Monovision techniques for telerobots

The primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. The functional structure of the telerobotic vision system used in the Langley Research Center's Intelligent Systems Research Laboratory is discussed as well as two monovision techniques for accomplishing the vision subtasks

Globally integrated measurements of the Earth's visible spectral albedo

We report spectroscopic observations of the earthshine reflected from the Moon. By applying our photometry methodology to spectroscopy, we were able to precisely determine the Earth's reflectance, and its variation as a function of wavelength through a single night as the Earth rotates. These data imply that planned regular monitoring of earthshine spectra will yield valuable, new inputs for climate models, which would be complementary to those from the more standard broadband measurements of satellite platforms. The mean spectroscopic albedo over the visible is consistent with simultaneous broadband photometric measurements. We found no evidence for an appreciable "red" or "vegetation edge" in the Earth's spectral albedo, and no evidence for changes in this spectral region (700 -740 nm) over the 40 degrees of Earth's rotation covered by our observations.Comment: 20 pages, 7 postscript figures. Accepted for publication in Ap

FIELD TRIALS AS AN EXTENSION TECHNIQUE: THE CASE OF SWAZILAND

One potentially serious problem in evaluating the effectiveness of extension programs is that participants are not picked at random. Self-selection can be a problem, and it can be compounded if extension officials concentrate on the most progressive farms. This study explores the relationships between adoption of maize high-yielding varieties (HYVs) and participation in field trials intended to foster HYV usage, drawing on data from Swaziland. Results indicate that it is impossible to say if field trials had any effect on adoption. Participating farms used more HYVs, but this could have been due to self-selection or the government's selection process.Teaching/Communication/Extension/Profession,

General properties of cosmological models with an Isotropic Singularity

Much of the published work regarding the Isotropic Singularity is performed under the assumption that the matter source for the cosmological model is a barotropic perfect fluid, or even a perfect fluid with a $\gamma$-law equation of state. There are, however, some general properties of cosmological models which admit an Isotropic Singularity, irrespective of the matter source. In particular, we show that the Isotropic Singularity is a point-like singularity and that vacuum space-times cannot admit an Isotropic Singularity. The relationships between the Isotropic Singularity, and the energy conditions, and the Hubble parameter is explored. A review of work by the authors, regarding the Isotropic Singularity, is presented.Comment: 18 pages, 1 figur

A Phase Space Approach to Gravitational Enropy

We examine the definition S = ln Omega as a candidate "gravitational entropy" function. We calculate its behavior for gravitationl and density perturbations in closed, open and flat cosmologies and find that in all cases it increases monotonically. Using the formalism to calculate the gravitational entropy produced during inflation gives the canonical answer. We compare the behavior of S with the behavior of the square of the Weyl tensor. Applying the formalism to black holes has proven more problematical.Comment: Talk delivered at South African Relativistic Cosmology Symposium, Feb 1999. Some new results over Rothman and Anninos 97. To appear in GRG, 17 page

Properties of Umbral Dots as Measured from the New Solar Telescope Data and MHD Simulations

We studied bright umbral dots (UDs) detected in a moderate size sunspot and compared their statistical properties to recent MHD models. The study is based on high resolution data recorded by the New Solar Telescope at the Big Bear Solar Observatory and 3D MHD simulations of sunspots. Observed UDs, living longer than 150 s, were detected and tracked in a 46 min long data set, using an automatic detection code. Total 1553 (620) UDs were detected in the photospheric (low chromospheric) data. Our main findings are: i) none of the analyzed UDs is precisely circular, ii) the diameter-intensity relationship only holds in bright umbral areas, and iii) UD velocities are inversely related to their lifetime. While nearly all photospheric UDs can be identified in the low chromospheric images, some small closely spaced UDs appear in the low chromosphere as a single cluster. Slow moving and long living UDs seem to exist in both the low chromosphere and photosphere, while fast moving and short living UDs are mainly detected in the photospheric images. Comparison to the 3D MHD simulations showed that both types of UDs display, on average, very similar statistical characteristics. However, i) the average number of observed UDs per unit area is smaller than that of the model UDs, and ii) on average, the diameter of model UDs is slightly larger than that of observed ones.Comment: Accepted by the AP

Does the Sun Shrink with Increasing Magnetic Activity?

We have analyzed the full set of SOHO/MDI f- and p-mode oscillation frequencies from 1996 to date in a search for evidence of solar radius evolution during the rising phase of the current activity cycle. Like Antia et al. (2000), we find that a significant fraction of the f-mode frequency changes scale with frequency; and that if these are interpreted in terms of a radius change, it implies a shrinking sun. Our inferred rate of shrinkage is about 1.5 km/y, which is somewhat smaller than found by Antia et al. We argue that this rate does not refer to the surface, but rather to a layer extending roughly from 4 to 8 Mm beneath the visible surface. The rate of shrinking may be accounted for by an increasing radial component of the rms random magnetic field at a rate that depends on its radial distribution. If it were uniform, the required field would be ~7 kG. However, if it were inwardly increasing, then a 1 kG field at 8 Mm would suffice. To assess contribution to the solar radius change arising above 4Mm, we analyzed the p-mode data. The evolution of the p-mode frequencies may be explained by a magnetic^M field growing with activity. The implications of the near-surface magnetic field changes depend on the anisotropy of the random magnetic field. If the field change is predominantly radial, then we infer an additional shrinking at a rate between 1.1-1.3 km/y at the photosphere. If on the other hand the increase is isotropic, we find a competing expansion at a rate of 2.3 km/y. In any case, variations in the sun's radius in the activity cycle are at the level of 10^{-5} or less, hence have a negligible contribution to the irradiance variations.Comment: 10 pages (ApJ preprint style), 4 figures; accepted for publication in Ap