There are many programs and algorithms used to plot the Mandelbrot set and other fractals, some of which are described in fractal-generating software. These programs use a variety of algorithms to determine the color of individual pixels efficiently. == Escape time algorithm == The simplest algorithm for generating a representation of the Mandelbrot set is known as the "escape time" algorithm. A repeating calculation is performed for each x, y point in the plot area and based on the behavior of that calculation, a color is chosen for that pixel. === Unoptimized naïve escape time algorithm === In both the unoptimized and optimized escape time algorithms, the x and y locations of each point are used as starting values in a repeating, or iterating calculation (described in detail below). The result of each iteration is used as the starting values for the next. The values are checked during each iteration to see whether they have reached a critical "escape" condition, or "bailout". If that condition is reached, the calculation is stopped, the pixel is drawn, and the next x, y point is examined. For some starting values, escape occurs quickly, after only a small number of iterations. For starting values very close to but not in the set, it may take hundreds or thousands of iterations to escape. For values within the Mandelbrot set, escape will never occur. The programmer or user must choose how many iterations–or how much "depth"–they wish to examine. The higher the maximal number of iterations, the more detail and subtlety emerge in the final image, but the longer time it will take to calculate the fractal image. Escape conditions can be simple or complex. Because no complex number with a real or imaginary part greater than 2 can be part of the set, a common bailout is to escape when either coefficient exceeds 2. A more computationally complex method that detects escapes sooner, is to compute distance from the origin using the Pythagorean theorem, i.e., to determine the absolute value, or modulus, of the complex number. If this value exceeds 2, or equivalently, when the sum of the squares of the real and imaginary parts exceed 4, the point has reached escape. More computationally intensive rendering variations include the Buddhabrot method, which finds escaping points and plots their iterated coordinates. The color of each point represents how quickly the values reached the escape point. Often black is used to show values that fail to escape before the iteration limit, and gradually brighter colors are used for points that escape. This gives a visual representation of how many cycles were required before reaching the escape condition. To render such an image, the region of the complex plane we are considering is subdivided into a certain number of pixels. To color any such pixel, let c {\displaystyle c} be the midpoint of that pixel. We now iterate the critical point 0 under P c {\displaystyle P_{c}} , checking at each step whether the orbit point has modulus larger than 2. When this is the case, we know that c {\displaystyle c} does not belong to the Mandelbrot set, and we color our pixel according to the number of iterations used to find out. Otherwise, we keep iterating up to a fixed number of steps, after which we decide that our parameter is "probably" in the Mandelbrot set, or at least very close to it, and color the pixel black. In pseudocode, this algorithm would look as follows. The algorithm does not use complex numbers and manually simulates complex-number operations using two real numbers, for those who do not have a complex data type. The program may be simplified if the programming language includes complex-data-type operations. for each pixel (Px, Py) on the screen do x0 := scaled x coordinate of pixel (scaled to lie in the Mandelbrot X scale (-2.00, 0.47)) y0 := scaled y coordinate of pixel (scaled to lie in the Mandelbrot Y scale (-1.12, 1.12)) x := 0.0 y := 0.0 iteration := 0 max_iteration := 1000 while (xx + yy ≤ 22 AND iteration < max_iteration) do xtemp := xx - yy + x0 y := 2xy + y0 x := xtemp iteration := iteration + 1 color := palette[iteration] plot(Px, Py, color) Here, relating the pseudocode to c {\displaystyle c} , z {\displaystyle z} and P c {\displaystyle P_{c}} : z = x + i y {\displaystyle z=x+iy\ } z 2 = x 2 + 2 i x y {\displaystyle z^{2}=x^{2}+2ixy} - y 2 {\displaystyle y^{2}\ } c = x 0 + i y 0 {\displaystyle c=x_{0}+iy_{0}\ } and so, as can be seen in the pseudocode in the computation of x and y: x = R e ( z 2 + c ) = x 2 − y 2 + x 0 {\displaystyle x=\mathop {\mathrm {Re} } (z^{2}+c)=x^{2}-y^{2}+x_{0}} and y = I m ( z 2 + c ) = 2 x y + y 0 . {\displaystyle y=\mathop {\mathrm {Im} } (z^{2}+c)=2xy+y_{0}.\ } To get colorful images of the set, the assignment of a color to each value of the number of executed iterations can be made using one of a variety of functions (linear, exponential, etc.). One practical way, without slowing down calculations, is to use the number of executed iterations as an entry to a palette initialized at startup. If the color table has, for instance, 500 entries, then the color selection is n mod 500, where n is the number of iterations. === Optimized escape time algorithms === The code in the previous section uses an unoptimized inner while loop for clarity. In the unoptimized version, one must perform five multiplications per iteration. To reduce the number of multiplications the following code for the inner while loop may be used instead: x2:= 0 y2:= 0 w:= 0 while (x2 + y2 ≤ 4 and iteration < max_iteration) do x:= x2 - y2 + x0 y:= w - x2 - y2 + y0 x2:= x x y2:= y y w:= (x + y) (x + y) iteration:= iteration + 1 The above code works via some algebraic simplification of the complex multiplication: ( i y + x ) 2 = − y 2 + 2 i y x + x 2 = x 2 − y 2 + 2 i y x {\displaystyle {\begin{aligned}(iy+x)^{2}&=-y^{2}+2iyx+x^{2}\\&=x^{2}-y^{2}+2iyx\end{aligned}}} Using the above identity, the number of multiplications can be reduced to three instead of five. The above inner while loop can be further optimized by expanding w to w = x 2 + 2 x y + y 2 {\displaystyle w=x^{2}+2xy+y^{2}} Substituting w into y = w − x 2 − y 2 + y 0 {\displaystyle y=w-x^{2}-y^{2}+y_{0}} yields y = 2 x y + y 0 {\displaystyle y=2xy+y_{0}} and hence calculating w is no longer needed. The further optimized pseudocode for the above is: x:= 0 y:= 0 x2:= 0 y2:= 0 while (x2 + y2 ≤ 4 and iteration < max_iteration) do x2:= x x y2:= y y y:= 2 x y + y0 x:= x2 - y2 + x0 iteration:= iteration + 1 Note that in the above pseudocode, 2 x y {\displaystyle 2xy} seems to increase the number of multiplications by 1, but since 2 is the multiplier the code can be optimized via ( x + x ) y {\displaystyle (x+x)y} . == Coloring algorithms == In addition to plotting the set, a variety of algorithms have been developed to efficiently color the set in an aesthetically pleasing way show structures of the data (scientific visualisation) === Histogram coloring === A more complex coloring method involves using a histogram which pairs each pixel with said pixel's maximum iteration count before escape/bailout. This method will equally distribute colors to the same overall area, and, importantly, is independent of the maximum number of iterations chosen. This algorithm has four passes. The first pass involves calculating the iteration counts associated with each pixel (but without any pixels being plotted). These are stored in an array IterationCounts[x][y], where x and y are the x and y coordinates of said pixel on the screen respectively. The first step of the second pass is to create an array NumIterationsPerPixel[n], where the array size n is the maximum iteration count. Next, one must iterate over the array of pixel-iteration count pairs IterationCounts[x][y], and retrieve each pixel's saved iteration count, i, via e.g. i = IterationCounts[x][y]. After each pixel's iteration count i is retrieved, it is necessary to index the NumIterationsPerPixel array at i and increment the indexed value (which is initially zero) -- e.g. NumIterationsPerPixel[i] = NumIterationsPerPixel[i] + 1. for (x = 0; x < width; x++) do for (y = 0; y < height; y++) do i:= IterationCounts[x][y] NumIterationsPerPixel[i]++ The third pass iterates through the NumIterationsPerPixel array and adds up all the stored values, saving them in total. The array index represents the number of pixels that reached that iteration count before bailout. total: = 0 for (i = 0; i < max_iterations; i++) do total += NumIterationsPerPixel[i] After this, the fourth pass begins and all the values in the IterationCounts array are indexed, and, for each iteration count i, associated with each pixel, the count is added to a global sum of all the iteration counts from 1 to i in the NumIterationsPerPixel array . This value is then normalized by dividing the sum by the total value computed earlier. hue[][]:= 0.0 for (x = 0; x < width; x++) do for (y = 0; y < height; y++) do iteration:= Iteration
Cryptographic module
A cryptographic module is a component of a computer system that securely implements cryptographic algorithms, typically with some element of tamper resistance. NIST defines a cryptographic module as "The set of hardware, software, and/or firmware that implements security functions (including cryptographic algorithms), holds plaintext keys and uses them for performing cryptographic operations, and is contained within a cryptographic module boundary." Hardware security modules, including secure cryptoprocessors, are one way of implementing cryptographic modules. Standards for cryptographic modules include FIPS 140-3 and ISO/IEC 19790.
Akoma Ntoso
Akoma Ntoso (Architecture for Knowledge-Oriented Management of African Normative Texts using Open Standards and Ontologies, AKN) is an international technical standard for representing legal documents (executive, legislative, and judiciary) in a structured manner using a domain specific, legal XML vocabulary. The term akoma ntoso means "linked hearts" in the Akan language of West Africa. Akoma Ntoso is a legal document standard designed to serve as a basis for modern machine-readable and fully digital legislative and judicial processes. This is achieved by providing a coherent syntax and well-defined semantics to represent legal documents in a digital format. It is designed to be suitable as a common exchange format in all parliamentary, legal and judicial systems around the world. Taking advantage of the shared heritage present in all legal systems, Akoma Ntoso has been developed to have ample flexibility to respond to all the differences in texts, languages, and legal practices. Aiming to expand on certain common practices, the standard therefore has a broad scope. It includes a common extensible model for data (the document content) and metadata (such as bibliographic information and annotations). Specifically, as a common legal document standard for the interchange of legal documents it is designed to be highly flexible in its support of documents and functionalities, maintaining a large set of both structural and semantic building blocks (over 500 entities in version 3.0) for representing this wide variety of document types of virtually all legal traditions. It is extensible in order to allow for modifications to address the individual criteria of organizations or unique aspects of various legal practices and languages without sacrificing interoperability with other systems. Akoma Ntoso is as such part of a wider approach to developing open, non-proprietary technical standards for structuring legal documents and information under the name of Legal XML, which also includes formats and standards for, e.g., eContracts, eNotarization, electronic court filings, the technical representation of legal norms and rules (LegalRuleML) or technical standards for the interfaces of, e.g., litigant portal exchange platforms. Akoma Ntoso allows machine-driven processes to operate on the syntactic and semantic components of digital parliamentary, judicial and legislative documents, thus facilitating the development of high-quality information resources. It can substantially enhance the performance, accountability, quality and openness of parliamentary and legislative operations based on best practices and guidance through machine-assisted drafting and machine-assisted (legal) analysis. Embedded in the environment of the semantic web, it forms the basis for a heterogenous yet interoperable ecosystem, with which these tools can operate and communicate, as well as for future applications and use cases based on digital law or rule representation. == Definition == The Akoma Ntoso standard defines a set of machine readable electronic representations in XML format of the building blocks of parliamentary, legislative and judiciary documents. As official self-description, the standard (...) defines a set of simple, technology-neutral electronic representations of parliamentary, legislative and judiciary documents for e-services in a worldwide context and provides an enabling framework for the effective exchange of "machine readable" parliamentary, legislative and judiciary documents such as legislation, debate record, minutes, judgements, etc. Providing access to primary legal materials, parliamentary works and judiciaries documents is not just a matter of giving physical or on-line access to them. "Open access" requires the information to be described and classified in a uniform and organized way so that content is structured into meaningful elements that can be read and understood by software applications, so that the content is made "machine readable" and more sophisticated applications than on-screen display are made possible. The standard is composed of: an XML vocabulary that defines the mapping between the structure of legal documents and their equivalent in XML; specifications of an XML schema that defines the structure of legal documents in XML. They provide rich possibilities of description for several types of parliamentary, legislative and judiciary document, such as bills, acts and parliamentary records, judgments, or gazettes; a recommended naming convention for providing unique identifiers to legal sources based on FRBR model; a MIME type definition. == History and adoption == Akoma Ntoso started as an UNDESA project in 2004 within the initiative "Strengthening Parliaments' Information Systems in Africa". Its core vocabulary was created mostly by Monica Palmirani and Fabio Vitali, two professors from the Centre for Research in the History, Philosophy, and Sociology of Law and in Computer Science and Law (CIRSFID) of the University of Bologna. A first legislative text editor supporting Akoma Ntoso was developed in 2007 on the base of OpenOffice. In 2010 European Parliament developed an open source web-based application called AT4AM based on Akoma Ntoso for facilitating the production and the management of legislative amendments. Thanks to this project, the application of Akoma Ntoso could be extended to new type of documents (e.g. legislative proposal, transcript) and to other scenarios (e.g., multilingual translation process). Akoma Ntoso also was explicitly designed to be compliant with CEN Metalex, one of the other popular legal standards, which is used in the legislation.gov.uk. In 2012, the Akoma Ntoso specifications became the main working base for the activities of the LegalDocML Technical Committee within the LegalXML member section of OASIS. The "United States Legislative Markup" (USLM) schema for the United States Code (the US codified laws), developed in 2013, and the LexML Brasil XML schema for Brazilian legislative and judiciary documents, developed before, in 2008, were both designed to be consistent with Akoma Ntoso. The United States Library of Congress created the Markup of US Legislation in Akoma Ntoso challenge in July 2013 to create representations of selected US bills using the most recent Akoma Ntoso standard within a couple months for a $5000 prize, and the Legislative XML Data Mapping challenge in September 2013 to produce a data map for US bill XML and UK bill XML to the most recent Akoma Ntoso schema within a couple months for a $10000 prize. The National Archives of UK converted all the legislation in AKN in 2014. The availability of bulk legislation "moved the UK's ranking from fourth to first, in the 2014 Global Open Data Index, for legislation". The Senate of Italian Republic provides, since July 2016, all the bills in Akoma Ntoso as bulk in open data repository. The German Federal Ministry of the Interior started the project Elektronische Gesetzgebung ("Electronic Legislation") in 2015/2016 and published Version 1.0 of the German application profile "LegalDocML.de" in March 2020. The projects aim is to digitalize the entire legislative lifecycle from drafting to publication. Germany decided to adopt a model-driven development approach to creating and providing a subschema-based application profile in order to ensure interoperability among organizationally independent actors, each with their respective IT landscapes and tools. In this initial version LegalDocML.de covers draft bills in the form of laws, regulations and general administrative directives. As part of an ongoing development process, the standard could incrementally be expanded in future stages to include all relevant document types of parliamentary, legislative and promulgation processes and tools. The High-Level Committee on Management (HLCM), part of the United Nations System Chief Executives Board for Coordination, set up a Working Group on Document Standards that approved in April 2017 to adopt Akoma Ntoso as standard for modeling its documentation. Akoma Ntoso in its version 1.0 is finally adopted as OASIS standard in the frame of LegalDocML in August 2018.
European Conference on Artificial Intelligence
The European Conference on Artificial Intelligence (ECAI) is the leading conference in the field of Artificial Intelligence in Europe, and is commonly listed together with IJCAI and AAAI as one of the three major general AI conferences worldwide. The conference series has been held without interruption since 1974, originally under the name AISB. The conference was originally held biennially, but has been organized annually since ECAI 2022. The conferences are held under the auspices of the European Coordinating Committee for Artificial Intelligence (ECCAI) and organized by one of the member societies. The journal AI Communications, sponsored by the same society, regularly publishes special issues in which conference attendees report on the conference. Publication of a paper in ECAI is considered by some journals to be archival: the paper should be considered equivalent to a journal publication and that the contents of ECAI papers cannot be reformulated as separate journal submissions unless a significant amount of new material is added. == List of ECAI conferences == ECAI-1992 took place in Vienna, Austria. ECAI-1996 took place in Budapest, Hungary. ECAI-1998 tool place in Brighton, United Kingdom. ECAI-2000 took place in Berlin, Germany. ECAI-2004 took place in Valencia, Spain. ECAI-2006 took place in Riva del Garda, Italy. ECAI-2008 took place in Patras, Greece. ECAI-2010 took place in Lisbon, Portugal. ECAI-2012 took place in Montpellier, France. ECAI-2014 took place in Prague, Czech Republic. ECAI-2016 took place in The Hague, Netherlands. ECAI-2018 took place in Stockholm, Sweden. ECAI-2020 took place in Santiago de Compostela, Spain. ECAI-2022 took place in Vienna, Austria. ECAI-2023 took place in Kraków, Poland. ECAI-2024 took place in Santiago de Compostela, Spain. ECAI-2025 took place in Bologna, Italy.
Use of artificial intelligence by the United States Department of Defense
The United States Department of Defense has been analyzing and employing military applications of artificial intelligence since at least 2014. The program initially focused on drones and other robots, but has also been using large language models for military research and analysis. The current US policy on lethal autonomous weapons is Department of Defense Directive 3000.09, updated in January 2023. == Background == The United States Department of Defense began developing lethal autonomous weapons as early as the Reagan administration. An early version of the Tomahawk missile could have been used to destroy Soviet ships without direct human control; the initiative was abandoned after the United States and the Soviet Union signed START I. By 2014, the United Kingdom, Israel, and Norway had already begun using missiles equipped with artificial intelligence systems. The Department of Defense established a policy on the use of artificial intelligence in 2012. == History == === 2016–2017: Carter secretaryship === In May 2016, secretary of defense Ash Carter stated that his Third Offset strategy would include utilizing artificial intelligence as a military advantage. The New York Times reported that year that the Department of Defense had tested an autonomous drone at an approximation of a Middle Eastern village at Camp Edwards. Deputy secretary of defense Robert O. Work, who advocated for developing artificial intelligence, told the Times that the United States needed to compete with China and Russia by having a tactical advantage they could not easily replicate. The initiative was developed by DARPA beginning in 2015. The use of artificial intelligence in the U.S. military was controversial within the department; in February, Paul Scharre, who worked for the Office of the Secretary of Defense in the secretaryships of Robert Gates and Leon Panetta, published a report about the risks of artificial intelligence for broad military applications. === 2017–2019: Mattis secretaryship === By 2017, the United States Air Force had already begun using artificial intelligence in military robots. The Air Force's use of Neurala, an artificial intelligence company, concerned officials in the Department of Defense after an investigation found that Neurala had accepted money from an investment firm with funding from a state-run Chinese company. The Department of Defense began heavily investing in artificial intelligence after Work established Project Maven, an initiative to encourage the development and integration of artificial intelligence in the military, in April 2017. In May 2018, secretary of defense Jim Mattis privately expressed to president Donald Trump that he needed to establish a national strategy on artificial intelligence, quoting an article from former secretary of state Henry Kissinger that called for a presidential commission on the technology. The Department of Defense established the Joint Artificial Intelligence Center the following month. Google began working with the Department of Defense on analyzing drone footage as early as March. Google's involvement in the initiative led to protests from employees and mass resignations. Seeking to quell internal unrest, Google stated it would not renew its contract with the Department of Defense in June. The Department of Defense announced an artificial intelligence contract with Microsoft in October. === 2025–present: Hegseth secretaryship === In December 2025, secretary of defense Pete Hegseth announced GenAI.mil, an artificial intelligence platform for the Department of Defense. In a video announcing the platform, Hegseth stated that Department of Defense workers would be able to "conduct deep research, format documents and even analyze video or imagery." The Department of Defense contracted first Gemini by Google, then ChatGPT by OpenAI, and finally Grok by xAI for the platform. Claude by Anthropic was also contracted by the Department of Defense and was in use on secure servers until it was revealed that Claude had been used in the 2026 operation to capture Nicolás Maduro, who was at the time the leader of Venezuela. This revelation sparked a high-profile dispute over Anthropic's ability to constrain Claude's useage, resulting in the termination of Anthropic's $200 million defense contract. The Department of Defense also moved to label Anthropic a supply chain risk, which was later blocked by a federal judge.
Vx-underground
vx-underground, also known as VXUG, is an educational website about malware and cybersecurity. It claims to have the largest online repository of malware. The site was launched in May, 2019 and has grown to host over 35 million pieces of malware samples. On their account on Twitter, VXUG reports on and verifies cybersecurity breaches. == Reception == Kim Crawley compared the site to VirusTotal and states that vx-underground is more susceptible to suspicion for law enforcement. == Data breach reports == In May 2024, the International Baccalaureate organizations faced allegations over supposed breaches in their IT infrastructure after an incident of examination leaks. Upon inspecting leaked data, VXUG were the first to report that the breach seemed legitimate on the morning of May 6.
Fuzzy control system
A fuzzy control system is a control system based on fuzzy logic – a mathematical system that analyzes analog input values in terms of logical variables that take on continuous values between 0 and 1, in contrast to classical or digital logic, which operates on discrete values of either 1 or 0 (true or false, respectively). Fuzzy logic is widely used in machine control. The term "fuzzy" refers to the fact that the logic involved can deal with concepts that cannot be expressed as the "true" or "false" but rather as "partially true". Although alternative approaches such as genetic algorithms and neural networks can perform just as well as fuzzy logic in many cases, fuzzy logic has the advantage that the solution to the problem can be cast in terms that human operators can understand, such that that their experience can be used in the design of the controller. This makes it easier to mechanize tasks that are already successfully performed by humans. == History and applications == Fuzzy logic was proposed by Lotfi A. Zadeh of the University of California at Berkeley in a 1965 paper. He elaborated on his ideas in a 1973 paper that introduced the concept of "linguistic variables", which in this article equates to a variable defined as a fuzzy set. Other research followed, with the first industrial application, a cement kiln built in Denmark, coming on line in 1976. Fuzzy systems were initially implemented in Japan. Interest in fuzzy systems was sparked by Seiji Yasunobu and Soji Miyamoto of Hitachi, who in 1985 provided simulations that demonstrated the feasibility of fuzzy control systems for the Sendai Subway. Their ideas were adopted, and fuzzy systems were used to control accelerating, braking, and stopping when the Namboku Line opened in 1987. In 1987, Takeshi Yamakawa demonstrated the use of fuzzy control, through a set of simple dedicated fuzzy logic chips, in an "inverted pendulum" experiment. This is a classic control problem, in which a vehicle tries to keep a pole mounted on its top by a hinge upright by moving back and forth. Yamakawa subsequently made the demonstration more sophisticated by mounting a wine glass containing water and even a live mouse to the top of the pendulum: the system maintained stability in both cases. Yamakawa eventually went on to organize his own fuzzy-systems research lab to help exploit his patents in the field. Japanese engineers subsequently developed a wide range of fuzzy systems for both industrial and consumer applications. In 1988 Japan established the Laboratory for International Fuzzy Engineering (LIFE), a cooperative arrangement between 48 companies to pursue fuzzy research. The automotive company Volkswagen was the only foreign corporate member of LIFE, dispatching a researcher for a duration of three years. Japanese consumer goods often incorporate fuzzy systems. Matsushita vacuum cleaners use microcontrollers running fuzzy algorithms to interrogate dust sensors and adjust suction power accordingly. Hitachi washing machines use fuzzy controllers to load-weight, fabric-mix, and dirt sensors and automatically set the wash cycle for the best use of power, water, and detergent. Canon developed an autofocusing camera that uses a charge-coupled device (CCD) to measure the clarity of the image in six regions of its field of view and use the information provided to determine if the image is in focus. It also tracks the rate of change of lens movement during focusing, and controls its speed to prevent overshoot. The camera's fuzzy control system uses 12 inputs: 6 to obtain the current clarity data provided by the CCD and 6 to measure the rate of change of lens movement. The output is the position of the lens. The fuzzy control system uses 13 rules and requires 1.1 kilobytes of memory. An industrial air conditioner designed by Mitsubishi uses 25 heating rules and 25 cooling rules. A temperature sensor provides input, with control outputs fed to an inverter, a compressor valve, and a fan motor. Compared to the previous design, the fuzzy controller heats and cools five times faster, reduces power consumption by 24%, increases temperature stability by a factor of two, and uses fewer sensors. Other applications investigated or implemented include: character and handwriting recognition; optical fuzzy systems; robots, including one for making Japanese flower arrangements; voice-controlled robot helicopters (hovering is a "balancing act" rather similar to the inverted pendulum problem); rehabilitation robotics to provide patient-specific solutions (e.g. to control heart rate and blood pressure ); control of flow of powders in film manufacture; elevator systems; and so on. Work on fuzzy systems is also proceeding in North America and Europe, although on a less extensive scale than in Japan. The US Environmental Protection Agency has investigated fuzzy control for energy-efficient motors, and NASA has studied fuzzy control for automated space docking: simulations show that a fuzzy control system can greatly reduce fuel consumption. Firms such as Boeing, General Motors, Allen-Bradley, Chrysler, Eaton, and Whirlpool have worked on fuzzy logic for use in low-power refrigerators, improved automotive transmissions, and energy-efficient electric motors. In 1995 Maytag introduced an "intelligent" dishwasher based on a fuzzy controller and a "one-stop sensing module" that combines a thermistor, for temperature measurement; a conductivity sensor, to measure detergent level from the ions present in the wash; a turbidity sensor that measures scattered and transmitted light to measure the soiling of the wash; and a magnetostrictive sensor to read spin rate. The system determines the optimum wash cycle for any load to obtain the best results with the least amount of energy, detergent, and water. It even adjusts for dried-on foods by tracking the last time the door was opened, and estimates the number of dishes by the number of times the door was opened. Xiera Technologies Inc. has developed the first auto-tuner for the fuzzy logic controller's knowledge base known as edeX. This technology was tested by Mohawk College and was able to solve non-linear 2x2 and 3x3 multi-input multi-output problems. Research and development is also continuing on fuzzy applications in software, as opposed to firmware, design, including fuzzy expert systems and integration of fuzzy logic with neural-network and so-called adaptive "genetic" software systems, with the ultimate goal of building "self-learning" fuzzy-control systems. These systems can be employed to control complex, nonlinear dynamic plants, for example, human body. == Fuzzy sets == The input variables in a fuzzy control system are in general mapped by sets of membership functions similar to this, known as "fuzzy sets". The process of converting a crisp input value to a fuzzy value is called "fuzzification". The fuzzy logic based approach had been considered by designing two fuzzy systems, one for error heading angle and the other for velocity control. A control system may also have various types of switch, or "ON-OFF", inputs along with its analog inputs, and such switch inputs of course will always have a truth value equal to either 1 or 0, but the scheme can deal with them as simplified fuzzy functions that happen to be either one value or another. Given "mappings" of input variables into membership functions and truth values, the microcontroller then makes decisions for what action to take, based on a set of "rules", each of the form: IF brake temperature IS warm AND speed IS not very fast THEN brake pressure IS slightly decreased. In this example, the two input variables are "brake temperature" and "speed" that have values defined as fuzzy sets. The output variable, "brake pressure" is also defined by a fuzzy set that can have values like "static" or "slightly increased" or "slightly decreased" etc. === Fuzzy control in detail === Fuzzy controllers are very simple conceptually. They consist of an input stage, a processing stage, and an output stage. The input stage maps sensor or other inputs, such as switches, thumbwheels, and so on, to the appropriate membership functions and truth values. The processing stage invokes each appropriate rule and generates a result for each, then combines the results of the rules. Finally, the output stage converts the combined result back into a specific control output value. The most common shape of membership functions is triangular, although trapezoidal and bell curves are also used, but the shape is generally less important than the number of curves and their placement. From three to seven curves are generally appropriate to cover the required range of an input value, or the "universe of discourse" in fuzzy jargon. As discussed earlier, the processing stage is based on a collection of logic rules in the form of IF-THEN statements, where the IF part is called the "antecedent" and the THEN part is called the "consequent". Typical fuzzy