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  • History of natural language processing

    History of natural language processing

    The history of natural language processing describes the advances of natural language processing. There is some overlap with the history of machine translation, the history of speech recognition, and the history of artificial intelligence. == Early history == The history of machine translation dates back to the seventeenth century, when philosophers such as Leibniz and Descartes put forward proposals for codes which would relate words between languages. All of these proposals remained theoretical, and none resulted in the development of an actual machine. The first patents for "translating machines" were applied for in the mid-1930s. One proposal, by Georges Artsrouni, was simply an automatic bilingual dictionary using paper tape. The other proposal, by Peter Troyanskii, a Russian, was more detailed. Troyanskii’s proposal included both the bilingual dictionary and a method for dealing with grammatical roles between languages, based on Esperanto. == Logical period == In 1950, Alan Turing published his famous article "Computing Machinery and Intelligence" which proposed what is now called the Turing test as a criterion of intelligence. This criterion depends on the ability of a computer program to impersonate a human in a real-time written conversation with a human judge, sufficiently well that the judge is unable to distinguish reliably — on the basis of the conversational content alone — between the program and a real human. In 1957, Noam Chomsky’s Syntactic Structures revolutionized Linguistics with 'universal grammar', a rule-based system of syntactic structures. The Georgetown experiment in 1954 involved fully automatic translation of more than sixty Russian sentences into English. The authors claimed that within three or five years, machine translation would be a solved problem. However, real progress was much slower, and after the ALPAC report in 1966, which found that ten years long research had failed to fulfill the expectations, funding for machine translation was dramatically reduced. Little further research in machine translation was conducted until the late 1980s, when the first statistical machine translation systems were developed. Some notably successful NLP systems developed in the 1960s were SHRDLU, a natural language system working in restricted "blocks worlds" with restricted vocabularies. In 1969 Roger Schank introduced the conceptual dependency theory for natural language understanding. This model, partially influenced by the work of Sydney Lamb, was extensively used by Schank's students at Yale University, such as Robert Wilensky, Wendy Lehnert, and Janet Kolodner. In 1970, William A. Woods introduced the augmented transition network (ATN) to represent natural language input. Instead of phrase structure rules ATNs used an equivalent set of finite-state automata that were called recursively. ATNs and their more general format called "generalized ATNs" continued to be used for a number of years. During the 1970s many programmers began to write 'conceptual ontologies', which structured real-world information into computer-understandable data. Examples are MARGIE (Schank, 1975), SAM (Cullingford, 1978), PAM (Wilensky, 1978), TaleSpin (Meehan, 1976), QUALM (Lehnert, 1977), Politics (Carbonell, 1979), and Plot Units (Lehnert 1981). During this time, many chatterbots were written including PARRY, Racter, and Jabberwacky. == Statistical period == Up to the 1980s, most NLP systems were based on complex sets of hand-written rules. Starting in the late 1980s, however, there was a revolution in NLP with the introduction of machine learning algorithms for language processing. This was due both to the steady increase in computational power resulting from Moore's law and the gradual lessening of the dominance of Chomskyan theories of linguistics (e.g. transformational grammar), whose theoretical underpinnings discouraged the sort of corpus linguistics that underlies the machine-learning approach to language processing. Some of the earliest-used machine learning algorithms, such as decision trees, produced systems of hard if-then rules similar to existing hand-written rules. Increasingly, however, research has focused on statistical models, which make soft, probabilistic decisions based on attaching real-valued weights to the features making up the input data. The cache language models upon which many speech recognition systems now rely are examples of such statistical models. Such models are generally more robust when given unfamiliar input, especially input that contains errors (as is very common for real-world data), and produce more reliable results when integrated into a larger system comprising multiple subtasks. === Datasets === The emergence of statistical approaches was aided by both increase in computing power and the availability of large datasets. At that time, large multilingual corpora were starting to emerge. Notably, some were produced by the Parliament of Canada and the European Union as a result of laws calling for the translation of all governmental proceedings into all official languages of the corresponding systems of government. Many of the notable early successes occurred in the field of machine translation. In 1993, the IBM alignment models were used for statistical machine translation. Compared to previous machine translation systems, which were symbolic systems manually coded by computational linguists, these systems were statistical, which allowed them to automatically learn from large textual corpora. Though these systems do not work well in situations where only small corpora is available, so data-efficient methods continue to be an area of research and development. In 2001, a one-billion-word large text corpus, scraped from the Internet, referred to as "very very large" at the time, was used for word disambiguation. To take advantage of large, unlabelled datasets, algorithms were developed for unsupervised and self-supervised learning. Generally, this task is much more difficult than supervised learning, and typically produces less accurate results for a given amount of input data. However, there is an enormous amount of non-annotated data available (including, among other things, the entire content of the World Wide Web), which can often make up for the inferior results. == Neural period == Neural language models were developed in 1990s. In 1990, the Elman network, using a recurrent neural network, encoded each word in a training set as a vector, called a word embedding, and the whole vocabulary as a vector database, allowing it to perform such tasks as sequence-predictions that are beyond the power of a simple multilayer perceptron. A shortcoming of the static embeddings was that they didn't differentiate between multiple meanings of homonyms. Yoshua Bengio developed the first neural probabilistic language model in 2000. Novel algorithms, availability of larger datasets and higher processing power made possible training of larger and larger language models. Attention mechanism was introduced by Bahdanau et al. in 2014. This work laid the foundations for the famous "Attention Is All You Need" paper that introduced the Transformer architecture in 2017. The concept of large language model (LLM) emerged in late 2010s. LLM is a language model trained with self-supervised learning on vast amount of text. Earliest public LLMs had hundreds of millions of parameters, but this number quickly rose to billion and even trillions. In recent years, advancements in deep learning and large language models have significantly enhanced the capabilities of natural language processing, leading to widespread applications in areas such as healthcare, customer service, and content generation. == Software ==

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  • Automated attendant

    Automated attendant

    In telephony, an automated attendant (also auto attendant, auto-attendant, autoattendant, automatic phone menus, AA, or virtual receptionist) allows callers to be automatically transferred to an extension without the intervention of an operator/receptionist. Many AAs will also offer a simple menu system ("for sales, press 1, for service, press 2," etc.). An auto attendant may also allow a caller to reach a live operator by dialing a number, usually "0". Typically the auto attendant is included in a business's phone system such as a PBX, but some services allow businesses to use an AA without such a system. Modern AA services (which now overlap with more complicated interactive voice response or IVR systems) can route calls to mobile phones, VoIP virtual phones, other AAs/IVRs, or other locations using traditional land-line phones or voice message machines. == Feature description == Telephone callers will recognize an automated attendant system as one that greets calls incoming to an organization with a recorded greeting of the form, "Thank you for calling .... If you know your party's extension, you may dial it any time during this message." Callers who have a touch-tone (DTMF) phone can dial an extension number or, in most cases, wait for operator ("attendant") assistance. Since the telephone network does not transmit the DC signals from rotary dial telephones (except for audible clicks), callers who have rotary dial phones have to wait for assistance. On a purely technical level it could be argued that an automated attendant is a very simple kind of IVR however, in the telecom industry the terms IVR and auto attendant are generally considered distinct. An automated attendant serves a very specific purpose (replace live operator and route calls), whereas an IVR can perform all sorts of functions (telephone banking, account inquiries, etc.). An AA will often include a directory which will allow a caller to dial by name in order to find a user on a system. There is no standard format to these directories, and they can use combinations of first name, last name, or both. The following lists common routing steps that are components of an automated attendant: Transfer to extension Transfer to voicemail Play message (i.e., "our address is ...") Go to a sub-menu Repeat choices In addition, an automated attendant would be expected to have values for the following: '0' – where to go when the caller dials '0' Timeout – what to do if the caller does nothing (usually go to the same place as '0') Default mailbox – where to send calls if '0' is not answered (or is not pointing to a live person) == Background == PBXs (private branch exchanges) or PABXs (private automatic branch exchanges) are telephone systems that serve an organization that has many telephone extensions but fewer telephone lines (sometimes called "trunks") that connect that organization to the rest of the global telecommunications network. While persons within an enterprise served by a PBX can call each other by dialing their extension numbers, incoming calls, i.e., calls originating from a telephone not served by the PBX but intended for a party served by the PBX, required assistance from a switchboard operator (also called a "switchboard attendant") or a telephone service called DID ("direct inward dialing"). Direct inward dialing has advantages such as rapid connection to the destination party and disadvantages including cost, lack of identification of the called organization and use of ten-digit telephone numbers. Automated attendants provide, among many other things, a way for an external caller to be directed to an extension or department served by a PBX system without using direct inward dialing or without switchboard attendant assistance. == History == Automated attendants are not part of voicemail systems. Voice messaging (or voicemail or VM) technology has existed since the late 1970s; in the early 1980s companies provided voice-prompting systems that allowed callers to reach (route the call) to an intended party, not necessarily to leave a message. Automated attendant systems are also referred to as automated menu systems and much early work in this field was done by Michael J. Freeman, Ph.D. == Time-based routing == Many auto attendants will have options to allow for time-of-day routing, as well as weekend and holiday routing. The specifics of these features will depend entirely on the particular automated attendant, but typically there would be a normal greeting and routing steps that would take place during normal business hours, and a different greeting and routing for non-business hours.

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  • Automatic meter reading

    Automatic meter reading

    Automatic meter reading (AMR) is the technology of automatically collecting consumption, diagnostic, and status data from water meter or energy metering devices (gas, electric) and transferring that data to a central database for billing, troubleshooting, and analyzing. This technology mainly saves utility providers the expense of periodic trips to each physical location to read a meter. Another advantage is that billing can be based on near real-time consumption rather than on estimates based on past or predicted consumption. This timely information coupled with analysis can help both utility providers and customers better control the use and production of electric energy, gas usage, or water consumption. AMR technologies include handheld, mobile and network technologies based on telephony platforms (wired and wireless), radio frequency (RF), or powerline transmission. == Technologies == === Touch technology === With touch-based AMR, a meter reader carries a handheld computer or data collection device with a wand or probe. The device automatically collects the readings from a meter by touching or placing the read probe close to a reading coil enclosed in the touchpad. When a button is pressed, the probe sends an interrogate signal to the touch module to collect the meter reading. The software in the device matches the serial number to one in the route database, and saves the meter reading for later download to a billing or data collection computer. Since the meter reader still has to go to the site of the meter, this is sometimes referred to as "on-site" AMR. Another form of contact reader uses a standardized infrared port to transmit data. Protocols are standardized between manufacturers by such documents as ANSI C12.18 or IEC 61107. === AMR hosting === AMR hosting is a back-office solution which allows a user to track their electricity, water, or gas consumption over the Internet. All data is collected in near real-time, and is stored in a database by data acquisition software. The user can view the data via a web application, and can analyze the data using various online analysis tools such as charting load profiles, analyzing tariff components, and verify their utility bill. === Radio frequency network === Radio frequency based AMR can take many forms. The more common ones are handheld, mobile, satellite and fixed network solutions. There are both two-way RF systems and one-way RF systems in use that use both licensed and unlicensed RF bands. In a two-way or "wake up" system, a radio signal is normally sent to an AMR meter's unique serial number, instructing its transceiver to power-up and transmit its data. The meter transceiver and the reading transceiver both send and receive radio signals. In a one-way "bubble-up" or continuous broadcast type system, the meter transmits continuously and data is sent every few seconds. This means the reading device can be a receiver only, and the meter a transmitter only. Data travels only from the meter transmitter to the reading receiver. There are also hybrid systems that combine one-way and two-way techniques, using one-way communication for reading and two-way communication for programming functions. RF-based meter reading usually eliminates the need for the meter reader to enter the property or home, or to locate and open an underground meter pit. The utility saves money by increased speed of reading, has less liability from entering private property, and has fewer missed readings from being unable to access the meter. The technology based on RF is not readily accepted everywhere. In several Asian countries, the technology faces a barrier of regulations in place pertaining to use of the radio frequency of any radiated power. For example, in India the radio frequency which is generally in ISM band is not free to use even for low power radio of 10 mW. The majority of manufacturers of electricity meters have radio frequency devices in the frequency band of 433/868 MHz for large scale deployment in European countries. The frequency band of 2.4 GHz can be now used in India for outdoor as well as indoor applications, but few manufacturers have shown products within this frequency band. Initiatives in radio frequency AMR in such countries are being taken up with regulators wherever the cost of licensing outweighs the benefits of AMR. ==== Handheld ==== In handheld AMR, a meter reader carries a handheld computer with a built-in or attached receiver/transceiver (radio frequency or touch) to collect meter readings from an AMR capable meter. This is sometimes referred to as "walk-by" meter reading since the meter reader walks by the locations where meters are installed as they go through their meter reading route. Handheld computers may also be used to manually enter readings without the use of AMR technology as an alternate but this will not support exhaustive data which can be accurately read using the meter reading electronically. ==== Mobile ==== Mobile or "drive-by" meter reading is where a reading device is installed in a vehicle. The meter reader drives the vehicle while the reading device automatically collects the meter readings. Often, for mobile meter reading, the reading equipment includes navigational and mapping features provided by GPS and mapping software. With mobile meter reading, the reader does not normally have to read the meters in any particular route order, but just drives the service area until all meters are read. Components often consist of a laptop or proprietary computer, software, RF receiver/transceiver, and external vehicle antennas. ==== Satellite ==== Transmitters for data collection satellites can be installed in the field next to existing meters. The satellite AMR devices communicate with the meter for readings, and then sends those readings over a fixed or mobile satellite network. This network requires a clear view to the sky for the satellite transmitter/receiver, but eliminates the need to install fixed towers or send out field technicians, thereby being particularly suited for areas with low geographic meter density. ==== RF technologies commonly used for AMR ==== Narrow Band (single fixed radio frequency) Spread spectrum Direct-sequence spread spectrum (DSSS) Frequency-hopping spread spectrum (FHSS) There are also meters using AMR with RF technologies such as cellular phone data systems, Zigbee, Bluetooth, Wavenis and others. Some systems operate with U.S. Federal Communications Commission (FCC) licensed frequencies and others under FCC Part 15, which allows use of unlicensed radio frequencies. ==== Wi-Fi ==== WiSmart is a versatile platform which can be used by a variety of electrical home appliances in order to provide wireless TCP/IP communication using the 802.11 b/g protocol. Devices such as the Smart Thermostat permit a utility to lower a home's power consumption to help manage power demand. The city of Corpus Christi became one of the first cities in the United States to implement citywide Wi-Fi, which had been free until May 31, 2007, mainly to facilitate AMR after a meter reader was attacked by a dog. Today many meters are designed to transmit using Wi-Fi, even if a Wi-Fi network is not available, and they are read using a drive-by local Wi-Fi hand held receiver. The meters installed in Corpus Christi are not directly Wi-Fi enabled, but rather transmit narrow-band burst telemetry on the 460 MHz band. This narrow-band signal has much greater range than Wi-Fi, so the number of receivers required for the project are far fewer. Special receiver stations then decode the narrow-band signals and resend the data via Wi-Fi. Most of the automated utility meters installed in the Corpus Christi area are battery powered. Wi-Fi technology is unsuitable for long-term battery-powered operation. === Power line communication === PLC is a method where electronic data is transmitted over power lines back to the substation, then relayed to a central computer in the utility's main office. This would be considered a type of fixed network system—the network being the distribution network which the utility has built and maintains to deliver electric power. Such systems are primarily used for electric meter reading. Some providers have interfaced gas and water meters to feed into a PLC type system. == Brief history == In 1972, Theodore George "Ted" Paraskevakos, while working with Boeing in Huntsville, Alabama, developed a sensor monitoring system which used digital transmission for security, fire and medical alarm systems as well as meter reading capabilities for all utilities. This technology was a spin-off of the automatic telephone line identification system, now known as caller ID. In 1974, Paraskevakos was awarded a U.S. patent for this technology. In 1977, he launched Metretek, Inc., which developed and produced the first fully automated, commercially available remote meter reading and load management system. Since this system was developed pre-Internet, Metret

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  • Video renderer

    Video renderer

    A video renderer is software that processes a video file and sends it sequentially to the video display controller card for display on a computer screen. An example of a video renderer, is the VMR-7 that was used by Microsoft's DirectShow. An example of a UNIX video renderer is the one container within GStreamer. Commonly used video renderers are: Enhanced Video Renderer VMR9 Renderless Haali's Video Renderer Madvr Video Renderer JRVR, a part of JRiver Media Center

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  • Robomart

    Robomart

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

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  • Voice activity detection

    Voice activity detection

    Voice activity detection (VAD), also known as speech activity detection or speech detection, is the detection of the presence or absence of human speech, used in speech processing. The main uses of VAD are in speaker diarization, speech coding and speech recognition. It can facilitate speech processing, and can also be used to deactivate some processes during non-speech section of an audio session: it can avoid unnecessary coding/transmission of silence packets in Voice over Internet Protocol (VoIP) applications, saving on computation and on network bandwidth. VAD is an important enabling technology for a variety of speech-based applications. Therefore, various VAD algorithms have been developed that provide varying features and compromises between latency, sensitivity, accuracy and computational cost. Some VAD algorithms also provide further analysis, for example whether the speech is voiced, unvoiced or sustained. Voice activity detection is usually independent of language. It was first investigated for use on time-assignment speech interpolation (TASI) systems. == Algorithm overview == The typical design of a VAD algorithm is as follows: There may first be a noise reduction stage, e.g. via spectral subtraction. Then some features or quantities are calculated from a section of the input signal. A classification rule is applied to classify the section as speech or non-speech – often this classification rule finds when a value exceeds a certain threshold. There may be some feedback in this sequence, in which the VAD decision is used to improve the noise estimate in the noise reduction stage, or to adaptively vary the threshold(s). These feedback operations improve the VAD performance in non-stationary noise (i.e. when the noise varies a lot). A representative set of recently published VAD methods formulates the decision rule on a frame by frame basis using instantaneous measures of the divergence distance between speech and noise. The different measures which are used in VAD methods include spectral slope, correlation coefficients, log likelihood ratio, cepstral, weighted cepstral, and modified distance measures. Independently from the choice of VAD algorithm, a compromise must be made between having voice detected as noise, or noise detected as voice (between false positive and false negative). A VAD operating in a mobile phone must be able to detect speech in the presence of a range of very diverse types of acoustic background noise. In these difficult detection conditions it is often preferable that a VAD should fail-safe, indicating speech detected when the decision is in doubt, to lower the chance of losing speech segments. The biggest difficulty in the detection of speech in this environment is the very low signal-to-noise ratios (SNRs) that are encountered. It may be impossible to distinguish between speech and noise using simple level detection techniques when parts of the speech utterance are buried below the noise. == Applications == VAD is an integral part of different speech communication systems such as audio conferencing, echo cancellation, speech recognition, speech encoding, speaker recognition and hands-free telephony. In the field of multimedia applications, VAD allows simultaneous voice and data applications. Similarly, in Universal Mobile Telecommunications Systems (UMTS), it controls and reduces the average bit rate and enhances overall coding quality of speech. In cellular radio systems (for instance GSM and CDMA systems) based on Discontinuous Transmission (DTX) mode, VAD is essential for enhancing system capacity by reducing co-channel interference and power consumption in portable digital devices. In speech processing applications, voice activity detection plays an important role since non-speech frames are often discarded. For a wide range of applications such as digital mobile radio, Digital Simultaneous Voice and Data (DSVD) or speech storage, it is desirable to provide a discontinuous transmission of speech-coding parameters. Advantages can include lower average power consumption in mobile handsets, higher average bit rate for simultaneous services like data transmission, or a higher capacity on storage chips. However, the improvement depends mainly on the percentage of pauses during speech and the reliability of the VAD used to detect these intervals. On the one hand, it is advantageous to have a low percentage of speech activity. On the other hand, clipping, that is the loss of milliseconds of active speech, should be minimized to preserve quality. This is the crucial problem for a VAD algorithm under heavy noise conditions. === Use in telemarketing === One controversial application of VAD is in conjunction with predictive dialers used by telemarketing firms. In order to maximize agent productivity, telemarketing firms set up predictive dialers to call more numbers than they have agents available, knowing most calls will end up in either "Ring – No Answer" or answering machines. When a person answers, they typically speak briefly ("Hello", "Good evening", etc.) and then there is a brief period of silence. Answering machine messages are usually 3–15 seconds of continuous speech. By setting VAD parameters correctly, dialers can determine whether a person or a machine answered the call and, if it's a person, transfer the call to an available agent. If it detects an answering machine message, the dialer hangs up. Often, even when the system correctly detects a person answering the call, no agent may be available, resulting in a "silent call". Call screening with a multi-second message like "please say who you are, and I may pick up the phone" will frustrate such automated calls. == Performance evaluation == To evaluate a VAD, its output using test recordings is compared with those of an "ideal" VAD – created by hand-annotating the presence or absence of voice in the recordings. The performance of a VAD is commonly evaluated on the basis of the following four parameters: FEC (Front End Clipping): clipping introduced in passing from noise to speech activity; MSC (Mid Speech Clipping): clipping due to speech misclassified as noise; OVER: noise interpreted as speech due to the VAD flag remaining active in passing from speech activity to noise; NDS (Noise Detected as Speech): noise interpreted as speech within a silence period. Although the method described above provides useful objective information concerning the performance of a VAD, it is only an approximate measure of the subjective effect. For example, the effects of speech signal clipping can at times be hidden by the presence of background noise, depending on the model chosen for the comfort noise synthesis, so some of the clipping measured with objective tests is in reality not audible. It is therefore important to carry out subjective tests on VADs, the main aim of which is to ensure that the clipping perceived is acceptable. In VoIP applications, front-end clipping can be reduced by rewinding to shortly before the detection and sending very slightly delayed data. This kind of test requires a certain number of listeners to judge recordings containing the processing results of the VADs being tested, giving marks to several speech sequences on the following features: Quality; Comprehension difficulty; Audibility of clipping. These marks are then used to calculate average results for each of the features listed above, thus providing a global estimate of the behavior of the VAD being tested. To conclude, whereas objective methods are very useful in an initial stage to evaluate the quality of a VAD, subjective methods are more significant. As they require the participation of several people for a few days, increasing cost, they are generally only used when a proposal is about to be standardized. == Implementations == One early standard VAD is that developed by British Telecom for use in the Pan-European digital cellular mobile telephone service in 1991. It uses inverse filtering trained on non-speech segments to filter out background noise, so that it can then more reliably use a simple power-threshold to decide if a voice is present. The G.729 standard calculates the following features for its VAD: line spectral frequencies, full-band energy, low-band energy (<1 kHz), and zero-crossing rate. It applies a simple classification using a fixed decision boundary in the space defined by these features, and then applies smoothing and adaptive correction to improve the estimate. The GSM standard includes two VAD options developed by ETSI. Option 1 computes the SNR in nine bands and applies a threshold to these values. Option 2 calculates different parameters: channel power, voice metrics, and noise power. It then thresholds the voice metrics using a threshold that varies according to the estimated SNR. The Speex audio compression library uses a procedure named Improved Minima Controlled Recursive Averaging, which uses a smoothed representation of spectral pow

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  • Human–robot interaction

    Human–robot interaction

    Human–robot interaction (HRI) is the study of interactions between humans and robots. Human–robot interaction is a multidisciplinary field with contributions from human–computer interaction, artificial intelligence, robotics, natural language processing, design, psychology and philosophy. A subfield known as physical human–robot interaction (pHRI) has tended to focus on device design to enable people to safely interact with robotic systems. == Origins == Human–robot interaction has been a topic of both science fiction and academic speculation even before any robots existed. Because much of active HRI development depends on natural language processing, many aspects of HRI are continuations of human communications, a field of research which is much older than robotics. The origin of HRI as a discrete problem was stated by 20th-century author Isaac Asimov in 1941, in his novel I, Robot. Asimov coined Three Laws of Robotics, namely: A robot may not injure a human being or, through inaction, allow a human being to come to harm. A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws. These three laws provide an overview of the goals engineers and researchers hold for safety in the HRI field, although the fields of robot ethics and machine ethics are more complex than these three principles. However, generally human–robot interaction prioritizes the safety of humans that interact with potentially dangerous robotics equipment. Solutions to this problem range from the philosophical approach of treating robots as ethical agents (individuals with moral agency), to the practical approach of creating safety zones. These safety zones use technologies such as lidar to detect human presence or physical barriers to protect humans by preventing any contact between machine and operator. Although initially robots in the human–robot interaction field required some human intervention to function, research has expanded this to the extent that fully autonomous systems are now far more common than in the early 2000s. Autonomous systems include from simultaneous localization and mapping systems which provide intelligent robot movement to natural-language processing and natural-language generation systems which allow for natural, human-esque interaction which meet well-defined psychological benchmarks. Anthropomorphic robots (machines which imitate human body structure) are better described by the biomimetics field, but overlap with HRI in many research applications. Examples of robots which demonstrate this trend include Willow Garage's PR2 robot, the NASA Robonaut, and Honda ASIMO. However, robots in the human–robot interaction field are not limited to human-like robots: Paro and Kismet are both robots designed to elicit emotional response from humans, and so fall into the category of human–robot interaction. Goals in HRI range from industrial manufacturing through Cobots, medical technology through rehabilitation, autism intervention, and elder care devices, entertainment, human augmentation, and human convenience. Future research therefore covers a wide range of fields, much of which focuses on assistive robotics, robot-assisted search-and-rescue, and space exploration. == The goal of friendly human–robot interactions == Robots are artificial agents with capacities of perception and action in the physical world often referred by researchers as workspace. Their use has been generalized in factories but nowadays they tend to be found in the most technologically advanced societies in such critical domains as search and rescue, military battle, mine and bomb detection, scientific exploration, law enforcement, entertainment and hospital care. These new domains of applications imply a closer interaction with the user, sharing the workspace but also goals in terms of task achievement. The subfield of physical human–robot interaction (pHRI) has largely focused on device design to enable people to safely interact with robotic systems but is increasingly developing algorithmic approaches in an attempt to support fluent and expressive interactions between humans and robotic systems. With the advance in AI, the research is focusing on one part towards the safest physical interaction but also on a socially correct interaction, dependent on cultural criteria. The goal is to build an intuitive, and easy communication with the robot through speech, gestures, and facial expressions. Kerstin Dautenhahn refers to friendly Human–robot interaction as "Robotiquette" defining it as the "social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans" The robot has to adapt itself to our way of expressing desires and orders and not the contrary. But every day environments such as homes have much more complex social rules than those implied by factories or even military environments. Thus, the robot needs perceiving and understanding capacities to build dynamic models of its surroundings. It needs to categorize objects, recognize and locate humans and further recognize their emotions. The need for dynamic capacities pushes forward every sub-field of robotics. Furthermore, by understanding and perceiving social cues, robots can enable collaborative scenarios with humans. For example, with the rapid rise of personal fabrication machines such as desktop 3D printers, laser cutters, etc., entering our homes, scenarios may arise where robots can collaboratively share control, co-ordinate and achieve tasks together. Industrial robots have already been integrated into industrial assembly lines and are collaboratively working with humans. The social impact of such robots have been studied and has indicated that workers still treat robots and social entities, rely on social cues to understand and work together. On the other end of HRI research the cognitive modelling of the "relationship" between human and the robots benefits the psychologists and robotic researchers the user study are often of interests on both sides. This research endeavours part of human society. For effective human – humanoid robot interaction numerous communication skills and related features should be implemented in the design of such artificial agents/systems. == General HRI research == HRI research spans a wide range of fields, some general to the nature of HRI. === Methods for perceiving humans === Methods for perceiving humans in the environment are based on sensor information. Research on sensing components and software led by Microsoft provide useful results for extracting the human kinematics (see Kinect). An example of older technique is to use colour information for example the fact that for light skinned people the hands are lighter than the clothes worn. In any case a human modelled a priori can then be fitted to the sensor data. The robot builds or has (depending on the level of autonomy the robot has) a 3D mapping of its surroundings to which is assigned the humans locations. Most methods intend to build a 3D model through vision of the environment. The proprioception sensors permit the robot to have information over its own state. This information is relative to a reference. Theories of proxemics may be used to perceive and plan around a person's personal space. A speech recognition system is used to interpret human desires or commands. By combining the information inferred by proprioception, sensor and speech the human position and state (standing, seated). In this matter, natural-language processing is concerned with the interactions between computers and human (natural) languages, in particular how to program computers to process and analyze large amounts of natural-language data. For instance, neural-network architectures and learning algorithms that can be applied to various natural-language processing tasks including part-of-speech tagging, chunking, named-entity recognition, and semantic role labeling. === Methods for motion planning === Motion planning in dynamic environments is a challenge that can at the moment only be achieved for robots with 3 to 10 degrees of freedom. Humanoid robots or even 2 armed robots, which can have up to 40 degrees of freedom, are unsuited for dynamic environments with today's technology. However lower-dimensional robots can use the potential field method to compute trajectories which avoid collisions with humans. === Cognitive models and theory of mind === Humans exhibit negative social and emotional responses as well as decreased trust toward some robots that closely, but imperfectly, resemble humans; this phenomenon has been termed the "Uncanny Valley". However recent research in telepresence robots has established that mimicking human body postures and expressive gestures has made the robots likeable and engaging in a remote setting. Further, the presence o

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  • Shearlet

    Shearlet

    In applied mathematical analysis, shearlets are a multiscale framework which allows efficient encoding of anisotropic features in multivariate problem classes. Originally, shearlets were introduced in 2006 for the analysis and sparse approximation of functions f ∈ L 2 ( R 2 ) {\displaystyle f\in L^{2}(\mathbb {R} ^{2})} . They are a natural extension of wavelets, to accommodate the fact that multivariate functions are typically governed by anisotropic features such as edges in images, since wavelets, as isotropic objects, are not capable of capturing such phenomena. Shearlets are constructed by parabolic scaling, shearing, and translation applied to a few generating functions. At fine scales, they are essentially supported within skinny and directional ridges following the parabolic scaling law, which reads length² ≈ width. Similar to wavelets, shearlets arise from the affine group and allow a unified treatment of the continuum and digital situation leading to faithful implementations. Although they do not constitute an orthonormal basis for L 2 ( R 2 ) {\displaystyle L^{2}(\mathbb {R} ^{2})} , they still form a frame allowing stable expansions of arbitrary functions f ∈ L 2 ( R 2 ) {\displaystyle f\in L^{2}(\mathbb {R} ^{2})} . One of the most important properties of shearlets is their ability to provide optimally sparse approximations (in the sense of optimality in ) for cartoon-like functions f {\displaystyle f} . In imaging sciences, cartoon-like functions serve as a model for anisotropic features and are compactly supported in [ 0 , 1 ] 2 {\displaystyle [0,1]^{2}} while being C 2 {\displaystyle C^{2}} apart from a closed piecewise C 2 {\displaystyle C^{2}} singularity curve with bounded curvature. The decay rate of the L 2 {\displaystyle L^{2}} -error of the N {\displaystyle N} -term shearlet approximation obtained by taking the N {\displaystyle N} largest coefficients from the shearlet expansion is in fact optimal up to a log-factor: ‖ f − f N ‖ L 2 2 ≤ C N − 2 ( log ⁡ N ) 3 , N → ∞ , {\displaystyle \|f-f_{N}\|_{L^{2}}^{2}\leq CN^{-2}(\log N)^{3},\quad N\to \infty ,} where the constant C {\displaystyle C} depends only on the maximum curvature of the singularity curve and the maximum magnitudes of f {\displaystyle f} , f ′ {\displaystyle f'} and f ″ . {\displaystyle f''.} This approximation rate significantly improves the best N {\displaystyle N} -term approximation rate of wavelets providing only O ( N − 1 ) {\displaystyle O(N^{-1})} for such class of functions. Shearlets are to date the only directional representation system that provides sparse approximation of anisotropic features while providing a unified treatment of the continuum and digital realm that allows faithful implementation. Extensions of shearlet systems to L 2 ( R d ) , d ≥ 2 {\displaystyle L^{2}(\mathbb {R} ^{d}),d\geq 2} are also available. A comprehensive presentation of the theory and applications of shearlets can be found in. == Definition == === Continuous shearlet systems === The construction of continuous shearlet systems is based on parabolic scaling matrices A a = [ a 0 0 a 1 / 2 ] , a > 0 {\displaystyle A_{a}={\begin{bmatrix}a&0\\0&a^{1/2}\end{bmatrix}},\quad a>0} as a means to change the resolution, on shear matrices S s = [ 1 s 0 1 ] , s ∈ R {\displaystyle S_{s}={\begin{bmatrix}1&s\\0&1\end{bmatrix}},\quad s\in \mathbb {R} } as a means to change the orientation, and finally on translations to change the positioning. In comparison to curvelets, shearlets use shearings instead of rotations, the advantage being that the shear operator S s {\displaystyle S_{s}} leaves the integer lattice invariant in case s ∈ Z {\displaystyle s\in \mathbb {Z} } , i.e., S s Z 2 ⊆ Z 2 . {\displaystyle S_{s}\mathbb {Z} ^{2}\subseteq \mathbb {Z} ^{2}.} This indeed allows a unified treatment of the continuum and digital realm, thereby guaranteeing a faithful digital implementation. For ψ ∈ L 2 ( R 2 ) {\displaystyle \psi \in L^{2}(\mathbb {R} ^{2})} the continuous shearlet system generated by ψ {\displaystyle \psi } is then defined as SH c o n t ⁡ ( ψ ) = { ψ a , s , t = a 3 / 4 ψ ( S s A a ( ⋅ − t ) ) ∣ a > 0 , s ∈ R , t ∈ R 2 } , {\displaystyle \operatorname {SH} _{\mathrm {cont} }(\psi )=\{\psi _{a,s,t}=a^{3/4}\psi (S_{s}A_{a}(\cdot -t))\mid a>0,s\in \mathbb {R} ,t\in \mathbb {R} ^{2}\},} and the corresponding continuous shearlet transform is given by the map f ↦ S H ψ f ( a , s , t ) = ⟨ f , ψ a , s , t ⟩ , f ∈ L 2 ( R 2 ) , ( a , s , t ) ∈ R > 0 × R × R 2 . {\displaystyle f\mapsto {\mathcal {SH}}_{\psi }f(a,s,t)=\langle f,\psi _{a,s,t}\rangle ,\quad f\in L^{2}(\mathbb {R} ^{2}),\quad (a,s,t)\in \mathbb {R} _{>0}\times \mathbb {R} \times \mathbb {R} ^{2}.} === Discrete shearlet systems === A discrete version of shearlet systems can be directly obtained from SH c o n t ⁡ ( ψ ) {\displaystyle \operatorname {SH} _{\mathrm {cont} }(\psi )} by discretizing the parameter set R > 0 × R × R 2 . {\displaystyle \mathbb {R} _{>0}\times \mathbb {R} \times \mathbb {R} ^{2}.} There are numerous approaches for this but the most popular one is given by { ( 2 j , k , A 2 j − 1 S k − 1 m ) ∣ j ∈ Z , k ∈ Z , m ∈ Z 2 } ⊆ R > 0 × R × R 2 . {\displaystyle \{(2^{j},k,A_{2^{j}}^{-1}S_{k}^{-1}m)\mid j\in \mathbb {Z} ,k\in \mathbb {Z} ,m\in \mathbb {Z} ^{2}\}\subseteq \mathbb {R} _{>0}\times \mathbb {R} \times \mathbb {R} ^{2}.} From this, the discrete shearlet system associated with the shearlet generator ψ {\displaystyle \psi } is defined by SH ⁡ ( ψ ) = { ψ j , k , m = 2 3 j / 4 ψ ( S k A 2 j ⋅ − m ) ∣ j ∈ Z , k ∈ Z , m ∈ Z 2 } , {\displaystyle \operatorname {SH} (\psi )=\{\psi _{j,k,m}=2^{3j/4}\psi (S_{k}A_{2^{j}}\cdot {}-m)\mid j\in \mathbb {Z} ,k\in \mathbb {Z} ,m\in \mathbb {Z} ^{2}\},} and the associated discrete shearlet transform is defined by f ↦ S H ψ f ( j , k , m ) = ⟨ f , ψ j , k , m ⟩ , f ∈ L 2 ( R 2 ) , ( j , k , m ) ∈ Z × Z × Z 2 . {\displaystyle f\mapsto {\mathcal {SH}}_{\psi }f(j,k,m)=\langle f,\psi _{j,k,m}\rangle ,\quad f\in L^{2}(\mathbb {R} ^{2}),\quad (j,k,m)\in \mathbb {Z} \times \mathbb {Z} \times \mathbb {Z} ^{2}.} == Examples == Let ψ 1 ∈ L 2 ( R ) {\displaystyle \psi _{1}\in L^{2}(\mathbb {R} )} be a function satisfying the discrete Calderón condition, i.e., ∑ j ∈ Z | ψ ^ 1 ( 2 − j ξ ) | 2 = 1 , for a.e. ξ ∈ R , {\displaystyle \sum _{j\in \mathbb {Z} }|{\hat {\psi }}_{1}(2^{-j}\xi )|^{2}=1,{\text{for a.e. }}\xi \in \mathbb {R} ,} with ψ ^ 1 ∈ C ∞ ( R ) {\displaystyle {\hat {\psi }}_{1}\in C^{\infty }(\mathbb {R} )} and supp ⁡ ψ ^ 1 ⊆ [ − 1 2 , − 1 16 ] ∪ [ 1 16 , 1 2 ] , {\displaystyle \operatorname {supp} {\hat {\psi }}_{1}\subseteq [-{\tfrac {1}{2}},-{\tfrac {1}{16}}]\cup [{\tfrac {1}{16}},{\tfrac {1}{2}}],} where ψ ^ 1 {\displaystyle {\hat {\psi }}_{1}} denotes the Fourier transform of ψ 1 . {\displaystyle \psi _{1}.} For instance, one can choose ψ 1 {\displaystyle \psi _{1}} to be a Meyer wavelet. Furthermore, let ψ 2 ∈ L 2 ( R ) {\displaystyle \psi _{2}\in L^{2}(\mathbb {R} )} be such that ψ ^ 2 ∈ C ∞ ( R ) , {\displaystyle {\hat {\psi }}_{2}\in C^{\infty }(\mathbb {R} ),} supp ⁡ ψ ^ 2 ⊆ [ − 1 , 1 ] {\displaystyle \operatorname {supp} {\hat {\psi }}_{2}\subseteq [-1,1]} and ∑ k = − 1 1 | ψ ^ 2 ( ξ + k ) | 2 = 1 , for a.e. ξ ∈ [ − 1 , 1 ] . {\displaystyle \sum _{k=-1}^{1}|{\hat {\psi }}_{2}(\xi +k)|^{2}=1,{\text{for a.e. }}\xi \in \left[-1,1\right].} One typically chooses ψ ^ 2 {\displaystyle {\hat {\psi }}_{2}} to be a smooth bump function. Then ψ ∈ L 2 ( R 2 ) {\displaystyle \psi \in L^{2}(\mathbb {R} ^{2})} given by ψ ^ ( ξ ) = ψ ^ 1 ( ξ 1 ) ψ ^ 2 ( ξ 2 ξ 1 ) , ξ = ( ξ 1 , ξ 2 ) ∈ R 2 , {\displaystyle {\hat {\psi }}(\xi )={\hat {\psi }}_{1}(\xi _{1}){\hat {\psi }}_{2}\left({\tfrac {\xi _{2}}{\xi _{1}}}\right),\quad \xi =(\xi _{1},\xi _{2})\in \mathbb {R} ^{2},} is called a classical shearlet. It can be shown that the corresponding discrete shearlet system SH ⁡ ( ψ ) {\displaystyle \operatorname {SH} (\psi )} constitutes a Parseval frame for L 2 ( R 2 ) {\displaystyle L^{2}(\mathbb {R} ^{2})} consisting of bandlimited functions. Another example are compactly supported shearlet systems, where a compactly supported function ψ ∈ L 2 ( R 2 ) {\displaystyle \psi \in L^{2}(\mathbb {R} ^{2})} can be chosen so that SH ⁡ ( ψ ) {\displaystyle \operatorname {SH} (\psi )} forms a frame for L 2 ( R 2 ) {\displaystyle L^{2}(\mathbb {R} ^{2})} . In this case, all shearlet elements in SH ⁡ ( ψ ) {\displaystyle \operatorname {SH} (\psi )} are compactly supported providing superior spatial localization compared to the classical shearlets, which are bandlimited. Although a compactly supported shearlet system does not generally form a Parseval frame, any function f ∈ L 2 ( R 2 ) {\displaystyle f\in L^{2}(\mathbb {R} ^{2})} can be represented by the shearlet expansion due to its frame property. == Cone-adapted shearlets == One drawback of shearlets defined as above is the directional bias of shearlet elements associated with large shearing parameters. This effect is already r

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  • Touch 'n Go eWallet

    Touch 'n Go eWallet

    Touch 'n Go eWallet is a Malaysian digital wallet and online payment platform, established in Kuala Lumpur, Malaysia, in July 2017 as a joint venture between Touch 'n Go and Ant Financial. It allows users to make payments at over 280,000 merchant touch points via QR code, as well as perform peer-to-peer (P2P) money transfers. Since then, the e-wallet further diversified for users to pay for tolls via RFID or PayDirect, street parking and various online payment spanning e-hailing, car-sharing apps or taxis, various overhead bills; top-up for mobile prepaid or in-game currencies; purchases on e-commerce websites; food delivery; renewing motor insurance and other insurance/takaful plans; and even movie, bus, trains or airline tickets. == Background == Prior to the launch of the e-wallet service, Touch 'n Go provided stored-value physical all-in-one contactless card (namely Touch 'n Go cards or "TnG cards") that users can use to pay for toll fares, public transportation and parking lots as well as purchases in some retail stores. In 1999, Touch 'n Go also markets SmartTag devices that allow road users to pass through certain toll booths without the need to unwind the car window. The high entry cost of the device (around RM 100 each) also meant that only few can enjoy the seamless experience. In 2009, Touch 'n Go partnered with Maxis to launch FastTap, a new mobile payment service that utilised Near-Field Communication (NFC). Maxis customers can make payments by placing the phone near the card readers (that also supports physical bank cards and Touch ’N Go cards). However, the venture featured only one phone model, Nokia 6212, which greatly limited the public reach. In July 2012, Touch 'n Go announced another collaboration with CIMB and Maxis to create similar NFC-based online transaction service that runs on compatible smartphones. Touch 'n Go Wallet was launched in February 2017 as an QR code-based e-wallet application, to compete with Samsung Pay that utilizes NFC modules. In the controlled pilot test in Taman Tun Dr Ismail, the correspondents can experience basic functionalities (prepaid mobile service reload, bills payment, movie tickets and flight tickets purchase, transfer of money with another user, and payments at participating stores and restaurants). While the deployed version of the app was generally well-received, the existing process to transfer the balance to the physical TnG card stored value from the app garnered unanimous backlash. Test groups felt that the need to head to a self-service terminal named "Pick Up Device" in person within 24 hours for completion, along with the failure to do so (the balance would be credited back to the wallet after 24 hours), was not divulged clearly and also defeated the purpose of convenience, not to mention there were only 2 such terminals. The feature was eventually suspended. On 15 November 2017, Touch 'n Go was granted permission by the Central Bank of Malaysia to form a joint venture with Ant Financial, a Chinese-based financial company that operates Alipay. The partnership allowed the local e-wallet to learn from and build upon the operational model pioneered by Alipay. In June 2018, it was reported that Touch 'n Go was pilot testing the uses of the Touch 'n Go eWallet in Rapid Transit, as the ticketing system was enabled on the Kelana Jaya line in the Klang Valley. Pilot testing only applied to stations in Kelana Jaya, KL Gateway–Universiti, Kerinchi, KL Sentral, Dang Wangi, KLCC, and Ampang Park. The test was reported to be successful in February 2020 and was planned to be fully deployed on the LRT and MRT. Due to unforeseen circumstances, this feature did not come into fruition, the app merely adds in-app purchase of monthly concession cards called "My50". In August 2018, Touch 'n Go announced that selected drivers may experience first-hand a new RFID-based payment (later rebranded as "myRFID") that serves to replace SmartTag devices on closed toll roads with during pilot testing phase commencing on 3 September 2018. On 2 November 2018, participation in the ongoing pilot programme was expanded, allowing more drivers to sign up ahead of the public rollout of the RFID system. During the same period, Touch 'n Go has discontinued the sales of SmartTAG devices in favor of the RFID-based payment system. Initially, the installation of the RFID chip onto the car could only be done by Touch 'n Go staff at the RFID fitment centers, at no cost. As the pilot testing concluded on 15 February 2020, a self-installation kit are being offered to the public on Lazada and Shopee. Support for taxi-hailing mobile apps was added in November 2018 when Touch 'n Go partnered with EzCab and Public Cab, allowing users to make payments via QR code. This was later expanded to support MULA on 7 January 2020, and later MyCar on 4 April 2020. Touch 'n Go eWallet was also the first eWallet to convert Kuala Lumpur's most famous Ramadan bazaar in Kampong Bahru into "Kampong Kashless", a venue that can accept cashless QR payments. It welcomed more than 250,000 Malaysians including local celebrities and government officials. On 1 October 2019, some e-commerce websites owned by the Alibaba Group (TMall and Taobao) began to support Touch 'n Go eWallet payments, Lazada joined the list on 29 October 2019. Touch 'n Go eWallet was one of the three e-wallet services in Malaysia (the other being Boost and GrabPay) that was eligible for its users to receive an RM 30 credit in conjunction of E-Tunai Rakyat program under the Budget 2020 plan, that further normalizes adoption of cashless and mobile payment among Malaysians. Unlike Boost and GrabPay, whose P2P transfers were completely disabled until users have exhausted the RM 30 first, Touch 'n Go eWallet did not impose such measures. in 2020, Touch 'n Go eWallet joined DuitNow, an electronic transaction ecosystem in Malaysia which allows the funds from Touch 'n Go eWallet to be transferred to other competing services and vice versa, by implementing a standard DuitNow QR code deisgn. Japan become the first country outside Malaysia to support Touch 'n Go eWallet payment via Alipay Connect. During the COVID-19 pandemic and the enforcement of the movement control order, use of eWallets (including Touch 'n Go eWallet) increased tremendously among citizens due to its contactless nature of the payment and increased take-out orders at home; which in turn helped small and medium-sized enterprises to thrive. Touch 'n Go eWallet launched its loyalty programme – The Goal Hunter – in October 2020 where on monthly basis, users collect stamps by paying with the app in exchange for rewards that include lucky draws and other vouchers. == Services == Touch 'n Go eWallet app is available for download on both Google Play and Apple Appstore. It utilizes QR code technology for local in-store payments. The Touch 'n Go eWallet app also diversifies payment types, including but not limited to Utility bills Purchase of motor insurance policy Pay Later facility Prepaid reload and Postpaid payment to telecommunications companies loan repayments for courts, MBSJ payments, zakat and PTPTN payment for car parking P2P transfer airline ticket bookings; movie tickets from TGV Cinemas RFID refuelling at Shell stations (defunct after Shell launched its own payment app in 2024) User can reload the eWallet credit by setting up auto-reload, purchasing reload pins from convenience stores (such as 7-Eleven, KK Super Mart, MyNews, Family Mart etc.), reloading by FPX and credit/debit card. The PayDirect feature allows users to link their physical Touch 'n Go cards into the eWallet, where the toll fare can be debited from the eWallet balance when flashing the card near the sensor. In the circumstance of insufficient balance in the app, the toll fare will be deducted from the physical card's balance instead. This also conveniently allows users to view the card's remaining balance. Touch 'n Go eWallet is the first and only eWallet to offer a money-back guarantee when an unauthorised transaction is made on the user’s eWallet account, subject to Terms & Conditions. Payment via QR code scanning, including Touch 'n Go eWallet, becomes a norm in most of the shops/restaurants across Malaysia, including roadside hawkers/stall owners and automatic vending machines. The merchants usually display their owner's individual QR or Business account that they can apply for in-app. The popularity attributes to the low merchant onboarding cost (Unlike NFC payment and debit/credit card that requires purchase or rental of a payment terminal device at a yearly fee.) The app is also one of the few ewallet that supports bidirectional liquidity (alongside MAE developed by Maybank), where funds can be transferred two-way with bank accounts. This is not possible with the other major ewallets (GrabPay, Boost, ShopeePay etc.) where the money that is reloaded to the wallet cannot be transferred to another bank account, unless through manual req

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  • Lenna

    Lenna

    Lenna (or Lena) is a standard test image used in the field of digital image processing, starting in 1973. It is a picture of the Swedish model Lena Forsén, shot by photographer Dwight Hooker and cropped from the centerfold of the November 1972 issue of Playboy magazine. Lenna has attracted controversy because of its subject matter. Starting in the mid-2010s, many journals have deemed it inappropriate and discouraged its use, while others have banned it from publication outright. Forsén herself has called for it to be retired, saying "It's time I retired from tech." The spelling "Lenna" came from the model's desire to encourage the proper pronunciation of her name. "I didn't want to be called Leena [English: ]," she explained. == History == Before Lenna, the first use of a Playboy magazine image to illustrate image processing algorithms was in 1961. Lawrence G. Roberts used two cropped six-bit grayscale facsimile scanned images from Playboy's July 1960 issue featuring Playmate Teddi Smith, in his master's thesis on image dithering at Massachusetts Institute of Technology. Lenna was originally intended for high resolution color image processing study. Its history was described in the May 2001 newsletter of the IEEE Professional Communication Society, in an article by Jamie Hutchinson: Alexander Sawchuk estimates that it was in June or July of 1973 when he, then an assistant professor of electrical engineering at the University of Southern California Signal and Image Processing Institute (SIPI), along with a graduate student and the SIPI lab manager, was hurriedly searching the lab for a good image to scan for a colleague's conference paper. They got tired of their stock of usual test images, dull stuff dating back to television standards work in the early 1960s. They wanted something glossy to ensure good output dynamic range, and they wanted a human face. Just then, somebody happened to walk in with a recent issue of Playboy. The engineers tore away the top third of the centerfold so they could wrap it around the drum of their Muirhead wirephoto scanner, which they had outfitted with analog-to-digital converters (one each for the red, green, and blue channels) and a Hewlett Packard 2100 minicomputer. The Muirhead had a fixed resolution of 100 lines per inch and the engineers wanted a 512×512 image, so they limited the scan to the top 5.12 inches of the picture, effectively cropping it at the subject's shoulders. The image's reach was limited in the 1970s and 80s, which is reflected in it initially only appearing in .org domains, but in July 1991, the image featured on the cover of Optical Engineering alongside Peppers, another popular test image. This drew the attention of Playboy to the potential copyright infringement. The peak of image hits on the internet was in 1995. The scan became one of the most used images in computer history. The use of the photo in electronic imaging has been described as "clearly one of the most important events in [its] history". The image spread to over 100 different domains, particularly .com and .edu. In a 1999 issue of IEEE Transactions on Image Processing "Lena" was used in three separate articles, and the picture continued to appear in scientific journals throughout the beginning of the 21st century. Lenna is so widely accepted in the image processing community that Forsén was a guest at the 50th annual Conference of the Society for Imaging Science and Technology (IS&T) in 1997. In 2015, Lena Forsén was also guest of honor at the banquet of IEEE ICIP 2015. After delivering a speech, she chaired the best paper award ceremony. To explain why the image became a standard in the field, David C. Munson, editor-in-chief of IEEE Transactions on Image Processing, stated that it was a good test image because of its detail, flat regions, shading, and texture. He also noted that "the Lena image is a picture of an attractive woman. It is not surprising that the (mostly male) image processing research community gravitated toward an image that they found attractive." While Playboy often cracks down on illegal uses of its material and did initially send a notice to the publisher of Optical Engineering about its unauthorized use in that publication, over time it has decided to overlook the wide use of Lena. Eileen Kent, VP of new media at Playboy, said, "We decided we should exploit this, because it is a phenomenon." == Criticism == The use of the image has produced controversy because Playboy is "seen (by some) as being degrading to women". In a 1999 essay on reasons for the male predominance in computer science, applied mathematician Dianne P. O'Leary wrote: Suggestive pictures used in lectures on image processing ... convey the message that the lecturer caters to the males only. For example, it is amazing that the "Lena" pin-up image is still used as an example in courses and published as a test image in journals today. A 2012 paper on compressed sensing used a photo of the model Fabio Lanzoni as a test image to draw attention to this issue. The use of the test image at the magnet school Thomas Jefferson High School for Science and Technology in Fairfax County, Virginia, provoked a guest editorial by a senior in The Washington Post in 2015 about its detrimental impact on aspiring female students in computer science. In 2017, the Journal of Modern Optics published an editorial titled "On alternatives to Lenna" suggesting three images (Pirate, Cameraman, and Peppers) that "are reasonably close to Lenna in feature space". In 2018, the Nature Nanotechnology journal announced that they would no longer consider articles using Lenna. In the same year SPIE, the publishers of Optical Engineering, also announced that they "strongly discourage" the use of Lenna, and would no longer consider new submissions containing the image "without convincing scientific justification for its use". They noted that aside from the copyright and ethical issues, that it was also no longer useful as a standard image: "In today's age of high-resolution digital image technology, it seems difficult to argue that a 512 × 512 image produced with a 1970s-era analog scanner is the best we have to offer as an image quality test standard". Forsén stated in the 2019 documentary film Losing Lena, "I retired from modeling a long time ago. It's time I retired from tech, too... Let's commit to losing me." The Institute of Electrical and Electronics Engineers (IEEE) announced that, starting April 1, 2024, it will no longer allow use of Lenna in its publications.

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  • Robotics

    Robotics

    Robotics is the interdisciplinary study and practice of the design, construction, operation, and use of robots. A roboticist is someone who specializes in robotics. Robotics usually combines four aspects of design work: a power source (e.g. a battery), mechanical construction, a control system (electrical circuits), and software (run by remote control or artificial intelligence). The goal of most robotics is to design machines that can assist humans in various fields, such as agriculture, construction, domestic work, food processing, inventory management, manufacturing, medicine, military, mining, space exploration, and transportation. Robots impact humans by displacing workers. Some expect this to occur at an increasing rate, leading to proposed solutions such as basic income. Robotics is itself a lucrative business that creates careers, especially for postgraduates. Roboticists often aim to create machines that seem to interface naturally with humans. The field is under active research and development, with areas of interest including robot kinematics and quantum robotics. == Design == Robotics usually combines four aspects of design work to create a robot: Power source: Potential energy sources include wired electricity, a battery, and/or petrol. Mechanical construction: A physical form or combination of forms is designed to functionally achieve tasks within a given range of environments. This can include locomotive elements such as wheels and caterpillar tracks, as well as hydraulic limbs and manipulators (e.g. hands). Control system: Electrical circuits (utilizing components such as diodes and transistors) are used to run software, govern motor movement, and read sensors. Software: A program is how a robot decides when or how to do something. Robotic programs can be run by remote control, artificial intelligence (AI), or a hybrid of the two. AI programming is an important part of robotic navigation and human–robot interaction. === Power source === Many different types of batteries can be used as a power source. Most are lead–acid batteries, which are safe and have relatively long shelf lives but are rather heavy compared to silver–cadmium batteries, which are much smaller in volume and much more expensive. Designing a battery-powered robot needs to take into account factors such as safety, cycle lifetime, and weight. Generators, often some type of internal combustion engine, can also be used, but are often mechanically complex and inefficient. Additionally, a tether could connect the robot to a power supply, saving weight and space, but requiring a cumbersome cable. Potential power sources include: Flywheel energy storage Hydraulics Nuclear Organic garbage (through anaerobic digestion) Pneumatics (compressed gases) Solar power === Mechanical construction === Actuators are the "muscles" of a robot, the parts which convert stored energy into movement. The most popular actuators are electric motors that rotate a wheel or gear and linear actuators that control factory robots. Most robots use electric motors—often brushed and brushless DC motors in portable robots or AC motors in industrial robots and computer numerical control machines—especially in systems with lighter loads and where the predominant form of motion is rotational. Meanwhile, linear actuators move in and out and often have quicker direction changes, particularly when large forces are needed, such as with industrial robotics. They are typically powered by oil or compressed air, but can also be powered by electricity, usually via a motor and a leadscrew. The mechanical rack and pinion is common. Recent alternatives to DC motors are piezoelectric motors, including ultrasonic motors, in which tiny piezoceramic elements vibrate many thousands of times per second, causing linear or rotary motion. One type uses the vibration of the piezo elements to step the motor in a circle or a straight line; another type uses the piezo elements to vibrate a nut or drive a screw. The advantages of these motors are nanometer resolution, speed, and force for their size. Series elastic actuation (SEA) relies on introducing intentional elasticity between the motor actuator and the load for robust force control. Due to the resultant lower reflected inertia, series elastic actuation improves safety during robot interactions or collisions. Further, it provides energy efficiency and shock absorption (mechanical filtering) while reducing excessive wear on the transmission and other components. This approach has successfully been employed in various robots, particularly advanced manufacturing robots and walking humanoid robots. The controller design of a series elastic actuator is most often performed within the passivity framework as it ensures the safety of interaction with unstructured environments. However, this framework suffers from stringent limitations imposed on the controller, which may impact performance. Pneumatic artificial muscles, also known as air muscles, are special tubes that expand (typically up to 42%) when air is forced inside them; they are used in some robot applications. Muscle wire, also known as shape memory alloy, is a material that contracts (under 5%) when electricity is applied; they have been used for some small robots. Electroactive polymers are a plastic material that can contract substantially (up to 380% activation strain) from electricity and have been used in the facial muscles and arms of humanoid robots, as well as to enable new robots to float, fly, swim or walk. Additionally, elastic carbon nanotubes are a promising experimental artificial muscle technology. The absence of defects in carbon nanotubes enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10 J/cm3 for metal nanotubes. Human biceps could be replaced with wire of this material measuring 8 millimetres (3⁄8 in) in diameter, feasibly allowing future robots to outperform humans. ==== Locomotion ==== Robots with only one or two wheel(s) can have advantages such as greater efficiency, reduced parts, and navigation through confined areas. A one-wheeled robot balances on a round ball; Carnegie Mellon University's Ballbot is the approximate height and width of a person. Several attempts have also been made to build spherical robots (also known as orb bots or ball bots), which move by spinning a weight inside the ball or rotating outer shells. Two-wheeled balancing robots generally use a gyroscope to detect how much a robot is falling and drive the wheels proportionally up to hundreds of times per second to counterbalance the fall, based on inverted pendulum dynamics. NASA's Robonaut has been mounted to a Segway for a similar effect. Most mobile robots have four wheels or continuous tracks. Six wheels can give better traction in outdoor terrain, while tracks provide even more grip. Tracked wheels are common for outdoor off-road robots, but are difficult to use indoors. A small number of skating robots have been developed, one of which is a multimodal walking and skating device with four legs and unpowered wheels. Several robots have been made that can walk on two legs, but not yet as reliably as a human. Many other robots have been built that walk on more than two legs, being significantly easier. Walking robots could be used for uneven terrains, providing a high degree of mobility and efficiency, but two-legged robots can currently only handle flat floors or perhaps stairs. Some approaches have included: The zero moment point (ZMP) is the algorithm used by robots such as Honda's ASIMO. The robot's onboard computer tries to keep the total inertial forces (the combination of Earth's gravity and the acceleration and deceleration of walking) exactly opposed by the floor reaction force (the force of the floor pushing back on the robot's foot). In this way, the two forces cancel out, leaving no moment (force causing the robot to rotate and fall over). Human observers note that this is not exactly how a human walks, with some describing ASIMO's walk as looking like it needs use the bathroom. ASIMO's walking algorithm utilizes some dynamic balancing, but requires a flat surface. Several robots, built in the 1980s by Marc Raibert at the MIT Leg Laboratory, successfully demonstrated very dynamic walking. Initially, a robot with only one leg, and a very small foot could stay upright simply by hopping. The movement is the same as that of a person on a pogo stick. As the robot falls to one side, it would jump slightly in that direction to catch itself. Soon, the algorithm was generalized to two and four legs. A bipedal robot was demonstrated running and even performing somersaults. A quadruped was also demonstrated which could trot, run, pace, and bound. A more advanced approach is a dynamic balancing algorithm, which constantly monitors the robot's motion and places the feet to maintain stability. This technique has been demonstrated by Anybots' Dexter robot (

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  • Conference app

    Conference app

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

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  • Image moment

    Image moment

    In image processing, computer vision and related fields, an image moment is a certain particular weighted average (moment) of the image pixels' intensities, or a function of such moments, usually chosen to have some attractive property or interpretation. Image moments are useful to describe objects after segmentation. Simple properties of the image which are found via image moments include area (or total intensity), its centroid, and information about its orientation. == Raw moments == For a 2D continuous function f(x,y) the moment (sometimes called "raw moment") of order (p + q) is defined as M p q = ∫ − ∞ ∞ ∫ − ∞ ∞ x p y q f ( x , y ) d x d y {\displaystyle M_{pq}=\int \limits _{-\infty }^{\infty }\int \limits _{-\infty }^{\infty }x^{p}y^{q}f(x,y)\,dx\,dy} for p,q = 0,1,2,... Adapting this to scalar (grayscale) image with pixel intensities I(x,y), raw image moments Mij are calculated by M i j = ∑ x ∑ y x i y j I ( x , y ) {\displaystyle M_{ij}=\sum _{x}\sum _{y}x^{i}y^{j}I(x,y)\,\!} In some cases, this may be calculated by considering the image as a probability density function, i.e., by dividing the above by ∑ x ∑ y I ( x , y ) {\displaystyle \sum _{x}\sum _{y}I(x,y)\,\!} A uniqueness theorem states that if f(x,y) is piecewise continuous and has nonzero values only in a finite part of the xy plane, moments of all orders exist, and the moment sequence (Mpq) is uniquely determined by f(x,y). Conversely, (Mpq) uniquely determines f(x,y). In practice, the image is summarized with functions of a few lower order moments. === Examples === Simple image properties derived via raw moments include: Area (for binary images) or sum of grey level (for greytone images): M 00 {\displaystyle M_{00}} Centroid: { x ¯ , y ¯ } = { M 10 M 00 , M 01 M 00 } {\displaystyle \{{\bar {x}},\ {\bar {y}}\}=\left\{{\frac {M_{10}}{M_{00}}},{\frac {M_{01}}{M_{00}}}\right\}} == Central moments == Central moments are defined as μ p q = ∫ − ∞ ∞ ∫ − ∞ ∞ ( x − x ¯ ) p ( y − y ¯ ) q f ( x , y ) d x d y {\displaystyle \mu _{pq}=\int \limits _{-\infty }^{\infty }\int \limits _{-\infty }^{\infty }(x-{\bar {x}})^{p}(y-{\bar {y}})^{q}f(x,y)\,dx\,dy} where x ¯ = M 10 M 00 {\displaystyle {\bar {x}}={\frac {M_{10}}{M_{00}}}} and y ¯ = M 01 M 00 {\displaystyle {\bar {y}}={\frac {M_{01}}{M_{00}}}} are the components of the centroid. If ƒ(x, y) is a digital image, then the previous equation becomes μ p q = ∑ x ∑ y ( x − x ¯ ) p ( y − y ¯ ) q f ( x , y ) {\displaystyle \mu _{pq}=\sum _{x}\sum _{y}(x-{\bar {x}})^{p}(y-{\bar {y}})^{q}f(x,y)} The central moments of order up to 3 are: μ 00 = M 00 , μ 01 = 0 , μ 10 = 0 , μ 11 = M 11 − x ¯ M 01 = M 11 − y ¯ M 10 , μ 20 = M 20 − x ¯ M 10 , μ 02 = M 02 − y ¯ M 01 , μ 21 = M 21 − 2 x ¯ M 11 − y ¯ M 20 + 2 x ¯ 2 M 01 , μ 12 = M 12 − 2 y ¯ M 11 − x ¯ M 02 + 2 y ¯ 2 M 10 , μ 30 = M 30 − 3 x ¯ M 20 + 2 x ¯ 2 M 10 , μ 03 = M 03 − 3 y ¯ M 02 + 2 y ¯ 2 M 01 . {\displaystyle {\begin{aligned}\mu _{00}&=M_{00},&\mu _{01}&=0,\\\mu _{10}&=0,&\mu _{11}&=M_{11}-{\bar {x}}M_{01}=M_{11}-{\bar {y}}M_{10},\\\mu _{20}&=M_{20}-{\bar {x}}M_{10},&\mu _{02}&=M_{02}-{\bar {y}}M_{01},\\\mu _{21}&=M_{21}-2{\bar {x}}M_{11}-{\bar {y}}M_{20}+2{\bar {x}}^{2}M_{01},&\mu _{12}&=M_{12}-2{\bar {y}}M_{11}-{\bar {x}}M_{02}+2{\bar {y}}^{2}M_{10},\\\mu _{30}&=M_{30}-3{\bar {x}}M_{20}+2{\bar {x}}^{2}M_{10},&\mu _{03}&=M_{03}-3{\bar {y}}M_{02}+2{\bar {y}}^{2}M_{01}.\end{aligned}}} It can be shown that: μ p q = ∑ m p ∑ n q ( p m ) ( q n ) ( − x ¯ ) ( p − m ) ( − y ¯ ) ( q − n ) M m n {\displaystyle \mu _{pq}=\sum _{m}^{p}\sum _{n}^{q}{p \choose m}{q \choose n}(-{\bar {x}})^{(p-m)}(-{\bar {y}})^{(q-n)}M_{mn}} Central moments are translational invariant. === Examples === Information about image orientation can be derived by first using the second order central moments to construct a covariance matrix. μ 20 ′ = μ 20 / μ 00 = M 20 / M 00 − x ¯ 2 μ 02 ′ = μ 02 / μ 00 = M 02 / M 00 − y ¯ 2 μ 11 ′ = μ 11 / μ 00 = M 11 / M 00 − x ¯ y ¯ {\displaystyle {\begin{aligned}\mu '_{20}&=\mu _{20}/\mu _{00}=M_{20}/M_{00}-{\bar {x}}^{2}\\\mu '_{02}&=\mu _{02}/\mu _{00}=M_{02}/M_{00}-{\bar {y}}^{2}\\\mu '_{11}&=\mu _{11}/\mu _{00}=M_{11}/M_{00}-{\bar {x}}{\bar {y}}\end{aligned}}} The covariance matrix of the image I ( x , y ) {\displaystyle I(x,y)} is now cov ⁡ [ I ( x , y ) ] = [ μ 20 ′ μ 11 ′ μ 11 ′ μ 02 ′ ] . {\displaystyle \operatorname {cov} [I(x,y)]={\begin{bmatrix}\mu '_{20}&\mu '_{11}\\\mu '_{11}&\mu '_{02}\end{bmatrix}}.} The eigenvectors of this matrix correspond to the major and minor axes of the image intensity, so the orientation can thus be extracted from the angle of the eigenvector associated with the largest eigenvalue towards the axis closest to this eigenvector. It can be shown that this angle Θ is given by the following formula: Θ = 1 2 arctan ⁡ ( 2 μ 11 ′ μ 20 ′ − μ 02 ′ ) {\displaystyle \Theta ={\frac {1}{2}}\arctan \left({\frac {2\mu '_{11}}{\mu '_{20}-\mu '_{02}}}\right)} The above formula holds as long as: μ 20 ′ − μ 02 ′ ≠ 0 {\displaystyle \mu '_{20}-\mu '_{02}\neq 0} The eigenvalues of the covariance matrix can easily be shown to be λ i = μ 20 ′ + μ 02 ′ 2 ± 4 μ ′ 11 2 + ( μ ′ 20 − μ ′ 02 ) 2 2 , {\displaystyle \lambda _{i}={\frac {\mu '_{20}+\mu '_{02}}{2}}\pm {\frac {\sqrt {4{\mu '}_{11}^{2}+({\mu '}_{20}-{\mu '}_{02})^{2}}}{2}},} and are proportional to the squared length of the eigenvector axes. The relative difference in magnitude of the eigenvalues are thus an indication of the eccentricity of the image, or how elongated it is. The eccentricity is 1 − λ 2 λ 1 . {\displaystyle {\sqrt {1-{\frac {\lambda _{2}}{\lambda _{1}}}}}.} == Moment invariants == Moments are well-known for their application in image analysis, since they can be used to derive invariants with respect to specific transformation classes. The term invariant moments is often abused in this context. However, while moment invariants are invariants that are formed from moments, the only moments that are invariants themselves are the central moments. Note that the invariants detailed below are exactly invariant only in the continuous domain. In a discrete domain, neither scaling nor rotation are well defined: a discrete image transformed in such a way is generally an approximation, and the transformation is not reversible. These invariants therefore are only approximately invariant when describing a shape in a discrete image. === Translation invariants === The central moments μi j of any order are, by construction, invariant with respect to translations. === Scale invariants === Invariants ηi j with respect to both translation and scale can be constructed from central moments by dividing through a properly scaled zero-th central moment: η i j = μ i j μ 00 ( 1 + i + j 2 ) {\displaystyle \eta _{ij}={\frac {\mu _{ij}}{\mu _{00}^{\left(1+{\frac {i+j}{2}}\right)}}}\,\!} where i + j ≥ 2. Note that translational invariance directly follows by only using central moments. === Rotation invariants === As shown in the work of Hu, invariants with respect to translation, scale, and rotation can be constructed: I 1 = η 20 + η 02 {\displaystyle I_{1}=\eta _{20}+\eta _{02}} I 2 = ( η 20 − η 02 ) 2 + 4 η 11 2 {\displaystyle I_{2}=(\eta _{20}-\eta _{02})^{2}+4\eta _{11}^{2}} I 3 = ( η 30 − 3 η 12 ) 2 + ( 3 η 21 − η 03 ) 2 {\displaystyle I_{3}=(\eta _{30}-3\eta _{12})^{2}+(3\eta _{21}-\eta _{03})^{2}} I 4 = ( η 30 + η 12 ) 2 + ( η 21 + η 03 ) 2 {\displaystyle I_{4}=(\eta _{30}+\eta _{12})^{2}+(\eta _{21}+\eta _{03})^{2}} I 5 = ( η 30 − 3 η 12 ) ( η 30 + η 12 ) [ ( η 30 + η 12 ) 2 − 3 ( η 21 + η 03 ) 2 ] + ( 3 η 21 − η 03 ) ( η 21 + η 03 ) [ 3 ( η 30 + η 12 ) 2 − ( η 21 + η 03 ) 2 ] {\displaystyle I_{5}=(\eta _{30}-3\eta _{12})(\eta _{30}+\eta _{12})[(\eta _{30}+\eta _{12})^{2}-3(\eta _{21}+\eta _{03})^{2}]+(3\eta _{21}-\eta _{03})(\eta _{21}+\eta _{03})[3(\eta _{30}+\eta _{12})^{2}-(\eta _{21}+\eta _{03})^{2}]} I 6 = ( η 20 − η 02 ) [ ( η 30 + η 12 ) 2 − ( η 21 + η 03 ) 2 ] + 4 η 11 ( η 30 + η 12 ) ( η 21 + η 03 ) {\displaystyle I_{6}=(\eta _{20}-\eta _{02})[(\eta _{30}+\eta _{12})^{2}-(\eta _{21}+\eta _{03})^{2}]+4\eta _{11}(\eta _{30}+\eta _{12})(\eta _{21}+\eta _{03})} I 7 = ( 3 η 21 − η 03 ) ( η 30 + η 12 ) [ ( η 30 + η 12 ) 2 − 3 ( η 21 + η 03 ) 2 ] − ( η 30 − 3 η 12 ) ( η 21 + η 03 ) [ 3 ( η 30 + η 12 ) 2 − ( η 21 + η 03 ) 2 ] . {\displaystyle I_{7}=(3\eta _{21}-\eta _{03})(\eta _{30}+\eta _{12})[(\eta _{30}+\eta _{12})^{2}-3(\eta _{21}+\eta _{03})^{2}]-(\eta _{30}-3\eta _{12})(\eta _{21}+\eta _{03})[3(\eta _{30}+\eta _{12})^{2}-(\eta _{21}+\eta _{03})^{2}].} These are well-known as Hu moment invariants. The first one, I1, is analogous to the moment of inertia around the image's centroid, where the pixels' intensities are analogous to physical density. The first six, I1 ... I6, are reflection symmetric, i.e. they are unchanged if the image is changed to a mirror image. The last one, I7, is reflection antisymmetric (changes sign under reflection), which enables it to distinguish mirror images of otherwise identical im

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  • Graphics software

    Graphics software

    In computer graphics, graphics software refers to a program or collection of programs that enable a person to manipulate images or models visually on a computer. Computer graphics can be classified into two distinct categories: raster graphics and vector graphics, with further 2D and 3D variants. Many graphics programs focus exclusively on either vector or raster graphics, but there are a few that operate on both. It is simple to convert from vector graphics to raster graphics, but going the other way is harder. Some software attempts to do this. In addition to static graphics, there are animation and video editing software. Different types of software are often designed to edit different types of graphics such as video, photos, and vector-based drawings. The exact sources of graphics may vary for different tasks, but most can read and write files. Most graphics programs have the ability to import and export one or more graphics file formats, including those formats written for a particular computer graphics program. Such programs include, but are not limited to: GIMP, Adobe Photoshop, CorelDRAW, Microsoft Publisher, Picasa, etc. The use of a swatch is a palette of active colours that are selected and rearranged by the preference of the user. A swatch may be used in a program or be part of the universal palette on an operating system. It is used to change the colour of a text or image and in video editing. Vector graphics animation can be described as a series of mathematical transformations that are applied in sequence to one or more shapes in a scene. Raster graphics animation works in a similar fashion to film-based animation, where a series of still images produces the illusion of continuous movement. == History == SuperPaint was one of the earliest graphics software applications, first conceptualized in 1972 and achieving its first stable image in 1973 Fauve Matisse (later Macromedia xRes) was a pioneering program of the early 1990s, notably introducing layers in customer software. Currently Adobe Photoshop is one of the most used and best-known graphics programs in the Americas, having created more custom hardware solutions in the early 1990s, but was initially subject to various litigation. GIMP is a popular open-source alternative to Adobe Photoshop.

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  • Photoanalysis

    Photoanalysis

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

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