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Display list

A display list, also called a command list in Direct3D 12 and a command buffer in Vulkan, is a series of graphics commands or instructions that are run when the list is executed. Systems that make use of display list functionality are called retained mode systems, while systems that do not are as opposed to immediate mode systems. In OpenGL, display lists are useful to redraw the same geometry or apply a set of state changes multiple times. This benefit is also used with Direct3D 12's bundle command lists. In Direct3D 12 and Vulkan, display lists are regularly used for per-frame recording and execution. == Origins in vector displays == The vector monitors or calligraphic displays of the 1960s and 1970s used electron beam deflection to draw line segments, points, and sometimes curves directly on a CRT screen. Because the image would immediately fade, it needed to be redrawn many times a second (storage tube CRTs retained the image until blanked, but they were unsuitable for interactive graphics). To refresh the display, a dedicated CPU called a Display Processor or Display Processing Unit (DPU) was used, which had a memory buffer for a "display list", "display file", or "display program" containing line segment coordinates and other information. Advanced Display Processors also supported control flow instructions, which were useful for drawing repetitive graphics such as text, and some could perform coordinate transformations such as 3D projection. == Home computer display list functionality == One of the earliest systems with a true display list was the Atari 8-bit computers. The display list (actually called so in Atari terminology) is a series of instructions for ANTIC, the video co-processor used in these machines. This program, stored in the computer's memory and executed by ANTIC in real-time, can specify blank lines, any of six text modes and eight graphics modes, which sections of the screen can be horizontally or vertically fine-scrolled, and trigger Display List Interrupts (called raster interrupts or HBI on other systems). The Amstrad PCW family contains a Display List function called the 'Roller RAM'. This is a 512-byte RAM area consisting of 256 16-bit pointers in RAM, one for each line of the 720 × 256 pixel display. Each pointer identifies the location of 90 bytes of monochrome pixels that hold the line's 720 pixel states. The 90 bytes of 8 pixel states are spaced at 8-byte intervals, so there are 7 unused bytes between each byte of pixel data. This suits how the text-orientated PCW constructs a typical screen buffer in RAM, where the first character's 8 rows are stored in the first 8 bytes, the second character's rows in the next 8 bytes, and so on. The Roller RAM was implemented to speed up display scrolling as it would have been unacceptably slow for its 3.4 MHz Z80 to move up the 23 KB display buffer 'by hand' i.e. in software. The Roller RAM starting entry used at the beginning of a screen refresh is controlled by a Z80-writable I/O register. Therefore, the screen can be scrolled simply by changing this I/O register. Another system using a Display List-like feature in hardware is the Amiga, which, not coincidentally, was also designed by some of the same people who developed the custom hardware for the Atari 8-bit computers. Once directed to produce a display mode, it would continue to do so automatically for every following scan line. The computer also included a dedicated co-processor, called "Copper", which ran a simple program or 'Copper List' intended for modifying hardware registers in sync with the display. The Copper List instructions could direct the Copper to wait for the display to reach a specific position on the screen, and then change the contents of hardware registers. In effect, it was a processor dedicated to servicing raster interrupts. The Copper was used by Workbench to mix multiple display modes (multiple resolutions and color palettes on the monitor at the same time), and by numerous programs to create rainbow and gradient effects on the screen. The Amiga Copper was also capable of reconfiguring the sprite engine mid-frame, with only one scanline of delay. This allowed the Amiga to draw more than its 8 hardware sprites, so long as the additional sprites did not share scanlines (or the one scanline gap) with more than 7 other sprites. i.e., so long as at least one sprite had finished drawing, another sprite could be added below it on the screen. Additionally, the later 32-bit AGA chipset allowed the drawing of bigger sprites (more pixels per row) while retaining the same multiplexing. The Amiga also had dedicated block-shifter ("blitter") hardware, which could draw larger objects into a framebuffer. This was often used in place of, or in addition to, sprites. In more primitive systems, the results of a display list can be simulated, though at the cost of CPU-intensive writes to certain display modes, color control, or other visual effect registers in the video device, rather than a series of rendering commands executed by the device. Thus, one must create the displayed image using some other rendering process, either before or while the CPU-driven display generation executes. In many cases, the image is also modified or re-rendered between frames. The image is then displayed in various ways, depending on the exact way in which the CPU-driven display code is implemented. Examples of the results possible on these older machines requiring CPU-driven video include effects such as Commodore 64/128's FLI mode, or Rainbow Processing on the ZX Spectrum. == Usage in OpenGL == To delimit a display list, the glNewList and glEndList functions are used, and to execute the list, the glCallList function is used. Almost all rendering commands that occur between the function calls are stored in the display list. Commands that affect the client state are not stored in display lists. Display lists are named with an integer value, and creating a display list with the same name as one already created overrides the first. The glNewList function expects two arguments: an integer representing the name of the list, and an enumeration for the compilation mode. The two modes include GL_COMPILE_AND_EXECUTE, which compiles and immediately executes, and GL_COMPILE, which only compiles the list. Display lists enable the use of the retained mode rendering pattern, which is a system in which graphics commands are recorded (retained) to execute in succession at a later time. This is contrary to immediate mode, where graphics commands are immediately executed on client calls. == Usage in Direct3D 12 == Command lists are created using the ID3D12Device::CreateCommandList function. Command lists may be created in several types: direct, bundle, compute, copy, video decode, video process, and video encoding. Direct command lists specify that a command list the GPU can execute, and doesn't inherit any GPU state. Bundles, are best used for storing and executing small sets of commands any number of times. This is used differently than regular command lists, where commands stored in a command list are typically executed only once. Compute command lists are used for general computations, with a common use being calculating mipmaps. A copy command list is strictly for copying and the video decode and video process command lists are for video decoding and processing respectively. Upon creation, command lists are in the recording state. Command lists may be re-used by calling the ID3D12GraphicsCommandList::Reset function. After recording commands, the command list must be transitioned out of the recording state by calling ID3D12GraphicsCommandList::Close. The command list is then executed by calling ID3D12CommandQueue::ExecuteCommandLists.
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ParkMobile

ParkMobile is a mobile and web app providing parking payments in North America. Headquartered in Atlanta, Georgia, users can pay for on-street and off-street parking via app on their smartphone, web browser, or through calling a phone number. ParkMobile also offers parking reservations at stadiums or venues for concerts and sporting events, and in metro area garages. == History == ParkMobile was founded in the United States in 2008 by Albert Bogaard after originally starting in the Netherlands. The initial product served only zone (on-demand) parkers and payment for the parking spot was made via a phone call through an IVR system. In 2009, the ParkMobile app was released and the product launched in its first city, Grand Rapids, Michigan. Parking payments have since been accepted through a user's account by connecting a credit card. ParkMobile deployed in Washington, D.C., in 2011. As of 2023, ParkMobile now has over 50 million users. Parking reservations were introduced in 2017, allowing users to reserve parking in advance. In 2018, the company recapitalized with BMW as the shareholder. ParkMobile was then acquired by a joint venture with BMW and Daimler. Under this joint venture, ParkMobile parking payment functionality was available and integrated with BMW's navigation system in many of its 2018 models. EasyPark Group, the Swedish-based parking solutions company, acquired ParkMobile in 2021 and is the current owner rebranded as Arrive. In 2022, ParkMobile launched in the City of Boston with a city-wide parking app, ParkBoston, powered by ParkMobile. == Operations == === Products === ParkMobile's product offerings include zone (on-demand) parking payments, parking reservations, and a self-service reporting engine. Zone parking is the company's most widely used service. Users can use the app on their smartphone to pay parking fees. In 2017, ParkMobile began offering parking reservations. The service is provided in addition to on-demand parking options at stadiums and venues, as well as metro area parking garages. After launching the reservations feature, ParkMobile became the first mobile parking app provider in North America to have a consolidated app with both on-demand and reservations parking in one. ParkMobile 360, the company's self-service management and reporting platform for operators, launched in 2018. It is a web-based application for parking operators to manage parking inventory, adjust rates, create special parking events, and track analytics. In 2020, ParkMobile began offering an option to pay for parking with Google through integrating the ParkMobile experience with Google Maps In 2021, ParkMobile launched its web application, allowing users to complete their parking transactions directly from the mobile website without having to download the app or have an account. ParkMobile integrates with parking gate equipment so customers can use their app to pay for parking and scan to enter and exit the garage. === Locations === ParkMobile has over 50 million users across the United States, Canada, and Puerto Rico. The app is available in over 550 cities in the U.S. and over 150 colleges and universities. == Controversies == === Predatory towing and excessive ticketing === Since all paid parking sessions from a single supplier are able to be viewed together, the ease of viewing and enforcing parking violations has caused controversy. Parking Enforcement Services in Birmingham, Alabama, has been the subject complaints by users of the ParkMobile app who had paid for a parking session and still had their vehicle towed. Customers often use old or expired license plates and forget to update to the correct number, or mistype when entering their information into the ParkMobile app. The complaints are that the towing companies offer no lenience for these mistakes. They return to their car as the session expires, and find their car has been towed. Additionally, other municipality across the country have received complaints about excessive parking ticket issuing when inputting their information incorrectly in the ParkMobile app. In Stone Harbor, New Jersey, parking ticket violations increased by over 1,600% from the previous year since launching with the ParkMobile app. Police officers refute complaints of being "too strict" on writing tickets by admitting the ParkMobile system allows officers to "more seamlessly enforce" the city's parking laws. === Data security breach === In March 2021, ParkMobile suffered a cybersecurity incident "linked to a vulnerability in a third-party software," potentially exposing users' email addresses, phone numbers, and license plate numbers. ParkMobile responded by launching an investigation and notifying law enforcement authorities and affected municipalities. The investigation concluded "no sensitive data or Payment Card Information was affected" but ParkMobile confirmed that basic account information, such as license plate numbers and possibly email addresses or phone numbers, was accessed.
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Data access layer

A data access layer (DAL) is a software architectural layer that provides access to data from one or more sources, such as a relational database, NoSQL database, SQL query engine, file system, or other persistent storage. It separates client code from the details of storage systems, query execution, connection handling, and data retrieval. Data access layers are commonly used to centralize data access logic, reduce coupling between applications and data sources, and provide a consistent interface for retrieving, writing, or querying data. Depending on the system, a data access layer may be implemented as application code, a shared library, an intermediary service, or part of a broader database abstraction layer. == In application architecture == In application software, a data access layer provides a boundary between business logic or application code and the systems used to store or retrieve data. For example, a data access layer may expose methods or interfaces for retrieving, writing, or querying data while hiding details such as connection management, SQL statements, storage APIs, error handling, and result conversion. Depending on the application, the layer may return objects, records, tabular results, documents, streams, or other representations of data. A common implementation is a set of classes, functions, or methods that directly reference database queries, stored procedures, storage APIs, or other data sources. For example, instead of using commands such as insert, delete, and update throughout an application to access a specific table, methods such as registerUser or loginUser may be implemented inside the data access layer. Business logic methods from an application can also be mapped to the data access layer. Instead of making several database queries directly, an application can call a single DAL method that abstracts those database calls. Applications using a data access layer may be either dependent on or independent from a particular database server. If the data access layer supports multiple database systems, the application can use any database system that the DAL can access. In either case, the data access layer provides a centralized location for calls into the underlying data store, which can make it easier to maintain, test, or port the application to other storage systems. == Implementation patterns == A data access layer can be implemented using several patterns and technologies, including data access objects, repositories, stored procedures, query builders, database drivers, or object–relational mapping tools. These mechanisms may implement part or all of a data access layer, but are not always equivalent to the layer itself. Object–relational mapping tools are commonly used in data access layers for object-oriented applications that map records in a relational database to objects in a programming language. Other data access layers may expose lower-level database interfaces, tabular results, document-oriented data, files, streams, or protocol-level interfaces. == Use with multiple underlying data systems == A data access layer may be used to abstract differences between multiple underlying data systems, allowing applications to access them through a more consistent interface. In such designs, applications call the DAL rather than interacting directly with each database or storage system. The layer may then handle connection management, query generation, result mapping, error handling, and other implementation details. A data access layer may be implemented as a shared library or as an intermediary service, such as a proxy or gateway. In this configuration, client applications or services connect to the data access layer, which then communicates with one or more underlying databases or query engines. This can provide a common location for authentication, authorization, logging, routing, and translation between different database interfaces. == Interfaces and protocols == Data access layers may expose or use standardized interfaces and protocols for database access. Examples include Open Database Connectivity (ODBC), Java Database Connectivity (JDBC), database-native wire protocols, and newer interfaces such as Apache Arrow Database Connectivity (ADBC) and Arrow Flight SQL. In systems that support multiple data stores, a data access layer may provide a consistent interface while using different drivers, protocols, or query mechanisms internally. == Distinction from related patterns == A data access layer is related to, but broader than, a data access object, which is usually an object-oriented design pattern for encapsulating access to a persistence mechanism. It is also related to a database abstraction layer, which focuses on hiding differences between database systems. In practice, the terms may overlap.
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AirDine

AirDine was a mobile app within the platform economy where individuals acted as both supplier and customer for a supper club. AirDine discontinued their service after 31 October 2017. == Operations == AirDine was an online marketplace for home dining that connected users that liked to cook with users looking for a dining experience. Users were categorized as "Hosts" and "Guests," both of whom needed to register with AirDine. AirDine acted as a two-sided market for home dining that allowed hosts and guests, and did not act as a restaurant or host any dinners itself. AirDine charged a service fee. Security and safety of the host were not vetted by AirDine and were completely left to users based on published reviews. Profiles included user reviews and shared social connections to build trust among users. AirDine also included a private messaging system.
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Rendering equation

In computer graphics, the rendering equation is an integral equation that expresses the amount of light leaving a point on a surface as the sum of emitted light and reflected light. It was independently introduced into computer graphics by David Immel et al. and James Kajiya in 1986. The equation is important in the theory of physically based rendering, describing the relationships between the bidirectional reflectance distribution function (BRDF) and the radiometric quantities used in rendering. The rendering equation is defined at every point on every surface in the scene being rendered, including points hidden from the camera. The incoming light quantities on the right side of the equation usually come from the left (outgoing) side at other points in the scene (ray casting can be used to find these other points). The radiosity rendering method solves a discrete approximation of this system of equations. In distributed ray tracing, the integral on the right side of the equation may be evaluated using Monte Carlo integration by randomly sampling possible incoming light directions. Path tracing improves and simplifies this method. The rendering equation can be extended to handle effects such as fluorescence (in which some absorbed energy is re-emitted at different wavelengths) and can support transparent and translucent materials by using a bidirectional scattering distribution function (BSDF) in place of a BRDF. The theory of path tracing sometimes uses a path integral (integral over possible paths from a light source to a point) instead of the integral over possible incoming directions. == Equation form == The rendering equation may be written in the form L o ( x , ω o , λ , t ) = L e ( x , ω o , λ , t ) + L r ( x , ω o , λ , t ) {\displaystyle L_{\text{o}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)=L_{\text{e}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)+L_{\text{r}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} L r ( x , ω o , λ , t ) = ∫ Ω f r ( x , ω i , ω o , λ , t ) L i ( x , ω i , λ , t ) ( ω i ⋅ n ) d ⁡ ω i {\displaystyle L_{\text{r}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)=\int _{\Omega }f_{\text{r}}(\mathbf {x} ,\omega _{\text{i}},\omega _{\text{o}},\lambda ,t)L_{\text{i}}(\mathbf {x} ,\omega _{\text{i}},\lambda ,t)(\omega _{\text{i}}\cdot \mathbf {n} )\operatorname {d} \omega _{\text{i}}} where L o ( x , ω o , λ , t ) {\displaystyle L_{\text{o}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} is the total spectral radiance of wavelength λ {\displaystyle \lambda } directed outward along direction ω o {\displaystyle \omega _{\text{o}}} at time t {\displaystyle t} , from a particular position x {\displaystyle \mathbf {x} } x {\displaystyle \mathbf {x} } is the location in space ω o {\displaystyle \omega _{\text{o}}} is the direction of the outgoing light λ {\displaystyle \lambda } is a particular wavelength of light t {\displaystyle t} is time L e ( x , ω o , λ , t ) {\displaystyle L_{\text{e}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} is emitted spectral radiance L r ( x , ω o , λ , t ) {\displaystyle L_{\text{r}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} is reflected spectral radiance ∫ Ω … d ⁡ ω i {\displaystyle \int _{\Omega }\dots \operatorname {d} \omega _{\text{i}}} is an integral over Ω {\displaystyle \Omega } Ω {\displaystyle \Omega } is the unit hemisphere centered around n {\displaystyle \mathbf {n} } containing all possible values for ω i {\displaystyle \omega _{\text{i}}} where ω i ⋅ n > 0 {\displaystyle \omega _{\text{i}}\cdot \mathbf {n} >0} f r ( x , ω i , ω o , λ , t ) {\displaystyle f_{\text{r}}(\mathbf {x} ,\omega _{\text{i}},\omega _{\text{o}},\lambda ,t)} is the bidirectional reflectance distribution function, the proportion of light reflected from ω i {\displaystyle \omega _{\text{i}}} to ω o {\displaystyle \omega _{\text{o}}} at position x {\displaystyle \mathbf {x} } , time t {\displaystyle t} , and at wavelength λ {\displaystyle \lambda } ω i {\displaystyle \omega _{\text{i}}} is the negative direction of the incoming light L i ( x , ω i , λ , t ) {\displaystyle L_{\text{i}}(\mathbf {x} ,\omega _{\text{i}},\lambda ,t)} is spectral radiance of wavelength λ {\displaystyle \lambda } coming inward toward x {\displaystyle \mathbf {x} } from direction ω i {\displaystyle \omega _{\text{i}}} at time t {\displaystyle t} n {\displaystyle \mathbf {n} } is the surface normal at x {\displaystyle \mathbf {x} } ω i ⋅ n {\displaystyle \omega _{\text{i}}\cdot \mathbf {n} } is the weakening factor of outward irradiance due to incident angle, as the light flux is smeared across a surface whose area is larger than the projected area perpendicular to the ray. This is often written as cos ⁡ θ i {\displaystyle \cos \theta _{i}} . Two noteworthy features are: its linearity—it is composed only of multiplications and additions, and its spatial homogeneity—it is the same in all positions and orientations. These mean a wide range of factorings and rearrangements of the equation are possible. It is a Fredholm integral equation of the second kind, similar to those that arise in quantum field theory. Note this equation's spectral and time dependence — L o {\displaystyle L_{\text{o}}} may be sampled at or integrated over sections of the visible spectrum to obtain, for example, a trichromatic color sample. A pixel value for a single frame in an animation may be obtained by fixing t ; {\displaystyle t;} motion blur can be produced by averaging L o {\displaystyle L_{\text{o}}} over some given time interval (by integrating over the time interval and dividing by the length of the interval). Note that a solution to the rendering equation is the function L o {\displaystyle L_{\text{o}}} . The function L i {\displaystyle L_{\text{i}}} is related to L o {\displaystyle L_{\text{o}}} via a ray-tracing operation: The incoming radiance from some direction at one point is the outgoing radiance at some other point in the opposite direction. == Applications == Solving the rendering equation for any given scene is the primary challenge in realistic rendering. One approach to solving the equation is based on finite element methods, leading to the radiosity algorithm. Another approach using Monte Carlo methods has led to many different algorithms including path tracing, photon mapping, and Metropolis light transport, among others. == Limitations == Although the equation is very general, it does not capture every aspect of light reflection. Some missing aspects include the following: Transmission, which occurs when light is transmitted through the surface, such as when it hits a glass object or a water surface, Subsurface scattering, where the spatial locations for incoming and departing light are different. Surfaces rendered without accounting for subsurface scattering may appear unnaturally opaque — however, it is not necessary to account for this if transmission is included in the equation, since that will effectively include also light scattered under the surface, Polarization, where different light polarizations will sometimes have different reflection distributions, for example when light bounces at a water surface, Phosphorescence, which occurs when light or other electromagnetic radiation is absorbed at one moment and emitted at a later moment, usually with a longer wavelength (unless the absorbed electromagnetic radiation is very intense), Interference, where the wave properties of light are exhibited, Fluorescence, where the absorbed and emitted light have different wavelengths, Non-linear effects, where very intense light can increase the energy level of an electron with more energy than that of a single photon (this can occur if the electron is hit by two photons at the same time), and emission of light with higher frequency than the frequency of the light that hit the surface suddenly becomes possible, and Doppler effect, where light that bounces off an object moving at a very high speed will get its wavelength changed: if the light bounces off an object that is moving towards it, the light will be blueshifted and the photons will be packed more closely so the photon flux will be increased; if it bounces off an object moving away from it, it will be redshifted and the photon flux will be decreased. This effect becomes apparent only at speeds comparable to the speed of light, which is not the case for most rendering applications. For scenes that are either not composed of simple surfaces in a vacuum or for which the travel time for light is an important factor, researchers have generalized the rendering equation to produce a volume rendering equation suitable for volume rendering and a transient rendering equation for use with data from a time-of-flight camera.
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Kinematic chain

In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints. A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain. The modern use of kinematic chains includes analysis of Linkages (mechanical), compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems, and cable compliance in cable robotic and tensegrity systems. == Mobility formula == The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M = 6(N − 1), where N = n + 1 is the number of moving bodies plus the fixed body. Joints that connect bodies impose constraints. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. It is convenient to define the number of constraints c that a joint imposes in terms of the joint's freedom f, where c = 6 − f. In the case of a hinge or slider, which are one-degree-of-freedom joints, have f = 1 and therefore c = 6 − 1 = 5. The result in general where d {\displaystyle d} is the degrees of freedom for the mobility of a kinematic chain formed from n moving links and j joints each with freedom fi, i = 1, 2, …, j, is given by M = d n − ∑ i = 1 j ( d − f i ) = d ( N − 1 − j ) + ∑ i = 1 j f i {\displaystyle M=dn-\sum _{i=1}^{j}(d-f_{i})=d(N-1-j)+\sum _{i=1}^{j}f_{i}} Where N is the total number of links and includes the fixed link. Spacial linkages used d = 6 {\displaystyle d=6} and planar linkages use d = 3 {\displaystyle d=3} . This result is known as the Chebychev–Grübler–Kutzbach criterion. == Analysis of kinematic chains == The constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of the chain associated with specific values of input parameters, called degrees of freedom. The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the kinematic equations, [ T ] = [ Z 1 ] [ X 1 ] [ Z 2 ] [ X 2 ] ⋯ [ X n − 1 ] [ Z n ] , {\displaystyle [T]=[Z_{1}][X_{1}][Z_{2}][X_{2}]\cdots [X_{n-1}][Z_{n}],\!} where [T] is the transformation locating the end-link—notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of the serial chain. Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors: Its topology: a serial chain, a parallel manipulator, a tree structure, or a graph. Its geometrical form: how are neighbouring joints spatially connected to each other? Explanation Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. == Synthesis of kinematic chains == The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory. Ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the 1950s. His use of the newly developed computer to solve Freudenstein's equation became the prototype of computer-aided design systems. This work has been generalized to the synthesis of spherical and spatial mechanisms.
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Computers & Graphics

Computers & Graphics is a peer-reviewed scientific journal that covers computer graphics and related subjects such as data visualization, human-computer interaction, virtual reality, and augmented reality. It was established in 1975 and originally published by Pergamon Press. It is now published by Elsevier, which acquired Pergamon Press in 1991. From 2018 to 2022 Graphics and Visual Computing was an open access sister journal sharing the same editorial team and double-blind peer-review policies. It has since merged into GMOD, the International Journal of Graphical Models. == History == The journal was established in 1975 by founding editor-in-chief Robert Schiffman (University of Colorado, Boulder), as Computers & Graphics-UK. Schiffman, who co-organized the first SIGGRAPH conference in 1974, had the conference proceedings published as the first issue of the journal. He was succeeded in 1978 by Larry Feeser (Rensselaer Polytechnic Institute). In 1983 José Luis Encarnação (Technische Hochschule Darmstadt) took over. Joaquim Jorge (University of Lisbon) has been Editor-in-Chief since 2007. == Replicability == The journal is working with the Graphics Replicability Stamp Initiative to promote replicable results in publication. == Abstracting and indexing == The journal is abstracted and indexed in: Current Contents/Engineering, Computing & Technology EBSCO databases Ei Compendex Inspec ProQuest databases Science Citation Index Expanded Scopus Chinese Computer Federation/Recommended List of International Conferences and Journals on CAD & Graphics and Multimedia. According to the Journal Citation Reports, the journal has a 2022 impact factor of 2.5.
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Rendering equation

In computer graphics, the rendering equation is an integral equation that expresses the amount of light leaving a point on a surface as the sum of emitted light and reflected light. It was independently introduced into computer graphics by David Immel et al. and James Kajiya in 1986. The equation is important in the theory of physically based rendering, describing the relationships between the bidirectional reflectance distribution function (BRDF) and the radiometric quantities used in rendering. The rendering equation is defined at every point on every surface in the scene being rendered, including points hidden from the camera. The incoming light quantities on the right side of the equation usually come from the left (outgoing) side at other points in the scene (ray casting can be used to find these other points). The radiosity rendering method solves a discrete approximation of this system of equations. In distributed ray tracing, the integral on the right side of the equation may be evaluated using Monte Carlo integration by randomly sampling possible incoming light directions. Path tracing improves and simplifies this method. The rendering equation can be extended to handle effects such as fluorescence (in which some absorbed energy is re-emitted at different wavelengths) and can support transparent and translucent materials by using a bidirectional scattering distribution function (BSDF) in place of a BRDF. The theory of path tracing sometimes uses a path integral (integral over possible paths from a light source to a point) instead of the integral over possible incoming directions. == Equation form == The rendering equation may be written in the form L o ( x , ω o , λ , t ) = L e ( x , ω o , λ , t ) + L r ( x , ω o , λ , t ) {\displaystyle L_{\text{o}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)=L_{\text{e}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)+L_{\text{r}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} L r ( x , ω o , λ , t ) = ∫ Ω f r ( x , ω i , ω o , λ , t ) L i ( x , ω i , λ , t ) ( ω i ⋅ n ) d ⁡ ω i {\displaystyle L_{\text{r}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)=\int _{\Omega }f_{\text{r}}(\mathbf {x} ,\omega _{\text{i}},\omega _{\text{o}},\lambda ,t)L_{\text{i}}(\mathbf {x} ,\omega _{\text{i}},\lambda ,t)(\omega _{\text{i}}\cdot \mathbf {n} )\operatorname {d} \omega _{\text{i}}} where L o ( x , ω o , λ , t ) {\displaystyle L_{\text{o}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} is the total spectral radiance of wavelength λ {\displaystyle \lambda } directed outward along direction ω o {\displaystyle \omega _{\text{o}}} at time t {\displaystyle t} , from a particular position x {\displaystyle \mathbf {x} } x {\displaystyle \mathbf {x} } is the location in space ω o {\displaystyle \omega _{\text{o}}} is the direction of the outgoing light λ {\displaystyle \lambda } is a particular wavelength of light t {\displaystyle t} is time L e ( x , ω o , λ , t ) {\displaystyle L_{\text{e}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} is emitted spectral radiance L r ( x , ω o , λ , t ) {\displaystyle L_{\text{r}}(\mathbf {x} ,\omega _{\text{o}},\lambda ,t)} is reflected spectral radiance ∫ Ω … d ⁡ ω i {\displaystyle \int _{\Omega }\dots \operatorname {d} \omega _{\text{i}}} is an integral over Ω {\displaystyle \Omega } Ω {\displaystyle \Omega } is the unit hemisphere centered around n {\displaystyle \mathbf {n} } containing all possible values for ω i {\displaystyle \omega _{\text{i}}} where ω i ⋅ n > 0 {\displaystyle \omega _{\text{i}}\cdot \mathbf {n} >0} f r ( x , ω i , ω o , λ , t ) {\displaystyle f_{\text{r}}(\mathbf {x} ,\omega _{\text{i}},\omega _{\text{o}},\lambda ,t)} is the bidirectional reflectance distribution function, the proportion of light reflected from ω i {\displaystyle \omega _{\text{i}}} to ω o {\displaystyle \omega _{\text{o}}} at position x {\displaystyle \mathbf {x} } , time t {\displaystyle t} , and at wavelength λ {\displaystyle \lambda } ω i {\displaystyle \omega _{\text{i}}} is the negative direction of the incoming light L i ( x , ω i , λ , t ) {\displaystyle L_{\text{i}}(\mathbf {x} ,\omega _{\text{i}},\lambda ,t)} is spectral radiance of wavelength λ {\displaystyle \lambda } coming inward toward x {\displaystyle \mathbf {x} } from direction ω i {\displaystyle \omega _{\text{i}}} at time t {\displaystyle t} n {\displaystyle \mathbf {n} } is the surface normal at x {\displaystyle \mathbf {x} } ω i ⋅ n {\displaystyle \omega _{\text{i}}\cdot \mathbf {n} } is the weakening factor of outward irradiance due to incident angle, as the light flux is smeared across a surface whose area is larger than the projected area perpendicular to the ray. This is often written as cos ⁡ θ i {\displaystyle \cos \theta _{i}} . Two noteworthy features are: its linearity—it is composed only of multiplications and additions, and its spatial homogeneity—it is the same in all positions and orientations. These mean a wide range of factorings and rearrangements of the equation are possible. It is a Fredholm integral equation of the second kind, similar to those that arise in quantum field theory. Note this equation's spectral and time dependence — L o {\displaystyle L_{\text{o}}} may be sampled at or integrated over sections of the visible spectrum to obtain, for example, a trichromatic color sample. A pixel value for a single frame in an animation may be obtained by fixing t ; {\displaystyle t;} motion blur can be produced by averaging L o {\displaystyle L_{\text{o}}} over some given time interval (by integrating over the time interval and dividing by the length of the interval). Note that a solution to the rendering equation is the function L o {\displaystyle L_{\text{o}}} . The function L i {\displaystyle L_{\text{i}}} is related to L o {\displaystyle L_{\text{o}}} via a ray-tracing operation: The incoming radiance from some direction at one point is the outgoing radiance at some other point in the opposite direction. == Applications == Solving the rendering equation for any given scene is the primary challenge in realistic rendering. One approach to solving the equation is based on finite element methods, leading to the radiosity algorithm. Another approach using Monte Carlo methods has led to many different algorithms including path tracing, photon mapping, and Metropolis light transport, among others. == Limitations == Although the equation is very general, it does not capture every aspect of light reflection. Some missing aspects include the following: Transmission, which occurs when light is transmitted through the surface, such as when it hits a glass object or a water surface, Subsurface scattering, where the spatial locations for incoming and departing light are different. Surfaces rendered without accounting for subsurface scattering may appear unnaturally opaque — however, it is not necessary to account for this if transmission is included in the equation, since that will effectively include also light scattered under the surface, Polarization, where different light polarizations will sometimes have different reflection distributions, for example when light bounces at a water surface, Phosphorescence, which occurs when light or other electromagnetic radiation is absorbed at one moment and emitted at a later moment, usually with a longer wavelength (unless the absorbed electromagnetic radiation is very intense), Interference, where the wave properties of light are exhibited, Fluorescence, where the absorbed and emitted light have different wavelengths, Non-linear effects, where very intense light can increase the energy level of an electron with more energy than that of a single photon (this can occur if the electron is hit by two photons at the same time), and emission of light with higher frequency than the frequency of the light that hit the surface suddenly becomes possible, and Doppler effect, where light that bounces off an object moving at a very high speed will get its wavelength changed: if the light bounces off an object that is moving towards it, the light will be blueshifted and the photons will be packed more closely so the photon flux will be increased; if it bounces off an object moving away from it, it will be redshifted and the photon flux will be decreased. This effect becomes apparent only at speeds comparable to the speed of light, which is not the case for most rendering applications. For scenes that are either not composed of simple surfaces in a vacuum or for which the travel time for light is an important factor, researchers have generalized the rendering equation to produce a volume rendering equation suitable for volume rendering and a transient rendering equation for use with data from a time-of-flight camera.
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Randomized Hough transform

Hough transforms are techniques for object detection, a critical step in many implementations of computer vision, or data mining from images. Specifically, the Randomized Hough transform is a probabilistic variant to the classical Hough transform, and is commonly used to detect curves (straight line, circle, ellipse, etc.) The basic idea of Hough transform (HT) is to implement a voting procedure for all potential curves in the image, and at the termination of the algorithm, curves that do exist in the image will have relatively high voting scores. Randomized Hough transform (RHT) is different from HT in that it tries to avoid conducting the computationally expensive voting process for every nonzero pixel in the image by taking advantage of the geometric properties of analytical curves, and thus improve the time efficiency and reduce the storage requirement of the original algorithm. == Motivation == Although Hough transform (HT) has been widely used in curve detection, it has two major drawbacks: First, for each nonzero pixel in the image, the parameters for the existing curve and redundant ones are both accumulated during the voting procedure. Second, the accumulator array (or Hough space) is predefined in a heuristic way. The more accuracy needed, the higher parameter resolution should be defined. These two needs usually result in a large storage requirement and low speed for real applications. Therefore, RHT was brought up to tackle this problem. == Implementation == In comparison with HT, RHT takes advantage of the fact that some analytical curves can be fully determined by a certain number of points on the curve. For example, a straight line can be determined by two points, and an ellipse (or a circle) can be determined by three points. The case of ellipse detection can be used to illustrate the basic idea of RHT. The whole process generally consists of three steps: Fit ellipses with randomly selected points. Update the accumulator array and corresponding scores. Output the ellipses with scores higher than some predefined threshold. === Ellipse fitting === One general equation for defining ellipses is: a ( x − p ) 2 + 2 b ( x − p ) ( y − q ) + c ( y − q ) 2 = 1 {\displaystyle a(x-p)^{2}+2b(x-p)(y-q)+c(y-q)^{2}=1} with restriction: a c − b 2 > 0 {\displaystyle ac-b^{2}>0} However, an ellipse can be fully determined if one knows three points on it and the tangents in these points. RHT starts by randomly selecting three points on the ellipse. Let them be X 1 {\displaystyle X_{1}} , X 2 {\displaystyle X_{2}} and X 3 {\displaystyle X_{3}} . The first step is to find the tangents of these three points. They can be found by fitting a straight line using least squares technique for a small window of neighboring pixels. The next step is to find the intersection points of the tangent lines. This can be easily done by solving the line equations found in the previous step. Then let the intersection points be T 12 {\displaystyle T_{12}} and T 23 {\displaystyle T_{23}} , the midpoints of line segments X 1 X 2 {\displaystyle X_{1}X_{2}} and X 2 X 3 {\displaystyle X_{2}X_{3}} be M 12 {\displaystyle M_{12}} and M 23 {\displaystyle M_{23}} . Then the center of the ellipse will lie in the intersection of T 12 M 12 {\displaystyle T_{12}M_{12}} and T 23 M 23 {\displaystyle T_{23}M_{23}} . Again, the coordinates of the intersected point can be determined by solving line equations and the detailed process is skipped here for conciseness. Let the coordinates of ellipse center found in previous step be ( x 0 , y 0 ) {\displaystyle (x_{0},y_{0})} . Then the center can be translated to the origin with x ′ = x − x 0 {\displaystyle x'=x-x_{0}} and y ′ = y − y 0 {\displaystyle y'=y-y_{0}} so that the ellipse equation can be simplified to: a x ′ 2 + 2 b x ′ y ′ + c y ′ 2 = 1 {\displaystyle ax'^{2}+2bx'y'+cy'^{2}=1} Now we can solve for the rest of ellipse parameters: a {\displaystyle a} , b {\displaystyle b} and c {\displaystyle c} by substituting the coordinates of X 1 {\displaystyle X_{1}} , X 2 {\displaystyle X_{2}} and X 3 {\displaystyle X_{3}} into the equation above. === Accumulating === With the ellipse parameters determined from previous stage, the accumulator array can be updated correspondingly. Different from classical Hough transform, RHT does not keep "grid of buckets" as the accumulator array. Rather, it first calculates the similarities between the newly detected ellipse and the ones already stored in accumulator array. Different metrics can be used to calculate the similarity. As long as the similarity exceeds some predefined threshold, replace the one in the accumulator with the average of both ellipses and add 1 to its score. Otherwise, initialize this ellipse to an empty position in the accumulator and assign a score of 1. === Termination === Once the score of one candidate ellipse exceeds the threshold, it is determined as existing in the image (in other words, this ellipse is detected), and should be removed from the image and accumulator array so that the algorithm can detect other potential ellipses faster. The algorithm terminates when the number of iterations reaches a maximum limit or all the ellipses have been detected. Pseudo code for RHT: while (we find ellipses AND not reached the maximum epoch) { for (a fixed number of iterations) { Find a potential ellipse. if (the ellipse is similar to an ellipse in the accumulator) then Replace the one in the accumulator with the average of two ellipses and add 1 to the score; else Insert the ellipse into an empty position in the accumulator with a score of 1; } Select the ellipse with the best score and save it in a best ellipse table; Eliminate the pixels of the best ellipse from the image; Empty the accumulator; }
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Function representation

Function Representation (FRep or F-Rep) is used in solid modeling, volume modeling and computer graphics. FRep was introduced in "Function representation in geometric modeling: concepts, implementation and applications" as a uniform representation of multidimensional geometric objects (shapes). An object as a point set in multidimensional space is defined by a single continuous real-valued function f ( X ) {\displaystyle f(X)} of point coordinates X [ x 1 , x 2 , . . . , x n ] {\displaystyle X[x_{1},x_{2},...,x_{n}]} which is evaluated at the given point by a procedure traversing a tree structure with primitives in the leaves and operations in the nodes of the tree. The points with f ( x 1 , x 2 , . . . , x n ) ≥ 0 {\displaystyle f(x_{1},x_{2},...,x_{n})\geq 0} belong to the object, and the points with f ( x 1 , x 2 , . . . , x n ) < 0 {\displaystyle f(x_{1},x_{2},...,x_{n})<0} are outside of the object. The point set with f ( x 1 , x 2 , . . . , x n ) = 0 {\displaystyle f(x_{1},x_{2},...,x_{n})=0} is called an isosurface. == Geometric domain == The geometric domain of FRep in 3D space includes solids with non-manifold models and lower-dimensional entities (surfaces, curves, points) defined by zero value of the function. A primitive can be defined by an equation or by a "black box" procedure converting point coordinates into the function value. Solids bounded by algebraic surfaces, skeleton-based implicit surfaces, and convolution surfaces, as well as procedural objects (such as solid noise), and voxel objects can be used as primitives (leaves of the construction tree). In the case of a voxel object (discrete field), it should be converted to a continuous real function, for example, by applying the trilinear or higher-order interpolation. Many operations such as set-theoretic, blending, offsetting, projection, non-linear deformations, metamorphosis, sweeping, hypertexturing, and others, have been formulated for this representation in such a manner that they yield continuous real-valued functions as output, thus guaranteeing the closure property of the representation. R-functions originally introduced in V.L. Rvachev's "On the analytical description of some geometric objects", provide C k {\displaystyle C^{k}} continuity for the functions exactly defining the set-theoretic operations (min/max functions are a particular case). Because of this property, the result of any supported operation can be treated as the input for a subsequent operation; thus very complex models can be created in this way from a single functional expression. FRep modeling is supported by the special-purpose language HyperFun. == Shape Models == FRep combines and generalizes different shape models like algebraic surfaces skeleton based "implicit" surfaces set-theoretic solids or CSG (Constructive Solid Geometry) sweeps volumetric objects parametric models procedural models A more general "constructive hypervolume" allows for modeling multidimensional point sets with attributes (volume models in 3D case). Point set geometry and attributes have independent representations but are treated uniformly. A point set in a geometric space of an arbitrary dimension is an FRep based geometric model of a real object. An attribute that is also represented by a real-valued function (not necessarily continuous) is a mathematical model of an object property of an arbitrary nature (material, photometric, physical, medicine, etc.). The concept of "implicit complex" proposed in "Cellular-functional modeling of heterogeneous objects" provides a framework for including geometric elements of different dimensionality by combining polygonal, parametric, and FRep components into a single cellular-functional model of a heterogeneous object.
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Record sealing

Record sealing is the process of making public records inaccessible to the public. In many cases, a person with a sealed record gains the legal right to deny or not acknowledge anything to do with the arrest and the legal proceedings from the case itself. Records are commonly sealed in a number of situations: Sealed birth records (typically after adoption or determination of paternity) Juvenile criminal records may be sealed Other types of cases involving juveniles may be sealed, anonymized, or pseudonymized ("impounded"); e.g., child sex offense or custody cases Cases using witness protection information may be partly sealed Cases involving trade secrets Cases involving state secrets == Filing under seal in US court == Normally, records should not be filed under seal without a court permission. However, FRCP 5.2 requires that sensitive text – like Social Security number, Taxpayer Identification Number, birthday, bank accounts, and children’s names – should be redacted off the filings made with the court and accompanying exhibits. A person making a redacted filing can file an unredacted copy under seal, or the Court can choose to order later that an additional filing be made under seal without redaction. Alternately, the filing party may ask the court’s permission to file some exhibits completely under seal. When the document is filed "under seal", it should have a clear indication for the court clerk to file it separately – most often by stamping words "Filed Under Seal" on the bottom of each page. Person making filing should also provide instructions to the court clerk that the document needs to be filed "under seal". Courts often have specific requirements to these filings in their Local Rules. == Difference from expungement == Expungement, which is a physical destruction, namely a complete erasure of one's criminal records, and therefore usually carries a higher standard, differs from record sealing, which is only to restrict the public's access to records, so that only certain law enforcement agencies or courts, under special circumstances, will have access to them. A record seal will greatly improve the chance of employment, as employers will not have access to damning records. There are occasions, like expungement, where one can truthfully state under oath that they have never been convicted before. Most of the time, a record seal has more relaxed requirements than an expungement. If an expungement is not allowed with a case, then sealing a record may be the best bet. Different states have different terms for what constitutes sealing of a record. == Cybersecurity incidents involving sealed records == Several cybersecurity incidents have demonstrated that sealed court documents are not always secure in practice, with vulnerabilities and data breaches exposing sensitive information. In January 2021, following the SolarWinds cyber attack, the U.S. Bankruptcy Court United States District Court for the District of Nevada announced that its Case Management/Electronic Case Files CM/ECF system had been potentially compromised. The judiciary stated that additional safeguards were being implemented to protect filings, and that the review of the incident and its impact was ongoing. Reports noted that the breach raised concerns about exposure of highly sensitive and sealed documents submitted through the CM/ECF system. In 2023, security researcher Jason Parker, following a tip from an activist, identified flaws in online court systems that exposed sealed records including confidential testimony and medical records through publicly accessible portals. In 2024, a cyber intrusion targeting attorneys in a civil case involving Representative Matt Gaetz led to the unauthorized access and leak of sealed depositions and related records. The breach exposed confidential testimony and financial records, some of which were later reported by news outlets, raising concerns about the security of electronically stored legal materials and the handling of sealed filings. In 2025, multiple reports confirmed that the federal judiciary's CM/ECF and PACER (law) filing system was compromised, exposing sealed indictments, confidential informant information, and other sensitive filings. Some courts temporarily reverted to paper-based filing to mitigate the risks of further disclosure. The FBI later confirmed that the breach had exposed sealed records, and investigators suspected foreign state actors were involved. == GAO publications referencing sealed records == Closed Criminal Plea and Sentencing Proceedings (1983) – Reviewed Department of Justice policies on closing plea and sentencing hearings. GAO noted that sealed transcripts should be unsealed once the reasons for closure no longer applied. Information on Plea Agreements and Settlements in Defense Procurement Fraud Cases (1992) – Examined outcomes of procurement fraud prosecutions. GAO observed that in some instances the results were sealed from public access. Military Recruiting: More Needs to Be Done to Better Screen Applicants and Detect Fraud (1999) – Investigated fraudulent enlistments in the armed forces. The report highlighted that sealed juvenile records often prevented recruiters from discovering prior offenses. Social Security Numbers: Governments Could Do More to Reduce Display in Public Records (2004) – Analyzed risks associated with SSN availability in state and local records. GAO pointed out that some categories of records, such as adoption proceedings, were sealed and less likely to expose identifiers. Social Security Numbers: Stronger Safeguards Needed to Protect Privacy (2005 testimony) – Testimony before Congress reiterating concerns over SSN exposure in public records, while noting that sealed categories (e.g., adoption) were exceptions. U.S. Supreme Court: Policies and Perspectives on Video and Audio Coverage of Appellate Court Proceedings (2016) – Surveyed appellate court policies on courtroom media coverage. The report acknowledged distinctions between public filings, confidential submissions, and sealed materials. Evictions: National Data Are Limited and Challenging to Collect (2024) – Examined nationwide eviction data. GAO reported that in some states eviction records may be sealed or expunged, limiting researchers' ability to compile datasets. DOD Fraud Risk Management: Enhanced Data and Collaboration Could Improve Efforts (2024) – Reviewed Department of Defense fraud-risk management. GAO noted that some adjudicative records in its dataset were sealed, restricting completeness of oversight data.
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Ciscogate

Ciscogate, also known as the Black Hat Bug, is the name given to a legal incident that occurred at the Black Hat Briefings security conference in Las Vegas, Nevada, on July 27, 2005. On the morning of the first day of the conference, July 26, 2005, some attendees noticed that 30 pages of text had been physically ripped out of the extensive conference presentation booklet the night before at the request of Cisco Systems and the CD-ROM with presentation slides was not included. It was determined the pages covered a talk to be given by Michael Lynn, a security researcher with Atlanta-based IBM Internet Security Systems (ISS). Instead of the pages with the details, attendees found a photographed copy of a notice from Black Hat saying "Due to some last minute changes beyond Black Hat's control, and at the request of the presenter, the included materials aren't up to the standards Black Hat tries to meet. Black Hat will be the first to apologize. We hope the vendors involved will follow suit." According to Lynn's lawyer, his employer had approved of the talk leading up to the conference but changed their minds two days before the scheduled talk, forbidding him from presenting. Lynn's original presentation was to cover a vulnerability in Cisco routers. The presentation was one of four scheduled to follow Jeff Moss' keynote address on the first day of the conference, titled "Cisco IOS Security Architecture". After being told by his employer that he could not present on the topic, Lynn chose an alternate topic. Cisco and ISS had offered to give new joint presentation but this was turned down by Black Hat because the original speaking slot was given to Lynn, not Cisco. Lynn's presentation began by covering security issues in services that allow users to make Voice over IP telephone calls. Shortly after beginning the presentation Lynn changed back to his original topic and began disclosing some technical details of the vulnerability he found in Cisco routers stating that he would rather resign from his job at ISS than keep the details private. == Lawsuit == Shortly after Lynn concluded his talk he met Jennifer Granick, who would soon become his lawyer. During their initial meeting Lynn told Granick that he expected to be sued. Later in the evening Lynn had heard that Cisco and ISS had filed a lawsuit and requested a temporary restraining order against Black Hat but not himself. A public relations representative from Black Hat told Granick that the lawsuit was against both Black Hat and Lynn and that the companies had scheduled an Ex parte hearing in San Francisco the next morning to request the restraining order. That night, Andrew Valentine, an attorney for ISS and Cisco called Lynn who directed them to Granick. During the conversation Valentine explained the claims and accusations against Lynn, which included three things: 1) ISS claimed copyright over the presentation that Lynn gave, 2) Cisco claimed copyright over the decompiled machine code obtained from the router which was included in the presentation, and 3) Cisco claimed the presentation contained trade secrets. These complaints were outlined in a civil complaint at the U.S. Northern District of California and filed against both Lynn and Black Hat. According to Granick, she and Valentine were able agree to an injunction to settle the case without court proceedings. This deal was almost called off due to an inadvertent mistake by Black Hat in which they had restored Lynn's presentation on their web server. Black Hat, Granick, and the plaintiff's lawyers were able to resolve this problem and the deal stood. One condition of the settlement required Lynn to provide an image of all computer data he used in his research to be provided to a third party for forensic analysis before erasing his research and any Cisco data from his systems. The settlement also stipulated that Lynn was prohibited from talking about the vulnerability in the future. == FBI Investigation == Shortly after lawyers for Lynn and ISS / Cisco filed settlement papers, FBI agents from the Las Vegas office arrived at the conference to begin asking questions. According to Granick, they were there at the request of the Atlanta FBI office and Lynn was not of interest. Granick asserted the Fifth and Sixth amendment rights on behalf of her client, Lynn. Granick asserted his rights for the Atlanta office and asked if an arrest warrant had been issued for Lynn. Over the next 24 hours Granick was not able to ascertain the status of a warrant but ultimately determined no warrant was issued. When the FBI was asked about the case by a journalist, spokesman Paul Bresson declined to discuss the case saying "Our policy is to not make any comment on anything that is ongoing. That's not to confirm that something is, because I really don't know". Granick would only confirm to journalists that the "investigation has to do with the presentation". == Response == === Attendees === Attendees of Black Hat Briefings, as well as many that also attended DEF CON, were not happy with vendors threatening legal action over vulnerability disclosure. The term "Ciscogate" was coined quickly by an unknown person, but some attendees were quick to create shirts to commemorate the incident. === Cisco === Mojgan Khalili, a senior manager for corporate PR at Cisco, issued a statement to the press saying "It is important to note that the information Mr. Lynn presented was not a disclosure of a new vulnerability or a flaw with Cisco IOS software. Mr. Lynn's research explores possible ways to expand exploitations of existing security vulnerabilities impacting routers." === ISS === Kim Duffy, managing director of ISS Australia, was asked about ISS's response to the incident. Duffy responded that it was "business as usual" as the company handled the incident "strictly by the book". He gave a brief statement to ZDNet UK saying "ISS has published rules for disclosure and that is what we stick to. We didn't care to publish [the disclosure] because we were not ready. We had not completed the research to our satisfaction so it was not ready to be disclosed". ISS spokesperson Roger Fortier confirmed that Lynn was no longer employed with the company and that ISS was still working with Cisco on the matter. He gave a statement to the Washington Post saying "ISS and Cisco have been working on this in the background and didn't feel at this time that the material was ready for publication. The decision was made on Monday to pull the presentation because we wanted to make sure the research was fully baked."
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2018 Google data breach

The 2018 Google data breach was a major data privacy scandal in which the Google+ API exposed the private data of over five hundred thousand users. Google+ managers first noticed harvesting of personal data in March 2018, during a review following the Facebook–Cambridge Analytica data scandal. The bug, despite having been fixed immediately, exposed the private data of approximately 500,000 Google+ users to the public. Google did not reveal the leak to the network's users. In November 2018, another data breach occurred following an update to the Google+ API. Although Google found no evidence of failure, approximately 52.5 million personal profiles were potentially exposed. In August 2019, Google declared a shutdown of Google+ due to low use and technological challenges. == Overview of Google+ == Google+ was launched in June 2011 as an invite-only social network, but was opened for public access later in the year. It was managed by Vic Gundotra. Similar to Facebook, Google+ also included key features Circles, Hangouts and Sparks. Circles let users personalize their social groups by sorting friends into different categories. Once allowed into a Circle, users could regulate information in their individual spaces. Hangouts included video chatting and instant messaging between users. Sparks allowed Google to track users' past searches to find news and content related to their interests. Google+ was linked to other Google services, such as YouTube, Google Drive and Gmail, giving it access to roughly 2 billion user accounts. However, less than 400 million consumers actively used Google+, with 90% of those users using it for less than five seconds. == The breaches == In March 2018, Google developers found a data breach within the Google+ People API in which external apps acquired access to Profile fields that were not marked as public. According to The Wall Street Journal, Google didn’t disclose the breach when it was first discovered in March to avoid regulatory scrutiny and reputational damage. 500,000 Google+ accounts were included in the breach, which allowed 438 external apps unauthorized access to private users' names, emails, addresses, occupations, genders and ages. This information was available between 2015 and 2018. Google found no evidence of any user's personal information being misused, nor that any third-party app developers were aware of the leak. In November 2018, a software update created another data breach within the Google+ API. The bug impacted 52.5 million users, where, similarly to the March breach, unauthorized apps were able to access Google+ profiles, including users' names, email addresses, occupations and ages. Apps could not access financial information, national identification, numbers, or passwords. Blog posts, messages and phone numbers also remained inaccessible if marked as private. Unlike the previous breach, access was only available for six days before Google+ learned of the breach. Once more, Google+ found no evidence of data being misused by third-party developers. == Responses == In October 2018, the Wall Street Journal published an article outlining the initial breach and Google's decision to not disclose it to users. At the time, there was no federal law that required Google to inform their consumers of data breaches. Google+ originally did not disclose the breach out of fears of being compared to Facebook's recent data leak and subsequent loss of consumer confidence. In response to the Wall Street Journal article, Google announced the shutdown of Google+ in August 2019. After the second data leak, the date was moved to April 2019. In response to the data breach, enterprise consumers were notified of the bug's impact and given instructions on how to save, download and delete their data prior to the Google+ shut down. Google's Privacy and Data Protection Office found no misuse of user data. Prior to the Google+ shutdown, Google set a 10-month period in which users could download and migrate their data. After the 10-month period, user content was deleted. On 4 February 2019, consumers were no longer able to create new Google+ profiles. Google shut down Google+ APIs on 7 March 2019 to ensure that developers did not continue to rely on the APIs prior to the Google+ shutdown. Google is the principal entity of its parent company, Alphabet Inc. After the data breach, Alphabet Inc. share prices fell by 1% to $1,157.06 on 9 October 2018 after an earlier drop of $1,135.40 that morning, the lowest price since 5 July 2018. After the publication of The Wall Street Journal article, share prices dropped as low as 2.1% in two days on 10 October 2018. Share prices steadily increased from this point and met the 8 October 2018 share price on 5 February 2019. Google planned to rebuild Google+ as a corporate enterprise network. Google Play will now assess which apps can ask for permission to access the user's SMS data. Only the default app for telephone distribution is able to make requests. Prior to the data breaches, apps were able to request access to all of a consumer's data simultaneously. Now, each app must request permission for each aspect of a consumer's profile.
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View synthesis

In computer graphics, view synthesis, or novel view synthesis, is a task which consists of generating images of a specific subject or scene from a specific point of view, when the only available information is pictures taken from different points of view. This task was only recently (late 2010s – early 2020s) tackled with significant success, mostly as a result of advances in machine learning. Notable successful methods are Neural radiance fields and 3D Gaussian Splatting. Applications of view synthesis are numerous, one of them being Free view point television. The technique has also been applied to real-estate marketing, where novel views of a listing's interior are generated from a limited set of photographs for use in virtual home staging.
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Adrozek

Adrozek is malware that injects fake ads into online search results. Microsoft announced the malware threat on 10 December 2020, and noted that many different browsers are affected, including Google Chrome, Microsoft Edge, Mozilla Firefox and Yandex Browser. The malware was first detected in May 2020 and, at its peak in August 2020, controlled over 30,000 devices a day. But during the December 2020 announcement, Microsoft claimed "hundreds of thousands" of infected devices worldwide between May and September 2020. According to Microsoft, if not detected and blocked, Adrozek adds browser extensions, modifies a specific DLL per target browser, and changes browser settings to insert additional, unauthorized ads into web pages, often on top of legitimate ads from search engines. For each user tricked into clicking on the fake ads, the scammers earn affiliate advertising dollars. The malware has been observed to extract device data and, in some cases, steal credentials, sending them to remote servers. Users may unintentionally install the malware because of a drive-by download, by visiting a tampered website, opening an e-mail attachment, or clicking on a deceptive link or a deceptive pop-up window. The main malware program is downloaded to the “Programs Files” folder using file names such as Audiolava.exe, QuickAudio.exe, and converter.exe. According to PC Magazine, a good way to avoid, or mitigate, infection by Adrozek is to keep browser and related software programs up to date.
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