Map-Based Navigation in a Graphical MOO

Traditional MUDs and MOOs lack support for global wareness and simple navigation. These problems can be addressed by the introduction of a map-based navigation tool. In this paper we report on the design and evaluation of such a tool for MOOsburg, a graphical 2D MOO based on the town of Blacksburg, Virginia. The tool supports exploration and place-based tasks in the MOO. It also allows navigation of a large-scale map and encourages users to develop survey knowledge of the town. An evaluation revealed some initial usability problems with our prototype and suggested new design ideas that may better support users. Using these results, the lessons learned about map-based navigation are presented

Persistent Homology Guided Force-Directed Graph Layouts

Graphs are commonly used to encode relationships among entities, yet their abstractness makes them difficult to analyze. Node-link diagrams are popular for drawing graphs, and force-directed layouts provide a flexible method for node arrangements that use local relationships in an attempt to reveal the global shape of the graph. However, clutter and overlap of unrelated structures can lead to confusing graph visualizations. This paper leverages the persistent homology features of an undirected graph as derived information for interactive manipulation of force-directed layouts. We first discuss how to efficiently extract 0-dimensional persistent homology features from both weighted and unweighted undirected graphs. We then introduce the interactive persistence barcode used to manipulate the force-directed graph layout. In particular, the user adds and removes contracting and repulsing forces generated by the persistent homology features, eventually selecting the set of persistent homology features that most improve the layout. Finally, we demonstrate the utility of our approach across a variety of synthetic and real datasets

From Monocular SLAM to Autonomous Drone Exploration

Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power consuming as possible. In this paper, we propose a method for autonomous MAV navigation and exploration using a low-cost consumer-grade quadrocopter equipped with a monocular camera. Our vision-based navigation system builds on LSD-SLAM which estimates the MAV trajectory and a semi-dense reconstruction of the environment in real-time. Since LSD-SLAM only determines depth at high gradient pixels, texture-less areas are not directly observed so that previous exploration methods that assume dense map information cannot directly be applied. We propose an obstacle mapping and exploration approach that takes the properties of our semi-dense monocular SLAM system into account. In experiments, we demonstrate our vision-based autonomous navigation and exploration system with a Parrot Bebop MAV

Interactive Visualization Lenses:: Natural Magic Lens Interaction for Graph Visualization

Information visualization is an important research field concerned with making sense and inferring knowledge from data collections. Graph visualizations are specific techniques for data representation relevant in diverse application domains among them biology, software-engineering, and business finance. These data visualizations benefit from the display space provided by novel interactive large display environments. However, these environments also cause new challenges and result in new requirements regarding the need for interaction beyond the desktop and according redesign of analysis tools. This thesis focuses on interactive magic lenses, specialized locally applied tools that temporarily manipulate the visualization. These may include magnification of focus regions but also more graph-specific functions such as pulling in neighboring nodes or locally reducing edge clutter. Up to now, these lenses have mostly been used as single-user, single-purpose tools operated by mouse and keyboard. This dissertation presents the extension of magic lenses both in terms of function as well as interaction for large vertical displays. In particular, this thesis contributes several natural interaction designs with magic lenses for the exploration of graph data in node-link visualizations using diverse interaction modalities. This development incorporates flexible switches between lens functions, adjustment of individual lens properties and function parameters, as well as the combination of lenses. It proposes interaction techniques for fluent multi-touch manipulation of lenses, controlling lenses using mobile devices in front of large displays, and a novel concept of body-controlled magic lenses. Functional extensions in addition to these interaction techniques convert the lenses to user-configurable, personal territories with use of alternative interaction styles. To create the foundation for this extension, the dissertation incorporates a comprehensive design space of magic lenses, their function, parameters, and interactions. Additionally, it provides a discussion on increased embodiment in tool and controller design, contributing insights into user position and movement in front of large vertical displays as a result of empirical investigations and evaluations.Informationsvisualisierung ist ein wichtiges Forschungsfeld, das das Analysieren von Daten unterstützt. Graph-Visualisierungen sind dabei eine spezielle Variante der Datenrepräsentation, deren Nutzen in vielerlei Anwendungsfällen zum Einsatz kommt, u.a. in der Biologie, Softwareentwicklung und Finanzwirtschaft. Diese Datendarstellungen profitieren besonders von großen Displays in neuen Displayumgebungen. Jedoch bringen diese Umgebungen auch neue Herausforderungen mit sich und stellen Anforderungen an Nutzerschnittstellen jenseits der traditionellen Ansätze, die dadurch auch Anpassungen von Analysewerkzeugen erfordern. Diese Dissertation befasst sich mit interaktiven „Magischen Linsen“, spezielle lokal-angewandte Werkzeuge, die temporär die Visualisierung zur Analyse manipulieren. Dabei existieren zum Beispiel Vergrößerungslinsen, aber auch Graph-spezifische Manipulationen, wie das Anziehen von Nachbarknoten oder das Reduzieren von Kantenüberlappungen im lokalen Bereich. Bisher wurden diese Linsen vor allem als Werkzeug für einzelne Nutzer mit sehr spezialisiertem Effekt eingesetzt und per Maus und Tastatur bedient. Die vorliegende Doktorarbeit präsentiert die Erweiterung dieser magischen Linsen, sowohl in Bezug auf die Funktionalität als auch für die Interaktion an großen, vertikalen Displays. Insbesondere trägt diese Dissertation dazu bei, die Exploration von Graphen mit magischen Linsen durch natürliche Interaktion mit unterschiedlichen Modalitäten zu unterstützen. Dabei werden flexible Änderungen der Linsenfunktion, Anpassungen von individuellen Linseneigenschaften und Funktionsparametern, sowie die Kombination unterschiedlicher Linsen ermöglicht. Es werden Interaktionstechniken für die natürliche Manipulation der Linsen durch Multitouch-Interaktion, sowie das Kontrollieren von Linsen durch Mobilgeräte vor einer Displaywand vorgestellt. Außerdem wurde ein neuartiges Konzept körpergesteuerter magischer Linsen entwickelt. Funktionale Erweiterungen in Kombination mit diesen Interaktionskonzepten machen die Linse zu einem vom Nutzer einstellbaren, persönlichen Arbeitsbereich, der zudem alternative Interaktionsstile erlaubt. Als Grundlage für diese Erweiterungen stellt die Dissertation eine umfangreiche analytische Kategorisierung bisheriger Forschungsarbeiten zu magischen Linsen vor, in der Funktionen, Parameter und Interaktion mit Linsen eingeordnet werden. Zusätzlich macht die Arbeit Vor- und Nachteile körpernaher Interaktion für Werkzeuge bzw. ihre Steuerung zum Thema und diskutiert dabei Nutzerposition und -bewegung an großen Displaywänden belegt durch empirische Nutzerstudien

Towards automated sample collection and return in extreme underwater environments

© The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Billings, G., Walter, M., Pizarro, O., Johnson-Roberson, M., & Camilli, R. Towards automated sample collection and return in extreme underwater environments. Journal of Field Robotics, 2(1), (2022): 1351–1385, https://doi.org/10.55417/fr.2022045.In this report, we present the system design, operational strategy, and results of coordinated multivehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of remotely operated vehicle (ROV) manipulator operations for targeted biological sample-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an analog to a planetary lander, which must be capable of high-level autonomy. Our field trials involve two underwater vehicles, the SuBastian ROV and the Nereid Under Ice (NUI) hybrid ROV for mixed initiative (i.e., teleoperated or autonomous) missions, both equipped seven-degrees-of-freedom hydraulic manipulators. We describe an adaptable, hardware-independent computer vision architecture that enables high-level automated manipulation. The vision system provides a three-dimensional understanding of the workspace to inform manipulator motion planning in complex unstructured environments. We demonstrate the effectiveness of the vision system and control framework through field trials in increasingly challenging environments, including the automated collection and return of biological samples from within the active undersea volcano Kolumbo. Based on our experiences in the field, we discuss the performance of our system and identify promising directions for future research.This work was funded under a NASA PSTAR grant, number NNX16AL08G, and by the National Science Foundation under grants IIS-1830660 and IIS-1830500. The authors would like to thank the Costa Rican Ministry of Environment and Energy and National System of Conservation Areas for permitting research operations at the Costa Rican shelf margin, and the Schmidt Ocean Institute (including the captain and crew of the R/V Falkor and ROV SuBastian) for their generous support and making the FK181210 expedition safe and highly successful. Additionally, the authors would like to thank the Greek Ministry of Foreign Affairs for permitting the 2019 Kolumbo Expedition to the Kolumbo and Santorini calderas, as well as Prof. Evi Nomikou and Dr. Aggelos Mallios for their expert guidance and tireless contributions to the expedition

Grammar-Based Interactive Genome Visualization

Visualization is an indispensable method in the exploration of genomic data. However, the current state of the art in genome browsers – a class of interactive visualization tools – limit the exploration by coupling the visual representations with specific file formats. Because the tools do not support the exploration of the visualization design space, they are difficult to adapt to atypical data. Moreover, although the tools provide interactivity, the implementations are often rudimentary, encumbering the exploration of the data. This thesis introduces GenomeSpy, an interactive genome visualization tool that improves upon the current state of the art by providing better support for exploration. The tool uses a visualization grammar that allows for implementing novel visualization designs, which can display the underlying data more effectively. Moreover, the tool implements GPU-accelerated interactions that better support navigation in the genomic space. For instance, smoothly animated transitions between loci or sample sets improve the perception of causality and help the users stay in the flow of exploration. The expressivity of the visualization grammar and the benefit of fluid interactions are validated with two case studies. The case studies demonstrate visualization of high-grade serous ovarian cancer data at different analysis phases. First, GenomeSpy is being used to create a tool for scrutinizing raw copy-number variation data along with segmentation results. Second, the segmentations along with point mutations are used in a GenomeSpy-based multi-sample visualization that allows for exploring and comparing both multiple data dimensions and samples at the same time. Although the focus has been on cancer research, the tool could be applied to other domains as well

ENABLING TECHNIQUES FOR EXPRESSIVE FLOW FIELD VISUALIZATION AND EXPLORATION

Flow visualization plays an important role in many scientific and engineering disciplines such as climate modeling, turbulent combustion, and automobile design. The most common method for flow visualization is to display integral flow lines such as streamlines computed from particle tracing. Effective streamline visualization should capture flow patterns and display them with appropriate density, so that critical flow information can be visually acquired. In this dissertation, we present several approaches that facilitate expressive flow field visualization and exploration. First, we design a unified information-theoretic framework to model streamline selection and viewpoint selection as symmetric problems. Two interrelated information channels are constructed between a pool of candidate streamlines and a set of sample viewpoints. Based on these information channels, we define streamline information and viewpoint information to select best streamlines and viewpoints, respectively. Second, we present a focus+context framework to magnify small features and reduce occlusion around them while compacting the context region in a full view. This framework parititions the volume into blocks and deforms them to guide streamline repositioning. The desired deformation is formulated into energy terms and achieved by minimizing the energy function. Third, measuring the similarity of integral curves is fundamental to many tasks such as feature detection, pattern querying, streamline clustering and hierarchical exploration. We introduce FlowString that extracts shape invariant features from streamlines to form an alphabet of characters, and encodes each streamline into a string. The similarity of two streamline segments then becomes a specially designed edit distance between two strings. Leveraging the suffix tree, FlowString provides a string-based method for exploratory streamline analysis and visualization. A universal alphabet is learned from multiple data sets to capture basic flow patterns that exist in a variety of flow fields. This allows easy comparison and efficient query across data sets. Fourth, for exploration of vascular data sets, which contain a series of vector fields together with multiple scalar fields, we design a web-based approach for users to investigate the relationship among different properties guided by histograms. The vessel structure is mapped from the 3D volume space to a 2D graph, which allow more efficient interaction and effective visualization on websites. A segmentation scheme is proposed to divide the vessel structure based on a user specified property to further explore the distribution of that property over space