The PANGU (Planet and Asteroid Natural scene Generation Utility) is a computer graphics utility of which the development was funded by ESA and performed by University of Dundee. It generates scenes of planets, moons, asteroids, spacecraft and rovers. The main purpose of the tool is to test and validate navigation techniques based on the processing of images coming from on-board sensors, such as a camera or imaging LIDAR on a planetary lander.
Elements of AI
Elements of AI is a massive open online course (MOOC) teaching the basics of artificial intelligence. The course, originally launched in 2018, is designed and organized by the University of Helsinki and learning technology company MinnaLearn. The course includes modules on machine learning, neural networks, the philosophy of artificial intelligence, and using artificial intelligence to solve problems. It consists of two parts: Introduction to AI and its sequel, Building AI, that was released in late 2020. In November 2019, the course was named one of four winners of MIT’s Inclusive Innovation Challenge. University of Helsinki's computer science department is known as the alma mater of Linus Torvalds, a Finnish-American software engineer who is the creator of the Linux kernel, which is the kernel for Linux operating systems. == EU’s AI pledge == The government of Finland has pledged to offer the course for all EU citizens by the end of 2021, as the course is made available in all the official EU languages. The initiative was launched as part of Finland's Presidency of the Council of the European Union in 2019, with the European Commission providing translations of the course materials. In 2017, Finland launched an AI strategy to stay competitive in the field of AI amid growing competition between China and the United States. With the support of private companies and the government, Finland's now-realized goal was to get 1 percent of its citizens to participate in Elements of AI. Other governments have also given their support to the course. For instance, Germany's Federal Minister for Economic Affairs and Energy Peter Altmeier has encouraged citizens to take part in the course to help Germany gain a competitive advantage in AI. Sweden's Minister for Energy and Minister for Digital Development Anders Ygeman has said that Sweden aims to teach 1 percent of its population the basics of AI like Finland has. == Participants == Elements of AI had enrolled more than 1 million students from more than 110 countries by May 2023. A quarter of the course's participants are aged 45 and over, and some 40 percent are women. Among Nordic participants, the share of women is nearly 60 percent. In September 2022, the course was available in Finnish, Swedish, Estonian, English, German, Latvian, Norwegian, French, Belgian, Czech, Greek, Slovakian, Slovenian, Latvian, Lithuanian, Portuguese, Spanish, Irish, Icelandic, Maltese, Croatian, Romanian, Italian, Dutch, Polish, and Danish.
Contrast set learning
Contrast set learning is a form of association rule learning that seeks to identify meaningful differences between separate groups by reverse-engineering the key predictors that identify for each particular group. For example, given a set of attributes for a pool of students (labeled by degree type), a contrast set learner would identify the contrasting features between students seeking bachelor's degrees and those working toward PhD degrees. == Overview == A common practice in data mining is to classify, to look at the attributes of an object or situation and make a guess at what category the observed item belongs to. As new evidence is examined (typically by feeding a training set to a learning algorithm), these guesses are refined and improved. Contrast set learning works in the opposite direction. While classifiers read a collection of data and collect information that is used to place new data into a series of discrete categories, contrast set learning takes the category that an item belongs to and attempts to reverse engineer the statistical evidence that identifies an item as a member of a class. That is, contrast set learners seek rules associating attribute values with changes to the class distribution. They seek to identify the key predictors that contrast one classification from another. For example, an aerospace engineer might record data on test launches of a new rocket. Measurements would be taken at regular intervals throughout the launch, noting factors such as the trajectory of the rocket, operating temperatures, external pressures, and so on. If the rocket launch fails after a number of successful tests, the engineer could use contrast set learning to distinguish between the successful and failed tests. A contrast set learner will produce a set of association rules that, when applied, will indicate the key predictors of each failed tests versus the successful ones (the temperature was too high, the wind pressure was too high, etc.). Contrast set learning is a form of association rule learning. Association rule learners typically offer rules linking attributes commonly occurring together in a training set (for instance, people who are enrolled in four-year programs and take a full course load tend to also live near campus). Instead of finding rules that describe the current situation, contrast set learners seek rules that differ meaningfully in their distribution across groups (and thus, can be used as predictors for those groups). For example, a contrast set learner could ask, “What are the key identifiers of a person with a bachelor's degree or a person with a PhD, and how do people with PhD's and bachelor’s degrees differ?” Standard classifier algorithms, such as C4.5, have no concept of class importance (that is, they do not know if a class is "good" or "bad"). Such learners cannot bias or filter their predictions towards certain desired classes. As the goal of contrast set learning is to discover meaningful differences between groups, it is useful to be able to target the learned rules towards certain classifications. Several contrast set learners, such as MINWAL or the family of TAR algorithms, assign weights to each class in order to focus the learned theories toward outcomes that are of interest to a particular audience. Thus, contrast set learning can be thought of as a form of weighted class learning. === Example: Supermarket Purchases === The differences between standard classification, association rule learning, and contrast set learning can be illustrated with a simple supermarket metaphor. In the following small dataset, each row is a supermarket transaction and each "1" indicates that the item was purchased (a "0" indicates that the item was not purchased): Given this data, Association rule learning may discover that customers that buy onions and potatoes together are likely to also purchase hamburger meat. Classification may discover that customers that bought onions, potatoes, and hamburger meats were purchasing items for a cookout. Contrast set learning may discover that the major difference between customers shopping for a cookout and those shopping for an anniversary dinner are that customers acquiring items for a cookout purchase onions, potatoes, and hamburger meat (and do not purchase foie gras or champagne). == Treatment learning == Treatment learning is a form of weighted contrast-set learning that takes a single desirable group and contrasts it against the remaining undesirable groups (the level of desirability is represented by weighted classes). The resulting "treatment" suggests a set of rules that, when applied, will lead to the desired outcome. Treatment learning differs from standard contrast set learning through the following constraints: Rather than seeking the differences between all groups, treatment learning specifies a particular group to focus on, applies a weight to this desired grouping, and lumps the remaining groups into one "undesired" category. Treatment learning has a stated focus on minimal theories. In practice, treatment are limited to a maximum of four constraints (i.e., rather than stating all of the reasons that a rocket differs from a skateboard, a treatment learner will state one to four major differences that predict for rockets at a high level of statistical significance). This focus on simplicity is an important goal for treatment learners. Treatment learning seeks the smallest change that has the greatest impact on the class distribution. Conceptually, treatment learners explore all possible subsets of the range of values for all attributes. Such a search is often infeasible in practice, so treatment learning often focuses instead on quickly pruning and ignoring attribute ranges that, when applied, lead to a class distribution where the desired class is in the minority. === Example: Boston housing data === The following example demonstrates the output of the treatment learner TAR3 on a dataset of housing data from the city of Boston (a nontrivial public dataset with over 500 examples). In this dataset, a number of factors are collected for each house, and each house is classified according to its quality (low, medium-low, medium-high, and high). The desired class is set to "high", and all other classes are lumped together as undesirable. The output of the treatment learner is as follows: Baseline class distribution: low: 29% medlow: 29% medhigh: 21% high: 21% Suggested Treatment: [PTRATIO=[12.6..16), RM=[6.7..9.78)] New class distribution: low: 0% medlow: 0% medhigh: 3% high: 97% With no applied treatments (rules), the desired class represents only 21% of the class distribution. However, if one filters the data set for houses with 6.7 to 9.78 rooms and a neighborhood parent-teacher ratio of 12.6 to 16, then 97% of the remaining examples fall into the desired class (high-quality houses). == Algorithms == There are a number of algorithms that perform contrast set learning. The following subsections describe two examples. === STUCCO === The STUCCO contrast set learner treats the task of learning from contrast sets as a tree search problem where the root node of the tree is an empty contrast set. Children are added by specializing the set with additional items picked through a canonical ordering of attributes (to avoid visiting the same nodes twice). Children are formed by appending terms that follow all existing terms in a given ordering. The formed tree is searched in a breadth-first manner. Given the nodes at each level, the dataset is scanned and the support is counted for each group. Each node is then examined to determine if it is significant and large, if it should be pruned, and if new children should be generated. After all significant contrast sets are located, a post-processor selects a subset to show to the user - the low order, simpler results are shown first, followed by the higher order results which are "surprising and significantly different." The support calculation comes from testing a null hypothesis that the contrast set support is equal across all groups (i.e., that contrast set support is independent of group membership). The support count for each group is a frequency value that can be analyzed in a contingency table where each row represents the truth value of the contrast set and each column variable indicates the group membership frequency. If there is a difference in proportions between the contrast set frequencies and those of the null hypothesis, the algorithm must then determine if the differences in proportions represent a relation between variables or if it can be attributed to random causes. This can be determined through a chi-square test comparing the observed frequency count to the expected count. Nodes are pruned from the tree when all specializations of the node can never lead to a significant and large contrast set. The decision to prune is based on: The minimum deviation size: The maximum difference between the support
Air Force Network
Air Force Network (AFNet) is an Indian Air Force (IAF) owned, operated and managed digital information grid. The AFNet replaces the Indian Air Force's (IAF) old communication network set-up using the tropo-scatter technology of the 1950s making it a true net-centric combat force. The IAF project is part of the overall mission to network all three services; The Indian Army, The Indian Navy and The Indian Air Force. The former Defence Minister AK Antony inaugurated the IAF's the AFNET on 14 September 2010 dedicating it to the people of India, for their direct or indirect participation in the communication revolution. == Background == Armed Forces in India has been using troposcatters as primary means of military communications since the 1950s, thereby occupying huge and expensive 2G and 3G spectrums which otherwise could have been used for expanding and de-clogging the civilian wireless communication network. The rapid expansion of civilian mobile telephony leading to need for larger bandwidth for wireless communication and commercial need to operate the 3G network necessitated the Government of India to have the Indian Armed Forces vacate the spectrum occupied by them. Thus the government of India through Department of Telecommunication (DoT) started a project called "Network for Spectrum" to set up a fiber optics network for the exclusive use of Indian Armed Forces in exchange for spectrum being released by the Defence Forces. The aim of 'Network for Spectrum' being twofold - to facilitate the growth of national tele-density on the one hand, and ensuring modernization of defence communications with the state-of-the-art communication infrastructure, and to support net-centric military operations. The Department of Telecom and the Ministry of Defence signed the memorandum of understanding for vacating the spectrum and setting up dedicated network for the use of defence forces. In this MoU, DoT agreed to laying of 40,000 route kilometres of optical fibre cable connecting 219 Army stations, 33 Navy stations and 162 points for the Air Force. It further agreed to setting up an exclusive defence band and Defence Interest Zone along 100 km of the international border, where spectrum will be reserved only for use by the Armed Forces. The total cost of implementing "Network for Spectrum" project is estimated to be ₹ 10,000 crores. AFNet is Indian Air Force component of Digital Information Grid under "Network for Spectrum" project and the AFNet has been extended and connected to the Digital Information Grid Project under implementation for the Indian Navy and the Indian Army on 2015. == Project Origin == The Air Force Network (AFNet) had been developed by the Indian Air Force at a cost of ₹1,077 crore (US$235.53 million) in collaboration with HCL Technologies and Bharat Sanchar Nigam Limited. It will replace the Air Force's more than half-a-century-old telecom network. This project is part of the defence ministry's initiative to digitize the communication systems of the three armed forces under "Network for Spectrum" initiative to improve coordination among themselves and other Military and Strategic Institution. IAF was the first to complete this gigabyte digital information grid implemented under the AFNet project. AFNet will be connected and extended to a Unified Digital Grid encompassing all the legs of Indian Armed Forces. The then defence minister, A. K. Antony, inaugurated the AFNet, IAF's gigabyte digital information grid. The grid is aimed at improving the network-centric warfare capability of the Air Force. The event also saw the presence of other personalities including the then Minister of Communication & IT, A. Raja; the Marshal of the Air Force, Arjan Singh; the Chief of the Air Staff, the Chief of the Army Staff and other officials from the three services and members of the Industry. The event also featured a practice interception of a simulated aerial target by a MiG-29 which took off from an airbase in the Punjab sector using the AFNet capabilities. Further capabilities in line with network centric warfare were also demonstrated. This included sharing information, videos and pictures by operational assets and platforms like UAVs and AWACS to decision-makers who are several hundred kilometres apart. == Technology, Design & Structure == AFNet incorporates the latest traffic transportation technology in form of Internet Protocol (IP) packets over the network using Multiprotocol Label Switching (MPLS). A large Voice over Internet Protocol (VoIP) layer with stringent quality of service enforcement will facilitate robust, high quality voice, video and conferencing solutions. AFNet will prove to be an effective force multiplier for intelligence analysis, mission planning and control, post-mission feedback and related activities like maintenance, logistics and administration. A comprehensive design with multi-layer security precautions for “Defence in Depth” have been planned by incorporating encryption technologies, Intrusion Prevention Systems to ensure the resistance of the IT system against information manipulation and eavesdropping. The network is secured with a host of advanced state-of-the-art encryption technologies. It is designed for high reliability with redundancy built into the network design itself. The AFNet is also capable of transmitting video from unmanned surveillance aircraft (UAV), pictures from airborne warning and control systems (AWACS) to decision makers on the ground and providing intelligence inputs from remote areas. The AFNet is also expected to facilitate accelerated economic growth by providing radio frequency spectrum for telecommunication purposes. AFNET will be the largest Multi-protocol Label Switching (MPLS) network in the defence segment. == Demonstration == At the AFNet launch, the IAF showcased a practice interception of simulated enemy targets by a pair of Mig-29 fighter aircraft airborne from an advanced airbase in the Punjab sector using the gigabyte digital information grid. During the AFNet-assisted operations, the Indian fighter jets neutralised intruding targets in the western sector, which was played out live on the giant screens at the Air Force auditorium offering a glimpse of the harnessed potential of the system. The final orders for engaging the enemy targets were issued live by Antony, whose queries about how the operation went were responded to by the pilot as "excellent". Various other functionalities contributing towards Network Centric Warfare were also showcased. These consisted of facilitating video from Unmanned Aerial Vehicle (UAV), pictures from an AWACS aircraft to the decision-makers on ground sitting hundreds of kilometres away, providing intelligence inputs from far-flung areas at central locations seamlessly. This was possible mainly because of the robust networking platform provided by AFNet. == Integrated Air Command and Control System == Integrated Air Command and Control System (IACCS) is an automated command and control system for air defence operated by the Indian Air Force. IACCS operations rides the AFNET backbone integrating all ground-based and airborne sensors, air defense weapon systems and command and control (C2) nodes. Subsequent integration with other services networks and civil radars will provide an integrated Air Situation Picture to operators to carry out AD role. The project was envisaged in 1995 following the Purulia arms drop case and was a part of IAF’s first Air Power Doctrinal manual issued in the 2000s, later revised in 2022. The first node in the western sectors had been operationalised by September 2010. The first five nodes located in the western and south western sectors were commissioned in 2011. The Air Force was preparing to seek clearance for five further nodes which would cover the rest of the nation including the island territories. Through the IACCS, IAF will connect all of its space, air and ground assets quickly, for total awareness of a region. This will offer connectivity for all the ground platforms and airborne platforms (including AEW&C), as a part of the network centricity of IAF. The IACCS also facilitates real-time transport of images, data and voice, amongst satellites, aircraft and ground stations. By 2018, five IACCS nodes had been established including Barnala (Punjab), Wadsar (Gujarat), Aya Nagar (Delhi), Jodhpur (Rajasthan) and Ambala (Haryana). Following this, under Phase-II, 4 additional nodes and 10 sub-nodes are to be set up. The major nodes will be established in the Eastern, Central, Southern and Andaman and Nicobar sectors. The second phase will cost ₹8,000 crore (equivalent to ₹110 billion or US$1.1 billion in 2023). IACCS successfully integrated all operating radars, including its own, the Army's, and civilian ones, in 2023. This enabled the autonomous firing response capability to take down incoming missiles, aircraft, and UAVs. The Akashteer system of the Indian Army is being integrated with the IACCS
TRAME
TRAME (TRAnsmission of MEssages) was the name of the second computer network in the world similar to the internet to be used in an electric utility. Like the internet, the base technology was packet switching; it was developed by the electric utility ENHER in Barcelona. It was deployed by the same utility, first in Catalonia and Aragón, Spain, and later in other places. Its development started in 1974 and the first routers, called nodes at that time, were deployed by 1978. The network was in operation until 2016 (38 years) with successive technological software and hardware updates. == Beginnings == In 1974, packet switching was a technology known only in research circles. The concept began in 1968 in association with the United States' Advanced Research Projects Agency (ARPA) research project ARPANET. The idea of applying the packet switching concept to electric utilities control communication networks first appeared in 1974 when the Swedish power utility Vattenfall started to create its TIDAS packet-switching network and was followed by the Spanish electric utility ENHER, which aimed to telecontrol and automate its high-voltage power grid. For this purpose, ENHER created a specific team of people to develop both the packet-switching network and the supervisory control and data acquisition (SCADA) system, also called the telecontrol system. By 1978 the first four TRAME routers were available and by 1980, eight of them were deployed and operating. The printed circuit boards (PCBs) controlling the communication lines were connected to a shared memory PCB allowing them to exchange data and messages. The project was developed together with its main initial application, the Telecontrol or SCADA system SICL (Sistema Integral de Control Local) with which initially they shared a very similar hardware. The maximum link capacity was 9600 bit/s, which in 1980 was the maximum possible on a 4 kHz wide voice channel at the time. These channels were the basic unit of the then-analog communication systems in use. By that time power utilities used either telephone calls or low speed (below 1200bit/s) dedicated links for telecontrol, typically shared among ten high-voltage electrical substations. == Services == The basic service provided by the TRAME network was SCADA or Telecontrol to automate the high-voltage power grid, thus improving operational efficiency, which was until then operated manually with telephone communication between human operators. Each TRAME router was associated with one or more remote terminal units (RTUs) of the SICL telecontrol system. It also had connected screens, and later PCs, located in electrical substations to interchange messages between them and with the Control Center located in the well-known Casa Fuster in Barcelona. It was a kind of predecessor to today's e-mail. Later, in the 1990s, other protocols (X.25, IP) were developed to include corporate information technology (IT) terminals, company physical surveillance systems and other services. Additionally, applications and terminals were developed for the transmission of voice and video over the TRAME network. == Protocols == The TRAME routing system, like that of the original ARPANET, was based on the Bellman-Ford algorithm but with "split-horizon" as in the Swedish TIDAS network, but with an original improvement. This protocol allows optimal paths to be found in meshed networks for each packet to be transmitted, allowing the shared use of the same network by multiple services. In contrast, traditional circuit-switched technology used to establish dedicated circuits for each service or communication. The addressing of routers and terminals used a proprietary system with a 16-bit address; it would be the equivalent of the well-known IP (Internet Protocol) version 4 (IPv4), still in use on the internet today, which uses 32-bit addresses. It is necessary to take into account that in 1978, the IPv4 protocol did not yet exist since the IPv4 version used on the internet did not appear until 1981, and in fact, did not reach the general public until much later. The line protocols were also proprietary and were called UCL (Unidad de Control de Línea, 'line control unit'), which linked the routers together, and UTR (Unión TRAME-Remotas), the access protocol. They were designed to offer the highest quality of service required by the telecontrol/SCADA function in terms of data integrity and availability set by the International Electrotechnical Commission (IEC) IEC-870-5-1 and ANSI C37.1. standards, and because the protocol used at the time in corporate computer networks, HDLC (high-level data link control), did not offer enough quality for critical industrial applications. Later on, other protocols like X.25 and IP were also made compatible with the aforementioned TRAME protocols. In 2000, the UTR protocol was replaced by the international standard IEC 60870- 5-101/104. Initially network flow control was based on the management of eight data priorities in head-of-the-line (HOL) waiting queues. Later and after some experimentation, a flow control method based on a bit indicating route congestion and management of the gap between packets when accessing the network was adopted. This required measuring the capacity of the route bottleneck. An end-to-end protocol was also added for some flows requiring order preservation like X.25. == Evolution == To last for 38 years, the technology had to endure intense evolution. There were essentially four TRAME generations which are summarized in the table. A description of the four generations of TRAME is provided below. === TRAME 1 === The project began in 1974 and in 1978 a first network with four routers was already installed and in operation at the electric utility ENHER. In 1980, the network had eight nodes in operation (see Figure I). The hardware was based on the Zilog Z80 processor and had a multiprocessor structure with 16 processors sharing a common memory. The software was developed at ENHER's headquarters located in the well-known Casa Fuster, Passeig de Gràcia, 132, Barcelona, using the Z80 assembly language. Beyond 1980 the software began to be written in C programming language and an HP64000 Logic Development System emulator was used for the purpose. The hardware was produced by ISEL, an INI (Instituto Nacional de Indústria) company. The routing system was a variant of Bellman-Ford with split-horizon. It was an improvement of the original ARPA network routing system consisting of an original update procedure which allowed for a faster reaction to changes. The distance function was the number of packets in the output waiting queues plus one. The line protocols (UCL for internal lines linking routers and UTR for accessing the network) were designed to meet the stringent requirements set for telecontrol (SCADA) of high-voltage power networks (IEC-870-5-1 and ANSI C37.1 standards). At the OSI transport layer, windows with a width of 1 to 8, depending on the required service, residing in the terminals were used. Initially, addresses were only 14 bits long to address both the routers (called nodes by then) and the devices connected to them. They were made up of two fields, an 8-bit field to address the router and a 6-bit sub-address to address the terminals connected to it. The node address was assigned to the nodes and not to the ends of the links as in the internet. The basic advantages of TRAME over other technologies used in electric utilities at the time were in part due to the packet technology itself: ability to manage any network topology, automatic adaptability to topological and traffic changes, integration of different link technologies (digital or analog) and capacities in a single network, open and decentralized intercommunicability between users and devices, simultaneous communication with several users and locations from a single physical connection, and integrated network supervision. In fact, the network was provided from its inception with a supervision center consisting of a computer and a synoptic board located at the company's headquarters (see Figure II). But other advantages were due to the specific design of TRAME: high data integrity, priority support for packets, and ease of including special protocols such as the many SCADA protocols in use at that time. All of the above resulted in improved quality of service, especially with respect to data availability and data integrity, and in the integration of services in a single network. Part of the evolution of its deployment can be seen in Figures II to IV. === TRAME 2 === In 1990, TRAME 2 was fully deployed and TRAME 1 was replaced. The processor of the new hardware was Intel 80286 and the hardware structure and external appearance of the routers was very similar to that of TRAME 1. The software was written in C and the above-mentioned emulator continued to be used. Improvements over TRAME 1 were the introduction of the standardized X.25 access protocol
Image formation
The study of image formation encompasses the radiometric and geometric processes by which 2D images of 3D objects are formed. In the case of digital images, the image formation process also includes analog to digital conversion and sampling. == Imaging == The imaging process is a mapping of an object to an image plane. Each point on the image corresponds to a point on the object. An illuminated object will scatter light toward a lens and the lens will collect and focus the light to create the image. The ratio of the height of the image to the height of the object is the magnification. The spatial extent of the image surface and the focal length of the lens determines the field of view of the lens. Image formation of mirror these have a center of curvature and its focal length of the mirror is half of the center of curvature. == Illumination == An object may be illuminated by the light from an emitting source such as the sun, a light bulb or a Light Emitting Diode. The light incident on the object is reflected in a manner dependent on the surface properties of the object. For rough surfaces, the reflected light is scattered in a manner described by the Bi-directional Reflectance Distribution Function (BRDF) of the surface. The BRDF of a surface is the ratio of the exiting power per square meter per steradian (radiance) to the incident power per square meter (irradiance). The BRDF typically varies with angle and may vary with wavelength, but a specific important case is a surface that has constant BRDF. This surface type is referred to as Lambertian and the magnitude of the BRDF is R/π, where R is the reflectivity of the surface. The portion of scattered light that propagates toward the lens is collected by the entrance pupil of the imaging lens over the field of view. == Field of view and imagery == The Field of view of a lens is limited by the size of the image plane and the focal length of the lens. The relationship between a location on the image and a location on the object is y = ftan(θ), where y is the max extent of the image plane, f is the focal length of the lens and θ is the field of view. If y is the max radial size of the image then θ is the field of view of the lens. While the image created by a lens is continuous, it can be modeled as a set of discrete field points, each representing a point on the object. The quality of the image is limited by the aberrations in the lens and the diffraction created by the finite aperture stop. == Pupils and stops == The aperture stop of a lens is a mechanical aperture which limits the light collection for each field point. The entrance pupil is the image of the aperture stop created by the optical elements on the object side of the lens. The light scattered by an object is collected by the entrance pupil and focused onto the image plane via a series of refractive elements. The cone of the focused light at the image plane is set by the size of the entrance pupil and the focal length of the lens. This is often referred to as the f-stop or f-number of the lens. f/# = f/D where D is the diameter of the entrance pupil. == Pixelation and color vs. monochrome == In typical digital imaging systems, a sensor is placed at the image plane. The light is focused on to the sensor and the continuous image is pixelated. The light incident on each pixel in the sensor will be integrated within the pixel and a proportional electronic signal will be generated. The angular geometric resolution of a pixel is given by atan(p/f), where p is the pitch of the pixel. This is also called the pixel field of view. The sensor may be monochrome or color. In the case of a monochrome sensor, the light incident on each pixel is integrated and the resulting image is a grayscale like picture. For color images, a mosaic color filter is typically placed over the pixels to create a color image. An example is a Bayer filter. The signal incident on each pixel is then digitized to a bit stream. == Image quality == The quality of an image is dependent upon both geometric and physical items. Geometrically, higher density of pixels across an image will give less blocky pixelation and thus a better geometric image quality. Lens aberrations also contribute to the quality of the image. Physically, diffraction due to the aperture stop will limit the resolvable spatial frequencies as a function of f-number. In the frequency domain, Modulation Transfer Function (MTF) is a measure of the quality of the imaging system. The MTF is a measure of the visibility of a sinusoidal variation in irradiance on the image plane as a function of the frequency of the sinusoid. It includes the effects of diffraction, aberrations and pixelation. For the lens, the MTF is the autocorrelation of the pupil function, so it accounts for the finite pupil extent and the lens aberrations. The sensor MTF is the Fourier Transform of the pixel geometry. For a square pixel, MTF(ξ) = sin(πξp)/πξp where p is the pixel width and ξ is the spatial frequency. The MTF of the combination of the lens and detector is the product of the two component MTFs. == Perception == Color images can be perceived via two means. In the case of computer vision the light incident on the sensor comprises the image. In the case of visual perception, the human eye has a color dependent response to light so this must be accounted for. This is important consideration when converting to grayscale. == Image formation in eye == The principal difference between the lens of the eye and an ordinary optical lens is that the former is flexible. The radius of the curvature of the anterior surface of the lens is greater than the radius of its posterior surface. The shape of the lens is controlled by tension in the fibers of the ciliary body. To focus on distant objects, the controlling muscles cause the lens to be relatively flattened. Similarly, these muscles allow the lens to become thicker in order to focus on objects near the eye. The distance between the center of the lens and the retina (focal length) varies from approximately 17 mm to about 14 mm, as the refractive power of the lens increases from its minimum to its maximum. When the eye focuses on an object farther away than about 3 m, the lens exhibits its lowest refractive power. When the eye focuses on a close object, the lens is most strongly refractive.
Voice inversion
Voice inversion scrambling is an analog method of obscuring the content of a transmission. It is sometimes used in public service radio, automobile racing, cordless telephones and the Family Radio Service. Without a descrambler, the transmission makes the speaker "sound like Donald Duck". Despite the term, the technique operates on the passband of the information and so can be applied to any information being transmitted. == Forms and details == There are various forms of voice inversion which offer differing levels of security. Overall, voice inversion scrambling offers little true security as software and even hobbyist kits are available from kit makers for scrambling and descrambling. The cadence of the speech is not changed. It is often easy to guess what is happening in the conversation by listening for other audio cues like questions, short responses and other language cadences. In the simplest form of voice inversion, the frequency p {\displaystyle p} of each component is replaced with s − p {\displaystyle s-p} , where s {\displaystyle s} is the frequency of a carrier wave. This can be done by amplitude modulating the speech signal with the carrier, then applying a low-pass filter to select the lower sideband. This will make the low tones of the voice sound like high ones and vice versa. This process also occurs naturally if a radio receiver is tuned to a single sideband transmission but set to decode the wrong sideband. There are more advanced forms of voice inversion which are more complex and require more effort to descramble. One method is to use a random code to choose the carrier frequency and then change this code in real time. This is called Rolling Code voice inversion and one can often hear the "ticks" in the transmission which signal the changing of the inversion point. Another method is split band voice inversion. This is where the band is split and then each band is inverted separately. A rolling code can also be added to this method for variable split band inversion (VSB). Common carrier frequencies are: 2.632 kHz, 2.718 kHz, 2.868 kHz, 3.023 kHz, 3.107 kHz, 3.196 kHz, 3.333 kHz, 3.339 kHz, 3.496 kHz, 3.729 kHz and 4.096 kHz. Voice inversion offers no security at all and software is available to restore the original voice, which is why it is no longer used to protect conversations today. However, voice inversion is still found in low-end Chinese walkie talkies.