This is a list of Go software and tools, including compilers, development environments, build tools, testing frameworks, web frameworks, database tools, and related software for the Go programming language. == Core toolchain == Go — programming language and toolchain go command — build and package tool gofmt — source code formatter go vet — static analysis tool == Compilers and runtimes == gc — default Go compiler gccgo — GCC front end for Go GopherJS — Go-to-JavaScript compiler gollvm — Go compiler using the LLVM backend llgo — experimental Go frontend for LLVM TinyGo — compiler for embedded systems and WebAssembly Yaegi — Go interpreter == Development environments and editors == Emacs — text editor with Go support GoLand — JetBrains integrated development environment LiteIDE — Go-focused integrated development environment Neovim — text editor with Go support TextMate — text editor with Go support Vim — text editor with Go support Visual Studio Code — editor with Go support == Language servers and editor tools == delve — debugger gopls — Go language server golangci-lint — lint runner revive — linter staticcheck — static analysis tool == Build, dependency and release tools == Air — live reload development tool dep — deprecated dependency manager Go modules — dependency management system Goreleaser — release automation tool Mage — build tool Task — task runner == Testing and benchmarking == benchstat — benchmark comparison tool Ginkgo — testing framework GoMock — mock generation tool testify — testing toolkit testing — standard testing package == Web frameworks and HTTP tools == Beego — web framework Caddy — web server Chi — router Echo — web framework Fiber — web framework Gin — web framework Gorilla Mux — router Hugo — static site generator Revel — web framework Traefik — reverse proxy and load balancer == RPC and API tools == Goa — API design framework gRPC — remote procedure call framework grpc-gateway — REST gateway oapi-codegen — OpenAPI code generator Swag — OpenAPI documentation tool == Database and ORM tools == Bun — SQL toolkit and ORM CockroachDB client libraries — database drivers and tools ent — entity framework GORM — object–relational mapper sqlx — SQL toolkit == Command-line and terminal tools == Bubble Tea — terminal user interface framework Cobra — command-line framework pflag — flag parsing library urfave/cli — command-line framework Viper — configuration library == GUI toolkits and application frameworks == Fyne — cross-platform graphical user interface toolkit == Documentation, generation and analysis == errcheck — unchecked error checker godoc — documentation tool goimports — import management tool mockgen — mock generator pkgsite — package documentation site Prometheus — monitoring and alerting toolkit stringer — code generation tool wire — dependency injection code generator == Package hosting and community services == GoCenter — former Go package repository pkg.go.dev — package documentation and discovery site proxy.golang.org — module proxy == Major applications written in Go == Consul — service networking platform Docker — containerization platform InfluxDB — time-series database written in Go Kubernetes — container orchestration platform Ollama — platform for running and managing large language models locally Terraform — infrastructure as code tool Vault — secrets management tool
Superellipsoid
In mathematics, a superellipsoid (or super-ellipsoid) is a solid whose horizontal sections are superellipses (Lamé curves) with the same squareness parameter ϵ 2 {\displaystyle \epsilon _{2}} , and whose vertical sections through the center are superellipses with the squareness parameter ϵ 1 {\displaystyle \epsilon _{1}} . It is a generalization of an ellipsoid, which is a special case when ϵ 1 = ϵ 2 = 1 {\displaystyle \epsilon _{1}=\epsilon _{2}=1} . Superellipsoids as computer graphics primitives were popularized by Alan H. Barr (who used the name "superquadrics" to refer to both superellipsoids and supertoroids). In modern computer vision and robotics literatures, superquadrics and superellipsoids are used interchangeably, since superellipsoids are the most representative and widely utilized shape among all the superquadrics. Superellipsoids have a rich shape vocabulary, including cuboids, cylinders, ellipsoids, octahedra and their intermediates. It becomes an important geometric primitive widely used in computer vision, robotics, and physical simulation. The main advantage of describing objects and environment with superellipsoids is its conciseness and expressiveness in shape. Furthermore, a closed-form expression of the Minkowski sum between two superellipsoids is available. This makes it a desirable geometric primitive for robot grasping, collision detection, and motion planning. == Special cases == A handful of notable mathematical figures can arise as special cases of superellipsoids given the correct set of values, which are depicted in the above graphic: Cylinder Sphere Steinmetz solid Bicone Regular octahedron Cube, as a limiting case where the exponents tend to infinity Piet Hein's supereggs are also special cases of superellipsoids. == Formulas == === Basic (normalized) superellipsoid === The basic superellipsoid is defined by the implicit function f ( x , y , z ) = ( x 2 ϵ 2 + y 2 ϵ 2 ) ϵ 2 / ϵ 1 + z 2 ϵ 1 {\displaystyle f(x,y,z)=\left(x^{\frac {2}{\epsilon _{2}}}+y^{\frac {2}{\epsilon _{2}}}\right)^{\epsilon _{2}/\epsilon _{1}}+z^{\frac {2}{\epsilon _{1}}}} The parameters ϵ 1 {\displaystyle \epsilon _{1}} and ϵ 2 {\displaystyle \epsilon _{2}} are positive real numbers that control the squareness of the shape. The surface of the superellipsoid is defined by the equation: f ( x , y , z ) = 1 {\displaystyle f(x,y,z)=1} For any given point ( x , y , z ) ∈ R 3 {\displaystyle (x,y,z)\in \mathbb {R} ^{3}} , the point lies inside the superellipsoid if f ( x , y , z ) < 1 {\displaystyle f(x,y,z)<1} , and outside if f ( x , y , z ) > 1 {\displaystyle f(x,y,z)>1} . Any "parallel of latitude" of the superellipsoid (a horizontal section at any constant z between -1 and +1) is a Lamé curve with exponent 2 / ϵ 2 {\displaystyle 2/\epsilon _{2}} , scaled by a = ( 1 − z 2 ϵ 1 ) ϵ 1 2 {\displaystyle a=(1-z^{\frac {2}{\epsilon _{1}}})^{\frac {\epsilon _{1}}{2}}} , which is ( x a ) 2 ϵ 2 + ( y a ) 2 ϵ 2 = 1. {\displaystyle \left({\frac {x}{a}}\right)^{\frac {2}{\epsilon _{2}}}+\left({\frac {y}{a}}\right)^{\frac {2}{\epsilon _{2}}}=1.} Any "meridian of longitude" (a section by any vertical plane through the origin) is a Lamé curve with exponent 2 / ϵ 1 {\displaystyle 2/\epsilon _{1}} , stretched horizontally by a factor w that depends on the sectioning plane. Namely, if x = u cos θ {\displaystyle x=u\cos \theta } and y = u sin θ {\displaystyle y=u\sin \theta } , for a given θ {\displaystyle \theta } , then the section is ( u w ) 2 ϵ 1 + z 2 ϵ 1 = 1 , {\displaystyle \left({\frac {u}{w}}\right)^{\frac {2}{\epsilon _{1}}}+z^{\frac {2}{\epsilon _{1}}}=1,} where w = ( cos 2 ϵ 2 θ + sin 2 ϵ 2 θ ) − ϵ 2 2 . {\displaystyle w=(\cos ^{\frac {2}{\epsilon _{2}}}\theta +\sin ^{\frac {2}{\epsilon _{2}}}\theta )^{-{\frac {\epsilon _{2}}{2}}}.} In particular, if ϵ 2 {\displaystyle \epsilon _{2}} is 1, the horizontal cross-sections are circles, and the horizontal stretching w {\displaystyle w} of the vertical sections is 1 for all planes. In that case, the superellipsoid is a solid of revolution, obtained by rotating the Lamé curve with exponent 2 / ϵ 1 {\displaystyle 2/\epsilon _{1}} around the vertical axis. === Superellipsoid === The basic shape above extends from −1 to +1 along each coordinate axis. The general superellipsoid is obtained by scaling the basic shape along each axis by factors a x {\displaystyle a_{x}} , a y {\displaystyle a_{y}} , a z {\displaystyle a_{z}} , the semi-diameters of the resulting solid. The implicit function is F ( x , y , z ) = ( ( x a x ) 2 ϵ 2 + ( y a y ) 2 ϵ 2 ) ϵ 2 ϵ 1 + ( z a z ) 2 ϵ 1 {\displaystyle F(x,y,z)=\left(\left({\frac {x}{a_{x}}}\right)^{\frac {2}{\epsilon _{2}}}+\left({\frac {y}{a_{y}}}\right)^{\frac {2}{\epsilon _{2}}}\right)^{\frac {\epsilon _{2}}{\epsilon _{1}}}+\left({\frac {z}{a_{z}}}\right)^{\frac {2}{\epsilon _{1}}}} . Similarly, the surface of the superellipsoid is defined by the equation F ( x , y , z ) = 1 {\displaystyle F(x,y,z)=1} For any given point ( x , y , z ) ∈ R 3 {\displaystyle (x,y,z)\in \mathbb {R} ^{3}} , the point lies inside the superellipsoid if f ( x , y , z ) < 1 {\displaystyle f(x,y,z)<1} , and outside if f ( x , y , z ) > 1 {\displaystyle f(x,y,z)>1} . Therefore, the implicit function is also called the inside-outside function of the superellipsoid. The superellipsoid has a parametric representation in terms of surface parameters η ∈ [ − π / 2 , π / 2 ) {\displaystyle \eta \in [-\pi /2,\pi /2)} , ω ∈ [ − π , π ) {\displaystyle \omega \in [-\pi ,\pi )} . x ( η , ω ) = a x cos ϵ 1 η cos ϵ 2 ω {\displaystyle x(\eta ,\omega )=a_{x}\cos ^{\epsilon _{1}}\eta \cos ^{\epsilon _{2}}\omega } y ( η , ω ) = a y cos ϵ 1 η sin ϵ 2 ω {\displaystyle y(\eta ,\omega )=a_{y}\cos ^{\epsilon _{1}}\eta \sin ^{\epsilon _{2}}\omega } z ( η , ω ) = a z sin ϵ 1 η {\displaystyle z(\eta ,\omega )=a_{z}\sin ^{\epsilon _{1}}\eta } === General posed superellipsoid === In computer vision and robotic applications, a superellipsoid with a general pose in the 3D Euclidean space is usually of more interest. For a given Euclidean transformation of the superellipsoid frame g = [ R ∈ S O ( 3 ) , t ∈ R 3 ] ∈ S E ( 3 ) {\displaystyle g=[\mathbf {R} \in SO(3),\mathbf {t} \in \mathbb {R} ^{3}]\in SE(3)} relative to the world frame, the implicit function of a general posed superellipsoid surface defined the world frame is F ( g − 1 ∘ ( x , y , z ) ) = 1 {\displaystyle F\left(g^{-1}\circ (x,y,z)\right)=1} where ∘ {\displaystyle \circ } is the transformation operation that maps the point ( x , y , z ) ∈ R 3 {\displaystyle (x,y,z)\in \mathbb {R} ^{3}} in the world frame into the canonical superellipsoid frame. === Volume of superellipsoid === The volume encompassed by the superelllipsoid surface can be expressed in terms of the beta functions β ( ⋅ , ⋅ ) {\displaystyle \beta (\cdot ,\cdot )} , V ( ϵ 1 , ϵ 2 , a x , a y , a z ) = 2 a x a y a z ϵ 1 ϵ 2 β ( ϵ 1 2 , ϵ 1 + 1 ) β ( ϵ 2 2 , ϵ 2 + 2 2 ) {\displaystyle V(\epsilon _{1},\epsilon _{2},a_{x},a_{y},a_{z})=2a_{x}a_{y}a_{z}\epsilon _{1}\epsilon _{2}\beta ({\frac {\epsilon _{1}}{2}},\epsilon _{1}+1)\beta ({\frac {\epsilon _{2}}{2}},{\frac {\epsilon _{2}+2}{2}})} or equivalently with the Gamma function Γ ( ⋅ ) {\displaystyle \Gamma (\cdot )} , since β ( m , n ) = Γ ( m ) Γ ( n ) Γ ( m + n ) {\displaystyle \beta (m,n)={\frac {\Gamma (m)\Gamma (n)}{\Gamma (m+n)}}} == Recovery from data == Recoverying the superellipsoid (or superquadrics) representation from raw data (e.g., point cloud, mesh, images, and voxels) is an important task in computer vision, robotics, and physical simulation. Traditional computational methods model the problem as a least-square problem. The goal is to find out the optimal set of superellipsoid parameters θ ≐ [ ϵ 1 , ϵ 2 , a x , a y , a z , g ] {\displaystyle \theta \doteq [\epsilon _{1},\epsilon _{2},a_{x},a_{y},a_{z},g]} that minimize an objective function. Other than the shape parameters, g ∈ {\displaystyle g\in } SE(3) is the pose of the superellipsoid frame with respect to the world coordinate. There are two commonly used objective functions. The first one is constructed directly based on the implicit function G 1 ( θ ) = a x a y a z ∑ i = 1 N ( F ϵ 1 ( g − 1 ∘ ( x i , y i , z i ) ) − 1 ) 2 {\displaystyle G_{1}(\theta )=a_{x}a_{y}a_{z}\sum _{i=1}^{N}\left(F^{\epsilon _{1}}\left(g^{-1}\circ (x_{i},y_{i},z_{i})\right)-1\right)^{2}} The minimization of the objective function provides a recovered superellipsoid as close as possible to all the input points { ( x i , y i , z i ) ∈ R 3 , i = 1 , 2 , . . . , N } {\displaystyle \{(x_{i},y_{i},z_{i})\in \mathbb {R} ^{3},i=1,2,...,N\}} . At the mean time, the scalar value a x , a y , a z {\displaystyle a_{x},a_{y},a_{z}} is positively proportional to the volume of the superellipsoid, and thus have the effect of minimizing the volume as well. The other objective function tries to minimized the radial distance between the points and the superellipsoid. That is G 2 ( θ ) = ∑ i = 1 N ( | r
Ben Goertzel
Ben Goertzel is a computer scientist, artificial intelligence (AI) researcher, and businessman. He helped popularize the term artificial general intelligence (AGI). == Early life and education == Three of Goertzel's Jewish great-grandparents immigrated to New York from Lithuania and Poland (in the Russian Empire). Goertzel's father is Ted Goertzel, a former professor of sociology at Rutgers University. Goertzel left high school after the tenth grade to attend Bard College at Simon's Rock, where he graduated with a bachelor's degree in Quantitative Studies. Goertzel graduated with a PhD in mathematics from Temple University under the supervision of Avi Lin in 1990, at age 23. == Career == Goertzel is the founder and CEO of SingularityNET, a project which was founded to distribute artificial intelligence data via blockchains. He is a leading developer of the OpenCog framework for artificial general intelligence. Goertzel was an associate and grant recipient of Jeffrey Epstein. He received a $100,000 grant from the Jeffrey Epstein Foundation for artificial general intelligence research in 2001. When interviewed by The New York Times about Epstein in 2019, Goertzel said, "I have no desire to talk about Epstein right now... The stuff I'm reading about him in the papers is pretty disturbing and goes way beyond what I thought his misdoings and kinks were. Yecch." === Sophia the Robot === Goertzel was the Chief Scientist of Hanson Robotics, the company that created the Sophia robot. As of 2018, Sophia's architecture includes scripting software, a chat system, and OpenCog, an AI system designed for general reasoning. Experts in the field have treated the project mostly as a PR stunt, stating that Hanson's claims that Sophia was "basically alive" are "grossly misleading" because the project does not involve AI technology, while computer scientist Yann LeCun, then Meta's chief AI scientist, made several unflattering remarks including calling the project "complete bullshit". === Views on AI === In May 2007, Goertzel spoke at a Google tech talk about his approach to creating artificial general intelligence. He defines intelligence as the ability to detect patterns in the world and in the agent itself, measurable in terms of emergent behavior of "achieving complex goals in complex environments". A "baby-like" artificial intelligence is initialized, then trained as an agent in a simulated or virtual world such as Second Life to produce a more powerful intelligence. Knowledge is represented in a network whose nodes and links carry probabilistic truth values as well as "attention values", with the attention values resembling the weights in a neural network. Several algorithms operate on this network, the central one being a combination of a probabilistic inference engine and a custom version of evolutionary programming. The 2012 documentary The Singularity by independent filmmaker Doug Wolens discussed Goertzel's views on AGI. In 2023 Goertzel postulated that artificial intelligence could replace up to 80 percent of human jobs in the coming years "without having an AGI, by my guess. Not with ChatGPT exactly as a product. But with systems of that nature". At the Web Summit 2023 in Rio de Janeiro, Goertzel spoke out against efforts to curb AI research and that AGI is only a few years away. Goertzel's belief is that AGI will be a net positive for humanity by assisting with societal problems such as, but not limited to, climate change.
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Cognitive Technologies
Cognitive Technologies is a Russian software corporation that develops corporate business applications, AI-based advanced driver assistance systems. Founded in 1993 in Moscow (Russia), the company has offices in Eastern Europe, with R&D Centers in Russia. == History == Cognitive Technologies was founded in 1993 by Olga Uskova and Vladimir Arlazarov. The first employees previously worked in the team that developed the first world computer chess champion "Kaissa". The first programs developed by Cognitive Technologies were optical image and character recognition software – Tiger and CuneiForm. In February 2015 Cognitive Technologies and Kamaz, Russian Dakar Rally-winning truck manufacturer, started working on the self-driving Kamaz truck project. The first field tests took place in June 2015. In 2015 Andrey Chernogorov was appointed CEO of the company. == Products == Cognitive Technologies develops business application software and self-driving vehicle artificial intelligence. The main products are: C-pilot, AI-based ADAS E1 Evfrat – electronic workflow system CognitiveLot – e-purchasing systems == Cooperation with global companies == Under the contract signed between Cognitive Technologies and Hewlett-Packard, all scanners sold in Russia had text recognition software developed by Cognitive Technologies. It was the first contract with HP for an Eastern European company. Afterwards, Cognitive Technologies signed OEM contracts and business agreements with several global IT-companies, including IBM, Canon, Corel, Samsung, Xerox, Brother, Epson, and Olivetti. In 1998 Cognitive Technologies became the first company in Eastern Europe to get the Oracle Complementary Software Provider status. In 2001 Cognitive Technologies sold its Russian language speech corpus to Intel. In 2010 Cognitive Technologies sold its text parsing module to Yandex. The company also signed an agreement with NVIDIA join efforts in the development of intelligent document recognition technologies. == Self-driving car project == The system developed by Cognitive Technologies does not require building smart cities and smart roads equipped with multiple sensors – it works the opposite way, trying to understand the situation on the road like humans do. The system uses a video camera like a driver who uses his eyes, analyzing the information and focusing on the relevant data. For this purpose the system uses a special type of computer vision – foveal computer vision. Only 5–7% of the data gathered by the video cameras and sensors is processed by the system as relevant. The prototype is being tested in Russia on rough roads, on roads without marking, with the goal to prepare the system for work in difficult situations and on bad roads all around the world. == C-Pilot ADAS project == In August 2016 Cognitive Technologies started its own ADAS development project C-Pilot for ground transport control automation. == Self-driving tractors and harvesters project == The experts from Cognitive Technologies claim that the system will track stones, poles, and other obstacles that might be dangerous for the vehicles. This data will enable the engineers to develop an interactive field map, with GPS coordinates for stones and other obstacles. Eventually, this will result in an alteration of the harvester's movement pattern preventing it from running into stones or other objects that may inflict damage. Harvesters will work autonomously on the field, on the territory that is narrowed by radio beacons. == Present international activities == In 2016 Cognitive Technologies has joined the international community OpenPower Foundation, a consortium of open source solutions to developers based on POWER technology from IBM, which includes the world's leading IT map of Google, NVidia, Mellanox, etc. Within the consortium Cognitive Technologies is the initiator of forming of an international working group to develop a single software standard for the self-driving vehicle control. == Awards == In 2016, the leading Russian business newspaper Kommersant, announced that Cognitive Technologies is the TOP-2 Russian software company. TOP-6 Russian software company in 2015 according to Russoft TOP-500 biggest Russian companies according to RBC TOP-2 company of the Russian EDMS market in 2014 according to IDC TOP-20 Russian biggest IT-companies in 2013 according to Cnews Analytics
Autonomous things
Autonomous things, abbreviated AuT, or the Internet of autonomous things, abbreviated as IoAT, is an emerging term for the technological developments that are expected to bring computers into the physical environment as autonomous entities without human direction, freely moving and interacting with humans and other objects. Self-navigating drones are the first AuT technology in (limited) deployment. It is expected that the first mass-deployment of AuT technologies will be the autonomous car, generally expected to be available around 2020. Other currently expected AuT technologies include home robotics (e.g., machines that provide care for the elderly, infirm or young), and military robots (air, land or sea autonomous machines with information-collection or target-attack capabilities). AuT technologies share many common traits, which justify the common notation. They are all based on recent breakthroughs in the domains of (deep) machine learning and artificial intelligence. They all require extensive and prompt regulatory developments to specify the requirements from them and to license and manage their deployment (see the further reading below). And they all require unprecedented levels of safety (e.g., automobile safety) and security, to overcome concerns about the potential negative impact of the new technology. As an example, the autonomous car both addresses the main existing safety issues and creates new issues. It is expected to be much safer than existing vehicles, by eliminating the single most dangerous element – the driver. The US's National Highway Traffic Safety Administration estimates 94 percent of US accidents were the result of human error and poor decision-making, including speeding and impaired driving, and the Center for Internet and Society at Stanford Law School claims that "Some ninety percent of motor vehicle crashes are caused at least in part by human error". So while safety standards like the ISO 26262 specify the required safety, there is still a burden on the industry to demonstrate acceptable safety. While car accidents claim every year 35,000 lives in the US, and 1.25 million worldwide, some believe that even "a car that's 10 times as safe, which means 3,500 people die on the roads each year [in the US alone]" would not be accepted by the public. The acceptable level may be closer to the current figures on aviation accidents and incidents, with under a thousand worldwide deaths in most years – three orders of magnitude lower than cars. This underscores the unprecedented nature of the safety requirements that will need to be met for cars, with similar levels of safety expected for other Autonomous Things.
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