摘要：A scheme for general purposed FDTD visual scientific computing software is introduced in this paper using object-oriented design (OOD) method. By abstracting the parameters of FDTD grids to an individual class and separating from the iteration procedure, the visual software can be adapted to more comprehensive computing problems. Real-time gray degree graphic and wave curve of the results can be achieved using DirectX technique. The special difference equation and data structure in dispersive medium are considered, and the peculiarity of parameters in perfectly matched layer are also discussed.

摘要：A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.