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Image registration
Image registration is the process of transforming different sets of data into one coordinate system. Data may be multiple photographs, data from different sensors, times, depths, or viewpoints. It is used in computer vision, medical imaging, military automatic target recognition, and compiling and analyzing images and data from satellites. Registration is necessary in order to be able to compare or integrate the data obtained from these different measurements. == Algorithm classification == === Intensity-based vs feature-based === Image registration or image alignment algorithms can be classified into intensity-based and feature-based. One of the images is referred to as the target, fixed or sensed image and the others are referred to as the moving or source images. Image registration involves spatially transforming the source/moving image(s) to align with the target image. The reference frame in the target image is stationary, while the other datasets are transformed to match to the target. Intensity-based methods compare intensity patterns in images via correlation metrics, while feature-based methods find correspondence between image features such as points, lines, and contours. Intensity-based methods register entire images or sub-images. If sub-images are registered, centers of corresponding sub images are treated as corresponding feature points. Feature-based methods establish a correspondence between a number of especially distinct points in images. Knowing the correspondence between a number of points in images, a geometrical transformation is then determined to map the target image to the reference images, thereby establishing point-by-point correspondence between the reference and target images. Methods combining intensity-based and feature-based information have also been developed. === Transformation models === Image registration algorithms can also be classified according to the transformation models they use to relate the target image space to the reference image space. The first broad category of transformation models includes affine transformations, which include rotation, scaling, translation and shearing. Affine transformations are global in nature, thus, they cannot model local geometric differences between images. The second category of transformations allow 'elastic' or 'nonrigid' transformations. These transformations are capable of locally warping the target image to align with the reference image. Nonrigid transformations include radial basis functions (thin-plate or surface splines, multiquadrics, and compactly-supported transformations), physical continuum models (viscous fluids), and large deformation models (diffeomorphisms). Transformations are commonly described by a parametrization, where the model dictates the number of parameters. For instance, the translation of a full image can be described by a translation vector parameter. These models are called parametric models. Non-parametric models on the other hand, do not follow any parameterization, allowing each image element to be displaced arbitrarily. There are a number of programs that implement both estimation and application of a warp-field. It is a part of the SPM and AIR programs. === Transformations of coordinates via the law of function composition rather than addition === Alternatively, many advanced methods for spatial normalization are building on structure preserving transformations homeomorphisms and diffeomorphisms since they carry smooth submanifolds smoothly during transformation. Diffeomorphisms are generated in the modern field of Computational Anatomy based on flows since diffeomorphisms are not additive although they form a group, but a group under the law of function composition. For this reason, flows which generalize the ideas of additive groups allow for generating large deformations that preserve topology, providing 1-1 and onto transformations. Computational methods for generating such transformation are often called LDDMM which provide flows of diffeomorphisms as the main computational tool for connecting coordinate systems corresponding to the geodesic flows of Computational Anatomy. There are a number of programs which generate diffeomorphic transformations of coordinates via diffeomorphic mapping including MRI Studio and MRI Cloud.org === Spatial vs frequency domain methods === Spatial methods operate in the image domain, matching intensity patterns or features in images. Some of the feature matching algorithms are outgrowths of traditional techniques for performing manual image registration, in which an operator chooses corresponding control points (CP) in images. When the number of control points exceeds the minimum required to define the appropriate transformation model, iterative algorithms like RANSAC can be used to robustly estimate the parameters of a particular transformation type (e.g. affine) for registration of the images. Frequency-domain methods find the transformation parameters for registration of the images while working in the transform domain. Such methods work for simple transformations, such as translation, rotation, and scaling. Applying the phase correlation method to a pair of images produces a third image which contains a single peak. The location of this peak corresponds to the relative translation between the images. Unlike many spatial-domain algorithms, the phase correlation method is resilient to noise, occlusions, and other defects typical of medical or satellite images. Additionally, the phase correlation uses the fast Fourier transform to compute the cross-correlation between the two images, generally resulting in large performance gains. The method can be extended to determine rotation and scaling differences between two images by first converting the images to log-polar coordinates. Due to properties of the Fourier transform, the rotation and scaling parameters can be determined in a manner invariant to translation. === Single- vs multi-modality methods === Another classification can be made between single-modality and multi-modality methods. Single-modality methods tend to register images in the same modality acquired by the same scanner/sensor type, while multi-modality registration methods tended to register images acquired by different scanner/sensor types. Multi-modality registration methods are often used in medical imaging as images of a subject are frequently obtained from different scanners. Examples include registration of brain CT/MRI images or whole body PET/CT images for tumor localization, registration of contrast-enhanced CT images against non-contrast-enhanced CT images for segmentation of specific parts of the anatomy, and registration of ultrasound and CT images for prostate localization in radiotherapy. === Automatic vs interactive methods === Registration methods may be classified based on the level of automation they provide. Manual, interactive, semi-automatic, and automatic methods have been developed. Manual methods provide tools to align the images manually. Interactive methods reduce user bias by performing certain key operations automatically while still relying on the user to guide the registration. Semi-automatic methods perform more of the registration steps automatically but depend on the user to verify the correctness of a registration. Automatic methods do not allow any user interaction and perform all registration steps automatically. === Similarity measures for image registration === Image similarities are broadly used in medical imaging. An image similarity measure quantifies the degree of similarity between intensity patterns in two images. The choice of an image similarity measure depends on the modality of the images to be registered. Common examples of image similarity measures include cross-correlation, mutual information, sum of squared intensity differences, and ratio image uniformity. Mutual information and normalized mutual information are the most popular image similarity measures for registration of multimodality images. Cross-correlation, sum of squared intensity differences and ratio image uniformity are commonly used for registration of images in the same modality. Many new features have been derived for cost functions based on matching methods via large deformations have emerged in the field Computational Anatomy including Measure matching which are pointsets or landmarks without correspondence, Curve matching and Surface matching via mathematical currents and varifolds. == Uncertainty == There is a level of uncertainty associated with registering images that have any spatio-temporal differences. A confident registration with a measure of uncertainty is critical for many change detection applications such as medical diagnostics. In remote sensing applications where a digital image pixel may represent several kilometers of spatial distance (such as NASA's LANDSAT imagery), an uncertain image registration can mean that a solution could b
Fediverse
The Fediverse (commonly shortened to fedi) is a collection of social networking services that can communicate with each other (formally known as federation) using a common protocol. Users of different websites can send and receive status updates, multimedia files and other data across the network. The term Fediverse is a portmanteau of federation and universe. The majority of Fediverse platforms are based on free and open-source software, and create connections between servers using the ActivityPub protocol. Some software still supports older federation protocols as well, such as OStatus, the Diaspora protocol and Zot, while newer protocols such as AT Protocol connect via network bridges. Diaspora is the only actively developed software project classified under the original definition of Fediverse that does not support ActivityPub. == Design == While a traditional social networking service will host all its content on servers managed by the owner of the website, the decentralized structure of the Fediverse allows any individual or organization to host a social platform using their own servers (referred to as an "instance"). Every instance is independent, and can set its own rules and expectations. Even so, much like how users of one email service such as Gmail can still send emails to users of another service such as Outlook, users may still view content and interact with users on any other instance in the Fediverse. A user on one Mastodon instance, for example, may view and interact with posts made by a user on a different instance even if it is not running Mastodon. Instances hosted by different social networking services may also communicate with one another. A user on the microblogging platform Misskey, for example, may view and interact with posts made by users on Mastodon. Some Fediverse networks even allow users to interact with different social networking formats from the same platform. For example, a user on a social news instance running Lemmy can interact with another post from an mbin instance, a similar service, as well as microblog statuses from Mastodon. === Content moderation and user safety === Decentralized social networking platforms introduce new challenges and difficulties for user trust and safety. By nature of the Fediverse, operators of an instance are solely responsible for moderation of its content. As there is no form of centralized governance or moderation across the Fediverse, it is impossible for an instance to be "removed" from the Fediverse; it can only be defederated per an instance operator's choice, which makes that instance's content inaccessible from the operator's instance. Individual instances are responsible for defining their own content policies, which may then be enforced by its staff. Moderation of a Fediverse instance differs significantly from that of traditional social media platforms, as moderators are responsible not only for content posted by users of that instance ("local users"), but also for content posted by users of other instances ("remote users"). == History == === Historical protocols === The concept and the functionality of the Fediverse existed before the ActivityPub protocol and the term itself. One of the first projects that included support for a decentralized social networking service was Laconica, a microblogging platform which implemented the OpenMicroBlogging protocol for communicating between different installations of the software. The software was later renamed to StatusNet in 2009, before being merged into the GNU social project in 2013 along with Free Social, with the two latter servers being a fork of StatusNet. Over time, the limitations of the OpenMicroBlogging protocol became more apparent, being designed as a one-way text messaging system. To replace the ageing protocol, OStatus was devised as an open standard for microblogging, combining various other technologies like Salmon, Atom, WebSub and ActivityStreams into a single protocol used for communicating between instances. StatusNet first implemented the OStatus protocol on March 3, 2010, with version 0.9.0, and OStatus quickly became the most popular federated protocol in usage. Around the same time as OStatus was gaining popularity, the Diaspora social network was formed, using its own federated protocol. To illustrate the differences between the two protocols, the terms of the Fediverse and the federation began to enter common usage, mainly after 2017. The term "the Fediverse" was used to describe the network formed by software using the OStatus protocol, such as GNU Social, Mastodon, and Friendica, in contrast to the competing diaspora protocol under "the federation". === ActivityPub === In December 2012, the flagship StatusNet instance at the time, identi.ca, transitioned away to a new software named pump.io, with a new federation protocol to replace OStatus. The new protocol was designed to be useful for general activity streams and not just status updates, and replaced many of OStatus' external dependencies with JSON-LD and a REST API for its messaging and inbox systems, as well as making more use of ActivityStreams. While not as utilized as its OStatus predecessor, it would later become influential in the development of the ActivityPub standard. In January 2018, the W3C presented the ActivityPub protocol as a recommended standard. The standard aimed to improve the interoperability between different software packages running on a wide network of servers and to supersede both the OStatus protocol and Pump.io. By 2019, almost all software that was using OStatus had added support for ActivityPub. While Mastodon began to remove OStatus support, other projects maintained it in their code, such as Friendica (which also maintained diaspora support along with ActivityPub). === AT Protocol === A major protocol often contrasted with ActivityPub is the AT Protocol, which powers the Bluesky social network. While both protocols aim to create decentralized social networks, they employ different technical philosophies regarding user identity. Developers of the AT Protocol, including Bluesky CEO Jay Graber, have stated they chose not to use ActivityPub because it did not natively support easy "account portability", the ability for a user to move their account, data, and social graph to a new provider without relying on the original server to authorize the move. In the ActivityPub model (used by Mastodon), a user's identity is typically tied to a specific server, similar to an email address; if that server goes offline, the identity can be lost. The AT Protocol aims to solve this by separating identity from hosting, allowing users to switch providers without losing their identity. Although the two protocols are technically incompatible by default, third-party "bridges" such as Bridgy Fed have been developed to allow users on ActivityPub networks to follow and interact with users on the AT Protocol network, and vice versa. === Other Fediverse protocols === While the Fediverse has traditionally been the network most commonly referred to and used as an example regarding the subject of decentralized social networks, alternatives to it and the accompanying ActivityPub have been developed and deployed. Smaller competitors such as Nostr and Farcaster have become popular within the cryptocurrency community. These protocols have used ActivityPub as a frame of reference for which to design their own architecture, as these newer protocols use a different federation model based on publishing content to relays for distribution rather than ActivityPub's server-centric model. Despite their differences, software exists that permit the bridging of user content between these protocols, including "double-bridges" that span multiple protocols for the purpose of distributing the same content. == Adoption == Users have been slow to embrace the Fediverse due to poor user experience and excessive complexity. Following the acquisition of Twitter by Elon Musk in November 2022, certain major social networks, including Threads, Tumblr and Flipboard, expressed interest in supporting the ActivityPub protocol, as a large number of users began to migrate to Mastodon, a server that supports the Fediverse and was also the most popular alternative to Twitter at the time. Flickr also expressed support in supporting ActivityPub. As of November 2022, no information had been released by Flickr after the initial tweets by the CEO, with support for ActivityPub suspected to be on hold or cancelled. In 2024, the local government of the Stary Sącz municipality in Poland launched their own PeerTube instance in order to de facto abolish its presence on YouTube. According to the government, they stopped using YouTube for official communications "in order to adhere to the appropriate regulations". In the same year, VIVERSE, HTC Vive's metaverse platform, implemented support for ActivityPub in their chat feature, allowing users to send direct messages to other
Digital intermediate
Digital intermediate (DI) is a motion picture finishing process which classically involves digitizing a motion picture and manipulating the color and other image characteristics. == Definition and overview == A digital intermediate often replaces or augments the photochemical timing process and is usually the final creative adjustment to a movie before distribution in theaters. It is distinguished from the telecine process in which film is scanned and color is manipulated early in the process to facilitate editing. However the lines between telecine and DI are continually blurred and are often executed on the same hardware by colorists of the same background. These two steps are typically part of the overall color management process in a motion picture at different points in time. A digital intermediate is also customarily done at higher resolution and with greater color fidelity than telecine transfers. Although originally used to describe a process that started with film scanning and ended with film recording, digital intermediate is also used to describe color correction and color grading and even final mastering when a digital camera is used as the image source and/or when the final movie is not output to film. This is due to recent advances in digital cinematography and digital projection technologies that strive to match film origination and film projection. In traditional photochemical film finishing, an intermediate is produced by exposing film to the original camera negative. The intermediate is then used to mass-produce the films that get distributed to theaters. Color grading is done by varying the amount of red, green, and blue light used to expose the intermediate. The digital intermediate process uses digital tools to color grade, which allows for much finer control of individual colors and areas of the image, and allows for the adjustment of image structure (grain, sharpness, etc.). The intermediate for film reproduction can then be produced by means of a film recorder. The physical intermediate film that is a result of the recording process is sometimes also called a digital intermediate, and is usually recorded to internegative (IN) stock, which is inherently finer-grain than original camera negative (OCN). One of the key technical achievements that made the transition to DI possible was the use of 3D look-up tables, which could be used to mimic how the digital image would look once it was printed onto release print stock. This removed a large amount of guesswork from the film-making process, and allowed greater freedom in the colour grading process while reducing risk. The digital master is often used as a source for a DCI-compliant distribution of the motion picture for digital projection. For archival purposes, the digital master created during the digital intermediate process can be recorded to very stable high dynamic range yellow-cyan-magenta (YCM) separations on black-and-white film with an expected 100-year or longer life. While still subject to the natural degradation of any analog chemical master, this archival format, long used in the industry prior to the invention of DI, was considered valuable for providing an archival medium that is independent of changes in digital data recording technologies and file formats that might otherwise render digitally archived material unreadable in the long term. A "film intermediate" is an analog variation of a digital intermediate, where a project shot on digital video is printed onto film stock and transferred back to digital video to emulate film. The term was coined after it was used on the Oscar-winning 2012 short film "Curfew". The process was also used on the films Dune (2021) and The Batman (2022). == History == Telecine tools to electronically capture film images are nearly as old as broadcast television, but the resulting images were widely considered unsuitable for exposing back onto film for theatrical distribution. Film scanners and recorders with quality sufficient to produce images that could be inter-cut with regular film began appearing in the 1970s, with significant improvements in the late 1980s and early 1990s. During this time, digitally processing an entire feature-length film was impractical because the scanners and recorders were extremely slow and the image files were too large compared to computing power available. Instead, individual shots or short sequences were processed for visual effects. In 1992, Visual Effects Supervisor/Producer Chris F. Woods broke through several "techno-barriers" in creating a digital studio to produce the visual effects for the 1993 release Super Mario Bros. It was the first feature film project to digitally scan a large number of VFX plates (over 700) at 2K resolution. It was also the first film scanned and recorded at Kodak's just launched Cinesite facility in Hollywood. This project based studio was the first feature film to use Discreet Logic's (now Autodesk) Flame and Inferno systems, which enjoyed early dominance as high resolution / high performance digital compositing systems. Digital film compositing for visual effects was immediately embraced, while optical printer use for VFX declined just as quickly. Chris Watts further revolutionized the process on the 1998 feature film Pleasantville, becoming the first visual effects supervisor for New Line Cinema to scan, process, and record the majority of a feature-length, live-action, Hollywood film digitally. The first Hollywood film to utilize a digital intermediate process from beginning to end was O Brother, Where Art Thou? in 2000 and in Europe it was Chicken Run released that same year. The process rapidly caught on in the mid-2000s. Around 50% of Hollywood films went through a digital intermediate in 2005, increasing to around 70% by mid-2007. This is due not only to the extra creative options the process affords film makers but also the need for high-quality scanning and color adjustments to produce movies for digital cinema. == Milestones == 1990: The Rescuers Down Under – First feature-length film to be entirely recorded to film from digital files; in this case animation assembled on computers using Walt Disney Feature Animation and Pixar's CAPS system. 1992: Visual effects supervisor and producer Chris F. Woods creates a VFX studio to produce the visual effects for the 1993 film Super Mario Bros. It was the first 35mm feature film to digitally scan a large number of VFX plates (over 700) at 2K resolution, as well as to output the finished VFX to 35mm negative at 2K. 1993: Snow White and the Seven Dwarfs – First film to be entirely scanned to digital files, manipulated, and recorded back to film at 4K resolution. The restoration project was done entirely at 4K resolution and 10-bit color depth using the Cineon system to digitally remove dirt and scratches and restore faded colors. 1998: Pleasantville – The first time the majority of a new feature film was scanned, processed, and recorded digitally. The black-and-white meets color world portrayed in the movie was filmed entirely in color and selectively desaturated and contrast adjusted digitally. The work was done in Los Angeles by Cinesite utilizing a Spirit DataCine for scanning at 2K resolution and a MegaDef color correction system from UK Company Pandora International 1998: Zingo - The first feature film to use digital color correction via digital intermediate in its entirety. The work was performed at the Digital Film Lab in Copenhagen, using a Spirit Datacine to transfer the entire film to digital files at 2K resolution. The digital intermediate process was also used to perform a digital blowup of the film's original Super 16 source format to a 35mm output. 1999: Pacific Ocean Post Film, a team led by John McCunn and Greg Kimble used Kodak film scanners & laser film printer, Cineon software as well as proprietary tools to rebuild and repair the first two reels of the 1968 Beatles' film Yellow Submarine for re-release. 1999: Star Wars: Episode I – The Phantom Menace - Industrial Light & Magic (ILM) scanned the entirety of the visual effects-laden film for the purposes of digital enhancement and the integration of thousands of separately filmed elements with computer generated characters and environments. Outside of the approximately 2000 effects shots that were digitally manipulated, the remaining 170 non-effects shots were also scanned for continuity. However, after the digital shots were manipulated at ILM, they were filmed out individually and sent to Deluxe Labs where they were processed and color timed photochemically. 2000: Sorted - The first feature-length, color 35mm motion picture to fully utilize the digital intermediate process in its entirety from inception to completion. The film was produced at Wave Pictures' digital intermediate film facility in London, England. It was scanned at 2K resolution with 8 bits color depth per color / per pixel using a pin registered, liquid gate Oxberry
Digital media in education
Digital media in education refers to the use of digital technologies to support and enhance teaching and learning processes. This includes the application of multiple digital software applications, devices, and online platforms as tools for learning. Learners interact with these technologies to access, analyze, evaluate, and create media content and communication in various forms. The integration of digital media in education has dramatically increased over time, significantly transforming traditional educational practices. When viewed through a global and inclusive lens, digital education should be guided by principles of equity, inclusion, and public infrastructure to ensure meaningful participation of all learners. == History == === 20th century === Technological advances in the 20th century, particularly the invention of the Internet, laid the foundation for incorporating technology into education. In the early 1900s, the overhead projector and instructional radio broadcasts were among the first technologies used for educational purposes. The introduction of computers in classrooms occurred in 1950, when a flight simulation program was developed to train pilots at the Massachusetts Institute of Technology. However, access to computers remained extremely limited for several decades. In 1964, John Kemeny and Thomas Kurtz developed the BASIC programming language, which simplified computer interaction and introduced time-sharing, enabling multiple users to work on the same system simultaneously. This innovation made computing increasingly accessible for educational settings. By the 1980s, schools began to show more interest in computers as companies released mass-market devices to the public. Networking further enabled the interconnection of computers into unified communication systems, which proved more efficient and cost-effective than previous stand-alone machines. This development prompted wider adoption of computing in educational institutions. The invention of the World Wide Web in 1992 further simplified internet navigation and sparked further interest in educational settings. Initially, computers were integrated into school curricula for tasks such as word processing, spreadsheet creation, and data organization. By the late 1990s, the Internet became a research tool, functioning as a vast library. By 1999, 99% of public school teachers in the United States reported having access to at least one computer in their schools, and 84% had a computer available in their classrooms. The emergence of World Wide Web also contributed to the development of learning management systems (LMS), which allowed educators to create online teaching environments for content storage, student activities, discussions, and assignments. Advances in digital compression and high-speed Internet made video creation and distribution more affordable, fostering the use of the systems designed for recording lectures. These tools were often incorporated into learning management platforms, supporting the expansion of fully online courses. === 21st century === By 2002, the Massachusetts Institute of Technology began offering recorded lectures to the public, marking a significant milestone in the movement toward accessible online education. The launch of YouTube in 2005 further transformed educational content distribution. Educators increasingly uploaded lectures and instructional videos on platforms with initiatives like Khan Academy, which was active in 2006, contributing to You Tube's role as a prominent educational resource. In 2007, Apple launched iTunesU, another platform for sharing educational resources and videos. Meanwhile, learning management systems gained popularity, with Blackboard and Canvas becoming two of the most widely used platforms with Canvas's release in 2008. That same year also marked the introduction of the first Massive Open Online Course (MOOC), which provided open access to webinars and expert-led instructions for global learners. As technology evolved, traditional projectors were gradually replaced by interactive whiteboards, which enabled educators to integrate digital tools more effectively in their classrooms. By 2009, 97% of classrooms in the United States had at least one computer, and 93% had Internet access. The COVID-19 pandemic, which forced schools across the world to close, significantly impacted education with schools shifting to distance education. Students attended classes remotely using devices such as laptops, phones, and tablets, supported by digital platforms that facilitated at-home learning environments. However, adapting assessment methods to the new learning environment posed certain challenges. A study conducted by Eddie M. Mulenga and José M. Marbán on Zambian students during the pandemic revealed difficulties in adapting to digital learning, particularly in subjects like mathematics. Similar issues were reported among students in Romania, where the transition to virtual learning presented significant obstacles in engagement and adaptability. === Post-pandemic developments === In the period following the onset of COVID-19, education systems worldwide rapidly adopted digital solutions to maintain continuity of learning and teaching. By the end of March 2020, all 46 OECD and partners countries closed some or all of their schools nationwide. By June 2020, the length of school closures in these countries ranged from 7 to over 18 weeks. These disruptions in formal education prompted governments and educators to quickly adopt digital learning. This global shift to online education highlighted considerable inequalities in digital access, although many systems struggled with inequitable access, especially in regions lacking devices, stable internet connections, or conducive home learning environments. Stimultaneously, commercial educational technology (ed-tech) companies introduced rapid digital solutions to the disruption caused by the pandemic. This led to what has been described as a "seller's market," where the urgency of implementation may cause the prioritization of availability and scale over pedagogical and equity considerations. In the post-pandemic era, digital media in education continues to evolve. It increasingly intersects with artificial intelligence (AI) technologies such as adaptive learning platforms, AI-enabled content generation, and personalized learning environments. These tools enhance global engagement and access but also raise concerns about infrastructure, inclusivity, ethical implementation as well as critical pedagogies. Scholars recommend that educators and policymakers adopt inclusive practices, prioritize equitable infrastructure, and develop critical digital literacy. Facer and Selwyn also emphasize the need for public digital infrastructure and sustainable and justice-oriented policies that empower all learners. Overall, these perspectives reflect a growing consensus that digital media in education should be implemented critically to promote inclusive, multimodal, and future-oriented learning environments.
Catie Cuan
Catie Cuan is an artist, entrepeuneur, and innovator in the field of robotic art and human-robot interaction, where she specializes in choreorobotics, an emerging field at the intersection of choreographic dance and robotics. Catie Cuan is currently one of the academic researchers pioneering the field of choreorobotics and currently holds a post-doctoral fellowship at Stanford University. == Career == Catie Cuan earned a bachelor's degree from the University of California, Berkeley. She graduated with a Ph.D. from the Department of Mechanical Engineering at Stanford University, focusing in robotics. Her most cited publication is about how to improve robotic expressive systems using tools from dance theory, such as the Laban/Bartenieff Movement Analysis. In her most recent research projects, she explores a predictive model of imitation learning for robots moving around humans, a project that advances the field of social robotics. Cuan credits her work in robotics to the experience with her father when he had a stroke and was surrounded by many medical machines, which made her think about how people might feel empowered and hopeful rather than afraid. As a ballet dancer and choreographer, she has performed with the Metropolitan Opera Ballet and the Lyric Opera of Chicago. In 2020, she was the dancer and choreographer of the show Output, which was part of a collaboration with ThoughtWorks Arts and the Pratt Institute. In the production, she danced with an ABB IRB 6700 industrial robot. In 2022, she was named as an IF/THEN ambassador for the American Association for the Advancement of Science. The same year, she was appointed Futurist-in-Residence at the Smithsonian Arts and Industries Building, where she performed at the closing ceremonies of the FUTURES exhibit on July 6, 2022. Cuan has also contributed to product designs, working with IDEO and Dutch interior design firm moooi on their Piro project, which launched a dancing scent diffuser robot during Milan Design Week in June 2022. She is a TED speaker with talks about how to teach robots to dance, and what is coming up for dancing robots in the AI era.
GlTF
glTF (Graphics Library Transmission Format or GL Transmission Format and formerly known as WebGL Transmissions Format or WebGL TF) is a standard file format for three-dimensional scenes and models. A glTF file uses one of two possible file extensions: .gltf (JSON/ASCII) or .glb (binary). Both .gltf and .glb files may reference external binary and texture resources. Alternatively, both formats may be self-contained by directly embedding binary data buffers (as base64-encoded strings in .gltf files or as raw byte arrays in .glb files). An open standard developed and maintained by the Khronos Group, it supports 3D model geometry, appearance, scene graph hierarchy, and animation. It is intended to be a streamlined, interoperable format for the delivery of 3D assets, while minimizing file size and runtime processing by apps. As such, its creators have described it as the "JPEG of 3D". == Overview == The glTF format stores data primarily in JSON. The JSON may also contain blobs of binary data known as buffers, and refer to external files, for storing mesh data, images, etc. The binary .glb format also contains JSON text, but serialized with binary chunk headers to allow blobs to be directly appended to the file. The fundamental building blocks of a glTF scene are nodes. Nodes are organized into a hierarchy, such that a node may have other nodes defined as children. Nodes may have transforms relative to their parent. Nodes may refer to resources, such as meshes, skins, and cameras. Meshes may refer to materials, which refer to textures, which refer to images. Scenes are defined using an array of root nodes. Most of the top-level glTF properties use a flat hierarchy for storage. Nodes are saved in an array and are referred to by index, including by other nodes. A glTF scene refers to its root nodes by index. Furthermore, nodes refer to meshes by index, which refer to materials by index, which refer to textures by index, which refer to images by index. All glTF data structures support being extended using a JSON property, allowing arbitrary JSON data to be added. == Releases == === glTF 1.0 === Members of the COLLADA working group conceived the file format in 2012. At SIGGRAPH 2012, Khronos presented a demo of glTF, which was then called WebGL Transmissions Format (WebGL TF). On October 19, 2015, Khronos released the glTF 1.0 specification. ==== Adoption of glTF 1.0 ==== At SIGGRAPH 2016, Oculus announced their adoption of glTF citing the similarities to their ovrscene format. In October 2016, Microsoft joined the 3D Formats working group at Khronos to collaborate on glTF. === glTF 2.0 === The second version, glTF 2.0, was released in June 2017, and is a complete overhaul of the file format from version 1.0, with most tools adopting the 2.0 version. Based on a proposal by Fraunhofer originally presented at SIGGRAPH 2016, physically based rendering (PBR) was added, replacing WebGL shaders used in glTF 1.0. glTF 2.0 added the GLB binary format into the base specification. Other upgrades include sparse accessors and morph targets for techniques such as facial animation, and schema tweaks and breaking changes for corner cases or performance such as replacing top-level glTF object properties with arrays for faster index-based access. There is ongoing work towards import and export in Unity and an integrated multi-engine viewer and validator. ==== Adoption of glTF 2.0 ==== On March 3, 2017, Microsoft announced that they would be using glTF 2.0 as the 3D asset format across their product line, including Paint 3D, 3D Viewer, Remix 3D, Babylon.js, and Microsoft Office. Sketchfab also announced support for glTF 2.0. The glTF and GLB formats are used on and supported by companies including DGG, UX3D, Sketchfab, Facebook, Microsoft, Meta, Google, Adobe, Box, TurboSquid, Unreal Engine, Unity, and Qt Quick 3D. The format has been noted as an important standard for augmented reality, integrating with modeling software such as Autodesk Maya, Autodesk 3ds Max, and Poly. In February 2020, the Smithsonian Institution launched their Open Access Initiative, releasing approximately 2.8 million 2D images and 3D models into the public domain, using glTF for the 3D models. In July 2022, glTF 2.0 was released as the ISO/IEC 12113:2022 International Standard. Khronos stated they would make regular submissions to bring updates and new widely adopted glTF functionality into refreshed versions of ISO/IEC 12113 to ensure that there is no long-term divergence between the ISO/IEC and Khronos specifications. The open-source game engine Godot supports importing glTF 2.0 files since version 3.0 and export since version 4.0. === Extensions === The glTF format can be extended with arbitrary JSON to add new data and functionality. Extensions can be placed on any part of a glTF, including nodes, animations, materials, textures, and on the entire document. Khronos keeps a non-comprehensive registry of glTF extensions on GitHub, including all official Khronos extensions and a few third-party extensions. PBR extensions model the physical appearance of real-world objects, allowing developers to create realistic 3D assets that have the correct appearance. As new PBR extensions are released, they continue to expand PBR capabilities within the glTF framework, allowing a wider range of scenes and objects to be realistically rendered as 3D assets. The KTX 2.0 extension for universal texture compression enables 3D models in the glTF format to be highly compressed and to use natively supported texture formats, reducing file size and boosting rendering speed. Draco is a glTF extension for mesh compression, to compress and decompress 3D meshes, to help reduce the size of 3D files. It compresses vertex attributes, normals, colors, and texture coordinates. Various glTF extensions for game engine interoperability have been developed by OMI group. This includes extensions for physics shapes, physics bodies, physics joints, audio playback, seats, spawn points, and more. The VRM consortium has developed glTF extensions for advanced humanoid 3D avatars including dynamic spring bones and toon materials. == Derivative formats == 3D Tiles, an OGC Community Standard, builds on glTF to add a spatial data structure, metadata, and declarative styling for streaming massive heterogeneous 3D geospatial datasets. VRM, a model format for VR, is built on the .glb format. It is a 3D humanoid avatar specification and file format. == Software ecosystem == Khronos maintains the glTF Sample Viewer for viewing glTF assets. Khronos also maintains the glTF Validator for validating if 3D models conform to the glTF specification. Khronos maintains a glTF Compressor tool to interactively optimize and fine-tune compression settings for glTF assets using KTX 2.0 textures. glTF loaders are in open-source WebGL engines including PlayCanvas, Three.js, Babylon.js, Cesium, PEX, xeogl, and A-Frame. The Godot game engine supports and recommends the glTF format, with both import and export support. Open-source glTF converters are available from COLLADA, FBX, and OBJ. Assimp can import and export glTF. glTF files can also be directly exported from a variety of 3D editors, such as Blender, Unity (using the glTFast importer/exporter), Freecad, Vectary, Autodesk 3ds Max (natively or using Verge3D exporter), Autodesk Maya (using babylon.js exporter), Autodesk Inventor, Modo, Houdini, Paint 3D, Godot, and Substance Painter. Open-source glTF utility libraries are available for programming languages including JavaScript, Node.js, C++, C#, Python, Haskell, Java, Go, Rust, Haxe, Ada, and TypeScript. Khronos keeps a list of these libraries and other related applications on their ecosystem site. The Khronos 3D Commerce Working Group released Asset Creation Guidelines in 2020 outlining best practices for use of the glTF file format in 3D Commerce. In 2025, the Working Group launched Asset Creation Guidelines 2.0, a continuously updated resource with additional guidance for geometry, mesh optimization, UV maps, textures, materials/PBR performance, and web optimization. The Khronos PBR Neutral Tone Mappers specification is a tone mapper designed to faithfully reproduce an object's base color, hue, and saturation when using PBR rendering under grayscale lighting, supporting brand- and product-accurate color representation. Khronos maintains the glTF Asset Auditor to allow retailers and advertising technology platforms to validate 3D assets against either a default Audit Profile modelled on the 2020 3D Commerce Asset Creation Guidelines or a custom profile defined by the target application.