Internet Protocol (VoIP). In 2003, Giannoula et al. developed a data hiding technique leading to compressed forms of source video signals on a frame-by-frame basis. In 2005, Dittmann et al. studied steganography and watermarking of multimedia contents such as VoIP. In 2008, Yongfeng Huang and Shanyu Tang presented a novel approach to information hiding in low bit-rate VoIP speech stream, and their published work on steganography is the first-ever effort to improve the codebook partition by using Graph theory along with Quantization Index Modulation in low bit-rate streaming media. In 2011 and 2012, Yongfeng Huang and Shanyu Tang devised new steganographic algorithms that use codec parameters as cover object to realise real-time covert VoIP steganography. Their findings were published in IEEE Transactions on Information Forensics and Security. Cyber-physical systems/Internet of Things Academic work since 2012 demonstrated the feasibility of steganography for cyber-physical systems (CPS)/the Internet of Things (IoT). Some techniques of CPS/IoT steganography overlap with network steganography, i.e. hiding data in communication protocols used in CPS/the IoT. However, specific techniques hide data in CPS components. For instance, data can be stored in unused registers of IoT/CPS components and in the states of IoT/CPS actuators. Printed Digital steganography output may be in the form of printed documents. A message, the plaintext, may be first encrypted by traditional means, producing a ciphertext. Then, an innocuous cover text is modified in some way so as to contain the ciphertext, resulting in the stegotext. For example, the letter size, spacing, typeface, or other characteristics of a cover text can be manipulated to carry the hidden message. Only a recipient who knows the technique used can recover the message and then decrypt it. Francis Bacon developed Bacon's cipher as such a technique. The ciphertext produced by most digital steganography methods, however, is not printable. Traditional digital methods rely on perturbing noise in the channel file to hide the message, and as such, the channel file must be transmitted to the recipient with no additional noise from the transmission. Printing introduces much noise in the ciphertext, generally rendering the message unrecoverable. There are techniques that address this limitation, one notable example being ASCII Art Steganography. Although not classic steganography, some types of modern color laser printers integrate the model, serial number, and timestamps on each printout for traceability reasons using a dot-matrix code made of small, yellow dots not recognizable to the naked eye — see