Dyme is a Dutch fintech start-up and subscription management app that allows users to cancel and renegotiate their recurring costs. In 2019, Dyme was the first independent Dutch company to receive a PSD2 licence from the Netherlands' central bank (DNB). == History == Dyme was founded in 2018 by Joran Iedema, David Knap, David Schogt and Wouter Florijn. The four had previously founded Cycleswap, a bicycle rental platform launched in 2015 and sold to the American platform Spinlister in 2016. The company gained notability in the Netherlands in 2020 when it appeared on Dutch television in Dragons Den, where Pieter Schoen made a €750,000 bid in an attempt to acquire 51.01% of the company. Dyme's Joran Iedema rejected the deal. == Recognition == Wired described Dyme as one of the "hottest start-ups in Europe" in 2021. As of 2021, the company reportedly had 350,000 registered users in the Netherlands and Great Britain.
Visual servoing
Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all
Cover (telecommunications)
In telecommunications and tradecraft, cover is the technique of concealing or altering the characteristics of communications patterns for the purpose of denying an unauthorized receiver information that would be of value. The purpose of cover is not to make the communication secure, but to make it look like noise, rendering it uninteresting and not worth analysis. Even if an attacker recognizes the communication as interesting, cover makes traffic analysis more difficult since he must crack the cover before he can find out to whom it is addressed. Usually, the covered communication is also encrypted. In this way, enemies have no idea you sent a message; friends know you sent a message, but don't know what you said; the intended recipient knows what you said. Technically, cover sometimes refers to the specific process of modulo two additions of a pseudorandom bit stream generated by a cryptographic device with bits from the control message. Source: from Federal Standard 1037C and from MIL-STD-188
Cryptographic nonce
In cryptography, a nonce is an arbitrary number that can be used just once in a cryptographic communication. It is often a random or pseudo-random number issued in an authentication protocol to ensure that each communication session is unique, and therefore that old communications cannot be reused in replay attacks. Nonces can also be useful as initialization vectors and in cryptographic hash functions. == Definition == A nonce is an arbitrary number used only once in a cryptographic communication, in the spirit of a nonce word. They are often random or pseudo-random numbers. Many nonces also include a timestamp to ensure exact timeliness, though this requires clock synchronisation between organisations. The addition of a client nonce ("cnonce") helps to improve the security in some ways as implemented in digest access authentication. To ensure that a nonce is used only once, it should be time-variant (including a suitably fine-grained timestamp in its value), or generated with enough random bits to ensure an insignificantly low chance of repeating a previously generated value. Some authors define pseudo-randomness (or unpredictability) as a requirement for a nonce. Nonce is a word dating back to Middle English for something only used once or temporarily (often with the construction "for the nonce"). It descends from the construction "then anes" ("the one [purpose]"). A false etymology claiming it to stand for "number used once" or similar is incorrect. == Usage == === Authentication === Authentication protocols may use nonces to ensure that old communications cannot be reused in replay attacks. For instance, nonces are used in HTTP digest access authentication to calculate an MD5 digest of the password. The nonces are different each time the 401 authentication challenge response code is presented, thus making replay attacks virtually impossible. The scenario of ordering products over the Internet can provide an example of the usefulness of nonces in replay attacks. An attacker could take the encrypted information and—without needing to decrypt—could continue to send a particular order to the supplier, thereby ordering products over and over again under the same name and purchase information. The nonce is used to give 'originality' to a given message so that if the company receives any other orders from the same person with the same nonce, it will discard those as invalid orders. A nonce may be used to ensure security for a stream cipher. Where the same key is used for more than one message and then a different nonce is used to ensure that the keystream is different for different messages encrypted with that key; often the message number is used. Secret nonce values are used by the Lamport signature scheme as a signer-side secret which can be selectively revealed for comparison to public hashes for signature creation and verification. === Hashing === Nonces are used in proof-of-work systems to vary the input to a cryptographic hash function so as to obtain a hash for a certain input that fulfils certain arbitrary conditions. In doing so, it becomes far more difficult to create a "desirable" hash than to verify it, shifting the burden of work onto one side of a transaction or system. For example, proof of work, using hash functions, was considered as a means to combat email spam by forcing email senders to find a hash value for the email (which included a timestamp to prevent pre-computation of useful hashes for later use) that had an arbitrary number of leading zeroes, by hashing the same input with a large number of values until a "desirable" hash was obtained. Similarly, the Bitcoin blockchain hashing algorithm can be tuned to an arbitrary difficulty by changing the required minimum/maximum value of the hash so that the number of bitcoins awarded for new blocks does not increase linearly with increased network computation power as new users join. This is likewise achieved by forcing Bitcoin miners to add nonce values to the value being hashed to change the hash algorithm output. As cryptographic hash algorithms cannot easily be predicted based on their inputs, this makes the act of blockchain hashing and the possibility of being awarded bitcoins something of a lottery, where the first "miner" to find a nonce that delivers a desirable hash is awarded bitcoins.
Squeaky Dolphin
Squeaky Dolphin is a program developed by the Government Communications Headquarters (GCHQ), a British intelligence and security organization, to collect and analyze data from social media networks. The program was first revealed to the general public on NBC on 27 January 2014 based on documents previously leaked by Edward Snowden. == Scope of surveillance == According to a document of the GCHQ dated August 2012, the program enables broad, real-time surveillance of the following items: YouTube video views The Like button on Facebook. Facebook has since then encrypted the data. Blogspot/Blogger visits Twitter, which has however encrypted its communications since this presentation was made The program can be supplemented with commercially available analytic software to determine which videos are popular among residents of specific cities. The dashboard software chosen was made by Splunk. The presentation, which was originally shown to an NSA audience and was made public by the NBC, contains a note saying the program was "Not interested in individuals just broad trends!". However, "according to other Snowden documents" obtained by NBC, in 2010, "GCHQ exploited unencrypted data from Twitter to identify specific users around the world and target them with propaganda."
Wavelet noise
Wavelet noise is an alternative to Perlin noise which reduces the problems of aliasing and detail loss that are encountered when Perlin noise is summed into a fractal. == Algorithm detail == The basic algorithm for 2-dimensional wavelet noise is as follows: Create an image, R {\displaystyle R} , filled with uniform white noise. Downsample R {\displaystyle R} to half-size to create R ↓ {\displaystyle R^{\downarrow }} , then upsample it back up to full size to create R ↓↑ {\displaystyle R^{\downarrow \uparrow }} . Subtract R ↓↑ {\displaystyle R^{\downarrow \uparrow }} from R {\displaystyle R} to create the end result, N {\displaystyle N} . This results in an image that contains all the information that cannot be represented at half-scale. From here, N {\displaystyle N} can be used similarly to Perlin noise to create fractal patterns.
Multistage interconnection networks
Multistage interconnection networks (MINs) are a class of high-speed computer networks usually composed of processing elements (PEs) on one end of the network and memory elements (MEs) on the other end, connected by switching elements (SEs). The switching elements themselves are usually connected to each other in stages, hence the name. MINs are typically used in high-performance or parallel computing as a low-latency interconnection (as opposed to traditional packet switching networks), though they could be implemented on top of a packet switching network. Though the network is typically used for routing purposes, it could also be used as a co-processor to the actual processors for such uses as sorting; cyclic shifting, as in a perfect shuffle network; and bitonic sorting. == Background == Interconnection network are used to connect nodes, where nodes can be a single processor or group of processors, to other nodes. Interconnection networks can be categorized on the basis of their topology. Topology is the pattern in which one node is connected to other nodes. There are two main types of topology: static and dynamic. Static interconnect networks are hard-wired and cannot change their configurations. A regular static interconnect is mainly used in small networks made up of loosely couple nodes. The regular structure signifies that the nodes are arranged in specific shape and the shape is maintained throughout the networks. Some examples of static regular interconnections are: Completely connected network In a mesh network, multiple nodes are connected with each other. Each node in the network is connected to every other node in the network. This arrangement allows proper communication of the data between the nodes. But, there are a lot of communication overheads due to the increased number of node connections. Shared busThis network topology involves connection of the nodes with each other over a bus. Every node communicates with every other node using the bus. The bus utility ensures that no data is sent to the wrong node. But, the bus traffic is an important parameter which can affect the system. RingThis is one of the simplest ways of connecting nodes with each other. The nodes are connected with each other to form a ring. For a node to communicate with some other node, it has to send the messages to its neighbor. Therefore, the data message passes through a series of other nodes before reaching the destination. This involves increased latency in the system. TreeThis topology involves connection of the nodes to form a tree. The nodes are connected to form clusters and the clusters are in-turn connected to form the tree. This methodology causes increased complexity in the network. Hypercube This topology consists of connections of the nodes to form cubes. The nodes are also connected to the nodes on the other cubes. ButterflyThis is one of the most complex connections of the nodes. As the figure suggests, there are nodes which are connected and arranged in terms of their ranks. They are arranged in the form of a matrix. In dynamic interconnect networks, the nodes are interconnected via an array of simple switching elements. This interconnection can then be changed by use of routing algorithms, such that the path from one node to other nodes can be varied. Dynamic interconnections can be classified as: Single stage Interconnect Network Multistage interconnect Network Crossbar switch connections == Crossbar Switch Connections == In crossbar switch, there is a dedicated path from one processor to other processors. Thus, if there are n inputs and m outputs, we will need nm switches to realize a crossbar. As the number of outputs increases, the number of switches increases by factor of n. For large network this will be a problem. An alternative to this scheme is staged switching. == Single Stage Interconnect Network == In a single stage interconnect network, the input nodes are connected to output via a single stage of switches. The figure shows 88 single stage switch using shuffle exchange. As one can see, from a single shuffle, not all input can reach all output. Multiple shuffles are required for all inputs to be connected to all the outputs. == Multistage Interconnect Network == A multistage interconnect network is formed by cascading multiple single stage switches. The switches can then use their own routing algorithm, or be controlled by a centralized router, to form a completely interconnected network. Multistage Interconnect Network can be classified into three types: Non-blocking: A non-blocking network can connect any idle input to any idle output, regardless of the connections already established across the network. Crossbar is an example of this type of network. Rearrangeable non-blocking: This type of network can establish all possible connections between inputs and outputs by rearranging its existing connections. Blocking: This type of network cannot realize all possible connections between inputs and outputs. This is because a connection between one free input to another free output is blocked by an existing connection in the network. The number of switching elements required to realize a non-blocking network in highest, followed by rearrangeable non-blocking. Blocking network uses least switching elements. == Examples == Multiple types of multistage interconnection networks exist. === Omega network === An Omega network consists of multiple stages of 22 switching elements. Each input has a dedicated connection to an output. An NN omega network has log2(N) stages and N/2 switching elements in each stage for a perfect shuffle between stages. Thus the network has complexity of 0(N log(N)). Each switching element can employ its own switching algorithm. Consider an 88 omega network. There are 8! = 40320 1-to-1 mappings from input to output. There are 12 switching element for a total permutation of 2^12 = 4096. Thus, it is a blocking network. === Clos network === A Clos network uses 3 stages to switch from N inputs to N outputs. In the first stage, there are r= N/n crossbar switches and each switch is of size nm. In the second stage there are m switches of size rr and finally the last stage is a mirror of the first stage with r switches of size mn. A clos network will be completely non-blocking if m >= 2n-1. The number of connections, though more than omega network is much less than that of a crossbar network. === Beneš network === A Beneš network is a rearrangeably non-blocking network derived from the clos network by initializing n = m = 2. There are (2log2(N) - 1) stages, with each stage containing N/2 22 crossbar switches. An 88 Beneš network has 5 stages of switching elements, and each stage has 4 switching elements. The center three stages has two 44 benes network. The 44 Beneš network, can connect any input to any output recursively.