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  • Automated Mathematician

    Automated Mathematician

    The Automated Mathematician (AM) is one of the earliest successful discovery systems. It was created by Douglas Lenat in Lisp, and in 1977 led to Lenat being awarded the IJCAI Computers and Thought Award. AM worked by generating and modifying short Lisp programs which were then interpreted as defining various mathematical concepts; for example, a program that tested equality between the length of two lists was considered to represent the concept of numerical equality, while a program that produced a list whose length was the product of the lengths of two other lists was interpreted as representing the concept of multiplication. The system had elaborate heuristics for choosing which programs to extend and modify, based on the experiences of working mathematicians in solving mathematical problems. == Controversy == Lenat claimed that the system was composed of hundreds of data structures called "concepts", together with hundreds of "heuristic rules" and a simple flow of control: "AM repeatedly selects the top task from the agenda and tries to carry it out. This is the whole control structure!" Yet the heuristic rules were not always represented as separate data structures; some had to be intertwined with the control flow logic. Some rules had preconditions that depended on the history, or otherwise could not be represented in the framework of the explicit rules. What's more, the published versions of the rules often involve vague terms that are not defined further, such as "If two expressions are structurally similar, ..." (Rule 218) or "... replace the value obtained by some other (very similar) value..." (Rule 129). Another source of information is the user, via Rule 2: "If the user has recently referred to X, then boost the priority of any tasks involving X." Thus, it appears quite possible that much of the real discovery work is buried in unexplained procedures. Lenat claimed that the system had rediscovered both Goldbach's conjecture and the fundamental theorem of arithmetic. Later critics accused Lenat of over-interpreting the output of AM. In his paper Why AM and Eurisko appear to work, Lenat conceded that any system that generated enough short Lisp programs would generate ones that could be interpreted by an external observer as representing equally sophisticated mathematical concepts. However, he argued that this property was in itself interesting—and that a promising direction for further research would be to look for other languages in which short random strings were likely to be useful. == Successor == This intuition was the basis of AM's successor Eurisko, which attempted to generalize the search for mathematical concepts to the search for useful heuristics.

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  • Metadirectory

    Metadirectory

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

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  • Information access

    Information access

    Information access is the freedom or ability to identify, obtain and make use of database or information effectively. There are various research efforts in information access for which the objective is to simplify and make it more effective for human users to access and further process large and unwieldy amounts of data and information. == Technology == Several technologies applicable to the general area are Information Retrieval, Text Mining, Machine Translation, and Text Categorisation. During discussions on free access to information as well as on information policy, information access is understood as concerning the insurance of free and closed access to information. Information access covers many issues including copyright, open source, privacy, and security. == Groups == Groups such as the American Library Association, the American Association of Law Libraries, Ralph Nader's Taxpayers Assets Project have advocated for free access to legal information. The vendor neutral citation movement in the legal field is working to ensure that courts will accept citations from cases on the web which do not have the traditional (copyrighted) page numbers from the West Publishing company. There is a worldwide Free Access to Law Movement which advocates free access to legal information. The Wired article "Who Owns The Law" is an introduction to the access to legal information issue. Postsecondary organizations such as K-12 work to share information. They feel it is a legal and moral obligation to provide access (including to people with disabilities or impairments) to information through the services and programs they offer. Some effects of charging for information access, such as literature searches for physicians, is studied in the article "Fee or Free: The Effect of Charging on Information Demand". In this study, a $5 charge resulted in a 77% decrease in searches.

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  • Open Compute Project

    Open Compute Project

    The Open Compute Project (OCP) is an organization that facilitates the sharing of data center product designs and industry best practices among companies. Founded in 2011, OCP has significantly influenced the design and operation of large-scale computing facilities worldwide. As of February 2025, over 400 companies across the world are members of OCP, including Arm, Meta, IBM, Wiwynn, Intel, Nokia, Google, Microsoft, Seagate Technology, Dell, Rackspace, Hewlett Packard Enterprise, NVIDIA, Cisco, Goldman Sachs, Fidelity, Lenovo, Accton Technology Corporation and Alibaba Group. == Structure == The Open Compute Project Foundation is a 501(c)(6) non-profit incorporated in the state of Delaware, United States. OCP has multiple committees, including the board of directors, advisory board and steering committee to govern its operations. As of July 2020, there are seven members who serve on the board of directors which is made up of one individual member and six organizational members. Mark Roenigk (Facebook) is the Foundation's president and chairman. Andy Bechtolsheim is the individual member. In addition to Mark Roenigk who represents Facebook, other organizations on the Open Compute board of directors include Intel (Rebecca Weekly), Microsoft (Kushagra Vaid), Google (Partha Ranganathan), and Rackspace (Jim Hawkins). A list of members can be found on the OCP website. == History == The Open Compute Project began at Facebook (now Meta) in 2009 as an internal project called "Project Freedom". The hardware designs and engineering teams were led by Amir Michael (Manager, Hardware Design) and sponsored by Jonathan Heiliger (VP, Technical Operations) and Frank Frankovsky (Director, Hardware Design and Infrastructure). The three would later open source the designs of Project Freedom and co-found the Open Compute Project. The project was announced at a press event at Facebook's headquarters in Palo Alto on April 7, 2011. == OCP projects == The Open Compute Project Foundation maintains a number of OCP projects, such as: === Server designs === In 2013, two years after the Open Compute Project had started, it was noted that the goal of a more modular server design was "still a long way from live data centers". However, by then some aspects published had been used in Facebook's Prineville data center to improve energy efficiency, as measured by the power usage effectiveness index defined by The Green Grid. Efforts to advance server compute node designs included one for Intel processors and one for AMD processors. Also in 2013, Calxeda contributed a design with ARM architecture processors. Since then, several generations of OCP server designs have been deployed: Wildcat (Intel), Spitfire (AMD), Windmill (Intel E5-2600), Watermark (AMD), Winterfell (Intel E5-2600 v2) and Leopard (Intel E5-2600 v3). === OCP Accelerator Module === OCP Accelerator Module (OAM) is a design specification for hardware architectures that implement artificial intelligence systems that require high module-to-module bandwidth. OAM is used in some of AMD's Instinct accelerator modules. === Rack and power designs === Designs for a mechanical mounting system to replace standard 19-inch racks have been published, with a cabinet the same outside width (600 mm) and depth as existing racks, but with an interior space allowing for wider equipment chassis with a 537 mm width (21 inches). This allows more equipment to fit in the same volume and improves air flow. Compute chassis sizes are defined in multiples of an OpenU or OU, which is 48 mm, slightly taller than the 44 mm rack unit defined for 19-inch racks. As of March 2026, the most current base mechanical definition is the Open Rack V3.1 Specification. At the time the base specification was released, Meta also defined in greater depth the specifications for the rectifiers and power shelf. Specifications for the power monitoring interface (PMI), a communications interface enabling upstream communications between the rectifiers and battery backup unit(BBU) were published by Meta that same year, with Delta Electronics as the main technical contributor to the BBU spec. However, since 2022 the AI boom in the data center has created higher power requirements in order to satisfy the demands of AI accelerators that have been released. As of September 2024, Meta is in the process of updating its Open Rack v3 rectifier, power shelf, battery backup and power management interface specifications to accommodate this increased energy demand. In May 2024, at an Open Compute regional summit, Meta and Rittal outlined their plans for development of their High Power Rack (HPR) ecosystem in conjunction with rack, power and cable partners, increasing power capacity in the rack to 92 kilowatts or more. At the same meeting, Delta Electronics and Advanced Energy reported on their progress in developing new Open Compute standard specifications for power shelf and rectifier designs for HPR applications. Rittal also outlined their collaboration with Meta in designing airflow containment, busbar designs and grounding schemes for the new HPR requirements. === Data storage === Open Vault storage building blocks (also called "Knox") offer high disk densities, with 30 drives in a 2 OU Open Rack chassis designed for easy disk drive replacement. The 3.5 inch disks are stored in two drawers, five across and three deep in each drawer, with connections via serial attached SCSI. There is a "cold storage" variant where idle disks power down to reduce energy consumption. Another design concept was contributed by Hyve Solutions, a division of Synnex, in 2012. At the OCP Summit 2016 Facebook, together with Taiwanese ODM Wistron's spin-off Wiwynn, introduced "Lightning", a flexible NVMe JBOF (just a bunch of flash), based on the existing Open Vault (Knox) design. === Energy efficient data centers === The OCP has published data center designs for energy efficiency. These include power distribution at three-phase 277/480 VAC, which eliminates one transformer stage in typical North American data centers, a single voltage (12.5 VDC) power supply designed to work with 277/480 VAC input, and 48 VDC battery backup. For European (and other 230V countries) datacenters, there is a specification for 230/400 VAC power distribution and its conversion to 12.5 VDC. === Open networking switches === On May 8, 2013, an effort to define an open network switch was announced. The plan was to allow Facebook to load its own operating system software onto its top-of-rack switches. Press reports predicted that more expensive and higher-performance switches would continue to be popular, while less expensive products treated more like a commodity. The first attempt at an open networking switch by Facebook was designed together with Taiwanese ODM Accton using Broadcom Trident II chip and is called "Wedge"; the Linux OS that it runs is called "FBOSS". Later switch contributions include "6-pack" and Wedge-100, based on Broadcom Tomahawk chips. Similar switch hardware designs have been contributed by: Accton Technology Corporation (and its Edgecore Networks subsidiary), Mellanox Technologies, Interface Masters Technologies, Agema Systems. Capable of running Open Network Install Environment (ONIE)-compatible network operating systems such as Cumulus Linux, Switch Light OS by Big Switch Networks, or PICOS by Pica8. A similar project for a custom switch for the Google platform had been rumored, and evolved to use the OpenFlow protocol. === Servers === A sub-project for Mezzanine (NIC) OCP NIC 3.0 specification 1v00 was released in late 2019 establishing three form factors: SFF, TSFF, and LFF. == Litigation == In March, 2015, BladeRoom Group Limited and Bripco (UK) Limited sued Facebook, Emerson Electric Co. and others alleging that Facebook has disclosed BladeRoom and Bripco's trade secrets for prefabricated data centers in the Open Compute Project. Facebook petitioned for the lawsuit to be dismissed, but this was rejected in 2017. A confidential mid-trial settlement was agreed in April 2018.

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  • ELMo

    ELMo

    ELMo (embeddings from language model) is a word embedding method for representing a sequence of words as a corresponding sequence of vectors. It was created by researchers at the Allen Institute for Artificial Intelligence, and University of Washington and first released in February 2018. It is a bidirectional LSTM which takes character-level as inputs and produces word-level embeddings, trained on a corpus of about 30 million sentences and 1 billion words. The architecture of ELMo accomplishes a contextual understanding of tokens. Deep contextualized word representation is useful for many natural language processing tasks, such as coreference resolution and polysemy resolution. ELMo was historically important as a pioneer of self-supervised generative pretraining followed by fine-tuning, where a large model is trained to reproduce a large corpus, then the large model is augmented with additional task-specific weights and fine-tuned on supervised task data. It was an instrumental step in the evolution towards transformer-based language modelling. == Architecture == ELMo is a multilayered bidirectional LSTM on top of a token embedding layer. The output of all LSTMs concatenated together consists of the token embedding. The input text sequence is first mapped by an embedding layer into a sequence of vectors. Then two parts are run in parallel over it. The forward part is a 2-layered LSTM with 4096 units and 512 dimension projections, and a residual connection from the first to second layer. The backward part has the same architecture, but processes the sequence back-to-front. The outputs from all 5 components (embedding layer, two forward LSTM layers, and two backward LSTM layers) are concatenated and multiplied by a linear matrix ("projection matrix") to produce a 512-dimensional representation per input token. ELMo was pretrained on a text corpus of 1 billion words. The forward part is trained by repeatedly predicting the next token, and the backward part is trained by repeatedly predicting the previous token. After the ELMo model is pretrained, its parameters are frozen, except for the projection matrix, which can be fine-tuned to minimize loss on specific language tasks. This is an early example of the pretraining-fine-tune paradigm. The original paper demonstrated this by improving state of the art on six benchmark NLP tasks. === Contextual word representation === The architecture of ELMo accomplishes a contextual understanding of tokens. For example, the first forward LSTM of ELMo would process each input token in the context of all previous tokens, and the first backward LSTM would process each token in the context of all subsequent tokens. The second forward LSTM would then incorporate those to further contextualize each token. Deep contextualized word representation is useful for many natural language processing tasks, such as coreference resolution and polysemy resolution. For example, consider the sentenceShe went to the bank to withdraw money.In order to represent the token "bank", the model must resolve its polysemy in context. The first forward LSTM would process "bank" in the context of "She went to the", which would allow it to represent the word to be a location that the subject is going towards. The first backward LSTM would process "bank" in the context of "to withdraw money", which would allow it to disambiguate the word as referring to a financial institution. The second forward LSTM can then process "bank" using the representation vector provided by the first backward LSTM, thus allowing it to represent it to be a financial institution that the subject is going towards. == Historical context == ELMo is one link in a historical evolution of language modelling. Consider a simple problem of document classification, where we want to assign a label (e.g., "spam", "not spam", "politics", "sports") to a given piece of text. The simplest approach is the "bag of words" approach, where each word in the document is treated independently, and its frequency is used as a feature for classification. This was computationally cheap but ignored the order of words and their context within the sentence. GloVe and Word2Vec built upon this by learning fixed vector representations (embeddings) for words based on their co-occurrence patterns in large text corpora. Like BERT (but unlike "bag of words" such as Word2Vec and GloVe), ELMo word embeddings are context-sensitive, producing different representations for words that share the same spelling. It was trained on a corpus of about 30 million sentences and 1 billion words. Previously, bidirectional LSTM was used for contextualized word representation. ELMo applied the idea to a large scale, achieving state of the art performance. After the 2017 publication of Transformer architecture, the architecture of ELMo was changed from a multilayered bidirectional LSTM to a Transformer encoder, giving rise to BERT. BERT has a similar pretrain-fine-tune workflow, but uses a Transformer with implications for more parallelizable training.

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  • Artificial intelligence industry in China

    Artificial intelligence industry in China

    The roots of the development of artificial intelligence in the People's Republic of China started in the late 1970s following Deng Xiaoping's reform and opening up emphasizing science and technology as the country's primary productive force. The initial stages of China's AI development were slow and encountered significant challenges due to lack of resources and talent. At the beginning China was behind most Western countries in terms of AI development. A majority of the research was led by scientists who had received higher education abroad. Since 2006, the Chinese government has steadily developed a national agenda for artificial intelligence development and emerged as one of the leading nations in artificial intelligence research and development. In 2016, the Chinese Communist Party (CCP) released its 13th Five-Year Plan in which it aimed to become a global AI leader by 2030. As of 2025, China is considered to be a world leader in AI technology along with the United States. The State Council has a list of "national AI teams" including fifteen China-based companies, including Baidu, Tencent, Alibaba, SenseTime, and iFlytek. Each company should lead the development of a designated specialized AI sector in China, such as facial recognition, software/hardware, and speech recognition. China's rapid AI development has significantly impacted Chinese society in many areas, including the socio-economic, military, intelligence, and political spheres. Agriculture, transportation, accommodation and food services, and manufacturing are the top industries that would be the most impacted by further AI deployment. The private sector, university laboratories, and the military are working collaboratively in many aspects as there are few current existing boundaries. In 2021, China published the Data Security Law of the People's Republic of China, its first national law addressing AI-related ethical concerns. In October 2022, the United States federal government announced a series of export controls and trade restrictions intended to restrict China's access to advanced computer chips for AI applications. In 2023, the Cyberspace Administration of China issued guidelines requiring that AI content upholds the ideology of the CCP including Core Socialist Values, avoids discrimination, respects intellectual property rights, and safeguards user data. In 2025, the Chinese government issued a document regarding training data, requiring companies to use as little as data deemed "unsafe" as possible, as well as requiring companies to test models regularly. Concerns have been raised about the effects of the Chinese government's censorship regime on the development of generative artificial intelligence and long-term talent acquisition with state of the country's demographics. Others have noted that official notions of AI safety require following the priorities of the CCP and are antithetical to standards in democratic societies and raised concerns about the extension of China's system of mass surveillance and censorship abroad. == History == The Chinese term for artificial intelligence (réngōngzhìnéng 人工智能) connotes "humanmade" intelligence. The term developed as mid-20th century localisation of the Japanese term jinko chino. The research and development of artificial intelligence in China started in the 1980s, with the announcement by Deng Xiaoping of the importance of science and technology for China's economic growth. === Late 1970s to early 2010s === Chinese artificial intelligence research and development began in late 1970s after Deng Xiaoping's reform and opening up. China's first national conference on AI occurred in 1979. Academic journals in the late 1970s began publishing literature reviews of Western research on AI topics. In the 1980s, a group of Chinese scientists launched AI research led by Qian Xuesen and Wu Wenjun. However, during the time, China's society still had a generally conservative view towards AI. In the early 1980s, Science Press published translated versions of Western textbooks such as Patrick Winston's Artificial Intelligence and Nils John Nilsson's Principles of Artificial Intelligence. In 1980, a journal of the Chinese Academy of Sciences convened its first annual National Symposium on Artificial Intelligence, which included national and international scholars like Herbert A. Simon. The Chinese Association for Artificial Intelligence (CAAI) was founded in September 1981 and was authorized by the Ministry of Civil Affairs. CAAI has continued to be the largest AI association in China as of 2025. In 1982, CAAI began publishing the Artificial Intelligence Journal, which published early AI research by Chinese academics. In the 1980s, Chinese research on AI was influenced by the field of cybernetics, particularly the work of Norbert Weiner and his text Cybernetics: Or Control and Communication in the Animal and the Machine. Chinese researchers at the time sought to situate AI as part of a broader "Intelligence Science" field which would include disciplines like mathematics, computer science, cognitive science, social sciences, and philosophy. In 1987, Tsinghua University began a research publication on AI. Beginning in 1993, smart automation and intelligence have been part of China's national technology plan. Since the 2000s, the Chinese government has further expanded its research and development funds for AI and the number of government-sponsored research projects has dramatically increased. In 2006, China announced a policy priority for the development of artificial intelligence, which was included in the National Medium and Long Term Plan for the Development of Science and Technology (2006–2020), released by the State Council. In the same year, artificial intelligence was also mentioned in the 11th Five-Year Plan. In 2011, the Association for the Advancement of Artificial Intelligence (AAAI) established a branch in Beijing, China. At same year, the Wu Wenjun Artificial Intelligence Science and Technology Award was founded in honor of Chinese mathematician Wu Wenjun, and it became the highest award for Chinese achievements in the field of artificial intelligence. The first award ceremony was held on May 14, 2012. In 2013, the International Joint Conferences on Artificial Intelligence (IJCAI) was held in Beijing, marking the first time the conference was held in China. This event coincided with the Chinese government's announcement of the "Chinese Intelligence Year," a significant milestone in China's development of artificial intelligence. === Late 2010s to early 2020s === AI became a major issue of commercial, public, and political focus in China in the latter half of the 2010s. Various interpretations of the primary cause for this increased focus exist, with some analyses focusing on the 2016 Go match between Google's AlphaGo and Lee Sedol, others emphasising the U.S. increasing trade restrictions on China's technology industries and the desire to achieve national technological self-sufficiency. The State Council of China issued "A Next Generation Artificial Intelligence Development Plan" (State Council Document [2017] No. 35) on 20 July 2017. In the document, the CCP Central Committee and the State Council urged governing bodies in China to promote the development of artificial intelligence. Specifically, the plan described AI as a strategic technology that has become a "focus of international competition".:2 The document urged significant investment in a number of strategic areas related to AI and called for close cooperation between the state and private sectors. It set the goal of China becoming the preeminent country for AI research and application by 2030. During the general secretaryship of Xi Jinping, artificial intelligence has been a focus of the CCP's military-civil fusion efforts. On the occasion of Xi's speech at the first plenary meeting of the Central Military-Civil Fusion Development Committee (CMCFDC), scholars from the National Defense University wrote in the PLA Daily that the "transferability of social resources" between economic and military ends is an essential component to being a great power. During the Two Sessions 2017,"artificial intelligence plus" was proposed to be elevated to a strategic level. The same year witnessed the emergence of multiple application-level usages in the medical field according to reports. In 2018, Xinhua News Agency, in partnership with Tencent's subsidiary Sogou, launched its first artificial intelligence-generated news anchor. In 2018, the State Council budgeted $2.1 billion for an AI industrial park in Mentougou district. In order to achieve this the State Council stated the need for massive talent acquisition, theoretical and practical developments, as well as public and private investments. Some of the stated motivations that the State Council gave for pursuing its AI strategy include the potential of artificial intelligence for industrial transformation, better social

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  • Kinodynamic planning

    Kinodynamic planning

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

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  • Microsoft Query

    Microsoft Query

    Microsoft Query is a visual method of creating database queries using examples based on a text string, the name of a document or a list of documents. The QBE system converts the user input into a formal database query using Structured Query Language (SQL) on the backend, allowing the user to perform powerful searches without having to explicitly compose them in SQL, and without even needing to know SQL. It is derived from Moshé M. Zloof's original Query by Example (QBE) implemented in the mid-1970s at IBM's Research Centre in Yorktown, New York. In the context of Microsoft Access, QBE is used for introducing students to database querying, and as a user-friendly database management system for small businesses. Microsoft Excel allows results of QBE queries to be embedded in spreadsheets.

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  • Learning automaton

    Learning automaton

    A learning automaton is one type of machine learning algorithm studied since 1970s. Learning automata select their current action based on past experiences from the environment. It will fall into the range of reinforcement learning if the environment is stochastic and a Markov decision process (MDP) is used. == History == Research in learning automata can be traced back to the work of Michael Lvovitch Tsetlin in the early 1960s in the Soviet Union. Together with some colleagues, he published a collection of papers on how to use matrices to describe automata functions. Additionally, Tsetlin worked on reasonable and collective automata behaviour, and on automata games. Learning automata were also investigated by researches in the United States in the 1960s. However, the term learning automaton was not used until Narendra and Thathachar introduced it in a survey paper in 1974. == Definition == A learning automaton is an adaptive decision-making unit situated in a random environment that learns the optimal action through repeated interactions with its environment. The actions are chosen according to a specific probability distribution which is updated based on the environment response the automaton obtains by performing a particular action. With respect to the field of reinforcement learning, learning automata are characterized as policy iterators. In contrast to other reinforcement learners, policy iterators directly manipulate the policy π. Another example for policy iterators are evolutionary algorithms. Formally, Narendra and Thathachar define a stochastic automaton to consist of: a set X of possible inputs, a set Φ = { Φ1, ..., Φs } of possible internal states, a set α = { α1, ..., αr } of possible outputs, or actions, with r ≤ s, an initial state probability vector p(0) = ≪ p1(0), ..., ps(0) ≫, a computable function A which after each time step t generates p(t+1) from p(t), the current input, and the current state, and a function G: Φ → α which generates the output at each time step. In their paper, they investigate only stochastic automata with r = s and G being bijective, allowing them to confuse actions and states. The states of such an automaton correspond to the states of a "discrete-state discrete-parameter Markov process". At each time step t=0,1,2,3,..., the automaton reads an input from its environment, updates p(t) to p(t+1) by A, randomly chooses a successor state according to the probabilities p(t+1) and outputs the corresponding action. The automaton's environment, in turn, reads the action and sends the next input to the automaton. Frequently, the input set X = { 0,1 } is used, with 0 and 1 corresponding to a nonpenalty and a penalty response of the environment, respectively; in this case, the automaton should learn to minimize the number of penalty responses, and the feedback loop of automaton and environment is called a "P-model". More generally, a "Q-model" allows an arbitrary finite input set X, and an "S-model" uses the interval [0,1] of real numbers as X. A visualised demo/ Art Work of a single Learning Automaton had been developed by μSystems (microSystems) Research Group at Newcastle University. == Finite action-set learning automata == Finite action-set learning automata (FALA) are a class of learning automata for which the number of possible actions is finite or, in more mathematical terms, for which the size of the action-set is finite.

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  • Linguistic categories

    Linguistic categories

    Linguistic categories include Lexical category, a part of speech such as noun, preposition, etc. Syntactic category, a similar concept which can also include phrasal categories Grammatical category, a grammatical feature such as tense, gender, etc. The definition of linguistic categories is a major concern of linguistic theory, and thus, the definition and naming of categories varies across different theoretical frameworks and grammatical traditions for different languages. The operationalization of linguistic categories in lexicography, computational linguistics, natural language processing, corpus linguistics, and terminology management typically requires resource-, problem- or application-specific definitions of linguistic categories. In Cognitive linguistics it has been argued that linguistic categories have a prototype structure like that of the categories of common words in a language. == Linguistic category inventories == To facilitate the interoperability between lexical resources, linguistic annotations and annotation tools and for the systematic handling of linguistic categories across different theoretical frameworks, a number of inventories of linguistic categories have been developed and are being used, with examples as given below. The practical objective of such inventories is to perform quantitative evaluation (for language-specific inventories), to train NLP tools, or to facilitate cross-linguistic evaluation, querying or annotation of language data. At a theoretical level, the existence of universal categories in human language has been postulated, e.g., in Universal grammar, but also heavily criticized. === Part-of-Speech tagsets === Schools commonly teach that there are 9 parts of speech in English: noun, verb, article, adjective, preposition, pronoun, adverb, conjunction, and interjection. However, there are clearly many more categories and sub-categories. For nouns, the plural, possessive, and singular forms can be distinguished. In many languages words are also marked for their case (role as subject, object, etc.), grammatical gender, and so on; while verbs are marked for tense, aspect, and other things. In some tagging systems, different inflections of the same root word will get different parts of speech, resulting in a large number of tags. For example, NN for singular common nouns, NNS for plural common nouns, NP for singular proper nouns (see the POS tags used in the Brown Corpus). Other tagging systems use a smaller number of tags and ignore fine differences or model them as features somewhat independent from part-of-speech. In part-of-speech tagging by computer, it is typical to distinguish from 50 to 150 separate parts of speech for English. POS tagging work has been done in a variety of languages, and the set of POS tags used varies greatly with language. Tags usually are designed to include overt morphological distinctions, although this leads to inconsistencies such as case-marking for pronouns but not nouns in English, and much larger cross-language differences. The tag sets for heavily inflected languages such as Greek and Latin can be very large; tagging words in agglutinative languages such as Inuit languages may be virtually impossible. Work on stochastic methods for tagging Koine Greek (DeRose 1990) has used over 1,000 parts of speech and found that about as many words were ambiguous in that language as in English. A morphosyntactic descriptor in the case of morphologically rich languages is commonly expressed using very short mnemonics, such as ncmsan for category = noun, type = common, gender = masculine, number = singular, case = accusative, animate = no. The most popular tag set for POS tagging for American English is probably the Penn tag set, developed in the Penn Treebank project. === Multilingual annotation schemes === For Western European languages, cross-linguistically applicable annotation schemes for parts-of-speech, morphosyntax and syntax have been developed with the EAGLES Guidelines. The "Expert Advisory Group on Language Engineering Standards" (EAGLES) was an initiative of the European Commission that ran within the DG XIII Linguistic Research and Engineering programme from 1994 to 1998, coordinated by Consorzio Pisa Ricerche, Pisa, Italy. The EAGLES guidelines provide guidance for markup to be used with text corpora, particularly for identifying features relevant in computational linguistics and lexicography. Numerous companies, research centres, universities and professional bodies across the European Union collaborated to produce the EAGLES Guidelines, which set out recommendations for de facto standards and rules of best practice for: Large-scale language resources (such as text corpora, computational lexicons and speech corpora); Means of manipulating such knowledge, via computational linguistic formalisms, mark up languages and various software tools; Means of assessing and evaluating resources, tools and products. The Eagles guidelines have inspired subsequent work on other regions, as well, e.g., Eastern Europe. A generation later, a similar effort was initiated by the research community under the umbrella of Universal Dependencies. Petrov et al. have proposed a "universal", but highly reductionist, tag set, with 12 categories (for example, no subtypes of nouns, verbs, punctuation, etc.; no distinction of "to" as an infinitive marker vs. preposition (hardly a "universal" coincidence), etc.). Subsequently, this was complemented with cross-lingual specifications for dependency syntax (Stanford Dependencies), and morphosyntax (Interset interlingua, partially building on the Multext-East/Eagles tradition) in the context of the Universal Dependencies (UD), an international cooperative project to create treebanks of the world's languages with cross-linguistically applicable ("universal") annotations for parts of speech, dependency syntax, and (optionally) morphosyntactic (morphological) features. Core applications are automated text processing in the field of natural language processing (NLP) and research into natural language syntax and grammar, especially within linguistic typology. The annotation scheme has it roots in three related projects: The UD annotation scheme uses a representation in the form of dependency trees as opposed to a phrase structure trees. At as of February 2019, there are just over 100 treebanks of more than 70 languages available in the UD inventory. The project's primary aim is to achieve cross-linguistic consistency of annotation. However, language-specific extensions are permitted for morphological features (individual languages or resources can introduce additional features). In a more restricted form, dependency relations can be extended with a secondary label that accompanies the UD label, e.g., aux:pass for an auxiliary (UD aux) used to mark passive voice. The Universal Dependencies have inspired similar efforts for the areas of inflectional morphology, frame semantics and coreference. For phrase structure syntax, a comparable effort does not seem to exist, but the specifications of the Penn Treebank have been applied to (and extended for) a broad range of languages, e.g., Icelandic, Old English, Middle English, Middle Low German, Early Modern High German, Yiddish, Portuguese, Japanese, Arabic and Chinese. === Conventions for interlinear glosses === In linguistics, an interlinear gloss is a gloss (series of brief explanations, such as definitions or pronunciations) placed between lines (inter- + linear), such as between a line of original text and its translation into another language. When glossed, each line of the original text acquires one or more lines of transcription known as an interlinear text or interlinear glossed text (IGT)—interlinear for short. Such glosses help the reader follow the relationship between the source text and its translation, and the structure of the original language. There is no standard inventory for glosses, but common labels are collected in the Leipzig Glossing Rules. Wikipedia also provides a List of glossing abbreviations that draws on this and other sources. === General Ontology for Linguistic Description (GOLD) === GOLD ("General Ontology for Linguistic Description") is an ontology for descriptive linguistics. It gives a formalized account of the most basic categories and relations used in the scientific description of human language, e.g., as a formalization of interlinear glosses. GOLD was first introduced by Farrar and Langendoen (2003). Originally, it was envisioned as a solution to the problem of resolving disparate markup schemes for linguistic data, in particular data from endangered languages. However, GOLD is much more general and can be applied to all languages. In this function, GOLD overlaps with the ISO 12620 Data Category Registry (ISOcat); it is, however, more stringently structured. GOLD was maintained by the LINGUIST List and others from 2007 to 2010. The RELISH project created a mirro

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  • Novell File Reporter

    Novell File Reporter

    Novell File Reporter (NFR) is software that allows network administrators to identify files stored on the network and generates reports regarding the size of individual files, file type, when files were last accessed, and where duplicates exist. Additionally, the File Reporter tracks storage volume capacity and usage. It is a component of the Novell File Management Suite. == How it works == Novell File Reporter examines and reports on terabytes of data via a central reporting engine (NFR Engine) and distributed agents (NFR Agents). The NFR Engine schedules the scans of file instances conducted by NFR Agents, processes and compiles the scans for reporting purposes, and provides report information to the user interface. In addition to the standard reports it can generate, the NFR Engine can also produce "trigger reports" in response to specific events (a server volume crossing a capacity threshold, for example). Accordingly, the NFR Engine monitors the data gathered by the NFR Agents in order to identify these "triggers." The NFR Engine when working in either eDirectory or Active Directory connects to the directory via a Directory Services Interface (DSI) and thus can monitor and check file permissions.

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  • Metadirectory

    Metadirectory

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

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  • CAMeL-View TestRig

    CAMeL-View TestRig

    CAMeL-View is a software application, which is used for the model based design of mechatronic systems (multi-body simulation, block diagrams, pneumatic systems, hydraulic systems, general simulation, linear analysis and Hardware-in-the-Loop). CAMeL-View enables object-oriented model creation of mechatronic systems through the use of graphic blocks. The basic elements of multi-body system dynamics, control technology, hydraulics and hardware connectivity support the modeling process. The user’s proprietary C-Code can also be integrated into the models, which allows CAMeL-View TestRig to be implemented in all phases of the model based design process ( modeling, physical testing and prototyping), and lends itself especially well to mechatronic system design. The model’s structure is described and displayed with the help of directional connectors. Physical connections (such as mechanical or hydraulic linkages) as well as input and output connections (signal flow) are also available. The input of equations is done via mathematical expressions, e.g. the input of constitutive differential equations in vector and matrix form. Based on the model’s structure, the descriptive equations are converted into non-linear state space representations and converted into executable C-Code. CAMeL-View supports the simulation process with a configurable “experiment environment” (for simulator and instrumentation components) which allows the user to apply simulation models to supported targets (MPC5200, TriCore, X86, etc.) without the need for additional software tools for Hardware-in-the-Loop applications. In addition, the generation of so-called S-Functions for use in Simulink and the generation of ANSI C-Code for use in stand-alone simulators is also supported. A particularly noteworthy feature in CAMeL-View TestRig is the way in which the descriptive equations for multi-body system models are created. All multi-body simulation formalisms used for code generation create their equations in the form of typical explicit differential equations (ODE). This is especially important in Hardware-in-the-Loop applications where the calculation of simulation results within a specific, defined time frame must be assured. Only then is it possible to implement complex multi-body simulation models for Hardware-in-the-Loop applications under stringent real-time conditions. These constraints cannot be met when using DAE-based methods. Additional Toolboxes are available for linear analysis (Eigenvalues, pole-zero analysis, frequency response, etc.) of VRML-based animation. Development of CAMeL-View began in 1991 in the Paderborn Mechatronic Laboratory of Professor Dr. Ing. J. Lückel. The software was based on predecessors that had been developed there since 1986. The name stands for Computer Aided Mechatronic Laboratory – Virtual Engineering Workbench and describes the basic intent of one of the specific demands placed on development engineers in the computer lab.

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  • Maritime Informatics

    Maritime Informatics

    Maritime Informatics is a thematic topic within the broader discipline of informatics. It can be considered as both a field of study and domain of application. As an application domain, it is the outlet of innovations originating from data science and artificial intelligence; as a field of study, it is positioned between computer science and marine engineering. == Beginnings of maritime informatics == As a result of the increasing levels of digitalisation occurring in the maritime sector starting around 2010 and stimulated by the EU-endorsed MonaLisa project for sea traffic management (STM), a number of academics and shipping industry leaders recognised that the maritime transportation sector would benefit from a specific field of study and application to be known as Maritime Informatics - the use of information systems, data sharing and data analytics in the business and operations of maritime transportation. They considered that it would lead to improvements in efficiency, safety, resilience, and ecological sustainability - all of which are currently lacking for many aspects of sea transport. One of the first public airings of the concept of Maritime Informatics was a presentation delivered on 11 September 2014 in Gothenburg, Sweden. A proposal for an inaugural minitrack on Maritime Informatics was accepted for the 2015 Americas Conference on Information Systems in Puerto Rico where three papers were presented. Since then numerous publications has been brought forward captured at www.maritimeinformatics.org and in late 2020 the first reference book on Maritime Informatics was co-written by 81 expert contributors (47 practitioners and 34 researchers) from 20 countries. Most impactful authors and journals in the domain have been documented in a review paper. Dimitrios Zissis, Luca Cazzanti and Leonardo M. Millefiori are the top three authors; top journals and conferences include Ocean Engineering, Proceedings of the 12th ACM International Conference on Distributed and Event-based Systems, Sensors, the international Conference On Engineering, Technology And Innovation, Expert Systems With Applications, IEEE Access, and Journal of Navigation. == Background == The shipping industry has several particular organisational aspects that are recognised and taken into account in maritime informatics: It is predominantly a self-organising ecosystem Many activities are undertaken as part of episodic tight coupling There is a so-called maritime stack There is increasing pressure to balance capital productivity and energy efficiency There is the potential virtuous interplay between different types of systems == Data sharing == Digital data sharing is key to the all-important, arguably fundamental, data analytics aspects of maritime informatics because it opens the way for better access to relevant and reliable data. As in land-based commerce, digital data sharing is a growing phenomenon in maritime operations - though there is a way to go. It is enabling greater transparency for all those involved in the transportation of goods and passengers, not least being the end-customer. This leads to better and more informed decision-making and planning by all those involved. The push for digitalisation and data sharing is being pursued both by governments and the commercial sector. For example, the Member States of the IMO agreed a mandatory requirement for their governments to introduce electronic information exchange between ships and ports as from 8 April 2019. Meanwhile, commercial operators, particularly in the container lines are putting systems in place for sharing data for mutual benefit in their operations. Data sharing is an important aspect of the Port Collaborative Decision Making (PortCDM) and Port Call Optimization initiatives, both of which seek to improve the coordination, synchronization and efficiency of the port call process by enabling a common and shared situational awareness among all those involved. == Standardisation == The availability and sharing of relevant digital data underpins maritime informatics and is key to more effective and efficient coordination and synchronisation in the predominantly self-organising ecosystem that is maritime transportation. For this to occur, a high priority underpinning maritime informatics is the encouragement of standardised digital data exchange and data sharing, leading, in turn, to improvements in shipping analytics. Improved availability of data will support better historical analysis, now-casting and forecasting. The International Maritime Organization (IMO) FAL Committee is taking the lead in ensuring that the common terms used in the various standards being developed or in use in the maritime sector are compatible and therefore interoperable as far as is practicable, by creating and maintaining The IMO Compendium on Facilitation and Electronic Business. The IMO Compendium consists of an IMO Data Set and IMO Reference Data Model agreed by the main organisations involved in the development of standards for the electronic exchange of information related to the FAL Convention: the World Customs Organization (WCO), the United Nations Economic Commission for Europe (UNECE) and the International Organization for Standardization (ISO). There are several other prominent international governmental and non-governmental organisations actively contributing to the ongoing standardisation and harmonisation process including the UN Electronic Data Interchange for Administration, Commerce and Transport (UN EDIFACT), the Digital Container Shipping Association (DCSA), the International Harbour Masters Association (IHMA) and BIMCO - the world's largest direct-membership organisation for shipowners, charterers, shipbrokers and agents.

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  • Flajolet–Martin algorithm

    Flajolet–Martin algorithm

    The Flajolet–Martin algorithm is an algorithm for approximating the number of distinct elements in a stream with a single pass and space-consumption logarithmic in the maximal number of possible distinct elements in the stream (the count-distinct problem). The algorithm was introduced by Philippe Flajolet and G. Nigel Martin in their 1984 article "Probabilistic Counting Algorithms for Data Base Applications". Later it has been refined in "LogLog counting of large cardinalities" by Marianne Durand and Philippe Flajolet, and "HyperLogLog: The analysis of a near-optimal cardinality estimation algorithm" by Philippe Flajolet et al. In their 2010 article "An optimal algorithm for the distinct elements problem", Daniel M. Kane, Jelani Nelson and David P. Woodruff give an improved algorithm, which uses nearly optimal space and has optimal O(1) update and reporting times. == The algorithm == Assume that we are given a hash function h a s h ( x ) {\displaystyle \mathrm {hash} (x)} that maps input x {\displaystyle x} to integers in the range [ 0 ; 2 L − 1 ] {\displaystyle [0;2^{L}-1]} , and where the outputs are sufficiently uniformly distributed. Note that the set of integers from 0 to 2 L − 1 {\displaystyle 2^{L}-1} corresponds to the set of binary strings of length L {\displaystyle L} . For any non-negative integer y {\displaystyle y} , define b i t ( y , k ) {\displaystyle \mathrm {bit} (y,k)} to be the k {\displaystyle k} -th bit in the binary representation of y {\displaystyle y} , such that: y = ∑ k ≥ 0 b i t ( y , k ) 2 k . {\displaystyle y=\sum _{k\geq 0}\mathrm {bit} (y,k)2^{k}.} We then define a function ρ ( y ) {\displaystyle \rho (y)} that outputs the position of the least-significant set bit in the binary representation of y {\displaystyle y} , and L {\displaystyle L} if no such set bit can be found as all bits are zero: ρ ( y ) = { min { k ≥ 0 ∣ b i t ( y , k ) ≠ 0 } y > 0 L y = 0 {\displaystyle \rho (y)={\begin{cases}\min\{k\geq 0\mid \mathrm {bit} (y,k)\neq 0\}&y>0\\L&y=0\end{cases}}} Note that with the above definition we are using 0-indexing for the positions, starting from the least significant bit. For example, ρ ( 13 ) = ρ ( 1101 2 ) = 0 {\displaystyle \rho (13)=\rho (1101_{2})=0} , since the least significant bit is a 1 (0th position), and ρ ( 8 ) = ρ ( 1000 2 ) = 3 {\displaystyle \rho (8)=\rho (1000_{2})=3} , since the least significant set bit is at the 3rd position. At this point, note that under the assumption that the output of our hash function is uniformly distributed, then the probability of observing a hash output ending with 2 k {\displaystyle 2^{k}} (a one, followed by k {\displaystyle k} zeroes) is 2 − ( k + 1 ) {\displaystyle 2^{-(k+1)}} , since this corresponds to flipping k {\displaystyle k} heads and then a tail with a fair coin. Now the Flajolet–Martin algorithm for estimating the cardinality of a multiset M {\displaystyle M} is as follows: Initialize a bit-vector BITMAP to be of length L {\displaystyle L} and contain all 0s. For each element x {\displaystyle x} in M {\displaystyle M} : Calculate the index i = ρ ( h a s h ( x ) ) {\displaystyle i=\rho (\mathrm {hash} (x))} . Set B I T M A P [ i ] = 1 {\displaystyle \mathrm {BITMAP} [i]=1} . Let R {\displaystyle R} denote the smallest index i {\displaystyle i} such that B I T M A P [ i ] = 0 {\displaystyle \mathrm {BITMAP} [i]=0} . Estimate the cardinality of M {\displaystyle M} as 2 R / ϕ {\displaystyle 2^{R}/\phi } , where ϕ ≈ 0.77351 {\displaystyle \phi \approx 0.77351} . The idea is that if n {\displaystyle n} is the number of distinct elements in the multiset M {\displaystyle M} , then B I T M A P [ 0 ] {\displaystyle \mathrm {BITMAP} [0]} is accessed approximately n / 2 {\displaystyle n/2} times, B I T M A P [ 1 ] {\displaystyle \mathrm {BITMAP} [1]} is accessed approximately n / 4 {\displaystyle n/4} times and so on. Consequently, if i ≫ log 2 ⁡ n {\displaystyle i\gg \log _{2}n} , then B I T M A P [ i ] {\displaystyle \mathrm {BITMAP} [i]} is almost certainly 0, and if i ≪ log 2 ⁡ n {\displaystyle i\ll \log _{2}n} , then B I T M A P [ i ] {\displaystyle \mathrm {BITMAP} [i]} is almost certainly 1. If i ≈ log 2 ⁡ n {\displaystyle i\approx \log _{2}n} , then B I T M A P [ i ] {\displaystyle \mathrm {BITMAP} [i]} can be expected to be either 1 or 0. The correction factor ϕ ≈ 0.77351 {\displaystyle \phi \approx 0.77351} (OEIS: A244256) is found by calculations, which can be found in the original article. == Improving accuracy == A problem with the Flajolet–Martin algorithm in the above form is that the results vary significantly. A common solution has been to run the algorithm multiple times with k {\displaystyle k} different hash functions and combine the results from the different runs. One idea is to take the mean of the k {\displaystyle k} results together from each hash function, obtaining a single estimate of the cardinality. The problem with this is that averaging is very susceptible to outliers (which are likely here). A different idea is to use the median, which is less prone to be influences by outliers. The problem with this is that the results can only take form 2 R / ϕ {\displaystyle 2^{R}/\phi } , where R {\displaystyle R} is integer. A common solution is to combine both the mean and the median: Create k ⋅ l {\displaystyle k\cdot l} hash functions and split them into k {\displaystyle k} distinct groups (each of size l {\displaystyle l} ). Within each group use the mean for aggregating together the l {\displaystyle l} results, and finally take the median of the k {\displaystyle k} group estimates as the final estimate. The 2007 HyperLogLog algorithm splits the multiset into subsets and estimates their cardinalities, then it uses the harmonic mean to combine them into an estimate for the original cardinality.

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