Hasso-Plattner-Institut für Digital Engineering GmbH
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Inertial measurement units (IMUs) enable easy to operate and low-cost data recording for gait analysis. When combined with treadmill walking, a large number of steps can be collected in a controlled environment without the need of a dedicated gait analysis laboratory. In order to evaluate existing and novel IMU-based gait analysis algorithms for treadmill walking, a reference dataset that includes IMU data as well as reliable ground truth measurements for multiple participants and walking speeds is needed. This article provides a reference dataset consisting of 15 healthy young adults who walked on a treadmill at three different speeds. Data were acquired using seven IMUs placed on the lower body, two different reference systems (Zebris FDMT-HQ and OptoGait), and two RGB cameras. Additionally, in order to validate an existing IMU-based gait analysis algorithm using the dataset, an adaptable modular data analysis pipeline was built. Our results show agreement between the pressure-sensitive Zebris and the photoelectric OptoGait system (r = 0.99), demonstrating the quality of our reference data. As a use case, the performance of an algorithm originally designed for overground walking was tested on treadmill data using the data pipeline. The accuracy of stride length and stride time estimations was comparable to that reported in other studies with overground data, indicating that the algorithm is equally applicable to treadmill data. The Python source code of the data pipeline is publicly available, and the dataset will be provided by the authors upon request, enabling future evaluations of IMU gait analysis algorithms without the need of recording new data.
Virtualizing physical space
(2021)
The true cost for virtual reality is not the hardware, but the physical space it requires, as a one-to-one mapping of physical space to virtual space allows for the most immersive way of navigating in virtual reality. Such “real-walking” requires physical space to be of the same size and the same shape of the virtual world represented. This generally prevents real-walking applications from running on any space that they were not designed for.
To reduce virtual reality’s demand for physical space, creators of such applications let users navigate virtual space by means of a treadmill, altered mappings of physical to virtual space, hand-held controllers, or gesture-based techniques. While all of these solutions succeed at reducing virtual reality’s demand for physical space, none of them reach the same level of immersion that real-walking provides.
Our approach is to virtualize physical space: instead of accessing physical space directly, we allow applications to express their need for space in an abstract way, which our software systems then map to the physical space available. We allow real-walking applications to run in spaces of different size, different shape, and in spaces containing different physical objects. We also allow users immersed in different virtual environments to share the same space.
Our systems achieve this by using a tracking volume-independent representation of real-walking experiences — a graph structure that expresses the spatial and logical relationships between virtual locations, virtual elements contained within those locations, and user interactions with those elements. When run in a specific physical space, this graph representation is used to define a custom mapping of the elements of the virtual reality application and the physical space by parsing the graph using a constraint solver. To re-use space, our system splits virtual scenes and overlap virtual geometry. The system derives this split by means of hierarchically clustering of our virtual objects as nodes of our bi-partite directed graph that represents the logical ordering of events of the experience. We let applications express their demands for physical space and use pre-emptive scheduling between applications to have them share space. We present several application examples enabled by our system. They all enable real-walking, despite being mapped to physical spaces of different size and shape, containing different physical objects or other users.
We see substantial real-world impact in our systems. Today’s commercial virtual reality applications are generally designing to be navigated using less immersive solutions, as this allows them to be operated on any tracking volume. While this is a commercial necessity for the developers, it misses out on the higher immersion offered by real-walking. We let developers overcome this hurdle by allowing experiences to bring real-walking to any tracking volume, thus potentially bringing real-walking to consumers.
Die eigentlichen Kosten für Virtual Reality Anwendungen entstehen nicht primär durch die erforderliche Hardware, sondern durch die Nutzung von physischem Raum, da die eins-zu-eins Abbildung von physischem auf virtuellem Raum die immersivste Art von Navigation ermöglicht. Dieses als „Real-Walking“ bezeichnete Erlebnis erfordert hinsichtlich Größe und Form eine Entsprechung von physischem Raum und virtueller Welt. Resultierend daraus können Real-Walking-Anwendungen nicht an Orten angewandt werden, für die sie nicht entwickelt wurden.
Um den Bedarf an physischem Raum zu reduzieren, lassen Entwickler von Virtual Reality-Anwendungen ihre Nutzer auf verschiedene Arten navigieren, etwa mit Hilfe eines Laufbandes, verfälschten Abbildungen von physischem zu virtuellem Raum, Handheld-Controllern oder gestenbasierten Techniken. All diese Lösungen reduzieren zwar den Bedarf an physischem Raum, erreichen jedoch nicht denselben Grad an Immersion, den Real-Walking bietet.
Unser Ansatz zielt darauf, physischen Raum zu virtualisieren: Anstatt auf den physischen Raum direkt zuzugreifen, lassen wir Anwendungen ihren Raumbedarf auf abstrakte Weise formulieren, den unsere Softwaresysteme anschließend auf den verfügbaren physischen Raum abbilden. Dadurch ermöglichen wir Real-Walking-Anwendungen Räume mit unterschiedlichen Größen und Formen und Räume, die unterschiedliche physische Objekte enthalten, zu nutzen. Wir ermöglichen auch die zeitgleiche Nutzung desselben Raums durch mehrere Nutzer verschiedener Real-Walking-Anwendungen.
Unsere Systeme erreichen dieses Resultat durch eine Repräsentation von Real-Walking-Erfahrungen, die unabhängig sind vom gegebenen Trackingvolumen – eine Graphenstruktur, die die räumlichen und logischen Beziehungen zwischen virtuellen Orten, den virtuellen Elementen innerhalb dieser Orte, und Benutzerinteraktionen mit diesen Elementen, ausdrückt. Bei der Instanziierung der Anwendung in einem bestimmten physischen Raum wird diese Graphenstruktur und ein Constraint Solver verwendet, um eine individuelle Abbildung der virtuellen Elemente auf den physischen Raum zu erreichen. Zur mehrmaligen Verwendung des Raumes teilt unser System virtuelle Szenen und überlagert virtuelle Geometrie. Das System leitet diese Aufteilung anhand eines hierarchischen Clusterings unserer virtuellen Objekte ab, die als Knoten unseres bi-partiten, gerichteten Graphen die logische Reihenfolge aller Ereignisse repräsentieren. Wir verwenden präemptives Scheduling zwischen den Anwendungen für die zeitgleiche Nutzung von physischem Raum. Wir stellen mehrere Anwendungsbeispiele vor, die Real-Walking ermöglichen – in physischen Räumen mit unterschiedlicher Größe und Form, die verschiedene physische Objekte oder weitere Nutzer enthalten.
Wir sehen in unseren Systemen substantielles Potential. Heutige Virtual Reality-Anwendungen sind bisher zwar so konzipiert, dass sie auf einem beliebigen Trackingvolumen betrieben werden können, aber aus kommerzieller Notwendigkeit kein Real-Walking beinhalten. Damit entgeht Entwicklern die Gelegenheit eine höhere Immersion herzustellen. Indem wir es ermöglichen, Real-Walking auf jedes Trackingvolumen zu bringen, geben wir Entwicklern die Möglichkeit Real-Walking zu ihren Nutzern zu bringen.
Thematic maps are a common tool to visualize semantic data with a spatial reference. Combining thematic data with a geometric representation of their natural reference frame aids the viewer’s ability in gaining an overview, as well as perceiving patterns with respect to location; however, as the amount of data for visualization continues to increase, problems such as information overload and visual clutter impede perception, requiring data aggregation and level-of-detail visualization techniques. While existing aggregation techniques for thematic data operate in a 2D reference frame (i.e., map), we present two aggregation techniques for 3D spatial and spatiotemporal data mapped onto virtual city models that hierarchically aggregate thematic data in real time during rendering to support on-the-fly and on-demand level-of-detail generation. An object-based technique performs aggregation based on scene-specific objects and their hierarchy to facilitate per-object analysis, while the scene-based technique aggregates data solely based on spatial locations, thus supporting visual analysis of data with arbitrary reference geometry. Both techniques can apply different aggregation functions (mean, minimum, and maximum) for ordinal, interval, and ratio-scaled data and can be easily extended with additional functions. Our implementation utilizes the programmable graphics pipeline and requires suitably encoded data, i.e., textures or vertex attributes. We demonstrate the application of both techniques using real-world datasets, including solar potential analyses and the propagation of pressure waves in a virtual city model.
We show that a Navigational Logic, i.e., a logic to express properties about graphs and about paths in graphs is a semi-exact institution. In this way, we can use a number of operations to structure and modularize our specifications. Moreover, using the properties of our institution, we also show how to structure single formulas, which in our formalism could be quite complex.
The COVID-19 pandemic emergency has forced a profound reshape of our lives. Our way of working and studying has been disrupted with the result of an acceleration of the shift to the digital world. To properly adapt to this change, we need to outline and implement new urgent strategies and approaches which put learning at the center, supporting workers and students to further develop “future proof” skills. In the last period, universities and educational institutions have demonstrated that they can play an important role in this context, also leveraging on the potential of Massive Open Online Courses (MOOCs) which proved to be an important vehicle of flexibility and adaptation in a general context characterised by several constraints. From March 2020 till now, we have witnessed an exponential growth of MOOCs enrollments numbers, with “traditional” students interested in different topics not necessarily integrated to their curricular studies. To support students and faculty development during the spreading of the pandemic, Politecnico di Milano focused on one main dimension: faculty development for a better integration of digital tools and contents in the e-learning experience. The current discussion focuses on how to improve the integration of MOOCs in the in-presence activities to create meaningful learning and teaching experiences, thereby leveraging blended learning approaches to engage both students and external stakeholders to equip them with future job relevance skills.
Clustering in education is important in identifying groups of objects in order to find linked patterns of correlations in educational datasets. As such, MOOCs provide a rich source of educational datasets which enable a wide selection of options to carry out clustering and an opportunity for cohort analyses. In this experience paper, five research studies on clustering in MOOCs are reviewed, drawing out several reasonings, methods, and students’ clusters that reflect certain kinds of learning behaviours. The collection of the varied clusters shows that each study identifies and defines clusters according to distinctive engagement patterns. Implications and a summary are provided at the end of the paper.
MOOCs have been produced using a variety of instructional design approaches and frameworks. This paper presents experiences from the instructional approach based on the ADDIE model applied to designing and producing MOOCs in the Erasmus+ strategic partnership on Open Badge Ecosystem for Research Data Management (OBERRED). Specifically, this paper describes the case study of the production of the MOOC “Open Badges for Open Science”, delivered on the European MOOC platform EMMA. The key goal of this MOOC is to help learners develop a capacity to use Open Badges in the field of Research Data Management (RDM). To produce the MOOC, the ADDIE model was applied as a generic instructional design model and a systematic approach to the design and development following the five design phases: Analysis, Design, Development, Implementation, Evaluation. This paper outlines the MOOC production including methods, templates and tools used in this process including the interactive micro-content created with H5P in form of Open Educational Resources and digital credentials created with Open Badges and issued to MOOC participants upon successful completion of MOOC levels. The paper also outlines the results from qualitative evaluation, which applied the cognitive walkthrough methodology to elicit user requirements. The paper ends with conclusions about pros and cons of using the ADDIE model in MOOC production and formulates recommendations for further work in this area.