultaneously lead to the development of a research agenda for visual analytics. As part of these efforts the National Visualization and Analytics Center (NVAC) at Pacific Northwest National Laboratory was established in 2004, whose charter was to develop system to mitigate information overload after the September 11, 2001 attacks in the intelligence community. Their research work determined core challenges, posed open research questions, and positioned visual analytics as a new research domain, in particular through the 2005 research agenda Illuminating the Path. In 2006, the IEEE VIS community led by Pak Chung Wong and Daniel A. Keim launched the annual IEEE Conference on Visual Analytics Science and Technology (VAST), providing a dedicated venue for research into visual analytics, which in 2020 merged to form the IEEE Visualization conference. In 2008, scope and challenges of visual analytics were conceptually defined by Daniel A. Keim and Jim Thomas in their influential book about visual data mining. The domain was further refined as part of the European Commissions FP7 VisMaster program in the late 2000s. == Topics == === Scope === Visual analytics is a multidisciplinary field that includes the following focus areas: Analytical reasoning techniques that enable users to obtain deep insights that directly support assessment, planning, and decision making Data representations and transformations that convert all types of conflicting and dynamic data in ways that support visualization and analysis Techniques to support production, presentation, and dissemination of the results of an analysis to communicate information in the appropriate context to a variety of audiences. Visual representations and interaction techniques that take advantage of the human eye's broad bandwidth pathway into the mind to allow users to see, explore, and understand large amounts of information at once. === Analytical reasoning techniques === Analytical reasoning techniques are the method by which users obtain deep insights that directly support situation assessment, planning, and decision making. Visual analytics must facilitate high-quality human judgment with a limited investment of the analysts’ time. Visual analytics tools must enable diverse analytical tasks such as: Understanding past and present situations quickly, as well as the trends and events that have produced current conditions Identifying possible alternative futures and their warning signs Monitoring current events for emergence of warning signs as well as unexpected events Determining indicators of the intent of an action or an individual Supporting the decision maker in times of crisis. These tasks will be conducted through a combination of individual and collaborative analysis, often under extreme time pressure. Visual analytics must enable hypothesis-based and scenario-based analytical techniques, providing support for the analyst to reason based on the available evidence. === Data representations === Data representations are structured forms suitable for computer-based transformations. These structures must exist in the original data or be derivable from the data themselves. They must retain the information and knowledge content and the related context within the original data to the greatest degree possible. The structures of underlying data representations are generally neither accessible nor intuitive to the user of the visual analytics tool. They are frequently more complex in nature than the original data and are not necessarily smaller in size than the original data. The structures of the data representations may contain hundreds or thousands of dimensions and be unintelligible to a person, but they must be transformable into lower-dimensional representations for visualization and analysis. === Theories of visualization === Theories of visualization include: Jacques Bertin's Semiology of Graphics (1967) Nelson Goodman's Languages of Art (1977) Jock D. Mackinlay's Automated design of optimal visualization (APT) (1986) Leland Wilkinson's Grammar of Graphics (1998) Hadley Wickham's Layered Grammar of Graphics (2010) === Visual representations === Visual representations translate data into a visible form that highlights important features, including commonalities and anomalies. These visual representations make it easy for users to perceive salient aspects of their data quickly. Augmenting the cognitive reasoning process with perceptual reasoning through visual representations permits the analytical reasoning process to become faster and more focused. == Process == The input for the data sets used in the visual analytics process are heterogeneous data sources (i.e., the internet, newspapers, books, scientific experiments, expert systems). From these rich sources, the data sets S = S1, ..., Sm are chosen, whereas each Si , i ∈ (1, ..., m) consists of attrib

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  • Two-phase locking

    Two-phase locking

    In databases and transaction processing, two-phase locking (2PL) is a pessimistic concurrency control method that guarantees conflict-serializability. It is also the name of the resulting set of database transaction schedules (histories). The protocol uses locks, applied by a transaction to data, which may block (interpreted as signals to stop) other transactions from accessing the same data during the transaction's life. By the 2PL protocol, locks are applied and removed in two phases: Expanding phase: locks are acquired and no locks are released. Shrinking phase: locks are released and no locks are acquired. Two types of locks are used by the basic protocol: Shared and Exclusive locks. Refinements of the basic protocol may use more lock types. Using locks that block processes, 2PL, S2PL, and SS2PL may be subject to deadlocks that result from the mutual blocking of two or more transactions. == Read and write locks == Locks are used to guarantee serializability. A transaction is holding a lock on an object if that transaction has acquired a lock on that object which has not yet been released. For 2PL, the only used data-access locks are read-locks (shared locks) and write-locks (exclusive locks). Below are the rules for read-locks and write-locks: A transaction is allowed to read an object if and only if it is holding a read-lock or write-lock on that object. A transaction is allowed to write an object if and only if it is holding a write-lock on that object. A schedule (i.e., a set of transactions) is allowed to hold multiple locks on the same object simultaneously if and only if none of those locks are write-locks. If a disallowed lock attempts on being held simultaneously, it will be blocked. == Variants == Note that all conflict serializable schedules are also view serializable (but not vice-versa). === Two-phase locking === According to the two-phase locking protocol, each transaction handles its locks in two distinct, consecutive phases during the transaction's execution: Expanding phase (aka Growing phase): locks are acquired and no locks are released (the number of locks can only increase). Shrinking phase (aka Contracting phase): locks are released and no locks are acquired. The two phase locking rules can be summarized as: each transaction must never acquire a lock after it has released a lock. The serializability property is guaranteed for a schedule with transactions that obey this rule. Typically, without explicit knowledge in a transaction on end of phase 1, the rule is safely determined only when a transaction has completed processing and requested commit. In this case, all the locks can be released at once (phase 2). === Conservative two-phase locking === Conservative two-phase locking (C2PL) differs from 2PL in that transactions obtain all the locks they need before the actual execution begins. This is to ensure that a transaction that already holds some locks will not block waiting for other locks. C2PL prevents deadlocks. In cases of heavy lock contention, C2PL reduces the time locks are held on average, relative to 2PL and Strict 2PL, because transactions that hold locks are never blocked. In light lock contention, C2PL holds more locks than is necessary, because it is difficult to predict which locks will be needed in the future, thus leading to higher overhead. A C2PL transaction will not obtain any locks if it cannot obtain all the locks it needs in its initial request. Furthermore, each transaction needs to declare its read and write set (the data items that will be read/written), which is not always possible. Because of these limitations, C2PL is not used very frequently. === Strict two-phase locking === To comply with the strict two-phase locking (S2PL) protocol, a transaction needs to comply with 2PL, and release its write (exclusive) locks only after the transaction has ended (i.e., either committed or aborted). On the other hand, read (shared) locks are released regularly during the shrinking phase. Unlike 2PL, S2PL provides strictness (a special case of cascade-less recoverability). This protocol is not appropriate in B-trees because it causes Bottleneck (while B-trees always starts searching from the parent root). === Strong strict two-phase locking === or Rigorousness, or Rigorous scheduling, or Rigorous two-phase locking To comply with strong strict two-phase locking (SS2PL), a transaction's read and write locks are released only after that transaction has ended (i.e., either committed or aborted). A transaction obeying SS2PL has only a phase 1 and lacks a phase 2 until the transaction has completed. Every SS2PL schedule is also an S2PL schedule, but not vice versa.

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  • Kinematic chain

    Kinematic chain

    In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints. A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain. The modern use of kinematic chains includes analysis of Linkages (mechanical), compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems, and cable compliance in cable robotic and tensegrity systems. == Mobility formula == The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M = 6(N − 1), where N = n + 1 is the number of moving bodies plus the fixed body. Joints that connect bodies impose constraints. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. It is convenient to define the number of constraints c that a joint imposes in terms of the joint's freedom f, where c = 6 − f. In the case of a hinge or slider, which are one-degree-of-freedom joints, have f = 1 and therefore c = 6 − 1 = 5. The result in general where d {\displaystyle d} is the degrees of freedom for the mobility of a kinematic chain formed from n moving links and j joints each with freedom fi, i = 1, 2, …, j, is given by M = d n − ∑ i = 1 j ( d − f i ) = d ( N − 1 − j ) + ∑ i = 1 j f i {\displaystyle M=dn-\sum _{i=1}^{j}(d-f_{i})=d(N-1-j)+\sum _{i=1}^{j}f_{i}} Where N is the total number of links and includes the fixed link. Spacial linkages used d = 6 {\displaystyle d=6} and planar linkages use d = 3 {\displaystyle d=3} . This result is known as the Chebychev–Grübler–Kutzbach criterion. == Analysis of kinematic chains == The constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of the chain associated with specific values of input parameters, called degrees of freedom. The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the kinematic equations, [ T ] = [ Z 1 ] [ X 1 ] [ Z 2 ] [ X 2 ] ⋯ [ X n − 1 ] [ Z n ] , {\displaystyle [T]=[Z_{1}][X_{1}][Z_{2}][X_{2}]\cdots [X_{n-1}][Z_{n}],\!} where [T] is the transformation locating the end-link—notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of the serial chain. Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors: Its topology: a serial chain, a parallel manipulator, a tree structure, or a graph. Its geometrical form: how are neighbouring joints spatially connected to each other? Explanation Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. == Synthesis of kinematic chains == The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory. Ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the 1950s. His use of the newly developed computer to solve Freudenstein's equation became the prototype of computer-aided design systems. This work has been generalized to the synthesis of spherical and spatial mechanisms.

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  • DataScene

    DataScene

    DataScene is a scientific graphing, animation, data analysis, and real-time data monitoring software package. It was developed with the Common Language Infrastructure technology and the GDI+ graphics library. With the two Common Language Runtime engines - the .Net and Mono frameworks - DataScene runs on all major operating systems. With DataScene, the user can plot 39 types 2D & 3D graphs (e.g., Area graph, Bar graph, Boxplot graph, Pie graph, Line graph, Histogram graph, Surface graph, Polar graph, Water Fall graph, etc.), manipulate, print, and export graphs to various formats (e.g., Bitmap, WMF/EMF, JPEG, PNG, GIF, TIFF, PostScript, and PDF), analyze data with different mathematical methods (fitting curves, calculating statics, FFT, etc.), create chart animations for presentations (e.g. with PowerPoint), classes, and web pages, and monitor and chart real-time data. == History == DataScene was first released (version 1.0) in March 2009 for the Windows platform and the .Net 2.0 framework. Since version 2.0, DataScene has been ported to the Mono framework 2.6 and all Linux and Unix/X11 operating systems. Cyberwit offers free licensing for the Express edition of DataScene.

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  • Packed pixel

    Packed pixel

    In packed pixel or chunky framebuffer organization, the bits defining each pixel are clustered and stored consecutively. For example, if there are 16 bits per pixel, each pixel is represented in two consecutive (contiguous) 8-bit bytes in the framebuffer. If there are 4 bits per pixel, each framebuffer byte defines two pixels, one in each nibble. The latter example is as opposed to storing a single 4-bit pixel in a byte, leaving 4 bits of the byte unused. If a pixel has more than one channel, the channels are interleaved when using packed pixel organization. Packed pixel displays were common on early microcomputer system that shared a single main memory for both the central processing unit (CPU) and display driver. In such systems, memory was normally accessed a byte at a time, so by packing the pixels, the display system could read out several pixels worth of data in a single read operation. Packed pixel is one of two major ways to organize graphics data in memory, the other being planar organization, where each pixel is made of individual bits stored in their own plane. For a 4-bit color value, memory would be organized as four screen-sized planes of one bit each and a single pixel's value built up by selecting the appropriate bit from each plane. Planar organization has the advantage that the data can be accessed in parallel, and is used when memory bandwidth is an issue.

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  • Crackme

    Crackme

    A crackme is a small computer program designed to test a programmer's reverse engineering skills. Crackmes are made as a legal way to crack software, since no intellectual property is being infringed. == Description == Crackmes often incorporate protection schemes and algorithms similar to those used in proprietary software. However, they can sometimes be more challenging because they may use advanced packing or protection techniques, making the underlying algorithm harder to analyze and modify. == Keygenme == A keygenme is specifically designed for the reverser to not only identify the protection algorithm used in the application but also create a small key generator (keygen) in the programming language of their choice. Most keygenmes, when properly manipulated, can be made self-keygenning. For example, during validation, they might generate the correct key internally and compare it to the user's input. This allows the key generation algorithm to be easily replicated. Anti-debugging and anti-disassembly routines are often used to confuse debuggers or render disassembly output useless. Code obfuscation is also used to further complicate reverse engineering.

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  • Image

    Image

    An image or picture is a visual representation. An image can be two-dimensional, such as a drawing, painting, or photograph, or three-dimensional, such as a carving or sculpture. Images may be displayed through other media, including a projection on a surface, activation of electronic signals, or digital displays; they can also be reproduced through mechanical means, such as photography, printmaking, or photocopying. Images can also be animated through digital or physical processes. In the context of signal processing, an image is a distributed amplitude of color(s). In optics, the term image (or optical image) refers specifically to the reproduction of an object formed by light waves coming from the object. A volatile image exists or is perceived only for a short period. This may be a reflection of an object by a mirror, a projection of a camera obscura, or a scene displayed on a cathode-ray tube. A fixed image, also called a hard copy, is one that has been recorded on a material object, such as paper or textile. A mental image exists in an individual's mind as something one remembers or imagines. The subject of an image does not need to be real; it may be an abstract concept such as a graph or function or an imaginary entity. For a mental image to be understood outside of an individual's mind, however, there must be a way of conveying that mental image through the words or visual productions of the subject. == Characteristics == === Two-dimensional images === The broader sense of the word 'image' also encompasses any two-dimensional figure, such as a map, graph, pie chart, painting, or banner. In this wider sense, images can also be rendered manually, such as by drawing, the art of painting, or the graphic arts (such as lithography or etching). Additionally, images can be rendered automatically through printing, computer graphics technology, or a combination of both methods. A two-dimensional image does not need to use the entire visual system to be a visual representation. An example of this is a grayscale ("black and white") image, which uses the visual system's sensitivity to brightness across all wavelengths without taking into account different colors. A black-and-white visual representation of something is still an image, even though it does not fully use the visual system's capabilities. On the other hand, some processes can be used to create visual representations of objects that are otherwise inaccessible to the human visual system. These include microscopy for the magnification of minute objects, telescopes that can observe objects at great distances, X-rays that can visually represent the interior structures of the human body (among other objects), magnetic resonance imaging (MRI), positron emission tomography (PET scans), and others. Such processes often rely on detecting electromagnetic radiation that occurs beyond the light spectrum visible to the human eye and converting such signals into recognizable images. === Three-dimensional images === Aside from sculpture and other physical activities that can create three-dimensional images from solid material, some modern techniques, such as holography, can create three-dimensional images that are reproducible but intangible to human touch. Some photographic processes can now render the illusion of depth in an otherwise "flat" image, but "3-D photography" (stereoscopy) or "3-D film" are optical illusions that require special devices such as eyeglasses to create the illusion of depth. === Moving images === "Moving" two-dimensional images are actually illusions of movement perceived when still images are displayed in sequence, each image lasting less, and sometimes much less, than a fraction of a second. The traditional standard for the display of individual frames by a motion picture projector has been 24 frames per second (FPS) since at least the commercial introduction of "talking pictures" in the late 1920s, which necessitated a standard for synchronizing images and sounds. Even in electronic formats such as television and digital image displays, the apparent "motion" is actually the result of many individual lines giving the impression of continuous movement. This phenomenon has often been described as "persistence of vision": a physiological effect of light impressions remaining on the retina of the eye for very brief periods. Even though the term is still sometimes used in popular discussions of movies, it is not a scientifically valid explanation. Other terms emphasize the complex cognitive operations of the brain and the human visual system. "Flicker fusion", the "phi phenomenon", and "beta movement" are among the terms that have replaced "persistence of vision", though no one term seems adequate to describe the process. == Cultural and other uses == Image-making seems to have been common to virtually all human cultures since at least the Paleolithic era. Prehistoric examples of rock art—including cave paintings, petroglyphs, rock reliefs, and geoglyphs—have been found on every inhabited continent. Many of these images seem to have served various purposes: as a form of record-keeping; as an element of spiritual, religious, or magical practice; or even as a form of communication. Early writing systems, including hieroglyphics, ideographic writing, and even the Roman alphabet, owe their origins in some respects to pictorial representations. === Meaning and signification === Images of any type may convey different meanings and sensations for individual viewers, regardless of whether the image's creator intended them. An image may be taken simply as a more or less "accurate" copy of a person, place, thing, or event. It may represent an abstract concept, such as the political power of a ruler or ruling class, a practical or moral lesson, an object for spiritual or religious veneration, or an object—human or otherwise—to be desired. It may also be regarded for its purely aesthetic qualities, rarity, or monetary value. Such reactions can depend on the viewer's context. A religious image in a church may be regarded differently than the same image mounted in a museum. Some might view it simply as an object to be bought or sold. Viewers' reactions will also be guided or shaped by their education, class, race, and other contexts. The study of emotional sensations and their relationship to any given image falls into the categories of aesthetics and the philosophy of art. While such studies inevitably deal with issues of meaning, another approach to signification was suggested by the American philosopher, logician, and semiotician Charles Sanders Peirce. "Images" are one type of the broad category of "signs" proposed by Peirce. Although his ideas are complex and have changed over time, the three categories of signs that he distinguished stand out: The "icon," which relates to an object by resemblance to some quality of the object. A painted or photographed portrait is an icon by virtue of its resemblance to the painting's or photograph's subject. A more abstract representation, such as a map or diagram, can also be an icon. The "index," which relates to an object by some real connection. For example, smoke may be an index of fire, or the temperature recorded on a thermometer may be an index of a patient's illness or health. The "symbol," which lacks direct resemblance or connection to an object but whose association is arbitrarily assigned by the creator or dictated by cultural and historical habit, convention, etc. The color red, for example, may connote rage, beauty, prosperity, political affiliation, or other meanings within a given culture or context; the Swedish film director Ingmar Bergman claimed that his use of the color in his 1972 film Cries and Whispers came from his personal visualization of the human soul. A single image may exist in all three categories at the same time. The Statue of Liberty provides an example. While there have been countless two-dimensional and three-dimensional "reproductions" of the statue (i.e., "icons" themselves), the statue itself exists as an "icon" by virtue of its resemblance to a human woman (or, more specifically, previous representations of the Roman goddess Libertas or the female model used by the artist Frederic-Auguste Bartholdi). an "index" representing New York City or the United States of America in general due to its placement in New York Harbor, or with "immigration" from its proximity to the immigration center at Ellis Island. a "symbol" as a visualization of the abstract concept of "liberty" or "freedom" or even "opportunity" or "diversity". === Critiques of imagery === The nature of images, whether three-dimensional or two-dimensional, created for a specific purpose or only for aesthetic pleasure, has continued to provoke questions and even condemnation at different times and places. In his dialogue, The Republic, the Greek philosopher Plato described our apparent reality as a copy of a higher order of universal forms.

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  • Automated machine learning

    Automated machine learning

    Automated machine learning (AutoML) is the process of automating the tasks of applying machine learning to real-world problems. It is the combination of automation and ML. AutoML potentially includes every stage from beginning with a raw dataset to building a machine learning model ready for deployment. AutoML was proposed as an artificial intelligence-based solution to the growing challenge of applying machine learning. The high degree of automation in AutoML aims to allow non-experts to make use of machine learning models and techniques without requiring them to become experts in machine learning. Automating the process of applying machine learning end-to-end additionally offers the advantages of producing simpler solutions, faster creation of those solutions, and models that often outperform hand-designed models. Common techniques used in AutoML include hyperparameter optimization, meta-learning and neural architecture search. == Comparison to the standard approach == In a typical machine learning application, practitioners have a set of input data points to be used for training. The raw data may not be in a form that all algorithms can be applied to. To make the data amenable for machine learning, an expert may have to apply appropriate data pre-processing, feature engineering, feature extraction, and feature selection methods. After these steps, practitioners must then perform algorithm selection and hyperparameter optimization to maximize the predictive performance of their model. If deep learning is used, the architecture of the neural network must also be chosen manually by the machine learning expert. Each of these steps may be challenging, resulting in significant hurdles to using machine learning. AutoML aims to simplify these steps for non-experts, and to make it easier for them to use machine learning techniques correctly and effectively. AutoML plays an important role within the broader approach of automating data science, which also includes challenging tasks such as data engineering, data exploration and model interpretation and prediction. == Targets of automation == Automated machine learning can target various stages of the machine learning process. Steps to automate are: Data preparation and ingestion (from raw data and miscellaneous formats) Column type detection; e.g., Boolean, discrete numerical, continuous numerical, or text Column intent detection; e.g., target/label, stratification field, numerical feature, categorical text feature, or free text feature Task detection; e.g., binary classification, regression, clustering, or ranking Feature engineering Feature selection Feature extraction Meta-learning and transfer learning Detection and handling of skewed data and/or missing values Model selection - choosing which machine learning algorithm to use, often including multiple competing software implementations Ensembling - a form of consensus where using multiple models often gives better results than any single model Hyperparameter optimization of the learning algorithm and featurization Neural architecture search Pipeline selection under time, memory, and complexity constraints Selection of evaluation metrics and validation procedures Problem checking Leakage detection Misconfiguration detection Analysis of obtained results Creating user interfaces and visualizations == Challenges and Limitations == There are a number of key challenges being tackled around automated machine learning. A big issue surrounding the field is referred to as "development as a cottage industry". This phrase refers to the issue in machine learning where development relies on manual decisions and biases of experts. This is contrasted to the goal of machine learning which is to create systems that can learn and improve from their own usage and analysis of the data. Basically, it's the struggle between how much experts should get involved in the learning of the systems versus how much freedom they should be giving the machines. However, experts and developers must help create and guide these machines to prepare them for their own learning. To create this system, it requires labor intensive work with knowledge of machine learning algorithms and system design. Additionally, other challenges include meta-learning and computational resource allocation.

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  • Lost Art-Database

    Lost Art-Database

    The Lost Art-Datenbank is an online database published by the German Lost Art Foundation (Deutsches Zentrum Kulturgutverluste. It contains information on cultural objects looted from Jewish collectors or transferred due to Nazi persecution during the Nazi era. Until 2015, it was managed by the Koordinierungsstelle für Kulturgutverluste (Magdeburg Coordination Office). == Creation == Following the Washington Conference of 1998, and the commitments to provide more transparency regarding looted art, Germany launched the Lost Art Database in 2000 order to help Holocaust victims and their families track down artworks that had been looted from them or lost due to Nazi persecution. == Functionality == The Lost Art Database lists art and books and other cultural objects that were lost, seized, stolen or forceably sold during the Nazi era. The database is divided into search requests from victims' families, heirs or institutions and "found" reports from cultural institutions on items with unresolved provenance gaps from the Nazi periods. The section on reports of finds lists objects that are known to have been unlawfully seized or relocated as a result of the war. In addition, reports are published here on cultural objects for which an uncertain or incomplete provenance may indicate a possible unlawful seizure or war-related relocation. The publication of reports in the Lost Art Internet Database is carried out on behalf of and with the consent of the reporting persons and institutions. The responsibility for the content of the reports lies with these legal or natural persons. There have been controversies over which items should be included in the database. Lost Art is based on the Washington Principles adopted in 1998, which Germany has committed itself to implementing (Joint Declaration, 1999). The Lost Art Database is considered a key resource in the search for looted art and the victims of persecution. Every item in the Lost Art Database has an identifier, known as a Lost Art ID. Proveana is the linked research database. == Other lost art databases == Other countries have launched databases to help identify Nazi looted art. Each database has its own area of focus. The German Lost Art Database allows families or heirs to submit information. Other countries have databases that focus on looted artworks that have not been found or artworks that were repatriated to the national authorities after the defeat of the Nazis but were never returned to their original owners. Other databases have been created for stolen antiquities, looted art from colonial era, art stolen from Syria, Iraq, Ukraine, or from museums or collectors.

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  • AI content watermarking

    AI content watermarking

    AI content watermarking is the process of embedding imperceptible yet detectable signals into content generated by artificial intelligence systems, such as text, images, audio, or video. The technique allows the content to be traced and identified as machine-generated without compromising its quality for the end user. AI watermarking has emerged as a key approach to address growing concerns about misinformation, deepfakes, copyright infringement, and the traceability of synthetic content in the context of the rapid development of generative artificial intelligence. Unlike traditional visible watermarks used in photography, AI content watermarks are typically invisible to humans and can only be detected and deciphered algorithmically. The concept is distinct from the watermarking of AI models themselves (to prevent model theft) and from the watermarking of training data (to combat unauthorized data use). Modern AI watermarking schemes are typically formalized as a pair of algorithms, an embedding (or generation) algorithm and a detection algorithm, sharing a secret key, whose performance is evaluated along three competing axes: quality (the watermark must not noticeably degrade outputs), detectability (the watermark must be statistically distinguishable from unwatermarked content), and robustness (the watermark must persist under adversarial or incidental modifications). == Background == Digital watermarking has been used for decades to protect physical and digital media, from paper currency to photographs. Classical schemes typically embedded a fixed bit-string into a fixed cover signal, with robustness criteria defined against a small fixed set of distortions such as JPEG compression or additive Gaussian noise. The rapid advancement of generative AI in the early 2020s, however, created a new and qualitatively different demand: rather than protecting a single artifact, watermarks for AI content must be embedded automatically across an open-ended distribution of generated outputs while remaining robust to a much wider class of adversarial transformations, including paraphrasing, image regeneration via diffusion models, and re-recording. Large image generation models such as DALL-E, Stable Diffusion, and Midjourney, along with large language models like ChatGPT, made it possible to produce highly realistic synthetic text, images, audio, and video at scale, raising significant ethical and security concerns. In July 2023, the Biden administration secured voluntary commitments from leading AI companies, including OpenAI, Alphabet, Meta, and Amazon, to develop watermarking and other provenance technologies to help users identify AI-generated content. == Formal definitions and design goals == Most modern AI watermarking schemes can be formalized as a pair of algorithms ( W m , D e t e c t ) {\displaystyle ({\mathsf {Wm}},{\mathsf {Detect}})} parameterized by a secret key k {\displaystyle k} . The embedding algorithm W m {\displaystyle {\mathsf {Wm}}} takes a generative model M {\displaystyle M} (and optionally a prompt) and returns a watermarked output x {\displaystyle x} ; the detection algorithm D e t e c t ( x , k ) {\displaystyle {\mathsf {Detect}}(x,k)} outputs a real-valued score (typically a p-value or log-likelihood ratio) used to decide whether x {\displaystyle x} was produced by the watermarked generator. The literature evaluates such schemes along several largely conflicting criteria: Criteria for evaluation include imperceptibility or quality preservation, measured for text via perplexity and human preference judgments, and for images and audio via metrics such as PSNR, SSIM, LPIPS, or PESQ. Detectability is typically expressed as the true positive rate at a fixed false positive rate (e.g. 1% or 10^-6), or as the number of tokens or pixels needed to reach a given confidence level. Robustness refers to the requirement that the watermark should survive expected modifications like JPEG or MP3 compression, cropping, noise, paraphrasing, or machine translation. Distortion-freeness is a stronger property requiring that the marginal distribution of any single watermarked output be statistically identical to the unwatermarked model's distribution. Schemes due to Aaronson, Christ et al., and Kuditipudi et al. are distortion-free in this sense, while the original Kirchenbauer et al. scheme is not. Forgery resistance or unforgeability means an adversary without the secret key should be unable to produce content that passes detection. == Techniques == AI watermarking techniques vary significantly depending on the type of content being watermarked. At its core, the process involves two main stages: embedding (or encoding) the watermark, and detection. There are two primary methods for embedding: watermarking during content generation, which requires access to the AI model itself but is generally more robust, and post-generation watermarking, which can be applied to content from any source, including closed-source models. Watermarks can be broadly classified as visible, including overt marks such as logos or text overlays, or imperceptible, which are detectable only by algorithms. They can also be classified by durability: robust watermarks are designed to withstand common transformations such as compression, cropping, and re-encoding, while fragile watermarks are easily destroyed by any alteration, making them useful for tamper detection. A further axis distinguishes zero-bit watermarks, which only signal "this content was generated by model M," from multi-bit watermarks, which embed an arbitrary payload (such as a user identifier) that can be recovered at detection time. === Text === Text watermarking is considered one of the most challenging modalities because natural language offers relatively limited redundancy compared to images or audio. Modern approaches for large language models alter the autoregressive sampling process so that some statistical signature is left in the choice of tokens, while leaving the surface form of the text unchanged. The literature distinguishes three main families of generation-time text watermarks. Logit-biasing schemes (e.g. KGW) add a fixed bias δ {\displaystyle \delta } to a pseudorandomly selected subset of vocabulary logits before softmax sampling. Reweighting or sampling-based schemes (e.g. SynthID-Text) compose multiple pseudorandom tournaments over the model's full distribution. Distortion-free schemes based on the Gumbel-max trick or inverse transform sampling (Aaronson 2022; Kuditipudi et al. 2023; Christ et al. 2024) preserve the marginal output distribution of the model. ==== KGW: token-probability shifting ==== The pioneering "green list / red list" scheme of Kirchenbauer et al. (KGW), introduced at ICML 2023, is the foundation for most subsequent text watermarks. At each decoding step t {\displaystyle t} , a pseudorandom function (PRF) keyed by a secret k {\displaystyle k} is applied to a context window of h {\displaystyle h} previous tokens to deterministically partition the vocabulary V {\displaystyle V} of size N {\displaystyle N} into a "green list" G ⊂ V {\displaystyle G\subset V} of size γ N {\displaystyle \gamma N} and its complement, the "red list" R = V ∖ G {\displaystyle R=V\setminus G} , where γ ∈ ( 0 , 1 ) {\displaystyle \gamma \in (0,1)} (typically γ = 1 / 2 {\displaystyle \gamma =1/2} ) is the green fraction. A logits processor then increments every green-list logit by a fixed bias δ > 0 {\displaystyle \delta >0} before softmax: ℓ v ′ = ℓ v + δ ⋅ 1 [ v ∈ G ] {\displaystyle \ell '_{v}=\ell _{v}+\delta \cdot \mathbf {1} [v\in G]} so that, after sampling, green tokens are over-represented but generation is not constrained to green tokens alone; high-entropy positions tolerate the bias gracefully, while low-entropy positions (where one token dominates the logits) override the watermark and preserve correctness on factual content. Detection requires only the secret key and the candidate text, not the language model itself. The detector recomputes the partition g ( ⋅ ) {\displaystyle g(\cdot )} for each token, counts the number of green hits | G | hits {\displaystyle |G|_{\text{hits}}} in a sequence of length T {\displaystyle T} , and computes a one-proportion z-test statistic: z = | G | hits − γ T T γ ( 1 − γ ) {\displaystyle z={\frac {|G|_{\text{hits}}-\gamma T}{\sqrt {T\gamma (1-\gamma )}}}} Under the null hypothesis that the text was written by an unwatermarked source (human or another model), the green-hit count is approximately binomially distributed with mean γ T {\displaystyle \gamma T} ; a large positive z {\displaystyle z} rejects the null hypothesis. The original paper reports that fewer than 25 watermarked tokens are sufficient to detect a watermark with a false positive rate below 10^-5 on the OPT-1.3B model. A follow-up study by the same group documented robustness under temperature sampling, top-p (nucleus) sampling, and human paraphrasing, and proposed sliding-window

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