In statistics, kernel density estimation (KDE) is the application of kernel smoothing for probability density estimation, i.e., a non-parametric method to estimate the probability density function of a random variable based on kernels as weights. KDE answers a fundamental data smoothing problem where inferences about the population are made based on a finite data sample. In some fields such as signal processing and econometrics it is also termed the Parzen–Rosenblatt window method, after Emanuel Parzen and Murray Rosenblatt, who are usually credited with independently creating it in its current form. One of the famous applications of kernel density estimation is in estimating the class-conditional marginal densities of data when using a naive Bayes classifier, which can improve its prediction accuracy. == Definition == Let x = ( x 1 , x 2 , x 3 , . . . ) {\displaystyle \mathbf {x} =\left(x_{1},x_{2},x_{3},...\right)} be independent and identically distributed samples drawn from some univariate distribution with an unknown density f at any given point x. We are interested in estimating the shape of this function f. Its kernel density estimator is f ^ h ( x ) = 1 n ∑ i = 1 n K h ( x − x i ) = 1 n h ∑ i = 1 n K ( x − x i h ) , {\displaystyle {\hat {f}}_{h}(x)={\frac {1}{n}}\sum _{i=1}^{n}K_{h}(x-x_{i})={\frac {1}{nh}}\sum _{i=1}^{n}K{\left({\frac {x-x_{i}}{h}}\right)},} where K is the kernel — a non-negative function — and h > 0 is a smoothing parameter called the bandwidth or simply width. A kernel with subscript h is called the scaled kernel and defined as Kh(x) = 1/h K(x/h). Intuitively one wants to choose h as small as the data will allow; however, there is always a trade-off between the bias of the estimator and its variance. The choice of bandwidth is discussed in more detail below. A range of kernel functions are commonly used: uniform, triangular, biweight, triweight, Epanechnikov (parabolic), normal, and others. The Epanechnikov kernel is optimal in a mean square error sense, though the loss of efficiency is small for the kernels listed previously. Due to its convenient mathematical properties, the normal kernel is often used, which means K(x) = ϕ(x), where ϕ is the standard normal density function. The kernel density estimator then becomes f ^ h ( x ) = 1 n ∑ i = 1 n 1 h 2 π exp ( − ( x − x i ) 2 2 h 2 ) , {\displaystyle {\hat {f}}_{h}(x)={\frac {1}{n}}\sum _{i=1}^{n}{\frac {1}{h{\sqrt {2\pi }}}}\exp \left({\frac {-(x-x_{i})^{2}}{2h^{2}}}\right),} where h {\displaystyle h} is the standard deviation of the sample x {\displaystyle \mathbf {x} } . The construction of a kernel density estimate finds interpretations in fields outside of density estimation. For example, in thermodynamics, this is equivalent to the amount of heat generated when heat kernels (the fundamental solution to the heat equation) are placed at each data point locations xi. Similar methods are used to construct discrete Laplace operators on point clouds for manifold learning (e.g. diffusion map). == Example == Kernel density estimates are closely related to histograms, but can be endowed with properties such as smoothness or continuity by using a suitable kernel. The diagram below based on these 6 data points illustrates this relationship: For the histogram, first, the horizontal axis is divided into sub-intervals or bins which cover the range of the data: In this case, six bins each of width 2. Whenever a data point falls inside this interval, a box of height 1/12 is placed there. If more than one data point falls inside the same bin, the boxes are stacked on top of each other. For the kernel density estimate, normal kernels with a standard deviation of 1.5 (indicated by the red dashed lines) are placed on each of the data points xi. The kernels are summed to make the kernel density estimate (solid blue curve). The smoothness of the kernel density estimate (compared to the discreteness of the histogram) illustrates how kernel density estimates converge faster to the true underlying density for continuous random variables. == Bandwidth selection == The bandwidth of the kernel is a free parameter which exhibits a strong influence on the resulting estimate. To illustrate its effect, we take a simulated random sample from the standard normal distribution (plotted at the blue spikes in the rug plot on the horizontal axis). The grey curve is the true density (a normal density with mean 0 and variance 1). In comparison, the red curve is undersmoothed since it contains too many spurious data artifacts arising from using a bandwidth h = 0.05, which is too small. The green curve is oversmoothed since using the bandwidth h = 2 obscures much of the underlying structure. The black curve with a bandwidth of h = 0.337 is considered to be optimally smoothed since its density estimate is close to the true density. An extreme situation is encountered in the limit h → 0 {\displaystyle h\to 0} (no smoothing), where the estimate is a sum of n delta functions centered at the coordinates of analyzed samples. In the other extreme limit h → ∞ {\displaystyle h\to \infty } the estimate retains the shape of the used kernel, centered on the mean of the samples (completely smooth). The most common optimality criterion used to select this parameter is the expected L2 risk function, also termed the mean integrated squared error: MISE ( h ) = E [ ∫ ( f ^ h ( x ) − f ( x ) ) 2 d x ] {\displaystyle \operatorname {MISE} (h)=\operatorname {E} \!\left[\int \!{\left({\hat {f}}\!_{h}(x)-f(x)\right)}^{2}dx\right]} Under weak assumptions on f and K, (f is the, generally unknown, real density function), MISE ( h ) = AMISE ( h ) + o ( ( n h ) − 1 + h 4 ) {\displaystyle \operatorname {MISE} (h)=\operatorname {AMISE} (h)+{\mathcal {o}}{\left((nh)^{-1}+h^{4}\right)}} where o is the little o notation, and n the sample size (as above). The AMISE is the asymptotic MISE, i. e. the two leading terms, AMISE ( h ) = R ( K ) n h + 1 4 m 2 ( K ) 2 h 4 R ( f ″ ) {\displaystyle \operatorname {AMISE} (h)={\frac {R(K)}{nh}}+{\frac {1}{4}}m_{2}(K)^{2}h^{4}R(f'')} where R ( g ) = ∫ g ( x ) 2 d x {\textstyle R(g)=\int g(x)^{2}\,dx} for a function g, m 2 ( K ) = ∫ x 2 K ( x ) d x {\textstyle m_{2}(K)=\int x^{2}K(x)\,dx} and f ″ {\displaystyle f''} is the second derivative of f {\displaystyle f} and K {\displaystyle K} is the kernel. The minimum of this AMISE is the solution to this differential equation ∂ ∂ h AMISE ( h ) = − R ( K ) n h 2 + m 2 ( K ) 2 h 3 R ( f ″ ) = 0 {\displaystyle {\frac {\partial }{\partial h}}\operatorname {AMISE} (h)=-{\frac {R(K)}{nh^{2}}}+m_{2}(K)^{2}h^{3}R(f'')=0} or h AMISE = R ( K ) 1 / 5 m 2 ( K ) 2 / 5 R ( f ″ ) 1 / 5 n − 1 / 5 = C n − 1 / 5 {\displaystyle h_{\operatorname {AMISE} }={\frac {R(K)^{1/5}}{m_{2}(K)^{2/5}R(f'')^{1/5}}}n^{-1/5}=Cn^{-1/5}} Neither the AMISE nor the hAMISE formulas can be used directly since they involve the unknown density function f {\displaystyle f} or its second derivative f ″ {\displaystyle f''} . To overcome that difficulty, a variety of automatic, data-based methods have been developed to select the bandwidth. Several review studies have been undertaken to compare their efficacies, with the general consensus that the plug-in selectors and cross validation selectors are the most useful over a wide range of data sets. Substituting any bandwidth h which has the same asymptotic order n−1/5 as hAMISE into the AMISE gives that AMISE(h) = O(n−4/5), where O is the big O notation. It can be shown that, under weak assumptions, there cannot exist a non-parametric estimator that converges at a faster rate than the kernel estimator. Note that the n−4/5 rate is slower than the typical n−1 convergence rate of parametric methods. If the bandwidth is not held fixed, but is varied depending upon the location of either the estimate (balloon estimator) or the samples (pointwise estimator), this produces a particularly powerful method termed adaptive or variable bandwidth kernel density estimation. Bandwidth selection for kernel density estimation of heavy-tailed distributions is relatively difficult. === A rule-of-thumb bandwidth estimator === If Gaussian basis functions are used to approximate univariate data, and the underlying density being estimated is Gaussian, the optimal choice for h (that is, the bandwidth that minimises the mean integrated squared error) is: h = ( 4 σ ^ 5 3 n ) 1 / 5 ≈ 1.06 σ ^ n − 1 / 5 , {\displaystyle h={\left({\frac {4{\hat {\sigma }}^{5}}{3n}}\right)}^{1/5}\approx 1.06\,{\hat {\sigma }}\,n^{-1/5},} An h {\displaystyle h} value is considered more robust when it improves the fit for long-tailed and skewed distributions or for bimodal mixture distributions. This is often done empirically by replacing the standard deviation σ ^ {\displaystyle {\hat {\sigma }}} by the parameter A {\displaystyle A} below: A = min ( σ ^ , I Q R 1.34 ) {\displaystyle A=\min \left({\hat {\sigma }},{\frac {\mathrm {IQR} }{1.34}}\right)} where IQR is the
Xara Designer Pro+
Xara Designer Pro+ is an image editing program incorporating photo editing and vector illustration tools created by British software company Xara. Xara Xtreme LX was an early open source version for Linux. The Windows version was previously sold under the names Xara Studio, Xara X and Xara Xtreme, and traces its origin in the late 1980s to a title called ArtWorks for the Acorn Archimedes line of computers using RISC OS. There is a pro version called Xara Designer Pro (formerly Xara Xtreme Pro). The current commercial version of Xara Photo & Graphic Designer runs only on Windows, although Xara documents can be edited in a web browser on any platform using the Xara Cloud service. Versions up to 4.x can be run on Linux using Wine. == History == ArtWorks, the predecessor of Xara Photo and Graphic Designer, was developed on Acorn Archimedes and Risc PC 32-bit RISC computers running RISC OS by Computer Concepts during the late 1980s. The first version, developed for Microsoft Windows was initially called Xara Studio. It was licensed to Corel Corporation before wide-scale public availability, and from 1995 to 2000 was released as CorelXARA. Corel ceded the licensing rights back to Xara in 2000. The first Xara X version released in 2000 by its original owner. The next version, Xara X¹, was released in 2004. Xara Xtreme was released in 2005. In November 2006, Xara Xtreme PRO (an enhanced version of Xara Xtreme) was released. Xara Xtreme 3.2 and Xtreme Pro 3.2 were released in May 2007. 3.2 Pro included Xara3D, and both versions had more robust typography. In April 2008, Xara Xtreme 4.0 was released. Xara Xtreme and Xara Xtreme Pro 5.1 were released in June 2009. Features included more text-area enhancements, content-aware scaling of bitmap images, improved file import and export, master-page (repeated) objects, an object gallery (replacing the layer gallery), website-creation tools, and multi-stage graduated transparency. In June 2010, Xara Photo & Graphic Designer 6 and Xara Designer Pro 6 were released. Xtreme was renamed Photo & Graphic Designer, and Xtreme Pro was renamed Designer Pro. In May 2011, Xara Photo & Graphic Designer 7 and Xara Designer Pro 7 were released. Features included "magic" photo erase, user interface improvements to docking galleries and snapping alignment, and (in Pro) new webpage and website-design features. In May 2012, Xara Photo & Graphic Designer 2013 and Xara Designer Pro X (v8) were released. Xara Photo & Graphic Designer 9 was released in May 2013. In July of that year, Xara Designer Pro X9 was released. Xara Photo & Graphic Designer 10 was released on 16 July 2014, and Xara Designer Pro X10 on 23 July. Xara Photo & Graphic Designer 11 was released on 29 June 2015, and Xara Designer Pro X11 was released the following month. In 2016, the delivery model was changed to an update service which can be renewed annually. Users are entitled to any updates released while the update service is active. The first update-service updates were in May 2016 for Xara Photo & Graphic Designer, and July 2016 for Xara Designer Pro X. == Features == Xara Photo & Graphic Designer is known for its usability and fast renderer. It provides a fully anti-aliased display, advanced gradient fill, and transparency tools. Among vector editors, Xara Photo & Graphic Designer is considered to be fairly easy to learn, with similarities to CorelDRAW and Inkscape in terms of interface. Alongside the vector illustration tools, Xara Photo & Graphic Designer also includes an integrated photo tool offering manual and automatic photo enhance, cropping, adjustment of brightness levels, red-eye fix, 'magic' erase, photo healing, color and background erase, panoramas and content aware resizing. Designer Pro includes a wider range of tools for other design tasks including the creation of web pages and websites, and text and page layout tools for DTP with the aim of providing a single solution for all graphic and web design tasks.
Data product
In data management and product management, a data product is a reusable, active, and standardized data asset designed to deliver measurable value to its users, whether internal or external, by applying the rigorous principles of product thinking and management. It comprises one or more data artifacts (e.g., datasets, models, pipelines) and is enriched with metadata, including governance policies, data quality rules, data contracts, and, where applicable, a software bill of materials (SBOM) to document its dependencies and components. Ownership of a data product is aligned to a specific domain or use case, ensuring accountability, stewardship, and its continuous evolution throughout its lifecycle. Adhering to the FAIR principles – findable, accessible, interoperable, and reusable – a data product is designed to be discoverable, scalable, reusable, and aligned with both business and regulatory standards, driving innovation and efficiency in modern data ecosystems. == History == In 2012, DJ Patil proposed the first documented definition: a data product is a product that facilitates an end goal through the use of data. In 2019, Zhamak Dehghani introduced Data Mesh, with a strong focus on domain-oriented data products. Later, in 2020, she solidifies Data Mesh around four principles, one being Data as a Product, in which she defines Data Product as the node on the mesh that encapsulates three structural components required for its function, providing access to the domain's analytical data as a product. In 2024, Andrea Gioia published one of the first books specifically on data products post Data Mesh announcement. In his book, Gioia defines the concept of pure data product. In 2025, during the Data Day Texas conference, Jean-Georges Perrin and a collective of product managers and data engineers got together to craft the current definition and make it available to the public domain. In July 2025, Bitol, a project of The Linux Foundation, released and early version of the Open Data Product Standard (ODPS) aiming at normalizing data products
POODLE
POODLE (which stands for "Padding Oracle On Downgraded Legacy Encryption") is a security vulnerability which takes advantage of the fallback to SSL 3.0. If attackers successfully exploit this vulnerability, on average, they only need to make 256 SSL 3.0 requests to reveal one byte of encrypted messages. Bodo Möller, Thai Duong and Krzysztof Kotowicz from the Google Security Team discovered this vulnerability; they disclosed the vulnerability publicly on October 14, 2014 (despite the paper being dated "September 2014"). On December 8, 2014, a variation of the POODLE vulnerability that affected TLS was announced. The CVE-ID associated with the original POODLE attack is CVE-2014-3566. F5 Networks filed for CVE-2014-8730 as well, see POODLE attack against TLS section below. == Prevention == To mitigate the POODLE attack, one approach is to completely disable SSL 3.0 on the client side and the server side. However, some old clients and servers do not support TLS 1.0 and above. Thus, the authors of the paper on POODLE attacks also encourage browser and server implementation of TLS_FALLBACK_SCSV, which will make downgrade attacks impossible. Another mitigation is to implement "anti-POODLE record splitting". It splits the records into several parts and ensures none of them can be attacked. However the problem of the splitting is that, though valid according to the specification, it may also cause compatibility issues due to problems in server-side implementations. A full list of browser versions and levels of vulnerability to different attacks (including POODLE) can be found in the article Transport Layer Security. Opera 25 implemented this mitigation in addition to TLS_FALLBACK_SCSV. Google's Chrome browser and their servers had already supported TLS_FALLBACK_SCSV. Google stated in October 2014 it was planning to remove SSL 3.0 support from their products completely within a few months. Fallback to SSL 3.0 has been disabled in Chrome 39, released in November 2014. SSL 3.0 has been disabled by default in Chrome 40, released in January 2015. Mozilla disabled SSL 3.0 in Firefox 34 and ESR 31.3, which were released in December 2014, and added support of TLS_FALLBACK_SCSV in Firefox 35. Microsoft published a security advisory to explain how to disable SSL 3.0 in Internet Explorer and Windows OS, and on October 29, 2014, Microsoft released a fix which disables SSL 3.0 in Internet Explorer on Windows Vista / Server 2003 and above and announced a plan to disable SSL 3.0 by default in their products and services within a few months. Microsoft disabled fallback to SSL 3.0 in Internet Explorer 11 for Protect Mode sites on February 10, 2015, and for other sites on April 14, 2015. Apple's Safari (on OS X 10.8, iOS 8.1 and later) mitigated against POODLE by removing support for all CBC protocols in SSL 3.0, however, this left RC4 which is also completely broken by the RC4 attacks in SSL 3.0. POODLE was completely mitigated in OS X 10.11 (El Capitan 2015) and iOS 9 (2015). To prevent the POODLE attack, some web services dropped support of SSL 3.0. Examples include CloudFlare and Wikimedia. Network Security Services version 3.17.1 (released on October 3, 2014) and 3.16.2.3 (released on October 27, 2014) introduced support for TLS_FALLBACK_SCSV, and NSS will disable SSL 3.0 by default in April 2015. OpenSSL versions 1.0.1j, 1.0.0o and 0.9.8zc, released on October 15, 2014, introduced support for TLS_FALLBACK_SCSV. LibreSSL version 2.1.1, released on October 16, 2014, disabled SSL 3.0 by default. == POODLE attack against TLS == A new variant of the original POODLE attack was announced on December 8, 2014. This attack exploits implementation flaws of CBC encryption mode in the TLS 1.0 - 1.2 protocols. Even though TLS specifications require servers to check the padding, some implementations fail to validate it properly, which makes some servers vulnerable to POODLE even if they disable SSL 3.0. SSL Pulse showed "about 10% of the servers are vulnerable to the POODLE attack against TLS" before this vulnerability was announced. The CVE-ID for F5 Networks' implementation bug is CVE-2014-8730. The entry in NIST's NVD states that this CVE-ID is to be used only for F5 Networks' implementation of TLS, and that other vendors whose products have the same failure to validate the padding mistake in their implementations like A10 Networks and Cisco Systems need to issue their own CVE-IDs for their implementation errors because this is not a flaw in the protocol but in the implementation. The POODLE attack against TLS was found to be easier to initiate than the initial POODLE attack against SSL. There is no need to downgrade clients to SSL 3.0, meaning fewer steps are needed to execute a successful attack.
Semiotics of social networking
The semiotics of social networking discusses the images, symbols and signs used in systems that allow users to communicate and share experiences with each other. Examples of social networking systems include Facebook, Twitter and Instagram. == Semiotics == Semiotics is a discipline that studies images, symbols, signs and other similarly related objects in an effort to understand their use and meaning. Semiotic structuralism seeks the meaning of these objects within a social context. Post-structuralist theories take tools from structuralist semiotics in combination with social interaction, creating social semiotics. Social semiotics is “a branch of the field of semiotics which investigates human signifying practices in specific social and cultural circumstances and which tries to explain meaning-making as a social practice.” “Social semiotics also examines semiotic practices, specific to a culture and community, for the making of various kinds of texts and meanings in various situational contexts and contexts of culturally meaningful activity”. Social semiotics is concerned with studying human interactions. == Social networking == Social networking is the communication among people within a virtual social space. This medium of communication allows insight into the significance of social semiotics. “Millions of people now interact through blogs, collaborate through wikis, play multiplayer games, publish podcasts and video, build relationships through social network sites and evaluate all the above forms of communication through feedback and ranking mechanisms”. Social semiotics “unlike speech, writing necessitates some sort of technology in the form of person device interaction”. Social semiotics functions through the triad of communication or Peircean semiotics in the form of sign, object, interpretant (Chart 1) and “Human, Machine, Tag (Information)” (Chart 2). In Peircean semiotics (Chart 1), "A sign…[in the form of representamen] is something which stands to somebody for something in some respect or capacity. It addresses somebody, that is, creates in the mind of that person an equivalent sign, or perhaps a more developed sign. That sign which it creates I call the interpretant of the first sign. The sign stands for an object, not in all respects, but in reference to a sort of idea which I have something called the ground of the representamen". This example of the triangle of Human, Machine, Tag is shown when looking at tagging photographs on Facebook (Chart 3). The Human takes the photo on a camera and puts the digital file (information) on the Machine, the Machine is then navigated to Facebook where the file is downloaded. The Human has the Machine Tag the photo with information (e. g., names, places, data) for other Humans to see. This process then can be continued (see Chart 2). “Collaborative tagging has been quickly gaining ground because of its ability to recruit the activity of web users into effectively organizing and sharing large amounts of information”.
Autonomous aircraft
An autonomous aircraft is an aircraft which flies under the control of on-board autonomous robotic systems and needs no intervention from a human pilot or remote control. Most contemporary autonomous aircraft are unmanned aerial vehicles (drones) with pre-programmed algorithms to perform designated tasks, but advancements in artificial intelligence technologies (e.g. machine learning) mean that autonomous control systems are reaching a point where several air taxis and associated regulatory regimes are being developed. == History == === Unmanned aerial vehicles === The earliest recorded use of an unmanned aerial vehicle for warfighting occurred in July 1849, serving as a balloon carrier (the precursor to the aircraft carrier) Significant development of radio-controlled drones started in the early 1900s, and originally focused on providing practice targets for training military personnel. The earliest attempt at a powered UAV was A. M. Low's "Aerial Target" in 1916. Autonomous features such as the autopilot and automated navigation were developed progressively through the twentieth century, although techniques such as terrain contour matching (TERCOM) were applied mainly to cruise missiles. Before the introduction of the Bayraktar Kızılelma some modern drones have a high degree of autonomy, although they were not fully capable and the regulatory environment prohibits their widespread use in civil aviation. However some limited trials had been undertaken. On December 17, 2025, two Bayraktar Kızılelma performed the world's first autonomous close-formation flight by two unmanned fighter jets, using artificial intelligence. This was the first time in the history of aviation when two unmanned aerial vehicles flew in close formation on their own. === Passengers === As flight, navigation and communications systems have become more sophisticated, safely carrying passengers has emerged as a practical possibility. Autopilot systems are relieving the human pilot of progressively more duties, but the pilot currently remains necessary. A number of air taxis are under development and larger autonomous transports are also being planned. The personal air vehicle is another class where from one to four passengers are not expected to be able to pilot the aircraft and autonomy is seen as necessary for widespread adoption. == Control system architecture == The computing capability of aircraft flight and navigation systems followed the advances of computing technology, beginning with analog controls and evolving into microcontrollers, then system-on-a-chip (SOC) and single-board computers (SBC). === Sensors === Position and movement sensors give information about the aircraft state. Exteroceptive sensors deal with external information like distance measurements, while proprioceptive ones correlate internal and external states. Degrees of freedom (DOF) refers to both the amount and quality of sensors on board: 6 DOF implies 3-axis gyroscopes and accelerometers (a typical inertial measurement unit – IMU), 9 DOF refers to an IMU plus a compass, 10 DOF adds a barometer and 11 DOF usually adds a GPS receiver. === Actuators === UAV actuators include digital electronic speed controllers (which control the RPM of the motors) linked to motors/engines and propellers, servomotors (for planes and helicopters mostly), weapons, payload actuators, LEDs and speakers. === Software === UAV software called the flight stack or autopilot. The purpose of the flight stack is to obtain data from sensors, control motors to ensure UAV stability, and facilitate ground control and mission planning communication. UAVs are real-time systems that require rapid response to changing sensor data. As a result, UAVs rely on single-board computers for their computational needs. Examples of such single-board computers include Raspberry Pis, Beagleboards, etc. shielded with NavIO, PXFMini, etc. or designed from scratch such as NuttX, preemptive-RT Linux, Xenomai, Orocos-Robot Operating System or DDS-ROS 2.0. Civil-use open-source stacks include: Due to the open-source nature of UAV software, they can be customized to fit specific applications. For example, researchers from the Technical University of Košice have replaced the default control algorithm of the PX4 autopilot. This flexibility and collaborative effort has led to a large number of different open-source stacks, some of which are forked from others, such as CleanFlight, which is forked from BaseFlight and from which three other stacks are forked from. === Loop principles === UAVs employ open-loop, closed-loop or hybrid control architectures. Open loop – This type provides a positive control signal (faster, slower, left, right, up, down) without incorporating feedback from sensor data. Closed loop – This type incorporates sensor feedback to adjust behavior (reduce speed to reflect tailwind, move to altitude 300 feet). The PID controller is common. Sometimes, feedforward is employed, transferring the need to close the loop further. == Communications == Most UAVs use a radio for remote control and exchange of video and other data. Early UAVs had only narrowband uplink. Downlinks came later. These bi-directional narrowband radio links carried command and control (C&C) and telemetry data about the status of aircraft systems to the remote operator. For very long range flights, military UAVs also use satellite receivers as part of satellite navigation systems. In cases when video transmission was required, the UAVs will implement a separate analog video radio link. In most modern autonomous applications, video transmission is required. A broadband link is used to carry all types of data on a single radio link. These broadband links can leverage quality of service techniques to optimize the C&C traffic for low latency. Usually, these broadband links carry TCP/IP traffic that can be routed over the Internet. Communications can be established with: Ground control – a military ground control station (GCS). The MAVLink protocol is increasingly becoming popular to carry command and control data between the ground control and the vehicle. Remote network system, such as satellite duplex data links for some military powers. Downstream digital video over mobile networks has also entered consumer markets, while direct UAV control uplink over the cellular mesh and LTE have been demonstrated and are in trials. Another aircraft, serving as a relay or mobile control station – military manned-unmanned teaming (MUM-T). As mobile networks have increased in performance and reliability over the years, drones have begun to use mobile networks for communication. Mobile networks can be used for drone tracking, remote piloting, over the air updates, and cloud computing. Modern networking standards have explicitly considered autonomous aircraft and therefore include optimizations. The 5G standard has mandated reduced user plane latency to 1ms while using ultra-reliable and low-latency communications. == Autonomy == Basic autonomy comes from proprioceptive sensors. Advanced autonomy calls for situational awareness, knowledge about the environment surrounding the aircraft from exteroceptive sensors: sensor fusion integrates information from multiple sensors. Civil aviation regulators and standards bodies have published high-level roadmaps and discussion papers focused on assurance, safety and governance of AI-enabled systems in aviation, particularly as autonomy increases in operations and decision support. === Basic principles === One way to achieve autonomous control employs multiple control-loop layers, as in hierarchical control systems. As of 2016 the low-layer loops (i.e. for flight control) tick as fast as 32,000 times per second, while higher-level loops may cycle once per second. The principle is to decompose the aircraft's behavior into manageable "chunks", or states, with known transitions. Hierarchical control system types range from simple scripts to finite state machines, behavior trees and hierarchical task planners. The most common control mechanism used in these layers is the PID controller which can be used to achieve hover for a quadcopter by using data from the IMU to calculate precise inputs for the electronic speed controllers and motors. Examples of mid-layer algorithms: Path planning: determining an optimal path for vehicle to follow while meeting mission objectives and constraints, such as obstacles or fuel requirements Trajectory generation (motion planning): determining control maneuvers to take in order to follow a given path or to go from one location to another Trajectory regulation: constraining a vehicle within some tolerance to a trajectory Evolved UAV hierarchical task planners use methods like state tree searches or genetic algorithms. === Autonomy features === UAV manufacturers often build in specific autonomous operations, such as: Self-level: attitude stabilization on the pitch and roll axes. Altitude hold: The aircraft maint
Data grid
A data grid is an architecture or set of services that allows users to access, modify and transfer extremely large amounts of geographically distributed data for research purposes. Data grids make this possible through a host of middleware applications and services that pull together data and resources from multiple administrative domains and then present it to users upon request. The data in a data grid can be located at a single site or multiple sites where each site can be its own administrative domain governed by a set of security restrictions as to who may access the data. Likewise, multiple replicas of the data may be distributed throughout the grid outside their original administrative domain and the security restrictions placed on the original data for who may access it must be equally applied to the replicas. Specifically developed data grid middleware is what handles the integration between users and the data they request by controlling access while making it available as efficiently as possible. == Middleware == Middleware provides all the services and applications necessary for efficient management of datasets and files within the data grid while providing users quick access to the datasets and files. There is a number of concepts and tools that must be available to make a data grid operationally viable. However, at the same time not all data grids require the same capabilities and services because of differences in access requirements, security and location of resources in comparison to users. In any case, most data grids will have similar middleware services that provide for a universal name space, data transport service, data access service, data replication and resource management service. When taken together, they are key to the data grids functional capabilities. === Universal namespace === Since sources of data within the data grid will consist of data from multiple separate systems and networks using different file naming conventions, it would be difficult for a user to locate data within the data grid and know they retrieved what they needed based solely on existing physical file names (PFNs). A universal or unified name space makes it possible to create logical file names (LFNs) that can be referenced within the data grid that map to PFNs. When an LFN is requested or queried, all matching PFNs are returned to include possible replicas of the requested data. The end user can then choose from the returned results the most appropriate replica to use. This service is usually provided as part of a management system known as a Storage Resource Broker (SRB). Information about the locations of files and mappings between the LFNs and PFNs may be stored in a metadata or replica catalogue. The replica catalogue would contain information about LFNs that map to multiple replica PFNs. === Data transport service === Another middleware service is that of providing for data transport or data transfer. Data transport will encompass multiple functions that are not just limited to the transfer of bits, to include such items as fault tolerance and data access. Fault tolerance can be achieved in a data grid by providing mechanisms that ensures data transfer will resume after each interruption until all requested data is received. There are multiple possible methods that might be used to include starting the entire transmission over from the beginning of the data to resuming from where the transfer was interrupted. As an example, GridFTP provides for fault tolerance by sending data from the last acknowledged byte without starting the entire transfer from the beginning. The data transport service also provides for the low-level access and connections between hosts for file transfer. The data transport service may use any number of modes to implement the transfer to include parallel data transfer where two or more data streams are used over the same channel or striped data transfer where two or more steams access different blocks of the file for simultaneous transfer to also using the underlying built-in capabilities of the network hardware or specifically developed protocols to support faster transfer speeds. The data transport service might optionally include a network overlay function to facilitate the routing and transfer of data as well as file I/O functions that allow users to see remote files as if they were local to their system. The data transport service hides the complexity of access and transfer between the different systems to the user so it appears as one unified data source. === Data access service === Data access services work hand in hand with the data transfer service to provide security, access controls and management of any data transfers within the data grid. Security services provide mechanisms for authentication of users to ensure they are properly identified. Common forms of security for authentication can include the use of passwords or Kerberos (protocol). Authorization services are the mechanisms that control what the user is able to access after being identified through authentication. Common forms of authorization mechanisms can be as simple as file permissions. However, need for more stringent controlled access to data is done using Access Control Lists (ACLs), Role-Based Access Control (RBAC) and Tasked-Based Authorization Controls (TBAC). These types of controls can be used to provide granular access to files to include limits on access times, duration of access to granular controls that determine which files can be read or written to. The final data access service that might be present to protect the confidentiality of the data transport is encryption. The most common form of encryption for this task has been the use of SSL while in transport. While all of these access services operate within the data grid, access services within the various administrative domains that host the datasets will still stay in place to enforce access rules. The data grid access services must be in step with the administrative domains access services for this to work. === Data replication service === To meet the needs for scalability, fast access and user collaboration, most data grids support replication of datasets to points within the distributed storage architecture. The use of replicas allows multiple users faster access to datasets and the preservation of bandwidth since replicas can often be placed strategically close to or within sites where users need them. However, replication of datasets and creation of replicas is bound by the availability of storage within sites and bandwidth between sites. The replication and creation of replica datasets is controlled by a replica management system. The replica management system determines user needs for replicas based on input requests and creates them based on availability of storage and bandwidth. All replicas are then cataloged or added to a directory based on the data grid as to their location for query by users. In order to perform the tasks undertaken by the replica management system, it needs to be able to manage the underlying storage infrastructure. The data management system will also ensure the timely updates of changes to replicas are propagated to all nodes. ==== Replication update strategy ==== There are a number of ways the replication management system can handle the updates of replicas. The updates may be designed around a centralized model where a single master replica updates all others, or a decentralized model, where all peers update each other. The topology of node placement may also influence the updates of replicas. If a hierarchy topology is used then updates would flow in a tree like structure through specific paths. In a flat topology it is entirely a matter of the peer relationships between nodes as to how updates take place. In a hybrid topology consisting of both flat and hierarchy topologies updates may take place through specific paths and between peers. ==== Replication placement strategy ==== There are a number of ways the replication management system can handle the creation and placement of replicas to best serve the user community. If the storage architecture supports replica placement with sufficient site storage, then it becomes a matter of the needs of the users who access the datasets and a strategy for placement of replicas. There have been numerous strategies proposed and tested on how to best manage replica placement of datasets within the data grid to meet user requirements. There is not one universal strategy that fits every requirement the best. It is a matter of the type of data grid and user community requirements for access that will determine the best strategy to use. Replicas can even be created where the files are encrypted for confidentiality that would be useful in a research project dealing with medical files. The following section contains several strategies for replica placement. ===== Dynamic replication ===== Dynam