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Kinematic chain
In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints. A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain. The modern use of kinematic chains includes analysis of Linkages (mechanical), compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems, and cable compliance in cable robotic and tensegrity systems. == Mobility formula == The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M = 6(N − 1), where N = n + 1 is the number of moving bodies plus the fixed body. Joints that connect bodies impose constraints. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. It is convenient to define the number of constraints c that a joint imposes in terms of the joint's freedom f, where c = 6 − f. In the case of a hinge or slider, which are one-degree-of-freedom joints, have f = 1 and therefore c = 6 − 1 = 5. The result in general where d {\displaystyle d} is the degrees of freedom for the mobility of a kinematic chain formed from n moving links and j joints each with freedom fi, i = 1, 2, …, j, is given by M = d n − ∑ i = 1 j ( d − f i ) = d ( N − 1 − j ) + ∑ i = 1 j f i {\displaystyle M=dn-\sum _{i=1}^{j}(d-f_{i})=d(N-1-j)+\sum _{i=1}^{j}f_{i}} Where N is the total number of links and includes the fixed link. Spacial linkages used d = 6 {\displaystyle d=6} and planar linkages use d = 3 {\displaystyle d=3} . This result is known as the Chebychev–Grübler–Kutzbach criterion. == Analysis of kinematic chains == The constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of the chain associated with specific values of input parameters, called degrees of freedom. The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the kinematic equations, [ T ] = [ Z 1 ] [ X 1 ] [ Z 2 ] [ X 2 ] ⋯ [ X n − 1 ] [ Z n ] , {\displaystyle [T]=[Z_{1}][X_{1}][Z_{2}][X_{2}]\cdots [X_{n-1}][Z_{n}],\!} where [T] is the transformation locating the end-link—notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of the serial chain. Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors: Its topology: a serial chain, a parallel manipulator, a tree structure, or a graph. Its geometrical form: how are neighbouring joints spatially connected to each other? Explanation Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. == Synthesis of kinematic chains == The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory. Ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the 1950s. His use of the newly developed computer to solve Freudenstein's equation became the prototype of computer-aided design systems. This work has been generalized to the synthesis of spherical and spatial mechanisms.
Direct voice input
Direct voice input (DVI), sometimes called voice input control (VIC), is a style of human–machine interaction "HMI" in which the user makes voice commands to issue instructions to the machine through speech recognition. In the field of military aviation, DVI has been introduced into the cockpits of several modern military aircraft, such as the Eurofighter Typhoon, the Lockheed Martin F-35 Lightning II, the Dassault Rafale, the KF-21 Boramae and the Saab JAS 39 Gripen. Such systems have also been used for various other purposes, including industry control systems and speech recognition assistance for impaired individuals. == Overview == DVI systems can be divided into two major categories of functionality: "user-dependent" or "user-independent". A user-dependent system requires that a personal voice template to be generated for a specific person; the template for this individual has to be loaded onto their assigned machine prior to use of the DVI system for it to function properly. In contrast, a user-independent system does not require any personal voice template, being intended to respond correctly to the voice of any user. They can also be categorised between "discrete recognition" and "continuous recognition". Users of a discrete recognition system must pause between each word so that the DVI system can identify the separations between each word, while a continuous speech recognition system is capable of understanding a normal rate of speech. During the mid-2000s, researchers at the National Aerospace Laboratory in the Netherlands examined the use of DVI in the "GRACE" simulator; a total of twelve pilots participated in the ensuing experiment. The tests performed reportedly revealed that, while the hardware itself functioned well, several improvements were desirable prior to real-world deployment on aircraft since DVI operations actually consumed more time in comparison to traditional existing methods. Recommendations for improvements included the adoption of simpler syntax, the achievement of a greater recognition rate, and a decrease in response times; all of the issues encountered were determined to be of a technological nature, and were deemed feasible to resolve. The researchers concluded that in cockpits, especially during emergencies where pilots have to operate entirely on their own, a DVI system could be highly relevant, but that it was not of crucial importance during most other conceivable scenarios. Around the same time, evaluations of DVI systems for civil aviation purposes were conducted within the framework of Project SafeSound, coordinated by the European Union. It involved the observation of pilot workloads in real-world cockpits and contrasting them against pilot activity in flight simulators using both conventional systems and DVI assistance. The project aimed to enhance aviation safety and to decrease the workload in both ground and flight operations via the application of enhanced audio functions. == Applications == === Aviation === Prior to its widespread deployment, a handful of conventional military aircraft were converted to trial DVI systems; examples include the Harrier AV-8B and F-16 VISTA. In another case, a General Dynamics F-16 Fighting Falcon simulator was modified with DVI for a voice control study that was undertaken by the Royal Netherlands Air Force. DVI trials have also been conducted on helicopters, including the Boeing AH-64 Apache, showing the potential to improve flight safety and mission effectiveness. Numerous modern fighter aircraft have been outfitted with DVI systems, often in combination with various other man-machine interface schemes, such as HOTAS-compliant controls and other advanced control technologies. The combination of Voice and HOTAS control schemes has sometimes been referred to as the "V-TAS" concept. A prominent fighter aircraft to be furnished with a V-TAS cockpit is the Eurofighter Typhoon. The Lockheed Martin F-35 Lightning II also features a DVI system, which was developed by Adacel. Other examples includes the Dassault Rafale and the Saab JAS 39 Gripen. Numerous aircraft have been planned to use DVI. At one stage, the United States Air Force had sought to integrate DVI upon the Lockheed Martin F-22 Raptor; however, the technology was eventually judged to pose too many technical risks at that point in time, and thus such efforts were abandoned. === Personal === By 1990, working prototypes of speech recognition systems were being demonstrated; these were being promoted for the purpose of providing an effective man-machine interface for individuals with impaired speech. Techniques employed included time-encoded digital speech and automatic token set selection. Investigations of these early DVI systems reportedly included the use of automatic diagnostic routines and limited-scale trials using volunteers. During the 2010s, various companies were offering voice recognition systems to the general public in the form of personal digital assistants. One example is the Google Voice service, which allows users to pose questions via a DVI package installed on either a personal computer, tablet, or mobile phone. Numerous digital assistants have been developed, such as Amazon Echo, Siri, and Cortana, that use DVI to interact with users. === Commercial === DVI technology has enabled automated telephone systems to be widely deployed. Many companies commonly use centralised phone systems that route callers to the correct department via such methods. Various car manufacturers have also furnished their road vehicles with DVI systems; these typically allow drivers to control infotainment systems and interact with mobile phones with more convenience than legacy methods. During the late 1980s, investigations into the use of DVI systems for controlling CNC machines and other manufacturing apparatus were underway. During the 2010s, such systems were being used for logistics and warehouse management purposes.
Pulse-coupled networks
Pulse-coupled networks or pulse-coupled neural networks (PCNNs) are neural models proposed by modeling a cat's visual cortex, and developed for high-performance biomimetic image processing. In 1989, Eckhorn introduced a neural model to emulate the mechanism of cat's visual cortex. The Eckhorn model provided a simple and effective tool for studying small mammal’s visual cortex, and was soon recognized as having significant application potential in image processing. In 1994, Johnson adapted the Eckhorn model to an image processing algorithm, calling this algorithm a pulse-coupled neural network. The basic property of the Eckhorn's linking-field model (LFM) is the coupling term. LFM is a modulation of the primary input by a biased offset factor driven by the linking input. These drive a threshold variable that decays from an initial high value. When the threshold drops below zero it is reset to a high value and the process starts over. This is different than the standard integrate-and-fire neural model, which accumulates the input until it passes an upper limit and effectively "shorts out" to cause the pulse. LFM uses this difference to sustain pulse bursts, something the standard model does not do on a single neuron level. It is valuable to understand, however, that a detailed analysis of the standard model must include a shunting term, due to the floating voltages level in the dendritic compartment(s), and in turn this causes an elegant multiple modulation effect that enables a true higher-order network (HON). A PCNN is a two-dimensional neural network. Each neuron in the network corresponds to one pixel in an input image, receiving its corresponding pixel's color information (e.g. intensity) as an external stimulus. Each neuron also connects with its neighboring neurons, receiving local stimuli from them. The external and local stimuli are combined in an internal activation system, which accumulates the stimuli until it exceeds a dynamic threshold, resulting in a pulse output. Through iterative computation, PCNN neurons produce temporal series of pulse outputs. The temporal series of pulse outputs contain information of input images and can be used for various image processing applications, such as image segmentation and feature generation. Compared with conventional image processing means, PCNNs have several significant merits, including robustness against noise, independence of geometric variations in input patterns, capability of bridging minor intensity variations in input patterns, etc. A simplified PCNN called a spiking cortical model was developed in 2009. == Applications == PCNNs are useful for image processing, as discussed in a book by Thomas Lindblad and Jason M. Kinser. PCNNs have been used in a variety of image processing applications, including: image segmentation, pattern recognition, feature generation, face extraction, motion detection, region growing, image denoising and image enhancement Multidimensional pulse image processing of chemical structure data using PCNN has been discussed by Kinser, et al. They have also been applied to an all pairs shortest path problem.
Kuwahara filter
The Kuwahara filter is a non-linear smoothing filter used in image processing for adaptive noise reduction. Most filters that are used for image smoothing are linear low-pass filters that effectively reduce noise but also blur out the edges. However the Kuwahara filter is able to apply smoothing on the image while preserving the edges. It is named after Michiyoshi Kuwahara, Ph.D., who worked at Kyoto and Osaka Sangyo Universities in Japan, developing early medical imaging of dynamic heart muscle in the 1970s and 80s. == The Kuwahara operator == Suppose that I ( x , y ) {\displaystyle I(x,y)} is a grey scale image and that we take a square window of size 2 a + 1 {\displaystyle 2a+1} centered around a point ( x , y ) {\displaystyle (x,y)} in the image. This square can be divided into four smaller square regions Q i = 1 ⋯ 4 {\displaystyle Q_{i=1\cdots 4}} each of which will be Q i ( x , y ) = { [ x , x + a ] × [ y , y + a ] if i = 1 [ x − a , x ] × [ y , y + a ] if i = 2 [ x − a , x ] × [ y − a , y ] if i = 3 [ x , x + a ] × [ y − a , y ] if i = 4 {\displaystyle Q_{i}(x,y)={\begin{cases}\left[x,x+a\right]\times \left[y,y+a\right]&{\mbox{ if }}i=1\\\left[x-a,x\right]\times \left[y,y+a\right]&{\mbox{ if }}i=2\\\left[x-a,x\right]\times \left[y-a,y\right]&{\mbox{ if }}i=3\\\left[x,x+a\right]\times \left[y-a,y\right]&{\mbox{ if }}i=4\\\end{cases}}} where × {\displaystyle \times } is the cartesian product. Pixels located on the borders between two regions belong to both regions so there is a slight overlap between subregions. The arithmetic mean m i ( x , y ) {\displaystyle m_{i}(x,y)} and standard deviation σ i ( x , y ) {\displaystyle \sigma _{i}(x,y)} of the four regions centered around a pixel (x,y) are calculated and used to determine the value of the central pixel. The output of the Kuwahara filter Φ ( x , y ) {\displaystyle \Phi (x,y)} for any point ( x , y ) {\displaystyle (x,y)} is then given by Φ ( x , y ) = m i ( x , y ) {\textstyle \Phi (x,y)=m_{i}(x,y)} where i = a r g min j σ j ( x , y ) {\displaystyle i=\operatorname {arg\min } _{j}\sigma _{j}(x,y)} . This means that the central pixel will take the mean value of the area that is most homogenous. The location of the pixel in relation to an edge plays a great role in determining which region will have the greater standard deviation. If for example the pixel is located on a dark side of an edge it will most probably take the mean value of the dark region. On the other hand, should the pixel be on the lighter side of an edge it will most probably take a light value. On the event that the pixel is located on the edge it will take the value of the more smooth, least textured region. The fact that the filter takes into account the homogeneity of the regions ensures that it will preserve the edges while using the mean creates the blurring effect. Similarly to the median filter, the Kuwahara filter uses a sliding window approach to access every pixel in the image. The size of the window is chosen in advance and may vary depending on the desired level of blur in the final image. Bigger windows typically result in the creation of more abstract images whereas small windows produce images that retain their detail. Typically windows are chosen to be square with sides that have an odd number of pixels for symmetry. However, there are variations of the Kuwahara filter that use rectangular windows. Additionally, the subregions do not need to overlap or have the same size as long as they cover all of the window. == Color images == For color images, the filter should not be performed by applying the filter to each RGB channel separately, and then recombining the three filtered color channels to form the filtered RGB image. The main problem with that is that the quadrants will have different standard deviations for each of the channels. For example, the upper left quadrant may have the lowest standard deviation in the red channel, but the lower right quadrant may have the lowest standard deviation in the green channel. This situation would result in the color of the central pixel to be determined by different regions, which might result in color artifacts or blurrier edges. To overcome this problem, for color images a slightly modified Kuwahara filter must be used. The image is first converted into another color space, the HSV color space. The modified filter then operates on only the "brightness" channel, the Value coordinate in the HSV model. The variance of the "brightness" of each quadrant is calculated to determine the quadrant from which the final filtered color should be taken from. The filter will produce an output for each channel which will correspond to the mean of that channel from the quadrant that had the lowest standard deviation in "brightness". This ensures that only one region will determine the RGB values of the central pixel. ImageMagick uses a similar approach, but using the Rec. 709 Luma as the brightness metric. === Julia Implementation === == Applications == Originally the Kuwahara filter was proposed for use in processing RI-angiocardiographic images of the cardiovascular system. The fact that any edges are preserved when smoothing makes it especially useful for feature extraction and segmentation and explains why it is used in medical imaging. The Kuwahara filter however also finds many applications in artistic imaging and fine-art photography due to its ability to remove textures and sharpen the edges of photographs. The level of abstraction helps create a desirable painting-like effect in artistic photographs especially in the case of the colored image version of the filter. These applications have known great success and have encouraged similar research in the field of image processing for the arts. Although the vast majority of applications have been in the field of image processing there have been cases that use modifications of the Kuwahara filter for machine learning tasks such as clustering. The Kuwahara filter has been implemented in CVIPtools. The Kuwahara filter is present as a shader node in Blender. == Drawbacks and restrictions == The Kuwahara filter despite its capabilities in edge preservation has certain drawbacks. At a first glance it is noticeable that the Kuwahara filter does not take into account the case where two regions have equal standard deviations. This is not often the case in real images since it is rather hard to find two regions with exactly the same standard deviation due to the noise that is always present. In cases where two regions have similar standard deviations the value of the center pixel could be decided at random by the noise in these regions. Again this would not be a problem if the regions had the same mean. However, it is not unusual for regions of very different means to have the same standard deviation. This makes the Kuwahara filter susceptible to noise. Different ways have been proposed for dealing with this issue, one of which is to set the value of the center pixel to ( m 1 + m 2 ) / 2 {\textstyle (m_{1}+m_{2})/2} in cases where the standard deviation of two regions do not differ more than a certain value D {\displaystyle D} . The Kuwahara filter is also known to create block artifacts in the images especially in regions of the image that are highly textured. These blocks disrupt the smoothness of the image and are considered to have a negative effect in the aesthetics of the image. This phenomenon occurs due to the division of the window into square regions. A way to overcome this effect is to take windows that are not rectangular(i.e. circular windows) and separate them into more non-rectangular regions. There have also been approaches where the filter adapts its window depending on the input image. == Extensions of the Kuwahara filter == The success of the Kuwahara filter has spurred an increase the development of edge-enhancing smoothing filters. Several variations have been proposed for similar use most of which attempt to deal with the drawbacks of the original Kuwahara filter. The "Generalized Kuwahara filter" proposed by P. Bakker considers several windows that contain a fixed pixel. Each window is then assigned an estimate and a confidence value. The value of the fixed pixel then takes the value of the estimate of the window with the highest confidence. This filter is not characterized by the same ambiguity in the presence of noise and manages to eliminate the block artifacts. The "Mean of Least Variance"(MLV) filter, proposed by M.A. Schulze also produces edge-enhancing smoothing results in images. Similarly to the Kuwahara filter it assumes a window of size 2 d − 1 × 2 d − 1 {\displaystyle 2d-1\times 2d-1} but instead of searching amongst four subregions of size d × d {\displaystyle d\times d} for the one with minimum variance it searches amongst all possible d × d {\displaystyle d\times d} subregions. This means the central pixel of the window will be assigned the mean of the one subregion out of a poss
TowIt
"TowIt" is a free, global, cross-platform mobile app, website, and Web API that allows civilians to report parking violations and dangerous driving in real-time. The mission is to remove the barriers required to make cities effectively fight and deter bad parking and dangerous driving habits. The company ultimately aims to better existing social controls in order to drive necessary behavioral change through increased education, real-time reporting, optimized enforcement, as well as the resulting reactivity. == User base and adoption == The application has users reporting vehicular infractions in upwards of 30 countries. The top reporting countries are: Portugal, Canada, United States of America and Australia. Users have adopted TowIt for a variety of reasons, usually central to their geographical location and the prominent offences in those specific areas. For instance, the majority of Portuguese reports are cars parked on sidewalks, footpaths and pedestrian crossings, Australian reports are largely focused on the abuse of disabled parking spaces, and in Toronto or San Francisco users generally capture cars parked in bicycle lanes. == Functions == === Data collection === TowIt gathers data on individual parking offences, the prominence of various offence types, as well as recurring offenders. This allows the company to identify trends and hotspots in order to take action against problem vehicles, as well as to help improve urban planning, traffic congestion and gridlock management. Individuals modify or improve an aspect of their behavior in response to their awareness of being observed, theoretically more so when demonstrating selfishness, egocentrism, narcissism and anti-social behavior. The company states that by becoming a user, one can "help TowIt relieve congestion, reduce collisions, open up economies, improve the environment and enhance the lives of urban residents and suburban commuters alike". The company has acknowledged that there are numerous legislative changes that would be required to integrate with governments at any level in many countries. A simple three-step process allows users to take a photo of an offending vehicle and subsequently verifying the offending vehicle's license plate information before submitting by tapping the TowIt (submit) button. Photographical evidence can only be captured with the camera from within the TowIt application. An Internet connection is required. The company has stated that this was purposefully done for quality control and report validation purposes. Users may only submit and view their own report history on either the iOS or Android applications. Globally submitted reports are displayed uncensored and in aggregate only on the Android application and the TowIt website. The "Global Feed" feature was removed from iOS (see iTunes Connect Acceptance Issues). TowIt's back-end automatically geotags the report and compares it to local parking by-law data, including by-law types, locations, times, side(s) of street, etc.- where available. Valid reports are posted to the global feed, to the TowIt website, and passed on to municipalities and police for enforcement (where connected). === Technologies used under license === TowIt currently utilizes the following software or software libraries under license: AngularJS, Apache Cordova, Apple iTunes Store EULA, Chart.js, Google Play Distribution Agreement, Ionic Framework, MongoDB, Moment.js, Python 2.7, Python Flask, and jQuery. == Company history == The TowIt application was conceived by Michael Duncan McArthur on December 5, 2014, as a response to Toronto Mayor John Tory's election mandate to "get this city moving". The application was announced via TowIt's official Twitter page on January 6, 2015. After the initial public announcement, Michael & Gregory were contacted by members of John Tory's staff on January 8, 2015, and invited to demo a prototype at Toronto City Hall on January 12, 2015. The two were also invited to meet with Toronto Councillor Norm Kelly, in his City Hall office, for a subsequent demo of the live Android application on January 28, 2015. A similar meeting and demo took place with members of the Traffic Services department of Toronto Police Service on February 2, 2015. Michael & Gregory teamed up with friends and Toronto-based developers Dae-Seon Moon, Jesse Malone, and Marcus Veres to complete the prototype in time to meet the city's imposed demo deadline and to launch the initial Android version of the application. TowIt officially launched on the Android platform on January 16, 2015. A subsequent iOS launch took place on March 19, 2015. === iTunes connect acceptance issues === The iOS version of the application was delayed for approximately two months, only after significant deliberation with Apple's iTunes Connect review board around (as then stated) rule: "14.1 - Any App that is defamatory, offensive, mean-spirited, or likely to place the targeted individual or group in harm's way will be rejected." The result was having to remove the "Global Feed" feature from the iOS platform, in which civilian users could view all recent reports from within the application. This feature still exists on the Android platform. === Business and legal === TowIt engaged Wildeboer Dellelce, one of Canada's leading business law and transactional corporate finance law firms, on January 17, 2015. The company filed for incorporation as "TowIt Solutions Inc." by both Michael & Gregory in the Canadian province of Ontario on January 22, 2015. TowIt continues to operate under a Freemium business model. The company is 100% bootstrapped and has received no outside investment to date. TowIt was accepted into the MaRS Discovery District's Venture Services program on March 4, 2015. === Lobbyist registration === After receiving initial press coverage in January and February 2015, an unknown entity reported Michael & Gregory's initial communications with city staff to the City of Toronto's Lobbyist Registrar. This complaint resulted in legal threats of fines received on February 10, 2015, for apparently and unknowingly breaking municipal lobbying by-laws. These fines (of up to $100,000) were eventually withdrawn after Michael & Gregory immediately provided all records of communication with city officials and registered as lobbyists in the City of Toronto on the subjects of By-law / Regulation, Parking, and Technology. Their registration was accepted by the Lobbyist Registrar on March 6, 2015. However, communication with Toronto city staff was reduced greatly as a result, which the company believes may have been the desired intent of the original complaint. === Outreach and activism === TowIt encourages its global user base to reach out to their local government representatives to promote the app at the users' own will. This tactic is used not only to demonstrate grassroots support, but also to avoid future lobbying issues. On June 2, 2015, the company officially partnered with Australian campaign "No Permit No Park" who advocate for the creation of inclusive communities. == Reception == The Best Planning Apps for 2016 by Planetizen, 5 Toronto apps you should be using by Indie88, 12 Best Apps Made In Canada by TechVibes.
AdBlock
AdBlock is an ad-blocking browser extension for Google Chrome, Apple Safari (desktop and mobile), Firefox, Samsung Internet, Microsoft Edge and Opera. AdBlock allows users to prevent page elements, such as advertisements, from being displayed. It is free to download and use, and it includes optional donations to the developers. The AdBlock extension was created on December 8, 2009, which is the day that supports for extensions was added to Google Chrome. It was one of the first Google Chrome extensions that was made. Since 2016, AdBlock has been based on the Adblock Plus source code. In July 2018, AdBlock acquired uBlock, a commercial ad-blocker owned by uBlock LLC and based on uBlock Origin. In April 2021, eyeo GmbH (developer of Adblock Plus) announced its purchase of AdBlock, Inc (formerly BetaFish, Inc). == Crowdfunding == Gundlach launched a crowdfunding campaign on Crowdtilt in August 2013 in order to fund an ad campaign to raise awareness of ad-blocking and to rent a billboard at Times Square. After the one-month campaign, it raised $55,000. == Sales and acceptable ads == AdBlock was sold to an anonymous buyer in 2015 and on October 15, 2015, Gundlach's name was taken down from the site. In the terms of the deal, the original developer Michael Gundlach left operations to Adblock's continuing director, Gabriel Cubbage, and as of October 2, 2015, AdBlock began participating in the Acceptable Ads program. Acceptable Ads identifies "non-annoying" ads, which AdBlock shows by default. The intent is to allow non-invasive advertising, to either maintain support for websites that rely on advertising as a main source of revenue or for websites that have an agreement with the program. == Filters == AdBlock uses EasyList, the same filter syntax as Adblock Plus for Firefox, and natively supports the use of a number of filter lists. == Partnership with Amnesty International == On March 12, 2016, in support of World Day Against Cyber Censorship, and in partnership with Amnesty International, instead of blocking ads, AdBlock replaced ads with banners linked to articles on Amnesty's website, written by prominent free speech advocates such as Edward Snowden, to raise awareness of government-imposed online censorship and digital privacy issues around the world. The campaign was met with both praise and criticism, with AdBlock's CEO, Gabriel Cubbage, defending the decision in an essay on AdBlock's website, saying "We’re showing you Amnesty banners, just for today, because we believe users should be part of the conversation about online privacy. Tomorrow, those spaces will be vacant again. But take a moment to consider that in an increasingly information-driven world, when your right to digital privacy is threatened, so is your right to free expression." Meanwhile, Simon Sharwood of The Register characterized Cubbage's position as "'You should control your computer except when we feel political', says AdBlock CEO". == AdBlock for Firefox == On September 13, 2014, the AdBlock team released a version for Firefox users, ported from the code for Google Chrome, released under the same free software license as the original Adblock. The extension was removed on April 2, 2015, by an administrator on Mozilla Add-ons. On December 7, 2015, the official AdBlock site's knowledge base article stated that with version 44 or higher of Firefox desktop and Firefox Mobile, AdBlock will not be supported. The last version of Adblock for those platforms will work on older versions of Firefox. AdBlock was released again on Mozilla Add-ons on November 17, 2016. On April 1, 2012, Adblock developer Michael Gundlach tweaked the code to display LOLcats instead of simply blocking ads. Initially developed as a short-lived April Fools joke, the response was so positive that CatBlock was continued to be offered as an optional add-on supported by a monthly subscription. On October 23, 2014, the developer decided to end official support for CatBlock, and made it open-source, under GPLv3 licensing, as the original extension.