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138-502: Robot Operating System ( ROS or ros ) is an open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software development , it provides services designed for a heterogeneous computer cluster such as hardware abstraction , low-level device control , implementation of commonly used functionality, message-passing between processes , and package management . Running sets of ROS-based processes are represented in
276-460: A Unix-like system, mostly because of their dependence on large sets of open-source software dependencies. For these client libraries, Ubuntu Linux is listed as "Supported" while other variants such as Fedora Linux , macOS , and Microsoft Windows are designated "experimental" and are supported by the community. The native Java ROS client library, rosjava, however, does not share these limitations and has enabled ROS-based software to be written for
414-432: A graph architecture where processing takes place in nodes that may receive, post, and multiplex sensor data, control, state, planning, actuator, and other messages. Despite the importance of reactivity and low latency in robot control, ROS is not a real-time operating system (RTOS). However, it is possible to integrate ROS with real-time computing code. The lack of support for real-time systems has been addressed in
552-406: A Pathways to Enable Open-Source Ecosystems (POSE) program to support open source innovation. The adoption of open-source software by industry is increasing over time. OSS is popular in several industries such as telecommunications , aerospace , healthcare , and media & entertainment due to the benefits it provides. Adoption of OSS is more likely in larger organizations and is dependent on
690-529: A bag is largely the same as having the original nodes which produced the data in the ROS computation graph, making bags a useful tool for recording data to be used in later development. While rosbag is a command line only tool, rqt_bag provides a GUI interface to rosbag. catkin is the ROS build system, having replaced rosbuild as of ROS Groovy. catkin is based on CMake , and is similarly cross-platform, open-source, and language-independent. The rosbash package provides
828-544: A bug needs to be fixed in their project. This is established by communicating with the OSS community through avenues such as bug reporting and tracking or mailing lists and project pages. Next, OSS developers select or are assigned to a task and identify a solution. Because there are often many different possible routes for solutions in OSS, the best solution must be chosen with careful consideration and sometimes even peer feedback . The developer then begins to develop and commit
966-708: A complex startup and configuration process into a single command. roslaunch scripts can include other roslaunch scripts, launch nodes on specific machines, and even restart processes which die during execution. ROS contains many open-source implementations of common robotics functionality and algorithms. These open-source implementations are organized into packages. Many packages are included as part of ROS distributions, while others may be developed by individuals and distributed through code sharing sites such as github. Some packages of note include: ROS releases may be incompatible with other releases and are often referred to by code name rather than version number. ROS currently releases
1104-756: A computer terminal ( Teletype Model 33 KSR ), on credit. Products included, at least, beer, yogurt, and milk. It was called the Prancing Pony , after the name of the room, named after an inn in Tolkien's Lord of the Rings , as each room at SAIL was named after a place in Middle Earth . A successor version still operates in the Computer Science Department at Stanford, with both hardware and software having been updated. Alumni of
1242-517: A copy of the license is provided to recipients with the code. One important legal precedent for open-source software was created in 2008, when the Jacobson v Katzer case enforced terms of the Artistic license , including attribution and identification of modifications. The ruling of this case cemented enforcement under copyright law when the conditions of the license were not followed. Because of
1380-412: A given file with the chosen default text editor, as well rosrun, which runs executables in ROS packages. rosbash supports the same functionalities for zsh and tcsh , to a lesser extent. roslaunch is a tool used to launch multiple ROS nodes both locally and remotely, as well as setting parameters on the ROS parameter server. roslaunch configuration files, which are written using XML can easily automate
1518-731: A goal of the founders, as they felt that the PR2 could kick-start robotics research around the world. They ended up awarding eleven PR2s to different institutions, including University of Freiburg (Germany), Robert Bosch GmbH , Georgia Institute of Technology , KU Leuven (Belgium), Massachusetts Institute of Technology (MIT), Stanford University , Technical University of Munich (Germany), University of California, Berkeley , University of Pennsylvania , University of Southern California (USC), and University of Tokyo (Japan). This, combined with Willow Garage's highly successful internship program (run from 2008 to 2010 by Melonee Wise ), helped to spread
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#17327810603971656-555: A graph structure, connected by edges called topics. ROS nodes can pass messages to one another through topics, make service calls to other nodes, provide a service for other nodes, or set or retrieve shared data from a communal database called the parameter server. A process called the ROS Master makes all of this possible by registering nodes to itself, setting up node-to-node communication for topics, and controlling parameter server updates. Messages and service calls do not pass through
1794-438: A humanities department. In residence for an academic year, Hume fellows contribute to the collegial life of the center and receive intellectual guidance and mentoring from staff and fellows. The Distinguished Careers Institute (DCI), established in 2014, is a year-long residential fellowship for approximately 20 individuals who have already established leadership careers. Fellows are selected based on "how their participation in
1932-698: A mix of musicians and engineers including Julius Smith , Jonathan Berger , Max Mathews (emeritus), Ge Wang , Takako Fujioka, Tom Rossing, Jonathan Abel, Marina Bosi , David Berners, Patricia Alessandrini, Jay Kadis, and Fernando Lopez-Lezcano. Emeritus professor Max Mathews died in 2011. Widely used digital sound synthesis techniques like FM synthesis and digital waveguide synthesis were developed at CCRMA and licensed to industry partners. The FM synthesis patent brought Stanford $ 20 million before it expired, making it (in 1994) "the second most lucrative licensing agreement in Stanford's history". Stanford CCRMA
2070-707: A name, which it registers with the ROS master before it can take any other actions. Multiple nodes with different names can exist under different namespaces , or a node can be defined as anonymous, in which case it will randomly generate an additional identifier to add to its given name. Nodes are at the center of ROS programming, as most ROS client code is in the form of a ROS node which takes actions based on information received from other nodes, sends information to other nodes, or sends and receives requests for actions to and from other nodes. Topics are named buses over which nodes send and receive messages. Topic names must be unique within their namespace as well. To send messages to
2208-454: A new bug. Early releases : The first version of the software should be released as early as possible so as to increase one's chances of finding co-developers early. Frequent integration: Code changes should be integrated (merged into a shared code base) as often as possible so as to avoid the overhead of fixing a large number of bugs at the end of the project life cycle. Some open-source projects have nightly builds where integration
2346-542: A node can take which will have a single result. As such, services are often used for actions which have a defined start and end, such as capturing a one-frame image, rather than processing velocity commands to a wheel motor or odometer data from a wheel encoder. Nodes advertise services and call services from one another. The parameter server is a database shared between nodes which allows for communal access to static or semi-static information. Data which does not change frequently and as such will be infrequently accessed, such as
2484-508: A public good as it is available to everyone and does not decrease in value for others when downloaded by one person. Open source software is unique in that it becomes more valuable as it is used and contributed to, instead of diminishing the resource. This is explained by concepts such as investment in reputation and network effects . The economic model of open-source software can be explained as developers contribute work to projects, creating public benefits. Developers choose projects based on
2622-655: A range of academic backgrounds and perspectives, including medicine, law, engineering, history, political science, economics, and sociology. The faculty's research and teaching focus on a variety of issues, including governance, domestic and international health policy, migration, development, and security. Their work often examines regional dynamics in areas such as Asia, Europe, Africa and Latin America. FSI faculty conduct research, lead interdisciplinary research programs, educate graduate and undergraduate students, and organize policy outreach that engages Stanford in addressing some of
2760-447: A similar way user scripts and custom style sheets allow for web sites, and eventually publish the modification as a fork for users with similar preferences, and directly submit possible improvements as pull requests . The Open Source Initiative 's (OSI) definition is recognized by several governments internationally as the standard or de facto definition. OSI uses The Open Source Definition to determine whether it considers
2898-615: A software license open source. The definition was based on the Debian Free Software Guidelines , written and adapted primarily by Perens . Perens did not base his writing on the "four freedoms" from the Free Software Foundation (FSF), which were only widely available later. Under Perens' definition, open source is a broad software license that makes source code available to the general public with relaxed or non-existent restrictions on
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#17327810603973036-405: A suite of tools which augment the functionality of the bash shell . These tools include rosls, roscd, and roscp, which replicate the functionalities of ls , cd , and cp respectively. The ROS versions of these tools allow users to use ros package names in place of the file path where the package is located. The package also adds tab-completion to most ROS utilities, and includes rosed, which edits
3174-723: A system that Morgan Quigley, another Stanford PhD student, had been working on in support of the STanford Artificial Intelligence Robot (STAIR) by the Stanford Artificial Intelligence Laboratory . Early funding of US$ 50,000 was provided by Joanna Hoffman and Alain Rossmann , which supported the development of the PR1. While seeking funding for further development, Eric Berger and Keenan Wyrobek met Scott Hassan,
3312-523: A topic, a node must publish to said topic, while to receive messages it must subscribe. The publish/subscribe model is anonymous: no node knows which nodes are sending or receiving on a topic, only that it is sending/receiving on that topic. The types of messages passed on a topic vary widely and can be user-defined. The content of these messages can be sensor data, motor control commands, state information, actuator commands, or anything else. A node may also advertise services. A service represents an action that
3450-642: A version every year in May, following the release of Ubuntu LTS versions. ROS 2 currently releases a new version every six months (in December and July). These releases are supported for a single year. There are currently two active major versions seeing releases: ROS 1 and ROS 2. Aside to this there is the ROS-Industrial or ROS-I derivate project since at least 2012. ROS-Industrial is an open-source project (BSD (legacy)/Apache 2.0 (preferred) license) that extends
3588-422: A victory for OSS supporters. In open-source communities, instead of owning the software produced, the producer owns the development of the evolving software. In this way, the future of the software is open, making ownership or intellectual property difficult within OSS. Licensing and branding can prevent others from stealing it, preserving its status as a public good . Open source software can be considered
3726-404: Is a good or service, what can be considered a modification, governance through contract vs license, ownership and right of use. While there have been developments on these issues, they often lead to even more questions. The existence of these uncertainties in regulation has a negative impact on industries involved in technologies as a whole. Within the legal history of software as a whole, there
3864-434: Is a research center, studying areas of audio and technology including composition , computer music , physical modeling , audio signal processing , sound recording and reproduction , psychoacoustics , acoustics , music information retrieval , audio networking, and spatial sound . The center houses academic courses for Stanford students as well as seminars, small interest group meetings, summer workshops and colloquia for
4002-523: Is a three-dimensional visualizer used to visualize robots, the environments they work in, and sensor data. It is a highly configurable tool, with many different types of visualizations and plugins. Unified Robot Description Format ( URDF ) is an XML file format for robot model description. rosbag is a command line tool used to record and playback ROS message data. rosbag uses a file format called bags, which log ROS messages by listening to topics and recording messages as they come in. Playing messages back from
4140-556: Is absolutely another terrific way that individuals and organizations choose to contribute to open source projects. Groups like Open Collective provide a means for individuals to contribute monthly to supporting their favorite projects. Organizations like the Sovereign Tech Fund is able to contribute to millions to supporting the tools the German Government uses. The National Science Foundation established
4278-585: Is affiliated with the Center for Computer Assisted Research in the Humanities (CCARH), also located at Stanford. CCARH conducts research on constructing computer databases for music and on creating programs that allow researchers to access, analyze, print, and electronically perform the music. The Stanford Institute for Creativity and the Arts ( SiCa ), established in 2006, serves as the core programmatic hub for
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4416-865: Is divided into three groups; the ROS-Industrial Consortium Americas (led by SwRI and located in San Antonio, Texas), the ROS-Industrial Consortium Europe (led by Fraunhofer IPA and located in Stuttgart, Germany) and the ROS-Industrial Consortium Asia Pacific (led by Advanced Remanufacturing and Technology Centre (ARTC) and Nanyang Technological University (NTU) and located in Singapore). The Consortia supports
4554-544: Is done automatically . Several versions: There should be at least two versions of the software. There should be a buggier version with more features and a more stable version with fewer features. The buggy version (also called the development version) is for users who want the immediate use of the latest features and are willing to accept the risk of using code that is not yet thoroughly tested. The users can then act as co-developers, reporting bugs and providing bug fixes. High modularization: The general structure of
4692-404: Is innovative since open-source programs are the product of collaboration among a large number of different programmers. The mix of divergent perspectives, corporate objectives, and personal goals speeds up innovation. Moreover, free software can be developed in accordance with purely technical requirements. It does not require thinking about commercial pressure that often degrades the quality of
4830-560: Is legal variety in this definition. Some jurisdictions attempt to expand or reduce this conceptualization for their own purposes. For example, The European Court of Justice defines a computer program as not including the functionality of a program, the programing language , or the format of data files. By limiting protections of the different aspects of software, the law favors an open-source approach to software use. The US especially has an open approach to software, with most open-source licenses originating there. However, this has increased
4968-468: Is theoretically challenging in economic models, it is explainable as a sustainable social activity that requires resources. These resources include time, money, technology and contributions. Many developers have used technology funded by organizations such as universities and governments, though these same organizations benefit from the work done by OSS. As OSS grows, hybrid systems containing OSS and proprietary systems are becoming more common. Throughout
5106-438: Is to provide a reusable and modular software framework for robotic and autonomous space systems predicated on ROS 2 that is compliant to aerospace mission and safety assurance requirements (such as NPR 7150.2 and DO-178C). The project was formulated and led by Will Chambers , Blue Origin's principal technologist of robotics at the time. In 2021, Blue Origin subcontracted software development workload to Open Robotics who remained on
5244-440: Is very little which is core to ROS, beyond the general structure within which programs must exist and communicate. In one sense, ROS is the underlying plumbing behind nodes and message passing. However, in reality, ROS is not only that plumbing, but a rich and mature set of tools, a wide-ranging set of robot-agnostic abilities provided by packages, and a greater ecosystem of additions to ROS. ROS processes are represented as nodes in
5382-700: The Android OS . rosjava has also enabled ROS to be integrated into an officially supported MATLAB toolbox which can be used on Linux , macOS , and Microsoft Windows. A JavaScript client library, roslibjs has also been developed which enables integration of software into a ROS system via any standards-compliant web browser. Sometime before 2007, the first pieces of what eventually would become ROS began coalescing at Stanford University . Eric Berger and Keenan Wyrobek, PhD students working in Kenneth Salisbury's robotics laboratory at Stanford, were leading
5520-532: The BSD license , and as such are open-source software and free for both commercial and research use. The majority of other packages are licensed under a variety of open-source licenses . These other packages implement commonly used functionality and applications such as hardware drivers, robot models, datatypes, planning, perception , simultaneous localization and mapping (SLAM), simulation tools , and other algorithms . The main ROS client libraries are geared toward
5658-643: The Loma Prieta earthquake , the Knoll nonetheless housed CCRMA in its damaged condition until a complete internal reconstruction between 2004 and 2005. The reopening of the facility was celebrated in the Spring of 2005 with the CCRMA: newStage Festival. This unique building now comprises several state-of-the-art music studios and top-notch research facilities, hosting a variety of students, artists and scientists. CCRMA
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5796-474: The Michelle R. Clayman Institute for Gender Research at Stanford University is one of the nation's oldest research organizations focused on the study of gender . The Clayman Institute designs basic interdisciplinary research, creates knowledge, networks people and ideas at Stanford, nationally, and internationally to effect change and promote gender equality . The Clayman Institute plays an integral role in
5934-675: The National Performance of Dams Program , a national database of structural and operational data related to dam systems in the U.S. Begun in 1994, this program provides data to the dam engineering and safety community about the in-service performance of dam systems. The analysis of this data covering both successful operations and incidents, including failures, is intended to lead to improvements in design and requirements, engineering processes and standards, operational procedures and guidelines, and public policy development. Founded in 1974, and named after economist Michelle R. Clayman ,
6072-615: The National Security Council under National Security Advisor Anthony Lake during the Clinton administration ; David Holloway; Walter Falcon; and Stanford President Emeritus Richard Lyman . FSI appoints faculty and research staff, funds research and scholarly initiatives, directs research projects, and sponsors lectures, policy seminars and conferences. By tradition, FSI undertakes joint faculty appointments with Stanford's seven schools and draws faculty together from
6210-731: The PDP-6 , then the KA10 and KL10 . WAITS also ran on Foonly systems at CCRMA and LLL . The SAIL system was shut down in 1991. SAIL, the Stanford Artificial Intelligence Language , was developed by Dan Swinehart and Bob Sproull of the Stanford AI Lab in 1970. Around 1972, for its remote site use, people at SAIL developed a computer controlled vending machine, adapted from a machine rented from Canteen Vending , which sold for cash or, though
6348-523: The Stanford Arts Initiative , leading the development of new undergraduate arts programs, hosting artists in residence, awarding grants for multidisciplinary arts research and teaching, incubating collaborative performances and exhibitions with campus partners and other institutions, and providing centralized communication for arts events and programs at Stanford University . The Department of Civil and Environmental Engineering maintains
6486-732: The Stanford Institute for Economic Policy Research (SIEPR) in the area of Humanities and Social Sciences; and, for Physical Sciences, the Edward L. Ginzton Laboratory, the Geballe Laboratory for Advanced Materials , the Kavli Institute for Particle Astrophysics and Cosmology , Photon Ultrafast Laser Science and Engineering (PULSE) , Stanford Institute for Materials and Energy Sciences (SIMES), and W. W. Hansen Experimental Physics Laboratory (HEPL). The Center for
6624-889: The distributed version control system (DVCS) are examples of tools, often open source, that help manage the source code files and the changes to those files for a software project in order to foster collaboration. CVCS are centralized with a central repository while DVCS are decentralized and have a local repository for every user. concurrent versions system (CVS) and later Subversion (SVN) and Git are examples of CVCS. The repositories are hosted and published on source-code-hosting facilities such as GitHub . Open-source projects use utilities such as issue trackers to organize open-source software development. Commonly used bug trackers include Bugzilla and Redmine . Tools such as mailing lists and IRC provide means of coordination and discussion of bugs among developers. Project web pages, wiki pages, roadmap lists and newsgroups allow for
6762-462: The Bazaar , open-source influential contributor Eric S. Raymond suggests a model for developing OSS known as the bazaar model. Raymond likens the development of software by traditional methodologies to building a cathedral, with careful isolated work by individuals or small groups. He suggests that all software should be developed using the bazaar style, with differing agendas and approaches. In
6900-723: The Environment in the Environmental Sciences area; the Center for Advanced Study in the Behavioral Sciences (CASBS), the Center for the Study of Language and Information (CSLI) (see below), Freeman Spogli Institute for International Studies (FSI) (see below), Human-Sciences and Technologies Advance Research Institute (H-STAR), Stanford Center on Longevity (SCL), Stanford Humanities Center (see below), and
7038-858: The Inter-University Center for Japanese Language Studies, the Program on Energy & Sustainable Development , the Rural Education Action Program, the Stanford Center at Peking University , and the Stanford Program on International and Cross-Cultural Education . Founded in 1980, the Stanford Humanities Center is a multidisciplinary research institute dedicated to advancing knowledge about culture, philosophy, history, and
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#17327810603977176-504: The OSRF became the primary software maintainers for ROS, foreshadowing the announcement in August that Willow Garage would be absorbed by its founders, Suitable Technologies . At this point, ROS had released seven major versions (up to ROS Groovy), and had users all over the globe. This chapter of ROS development would be finalized when Clearpath Robotics took over support responsibilities for
7314-474: The OSRF/Open Robotics years thus far (not to discount the explosion of robot platforms which began to support ROS or the enormous improvements in each ROS version) was the proposal of ROS 2, a significant API change to ROS which is intended to support real-time programming , a wider variety of computing environments, and more modern technology. ROS 2 was announced at ROSCon 2014, the first commits to
7452-487: The PR2 in early 2014. In the years since OSRF took over primary development of ROS, a new version has been released every year, while interest in ROS continues to grow. ROSCons have occurred every year since 2012, co-located with either ICRA or IROS , two flagship robotics conferences. Meetups of ROS developers have been organized in a variety of countries, a number of ROS books have been published, and many educational programs initiated. On 1 September 2014, NASA announced
7590-407: The PR2 robot as a follow-up to the PR1, and ROS as the software to run it. Groups from more than twenty institutions made contributions to ROS, both the core software and the growing number of packages which worked with ROS to form a greater software ecosystem. That people outside of Willow were contributing to ROS (especially from Stanford's STAIR project) meant that ROS was a multi-robot platform from
7728-569: The PR2 robot was officially released for commercial purchase on 9 September 2010. 2011 was a banner year for ROS with the launch of ROS Answers, a Q/A forum for ROS users, on 15 February; the introduction of the highly successful TurtleBot robot kit on 18 April; and the total number of ROS repositories passing 100 on 5 May. Willow Garage began 2012 by creating the Open Source Robotics Foundation (OSRF) in April. The OSRF
7866-511: The Personal Robotics Program. While working on robots to do manipulation tasks in human environments, the two students noticed that many of their colleagues were held back by the diverse nature of robotics: an excellent software developer might not have the hardware knowledge required, someone developing state of the art path planning might not know how to do the computer vision required. In an attempt to remedy this situation,
8004-641: The Public Interest . Within Europe some notable organizations are Free Software Foundation Europe , open-source projects EU (OSP) and OpenForum Europe (OFE). One Australian organization is Linux Australia while Asia has Open source Asia and FOSSAsia . Free and open source software for Africa (FOSSFA) and OpenAfrica are African organizations and Central and South Asia has such organizations as FLISOL and GRUP de usuarios de software libre Peru . Outside of these, many more organizations dedicated to
8142-556: The Stanford community by bringing together local, national and international scholars and thought leaders from across disciplines to create knowledge and effect change. The place where the Clayman Institute is located was renamed the Carolyn Lewis Attneave House in 2019. It was formerly named Serra House after Junípero Serra . In 1972 faculty and graduate students in the feminist movement were
8280-452: The Stanford community with a lively exchange of ideas. Speakers have included Isabel Allende , Roger Chartier , Stephen Jay Gould , Douglas Hofstadter , Gayatri Spivak , Marilynne Robinson , David Adjaye , David Eggers , and other well-known scholars. The Humanities Center, with the Center for Spatial and Textual Analysis (CESTA), is expanding the possibilities of humanities research and teaching at Stanford by creating opportunities for
8418-408: The Study of Language and Information ( CSLI ) is an independent research center at Stanford University. Founded in 1983 by philosophers, computer scientists, linguists, and psychologists from Stanford, SRI International , and Xerox PARC , it strives to study all forms of information and improve how humans and computers acquire and process it. CSLI was initially funded by a US$ 15 million grant from
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#17327810603978556-856: The System Development Foundation (SDF) for the Situated Language Project, the name of which reflects the strong influence of the work on situation semantics by philosophers John Perry and Jon Barwise , two of the initial leaders of CSLI. This funding supported operations for the first few years as well as the construction of Cordura Hall. Subsequent funding has come from research grants and from an industrial affiliates program. CSLI's publications branch, founded and still headed by Dikran Karagueuzian, has grown into an important publisher of work in linguistics and related fields. Researchers associated with CSLI include Ronald Kaplan , Patrick Suppes , Edward N. Zalta ,
8694-582: The United States has focused on national security in regard to open-source software implementation due to the perceived threat of the increase of open-source software activity in countries like China and Russia, with the Department of Defense considering multiple criteria for using OSS. These criteria include: if it comes from and is maintained by trusted sources, whether it will continue to be maintained, if there are dependencies on sub-components in
8832-438: The abilities of systems using ROS by simplifying and providing solutions to a number of common robotics development problems. These tools are provided in packages like any other algorithm, but rather than providing implementations of hardware drivers or algorithms for various robotic tasks, these packages provide task and robot-agnostic tools which come with the core of most modern ROS installations. rviz (Robot Visualization tool)
8970-406: The advanced abilities of ROS to manufacturing automation and robotics. In the industrial environment, there are two different approaches to programming a robot: either through an external proprietary controller, typically implemented using ROS, or via the respective native programming language of the robot. ROS can therefore be seen as the software-based approach to program industrial robots instead of
9108-473: The advancement of open-source software exist. FOSS products are generally licensed under two types of licenses: permissive licensing and copyleft licensing . Both of these types of licenses are different than proprietary licensing in that they can allow more users access to the software and allow for the creation of derivative works as specified by the terms of the specific license, as each license has its own rules. Permissive licenses allow recipients of
9246-496: The arts. Since its founding in 1980, the Stanford Humanities Center has been sponsoring advanced research into the historical, philosophical, literary, artistic, and cultural dimensions of the human experience. The Humanities Center's annual fellows, international visitors, research workshops, digital humanities laboratory, and roughly fifty annual public events strengthen the intellectual and creative life of
9384-402: The bazaar model should exhibit the following patterns: Users should be treated as co-developers: The users are treated like co-developers and so they should have access to the source code of the software. Furthermore, users are encouraged to submit additions to the software, code fixes for the software, bug reports , documentation, etc. Having more co-developers increases the rate at which
9522-496: The broader community. Concerts of computer and experimental music are presented regularly throughout year. Almost 100 years ago, this Spanish Gothic residence, known as the Knoll, was originally designed by Louis Christian Mullgardt , and built as a residence for the university's president. In 1946, the building became home to the Music Department, and then in 1986, CCRMA took over residency. Damaged in 1989 during
9660-474: The classic robot controller-based approach. The ROS-Industrial repository includes interfaces for common industrial manipulators, grippers, sensors, and device networks. It also provides software libraries for automatic 2D/3D sensor calibration, process path/motion planning, applications like Scan-N-Plan, developer tools like the Qt Creator ROS Plugin, and training curriculum that is specific to
9798-466: The code facilitates public trust in the software. Open-source software development can bring in diverse perspectives beyond those of a single company. A 2024 estimate of the value of open-source software to firms is $ 8.8 trillion, as firms would need to spend 3.5 times the amount they currently do without the use of open source software. Open-source code can be used for studying and allows capable end users to adapt software to their personal needs in
9936-414: The code. The code is then tested and reviewed by peers. Developers can edit and evolve their code through feedback from continuous integration . Once the leadership and community are satisfied with the whole project, it can be partially released and user instruction can be documented. If the project is ready to be released, it is frozen, with only serious bug fixes or security repairs occurring. Finally,
10074-427: The company's IT usage, operating efficiencies, and the productivity of employees. Industries are likely to use OSS due to back-office functionality, sales support, research and development, software features, quick deployment, portability across platforms and avoidance of commercial license management. Additionally, lower cost for hardware and ownership are also important benefits. Organizations that contribute to
10212-517: The conventions of academic life. Assembling a team of faculty experts from Stanford and other universities, the Manuscript Review workshops provide critical feedback to junior faculty preparing monographs or other academic manuscripts of similar scope for submission for publication. The center brings eminent scholars, public intellectuals, and renowned critics to the Stanford campus for lectures and interdisciplinary conferences that enrich
10350-525: The creation of ROS 2, a major revision of the ROS API which will take advantage of modern libraries and technologies for core ROS functions and add support for real-time code and embedded system hardware. Software in the ROS Ecosystem can be separated into three groups: Both the language-independent tools and the main client libraries ( C++ , Python , and Lisp ) are released under the terms of
10488-611: The creation of knowledge through its Fellowships and interdisciplinary programs. Recent reports/ publications include: The Clayman Institute runs two fellowship programs. The Faculty Research Fellowships seek to drive intellectual and social innovation through interdisciplinary gender studies. They include residential fellowships for tenured, tenure-track, and postdoctoral scholars from Stanford University, and U.S. and foreign universities. The Clayman Institute also offers Graduate Dissertation Fellowships for Stanford University doctoral students. Fellowships are awarded to students who are in
10626-406: The dean of research and outside any school, or semi-independent of the university itself. These report directly to the vice-provost and dean of research and are outside any school though any faculty involved in them must belong to a department in one of the schools. These include Bio-X and Spectrum in the area of Biological and Life Sciences; Precourt Institute for Energy and Woods Institute for
10764-477: The development and expansions of free and open-source software movements exist all over the world. These organizations are dedicated to goals such as teaching and spreading technology. As listed by a former vice president of the Open Source Initiative , some American organizations include the Free Software Foundation , Software Freedom Conservancy , the Open Source Initiative and Software in
10902-471: The discovery and dissemination of new knowledge. Humanities Center scholars are on the forefront of innovation with access to new digital tools to interpret the human experience. The center's short-term visitorships draw distinguished international scholars to Stanford to share their research in lectures and seminars with Stanford faculty and students. The Humanities Center awards Hume Humanities Honors Fellowships to Stanford seniors writing an honors thesis in
11040-420: The distance between two fixed points in the environment, or the weight of the robot, are good candidates for storage in the parameter server. ROS's core functionality is augmented by a variety of tools which allow developers to visualize and record data, easily navigate the ROS package structures, and create scripts automating complex configuration and setup processes. The addition of these tools greatly increases
11178-461: The distribution of project information that focuses on end users. The basic roles OSS participants can fall into multiple categories, beginning with leadership at the center of the project who have control over its execution. Next are the core contributors with a great deal of experience and authority in the project who may guide the other contributors. Non-core contributors have less experience and authority, but regularly contribute and are vital to
11316-772: The establishment of the Qualia Global Scholars Program. The Stanford Artificial Intelligence Laboratory (also known as the Stanford AI Lab , or SAIL ) is the artificial intelligence (AI) research laboratory of Stanford University . The current director is Professor Christopher D. Manning . SAIL was started in 1963 by John McCarthy , after he moved from Massachusetts Institute of Technology to Stanford. Lester D. "Les" Earnest , also previously of MIT, served as executive officer (self-deprecatingly, "Chief Bureaucrat") at SAIL from 1965 to 1980. During almost all of this period (1966–1979), SAIL
11454-412: The first of their three internal milestones: continuous navigation for the PR2 over a period of two days and a distance of pi kilometers. Soon after, an early version of ROS (0.4 Mango Tango) was released, followed by the first RVIZ documentation and the first paper on ROS. In early summer, the second internal milestone: having the PR2 navigate the office, open doors, and plug itself it in, was reached. This
11592-601: The first robot to run ROS in space: Robotnaut 2 , on the International Space Station . In 2017, the OSRF changed its name to Open Robotics . Tech giants Amazon and Microsoft began to take an interest in ROS during this time, with Microsoft porting core ROS to Windows in September 2018, followed by Amazon Web Services releasing RoboMaker in November 2018. Perhaps the most important development of
11730-601: The focus on patent rights within these licenses, which has seen backlash from the OSS community, who prefer other forms of IP protection. Another issue includes technological protection measures (TPM) and digital rights management (DRM) techniques which were internationally legally recognized and protected in the 1996 World Intellectual Property Organization (WIPO) Treaty . Open source software proponents disliked these technologies as they constrained end-users potentially beyond copyright law. Europe responded to such complaints by putting TPM under legal controls, representing
11868-622: The former Stanley Morrison Professor of Law at Stanford Law School, a former official in the Obama and Clinton presidential administrations, and current justice of the California Supreme Court. Previous directors include Stanford President Emeritus Gerhard Casper ; Coit D. Blacker , who served as Special Assistant to the President for National Security Affairs and Senior Director for Russian, Ukrainian and Eurasian Affairs at
12006-455: The founder of Willow Garage , a technology incubator which was working on an autonomous SUV and a solar autonomous boat. Hassan shared Berger and Wyrobek's vision of a "Linux for robotics", and invited them to come and work at Willow Garage. Willow Garage was started in January 2007, and the first commit of ROS code was made to SourceForge on 7 November 2007. Willow Garage began developing
12144-603: The global ROS-Industrial community by conducting ROS-I training, providing technical support and setting the future roadmap for ROS-I, as well as conducting precompetitive joint industry projects to develop new ROS-I abilities. In November 2020, NASA announced Blue Origin had been selected through the Space Technology Mission Directorate’s Announcement of Collaboration Opportunity (ACO) to co-develop Space Robot Operating System (Space ROS) together with three NASA centers. The purpose of Space ROS
12282-472: The help of matching funds from the Hewlett Foundation and strong support from the institute's Advisory Council, Schiebinger spearheaded a fundraising drive to create an endowment for the institute. IRWG was renamed in honor of Michelle R. Clayman, the major donor in the campaign, who serves as the chair of the institute's Advisory Council. The Clayman Institute designs basic research and supports
12420-530: The impetus behind the formation of the institute. In 1974, the Center for Research on Women ( CROW ) was the first interdisciplinary center or institute of its kind and quickly built a strong reputation under the direction of Myra Strober , the founding Director . The reputation of CIGR grew outside Stanford, and the University of Chicago Press chose Stanford as the base of the second five-year rotation of its new interdisciplinary journal, Signs . In 1983
12558-525: The institute was renamed the Institute for Research on Women and Gender ( IRWG ) and continued to expand the gender conversation with the “Difficult Dialogues ” program, which ran in the 1990s through 2004. In 2004, the new director, Professor Londa Schiebinger , a historian of science , formed a plan to create a series of research initiatives on gender issues, backed by a research fellowship program, that would attract scholars from Stanford and abroad. With
12696-480: The many benefits provided, a huge issue to be considered is cybersecurity . While accidental vulnerabilities are possible, so are attacks by outside agents. Because of these fears, governmental interest in contributing to the governance of software has become more prominent. However, these are the broad strokes of the issue, with each country having their own specific politicized interactions with open-source software and their goals for its implementation. For example,
12834-412: The master, rather the master sets up peer-to-peer communication between all node processes after they register themselves with the master. This decentralized architecture lends itself well to robots, which often consist of a subset of networked computer hardware, and may communicate with off-board computers for heavy computing or commands. A node represents one process running the ROS graph. Every node has
12972-805: The mathematicians Keith Devlin , and Solomon Feferman , the linguists Ivan Sag and Joan Bresnan , Annie Zaenen , Lauri Karttunen , and psychologists Herb Clark , B. J. Fogg and Clifford Nass . CSLI houses the Stanford Encyclopedia of Philosophy . It also housed the Reuters Digital Vision Program . The Freeman Spogli Institute for International Studies is a university-wide research and teaching institution at Stanford devoted to understanding international problems, policies, and institutions. The institute produces interdisciplinary scholarly research, engages in outreach to policymakers and public institutions throughout
13110-560: The mid 2000s, more and more tech companies have begun to use OSS. For example, Dell's move of selling computers with GNU/Linux already installed. Microsoft itself has launched a Linux-based operating system despite previous animosity with the OSS movement. Despite these developments, these companies tend to only use OSS for certain purposes, leading to worries that OSS is being taken advantage of by corporations and not given anything in return. While many governments are interested in implementing and promoting open-source software due to
13248-515: The needs of manufacturers. ROS-I is supported by an international Consortium of industry and research members. The project began as a collaborative endeavor between Yaskawa Motoman Robotics, Southwest Research Institute, and Willow Garage to support the use of ROS for manufacturing automation, with the GitHub repository being founded in January 2012 by Shaun Edwards (SwRI). Currently, the Consortium
13386-955: The new SAIL is the Stanley self-driving car that won the 2005 DARPA Grand Challenge. Knowledge Systems Laboratory (KSL) was an artificial intelligence research laboratory within the Department of Computer Science at Stanford University until 2007, located in the Gates Computer Science Building, Stanford. The Center for Entrepreneurial Studies ( CES ) at Stanford University is a multidisciplinary business oriented program targeted to both undergraduate and graduate students. It incorporates courses from Stanford University School of Engineering and Stanford Graduate School of Business . It also incorporates Stanford Mayfield Scholars Program that seeks to give select undergraduate students an opportunity to take business related coursework and to intern in high tech startups . CES
13524-508: The number of people employed in the IT sector. OSS can be highly reliable when it has thousands of independent programmers testing and fixing bugs of the software. Open source is not dependent on the company or author that originally created it. Even if the company fails, the code continues to exist and be developed by its users. OSS is flexible because modular systems allow programmers to build custom interfaces, or add new abilities to it and it
13662-407: The opportunity to pursue their research in a supportive intellectual community. Each year, Stanford faculty and graduate students create fifteen diverse research workshops to ask new intellectual questions that often challenge disciplinary boundaries. In addition to providing a space for incubating new ideas in a collegial setting, the workshops professionalize graduate students by introducing them to
13800-439: The original SAIL include Raj Reddy , Hans Moravec , Alan Kay , Victor Scheinman , Larry Tesler , Don Knuth , and Edward Feigenbaum . In 1979, SAIL's activities were merged into the university's Computer Science Department and it moved into Margaret Jacks Hall on the main Stanford campus. After operating for more than 15 Years under the name Robotics Lab , we just re-inaugurated the new Stanford AI Lab. (April 2004) SAIL
13938-455: The original SAIL played a major role in many Silicon Valley firms, becoming founders of now-large firms such as Cisco Systems and Sun Microsystems as well as smaller companies such as Vicarm Inc. (acquired by Unimation ), Foonly , Elxsi , Imagen, Xidex , Valid Logic Systems , and D.E. Shaw & Co . Research accomplishments at SAIL were many, including in the fields of speech recognition and robotics . Notable people that worked at
14076-435: The perceived benefits or costs, such as improved reputation or value of the project. The motivations of developers can come from many different places and reasons, but the important takeaway is that money is not the only or even most important incentivization . Because economic theory mainly focuses on the consumption of scarce resources, the OSS dynamic can be hard to understand. In OSS, producers become consumers by reaping
14214-611: The place, this remote setting led to a certain isolation. Some people who worked there reported feeling as if they were already in the future. The building was demolished in 1986; as of 2003, the site is home to Portola Pastures (an equestrian center adjacent to the Arastradero Open Space Preserve ). SAIL created the WAITS operating system on a computer called SAIL. WAITS ran on various models of Digital Equipment Corporation PDP computers, starting with
14352-404: The potential to quicken innovation and create of social value. In France for instance, a policy that incentivized government to favor free open-source software increased to nearly 600,000 OSS contributions per year, generating social value by increasing the quantity and quality of open-source software. This policy also led to an estimated increase of up to 18% of tech startups and a 14% increase in
14490-510: The program will shape their future life journeys" as well as "what future Fellows will contribute to the program and the broader global community." The collaboration among Stanford University's office for Digital Education, the Department of Computer Science, and the Graduate School of Education established Stanford's first dual-enrollment program for high school students from underrepresented backgrounds, which served as an impetus for
14628-574: The project is fully released and only changed through minor bug fixes. Open source implementation of a standard can increase adoption of that standard. This creates developer loyalty as developers feel empowered and have a sense of ownership of the end product. Moreover, lower costs of marketing and logistical services are needed for OSS. OSS can be a tool to promote a company's image, including its commercial products. The OSS development approach has helped produce reliable, high quality software quickly and inexpensively. Open source development offers
14766-759: The project's development. New contributors are the least experienced but with mentorship and guidance can become regular contributors. Some possible ways of contributing to open-source software include such roles as programming , user interface design and testing, web design , bug triage , accessibility design and testing, UX design , code testing, and security review and testing. However, there are several ways of contributing to OSS projects even without coding skills. For example, some less technical ways of participating are documentation writing and editing, translation , project management , event organization and coordination, marketing, release management, community management, and public relations and outreach. Funding
14904-422: The requestor : Make sure the page has already been reverted to a non-infringing revision or that infringing text has been removed or replaced before submitting this request. This template is reserved for obvious cases only, for other cases refer to Misplaced Pages:Copyright problems . Open-source software ( OSS ) is computer software that is released under a license in which the copyright holder grants users
15042-431: The rewards of contributing to a project. For example, a developer becomes well regarded by their peers for a successful contribution to an OSS project. The social benefits and interactions of OSS are difficult to account for in economic models as well. Furthermore, the innovation of technology creates constantly changing value discussions and outlooks, making economic model unable to predict social behavior. Although OSS
15180-411: The rights to use, study, change, and distribute the software and its source code to anyone and for any purpose. Open-source software may be developed in a collaborative, public manner. Open-source software is a prominent example of open collaboration , meaning any capable user is able to participate online in development, making the number of possible contributors indefinite. The ability to examine
15318-560: The ros2 repository were made in February 2015, followed by alpha releases in August 2015. The first distribution release of ROS 2, Ardent Apalone, was released on 8 December 2017, ushering in a new era of next-generation ROS development. ROS was designed to be open source, intending that users would be able to choose the configuration of tools and libraries which interacted with the core of ROS so that users could shift their software stacks to fit their robot and application area. As such, there
15456-496: The same license while weak copyleft licenses require the use of the same license only under certain conditions. Examples of this type of license include the GNU family of licenses , and the MPL and EPL licenses. The similarities between these two categories of licensing include that they provide a broad grant of copyright rights, require that recipients preserve copyright notices, and that
15594-500: The similarity of the Artistic license to other open-source software licenses, the ruling created a precedent that applied widely. Examples of free-software license / open-source licenses include Apache licenses , BSD licenses , GNU General Public Licenses , GNU Lesser General Public License , MIT License , Eclipse Public License and Mozilla Public License . Several gray areas exist within software regulation that have great impact on open-source software, such as if software
15732-488: The software "in any manner they see fit, without requiring that they pay the author(s) of the software a royalty or fee for engaging in the listed activities." Despite initially accepting it, Richard Stallman of the FSF now flatly opposes the term "Open Source" being applied to what they refer to as "free software". Although he agrees that the two terms describe "almost the same category of software", Stallman considers equating
15870-401: The software evolves. Linus's law states that given enough eyeballs all bugs are shallow. This means that if many users view the source code, they will eventually find all bugs and suggest how to fix them. Some users have advanced programming skills, and furthermore, each user's machine provides an additional testing environment. This new testing environment offers the ability to find and fix
16008-484: The software should be modular allowing for parallel development on independent components. Dynamic decision-making structure: There is a need for a decision-making structure, whether formal or informal, that makes strategic decisions depending on changing user requirements and other factors. Compare with extreme programming . The process of Open source development begins with a requirements elicitation where developers consider if they should add new features or if
16146-408: The software to implement the author's copyright rights without having to use the same license for distribution. Examples of this type of license include the BSD , MIT , and Apache licenses . Copyleft licenses are different in that they require recipients to use the same license for at least some parts of the distribution of their works. Strong copyleft licenses require all derivative works to use
16284-411: The software, component security and integrity, and foreign governmental influence. Stanford Artificial Intelligence Laboratory Stanford University has many centers and institutes dedicated to the study of various specific topics. These centers and institutes may be within a department, within a school but across departments, an independent laboratory, institute or center reporting directly to
16422-425: The software. Commercial pressures make traditional software developers pay more attention to customers' requirements than to security requirements, since such features are somewhat invisible to the customer. In open-source software development, tools are used to support the development of the product and the development process itself. Version control systems such as Centralized Version control system (CVCS) and
16560-530: The start. While Willow Garage had originally had other projects in progress, they were scrapped in favor of the Personal Robotics Program: focused on producing the PR2 as a research platform for academia and ROS as the open-source robotics stack that would underlie both academic research and tech startups, much like the LAMP stack did for web-based startups. In December 2008, Willow Garage met
16698-475: The team until the program ended in 2022. Space ROS is currently an open community project. PickNik Robotics and Open Source Robotics Foundation currently lead the Space ROS effort. Open-source software Note to admins : In case of doubt, remove this template and post a message asking for review at WT:CP . With this script , go to the history with auto-selected revisions . Note to
16836-597: The terms incorrect and misleading. Stallman also opposes the professed pragmatism of the Open Source Initiative , as he fears that the free software ideals of freedom and community are threatened by compromising on the FSF's idealistic standards for software freedom. The FSF considers free software to be a subset of open-source software, and Richard Stallman explained that DRM software, for example, can be developed as open source, despite that it does not give its users freedom (it restricts them), and thus does not qualify as free software. In his 1997 essay The Cathedral and
16974-514: The traditional model of development, which he called the cathedral model, development takes place in a centralized way. Roles are clearly defined. Roles include people dedicated to designing (the architects), people responsible for managing the project, and people responsible for implementation. Traditional software engineering follows the cathedral model. The bazaar model, however, is different. In this model, roles are not clearly defined. Some proposed characteristics of software developed using
17112-521: The two students set out to make a baseline system that would provide a starting place for others in academia to build upon. In the words of Eric Berger, "something that didn’t suck, in all of those different dimensions". In their first steps towards this unifying system, the two built the PR1 as a hardware prototype and began to work on software from it, borrowing the best practices from other early open-source robotic software frameworks, particularly switchyard,
17250-563: The university's academic departments and schools to conduct interdisciplinary research on international issues that transcend academic boundaries. The institute is home to 40 billeted faculty members – most with joint appointments – and 115 affiliated faculty members with a wide range of academic perspectives. In addition to its six centers, the institute sponsors the Ford Dorsey Master's in International Policy ,
17388-432: The university, foster innovative and interdisciplinary scholarship and teaching, and enrich our understanding of our common humanity. The humanities support democratic culture by nurturing an informed citizenry and seeking solutions to society's most formidable challenges. The center offers approximately twenty-five year-long residential fellowships to Stanford and non-Stanford scholars at different career stages, giving them
17526-437: The use and modification of the code. It is an explicit "feature" of open source that it puts very few restrictions on the use or distribution by any organization or user, in order to enable the rapid evolution of the software. According to Feller et al. (2005), the terms "free software" and "open-source software" should be applied to any "software products distributed under terms that allow users" to use, modify, and redistribute
17664-485: The word about ROS throughout the robotics world. The first official ROS distribution release: ROS Box Turtle, was released on 2 March 2010, marking the first time that ROS was officially distributed with a set of versioned packages for public use. These developments led to the first drone running ROS, the first autonomous car running ROS, and the adaption of ROS for Lego Mindstorms . With the PR2 Beta program well underway,
17802-487: The world's most pressing problems. The institute is composed of 12 centers and programs, including six major research centers: The institute was founded in 1987 following a faculty committee review that concluded Stanford "should be leading the way in International Studies as we do in science and technology", encompassing interdisciplinary teaching, research, public service and administrative functions. It
17940-558: The world, and trains scholars and future leaders on international issues. Its teaching programs include the graduate-level Master of International Policy as well as honors programs in international security and in democracy, development, and the rule of law. The school is a full member of the Association of Professional Schools of International Affairs (APSIA), a group of schools of public policy, public administration, and international studies. FSI's core and affiliated faculty represent
18078-484: Was first called the institute for International Studies, and was created under the direction of former Stanford president Richard Wall Lyman . The institute was renamed the Freeman Spogli Institute for International Studies in 2005 following a $ 50 million gift made by Stanford alumni Bradford M. Freeman and Ronald P. Spogli . The immediate past director of FSI was Mariano-Florentino Cuéllar ,
18216-485: Was followed in August by the initiation of the ROS.org website. Early tutorials on ROS were posted in December, preparing for the release of ROS 1.0, in January 2010. This was Milestone 3: producing tons of documentation and tutorials for the enormous abilities that Willow Garage's engineers had developed over the preceding 3 years. Following this, Willow Garage achieved one of its longest held goals: giving away 10 PR2 robots to worthy academic institutions. This had long been
18354-454: Was founded by Tom Byers and Charles A. Holloway . The Stanford University Center for Computer Research in Music and Acoustics ( CCRMA ), founded by John Chowning , is a multi-discipline facility where composers and researchers work together using computer-based technology both as an artistic medium and as a research tool. CCRMA's director is Chris Chafe . CCRMA's current faculty includes
18492-419: Was housed in the D.C. Power building, named not for " Direct Current " but rather for Donald Clinton Power , who held the positions of president, C.E.O. and chairman of General Telephone & Electronics Corporation (later GTE Corporation ) between 1951 and 1971. GT&E donated the unfinished building to Stanford University after abandoning plans to establish a research center there. During this period SAIL
18630-594: Was immediately awarded a software contract by the Defense Advanced Research Projects Agency (DARPA). Later that year, the first ROSCon was held in St. Paul, Minnesota, the first book on ROS, ROS By Example , was published, and Baxter , the first commercial robot to run ROS, was announced by Rethink Robotics . Soon after passing its fifth anniversary in November, ROS began running on every continent on 3 December 2012. In February 2013,
18768-404: Was much debate on whether to protect it as intellectual property under patent law , copyright law or establishing a unique regulation. Ultimately, copyright law became the standard with computer programs being considered a form of literary work, with some tweaks of unique regulation. Software is generally considered source code and object code , with both being protectable, though there
18906-497: Was one of the leading centers for AI research and an early ARPANET site. D.C. Power was on a hill overlooking Felt Lake in the foothills of the Santa Cruz Mountains behind Stanford. It was about 5 miles (8 km) from the main campus, at 1600 Arastradero Road, midway between Page Mill Road and Alpine Road. This area was, and remains, quite rural in nature. Combined with the rather extreme 1960s architecture of
19044-744: Was reopened in 2004, now in the Gates Computer Science Building , with Sebastian Thrun becoming its new director. SAIL's 21st century mission is to "change the way we understand the world"; its researchers contribute to fields such as bioinformatics , cognition , computational geometry , computer vision , decision theory , distributed systems , game theory , general game playing , image processing , information retrieval , knowledge systems , logic , machine learning , multi-agent systems , natural language , neural networks , planning , probabilistic inference , sensor networks , and robotics . The best-known achievement of
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