A continuum robot is a type of robot that is characterised by infinite degrees of freedom and number of joints. These characteristics allow continuum manipulators to adjust and modify their shape at any point along their length, granting them the possibility to work in confined spaces and complex environments where standard rigid-link robots cannot operate. In particular, we can define a continuum robot as an actuatable structure whose constitutive material forms curves with continuous tangent vectors. This is a fundamental definition that allows to distinguish between continuum robots and snake-arm robots or hyper-redundant manipulators: the presence of rigid links and joints allows them to only approximately perform curves with continuous tangent vectors. The design of continuum robots is bioinspired, as the intent is to resemble biological trunks, snakes and tentacles. Several concepts of continuum robots have been commercialised and can be found in many different domains of application, ranging from the medical field to undersea exploration. == Classification == Continuum robots can be categorised according to two main criteria: structure and actuation. === Structure === The main characteristic of the design of continuum robots is the presence of a continuously curving core structure, named backbone, whose shape can be actuated. The backbone must also be compliant, meaning that the backbone yields smoothly to external loads. According to the design principles chosen for the continuum manipulator, we can distinguish between: single-backbone: these continuum manipulators have one central elastic backbone through which actuation/transmission elements can run. multi-backbone: the structure of these continuum robots has two or more elastic elements (either rods or tubes) parallel to each other and constrained with one another in some way. concentric-tube: the backbone is made of concentric tubes that are free to rotate and translate between each other, depending on the actuation happening at the base of the robot. === Actuation === The actuation strategy of continuum manipulators can be distinguished between extrinsic or intrinsic actuation, depending on where the actuation happens: extrinsic actuation: the actuation happens outside the main structure of the robot and the forces are transmitted via mechanical transmission; among these techniques, there are cable/tendon driven actuators and multi-backbone strategies. intrinsic actuation: the actuation mechanism operates within the structure of the robot; these strategies include pneumatic or hydraulic chambers and the shape memory effect. The Actuated Flexible Manifold (AFM), introduced by Medina, Shapiro, and Shvalb (2016), models flexible grid-based robots that approximate smooth manifolds using discrete segments, each contributing one degree of freedom. Their work provides forward and inverse kinematics for planar and spatial configurations, bridging hyper-redundant and continuum robotics. == Advantages == The particular design of continuum robots offers several advantages with respect to rigid-link robots. First of all, as already said, continuum robots can more easily operate in environments that require a high level of dexterity, adaptability and flexibility. Moreover, the simplicity of their structure makes continuum robots more prone to miniaturisation. The rise of continuum robots has also paved the way for the development of soft continuum manipulators. These continuum manipulators are made of highly compliant materials that are flexible and can adapt and deform according to the surrounding environment. The "softness" of their material grants higher safety in human-robot interactions. == Disadvantages == The particular design of continuum robots also introduces many challenges. To properly and safely use continuum robots, it is crucial to have an accurate force and shape sensing system. Traditionally, this is done using cameras that are not suitable for some of the applications of continuum robots (e.g. minimally invasive surgery), or using electromagnetic sensors that are however disturbed by the presence of magnetic objects in the environment. To solve this issue, in the last years fiber-Bragg-grating sensors have been proposed as a possible alternative and have shown promising results. It is also necessary to notice that while the mechanical properties of rigid-link robots are fully understood, the comprehension of the behaviour and properties of continuum robots is still subject of study and debate. This poses new challenges in developing accurate models and control algorithms for this kind of robots. == Modelling == Creating an accurate model that can predict the shape of a continuum robot allows to properly control the robot's shape. There are three main approaches to model continuum robots: Cosserat rod theory: this approach is an exact solution to the static of a continuum robot, as it is not subject to any assumption. It solves a set of equilibrium equations between position, orientation, internal force and torque of the robot. This method requires to be solved numerically and it is therefore computationally expensive, due to its high complexity. Constant curvature: this technique assumes the backbone to be made of a series of mutually tangent sections that can be approximated as arcs with constant curvature. This approach is also known as piecewise constant-curvature. This assumption can be applied to the entire segment of the backbone or to its subsegments. This model has shown promising results, however it must be taken into account that the segment/subsegments of the backbone may not comply to the constant curvature assumption and therefore the model's behaviour may not entirely reflect the behaviour of the robot. Rigid-link model: this approach is based on the assumption that the continuum robot can be divided in small segments with rigid links. This is a strong assumption, since if the number of segments is too low, the model hardly behaves like the continuum robot, while increasing the number of segments means increasing the number of variables, and thus complexity. Despite this limitation, rigid-link modelling allows the use of the standard control techniques that are well known for rigid-link robots. It has been proven that this model can be coupled with shape and force sensing to mitigate its inaccuracy and can lead to promising results. == Sensing == To develop accurate control algorithms, it is necessary to complement the presented modelling techniques with real time shape sensing. The following options are currently available: Electromagnetic (EM) sensing: shape is reconstructed thanks to the mutual induction between a magnetic field generator and a magnetic field sensor. The most common external EM tracking system is the commercially available NDI Aurora: small sensors can be placed on the robot and their position is tracked in an external generated magnetic field. The validity of this method has been extensively assessed, however its performance is hindered by the limited workspace, whose dimension depends on the magnetic field. Another alternative is to embed the sensors internally in the continuum robot, combining magnetic sensors with Hall effect sensors: the magnetic field is measured at the level of the Hall effect sensors in order to estimate the deflection of the robot. However, it has been noticed that the higher the bending of the manipulator, the higher is the estimation error, due to crosstalk between sensors and magnets. Optical sensing: fiber Bragg grating sensors incorporated in an optical fiber can be embedded into the backbone of the continuum robot to estimate its shape; these sensors can only reflect a small range of the input light spectrum depending on their strain; therefore, by measuring the strain on each sensor it is possible to obtain the shape of the robot. This type of sensor is however expensive and is more prone to breaking in case of excessive strain, and this can happen in robots that can perform high deflections. == Control strategies == The control strategies can be distinguished in static and dynamic; the first one is based on the steady-state assumption, while the latter also considers the dynamic behaviour of the continuum robot. We can also differentiate between model-based controllers, that depend on a model of the robot, and model-free, that learn the robot's behaviour from data. Model-based static controllers: they rely on one of the modelling approaches presented above; once the model is defined, the kinematics must be inverted to obtain the desired actuator or configuration space variables. There are several ways to do this, like differential inverse kinematics, direct inversion or optimization. Model-free static controllers: these approaches learn directly, via machine learning techniques (e.g. regression methods and neural networks), the inverse kinematic or the direct kinematic representation of the con
Computational heuristic intelligence
Computational heuristic intelligence (CHI) refers to specialized programming techniques in computational intelligence (also called artificial intelligence, or AI). These techniques have the express goal of avoiding complexity issues, also called NP-hard problems, by using human-like techniques. They are best summarized as the use of exemplar-based methods (heuristics), rather than rule-based methods (algorithms). Hence the term is distinct from the more conventional computational algorithmic intelligence, or symbolic AI. An example of a CHI technique is the encoding specificity principle of Tulving and Thompson. In general, CHI principles are problem solving techniques used by people, rather than programmed into machines. It is by drawing attention to this key distinction that the use of this term is justified in a field already replete with confusing neologisms. Note that the legal systems of all modern human societies employ both heuristics (generalisations of cases) from individual trial records as well as legislated statutes (rules) as regulatory guides. Another recent approach to the avoidance of complexity issues is to employ feedback control rather than feedforward modeling as a problem-solving paradigm. This approach has been called computational cybernetics, because (a) the term 'computational' is associated with conventional computer programming techniques which represent a strategic, compiled, or feedforward model of the problem, and (b) the term 'cybernetic' is associated with conventional system operation techniques which represent a tactical, interpreted, or feedback model of the problem. Of course, real programs and real problems both contain both feedforward and feedback components. A real example which illustrates this point is that of human cognition, which clearly involves both perceptual (bottom-up, feedback, sensor-oriented) and conceptual (top-down, feedforward, motor-oriented) information flows and hierarchies. The AI engineer must choose between mathematical and cybernetic problem solution and machine design paradigms. This is not a coding (program language) issue, but relates to understanding the relationship between the declarative and procedural programming paradigms. The vast majority of STEM professionals never get the opportunity to design or implement pure cybernetic solutions. When pushed, most responders will dismiss the importance of any difference by saying that all code can be reduced to a mathematical model anyway. Unfortunately, not only is this belief false, it fails most spectacularly in many AI scenarios. Mathematical models are not time agnostic, but by their very nature are pre-computed, i.e. feedforward. Dyer [2012] and Feldman [2004] have independently investigated the simplest of all somatic governance paradigms, namely control of a simple jointed limb by a single flexor muscle. They found that it is impossible to determine forces from limb positions- therefore, the problem cannot have a pre-computed (feedforward) mathematical solution. Instead, a top-down command bias signal changes the threshold feedback level in the sensorimotor loop, e.g. the loop formed by the afferent and efferent nerves, thus changing the so-called ‘equilibrium point’ of the flexor muscle/ elbow joint system. An overview of the arrangement reveals that global postures and limb position are commanded in feedforward terms, using global displacements (common coding), with the forces needed being computed locally by feedback loops. This method of sensorimotor unit governance, which is based upon what Anatol Feldman calls the ‘equilibrium Point’ theory, is formally equivalent to a servomechanism such as a car's ‘cruise control’.
Group key
In cryptography, a group key is a cryptographic key that is shared between a group of users. Typically, group keys are distributed by sending them to individual users, either physically, or encrypted individually for each user using either that user's pre-distributed private key. A common use of group keys is to allow a group of users to decrypt a broadcast message that is intended for that entire group of users, and no one else. For example, in the Second World War, group keys (known as "iodoforms", a term invented by a classically educated non-chemist, and nothing to do with the chemical of the same name) were sent to groups of agents by the Special Operations Executive. These group keys allowed all the agents in a particular group to receive a single coded message. In present-day applications, group keys are commonly used in conditional access systems, where the key is the common key used to decrypt the broadcast signal, and the group in question is the group of all paying subscribers. In this case, the group key is typically distributed to the subscribers' receivers using a combination of a physically distributed secure cryptoprocessor in the form of a smartcard and encrypted over-the-air messages.
SIPRNet
The Secret Internet Protocol Router Network (SIPRNet) is "a system of interconnected computer networks used by the U.S. Department of Defense and the U.S. Department of State to transmit classified information (up to and including information classified SECRET) by packet switching over the 'completely secure' environment". It also provides services such as hypertext document access and electronic mail. SIPRNet is a component of the Defense Information Systems Network. Other components handle communications with other security needs, such as the NIPRNet, which is used for nonsecure communications, and the Joint Worldwide Intelligence Communications System (JWICS), which is used for Top Secret communications. == Access == According to the U.S. Department of State Web Development Handbook, domain structure and naming conventions are the same as for the open internet, except for the addition of a second-level domain, like, e.g., "sgov" between state and gov: openforum.state.sgov.gov. Files originating from SIPRNet are marked by a header tag "SIPDIS" (SIPrnet DIStribution). A corresponding second-level domain smil.mil exists for DoD users. Access is also available to a "...small pool of trusted allies, including Australia, Canada, the United Kingdom and New Zealand...". This group (including the US) is known as the Five Eyes. SIPRNet was one of the networks accessed by Chelsea Manning, convicted of leaking the video used in WikiLeaks' "Collateral Murder" release as well as the source of the US diplomatic cables published by WikiLeaks in November 2010. == Alternate names == SIPRNet and NIPRNet are referred to colloquially as SIPPERnet and NIPPERnet (or simply sipper and nipper), respectively.
Content-oriented workflow models
In data management, a content-oriented workflow model seeks to articulate workflow progression by the presence of content units (like data-records/objects/documents). Most content-oriented workflow approaches provide a life-cycle model for content units, such that workflow progression can be qualified by conditions on the state of the units. Most approaches are research and work in progress and the content models and life-cycle models are more or less formalized. The term content-oriented workflows is an umbrella term for several scientific workflow approaches, namely "data-driven", "resource-driven", "artifact-centric", "object-aware", and "document-oriented". Thus, the meaning of "content" ranges from simple data attributes to self-contained documents; the term "content-oriented workflows" appeared at first in as an umbrella term. Such a general term, independent from a specific approach, is necessary to contrast the content-oriented modelling principle with traditional activity-oriented workflow models (like Petri nets or BPMN) where a workflow is driven by a control flow and where the content production perspective is neglected or even missing. The term "content" was chosen to subsume the different levels in granularity of the content units in the respective workflow models; it was also chosen to make associations with content management. Both terms "artifact-centric" and "data-driven" would also be good candidates for an umbrella term, but each is closely related to a specific approach of a single working group. The "artifact-centric" group itself (i.e. IBM Research) has generalized the characteristics of their approach and has used "information-centric" as an umbrella term in. Yet, the term information is too unspecific in the context of computer science, thus, "content-orientated workflows" is considered as good compromise. == Workflow Model Approaches == === Data-driven === The data-driven process structures provides a sophisticated workflow model being specialized on hierarchical write-and-review-processes. The approach provides interleaved synchronization of sub-processes and extends activity diagrams. Unfortunately, the COREPRO prototype implementation is not publicly available. Research on the project had been ceased. The general idea has been continued by Reichert in form of the #Object-aware approach. Synonyms data-driven process structures / data-driven modeling and coordination Protagonists Dr. Dominic Müller (University of Twente), Joachim Herbst (DaimlerChrysler Research), and Manfred Reichert (at this time Assoc. Prof. at Univ. of Twente, currently Prof. at Ulm Univ.) Organization(s) University of Twente, DaimlerChrysler Period 2005 - 2007 Selected publications Implementation COREPRO === Resource-driven === The resource-driven workflow system is an early approach that considered workflows from a content-oriented perspective and emphasizes on the missing support for plain document-driven processes by traditional activity-oriented workflow engines. The resource-driven approach demonstrated the application of database triggers for handling workflow events. Still the system implementation is centralized and the workflow schema is statically defined. The project appeared in 2005 but many aspects are considered future work by the authors. Research did not continue on the project. Wang completed his PhD thesis in 2009, yet, his thesis does not mention the resource-driven approach to workflow modelling but is about discrete event simulation. Synonyms Resource-based Workflows / Document-Driven Workflow Systems Protagonists Jianrui Wang and Prof. Akhil Kumar Organization Pennsylvania State University Period 2005 - today Selected publications Implementation N/A === Artifact-centric === The artifact-centric approach provides a framework for content-oriented workflows. In this model, the enterprise application landscape includes distributed business services, while the workflow engine is centralized. Process enactment is integrated with database management system infrastructure, and the project is funded by IBM. Synonyms artifact-centric business process models / artifact-based business process (ACP) / artifact-centric workflows Protagonists Richard Hull and Dr. Kamal Bhattacharya as well as Cagdas E. Gerede and Jianwen Su Organization IBM (T.J. Watson Research Center, NY) Period 2007 - today Selected publications Implementation ArtiFact === Object-aware === The object-aware approach manages a set of object types and generates forms for creating object instances. The form completion flow is controlled by transitions between object configurations each describing a progressing set of mandatory attributes. Each object configuration is named by an object state. The data production flow is user-shifting and it is discrete by defining a sequence of object states. The discussion is currently limited to a centralized system, without any workflows across different organizations. However, the approach is of great relevance to many domains like concurrent engineering. Finally, the object-aware approach and its PHILharmonicFlows system are going to provide general-purpose workflow systems for generic enactment of data production processes. Synonyms object-aware process management / datenorientiertes Prozess-Management-System Protagonists Vera Künzle and Prof. Manfred Reichert Organization Ulm University Period 2009 - today Selected publications Implementation PHILharmonicFlows === Distributed Document-oriented === Distributed document-oriented process management (dDPM) enables distributed case handling in heterogeneous system environments and it is based on document-oriented integration. The workflow model reflects the paper-based working practice in inter-institutional healthcare scenarios. It targets distributed knowledge-driven ad hoc workflows, wherein distributed information systems are required to coordinate work with initially unknown sets of actors and activities. The distributed workflow engine supports process planning & process history as well as participant management and process template creation with import/export. The workflow engine embeds a functional fusion of 1) group-based instant messaging 2) with a shared work list editor 3) with version control. The software implementation of dDPM is α-Flow which is available as open source. dDPM and α-Flow provide a content-oriented approach to schema-less workflows. The complete distributed case handling application is provided in form of a single active Document ("α-Doc"). The α-Doc is a case file (as information carrier) with an embedded workflow engine (in form of active properties). Inviting process participants is equivalent to providing them with a copy of an α-Doc, copying it like an ordinary desktop file. All α-Docs that belong to the same case can synchronize each other, based on the participant management, electronic postboxes, store-and-forward messaging, and an offline-capable synchronization protocol. Synonyms distributed document-oriented process management (dDPM), distributed case handling via active documents Protagonists Christoph P. Neumann and Prof. Richard Lenz Organization Friedrich-Alexander-Universität Erlangen-Nürnberg Period 2009 - 2012 Selected Publications and a PhD thesis Implementation α-Flow (open source) == Related Concepts == === Content Management === The bandwidth of Content management systems (CMS) reaches from Web content management systems (WCMS) and Document management system (DMS) to Enterprise Content Management (ECM). Mature DMS products support document production workflows in a basic form, primarily focusing on review cycle workflows concerning a single document. === Groupware and Computer-Supported Cooperative Work === Groupware focuses on messaging (like E-Mail, Chat, and Instant Messaging), shared calendars (e.g. Lotus Notes, Microsoft Outlook with Exchange Server), and conferencing (e.g. Skype). Groupware overlaps with Computer-supported cooperative work (CSCW), that originated from shared multimedia editors (for live drawing/sketching) and synchronous multi-user applications like desktop sharing. The extensive conceptual claim of CSWC must be put into perspective by its actual solution scope, that is available as the CSCW Matrix. === Case Handling === The case handling paradigm stems from Prof. van der Aalst and gained momentum in 2005. The core features are: (a) provide all information available, i.e. present the case as a whole rather than showing bits and pieces, (b) decide about activities on the basis of the information available rather than the activities already executed, (c) separate work distribution from authorization and allow for additional types of roles, not just the execute role, and (d) allow workers to view and add/modify data before or after the corresponding activities have been executed. In healthcare, the flow of a patient between healthcare professionals is considered as a workflow - with activities that inc
Cloud-computing comparison
The following is a comparison of cloud-computing software and providers. == IaaS (Infrastructure as a service) == === Providers === ==== General ==== == SaaS (Software as a Service) == === General === === Supported hosts === === Supported guests === == PaaS (Platform as a service) == === Providers === === Providers on IaaS === PaaS providers which can run on IaaS providers ("itself" means the provider is both PaaS and IaaS):
Social advertising (social relationships)
Social advertising is advertising that relies on social information or networks in generating, targeting, and delivering marketing communications. Many current examples of social advertising use a particular Internet service to collect social information, establish and maintain relationships with consumers, and for delivering communications. For example, the advertising platforms provided by Google, Twitter, and Facebook involve targeting and presenting ads based on relationships articulated on those same services. Social advertising can be part of a broader social media marketing strategy designed to connect with consumers. == Social targeting == Since a pair of consumers connected via a relationship are more likely to be similar than an unconnected pair, information about such relationships can be used to infer characteristics of consumers useful for targeting. For example, predictions of an individual's home location can be improved using geographic information about their peers. Existing advertising platforms can allow advertisers to explicitly target the peers (e.g., Facebook friends, Twitter followers) of consumers who have a known affiliation with their brand. Thus, one way social advertising is expected to be effective is because social networks encode information about unobserved characteristics of consumers, including their susceptibility to adopt a product and to influence their peers to adopt. Social advertisement targets audiences' demographics based on customers browsing histories. This helped companies understand users' interests and target a specific group of users. Whether it is location or personal interest, different categories of companies can make the consumers on social media rely heavily on their advertisements. This is one of the reasons why social advertising has grown over time. Targeting their audience to real life stakeholders generally increase the attention of the advertised deal which brings up more profits for companies. Subsequently, the psychological effects that social media gives off to its users play a huge role in advertisement companies keeping their customers online. One of the main reasons users rely on social media is because it's a source of entertainment that provides them with a feeling of inclusiveness. In making the customers feel the inclusiveness, social advertising targeting a specific group of users is presented as if these advertisements are customized for the users in their perspective making them feel the attention that they do not often feel in the real world. You can use Social signals checker tool to find more information about links. Social signals are metrics that measure how much people interact with your content on social media. From likes, to shares, to comments; each of these signals contributes to an overall number that tells search engines like Google how much people like your content. The more social signals your website gets, the more likely it is to rank higher in Google. The reason for this is two-fold. First, social media is used by millions of people every day, and if your content is being shared and interacted with on these sites, it shows that it’s worthy of being seen. And second, social media sites are highly trusted by Google. So if you can get your content seen and interacted with on these platforms, you’ll be off to a great start. == Social cues in advertisements == Social ads often include information about the affiliation of a peer with an advertised entity. For example, a social ad might indicate a friend has endorsed a product, highly rated a restaurant, or watched a particular film. In fact, some definitions make these personalized social signals a necessary condition for the advertising being social advertising. Inclusion of personalized social signals creates a channel for social influence. Experiments that remove peers' names or images from social advertisements provide evidence that their presence increases proximal outcomes (e.g., clicks on advertisements). This is technically how trends are started on social media. Since social media links a single profile to thousands of other accounts some being real-life friends or even acquaintances, the opinions and the bias a user has for other users who are also a customer of an advertisement on the feed can heavily affect whether to click on the advertisement or not. Once this pattern continues, the brand benefits from increased customers, profit, and attention. Social networking can spread rapidly because 71 percent of the world's population contributes and uses social media which means social advertising gives companies a better marketing technique than a physical poster advertisement. == Word of mouth == Advertisers often attempt to use word of mouth to affect consumers and their decisions to adopt products and services. Ads and other inducements targeted at a seed set of individuals can be designed to produce a larger cascade of adoption through influence. Businesses are also using social media to attempt to identify and persuade influential consumers to spread positive messages about their products or services. Consequently, not only on social platforms but also in physical settings, users start talking to each other. When individuals develop an intimate relationship with each other, it is quite heavily based on shared characteristics, interests, and personalities. If one social media user becomes a regular customer to a well-known company that advertises often, there is a higher chance that all the other people who have intimate relationships with that one customer will be exposed to the online advertisement more than another user who might be completely new to a brand that is being advertised on screen. In reality, this happens to not only one user but to most of the users which mean a single brand advertisement online can have to potential of being talked about between billions and trillions of people all around the globe. == Relationship marketing == To accurately conduct relationship marketing, businesses must develop and manage six marketplaces: internal, customer, referral, supplier, influencer and employee. To maintain relationship marketing, customers often see social media influencers getting free sponsorships or PR boxes just to advertise their products. At times, users who become customers through these social influencers will get a better deal than regular customers which stands as a very commonly used marketing technique. By doing this, users think they are receiving special treatment when in reality it very much benefits social influencers and brands. Especially for brands that are just starting, they use this marketing technique so that their names can be out there, and people will start talking, which is their initial goal.