Object-oriented software problems with

Parts of this strategy have already been mapped out through the introduction of software products such as JAVA, an object-oriented programming language (6) suitable for immediate integration with Internet tools for distributed application across wide-area networks. In this approach, solutions to specialized problems are made available to users in the form of applets, or program modules, which can easily be... 

Where a program can be considered a critical mass of code that performs many functions in the attempt to solve a problem with little consideration for object boundaries, an object is associated with the code to solve a particular set of functions having to do with just that type of object. By combining objects like molecules, it is possible to create more efficient systems than those created by traditional means. Software development becomes a speedier and less error-prone process as well. Since objects can be reused, once tested and implemented, they can be placed in a hbrary for other developers to reuse. The more the objects in the library, the easier and quicker it is to develop new systems. And since the objects being reused have, in theory, already been warranted (i.e., they have been tested and made error free), there is less possibility that object-oriented systems will have major defects. 

The main focus of this paper was on the pose estimation problem, which was to determine the position and object models, an algorithm based on a triangulation scheme was developed. The position of the object coordinate frame was found using a nonlinear kast-squares technique. Some of the problems with the software are the fact that only the position of the object is calculated versus both the position and orientation of the object, and that both the object to be grasped and the proximity sensor characteristics are modeled as spherical. This was done to make the equation development, and thus programming, simpler. 

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