3,196 research outputs found
Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot
Mobile manipulation tasks are one of the key challenges in the field of
search and rescue (SAR) robotics requiring robots with flexible locomotion and
manipulation abilities. Since the tasks are mostly unknown in advance, the
robot has to adapt to a wide variety of terrains and workspaces during a
mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and
an anthropomorphic upper body to carry out complex tasks in environments too
dangerous for humans. Due to its high number of degrees of freedom, controlling
the robot with direct teleoperation approaches is challenging and exhausting.
Supervised autonomy approaches are promising to increase quality and speed of
control while keeping the flexibility to solve unknown tasks. We developed a
set of operator assistance functionalities with different levels of autonomy to
control the robot for challenging locomotion and manipulation tasks. The
integrated system was evaluated in disaster response scenarios and showed
promising performance.Comment: In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Madrid, Spain, October 201
Immersive Analytics of Large Dynamic Networks via Overview and Detail Navigation
Analysis of large dynamic networks is a thriving research field, typically
relying on 2D graph representations. The advent of affordable head mounted
displays however, sparked new interest in the potential of 3D visualization for
immersive network analytics. Nevertheless, most solutions do not scale well
with the number of nodes and edges and rely on conventional fly- or
walk-through navigation. In this paper, we present a novel approach for the
exploration of large dynamic graphs in virtual reality that interweaves two
navigation metaphors: overview exploration and immersive detail analysis. We
thereby use the potential of state-of-the-art VR headsets, coupled with a
web-based 3D rendering engine that supports heterogeneous input modalities to
enable ad-hoc immersive network analytics. We validate our approach through a
performance evaluation and a case study with experts analyzing a co-morbidity
network
Improving Big Data Visual Analytics with Interactive Virtual Reality
For decades, the growth and volume of digital data collection has made it
challenging to digest large volumes of information and extract underlying
structure. Coined 'Big Data', massive amounts of information has quite often
been gathered inconsistently (e.g from many sources, of various forms, at
different rates, etc.). These factors impede the practices of not only
processing data, but also analyzing and displaying it in an efficient manner to
the user. Many efforts have been completed in the data mining and visual
analytics community to create effective ways to further improve analysis and
achieve the knowledge desired for better understanding. Our approach for
improved big data visual analytics is two-fold, focusing on both visualization
and interaction. Given geo-tagged information, we are exploring the benefits of
visualizing datasets in the original geospatial domain by utilizing a virtual
reality platform. After running proven analytics on the data, we intend to
represent the information in a more realistic 3D setting, where analysts can
achieve an enhanced situational awareness and rely on familiar perceptions to
draw in-depth conclusions on the dataset. In addition, developing a
human-computer interface that responds to natural user actions and inputs
creates a more intuitive environment. Tasks can be performed to manipulate the
dataset and allow users to dive deeper upon request, adhering to desired
demands and intentions. Due to the volume and popularity of social media, we
developed a 3D tool visualizing Twitter on MIT's campus for analysis. Utilizing
emerging technologies of today to create a fully immersive tool that promotes
visualization and interaction can help ease the process of understanding and
representing big data.Comment: 6 pages, 8 figures, 2015 IEEE High Performance Extreme Computing
Conference (HPEC '15); corrected typo
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