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At least 523 records · Page 29

Estimating Distances To Objects From Motion In Images

In developmental method of estimating distances between moving platform and nearby stationary objects, positions of objects relative to moving platform deduced from apparent motions of those objects in images generated by video camera affixed to platform. Estimates enhanced by use of extended Kalman filter. Developed for use in controlling military helicopters in low-altitude evasive maneuvers, also potentially applicable in robotics and in autonomous navigation of vehicles in general.

Sridhar, B.↗

Reengineering legacy software to object-oriented systems

NASA has a legacy of complex software systems that are becoming increasingly expensive to maintain. Reengineering is one approach to modemizing these systems. Object-oriented technology, other modem software engineering principles, and automated tools can be used to reengineer the systems and will help to keep maintenance costs of the modemized systems down. The Software Technology Branch at the NASA/Johnson Space Center has been developing and testing reengineering methods and tools for several years. The Software Technology Branch is currently providing training and consulting support to several large reengineering projects at JSC, including the Reusable Objects Software Environment (ROSE) project, which is reengineering the flight analysis and design system (over 2 million lines of FORTRAN code) into object-oriented C++. Many important lessons have been learned during the past years; one of these is that the design must never be allowed to diverge from the code during maintenance and enhancement. Future work on open, integrated environments to support reengineering is being actively planned.

Pitman, C.↗

An Object-oriented Query Processor that Produces Monotonically Improving Approximate Answers

The paper describes an object-oriented query processor that makes approximate answers available if there is not enough time to produce an exact answer or if part of the database is unavailable. The accuracy of the approximate result produces improves monotonically with the amount of data retrieved to produce the result. The query processing algorithm is based on an approximate relational data model and works within a standard relational algebra framework. The query processor maintains an object-oriented view on an underlying level and can be implemented on a relational database system with little change to the relational architecture. We show how a monotone query processing strategy can be implemented, making effective use of semantic information presented by the object-oriented view.

Vrbsky, S. V.↗

Characterization and Application of a Grazing Angle Objective for Quantitative Infrared Reflection Microspectroscopy

A grazing angle objective on an infrared microspectrometer is studied for quantitative spectroscopy by considering the angular dependence of the incident intensity within the objective's angular aperture. The assumption that there is no angular dependence is tested by comparing the experimental reflectance of Si and KBr surfaces with the reflectance calculated by integrating the Fresnel reflection coefficient over the angular aperture under this assumption. Good agreement was found, indicating that the specular reflectance of surfaces can straight-forwardly be quantitatively integrated over the angular aperture without considering non-uniform incident intensity. This quantitative approach is applied to the thickness determination of dipcoated Krytox on gold. The infrared optical constants of both materials are known, allowing the integration to be carried out. The thickness obtained is in fair agreement with the value determined by ellipsometry in the visible. Therefore, this paper illustrates a method for more quantitative use of a grazing angle objective for infrared reflectance microspectroscopy.

Pepper, Stephen V.↗

An Improved Suite of Object Oriented Software Measures

In the pursuit of ever increasing productivity, the need to be able to measure specific aspects of software is generally agreed upon. As object oriented programming languages are becoming more and more widely used, metrics specifically designed for object oriented software are required. In recent years there has been an explosion of new, object oriented software metrics proposed in the literature. Unfortunately, many or most of these proposed metrics have not been validated to measure what they claim to measure. In fact, an analysis of many of these metrics shows that they do not satisfy basic properties of measurement theory, and thus their application has to be suspect. In this paper ten improved metrics are proposed and are validated using measurement theory.

Neal, Ralph D.↗

Reuse Metrics for Object Oriented Software

One way to increase the quality of software products and the productivity of software development is to reuse existing software components when building new software systems. In order to monitor improvements in reuse, the level of reuse must be measured. In this NASA supported project we (1) derived a suite of metrics which quantify reuse attributes for object oriented, object based, and procedural software, (2) designed prototype tools to take these measurements in Ada, C++, Java, and C software, (3) evaluated the reuse in available software, (4) analyzed the relationship between coupling, cohesion, inheritance, and reuse, (5) collected object oriented software systems for our empirical analyses, and (6) developed quantitative criteria and methods for restructuring software to improve reusability.

Bieman, James M.↗

The Assignment of Scale to Object-Oriented Software Measures

In order to improve productivity (and quality), measurement of specific aspects of software has become imperative. As object oriented programming languages have become more widely used, metrics designed specifically for object-oriented software are required. Recently a large number of new metrics for object- oriented software has appeared in the literature. Unfortunately, many of these proposed metrics have not been validated to measure what they purport to measure. In this paper fifty (50) of these metrics are analyzed.

Neal, Ralph D.↗

Kuiper Belt Objects Along the Pluto Express Path

The objective of this proposal was to mount a ground-based search for Kuiper Belt objects near the trajectory of the NASA Pluto Express spacecraft. The high density of Kuiper Belt objects established from work on Mauna Kea makes it probable that one or more bodies can be visited by Pluto Express after its encounter with Pluto. The work was funded during its first year through NASA HQ. The second year was funded through Goddard. The third year was never funded.

Jewitt, David↗

The Most Luminous Object in the Universe: Shrouded Quasar or Proto-Galaxy

We have used ASCA to observe the IRAS source FSC 10214+4724, which is identified with a galaxy at a redshift of 2.286. When first discovered, it was believed to be the most luminous object in the universe. Subsequent HST images have established that it is gravitationally-lensed by a foreground cluster. It is still a very powerful object, but not extraordinarily so. Observations at other wavebands have not established whether it is a dust-shrouded quasar or a young, massive galaxy in the process of formation. Since quasars are strong emitters of hard X-rays, while proto-galaxies would not be, and since the opacity of gas and dust is relatively small in the energy regime probed by ASCA (3 to 30 keV in the galaxy rest frame), we undertook these observations to search for a heavily shrouded quasar that might be invisible at lower energies. However, the observations did not detect any emission from this object. This either means that the galaxy is in fact powered by a starburst or that the putative quasar is located behind a very high column density of absorbing gas (N_H > 10(exp 25)/sq cm), so that not even hard X-rays are transmitted. A hidden quasar should be visible in reflected light in X-ray data of higher sensitivity. Observations with NASA's Chandra X-ray Observatory or ESA's XMM are required to settle the matter. No publication resulted from our null result.

Heckman, Timothy M.↗

Method and Apparatus for Evaluating Multilayer Objects for Imperfections

A multilayer object having multiple layers arranged in a stacking direction is evaluated for imperfections such as voids, delaminations and microcracks. First. an acoustic wave is transmitted into the object in the stacking direction via an appropriate transducer/waveguide combination. The wave propagates through the multilayer object and is received by another transducer/waveguide combination preferably located on the same surface as the transmitting combination. The received acoustic wave is correlated with the presence or absence of imperfections by, e.g., generating pulse echo signals indicative of the received acoustic wave. wherein the successive signals form distinct groups over time. The respective peak amplitudes of each group are sampled and curve fit to an exponential curve. wherein a substantial fit of approximately 80-90% indicates an absence of imperfections and a significant deviation indicates the presence of imperfections. Alternatively, the time interval between distinct groups can be measured. wherein equal intervals indicate the absence of imperfections and unequal intervals indicate the presence of imperfections.

Heyman, Joseph S.↗

Vision Algorithms to Determine Shape and Distance for Manipulation of Unmodeled Objects

This paper discusses the development of a robotic system for general use in an unstructured environment. This is illustrated through pick and place of randomly positioned, un-modeled objects. There are many applications for this project, including rock collection for the Mars Surveyor Program. This system is demonstrated with a Puma560 robot, Barrett hand, Cognex vision system, and Cimetrix simulation and control, all running on a PC. The demonstration consists of two processes: vision system and robotics. The vision system determines the size and location of the unknown objects. The robotics part consists of moving the robot to the object, configuring the hand based on the information from the vision system, then performing the pick/place operation. This work enhances and is a part of the Low Cost Virtual Collaborative Environment which provides remote simulation and control of equipment.

Montes, Leticia↗

NASA JPL Distributed Systems Technology (DST) Object-Oriented Component Approach for Software Inter-Operability and Reuse

The purpose of this paper is to provide a description of NASA JPL Distributed Systems Technology (DST) Section's object-oriented component approach to open inter-operable systems software development and software reuse. It will address what is meant by the terminology object component software, give an overview of the component-based development approach and how it relates to infrastructure support of software architectures and promotes reuse, enumerate on the benefits of this approach, and give examples of application prototypes demonstrating its usage and advantages. Utilization of the object-oriented component technology approach for system development and software reuse will apply to several areas within JPL, and possibly across other NASA Centers.

Hall, Laverne↗

Origin and Evolution of the Unusual Object 1996 PW: Asteroids from the Oort Cloud?

The unusual object 1996 PW was discovered on 1996 August 9 by the Near-Earth Asteroid Tracking automated search camera operating from Haleakala in Hawaii. Although asteroidal in appearance, it was soon determined that the object is in a near-parabolic orbit similar to that of a long-period comet. No object that was not an active comet has ever been discovered on such an eccentric orbit. The discovery of 1996 PW prompted us to examine and evaluate its possible origins, including the intriguing possibility that it is an asteroid from the Oort cloud. Current models for the formation of the Oort cloud argue that most of the material there should be from the Uranus-Neptune region and thus cometary, not asteroidal, in composition. We better quantify these models and show that approximately 1% of the Oort Cloud population should be asteroids. We find that 1996 PW has almost certainly been a resident of the Oort cloud. However, we find it equally likely that 1996 PW is an extinct comet or an asteroid. Although not conclusive, our results represent a significant change in our understanding of the Oort cloud, because they suggest that the ejection process sampled material from as close to the Sun as the asteroid belt in the primordial solar nebula and hence much warmer formation temperatures than previously thought. This diverse sample is preserved in the Oort cloud.

Weissman, Paul R.↗

Evaluation of the 29-km Eta Model: Objective Verification at Three Selected Stations - Part 1

This paper describes an objective verification of the National Centers for Environmental Prediction (NCEP) 29-km eta model from May 1996 through January 1998. The evaluation was designed to assess the model's surface and upper-air point forecast accuracy at three selected locations during separate warm (May - August) and cool (October - January) season periods. In order to enhance sample sizes available for statistical calculations, the objective verification includes two consecutive warm and cool season periods. Systematic model deficiencies comprise the larger portion of the total error in most of the surface forecast variables that were evaluated. The error characteristics for both surface and upper-air forecasts vary widely by parameter, season, and station location. At upper levels, a few characteristic biases are identified. Overall however, the upper-level errors are more nonsystematic in nature and could be explained partly by observational measurement uncertainty. With a few exceptions, the upper-air results also indicate that 24-h model error growth is not statistically significant. In February and August 1997, NCEP implemented upgrades to the eta model's physical parameterizations that were designed to change some of the model's error characteristics near the surface. The results shown in this paper indicate that these upgrades led to identifiable and statistically significant changes in forecast accuracy for selected surface parameters. While some of the changes were expected, others were not consistent with the intent of the model updates and further emphasize the need for ongoing sensitivity studies and localized statistical verification efforts. Objective verification of point forecasts is a stringent measure of model performance, but when used alone, is not enough to quantify the overall value that model guidance may add to the forecast process. Therefore, results from a subjective verification of the meso-eta model over the Florida peninsula are discussed in the companion paper by Manobianco and Nutter. Overall verification results presented here and in part two should establish a reasonable benchmark from which model users and developers may pursue the ongoing eta model verification strategies in the future.

Nutter, Paul A.↗

Detection of Objects Hidden in Highly Scattering Media Using Time-Gated Imaging Methods

Non-intrusive and non-invasive optical imaging techniques has generated great interest among researchers for their potential applications to biological study, device characterization, surface defect detection, and jet fuel dynamics. Non-linear optical parametric amplification gate (NLOPG) has been used to detect back-scattered images of objects hidden in diluted Intralipid solutions. To directly detect objects hidden in highly scattering media, the diffusive component of light needs to be sorted out from early arrived ballistic and snake photons. In an optical imaging system, images are collected in transmission or back-scattered geometry. The early arrival photons in the transmission approach, always carry the direct information of the hidden object embedded in the turbid medium. In the back-scattered approach, the result is not so forth coming. In the presence of a scattering host, the first arrival photons in back-scattered approach will be directly photons from the host material. In the presentation, NLOPG was applied to acquire time resolved back-scattered images under the phase matching condition. A time-gated amplified signal was obtained through this NLOPG process. The system's gain was approximately 100 times. The time-gate was achieved through phase matching condition where only coherent photons retain their phase. As a result, the diffusive photons, which were the primary contributor to the background, were removed. With a large dynamic range and high resolution, time-gated early light imaging has the potential for improving rocket/aircraft design by determining jets shape and particle sizes. Refinements to these techniques may enable drop size measurements in the highly scattering, optically dense region of multi-element rocket injectors. These types of measurements should greatly enhance the design of stable, and higher performing rocket engines.

Galland, Pierre A.↗

Smooth Pursuit of a Partially Occluded Object

There has long been qualitative evidence that humans can pursue an object defined only by the motion of its parts. We explored this quantitatively using an occluded diamond stimulus. Four subjects (one naive) tracked a line-figure diamond moving along an elliptical path (0.9 Hz) either clockwise (CW) or counterclockwise (CCW) behind either an X-shaped aperture (CROSS) or two vertical rectangular apertures (BARS), which obscured the corners. Although the stimulus consisted of only four line segments (108 cd/square m) moving within a visible aperture (0.2 cd/square m) behind a foreground (38 cd/square m), it is largely perceived as a coherently moving diamond. The inter-saccadic portions of eye-position traces were fit with sinusoids. All subjects tracked object motion with considerable temporal accuracy. The mean phase lag was 5 deg/6 deg (CROSS/BARS) and the mean relative phase between the horizontal and vertical components was +95 deg/+92 deg (CW) and -85 deg/-75 deg (CCW), which is close to perfect. Furthermore, a chi-square analysis showed that 56% of BARS trials were consistent with tracking the correct elliptical shape (p is less than 0.05), although segment motion was purely vertical. These data disprove the main tenet of most models of pursuit: that it is a system that seeks to minimize retinal image motion through negative feedback. Rather, the main drive must be a visual signal which has already integrated spatiotemporal retinal information into an object-motion signal.

Stone, L. S.↗

Operator Localization of Virtual Objects

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects'age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are also influenced by their relative position when superimposed. Design implications are discussed.

Ellis, Stephen R.↗

X-Ray Spectral Variability Signatures of Flares in BL Lac Objects

We are presenting a detailed parameter study of the time-dependent electron injection and kinematics and the self-consistent radiation transport in jets of intermediate and low-frequency peaked BL Lac objects. Using a time-dependent, combined synchrotron-self-Compton and external-Compton jet model, we study the influence of variations of several essential model parameters, such as the electron injection compactness, the relative contribution of synchrotron to external soft photons to the soft photon compactness, the electron- injection spectral index, and the details of the time profiles of the electron injection episodes giving rise to flaring activity. In the analysis of our results, we focus on the expected X-ray spectral variability signatures in a region of parameter space particularly well suited to reproduce the broadband spectral energy distributions of intermediate and low-frequency peaked BL Lac objects. We demonstrate that SSC- and external-Compton dominated models for the gamma-ray emission from blazars are producing significantly different signatures in the X-ray variability, in particular in the soft X-ray light curves and the spectral hysteresis at soft X-ray energies, which can be used as a powerful diagnostic to unveil the nature of the high-energy emission from BL Lac objects.

Boettcher, Markus↗