In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints. A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain. The modern use of kinematic chains includes analysis of Linkages (mechanical), compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems, and cable compliance in cable robotic and tensegrity systems. == Mobility formula == The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M = 6(N − 1), where N = n + 1 is the number of moving bodies plus the fixed body. Joints that connect bodies impose constraints. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. It is convenient to define the number of constraints c that a joint imposes in terms of the joint's freedom f, where c = 6 − f. In the case of a hinge or slider, which are one-degree-of-freedom joints, have f = 1 and therefore c = 6 − 1 = 5. The result in general where d {\displaystyle d} is the degrees of freedom for the mobility of a kinematic chain formed from n moving links and j joints each with freedom fi, i = 1, 2, …, j, is given by M = d n − ∑ i = 1 j ( d − f i ) = d ( N − 1 − j ) + ∑ i = 1 j f i {\displaystyle M=dn-\sum _{i=1}^{j}(d-f_{i})=d(N-1-j)+\sum _{i=1}^{j}f_{i}} Where N is the total number of links and includes the fixed link. Spacial linkages used d = 6 {\displaystyle d=6} and planar linkages use d = 3 {\displaystyle d=3} . This result is known as the Chebychev–Grübler–Kutzbach criterion. == Analysis of kinematic chains == The constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of the chain associated with specific values of input parameters, called degrees of freedom. The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the kinematic equations, [ T ] = [ Z 1 ] [ X 1 ] [ Z 2 ] [ X 2 ] ⋯ [ X n − 1 ] [ Z n ] , {\displaystyle [T]=[Z_{1}][X_{1}][Z_{2}][X_{2}]\cdots [X_{n-1}][Z_{n}],\!} where [T] is the transformation locating the end-link—notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of the serial chain. Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors: Its topology: a serial chain, a parallel manipulator, a tree structure, or a graph. Its geometrical form: how are neighbouring joints spatially connected to each other? Explanation Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. == Synthesis of kinematic chains == The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory. Ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the 1950s. His use of the newly developed computer to solve Freudenstein's equation became the prototype of computer-aided design systems. This work has been generalized to the synthesis of spherical and spatial mechanisms.
Supersampling
Supersampling or supersampling anti-aliasing (SSAA) is a spatial anti-aliasing method, i.e. a method used to remove aliasing (jagged and pixelated edges, colloquially known as "jaggies") from images rendered in computer games or other computer programs that generate imagery. Aliasing occurs because unlike real-world objects, which have continuous smooth curves and lines, a computer screen shows the viewer a large number of small squares. These pixels all have the same size, and each one has a single color. A line can only be shown as a collection of pixels, and therefore appears jagged unless it is perfectly horizontal or vertical. The aim of supersampling is to reduce this effect. Color samples are taken at several instances inside the pixel (not just at the center as normal)—hence the term "supersampling"—and an average color value is calculated. This can for example be achieved by rendering the image at a much higher resolution than the one being displayed, then shrinking it to the desired size, using the extra pixels for calculation, with the result being a downsampled image with smoother transitions from one line of pixels to another along the edges of objects, but each pixel could also be supersampled using other strategies (see the Supersampling patterns section). The number of samples determines the quality of the output. == Motivation == Aliasing is manifested in the case of 2D images as moiré pattern and pixelated edges, colloquially known as "jaggies". Common signal processing and image processing knowledge suggests that to achieve perfect elimination of aliasing, proper spatial sampling at the Nyquist rate (or higher) after applying a 2D Anti-aliasing filter is required. As this approach would require a forward and inverse fourier transformation, computationally less demanding approximations like supersampling were developed to avoid domain switches by staying in the spatial domain ("image domain"). == Method == === Computational cost and adaptive supersampling === Supersampling is computationally expensive because it requires much greater video card memory and memory bandwidth, since the amount of buffer used is several times larger. A way around this problem is to use a technique known as adaptive supersampling, where only pixels at the edges of objects are supersampled. Initially only a few samples are taken within each pixel. If these values are very similar, only these samples are used to determine the color. If not, more are used. The result of this method is that a higher number of samples are calculated only where necessary, thus improving performance. === Supersampling patterns === When taking samples within a pixel, the sample positions have to be determined in some way. Although the number of ways in which this can be done is infinite, there are a few ways which are commonly used. ==== Grid ==== The simplest algorithm. The pixel is split into several sub-pixels, and a sample is taken from the center of each. It is fast and easy to implement. Although, due to the regular nature of sampling, aliasing can still occur if a low number of sub-pixels is used. ==== Random ==== Also known as stochastic sampling, it avoids the regularity of grid supersampling. However, due to the irregularity of the pattern, samples end up being unnecessary in some areas of the pixel and lacking in others. ==== Poisson disk ==== The Poisson disk sampling algorithm places the samples randomly, but then checks that any two are not too close. The end result is an even but random distribution of samples. The naive "dart throwing" algorithm is extremely slow for large data sets, which once limited its applications for real-time rendering. However, many fast algorithms now exist to generate Poisson disk noise, even those with variable density. The Delone set provides a mathematical description of such sampling. ==== Jittered ==== A modification of the grid algorithm to approximate the Poisson disk. A pixel is split into several sub-pixels, but a sample is not taken from the center of each, but from a random point within the sub-pixel. Congregation can still occur, but to a lesser degree. ==== Rotated grid ==== A 2×2 grid layout is used but the sample pattern is rotated to avoid samples aligning on the horizontal or vertical axis, greatly improving antialiasing quality for the most commonly encountered cases. For an optimal pattern, the rotation angle is arctan (1/2) (about 26.6°) and the square is stretched by a factor of √5/2, making it also a 4-queens solution.
Digital heritage
The Charter on the Preservation of Digital Heritage of UNESCO defines digital heritage as embracing "cultural, educational, scientific and administrative resources, as well as technical, legal, medical and other kinds of information created digitally, or converted into digital form from existing analogue resources". Digital heritage also includes the use of digital media in the service of understanding and preserving cultural or natural heritage. The digitization of both cultural heritage and Natural heritage serves to enable the permanent access of current and future generations to culturally important objects ranging from literature and paintings to flora, fauna, or habitats. It is also used in the preservation and access of objects with enduring or significant historical, scientific, or cultural value including buildings, archeological sites, and natural phenomena. The main idea is the transformation of a material object into a virtual copy. It should not be confused with digital humanities, which uses digitizing technology to specifically help with research. There have been several debates concerning the efficiency of the process of digitizing heritage. Some of the drawbacks refer to the deterioration and technological obsolescence due to the lack of funding for archival materials and underdeveloped policies that would regulate such a process. Another main social debate has taken place around the restricted accessibility due to the digital divide that exists around the world. Nevertheless, new technologies enable easy, instant and cross boarder access to the digitized work. Many of these technologies include spatial and surveying technology to gain aerial or 3D images. Digital heritage is also used to monitor cultural heritage sites over years to help with preservation, maintenance, and sustainable tourism. It aims to observe any changes, diseases, or deterioration that may occur on objects. == Cultural and natural heritage == Digital Heritage that is not born-digital can be divided into two separate groups—digital cultural heritage and digital natural heritage. Digital cultural heritage is the maintenance or preservation of cultural objects through digitization. These are objects, in some cases entire cities, that are considered of cultural importance. These objects are sometimes able to be digitized or physically represented in minute detail. Digital cultural heritage also includes intangible heritage. These are things such as "oral traditions, customs, value systems, skills, traditional dances, diets, performances" and other unique features of a culture. Intangible heritage is particularly vulnerable to destruction due to urbanization. There are several projects and programs which concentrate on digital cultural heritage. One such project is Mapping Gothic France, which aims to document and preserve cathedrals across France using images, VR tours, laser scans, and panoramas. This allows for scientific and historical study and preservation of the cathedrals and also provides detailed access to the sites for anyone in the world. The aim of projects like these is to help with the preservation and restoration of cultural objects. After the fire at Notre-Dame de Paris in 2019, digital scans are a major component in the ongoing restoration. Digital natural heritage pertains to objects of natural heritage that are considered of cultural, scientific, or aesthetic importance. Digital heritage in this instance is used not only to grant access to these objects, but to monitor any changes over time, such as with plant or animal habitats. Geographic information systems are a form of technology that is used primarily in the study of natural heritage. Western Australia has one such digital heritage project where they have created a digital repository of native plants important to both the region and the Aboriginal people. This is in order to protect and preserve the important biological heritage of Western Australia. == Educational impact == The digitization of these heritage objects has impacts around the world and across many disciplines. The increase of digital items means that people, especially the youth, are able to learn about new objects and cultures online through various media. They provide viewers with a more in-depth experience with an item or place, instead of just an image. The media is also able to be curated to age- or educational-level appropriateness, making learning easier. Some of the technology used in education, especially in museums, includes mobile apps, virtual reality, social media, and video games. Cultural heritage institutions are using this technology to try to expand access, increase appreciation for these items, and to gain new viewpoints on their collections. Digital heritage also helps scientists, archeologists, or other historians and specialists collect data on these objects, providing more information on the objects and the past. Digital Heritage is still currently being studied and improved by several sectors invested in cultural and intellectual preservation. It is particularly of interest to museums, governments, and academic institutions. Research by these groups are creating new concepts, methodologies, and techniques for the implementation of digital heritage to protect this type of cultural and natural heritage. As new technologies are created, museums and other heritage institutions are provided with more ways of disseminating their information and engaging with the public. A lack of resources within certain groups may still hinder everyone from accessing digital heritage. == Technologies used == The digitization of cultural heritage is attained through several means. Some of the main technology used is spatial and surveying technology. Space archaeological technology - Observations from space satellites are non-intrusive and can be integrated with other technologies on the ground. It is used to photograph vast areas of earth and help with research. Remnants of ancient civilizations or other human objects are also able to be spotted via satellite imaging. Unmanned aerial vehicles - UAV, such as drones, are commonly used in digitization of cultural heritage objects. The Great Wall of China is one such site that has been digitized and analyzed through unmanned aerial vehicle investigation. The resulting images, 3-D scans, maps, and other data are used to evaluate and maintain the Great Wall. Laser Scanning - Laser scanning is used to scan an area and recreate spatially accurate depictions, such as a 3D model. Virtual and Augmented Reality - VR is used primarily for education but does have uses for reconstruction and research. It is used to provide users with an immersive experience, as though they are actually at the site. Geographic Information systems - GIS are used primarily to study objects and sites over time. It is also important in studying the socioeconomic status of the past. 3D Modeling - 3D modeling has become more widely used due to an increase in technology that works specifically with heritage sites. It is often used in tandem with GIS to reconstruct objects for restoration, documentation, preservation, and educational purposes. Data is collected using satellite or other aerial imaging and ground-based imaging. There is some concern about the accuracy and authenticity of these types of digital reconstructions and their effects on the sites themselves. A major barrier to digital heritage is the amount of resources it takes to undertake such projects, such as money, time, and technology. Money and the lack of qualified personnel are two that are considered the most obstructive. This is especially an issue in less developed areas or within underfunded groups such as minorities. == Virtual heritage == A particular branch of digital heritage, known as "virtual heritage", is formed by the use of information technology with the aim of recreating the experience of existing cultural heritage, as in (approximations of) virtual reality. It is hard to differentiate this branch from the core contribution of digital heritage which is storing the heritage data digitally. Parsinejad et al. developed two techniques for Digital Twinning of the architectural assets and representation of the physical assets virtually in the museum context. Two techniques are hand recording and digital recording and both have challenges in adoption and implementation of Digital Twin as a revolutionary concept. == Digital heritage stewardship == Digital heritage stewardship is a form of digital curation which is modeled after collaborative curation. Digital heritage stewardship means stepping away from typical curatorial practices (e.g. discovering, arranging, and sharing information, material, and/or content) in favor of practices which allow its stakeholders the opportunity to contribute historical, political, and social context and culture. The collaborative practice encourages the creation, engagement, and maintena
Radio code
A radio code is any code that is commonly used over a telecommunication system such as Morse code, brevity codes and procedure words. == Brevity code == Brevity codes are designed to convey complex information with a few words or codes. Specific brevity codes include: ACP-131 Aeronautical Code signals ARRL Numbered Radiogram Multiservice tactical brevity code Ten-code Phillips Code NOTAM Code === Operating signals === Brevity codes that are specifically designed for use between communications operators and to support communication operations are referred to as "operating signals". These include: Prosigns for Morse code 92 Code, Western Union telegraph brevity codes Q code, initially developed for commercial radiotelegraph communication, later adopted by other radio services, especially amateur radio. Used since circa 1909. QN Signals, published by the ARRL and used by Amateur radio operators to assist in the transmission of ARRL Radiograms in the National Traffic System. R and S brevity codes, published by the British Post Office in 1908 for coastal wireless stations and ships, superseded in 1912 by Q codes X code, used by European military services as a wireless telegraphy code in the 1930s and 1940s Z code, also used in the early days of radiotelegraph communication. == Other == Morse code is commonly used in amateur radio. Morse code abbreviations are a type of brevity code. Procedure words used in radiotelephony procedure, are a type of radio code. Spelling alphabets, including the ICAO spelling alphabet, are commonly used in communication over radios and telephones. == Other meanings == Many car audio systems (car radios) have a so-called 'radio code' number which needs to be entered after a power disconnection. This was introduced as a measure to deter theft of these devices. If the code is entered correctly, the radio is activated for use. Entering the code incorrectly several times in a row will cause a temporary or permanent lockout. Some car radios have another check which operates in conjunction with car electronics. If the VIN or another vehicle ID matches the previously stored one, the radio is activated. If the radio cannot verify the vehicle, it is considered to be moved into another vehicle. The radio will then request for the code number or simply refuse to operate and display an error message such as "CANCHECK" or "SECURE".
Bookmarklet
A bookmarklet is a bookmark stored in a web browser that contains JavaScript commands that add new features to the browser. They are stored as the URL of a bookmark in a web browser or as a hyperlink on a web page. Bookmarklets are usually small snippets of JavaScript executed when a user clicks on them. When clicked, bookmarklets can perform a wide variety of operations, such as running a search query from selected text or extracting data from a table. Another name for bookmarklet is favelet or favlet, derived from favorites (synonym of bookmark). == History == Steve Kangas of bookmarklets.com coined the word bookmarklet when he started to create short scripts based on a suggestion in Netscape's JavaScript guide. Before that, Tantek Çelik called these scripts favelets and used that word as early as on 6 September 2001 (personal email). Brendan Eich, who developed JavaScript at Netscape, gave this account of the origin of bookmarklets: They were a deliberate feature in this sense: I invented the javascript: URL along with JavaScript in 1995, and intended that javascript: URLs could be used as any other kind of URL, including being bookmark-able. In particular, I made it possible to generate a new document by loading, e.g. javascript:'hello, world', but also (key for bookmarklets) to run arbitrary script against the DOM of the current document, e.g. javascript:alert(document.links[0].href). The difference is that the latter kind of URL uses an expression that evaluates to the undefined type in JS. I added the void operator to JS before Netscape 2 shipped to make it easy to discard any non-undefined value in a javascript: URL. The increased implementation of Content Security Policy (CSP) in websites has caused problems with bookmarklet execution and usage (2013–2015), with some suggesting that this hails the end or death of bookmarklets. William Donnelly created a work-around solution for this problem (in the specific instance of loading, referencing and using JavaScript library code) in early 2015 using a Greasemonkey userscript (Firefox / Pale Moon browser add-on extension) and a simple bookmarklet-userscript communication protocol. It allows (library-based) bookmarklets to be executed on any and all websites, including those using CSP and having an https:// URI scheme. However, if/when browsers support disabling/disallowing inline script execution using CSP, and if/when websites begin to implement that feature, it will "break" this "fix". == Concept == Web browsers use URIs for the href attribute of the tag and for bookmarks. The URI scheme, such as http or ftp, and which generally specifies the protocol, determines the format of the rest of the string. Browsers also implement javascript: URIs that to a parser is just like any other URI. The browser recognizes the specified javascript scheme and treats the rest of the string as a JavaScript program which is then executed. The expression result, if any, is treated as the HTML source code for a new page displayed in place of the original. The executing script has access to the current page, which it may inspect and change. If the script returns an undefined type (rather than, for example, a string), the browser will not load a new page, with the result that the script simply runs against the current page content. This permits changes such as in-place font size and color changes without a page reload. An immediately invoked function that returns no value or an expression preceded by the void operator will prevent the browser from attempting to parse the result of the evaluation as a snippet of HTML markup: == Usage == Bookmarklets are saved and used as normal bookmarks. As such, they are simple "one-click" tools which add functionality to the browser. For example, they can: Modify the appearance of a web page within the browser (e.g., change font size, background color, etc.) Extract data from a web page (e.g., hyperlinks, images, text, etc.) Remove redirects from (e.g. Google) search results, to show the actual target URL Submit the current page to a blogging service such as Posterous, link-shortening service such as bit.ly, or bookmarking service such as Delicious Query a search engine or online encyclopedia with highlighted text or by a dialog box Submit the current page to a link validation service or translation service Set commonly chosen configuration options when the page itself provides no way to do this Control HTML5 audio and video playback parameters such as speed, position, toggling looping, and showing/hiding playback controls, the first of which can be adjusted beyond HTML5 players' typical range setting. Installing a bookmarklet follows the same process as adding a normal bookmark; the only difference is that in place of the URL destination field is JavaScript code preceded by javascript:. Once created, bookmarklets can be run by clicking on them.
Screen generator
A screen generator, also known as a screen painter, screen mapper, or forms generator is a software package (or component thereof) which enables data entry screens to be generated declaratively, by "painting" them on the screen WYSIWYG-style, or through filling-in forms, rather than requiring writing of code to display them manually. 4GLs commonly incorporate a screen generator feature. They are also commonly found bundled with database systems, especially entry-level databases. A screen generator is one aspect of an application generator, which can also include other functions such as report generation and a data dictionary. The earliest screen generators were character-based; by the 1990s, GUI support became common, and then support for generating HTML forms as well. Some screen generators work by generating code to display the screen in a high-level language (for example, COBOL); others store the screen definition in a data file or in database tables, and then have a runtime component responsible for actually displaying the form and receiving and validating user input. == Examples == Examples of screen generators include: IBM Screen Definition Facility II: generates screens for CICS BMS, IMS MFS, ISPF, GDDM and CSP/AD. Performix for Informix. Microsoft Visual Basic the forms component of Microsoft Access Oracle Developer, in particular its Oracle Forms component the QDesign component of PowerHouse SystemBuilder/SB+ the Screen Painter component of SAP's ABAP Workbench the FoxView component of FoxPro. FoxView was originally developed by Luis Castro as a dBASE screen generator named ViewGen; Fox purchased it and bundled it with FoxPro 1.0. Later, Fox replaced Castro's code with their own screen painter code. dBASE included a built-in screen generator in dBASE IV onwards; in dBASE III and earlier, third party screen generators were available, including the already mentioned ViewGen DPS 1100 for UNIVAC 1100 series mainframes.
Kimchi (software)
Kimchi is a web management tool to manage Kernel-based Virtual Machine (KVM) infrastructure. Developed with HTML5, Kimchi is developed to intuitively manage KVM guests, create storage pools, manage network interfaces (bridges, VLANs, NAT), and perform other related tasks. The name is an extended acronym for KVM infrastructure management. It is an Apache-licensed project hosted on GitHub, and incubated by oVirt.org.