A Tele-Operated Display With a Predictive Display Algorithm

Tele-operated display systems with head mounted displays (HMD) are becoming popular as visual feedback systems for tele-operation systems. However, the users are suffered from time-varying bidirectional delays caused by the latency and limited bandwidth of wireless communication networks. Here, we develop a tele-operated display system and a predictive display algorithm allowing comfortable use of HMDs by operators of tele-operation systems. Inspired by the kinematic model of the human head-neck complex, we built a robot neck-camera system to capture the field of view in any desired orientation. To reduce the negative effects of the time-varying bidirectional communication delay and operation delay of the robot neck, we developed a predictive display algorithm based on a kinematic model of the human/robot neck-camera system, and a geometrical model of a camera. Experimental results showed that the system provide predicted images with high frame rate to the user

Efficient intra- and inter-night linking of asteroid detections using kd-trees

The Panoramic Survey Telescope And Rapid Response System (Pan-STARRS) under development at the University of Hawaii's Institute for Astronomy is creating the first fully automated end-to-end Moving Object Processing System (MOPS) in the world. It will be capable of identifying detections of moving objects in our solar system and linking those detections within and between nights, attributing those detections to known objects, calculating initial and differentially-corrected orbits for linked detections, precovering detections when they exist, and orbit identification. Here we describe new kd-tree and variable-tree algorithms that allow fast, efficient, scalable linking of intra and inter-night detections. Using a pseudo-realistic simulation of the Pan-STARRS survey strategy incorporating weather, astrometric accuracy and false detections we have achieved nearly 100% efficiency and accuracy for intra-night linking and nearly 100% efficiency for inter-night linking within a lunation. At realistic sky-plane densities for both real and false detections the intra-night linking of detections into `tracks' currently has an accuracy of 0.3%. Successful tests of the MOPS on real source detections from the Spacewatch asteroid survey indicate that the MOPS is capable of identifying asteroids in real data.Comment: Accepted to Icaru