Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all
Image translation
Image translation is the machine translation of images of printed text (posters, banners, menus, screenshots etc.). This is done by applying optical character recognition (OCR) technology to an image to extract any text contained in the image, and then have this text translated into a language of their choice, and the applying digital image processing on the original image to get the translated image with a new language. == General == Machine translation made available on the internet (web and mobile) is a notable advance in multilingual communication eliminating the need for an intermediary translator/interpreter, translating foreign texts still poses a problem to the user as they cannot be expected to be able to type the foreign text they wish to translate and understand. Manually entering the foreign text may prove to be a difficulty especially in cases where an unfamiliar alphabet is used from a script which user can't read, e.g. Cyrillic, Chinese, Japanese etc. for an English speaker or any speaker of a Latin-based language or vice versa. The technical advancements in OCR made it possible to recognize text from images. The possibility to use one's mobile device's camera to capture and extract printed text is also known as mobile OCR and was first introduced in Japanese manufactured mobile telephones in 2004. Using the handheld's camera one could take a picture of (a line of) text and have it extracted (digitalized) for further manipulation such as storing the information in their contacts list, as a web page address (URL) or text to use in an SMS/email message etc. Presently, mobile devices having a camera resolution of 2 megapixels or above with an auto-focus ability, often feature the text scanner service. Taking the text scanning facility one step further, image translation emerged, giving users the ability to capture text with their mobile phone's camera, extract the text, and have it translated in their own language. More and more applications emerged on this technology including Word Lens. After getting acquired by Google, it was made a part of Google Translate mobile app. Another simultaneous advancement in Image Processing, has also made it possible now to replace the text on the image with the translated text and create a new image altogether. == History == The development of the image translation service springs from the advances in OCR technology (miniaturization and reduction of memory resources consumed) enabling text scanning on mobile telephones. Among the first to announce mobile software capable of “reading” text using the mobile device's camera is International Wireless Inc. who in February 2003 released their “CheckPoint” and “WebPoint” applications. “CheckPoint” reads critical symbolic information on checks and is aimed at reducing losses that mobile merchants suffer from “bounced” checks by scanning the MICR number on the bottom of a check, while “WebPoint” enables the visual recognition and decoding of printed URL's, which are then opened by the device's web browser. The first commercial release of a mobile text scanner, however, took place in December 2004 when Vodafone and Sharp began selling the 902SH mobile which was the first to feature a 2 megapixel digital camera with optical zoom. Among the device's various multimedia features was the built-in text/bar code/QR code scanner. The text scanner function could handle up to 60 alphabetical characters simultaneously. The scanned text could be then sent as an email or SMS message, added as a dictionary entry or, in the case of scanned URLs, opened via the device's web browser. All subsequent Sharp mobiles feature the text scanner functionality. In September 2005, NEC Corporation and the Nara Institute of Science and Technology in Japan (NAIST) announced new software capable of transforming cameraphones into text scanners. The application differs substantially from similarly equipped mobile telephones in Japan (able to scan businesscards and small bits of text and use OCR to convert that to editable text or to URL addresses) by it ability to scan a whole page. The two companies, however, said they would not release the software commercially before the end of 2008. Combining the text scanner function with machine translation technology was first made by US company RantNetwork who in July 2007 started selling the Communilator, a machine translation application for mobile devices featuring the Image Translation functionality. Using the built-in camera, the mobile user could take a picture of some printed text, apply OCR to recognize the text and then translate it into any one of over 25 language available. In April 2008 Nokia showcased their Shoot-to-Translate application for the N73 model which is capable of taking a picture using the device's camera, extracting the text and then translating it. The application only offers Chinese to English translation, and does not handle large segments of text. Nokia said they are in the process of developing their Multiscanner product which, besides scanning text and business cards, would be able to translate between 52 languages. Again in April 2008, Korean company Unichal Inc. released their handheld Dixau text scanner capable of scanning and recognizing English text and then translating it into Korean using online translation tools such as Wikipedia or Google Translate. The device is connected to a PC or a laptop via the USB port. In February 2009, Bulgarian company Interlecta presented at the Mobile World Congress in Barcelona their mobile translator including image recognition and speech synthesis. The application handles all European languages along with Chinese, Japanese and Korean. The software connects to a server over the Internet to accomplish the image recognition and the translation. In May 2014, Google acquired Word Lens to improve the quality of visual and voice translation. It is able to scan text or picture with one's device and have it translated instantly. Since the OCR has been improving many companies or website started combining OCR and translation, to read the text from an image and show the translated text. In August 2018, an Indian company created ImageTranslate. It is able to read, translate and re-create the image in another language. As of late 2018, the tool added 13 new languages, including Arabic, Thai, Vietnamese, Hindi, and Bengali, significantly increasing its utility in Asia and the Middle East. This helps users translate photos already stored in their phone's gallery, not just live, real-time views. Currently, image translation is offered by the following companies: Google Translate app with camera ImageTranslate Yandex
Content as a service
Content as a service (CaaS) or managed content as a service (MCaaS) is a service-oriented model, where the service provider delivers the content on demand to the service consumer via web services that are licensed under subscription. The content is hosted by the service provider centrally in the cloud and offered to a number of consumers that need the content delivered into any applications or system, hence content can be demanded by the consumers as and when required. Content as a Service is a way to provide raw content (in other words, without the need for a specific human compatible representation, such as HTML) in a way that other systems can make use of it. Content as a Service is not meant for direct human consumption, but rather for other platforms to consume and make use of the content according to their particular needs. This happens usually on the cloud, with a centralized platform which can be globally accessible and provides a standard format for your content. With Content as a Service, you centralize your content into a single repository, where you can manage it, categorize it, make it available to others, search for it, or do whatever you wish with it. == Overview == The content delivered typically could be one or more of the following The technical terminology related to equipment or spares that is required to procure or design the materials The industrial terminology of the equipment or spares Technical values pertaining to various types, specifications, applications, characteristics of equipment or spares Sourcing information which will help in procurement or supply-chain management of equipment or spares Descriptive specifications of equipment or spares based on the product reference number or identifier UNSPSC codes or industry practiced classifications ISO, IEC compliant terminology Ontology or Technical Dictionary of products & services Predefined content for specific business needs The term "Content as a service" (CaaS) is considered to be part of the nomenclature of cloud computing service models & Service-oriented architecture along with Software as a service (SaaS), Infrastructure as a service (IaaS), and Platform as a service (PaaS).
Direct Graphics Access
Direct Graphics Access is a plug-in for the X display servers that allows client programs direct access to the frame buffer. Graphics hardware communicates via a chunk of memory called a frame buffer. This is an array of values that represent pixel color values on the screen. Writing the appropriate values into the frame buffer therefore allows a program to paint areas of the screen. However, as with any shared resource, problems occur when multiple programs attempt to access the same resource, as they tend to write over each other's work. In the X Window System, this is solved by having a central display server that mediates between programs that want to draw on the screen. The display server also used to perform a lot of the drawing work, allowing programs to say Draw me a circle of this radius filled with this pattern or draw this text in this font. The X server does all this work, freeing programmers from having to write their own drawing code. Another advantage of the X architecture is that it works over a network, allowing programs on one machine to display output on the screen of another. Direct Graphics Access allows direct access to the frame buffer and the X-server hands over control of the frame buffer to the client program and waits for the client to hand it back. This means that the client program has control of the whole screen, and so it is mostly used for full-screen video/games.
LiveChat
LiveChat is an AI customer service software with chatbot, online chat, help desk software, and web analytics capabilities. LiveChat is used by over 76,000 companies. It was first launched in 2002 and is offered via a SaaS (software as a service) business model by Text. Organizations use LiveChat as a single point of contact to manage customer service and online sales activities with a single program. == Product == LiveChat is proprietary software. LiveChat's website chat widget can be embedded on customers' websites as a small chat box, often displayed in the bottom right corner of the web browser. It can be used to conduct chats, share files and save transcripts. The agent application is used by company employees to respond to questions asked by the customers. This is available through both web-based application, desktop applications, and mobile apps. Web chat sessions can be initiated by the visiting customer, or by the agent, either manually or automatically by the LiveChat system when the visitor meets the predefined criteria (i.e. searched keyword, time on website, encountered error, etc.). LiveChat's system attempts to identify the best prospects visiting a website based on data gathered from past purchasing decisions. Other features include real-time website traffic monitoring, built-in ticketing system and agents' efficiency analytics. LiveChat is available in 48 languages. == Research and reception == Reviewing LiveChat's usefulness for online learning in 2020, psychologist Jaclyn Broadbent said "LiveChat occurs as a real-time conversation, it can be time-consuming for staff and disruptive to other tasks." However, using it has resulted in reduced communication traffic from other channels, such as the discussion boards or email. As a teacher, the best time to be available on LiveChat is when you are doing other administrative jobs." Since 2014 LiveChat has been publishing Customer Service Report - an annual study of customer satisfaction and analysis of online business communication trends. It includes research of thousands of companies and millions of customer service email and live support interactions.
Transportation Economic Development Impact System
Transportation Economic Development Impact System (TREDIS) is an economic analysis system sold by consulting firm Economic Development Research Group that is used in planning major transportation investments in the US and Canada. The role of economic impact analysis and TREDIS in the transportation planning process is explained in guidebooks of the US Department of Transportation and the American Association of State Highway and Transportation Officials. TREDIS has been most commonly used for assessing the expected economic impacts of statewide highway programs, regional multi-modal plans and public transport investment. Its history and theoretical foundation are explained in peer reviewed journal articles. == How It Works == TREDIS has a series of modules that calculate different forms of impacts and benefits. One module is an accounting framework that calculates user benefits, including impacts on cargo transportation and commuting costs, based on transportation forecasting results. A second module calculates wider economic development benefits, including impacts on business productivity, economic development and multiplier effects from the input-output analysis. It applies an economic model to estimate impacts on jobs, income, gross regional product and business output, by sector of the economy. A third module applies cost-benefit analysis from alternative perspectives.
Web Dynpro
Web Dynpro (WD) is a web application technology developed by SAP SE that focuses on the development of server-side business applications. For modern releases (for instance as of NetWeaver 750, software layer SAP_UI) the user interface is rendered according to the HTML5 web standard. Since Netweaver 754 (software layer SAP_UI, ABAP Platform 1909) a touch enabled user interface is available. The newly released versions usually follow the SAP Fiori design principles. One of its main design features is that the user interface is defined in an entirely declarative manner. Web Dynpro applications can be developed using either the Java (Web Dynpro for Java, WDJ or WD4J) or ABAP (Web Dynpro ABAP, WDA or WD4A) development infrastructure. == Overview == The earliest version of Web Dynpro appeared in 2003 and was based on Java. This variant was released approximately 18 months before the ABAP variant. As of 2010, the Java variant of Web Dynpro was put into maintenance mode. WD follows a design architecture based on an interpretation of the MVC design pattern and uses a model driven development approach ("minimize coding, maximize design"). The Web Dynpro Framework is a server-side runtime environment into which many dedicated "hook methods" are available. The developer then places their own custom coding within these hook methods in order to implement the desired business functionality. These hook methods belong to one of the broad categories of either "life-cycle" and "round-trip"; that is, those methods that are concerned with the life-cycle of a software component (i.e. processing that takes place at start up and shut down etc.), and those methods that are concerned with processing the fixed sequence of events that take place during a client-initiated round trip to the server. Web Dynpro is aimed at the development of business applications that follow standardized UI principles, applications that connect to backend systems and which are scalable. Key Capabilities Declarative way of development: Web Dynpro offers a graphical and declarative means of UI development. UI controls, building blocks, views and windows are modeled, and the business logic can be coded separately. Separation of user interface and business logic: One advantage of Web Dynpro over SAP GUI is the separation between business logic and user interface, and the structured development process with less implementation effort. Support of stateful application: The state of the application is kept in the back-end. This leads to a reduced data transfer from ABAP server to browser and vice versa. Regarding Web Dynpro ABAP there is only one programming language (ABAP) and only one system necessary. Therefore, development can be easier and cost efficient.