In tele-robotics, time delay is a significant problem. When video feedback is delayed, operators adopt inefficient move-wait strategies, so system performance decreases. Predictive display (PD) is an effective solution to compensate for delays by graphics rendering of predicted visual feedback. Using advanced computer vision technology, we implemented a PD system based-on online real-time 3D reconstruction from monocular video. This paper describes the client-server system architecture. Experimental results indicate it can capture 3D models and render the predicted image in realistic applications covering outdoor rover operation on earth, Canadian Space Agency's (CSA) Mars analogue environment, UAV operation.

The application of virtual environments (VEs) to the product design and development process has intrigued researchers and practitioners in industry, government, and academia in recent years. To meet the characteristics and the requirements of virtual design, VDPR, a distributed parallel rendering software infrastructure, which combines the advantages of immediate-mode frame and retained-mode frame, is put forward in this paper. By transmitting the model operation event rather than the modified model from master node to the render node, the network bandwidth is freed from unnecessary transmission of excessive graphics commands and data, and the mix-mode frame decreases the network communication flux greatly. Furthermore, the application can implement efficient dynamic database updates based on distributed objects and capture the face data of product model for rendering from the client application. The problems including software architecture of parallel rendering systems, alignment of projectors, synchronization of displays in distributed parallel rendering systems and so on are investigated in detail in this paper. Finally, overall display performance is given. The aim of constructing the display system is to build a large-scale, high resolution, immersive virtual environment supporting users' collaboration for virtual design, and it shows great promise for manufacturing industry to raise productivity, improve product quality, shorten lead times, reduce costs and improve competition ability in a global environment.

This paper analyzes and designs a Testing and Communication System (TCS), which is used for the simulation of controlling and communicating for the space robot arm. Arming at enhancing the reliability of the operation of the space robot arm, a new Hot Double redundant strategy is adopted during the designing of TCS. The new Hot Double Redundant way is utilized to back up CAN BUS, which is the medium of data transmission and reception. The new network structure based on CAN BUS is validated on a nine nodes experiment system. The simulation results demonstrate the effectiveness of the redundancy strategy, and also the reliability and fault-tolerant ability of the TCS is testified by experiments.

This paper presents the concept of a general two degrees-of-freedom space module or TODOM. General TODOM is made up of three basic modules: one link module and two revolving modules. The reliability of the TODOM is improved by mutual backup of the control systems of the two revolving modules. Every revolving module corresponds to one degree-of-freedom (DOF). The two axes of the revolving modules can be configured to different orientations or positions by specific design of the mechanical interfaces between the three basic modules. Several such differently configured TODOMs can be assembled into some needed kinds of space manipulators that have even numbered DOF. By using integration design method, the mass and volume of the TODOM is dramatically reduced, and the system reliability of the manipulator can be improved. The rationality and feasibility of the TODOM concept is testified by the development of a 2-DOF wrist whose two joint axes are orthogonal