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000-302 DB2 9 Database and Application(R) Fundamentals - Academic Initiative

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000-302 exam Dumps Source : DB2 9 Database and Application(R) Fundamentals - Academic Initiative

Test Code : 000-302
Test appellation : DB2 9 Database and Application(R) Fundamentals - Academic Initiative
Vendor appellation : IBM
exam questions : 188 true Questions

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IBM IBM DB2 9 Database

a pass to Migrate On-Premise Databases to IBM DB2 On Cloud | killexams.com true Questions and Pass4sure dumps

Introduction

Database migration can show fundamental from backyard, particularly, regain the supply records and import/load to the target database, but the devil is entire the time in the particulars, and the route isn't that primary. A database includes more than simply the facts. A database can consist of a variety of — however frequently related — objects. With DB2, two sorts of objects can exist: paraphernalia objects and data objects. let's beget a note at what they're, and later on within the article, one of the crucial most primary objects are mentioned from caution views during planning and migrating.

many of the most primary database engines present the very set of primary database kick types: (please examine additionally on these kick forms from respective providers. The definition and performance would breathe extra or less identical. An analogy is that you simply pressure automobiles, and if you travel from one vehicle to a further, the basics of cars wait the same, but ameliorations consist of ignition buttons, home windows, structure as an entire, and so on., but the useful employ and foundation of the car is still the identical, dote 4 wheels, engines, chassis, and so forth.)

  • Tables
  • Indexes
  • Sequences
  • Views
  • Synonyms
  • Indexes
  • Alias
  • Triggers
  • consumer-defined data kinds (UDTs),
  • consumer-defined functions (UDFs)
  • stored approaches
  • applications
  • system Objects consist of:

  • Storage organizations
  • Tablespaces
  • Buffer pools
  • system Catalog tables and views
  • Transaction log files
  • These objects at on-premise databases should accept revise trust whereas planning migrations. It is awfully vital to understand what will furthermore breathe migrated and what can not since there could breathe a exigency for professional features from a 3rd birthday celebration or from a cloud supplier in doing so.

    What Can and can't breathe Migrated?

    time-honored SQL user-defined features (UDFs) will furthermore breathe migrated however external UDFs could beget some problem being migrated. external UDFs might breathe written in C, C++, or Java and then compiled in some situations to figure a library and sit at a designated location and would deserve to breathe registered with DB2. So, external UDFs exigency to breathe rebuilt on cloud servers as a result of OS versions might breathe different on the target. Migrating such UDFs might want database migration capabilities from cloud carriers or they cannot breathe migrated to cloud. in a similar fashion, SQL kept techniques will furthermore breathe migrated to the target Database, but exterior store processes will raise the identical constraints than that of UDF and will no longer breathe supported. Materialized question table(MQTs) may furthermore breathe migrated, however they should still breathe created after the information is moved to the target database. similarly, the triggers can furthermore breathe migrated when data is moved to target database. The link between system-duration temporal tables and their associated background tables beget to breathe broken earlier than the table's information can furthermore breathe moved (this holds true for bitemporal tables). A equipment-period temporal table is a desk that maintains historical types of its rows. Bitemporal Modeling is an assistance modeling technique designed to handle ancient information along two diverse timelines. A bitemporal desk is a table that mixes the historical monitoring of a equipment-length temporal desk with the time-particular statistics storage capabilities of an utility-length temporal table. Bitemporal tables are generally used to hold person-primarily based period information as well as device-based historic counsel.

    Now they beget some conception on what to migrate and what now not to. Database administrators should are searching for some downtime while performing this. suitable planning and cautions should breathe taken whereas performing each of the discussed actions, and relevant time should still breathe distributed to understand the nature of migration. Let me additionally aspect out an primary constraint with migration to DBaaS or DB on cases on cloud (from gadget kick PoV): only one buffer pool could breathe supported and the person spaces may still breathe merged with main consumer space with one buffer pool emigrate to the target state. varied person areas with numerous DB swimming pools and buffer swimming pools will not breathe supported for DBaaS or DB on instance (VM) on cloud. So, breathe alert that!

    Now they would start the migration. There are positive paraphernalia developed from IBM to duty migration initiatives, and the primary ones are db2look utility and IBM Optim immoderate performance dump. Db2look utility is used for producing modern information Definition Language (DDL) statements for target DB2. IBM Optim immoderate performance dump can accomplish copying the present Database to a brief folder/bucket, which can breathe AWS S3 or Softlayer Swift. The very appliance can furthermore breathe leveraged to paste through import/load utility to the target.

    The a number of how you can flow records to DB2 on cloud — DB2 hosted, DB2 on cloud and DB2 warehouse on cloud are given beneath:

  • Load records from a local file saved on the computer (the usage of #Bluemix interface)
  • Load data from a Softlayer swift kick store (the usage of #Bluemix interface)
  • Load records from Amazon S3 (the employ of #Bluemix interface)
  • Use the DB2 information flow utilities, remotely
  • Use the IBM facts switch carrier (25 to 100TB)
  • Use the IBM Mass records migration carrier (one hundred TB or greater)
  • Now comes the safety point whereas migrating, encryption the usage of AES or 3DES is advised. SSL and TLS are the favourite the prerogative pass to secure information in transit.

    Let’s additionally shed some light on DB2’s indigenous encryption and how it really works.

  • client requests an SSL connection and lists its supported cipher suites (AES, 3DES)
  • Then, the server responds with a specific cipher suite and a copy of its digital certificate, which includes a public key.
  • customer checks the validity of certificate — if it is valid, a session key and a message authentication code (MAC) is encrypted with a public key and despatched again to the server.
  • Server decrypts the session key and MAC (message authentication code), then transmit an acknowledgment to delivery an encrypted session with the customer
  • Server and customer securely alternate facts the usage of the session key and MAC chosen.
  • These are one of the vital captious features to breathe considered whereas migrating on-premise databases to IBM DB2 on Cloud.

    think free to participate your views in the comments. 

    down load AnzoGraph now and discover for your self why it is acknowledged as the most complete all-in-one records warehouse for BI vogue and graph analytics.  

    topics:

    ibm db2 ,database migration ,database ,ibm ,ibm cloud


    IBM Unveils Dynamic information Warehouse Powered by means of DB2 9 | killexams.com true Questions and Pass4sure dumps

    supply: IBM

    October 27, 2006 14:15 ET

    "Viper" facts Server profitable modern shoppers and riding IBM utility company Momentum

    ARMONK, ny -- (MARKET WIRE) -- October 27, 2006 -- IBM (NYSE: IBM) these days announced a modern dynamic facts warehousing platform, developed upon the business-leading DB2 9 "Viper" information server, this is designed to aid clients prerogative away and easily benefit more suitable insight into their traffic information.

    the modern DB2 information Warehouse 9 utilizes IBM's patented pureXML technology that permits customers to efficiently shop and employ records in an XML structure. XML is increasingly used because the common information interchange structure between disparate purposes, groups and domains. It furthermore accommodates DB2 9 "venom" expertise that compresses row facts to cleave back storage necessities, increase I/O effectivity, and supply quicker data access from the disk.

    DB2 9 is IBM's modern records server and contains the most huge database expertise enhancements delivered to the traffic in additional than two decades. present day announcement comes just two months after the launch of DB2 9 and continues the momentum of IBM's data server which has introduced listing numbers of recent customers and compiled thousands of competitive wins over different carriers corresponding to Oracle and Microsoft.

    customers beget embraced DB2 9 and a lot of are stirring their databases from Oracle to IBM's modern facts server, together with: Cardinal fitness, American electric powered vigour, primary Michigan institution, Farmers insurance and Teleglobe. These modern DB2 9 purchasers beget cited the product's mixture of industry-first points, and sophisticated reliability and performance, because the reasons for their migration.

    "as a result of the groundbreaking features in DB2 9, we're seeing a powerful deal of client hobby," spoke of Arvind Krishna, vice chairman IBM statistics servers. "Our purchasers are telling us that DB2 9 has ushered in a brand modern period of information server know-how that helps them to grow their businesses. by means of extending these elements into DB2 records Warehouse 9 they now beget once again raised the bar and delivered the industry's most superior dynamic warehousing platform."

    DB2 records Warehouse 9 outperforms the restricted choices of competitors through excelling at enabling combined workloads that span the largest multi-user transactional programs (trading flooring and reservations methods) to the largest unadulterated analytical workloads involving massive multi-billion row tables and the extremely intricate and deeply nested transactions frequently created through main OLAP tools. DB2 data Warehouse 9 includes construction and administration tools for swift and efficacious delivery and administration of warehouses that give ideal access and performance. DB2 9 gives the industry's handiest 3-way partitioning -- including leading multidimensional clustering; dice definitions; transformation modules; and information travel diagrams.

    The DB2 9 records server marks a milestone in the 5-year IBM edifice assignment that has converted normal, static database expertise into an interactive, brilliant information server that enables purchasers to enhance their capacity to manage distinct kinds of counsel, akin to documents, net pages, and digitally signed XML transactions. IBM's modern information server provides an industry-first seamless and simultaneous tips circulation of each XML and relational facts, regardless of format, platform or place. The DB2 data Warehouse 9 extends this capability into extra markets.

    DB2 facts Warehouse 9 will furthermore power IBM's business-main data warehouse paraphernalia choices in keeping with the 'Balanced Configuration Unit' or BCU. The BCU is a completely integrated and scalable statistics warehouse solution that combines software, server, and storage elements to maximise traffic intelligence and suggestions management efficiency for businesses.

    For greater suggestions about IBM dynamic information warehousing, visit www.application.ibm.com/bi.

    IBM, DB2, pureXML and the IBM e-business emblem are logos or registered trademarks of alien company Machines traffic enterprise. For an inventory of further IBM trademarks, gratify note www.ibm.com/felony/copytrade.shtml

    All other enterprise, product or provider names can breathe trademarks or registered logos of others. Statements concerning IBM's future construction plans and schedules are made for planning purposes only, and are topic to trade or withdrawal devoid of breathe aware. Reseller costs might furthermore range.


    IBM DB2 Will goal Oracle Database builders | killexams.com true Questions and Pass4sure dumps

    news

    IBM DB2 Will goal Oracle Database developers
  • by pass of Jeffrey Schwartz
  • 04/24/09
  • IBM this week announced a modern edition of its flagship DB2 database with utility which will give compatibility with applications developed for Oracle databases.

    Embedded in IBM's drawing close DB2 9.7, code-named "Cobra" and slated for unlock in June, is software that provides compatibility with EnterpriseDB Corp.'s Postgres Plus advanced Server database, which supports entire Oracle facts varieties, SQL syntax, semantics and other applications built with Oracle PL/SQL saved procedures. Postgres superior Server is developed on the open source PostgreSQL database.

    "The set of technologies now they beget added will waiton builders of custom functions and packaged functions set up to DB2," observed Bernie Spang, director of method, analytics and statistics management for IBM's software neighborhood.

    For IBM, it's the primary time the traffic has licensed technology from a provider of open source database utility, even though EnterpriseDB founder Andy Astor mentioned the software embedded in DB2 is according to proprietary code.

    "here's no longer an open supply play," Astor pointed out. "every tiny thing else they finish is open source but that is among the methods they execute their cash, by means of promoting that compatibility technology both to providers dote IBM, during this case, and to clients in the benign of Postgres Plus superior Server."

    EnterpriseDB elements to a number of valued clientele together with FTD and Sony online enjoyment that beget migrated functions developed for Oracle databases to Postgres Plus. The boost trust of IBM "gives them with confirmed performance for enabling compatibility between DB2 and functions written for Oracle," mentioned 451 community analyst Matthew Aslett in an email.

    "Database migrations are complicated, time-ingesting, costly and rare, so any performance that makes the process more straightforward goes to breathe welcomed by using these businesses that are prepared to execute the bounce," he brought.

    The licensing pact is the first by pass of EnterpriseDB, but Astor referred to others are being negotiated.

    IBM is hoping the travel will encourage extra shoppers emigrate to its InfoSphere Warehouse 9.7 enterprise version, an information-cleaning and traffic analytics platform based on DB2 and expertise IBM obtained from Cognos.

    the brand modern unlock is centered at bringing facts mining, analytics and cubing to departments of organizations and smaller businesses, Spang observed. furthermore modern in DB2 is assist for performing simultaneous transactions throughout XML and relational records.

    in regards to the writer

    Jeffrey Schwartz is govt editor, points, for Redmond Developer information. which you could contact him at jschwartz@reddevnews.com.


    000-302 DB2 9 Database and Application(R) Fundamentals - Academic Initiative

    Study guide Prepared by Killexams.com IBM Dumps Experts


    Killexams.com 000-302 Dumps and true Questions

    100% true Questions - Exam Pass Guarantee with tall Marks - Just Memorize the Answers



    000-302 exam Dumps Source : DB2 9 Database and Application(R) Fundamentals - Academic Initiative

    Test Code : 000-302
    Test appellation : DB2 9 Database and Application(R) Fundamentals - Academic Initiative
    Vendor appellation : IBM
    exam questions : 188 true Questions

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    A Vision-Aided Integrity Monitor for Precision Relative Navigation Systems

    By Sean M. Calhoun, John Raquet and Gilbert L. Peterson

    INNOVATION INSIGHTS by Richard Langley

    INNOVATION INSIGHTS by Richard Langley

    TO MEET THE ACCURACY,  availability, continuity and integrity requirements for many navigation applications, multiple-sensor systems are commonly used. For example, a GPS receiver might breathe combined with an inertial measurement unit, electronic compass and an altimeter to permit enhanced navigation accuracy, availability and continuity in obstructed or otherwise difficult environments. The employ of arrays of sensors can furthermore waiton to ensure that systems used in safety-critical navigation applications provide safe information by maintaining a tall level of integrity.

    An primary group of devices that can breathe used in multi-sensor systems is one whose processes are based on light. These optical or vision-based devices comprise laser rangefinders and digital cameras. They could even deem their eyes to breathe in this group. In common with many other animals, they beget built-in visual sensors to regain around in their daily lives. Together with their memories, they employ their eyes to regain safely from one space to another. Ancient mariners tended to sail close to shore so that they could employ visual cues for navigation. Later on, they scholarly how to employ the light from celestial objects to navigate in the open ocean. And these days, while they could employ the so-called “Mark 1 Eyeball” to continuously monitor the performance of a navigation system, this is often impractical, impossible or unwise.

    In this month’s column, we’ll boost a note at the evolution of a generalized vision-aided integrity monitor for precision relative navigation applications. The work is based on the concept of using a single-camera vision system, such as a visible-light or infrared electro-optical sensor, to monitor the incident of unacceptably great and potentially unsafe relative navigation errors. A vision-aided integrity monitor of this sort could breathe extremely valuable in augmenting existing precision relative navigation systems, such as GPS, for many different safety-critical aerospace applications such as formation flying, aerial refueling, rendezvous/docking systems, and even precision landing.

    It is particularly usurp that such vision-aided systems breathe discussed at the present time since 2015 is the International Year of Light and Light-based Technologies, or IYL 2015. This United Nations initiative aims to raise awareness of the achievements of light science and its applications, and its moment to humankind. As mentioned on the IYL 2015 website, “[l]ight plays a vital role in their daily lives and is an imperative cross-cutting discipline of science in the 21st century. It has revolutionized medicine, opened up international communication via the Internet, and continues to breathe central to linking cultural, economic and political aspects of the global society.”

    2015 is furthermore an primary anniversary year for several notable developments in their understanding of light. It is the 1,000th anniversary of the work of the Arabic scholar Ibn Al-Haytham, which culminated in his bespeak of Optics. A Latin translation significantly influenced a number of scholars in medieval and renaissance Europe including Leonardo da Vinci, Galileo Galilei, and Johannes Kepler. 2015 is furthermore the 200th anniversary of Augustin-Jean Fresnel’s proposal that light behaves as a wave and the 150th anniversary of the publication of James Clerk Maxwell’s paper describing electromagnetic wave propagation as they discussed in “Insights” this past March. And they should furthermore mention that 2015 is the 100th anniversary of the publication of Albert Einstein’s universal theory of relativity, which includes a description of the propagation of light and other electromagnetic waves in the presence of a gravitational field.  And where would GPS and the other global navigation satellite systems and their augmentations breathe without the understanding that universal relativity provides? Nowhere.

    “Innovation” is a regular feature that discusses advances in GPS technology and its applications as well as the fundamentals of GPS positioning. The column is coordinated by Richard Langley of the Department of Geodesy and Geomatics Engineering, University of modern Brunswick. He welcomes comments and topic ideas. Email him at lang @ unb.ca.

    Recently, there has been an increased recognition of GNSS limitations in terms of robustness, availability and interference. As a result of this recognition, there has been renewed interest in developing non-GNSS-based navigation systems to augment system capability. This has become particularly primary with the trend toward autonomous systems, where required navigation performance (RNP) metrics, such as accuracy, integrity, continuity and availability become operational drivers. Because of this trend, there is renewed interest in gaining navigational diversity using imaging or vision-aided navigation approaches. Early research with vision systems used 3-D terrain databases and imaging systems to provide fitful position updates in collaboration with onboard inertial navigation systems (INS), much dote radar systems did prior to the wide proliferation of GNSS.

    For precision relative navigation applications such as formation flying, aerial refueling, rendezvous and docking systems and even precision landing, there is a significant body of research for the employ of vision navigation systems. For example, a vision-based relative navigation solution for aerial refueling with the employ of an a priori 3-D tanker model has been developed. Results from flight tests showed that image-rendering relative navigation is a viable precision navigation technique for close formation flight, specifically aerial refueling, and  demonstrated 95% relative navigation accuracies on the order of 35 centimeters within the operational envelope.

    As the body of vision-aided navigation research continues to grow, consideration of other RNP metrics is required. Ensuring that systems are providing safe information and maintaining a tall level of integrity is paramount when considering safety-critical navigation applications, but is largely neglected in current vision-navigation research.

    The concept of integrity, particularly for navigation systems, refers to the level of trust that can breathe placed in a navigation system in terms of detecting low errors and divergences. Many navigation applications beget adopted the employ of protection levels, which are real-time navigation system outputs that bound the navigation errors to the required probability of integrity risk. For the case of vertical navigation, the vertical navigation system error (NSE) is bounded by the real-time vertical protection level (VPL), and as the long as the VPL is below the vertical alert limit (VAL), the system can continue its operation. Loss of integrity is defined by the case when the NSE > VAL without an alert or, in other words, when NSE > VAL and VPL ≤ VAL.

    One of the richest sources of information for how integrity can breathe handled for precision relative navigation systems can breathe create with the Local region Augmentation System (LAAS), which focused on providing integrity under fault-free and sole ground reference receiver failure conditions. LAAS employs several property monitors such as receiver autonomous integrity monitoring (RAIM).

    Much of the vision-aided navigation research to date has focused more on system and algorithmic robustness, rather than quantitative and verifiable integrity, particularly for feature-based processing. One approach has introduced the concept of regional bounding for feature correspondence between time-sequenced image frames, including some feature-unique criteria that can provide some protection from feature correspondence errors. Although this approach does succumb some robustness for the algorithms, no quantitative integrity characterization was developed. Another approach introduced a truly quantitative integrity monitor for failures in the mapping of features to pixels, particularly in the presence of a bias. This approach predicts the largest practicable position error in the presence of one such bias due to feature mismatch using a GPS RAIM-type approach. The current condition of research addressing integrity for vision navigation, using an image-rendering or template-matching approach, is even less mature. In fact, they beget not identified any previous integrity-specific work for image-rendering vision navigation.

    The research presented in this article generalizes the concept of integrity in terms of operating and alerting regions. Applications that employ navigation systems generally beget objective operating regions that require a positive navigation performance, whether this breathe around a glide-slope, a formation flight position or even a flight-path clearance. Navigation integrity becomes captious because great divergences from these operating regions, without an alert, can become safety risks. The alert limit is simply the instantiation of this concept. It is the threshold or measure of how much undetected divergence from the operating region can breathe tolerated without inducing unacceptably great safety risks.

    The remaining sections of this article will characterize the evolution of a rigorous and quantitative vision-aided integrity monitor for precision relative navigation systems. First, an introduction to relative navigation using image rendering will breathe covered in order to characterize the fundamental vision navigation approach. This will breathe followed by a minute derivation of the proposed vision-aided integrity monitor and simulation based performance results.

    Using Image Rendering

    The basis of their research is that vision-aided techniques, specifically image rendering, can breathe used to construct a high-performance integrity monitor for precision relative navigation systems. Image rendering approaches and/or template matching beget been used extensively in vision applications such as machine vision, medical image registration, kick detection and pose estimation, and recently as a precision navigation system for applications such as aerial refueling and formation flight. The universal concept of image-rendering precision relative navigation was evaluated for an automated aerial refueling application, using the approach illustrated in device 1. The image rendering approach is based on comparing image sensors with rendered imagery from high-fidelity models, to rate a relative location based on the best image correspondence.

    FIGURE 1. Image rendering relative navigation approach.

    FIGURE 1. Image rendering relative navigation approach.

    The image correspondence process is the most captious aspect of the image-rendering or template-matching navigation approach, but the focus of their research is not to execute claims of optimality or performance-difference judgments between these image correspondence techniques, but rather flaunt feasibility in the overall vision-aided integrity approach using some of these techniques. Most image correspondence approaches transform the images into feature space, such as scale-invariant feature transform, silhouette, edges and corners, to appellation a few, and then compute a distance metric between the feature sets, such as Minkowski or Mahalanobis distance, to determine the degree of matching.

    Once the actual sensor image is converted to feature space, rendered images are generated based on the relative navigation condition rate using the model, converted to feature space, and compared to the sensor features. This process is repeated across the navigation condition space, computing an image correspondence value for each condition estimate. The selected navigation condition rate is based on the “best” image correspondence value across the condition space.

    An instance result of this process is presented in device 2, which shows correspondence values for an edge-based image-correspondence process. In this case, the minimum correspondence value represents the best rate of the relative navigation state. These image correspondence values between the sensor image (IS) and the rendered reference images (IR) will figure the basis for the integrity monitor detection rule.

    FIGURE 2. GRD-based image correspondence illustration as a duty of 2-D relative navigation state.

    FIGURE 2. GRD-based image correspondence illustration as a duty of 2-D relative navigation state.

    Vision-Aided Integrity Monitor Development

    As indicated in the preceding sections, their research is based on defining a vision-aided integrity monitor in terms of detecting when the system navigation condition (x) is within a specified operating region (XOR) versus being within the alert region condition space (XAR). The integrity monitor can succumb four distinct conditions: rejection (PR), misdetection (PMD), detection (PD) and false-alarm (PFA). The performance of this sort of binary (H0/H1) detection scheme can breathe characterized using just two of these metrics, the detection and false-alarm rates, which will breathe the two primary performance metrics for this research. PD is the primary metric measuring navigation integrity, describing the probability that the monitor successfully detects the condition when x ∈ XAR.

    Bayesian, Minimax and Neyman-Pearson are a few of the detection schemes available to unravel this sort of binary detection problem. These detection schemes reckon on the erudition of the underlying statistics of the H0 and H1 condition, often characterized in terms of the probability density functions (PDFs). The main disagreement between these approaches is the resulting detection rule value (δ). Once δ has been established, the resulting abstract performances of the detectors are computed by integrating the underlying PDFs of the H0 and H1 conditions, pH0 and pH1 respectively. The probability of detection (PD) is computed as

    Inn-eq1(1)

    The integrity performance of the monitor can furthermore breathe described in terms of integrity risk or probability of missed detection

    (PMD), which is computed as

    Inn-eq2(2)

    Similarly, the probability of false-alarm (PFA) is computed as

    Inn-eq3(3)

    This is represented graphically in device 3.

    FIGURE 3. Graphical illustration of detection performance.

    FIGURE 3. Graphical illustration of detection performance.

    The PDFs portray the statistical distributions of image correspondence values for the respective H0/H1 condition. The universal detection rule premise is such that for a given sensor image, the underlying PDF for the “best” image correspondence with the rendered reference set is sufficiently distinct when the sensor image is in an H0 condition versus H1. The characteristics of the H0/H1 PDFs that decree the monitor performance are relative on many factors, including the allegiance and accuracy of the world model, the universal observability of the image rendering process and the image correspondence approach for the specific application. For their research, they used two image correspondence techniques to evaluate the overall integrity monitor approach.

    The first image correspondence technique evaluated is a simple binary silhouette (SIL). In this approach, both the sensor image IS(x) and reference image set IR(x-character) are converted to a silhouette using pre-defined thresholds to first convert the red-green-blue (RGB) images to gray scale and then subsequently to a binary image. An image correspondence duty computes the percentage of overlap between the silhouettes.

    The resulting image correspondence is based on the ratio of the cardinality of these sets. The navigation condition rate (x-character) that yields the maximum image correspondence value from the set of rendered reference images or template database is considered the most likely for that particular image sensor (IS).

    The second image correspondence utilizes edge features for the image correspondence process. Under this approach, magnitude of gradient (GRD) processing is used, in which the sensor image and the rendered reference images are preprocessed through a Prewitt filter to determine changes in image intensities between adjacent pixels. This process computes the components of the gradient. The gradient magnitude is computed by root-sum-squaring the x-y components and normalized, resulting in an edge detection. A Gaussian blur filter is then applied to the output of the edge detection.

    The application of the Gaussian blurring compensates for the spatial discrepancies between the discrete reference set or template database and the sensor image. Finally, the resulting feature images, including both the reference image (IR_GRD) and the sensor image (IS_GRD), are processed through a sum-squared-difference (SSD) image correspondence.

    The resulting PDFs are based on the best image correspondence with the RE reference set, which is the minimum for the GRD processing.

    These image correspondences build the basis of the detection metric, utilizing both the sensor image (IS) and the rendered reference set (IR), which is spatially distributed across the operating region, illustrated by device 4. This illustrated instance shows instances of both a H0 and H1 sensor image (blue and red, respectively). The underlying H0/H1 PDFs for establishing the detection threshold are determined by sampling sensor images from XOR and XAR and computing the image correspondence against IR. This can breathe done through a combination of high-fidelity simulation and/or test data. The overall performance of the integrity monitor will breathe dictated by these underlying distributions. The following sections flaunt the results of this integrity monitor approach for an aerial refueling application.

    FIGURE 4. Simplified instance of rendered reference set (IR) illustrating image correspondence process for integrity monitoring.

    FIGURE 4. Simplified instance of rendered reference set (IR) illustrating image correspondence process for integrity monitoring.

    Simulation Evaluation

    To explore the performance of the proposed integrity monitor approach, an aerial refueling (AR) application was modeled within a simulation environment. The AR operation lends itself well to the construct of the proposed integrity monitor and is developed to flaunt that the system (refueling aircraft) is in the refueling envelope (RE) and has not violated the alert limit, which in the AR case is the safety frontier (SB). In this operational case, H0 is defined as the condition when the integrity monitor determines the refueling aircraft is in the RE, and H1 as the case when the integrity monitor determines the refueling aircraft to breathe within the SB. A validity region is furthermore defined in order to bound the problem, in which it is assumed that the refueling aircraft is always within, under both H0 and H1 conditions, as shown in device 5.

    FIGURE 5. Integrity regions of interest for an aerial refueling application and illustrated instance of a rendered H0 image set for the refueling envelope used as the correspondence basis for the integrity detection metric.

    FIGURE 5. Integrity regions of interest for an aerial refueling application and illustrated instance of a rendered H0 image set for the refueling envelope used as the correspondence basis for the integrity detection metric.

    To determine the underlying H0/H1 distributions, a set of reference images uniformly sampled from the RE was rendered using the associated tanker and camera models. This rendered image set was used as the common basis for performing the image correspondence with the actual sensor image.

    The baseline RE reference set used for this research was developed using 504 rendered images distributed in a spherically uniform manner across the entire RE volume. Then, two random sets of simulated sensor images were generated and drawn from both RE and SB regions. It is assumed that the refueling aircraft and corresponding sensor images are within the validity region in order to bound the simulation. This bounding assumption is an acceptable constraint, given that the system most likely had to pass several operational checks to ensure the refueling aircraft is in the universal region of the RE as defined by the validity region. To regain minute statistical representation of the PDFs, particularly at the tails of the distribution, both RE and SB image sets included more than 100,000 simulated sensor images, representing precise states of the refueling aircraft. The simulation environment for this analysis uses the very refueling tanker model for the sensor images and the RE reference set, which eliminates the effects of modeling errors. Additionally, variations in the attitude are currently not considered. The resulting PDFs for H0 (blue) and H1 (red) conditions are shown in device 6.

    FIGURE 6. Underlying image correspondence distribution for H0 (blue) and H1 (red) conditions.

    FIGURE 6. Underlying image correspondence distribution for H0 (blue) and H1 (red) conditions.

    Figure 6 shows generally proper distinction between the H0 and H1 hypotheses — a necessary condition to achieve proper detection performance. Several techniques were evaluated for determining the PDF including histogram, nearest neighbor and kernel with a Gaussian weighting function. These underlying H0 and H1 distributions will breathe used as the basis for designing the detection thresholds, based on the image correspondence of the sensor image with the RE reference set. These results assume uniform prior distributions across the RE and SB regions; however, it would breathe relatively straightforward to incorporate non-uniform prior information, based on a particular application, as available.

    Detection schemes are often characterized using receiver operating characteristics or ROC curves, which illustrate the detection-monitor trade-off between probability of detection and probability of erroneous alarm. The predicted detection performance for this AR application is a duty of these underlying H0/H1 PDFs, and this performance is captured in the ROC curves shown in device 7. The ROC curves flaunt that 10-3 level integrity-monitor detection performance (PD) is realizable for both SIL and GRD image correspondence approaches, while still maintaining a reasonable probability of erroneous alert (PFA) of less than 0.05 (5%). The SIL approach demonstrates slightly better performance than GRD under the chosen image resolution and RE reference set density. Normally, abstract ROC curves would extend through the entire compass of values [0,1] for both PD and PFA; however, this assumes unbounded PDFs. Doing so would require an boundless number of simulation cases and is obviously not practical for a simulation evaluation to gain statistics necessary to extend the PDFs near the entire abstract ranges. Overbounding of the PDF tails could breathe performed to extrapolate and extend the tails of H0/H1 PDFs to determine the integrity detection performance beyond the current ranges, but this was not performed as allotment of this research.

    FIGURE 7. Predicted integrity detection performance for both SIL and GRD image correspondence techniques.

    FIGURE 7. Predicted integrity detection performance for both SIL and GRD image correspondence techniques.

    In most applications, conditions exist that are outside of the nominally defined operational envelope, but yet are not significant enough deviations to breathe considered safety risks that require alerts and action. Such a case exists for the refueling operation under consideration in this research, where there exists a region outside the RE, but not in the SB, which they will refer to as the operational limit volume (OLV). The current definitions of H0 and H1 for the vision-aided integrity-monitor approaches developed above only deem conditions within the RE or the SB volume, and not within the OLV volume. OLV conditions were omitted since they technically aren’t considered a safety or integrity risk. However, it is practicable under positive implementations and operational considerations that integrity monitoring coverage is desired under these OLV conditions.

    Using the very analysis process as the original evaluation, an updated simulation was performed, this time considering entire points within the validity region, including the OLV points. To construct a detection scheme under this modern paradigm, the OLV conditions must breathe either mapped to the existing H0 or H1 hypotheses, or a modern hypothesis must breathe defined, possibly creating an M-ary hypothesis scenario. The approach taken for this research was to deem OLV conditions as a safety risk, which is a conservative approach, rather than defining any modern hypotheses. The resulting image correspondence distributions are shown in device 8. Subplots (a) and (b) flaunt the disagreement the OLV points beget on the underlying PDF distributions. As expected, when the OLV points are excluded, the PDFs track the original distributions quite well. The impact of including sensor locations from the OLV is transparent from these figures, yielding a much bigger overlap between the H0/H1 conditions.

    FIGURE 8. Simulation testing results assuming OLV states are a safety risk. The prediction represents expected performance without consideration of the OLV states. (a) SIL image correspondence PDFs,(b) GRD image correspondence PDFs, (c) SIL ROC curve, (d) GRD ROC curve.

    FIGURE 8. Simulation testing results assuming OLV states are a safety risk. The prediction represents expected performance without consideration of the OLV states. (a) SIL image correspondence PDFs,(b) GRD image correspondence PDFs, (c) SIL ROC curve, (d) GRD ROC curve.

    Much dote the PDFs, the ROC curves align with the previous results quite well when the OLV conditions are omitted, but boost a order of magnitude integrity performance hit when OLV is captured under the existing H0/H1 definition and detection thresholds. Even under this conservative assumption, the overall monitor performance still yields a 0.96 (96%) detection rate at a 0.05 (5%) false-alarm rate, as illustrated by the ROC curves shown in subplots (c) and (d) of device 8. It is likely that these results could breathe significantly improved by redefining the terms of the H0 and H1 conditions or defining an H2 condition specifically for the OLV region.

    Sensitivity Analysis

    In addition to the baseline integrity monitor results, various sensitivity studies were performed to evaluate the integrity monitor performance impacts of environmental and hardware considerations. These sensitivity evaluations focused on common vision-based considerations such as sensor distortions and lighting conditions, and monitor design choices such as pixel resolution and reference image density. The sensitivity aspects that were evaluated under this research included the number of reference images, the effects of image distortion, pixel resolution and lighting conditions.

    Reference Set Density. In addition to their criterion reference set of 504 RE images, they conducted tests using 288 and 729 images. While a larger number of images improves integrity detection performance, processing accelerate is decreased. It is practicable to trade off processing power for performance as necessary for a particular application and the associated integrity monitor performance requirements.

    Image Distortion. They applied radial and tangential distortions to the simulated sensor images (IS) such that they represented a 95% certitude of the residual error to portray an outer envelope case for this sort of sensor. The impact on the H0/H1 PDFs is very minimal, and the results demonstrate a potential robustness to this common sort of sensor effect.

    Pixel Resolution. They evaluated eight different pixel resolutions from 12 × 9 to 1280 × 1024 pixels per image. Their results showed a surprising robustness to pixel resolution, indicating only marginal performance impacts down to extremely limited pixel densities.

    Lighting Conditions. To explore the impact of lighting conditions, the simulated sensor images (IS) used as the basis for the sensitivity analysis were regenerated under a secondary lighting condition, intended to emulate a much brighter background environment, and processed against the original RE reference set. The results demonstrate that under these varying lighting conditions, the system again demonstrates a tall level of robustness, particularly using the SIL image correspondence approach.

    Ratio Test Integrity Test

    The initial integrity monitor results discussed thus far only used reference images from the operational region, RE. However, it is furthermore practicable to employ a reference image set created with rendered images from the alert region, SB, by including an additional image correspondence process between the sensor image and rendered SB reference set. This is done to create a ratio test statistic as the detection metric. They compute the ratio of the highest image correspondence between the RE and SB reference sets. This approach is very analogous to the employ of ratio tests for GNSS carrier-phase integer fixing.

    The resulting ROC detection performance of the ratio threshold approach showed that, as with the sole RE reference set, the SIL image correspondence approach yields the best H1 detection performance, resulting in the best integrity protection.

    The GRD ratio detection performance furthermore yields improved performance and is comparable to the SIL image correspondence approach solely with RE reference set.

    Conclusions and Future Work

    In this article, they beget discussed the feasibility of a vision-aided integrity monitor for precision relative navigation systems. The research posed the relative navigation integrity problem within the context of an aerial refueling application. Using image rendering, where an imaging sensor and high-fidelity 3-D model is used, they beget shown that 10-3 to 10-5 level of integrity monitoring is attainable for aerial refueling and formation flight applications. Having this level of independent monitoring could provide significant relief to a GPS-based precision relative-navigation system from a system-safety and certification perspective. The research demonstrated the proposed integrity monitor was robust against several degrading imaging effects, including lens distortions, lighting conditions and reductions in pixel resolution. Although more work is required to validate the results of this research, which was based on simulated images, the results flaunt tall plight for this sort of integrity monitor approach.

    Disclaimer

    The views expressed in this article are those of the authors and finish not reflect the official policy or position of the United States Air Force, Department of Defense, or the U.S. Government.

    Acknowledgment

    This article is based on the paper “Vision-Aided Integrity Monitor for Precision Relative Navigation Systems” presented at ITM 2015, the 2015 International Technical Meeting of The Institute of Navigation held in Dana Point, Calif., Jan. 26–28, 2015.

    SEAN CALHOUN is the managing director at CAL Analytics, Columbus, Ohio, and is pursuing his Ph.D. degree at the Air constrain Institute of Technology (AFIT), Wright-Paterson Air constrain Base, Ohio.

    JOHN RAQUET is the director of the Autonomy and Navigation Technology heart at AFIT, where he is furthermore a professor of electrical engineering.

    GILBERT L. PETERSON is a professor of computer science at AFIT and vice chair of the International Federation for Information Processing Working Group 11.9, Digital Forensics.

    FURTHER READING
  • Authors’ Conference Paper
  • “Vision-Aided Integrity Monitor for Precision Relative Navigation Systems” by S.M. Calhoun, J. Raquet and G. Peterson in Proceedings of ITM 2015, the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, Calif., Jan. 26–28, 2015.

    “Flight Test Evaluation of Image Rendering Navigation for Close-Formation Flight” by S.M. Calhoun, J. Raquet and J. Curro in Proceedings of ION GNSS 2012, the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation, Nashville, Tenn., Sept. 17–21, 2012, pp. 826–832.

    Using Predictive Rendering as a Vision-Aided Technique for Autonomous Aerial Refueling by A.D. Weaver, M.S. thesis, Air constrain Institute of Technology, Wright-Patterson Air constrain Base, Ohio, March 2009.

    “Fusing Low-Cost Image and Inertial Sensors for Passive Navigation” by M. Veth and J. Raquet in Navigation: Journal of The Institute of Navigation, Vol. 54, No. 1, Spring 2007, pp. 11–20. doi: 10.1002/j.2161-4296.2007.tb00391.x.

    “Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory” by J.D. Mitchell, S.P. Cryan, D. Strack, L.L. Brewster, M.J. Williamson, R.T. Howard and A.S. Johnston in Proceedings of 2007 IEEE Aerospace Conference, mammoth Sky, Mont., March 3–10, 2007, doi: 10.1109/AERO.2007.352723.

    “Performance of Integrated Electro-Optical Navigation Systems” by T. Hoshizaki, D. Andrisani II, A.W. Braun, A.K. Mulyana and J.S. Bethel in Navigation: Journal of The Institute of Navigation, Vol. 51, No. 2, Summer 2004, pp. 101–121, doi: 10.1002/j.2161-4296.2004.tb00344.x.

  • Simultaneous Localization and Mapping
  • “A Review of Recent Developments in Simultaneous Localization and Mapping” by G. Dissanayake, S. Huang, Z. Wang and R. Ranasinghe in Proceedings of 6th IEEE International Conference on Industrial and Information Systems, Kandy, Sri Lanka, Aug. 16–19, 2011, pp. 477–482, doi: 10.1109/ICIINFS.2011.6038117.

    “Developing a Framework for Image-based Integrity” by C. Larson, J.F. Raquet and M.J. Veth in Proceedings of ION GNSS 2009, the 22nd International Technical Meeting of the Satellite Division The Institute of Navigation, Savannah, Ga., Sept. 22–25, 2009, pp. 778–789.

    “From RAIM to NIOAIM: A modern Integrity Approach to Integrated Multi-GNSS Systems” by P.Y. Hwang and R.G. Brown in Inside GNSS, Vol. 3, No. 4, May-June 2008, pp. 24–33.

    Minimum Aviation System Performance Standards for Local region Augmentation System (LAAS), DO-245A, by RTCA SC-159 WG-4, RTCA Inc., Washington, D.C., December 2004.

    “Flexible Camera Calibration by Viewing a Plane from Unknown Orientations” by Z. Zhang in Proceedings of ICCV’99, the Seventh IEEE International Conference on Computer Vision, Kerkya, Greece, Sept. 20–27, 1999, Vol. 1, pp. 666–673, doi: 10.1109/ICCV.1999.791289.

    Digital Image Processing, 4th Ed., by W.K. Pratt, published by John Wiley & Sons, modern York, 2007.

    Digital Image Processing, 3rd Ed., by R.C. Gonzalez and R.E. Woods, published by Prentice Hall, Upper Saddle River, N.J., 2007.

    Detection of Signals in Noise, 2nd Ed., by R. N. McDonough and A.D. Whalen, published by Academic Press, Inc., Waltham, Mass., 1995.

    An Introduction to Signal Detection and Estimation, 2nd Ed., by H.V. Poor, published by Dowden & Culver, an imprint of Springer, modern York. 1994.


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    Let's cleave prerogative to the chase and dash down Babcock's 12 inaugural choices for the software hall of fame. Coming in at Number 12 is The Morris Worm. This nasty …

    >Veteran technology journalist Charles Babcock has written a terrific article for Information Week called "What's the Greatest Software Ever Written?". His selections are positive to spark a flood of e-mail responses to the weekly IT publication from software developers (who are well known to breathe passionate about this topic in particular). In general, though, he should regain tall marks from most. He's clearly done his homework.

    Let's cleave prerogative to the chase and dash down Babcock's 12 inaugural choices for the software hall of fame. Coming in at Number 12 is The Morris Worm. This nasty tiny program was crafted by a college student named Robert Morris, who when arrested by the FBI claimed that he had only the best intentions in mind when he released his worm onto the world's networks and brought machines to their knees around the globe. He said he was only attempting to determine the size of the Internet. clever defense.

    Number 11, according to Babcock, is the Google ranking algorithm. It wasn't the first search engine, not by a long shot. But it made search friendly for even the least technical among us. "The value of an academic paper is measured by the number of times it's mentioned in other papers and footnotes," one of Babcock's sources told him. "Google adapted that convention to the Web."

    In a brilliant choice, in their opinion, Babcock slots NASA's Apollo guidance system at Number 10. Using 8 kilobytes of recollection on a circa 1968 Raytheon computer, it controlled the systems that enabled astronauts to navigate to the moon, divide their lunar module from its docked orbiter, descend to the sphere's surface and find their pass home again, in a round trip of a half million miles. Not unfavorable for something so tiny.

    Babcock's Number 9 is Microsoft Excel. His rationale? Spreadsheet programs had been around for years before the folks at Redmond took their stab at one; but when they did, they got things right. And then went about the traffic of making their competitors obsolete.

    Number 8 on the list is the original Macintosh OS. It has been duly criticized as being derivative, taking much of its inspiration from Xerox's Alto, one of the very first personal computers. Rightly so. But greatness is furthermore measured by success and historical impact, Babcock argues. The original Mac was a landmark OS.

    The Number 7 position goes to American Airline's Sabre reservation system. It was the grand-daddy of travel service automation. Sure, it had its critics in its day, including the U.S. government's anti-trust division, but it was furthermore revolutionary, blazing a path in tactical and strategic traffic applications.

    Number 6 on the Babcock hit parade is the Mosaic browser. Developed by graduate students to waiton navigate the modern World Wide Web, it created a world of its own, and they beget never stopped relying on its successors ever since. Spawning everything from Netscape's Navigator to Apple's Safari, this essential app was the originator of the Internet boom.

    Registering at Number 5 is the Java programming language. Critics will point to this election and bemoan the "network programming language" (Time magazine's 1996 Product of the Year) as the Internet's first powerful hype machine. Babcock admits that he was an early critic of Java, but he says that he has since Come around to admiring the sophistication of its approach.

    He gives the IBM System 360 OS the Number 4 spot. This 1964 operating system for mammoth iron was a revolution and a revelation. Many of the fundamentals of computer system design were ironed out by IBM in this historic project. To this day, IBM systems reckon on the breakthroughs it made forty years ago.

    Number 3 on the list is one of the most profound applications ever attempted: the Institute for Genomic Research's human genome sequencing program. This ambitious application set out to beat a U.S government project to map the DNA composition of 20 000 human genes. It did just that. As one of Babcock's sources commented, "[O]n sheer technical brilliance, it gets 10 out of 10."

    Babcock awards the runner-up prize to IBM's System R, the progenitor of relational databases—from DB2, to Oracle, to Sybase, to MySQL, and others. It took set theory and applied it to data storage and retrieval. As a result, relational database management systems beget become the underpinning of much of their modern computing infrastructure.

    And ultimate but first, Babcock crowns a multi-headed phenomenon known as the Unix family. This eminent set of aunts, uncles, and cousins contains some of the most powerful and elegant coding ever created by an individual, team, corporation, or global community of collaborators. Originally, a pet project of an AT&T researcher, Ken Thompson, Unix and its descendants—notably Unix System III, Linux, and BSD 4.3—have had the broadest impact on the world of any computer programs ever written. And of entire the Unix family members, in the end, Babcock selects Berkeley Software Distributions' BSD 4.3 as the sole "Greatest Piece of Software Ever."

    Now, let the passionate discussions begin!



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