HDTV technology was introduced in the United States in the 1990s through collaboration between television companies and MIT. The first public HDTV broadcast occurred in July 1996 from a station in Raleigh, North Carolina. HDTV systems are identified by parameters like frame size, scanning system, and frame rate. Components of a typical HDTV system include an HDTV monitor, HD receiver, satellite dish, and cables. Popular platforms like YouTube and sports websites now offer video in high definition formats. The costs of HDTV displays have decreased over time but high definition content remains more expensive than standard definition.