Multiple-View Tracing for Haskell: a New Hat

Different tracing systems for Haskell give different views of a program at work. In practice, several views are complementary and can productively be used together. Until now each system has generated its own trace, containing only the information needed for its particular view. Here we present the design of a trace that can serve several views. The trace is generated and written to file as the computation proceeds. We have implemented both the generation of the trace and several different viewers

Design and control of remote manipulators

Results of investigations on vibrational modes of manipulators revealed: (1) any arbitrary manipulator may be analyzed for its small motion compliances; (2) a simulation of the Martin-Marietta shuttle boom with a 65,000 lb. payload attached, indicated three natural frequencies; and (3) simulations can be made of rigid limbs and flexible joints as well as for flexible limbs and locked joints and combinations thereof. Trajectories for arms were determined so that some integral criterion such as integral of kinetic energy or control torque magnitude is minimized over a motion of the arm. Experiments performed to evaluate various TV displays in conjunction with manipulator control modes showed that when mounted directly to the manipulator control arm and arranged to look approximately along the arm to the hand the operator could perform the task almost as quickly as when viewing the task directly

Geometric potential of cartosat-1 stereo imagery

Cartosat-1 satellite, launched by Department of Space (DOS), Government of India, is dedicated to stereo viewing for large scale mapping and terrain modelling applications. This stereo capability fills the limited capacity of very high resolution satellites for three-dimensional point determination and enables the generation of detailed digital elevation models (DEMs) not having gaps in mountainous regions like for example the SRTM height model.The Cartosat-1 sensor offers a resolution of 2.5m GSD in panchromatic mode. One CCD-line sensor camera is looking with a nadir angle of 26' in forward direction, the other 5' aft along the track. The Institute "Area di Geodesia e Geomatica"-Sapienza Università di Roma and the Institute of Photogrammetry and Geoinformation, Leibniz University Hannover participated at the ISPRS-ISRO Cartosat-1 Scientific Assessment Programme (CSAP), in order to investigate the generation of Digital Surface Models (DSMs) from Cartosat-1 stereo scenes. The aim of this work concerns the orientation of Cartosat-1 stereo pairs, using the given RPCs improved by control points and the definition of an innovative model based on geometric reconstruction, that is used also for the RPC extraction utilizing a terrain independent approach. These models are implemented in the scientific software (SISAR-Software per Immagini Satellitari ad Alta Risoluzione) developed at Sapienza Università di Roma. In this paper the SISAR model is applied to different stereo pairs (Castelgandolfo and Rome) and to point out the effectiveness of the new model, SISAR results are compared with the corresponding ones obtained by the software OrthoEngine 10.0 (PCI Geomatica).By the University of Hannover a similar general satellite orientation program has been developed and the good results, achieved by bias corrected sensor oriented RPCs, for the test fields Mausanne (France) and Warsaw (Poland) have been described.For some images, digital height models have been generated by automatic image matching with least squares method, analysed in relation to given reference height models. For the comparison with the reference DEMs the horizontal fit of the height models to each other has been checked by adjustment

Determination of the intrinsic velocity field in the M87 jet

A new method to estimate the Doppler beaming factor of relativistic large-scale jet regions is presented. It is based on multiwaveband fitting to radio-to-X-ray continua with synchrotron spectrum models. Combining our method with available observational data of proper motions, we derive the intrinsic velocity as well as the viewing angles to the line of sight for eight knotty regions down the M87 jet. The results favor the 'modest beaming' scenario along the jet, with Doppler factors varying between 2-5. The inner jet of M87 suffers sharp deceleration, and the intrinsic speed remains roughly constant down the outer jet. The orientation of the inner jet regions is fully consistent with the result of 10deg-19deg to the line of sight suggested by previous Hubble Space Telescope (HST) proper motion studies of the M87 jet. The outer jet, however, shows systematic deflection off the inner jet to much smaller inclination (<<10deg). Further calculation of knot A suggests this deflection can be regarded as evidence that the outer jet suffers some departure from equipartition. The nucleus region of the M87 jet should have a viewing angle close to its first knot HST-1, i.e. ~15deg, which favors the idea that M87 may be a misaligned blazar. This work provides some hints about the overall dynamics of this famous extragalactic jet.Comment: 11 pages, 3 figures, 4 tables, MNRAS, 2009, in pres

Class-Based Feature Matching Across Unrestricted Transformations

We develop a novel method for class-based feature matching across large changes in viewing conditions. The method is based on the property that when objects share a similar part, the similarity is preserved across viewing conditions. Given a feature and a training set of object images, we first identify the subset of objects that share this feature. The transformation of the feature's appearance across viewing conditions is determined mainly by properties of the feature, rather than of the object in which it is embedded. Therefore, the transformed feature will be shared by approximately the same set of objects. Based on this consistency requirement, corresponding features can be reliably identified from a set of candidate matches. Unlike previous approaches, the proposed scheme compares feature appearances only in similar viewing conditions, rather than across different viewing conditions. As a result, the scheme is not restricted to locally planar objects or affine transformations. The approach also does not require examples of correct matches. We show that by using the proposed method, a dense set of accurate correspondences can be obtained. Experimental comparisons demonstrate that matching accuracy is significantly improved over previous schemes. Finally, we show that the scheme can be successfully used for invariant object recognition