Applying inspection to object-oriented software

The benefits of the object-oriented paradigmare widely cited. At the same time, inspection is deemed to be the most cost-effective means of detecting defects in software products. Why then, is there no published experience, let alone quantitative data, on the application of inspection to object-oriented systems? We describe the facilities of the object-oriented paradigm and the issues that these raise when inspecting object-oriented code. Several problems are caused by the disparity between the static code structure and its dynamic runtime behaviour. The large number of small methods in object-oriented systems can also cause problems. We then go on to describe three areas which may help mitigate problems found. Firstly, the use of various programming methods may assist in making object-oriented code easier to inspect. Secondly, improved program documentation can help the inspector understand the code which is under inspection. Finally, tool support can help the inspector to analyse the dynamic behaviour of the code. We conclude that while both the object-oriented paradigm and inspection provide excellent benefits on their own, combining the two may be a difficult exercise, requiring extensive support if it is to be successful

Interactive inspection of complex multi-object industrial assemblies

The final publication is available at Springer via http://dx.doi.org/10.1016/j.cad.2016.06.005The use of virtual prototypes and digital models containing thousands of individual objects is commonplace in complex industrial applications like the cooperative design of huge ships. Designers are interested in selecting and editing specific sets of objects during the interactive inspection sessions. This is however not supported by standard visualization systems for huge models. In this paper we discuss in detail the concept of rendering front in multiresolution trees, their properties and the algorithms that construct the hierarchy and efficiently render it, applied to very complex CAD models, so that the model structure and the identities of objects are preserved. We also propose an algorithm for the interactive inspection of huge models which uses a rendering budget and supports selection of individual objects and sets of objects, displacement of the selected objects and real-time collision detection during these displacements. Our solution–based on the analysis of several existing view-dependent visualization schemes–uses a Hybrid Multiresolution Tree that mixes layers of exact geometry, simplified models and impostors, together with a time-critical, view-dependent algorithm and a Constrained Front. The algorithm has been successfully tested in real industrial environments; the models involved are presented and discussed in the paper.Peer ReviewedPostprint (author's final draft

Knowledge and Sensory Knowledge in Hume's _Treatise_

I argue that the Hume of the Treatise maintains an account of knowledge according to which (i) every instance of knowledge must be an immediately present perception (i.e., an impression or an idea); (ii) an object of this perception must be a token of a knowable relation; (iii) this token knowable relation must have parts of the instance of knowledge as relata (i.e., the same perception that has it as an object); and any perception that satisfies (i)-(iii) is an instance of knowledge. I then apply this account to the case of sense perception. I argue that Hume holds that relations of impressions can be intuited, are knowable, and are necessary. For Hume, these relations constitute sensory knowledge. While Hume is rightly labeled an empiricist for many reasons, a close inspection of his account of knowledge reveals yet another way in which he deserves the label

Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly in the presence of visual obscurants such as fog and smoke. The ability to navigate known environments in the presence of obscurants can be critical for inspection tasks especially, in the aftermath of a disaster. Addressing such a scenario, this work proposes a method for the design of fiducial markers to be used with thermal cameras for the pose estimation of aerial robots. Our low cost markers are designed to work in the long wave infrared spectrum, which is not affected by the presence of obscurants, and can be affixed to any object that has measurable temperature difference with respect to its surroundings. Furthermore, the estimated pose from the fiducial markers is fused with inertial measurements in an extended Kalman filter to remove high frequency noise and error present in the fiducial pose estimates. The proposed markers and the pose estimation method are experimentally evaluated in an obscurant filled environment using an aerial robot carrying a thermal camera.Comment: 10 pages, 5 figures, Published in International Symposium on Visual Computing 201