Search

Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should be carefully chosen as it determines how operators should move to get desired robot motions. While specific choices made by individual systems have been described in prior work, a design space, i.e., an abstraction that encapsulates the range of possible options, has not been codified. In this paper, we articulate a design space of control coordinate systems, which can be defined by choosing a direction in the remote environment for each axis of the input device. Our key insight is that there is a small set of meaningful directions in the remote environment. Control coordinate systems in prior works can be organized by the alignments of their axes with these directions and new control coordinate systems can be designed by choosing from these directions. We also provide three design criteria to reason about the suitability of control coordinate systems for various scenarios. To demonstrate the utility of our design space, we use it to organize prior systems and design control coordinate systems for three scenarios that we assess through human-subject experiments. Our results highlight the promise of our design space as a conceptual tool to assist system designers to design control coordinate systems that are effective and intuitive for operators.

Classification methods for binary (yes/no) tasks often produce a continuously valued score. Machine learning practitioners must perform model selection, calibration, discretization, performance assessment, tuning, and fairness assessment. Such tasks involve examining classifier results, typically using summary statistics and manual examination of details. In this paper, we provide an interactive visualization approach to support such continuously-valued classifier examination tasks. Our approach addresses the three phases of these tasks: calibration, operating point selection, and examination. We enhance standard views and introduce task-specific views so that they can be integrated into a multi-view coordination (MVC) system. We build on an existing comparison-based approach, extending it to continuous classifiers by treating the continuous values as trinary (positive, unsure, negative) even if the classifier will not ultimately use the 3-way classification. We provide use cases that demonstrate how our approach enables machine learning practitioners to accomplish key tasks.

Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experience. Extending robot remote programming to end users, i.e., users who are experts in a domain but novices in robotics, requires tools that balance the rich features necessary for complex teleoperation tasks with ease of use. The primary challenge to usability is that novice users are unable to specify complete and robust task plans to allow a robot to perform duties autonomously, particularly in highly variable environments. Our solution is to allow operators to specify shorter sequences of high-level commands, which we call task-level authoring, to create periods of variable robot autonomy. This approach allows inexperienced users to create robot behaviors in uncertain environments by interleaving exploration, specification of behaviors, and execution as separate steps. End users are able to break down the specification of tasks and adapt to the current needs of the interaction and environments, combining the reactivity of direct control to asynchronous operation. In this paper, we describe a prototype system contextualized in light manufacturing and its empirical validation in a user study where 18 participants with some programming experience were able to perform a variety of complex telemanipulation tasks with little training. Our results show that our approach allowed users to create flexible periods of autonomy and solve rich manipulation tasks. Furthermore, participants significantly preferred our system over comparative more direct interfaces, demonstrating the potential of our approach for enabling end users to effectively perform remote robot programming.

Summary: Cell type annotation is a fundamental task in the analysis of single-cell RNA-sequencing data. In this work, we present CellO, a machine learning-based tool for annotating human RNA-seq data with the Cell Ontology. CellO enables accurate and standardized cell type classification of cell clusters by considering the rich hierarchical structure of known cell types. Furthermore, CellO comes pre-trained on a comprehensive data set of human, healthy, untreated primary samples in the Sequence Read Archive. CellO's comprehensive training set enables it to run out of the box on diverse cell types and achieves competitive or even superior performance when compared to existing state-of-the-art methods. Lastly, CellO's linear models are easily interpreted, thereby enabling exploration of cell-type-specific expression signatures across the ontology. To this end, we also present the CellO Viewer: a web application for exploring CellO's models across the ontology.

Key biological properties such as high genetic diversity and high evolutionary rate enhance the potential of certain RNA viruses to adapt and emerge. Identifying viruses with these properties in their natural hosts could dramatically improve disease forecasting and surveillance. Recently, we discovered two novel members of the viral family Arteriviridae: simian hemorrhagic fever virus (SHFV)-krc1 and SHFV-krc2, infecting a single wild red colobus (Procolobus rufomitratus tephrosceles) in Kibale National Park, Uganda. Nearly nothing is known about the biological properties of SHFVs in nature, although the SHFV type strain, SHFV-LVR, has caused devastating outbreaks of viral hemorrhagic fever in captive macaques. Here we detected SHFV-krc1 and SHFV-krc2 in 40% and 47% of 60 wild red colobus tested, respectively. We found viral loads in excess of 10(6)-10(7) RNA copies per milliliter of blood plasma for each of these viruses. SHFV-krc1 and SHFV-krc2 also showed high genetic diversity at both the inter- and intra-host levels. Analyses of synonymous and non-synonymous nucleotide diversity across viral genomes revealed patterns suggestive of positive selection in SHFV open reading frames (ORF) 5 (SHFV-krc2 only) and 7 (SHFV-krc1 and SHFV-krc2). Thus, these viruses share several important properties with some of the most rapidly evolving, emergent RNA viruses.