In statistics, additive smoothing, also called Laplace smoothing or Lidstone smoothing, is a technique used to smooth count data, eliminating issues caused by certain values having 0 occurrences. Given a set of observation counts x = ⟨ x 1 , x 2 , … , x d ⟩ {\displaystyle \mathbf {x} =\langle x_{1},x_{2},\ldots ,x_{d}\rangle } from a d {\displaystyle d} -dimensional multinomial distribution with N {\displaystyle N} trials, a "smoothed" version of the counts gives the estimator θ ^ i = x i + α N + α d ( i = 1 , … , d ) , {\displaystyle {\hat {\theta }}_{i}={\frac {x_{i}+\alpha }{N+\alpha d}}\qquad (i=1,\ldots ,d),} where the smoothed count x ^ i = N θ ^ i {\displaystyle {\hat {x}}_{i}=N{\hat {\theta }}_{i}} , and the "pseudocount" α > 0 is a smoothing parameter, with α = 0 corresponding to no smoothing (this parameter is explained in § Pseudocount below). Additive smoothing is a type of shrinkage estimator, as the resulting estimate will be between the empirical probability (relative frequency) x i / N {\displaystyle x_{i}/N} and the uniform probability 1 / d . {\displaystyle 1/d.} Common choices for α are 0 (no smoothing), +1⁄2 (the Jeffreys prior), or 1 (Laplace's rule of succession), but the parameter may also be set empirically based on the observed data. From a Bayesian point of view, this corresponds to the expected value of the posterior distribution, using a symmetric Dirichlet distribution with parameter α as a prior distribution. In the special case where the number of categories is 2, this is equivalent to using a beta distribution as the conjugate prior for the parameters of the binomial distribution. == History == Laplace came up with this smoothing technique when he tried to estimate the chance that the sun will rise tomorrow. His rationale was that even given a large sample of days with the rising sun, we still can not be completely sure that the sun will still rise tomorrow (known as the sunrise problem). == Pseudocount == A pseudocount is an amount (not generally an integer, despite its name) added to the number of observed cases in order to change the expected probability in a model of those data, when not known to be zero. It is so named because, roughly speaking, a pseudo-count of value α {\displaystyle \alpha } weighs into the posterior distribution similarly to each category having an additional count of α {\displaystyle \alpha } . If the number of occurrences of each item i {\displaystyle i} is x i {\displaystyle x_{i}} out of N {\displaystyle N} samples, the empirical probability of event i {\displaystyle i} is p i , empirical = x i N , {\displaystyle p_{i,{\text{empirical}}}={\frac {x_{i}}{N}},} but the posterior probability when additively smoothed is p i , α -smoothed = x i + α N + α d , {\displaystyle p_{i,\alpha {\text{-smoothed}}}={\frac {x_{i}+\alpha }{N+\alpha d}},} as if to increase each count x i {\displaystyle x_{i}} by α {\displaystyle \alpha } a priori. Depending on the prior knowledge, which is sometimes a subjective value, a pseudocount may have any non-negative finite value. It may only be zero (or the possibility ignored) if impossible by definition, such as the possibility of a decimal digit of π being a letter, or a physical possibility that would be rejected and so not counted, such as a computer printing a letter when a valid program for π is run, or excluded and not counted because of no interest, such as if only interested in the zeros and ones. Generally, there is also a possibility that no value may be computable or observable in a finite time (see the halting problem). But at least one possibility must have a non-zero pseudocount, otherwise no prediction could be computed before the first observation. The relative values of pseudocounts represent the relative prior expected probabilities of their possibilities. The sum of the pseudocounts, which may be very large, represents the estimated weight of the prior knowledge compared with all the actual observations (one for each) when determining the expected probability. In any observed data set or sample there is the possibility, especially with low-probability events and with small data sets, of a possible event not occurring. Its observed frequency is therefore zero, apparently implying a probability of zero. This oversimplification is inaccurate and often unhelpful, particularly in probability-based machine learning techniques such as artificial neural networks and hidden Markov models. By artificially adjusting the probability of rare (but not impossible) events so those probabilities are not exactly zero, zero-frequency problems are avoided. Also see Cromwell's rule. === Choice of pseudocount === ==== Weakly informative prior ==== One common approach is to add 1 to each observed number of events, including the zero-count possibilities. This is sometimes called Laplace's rule of succession. This approach is equivalent to assuming a uniform prior distribution over the probabilities for each possible event (spanning the simplex where each probability is between 0 and 1, and they all sum to 1). Using the Jeffreys prior approach, a pseudocount of one half should be added to each possible outcome. Pseudocounts should be set to one or one-half only when there is no prior knowledge at all – see the principle of indifference. However, given appropriate prior knowledge, the sum should be adjusted in proportion to the expectation that the prior probabilities should be considered correct, despite evidence to the contrary – see further analysis. Higher values are appropriate inasmuch as there is prior knowledge of the true values (for a mint-condition coin, say); lower values inasmuch as there is prior knowledge that there is probable bias, but of unknown degree (for a bent coin, say). ==== Frequentist interval ==== One way to motivate pseudocounts, particularly for binomial data, is via a formula for the midpoint of an interval estimate, particularly a binomial proportion confidence interval. The best-known is due to Edwin Bidwell Wilson, in Wilson (1927): the midpoint of the Wilson score interval corresponding to z {\displaystyle z} standard deviations on either side is n S + z n + 2 z {\displaystyle {\frac {n_{S}+z}{n+2z}}} Taking z = 2 {\displaystyle z=2} standard deviations to approximate a 95% confidence interval ( z ≈ 1.96 {\displaystyle z\approx 1.96} ) yields pseudocount of 2 for each outcome, so 4 in total, colloquially known as the "plus four rule": n S + 2 n + 4 {\displaystyle {\frac {n_{S}+2}{n+4}}} This is also the midpoint of the Agresti–Coull interval (Agresti & Coull 1998). ==== Known incidence rates ==== Often the bias of an unknown trial population is tested against a control population with known parameters (incidence rates) μ = ⟨ μ 1 , μ 2 , … , μ d ⟩ . {\displaystyle {\boldsymbol {\mu }}=\langle \mu _{1},\mu _{2},\ldots ,\mu _{d}\rangle .} In this case the uniform probability 1 / d {\displaystyle 1/d} should be replaced by the known incidence rate of the control population μ i {\displaystyle \mu _{i}} to calculate the smoothed estimator: θ ^ i = x i + μ i α d N + α d ( i = 1 , … , d ) . {\displaystyle {\hat {\theta }}_{i}={\frac {x_{i}+\mu _{i}\alpha d}{N+\alpha d}}\qquad (i=1,\ldots ,d).} As a consistency check, if the empirical estimator happens to equal the incidence rate, i.e. μ i = x i / N , {\displaystyle \mu _{i}=x_{i}/N,} the smoothed estimator is independent of α {\displaystyle \alpha } and also equals the incidence rate. == Applications == === Classification === Additive smoothing is commonly a component of naive Bayes classifiers. === Statistical language modelling === In a bag of words model of natural language processing and information retrieval, the data consists of the number of occurrences of each word in a document. Additive smoothing allows the assignment of non-zero probabilities to words which do not occur in the sample. Studies have shown that additive smoothing is more effective than other probability smoothing methods in several retrieval tasks such as language-model-based pseudo-relevance feedback and recommender systems.
Cloud manufacturing
Cloud manufacturing (CMfg) is a new manufacturing paradigm developed from existing advanced manufacturing models (e.g., ASP, AM, NM, MGrid) and enterprise information technologies under the support of cloud computing, Internet of Things (IoT), virtualization and service-oriented technologies, and advanced computing technologies. It transforms manufacturing resources and manufacturing capabilities into manufacturing services, which can be managed and operated in an intelligent and unified way to enable the full sharing and circulating of manufacturing resources and manufacturing capabilities. CMfg can provide safe and reliable, high quality, cheap and on-demand manufacturing services for the whole lifecycle of manufacturing. The concept of manufacturing here refers to big manufacturing that includes the whole lifecycle of a product (e.g. design, simulation, production, test, maintenance). The concept of Cloud manufacturing was initially proposed by the research group led by Prof. Bo Hu Li and Prof. Lin Zhang in China in 2010. Related discussions and research were conducted hereafter, and some similar definitions (e.g. Cloud-Based Design and Manufacturing (CBDM). ) to cloud manufacturing were introduced. Cloud manufacturing is a type of parallel, networked, and distributed system consisting of an integrated and inter-connected virtualized service pool (manufacturing cloud) of manufacturing resources and capabilities as well as capabilities of intelligent management and on-demand use of services to provide solutions for all kinds of users involved in the whole lifecycle of manufacturing. == Types == Cloud Manufacturing can be divided into two categories. The first category concerns deploying manufacturing software on the Cloud, i.e. a “manufacturing version” of Computing. CAx software can be supplied as a service on the Manufacturing Cloud (MCloud). The second category has a broader scope, cutting across production, management, design and engineering abilities in a manufacturing business. Unlike with computing and data storage, manufacturing involves physical equipment, monitors, materials and so on. In this kind of Cloud Manufacturing system, both material and non-material facilities are implemented on the Manufacturing Cloud to support the whole supply chain. Costly resources are shared on the network. This means that the utilisation rate of rarely used equipment rises and the cost of expensive equipment is reduced. According to the concept of Cloud technology, there will not be direct interaction between Cloud Users and Service Providers. The Cloud User should neither manage nor control the infrastructure and manufacturing applications. As a matter of fact, the former can be considered part of the latter. In CMfg system, various manufacturing resources and abilities can be intelligently sensed and connected into wider Internet, and automatically managed and controlled using IoT technologies (e.g., RFID, wired and wireless sensor network, embedded system). Then the manufacturing resources and abilities are virtualized and encapsulated into different manufacturing cloud services (MCSs), that can be accessed, invoked, and deployed based on knowledge by using virtualization technologies, service-oriented technologies, and cloud computing technologies. The MCSs are classified and aggregated according to specific rules and algorithms, and different kinds of manufacturing clouds are constructed. Different users can search and invoke the qualified MCSs from related manufacturing cloud according to their needs, and assemble them to be a virtual manufacturing environment or solution to complete their manufacturing task involved in the whole life cycle of manufacturing processes under the support of cloud computing, service-oriented technologies, and advanced computing technologies. Four types of cloud deployment modes (public, private, community and hybrid clouds) are ubiquitous as a single point of access. Private cloud refers to a centralized management effort in which manufacturing services are shared within one company or its subsidiaries. Enterprises' mission-critical and core-business applications are often kept in a private cloud. Community cloud is a collaborative effort in which manufacturing services are shared between several organizations from a specific community with common concerns. Public cloud realizes the key concept of sharing services with the general public in a multi-tenant environment. Hybrid cloud is a composition of two or more clouds (private, community or public) that remain distinct entities but are also bound together, offering the benefits of multiple deployment modes. == Resources == From the resource’s perspective, each kind of manufacturing capability requires support from the related manufacturing resource. For each type of manufacturing capability, its related manufacturing resource comes in two forms, soft resources and hard resources. === Soft resources === Software: software applications throughout the product lifecycle including design, analysis, simulation, process planning, and are only beginning to be embraced by the electronics manufacturing industry. Knowledge: experience and know-how needed to complete a production task, i.e. engineering knowledge, product models, standards, evaluation procedures and results, customer feedback, and manufacturing in the cloud provides just as many solutions as the number of questions it also raises for manufacturing executives wanting to make the best possible decision. Skill: expertise in performing a specific manufacturing task. Personnel: human resource engaged in the manufacturing process, i.e. designers, operators, managers, technicians, project teams, customer service, etc. Experience: performance, quality, client evaluation, etc. Business Network: business relationships and business opportunity networks that exist in an enterprise. === Hard resources === Manufacturing Equipment: facilities needed for completing a manufacturing task, e.g. machine tools, cutters, test and monitoring equipment and other fabrication tools. Monitoring/Control Resource: devices used to identify and control other manufacturing resource, for instance, RFID (Radio-Frequency IDentification), WSN (Wireless Sensor Network), virtual managers and remote controllers. Computational Resource: computing devices to support production process, e.g. servers, computers, storage media, control devices, etc. Materials: inputs and outputs in a production system, e.g. raw material, product-in-progress, finished product, power, water, lubricants, etc. Storage: automated storage and retrieval systems, logic controllers, location of warehouses, volume capacity and schedule/optimization methods. Transportation: movement of manufacturing inputs/outputs from one location to another. It includes the modes of transport, e.g. air, rail, road, water, cable, pipeline and space, and the related price, and time taken.
Historical Thesaurus of English
The Historical Thesaurus of English (HTE) is the largest thesaurus in the world. It is called a historical thesaurus as it arranges the whole vocabulary of English, from the earliest written records in Old English to the present, according to the first documented occurrence of a word in the entire history of the English language. The HTE was conceived and begun in 1965 by the English Language & Linguistics department of the University of Glasgow, who have ever since continued to compile the thesaurus. From the 1980s onwards the project was moved from paper-based records to a computer database. Today, the HTE is available to the public online, but a print version, the Historical Thesaurus of the Oxford English Dictionary (HTOED), was published in 2009. == Main project: The Historical Thesaurus of English (HTE) == The Historical Thesaurus of English (HTE) is a complete database of all the words in the Oxford English Dictionary and other dictionaries (including Old English), arranged by semantic field and date. In this way, the HTE arranges the whole vocabulary of English, from the earliest written records in Old English to the present, alongside dates of use. It is the first historical thesaurus to be compiled for any of the world's languages and contains 800,000 meanings for 600,000 words, within 230,000 categories. As the HTE website states, "in addition to providing hitherto unavailable information for linguistic and textual scholars, the Historical Thesaurus online is a rich resource for students of social and cultural history, showing how concepts developed through the words that refer to them." === Structure === The work is divided into three main sections: the External World, the Mind, and Society. These are broken down into successively narrower domains. The text eventually discriminates more than 236,000 categories. The second order categories are: === History === The ambitious project was announced at a 1965 meeting of the Philological Society by its originator, Michael Samuels. Work on the HTE started in the same year. In 2017, the University of Glasgow was awarded the Queen's Anniversary Prize for Higher Education for the HTE. A second edition of the online HTE is currently in progress and is expected to be launched in late 2020. Work is released on the freely-available HTE website when available. == Print edition: Historical Thesaurus of the Oxford English Dictionary (HTOED) == On 22 October 2009, after 44 years of work, version 1.0 of the HTE was published by Oxford University Press in a two-volume slipcased set as the Historical Thesaurus of the Oxford English Dictionary (HTOED). The two hardcover volumes together total nearly 4,500 pages.
Six Little Dragons
Six Little Dragons (Chinese: 杭州六小龙), or Six Little Dragons of Hangzhou, are an informal grouping of the tech startups Game Science, DeepSeek, Unitree Robotics, DEEP Robotics, BrainCo and Manycore Tech. All six were established in Hangzhou, They are active in artificial intelligence, robotics, gaming, and brain-computer interface technology. Hangzhou is referred to as the China’s “e-commerce capital” (电商之都). The nickname "Six Little Dragons" originated from the Chinese internet. == Background == === Chinese government investments (2002 — 2010s) === From 2002 to 2007, under Xi Jinping's leadership as party secretary of Zhejiang, provincial spending on technology research grew over four times to 28 billion RMB. The province launched "Digital Zhejiang" (数字浙江) to advance modernization and the "Eight Eight Strategy" (八八战略), focusing on eight advantages and actions to boost industrial development, including specialized industries. In 2010, Hangzhou's government started "Project Eagle" (雏鹰计划) to aid science and technology startups. The project works with incubators and accelerators to find promising tech companies and offers public funding and other help, especially for startups by graduates and returning students. Unitree received support in the initial phase, along with government subsidies from Binjiang District. === AI-startups and further investments (2025 — present) === In January 2025, the Chinese government created the "Hangzhou AI Industry Chain High-Quality Development Action Plan" which focuses on computing power, LLM technologies, and AI applications. The plan was made to certify over 2,000 new high-tech enterprises, initiate over 300 major tech projects, and invest more than 300 billion RMB (US$40 billion) annually. The Chinese government also renewed "Project Eagle" and to allocate 15% of industrial policy funds for future industries. Hangzhou aimed to become a center for tech startups, highlighting the "six little dragons of Hangzhou," a nickname popularized in early 2025. This group includes DeepSeek, Game Science, Unitree Robotics, Manycore Tech, BrainCo, and DEEP Robotics, companies in gaming, robotics, and software development. Earlier in 2025, DeepSeek, one of the six dragons, launched an AI system at a much lower cost than those from Silicon Valley. Since then, DeepSeek and Alibaba have produced top-performing open source AI models. Game Science launched the successful video game Black Myth: Wukong in 2024, while Unitree gained attention for their dancing robots in the 2025 annual spring gala broadcast by Chinese state media. The group was acknowledged by Chinese authorities in Hangzhou in a New Years message for local businesses in January 2025. Hangzhou’s universities were given credit for the development of Chinese technological industry. Zhejiang University alumni founded three of the "Six Little Dragons". By September 2024, the university produced 102 executives in Chinese AI start-ups, ranking third among China's top institutions. On February 20, 2025, Alibaba's Eddie Wu stated that the company would focus on artificial generative intelligence and plans significant investment in AI. The company also sought to boost foreign investment to China's "Six Little Dragons" following Alibaba's founder Jack Ma attended General Secretary of the Chinese Communist Party Xi Jinping's business symposium with corporate leaders and entrepreneurs that same month. == Challenges == China's net foreign direct investment (FDI) fell by US$168 billion in 2024, marking the largest capital flight since 1990. Foreign investment peaked at US$344 billion in 2021 but has since declined according to the State Administration of Foreign Exchange. In 2024, foreign investors put in only US$4.5 billion while Chinese firms invested US$173 billion abroad. According to interviews conducted by The New York Times, some start-up company founders believe that Chinese government's support for Hangzhou's technological sector has deterred foreign investors. Tensions with the United States led many international companies to adopt a China Plus One strategy, while Chinese firms build factories overseas to avoid potential Trump tariffs. China also faced US restrictions on its access of advanced chips, forcing Chinese tech companies to stockpile Nvidia chips while Chinese producers like Huawei and Semiconductor Manufacturing International Corporation (SMIC) were competing to produce their own.
Mittens (chess)
Mittens is a chess engine developed by Chess.com. It was released on January 1, 2023, alongside four other engines, all of them given cat-related names. The engine became a viral sensation in the chess community due to exposure through content made by chess streamers and a social media marketing campaign, later contributing to record levels of traffic to the Chess.com website and causing issues with database scalability. Mittens was given a rating of one point by Chess.com, although it was evidently stronger than that. Various chess masters played matches against the engine, with players such as Hikaru Nakamura and Levy Rozman drawing and losing their games respectively. A month after its release, Mittens was removed from the website on February 1, as expected through Chess.com's monthly bot cycles. In December 2023, Mittens was brought back in a group of Chess.com's most popular bots of 2023. In January 2024, Mittens was removed again. == Release == Mittens was released on January 1, 2023, as part of a New Year event on Chess.com. It was one of five engines released, all with names related to cats. The other engines released were named Scaredy Cat, rated 800; Angry Cat, rated 1000; Mr. Grumpers, rated 1200 and Catspurrov (a pun on Garry Kasparov), rated 1400. As part of the announcement, a picture of each engine was accompanied by a short description of its character. The description given for Mittens suggested that the engine was hiding something, reading: Mittens likes chess… But how good is she? Of the five engines released, Mittens was by far the most popular. In December 2023, Chess.com re-released Mittens as part of a "best of 2023" group of chess bots made to showcase their most popular bots of the year. == Design == Mittens was conceptualized by Chess.com employee Will Whalen. Appearing as a kitten, Mittens trash talked its opponents with a selection of voice lines: these lines included quotes from J. Robert Oppenheimer, Vincent van Gogh and Friedrich Nietzsche, as well as the 1967 film Le Samouraï. The engine's "personality" was devised by a writing team headed by Sean Becker, and Marija Casic provided the engine's graphics. Chess.com did not disclose any information about the software running the engine. It may be based on Chess.com's Komodo Dragon 3 engine. Mittens' strategy was to slowly grind down an opponent, a tactic likened to the playing style of Anatoly Karpov. Becker stated that the design team believed it would be "way more demoralizing and funny" for the engine to play this way. According to Hikaru Nakamura, Mittens sometimes missed the best move (or winning positions). == Rating == On Chess.com, Mittens had a rating of one point. However, the engine's playing style and tactics showed that it was stronger than that; Mittens was able to beat or draw against many top human players. In an interview with CNN Business, Whalen stated that the idea behind giving Mittens a rating of one was to surprise its opponents, giving it the upper hand psychologically. Estimates of Mittens' true rating range from an Elo of 3200 to 3500, because of its ability to beat other engines of around that level. An upper bound of the engine's rating was found after Levy Rozman made Mittens play against Stockfish 15, a 3700 rated engine. Mittens lost the two games that the engines played. The range of Mittens' possible ratings was summarized by Dot Esports, who stated: It seems like she’s around the 3200–3500 rating range (in Chess.com terms, where the best human players, like Magnus Carlsen and Hikaru Nakamura, sport a 3000–3100 rating in the faster formats), as evidenced by her victories over the site’s otherwise strongest, 3200-rated bots, and her defeat to Stockfish 15, which is currently rated around 3700. == Games == Against human players, Mittens won over 99 percent of the millions of games it played. Chess players such as Hikaru Nakamura, Benjamin Bok, Levy Rozman and Eric Rosen struggled against Mittens; while Rozman and Rosen both lost against the engine, Nakamura and Bok were both able to make a draw. In particular, Nakamura's game against the engine lasted 166 moves; he was playing as White. Bok, Benjamin Finegold and Rozman later went on to win against Mittens, the latter with engine assistance from Stockfish. Magnus Carlsen publicly refused to play the engine, calling it a "transparent marketing trick" and "a soulless computer". Against other chess engines, Mittens participated in the Chess.com Computer Chess Championship as a side act. In the competition, Mittens played 150 games against an engine named after the film M3GAN and won overall with a score of 81.5 to 68.5. This equated to 54 percent of the games played. During the event, an estimate of Mittens' rating was made at 3515 points. == Impact == Mittens went viral in the chess community due to its concept and design: according to an announcement by Chess.com, a combined total of 120 million games were played against the cat engines over the course of January, with around 40 million played against Mittens. The popularity of the engine was helped by the social media exposure created by Chess.com. This included creating an official Twitter account to promote the engine. Chess streamers like Rozman and Nakamura helped cultivate this by creating content around the engine. A video by Nakamura entitled "Mittens the chess bot will make you quit chess" gained over 3.5 million views on YouTube. On January 11, Chess.com reported issues with database scalability due to record levels of traffic: 40 percent more games had been played on Chess.com in January 2023 than any other month since the website's release. According to The Wall Street Journal, the popularity spike was more than the similar surge following the release of Netflix's The Queen's Gambit. The popularity of Mittens was cited by Chess.com as a reason for this instability. The problems continued throughout January; Chess.com stated that they would have to upgrade their servers and invest more in cloud computing to solve the problems caused by the website's popularity surge. On February 1, 2023, Mittens and the other cat engines were removed from the computer section of Chess.com. They were replaced with five new engines themed around artificial intelligence. A tweet was posted on the Mittens's Twitter account after the engine's removal, reading "This is just the beginning. Goodbye for now."
BigDog
BigDog is a dynamically stable quadruped military robot platform that was created in 2005 by Boston Dynamics with the Harvard University Concord Field Station. It was funded by the U.S. Defense Advanced Research Projects Agency (DARPA), but the project was shelved after the BigDog's gas engine was deemed too loud for combat. == History == BigDog was funded by the Defense Advanced Research Projects Agency (DARPA) in the hopes that it would be able to serve as a mechanic pack mule to accompany soldiers in terrain too rough for conventional vehicles. Instead of wheels or treads, BigDog uses four legs for movement, allowing it to move across surfaces that would be difficult for wheels. The legs contain a variety of sensors, including joint position and ground contact. BigDog also features a laser gyroscope and a stereo vision system. BigDog is 3 feet (0.91 m) long, stands 2.5 feet (0.76 m) tall, and weighs 240 pounds (110 kg), making it about the size of a small mule. It is capable of traversing difficult terrain, running at four miles per hour (6.4 km/h), carrying 340 pounds (150 kg), and climbing a 35 degree incline. Locomotion is controlled by an onboard computer that receives input from the robot's various sensors. Navigation and balance are also managed by the control system. BigDog's walking pattern is controlled through four legs, each equipped with four low-friction hydraulic cylinder actuators that power the joints. BigDog's locomotion behaviors can vary greatly. It can stand up, sit down, walk with a crawling gait that lifts one leg at a time, walk with a trotting gait lifting diagonal legs, or trot with a running gait. The travel speed of BigDog varies from a 0.62 mph (1 km/h) crawl to a 3.3 mph (5.3 km/h) trot. The BigDog project was headed by Dr. Martin Buehler, who received the Joseph Engelberger Award from the Robotics Industries Association in 2012 for the work. Dr. Buehler while previously a professor at McGill University, headed the robotics lab there, developing four-legged walking and running robots. Built onto the actuators are sensors for joint position and force, and movement is ultimately controlled through an onboard computer which manages the sensors. Approximately 50 sensors are located on BigDog. These measure the attitude and acceleration of the body, motion, and force of joint actuators as well as engine speed, temperature and hydraulic pressure inside the robot's internal engine. Low-level control, such as position and force of the joints, and high-level control such as velocity and altitude during locomotion, are both controlled through the onboard computer. BigDog was featured in episodes of Web Junk 20 and Hungry Beast, and in articles in New Scientist, Popular Science, Popular Mechanics, and The Wall Street Journal. In September 2011 Boston Dynamics released video footage of a new generation of BigDog known as AlphaDog. The footage shows AlphaDog's ability to walk on rough terrain and recover its balance when kicked from the side. The refined equivalent has been designed by Boston Dynamics to exceed the BigDog in terms of capabilities and use to dismounted soldiers. In February 2012, with further DARPA support, the militarized Legged Squad Support System (LS3) variant of BigDog demonstrated its capabilities during a hike over a rough terrain. Starting in the summer of 2012, DARPA planned to complete the overall development of the system and refine its key capabilities in 18 months, ensuring its worth to dismounted warfighters before it is rolled out to squads operating in-theatre. BigDog must be able to demonstrate its ability to complete a 20-mile (32 km) trail in 24 hours, without refuelling, while carrying a 325-pound (150 kg) load. A refinement of its vision sensors will also be conducted. At the end of February 2013, Boston Dynamics released video footage of a modified BigDog with an arm. The arm could pick up objects and throw them. The robot is relying on its legs and torso to help power the motions of the arm. It is believed that it can lift weights around 55 pounds (25 kg). This work was funded by the United States Army Research Laboratory and paved the way for integrating manipulators with quadrupeds as found on Spot, the spiritual successor of BigDog. === Discontinuation === At the end of December 2013, the BigDog project was discontinued. Despite hopes that it would one day work like a pack mule for US soldiers in the field, the gasoline-powered engine was deemed too noisy for use in combat, and it could be heard from hundreds of meters away. A similar project for an all-electric robot named Spot in 2016 was much quieter, but could only carry 45 pounds (20 kg). Both projects are no longer in progress, but the Spot was only released in 2020. == Hardware == BigDog is powered by a small two-stroke, one-cylinder, 15-brake-horsepower (11 kW) engine operating at 9,000 RPM. The engine drives a hydraulic pump, which in turn drives the hydraulic leg actuators. Each leg has four actuators (two for the hip joint, and two each for the knee and ankle joints), for a total of 16. Each actuator unit consists of a hydraulic cylinder, servo valve, position sensor, and force sensor. Onboard computing power is a ruggedized PC/104 board stack with two computers, one running a Pentium M processor running QNX (used for sensor data processing) and another running a Core Duo processor (used for visual data processing). == Gallery ==
Allen's interval algebra
Allen's interval algebra is a calculus for temporal reasoning that was introduced by James F. Allen in 1983. The calculus defines possible relations between time intervals and provides a composition table that can be used as a basis for reasoning about temporal descriptions of events. == Formal description == === Relations === The following 13 base relations capture the possible relations between two intervals. To see that the 13 relations are exhaustive, note that each point of X {\displaystyle X} can be at 5 possible locations relative to Y {\displaystyle Y} : before, at the start, within, at the end, after. These give 5 + 4 + 3 + 2 + 1 = 15 {\displaystyle 5+4+3+2+1=15} possible relative positions for the start and the end of X {\displaystyle X} . Of these, we cannot have X 0 = X 1 = Y 0 {\displaystyle X_{0}=X_{1}=Y_{0}} since X 0 < X 1 {\displaystyle X_{0}