Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Characterizing these interactions is crucial from both the immediate robot autonomy perspective (for motion prediction and control) and a long-term predictive maintenance and diagnostics perspective. An ideal solution entails capturing precise state measurements for decisions and controls, which is considerably difficult, especially in increasingly unstructured outdoor regimes of operations for these robots. In this milieu, a framework to identify pre-determined discrete modes of operation can considerably simplify the motion model identification process. To this end, we propose an interactive multiple model (IMM) based filtering framework to probabilistically identify predefined robot operation modes that could arise due to traversal in different terrains or loss of wheel traction.

Quantitative data is frequently represented using color, yet designing effective color mappings is a challenging task, requiring one to balance perceptual standards with personal color preference. Current design tools either overwhelm novices with complexity or offer limited customization options. We present ColorMaker, a mixed-initiative approach for creating colormaps. ColorMaker combines fluid user interaction with real-time optimization to generate smooth, continuous color ramps. Users specify their loose color preferences while leaving the algorithm to generate precise color sequences, meeting both designer needs and established guidelines. ColorMaker can create new colormaps, including designs accessible for people with color-vision deficiencies, starting from scratch or with only partial input, thus supporting ideation and iterative refinement. We show that our approach can generate designs with similar or superior perceptual characteristics to standard colormaps. A user study demonstrates how designers of varying skill levels can use this tool to create custom, high-quality colormaps. ColorMaker is available at: colormaker.org

Cable driven parallel robots (CDPRs) are often challenging to model and to dynamically control due to the inherent flexibility and elasticity of the cables. The additional inclusion of online geometric reconfigurability to a CDPR results in a complex underdetermined system with highly non-linear dynamics. The necessary (numerical) redundancy resolution requires multiple layers of optimization rendering its application computationally prohibitive for real-time control. Here, deep reinforcement learning approaches can offer a model-free framework to overcome these challenges and can provide a real-time capable dynamic control. This study discusses three settings for a model-free DRL implementation in dynamic trajectory tracking: (i) for a standard non-redundant CDPR with a fixed workspace; (ii) in an end-to-end setting with redundancy resolution on a reconfigurable CDPR; and (iii) in a decoupled approach resolving kinematic and actuation redundancies individually.

Abstract Color encoding is foundational to visualizing quantitative data. Guidelines for colormap design have traditionally emphasized perceptual principles, such as order and uniformity. However, colors also evoke cognitive and linguistic associations whose role in data interpretation remains underexplored. We study how two linguistic factors, name salience and name variation, affect people's ability to draw inferences from spatial visualizations. In two experiments, we found that participants are better at interpreting visualizations when viewing colors with more salient names (e.g., prototypical ‘blue’, ‘yellow’, and ‘red’ over ‘teal’, ‘beige’, and ‘maroon’). The effect was robust across four visualization types, but was more pronounced in continuous (e.g., smooth geographical maps) than in similar discrete representations (e.g., choropleths). Participants' accuracy also improved as the number of nameable colors increased, although the latter had a less robust effect. Our findings suggest that color nameability is an important design consideration for quantitative colormaps, and may even outweigh traditional perceptual metrics. In particular, we found that the linguistic associations of color are a better predictor of performance than the perceptual properties of those colors. We discuss the implications and outline research opportunities. The data and materials for this study are available at https://osf.io/asb7n