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        "title": "Immersive Analytics as a Support Medium for Data-Driven Monitoring in Hydropower",
        "date": "2025-05",
        "abstract": "Hydropower turbines are large-scale equipment essential to sustainable energy supply chains, and engineers have few opportunities to examine their internal structure. Our Immersive Analytics (IA) application is part of a research project that combines and compares simulated water turbine flows and sensor-measured data, looking for data-driven predictions of the lifetime of the mechanical parts of hydroelectric power plants. Our prototype combines spatial and abstract data in an immersive environment in which the user can navigate through a full-scale model of a water turbine, view simulated water flows of three different energy supply conditions, and visualize and interact with sensor-collected data situated at the reference position of the sensors in the actual turbine. In this paper, we detail our design process, which resulted from consultations with domain experts and a literature review, give an overview of our prototype, and present its evaluation, resulting from semi-structured interviews with experts and qualitative thematic analysis. Our findings confirm the current literature that IA applications add value to the presentation and analysis of situated data, as they show that we advance in the design directions for IA applications for domain experts that combine abstract and spatial data, with conclusions on how to avoid skepticism from such professionals.",
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        "publisher": "IEEE COMPUTER SOC",
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        "title": "Exploring Seated Locomotion Techniques in Virtual Reality for People with Limited Mobility",
        "date": "2025",
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        "title": "Advanced Computational Design – digitale Methoden für die frühe Entwurfsphase",
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        "abstract": "Advanced Computational Design. The SFB Advanced Computational Design addresses the research question of how to advance design tools and processes through multi- and interdisciplinary basic research. We will develop advanced computational design tools in order to improve design quality and efficiency of processes in architecture and construction. The proposed research is structured in three areas: design methodology (A1), visual and haptic design interaction (A2) and form finding (A3). A1 focuses on the conceptual basis for new digital methods of design based on machine learning. A1 also acts as a platform for integrating and evaluating the computational tools and methods developed in A2 and A3. A2 investigates real-time global-illumination and optimization algorithms for lighting design, as well as a new method for large-scale haptic interactions in virtual reality. In A3, form finding will be explored regarding geometric, mechanical and material constraints, in particular: paneling of complex shapes by patches of certain surface classes while optimizing the number of molds; algorithms for finding new transformable quad-surfaces; mechanical models for an efficient simulation of bio-composite material systems. Furthermore, new ways of form finding will be explored through physical experiments, which will allow for reconsidering model assumptions and constraints, validating the developed algorithmic approaches, and finding new ones.",
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        "repositum_id": "20.500.12708/78073",
        "title": "Photogrammabot: An Autonomous ROS-Based Mobile Photography Robot for Precise 3D Reconstruction and Mapping of Large Indoor Spaces for Mixed Reality",
        "date": "2022-04-20",
        "abstract": "Precise 3D reconstruction of environments and real objects for Mixed-Reality applications can be burdensome. Photogrammetry can help to create accurate representations of actual objects in the virtual world using a high number of photos of a subject or an environment. Photogrammabot is an affordable mobile robot that facilitates photogrammetry and 3D reconstruction by autonomously and systematically capturing images. It explores an unknown indoor environment and uses map-based localization and navigation to maintain camera direction at different shooting points. Photogrammabot employs a Raspberry Pi 4B and Robot Operating System (ROS) to control the exploration and capturing processes. The photos are taken using a point-and-shoot camera mounted on a 2-DOF micro turret to enable photography from different angles and compensate for possible robot orientation errors to ensure parallel photos. Photogrammabot has been designed as a general solution to facilitate precise 3D reconstruction of unknown environments. In addition we developed tools to integrate it with and extend the Immersive Deck™ MR system [23], where it aids the setup of the system in new locations.",
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        "booktitle": "Proceedings of 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)",
        "date_from": "2022-03-12",
        "date_to": "2022-03-16",
        "doi": "10.1109/VRW55335.2022.00033",
        "event": "2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)",
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            "Computing methodologies",
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            "Human computer interaction (HCI)",
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        "title": "BIMFlexi-VR: A Virtual Reality Framework for Early-Stage Collaboration in Flexible Industrial Building Design ",
        "date": "2022-02-25",
        "abstract": "Integrated industrial building design is an interdisciplinary task, in which planning of flexible building structures requires effective communication and collaboration between all stakeholders already in early design stage. This paper presents BIMFlexi-VR, a collaborative framework which implements a real-time bidirectional link between a parametric modelling component created in Grasshopper for Rhinoceros that performs optimized structural calculations of an industrial building, and an immersive Virtual Reality environment in which the automatically calculated building is visualized. Users of BIMFlexi-VR are able to change parameters defining the outcome of the structural calculation directly inside the virtual environment and see the modified building design together with the associated fitness metrics in a matter of seconds. Providing an efficient and intuitive platform for early exploration of industrial building designs, BIMFlexi-VR enables collaborative decision making and facilitates the creation of more efficient and sustainable industrial constructions.",
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        "title": "The VRNetzer platform enables interactive network analysis in Virtual Reality",
        "date": "2021-04",
        "abstract": "Networks provide a powerful representation of interacting components within complex\nsystems, making them ideal for visually and analytically exploring big data. However, the size\nand complexity of many networks render static visualizations on typically-sized paper or\nscreens impractical, resulting in proverbial ‘hairballs’. Here, we introduce a Virtual Reality\n(VR) platform that overcomes these limitations by facilitating the thorough visual, and\ninteractive, exploration of large networks. Our platform allows maximal customization and\nextendibility, through the import of custom code for data analysis, integration of external\ndatabases, and design of arbitrary user interface elements, among other features. As a proof\nof concept, we show how our platform can be used to interactively explore genome-scale\nmolecular networks to identify genes associated with rare diseases and understand how they\nmight contribute to disease development. Our platform represents a general purpose, VRbased\ndata exploration platform for large and diverse data types by providing an interface\nthat facilitates the interaction between human intuition and state-of-the-art analysis\nmethods.",
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        "doi": "10.1038/s41467-021-22570-w",
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        "title": "Colocation for SLAM-Tracked VR Headsets with Hand Tracking",
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        "abstract": "In colocated multi-user Virtual Reality applications, relative user positions in the virtual environment need to match their relative positions in the physical tracking space. A mismatch between virtual and real relative user positions might lead to harmful events such as physical user collisions. This paper examines three calibration methods that enable colocated Virtual Reality scenarios for SLAM-tracked head-mounted displays without the need for an external tracking system. Two of these methods—fixed-point calibration and marked-based calibration—have been described in previous research; the third method that uses hand tracking capabilities of head-mounted displays is novel. We evaluated the accuracy of these three methods in an experimental procedure with two colocated Oculus Quest devices. The results of the evaluation show that our novel hand tracking-based calibration method provides better accuracy and consistency while at the same time being easy to execute. The paper further discusses the potential of all evaluated calibration methods. ",
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        "first_published": "2021-04",
        "issn": "2073-431X",
        "journal": "Computers",
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        "abstract": "We explore the potential of direct haptic interaction in a novel approach to Tangible Augmented Reality in an educational context. Employing our prototyping platform ACTO, we developed a tabletop Augmented Reality application StARboard for sailing students. In this personal viewpoint environment virtual objects, e.g., sailing ships, are physically represented by actuated micro robots. These align with virtual objects, allowing direct physical interaction with the scene. When a user tries to pick up a virtual ship, its physical robot counterpart is grabbed instead. We also developed a tracking solution TrACTOr, employing a depth sensor to allow tracking independent of the table surface. In this paper we present concept and development of StARboard and TrACTOr. We report results of our user study with 18 participants using our prototype. They show that direct haptic interaction in tabletop AR scores en-par with traditional mouse interaction on a desktop setup in usability (mean SUS = 86.7 vs. 82.9) and performance (mean RTLX = 15.0 vs. 14.8), while outperforming the mouse in factors related to learning like presence (mean 6.0 vs 3.1) and absorption (mean 5.4 vs. 4.2). It was also rated the most fun (13× vs. 0×) and most suitable for learning (9× vs. 4×).",
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        "title": "Multi-modal Spatial Object Localization in Virtual Reality for Deaf and Hard-of-Hearing People",
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        "abstract": "Information visualization techniques play an important role in Virtual Reality (VR) because they improve task performance, support cognitive processes, and eventually increase the feeling of immersion. Deaf and Hard-of-Hearing (DHH) persons have special needs for information presentation because they feel and perceive VR environments differently. Therefore, it is necessary to pay attention to requirements about presenting information in VR for this group of users. Previous research showed that adding special features and using haptic methods helps DHH persons to do VR tasks better. In this paper, we propose a novel Omni-directional particle visualization method and also evaluate multi-modal presentation methods in VR for DHH persons, such as audio, visual, haptic, and a combination of them (AVH). Additionally, we compare the results with the results of persons without hearing problems. The methods for information presentation in our study focus on spatial object localization in VR. Our user studies show that both DHH persons and persons without hearing problems were able to do VR tasks significantly faster using AVH. Also, we found out that DHH persons can do visual-related VR tasks faster than persons without hearing problems by using our new proposed visualization method. Our results suggest that the benefits of using audio among persons without hearing problems and the benefits of using vision among DHH persons cause an interesting balance in the results of AVH between both groups. Finally, our qualitative and quantitative evaluation indicates that both groups of participants preferred and enjoyed AVH modality more than other modalities.",
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        "title": "Head Up Visualization of Spatial Sound Sources in Virtual Reality for Deaf and Hard-of-Hearing People",
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        "abstract": "This paper presents a novel method for the visualization of 3D spatial sounds in Virtual Reality (VR) for Deaf and Hard-of-Hearing (DHH) people. Our method enhances traditional VR devices with additional haptic and visual feedback, which aids spatial sound localization. The proposed system automatically analyses 3D sound from VR application, and it indicates the direction of sound sources to a user by two Vibro-motors and two Light-Emitting Diodes (LEDs). The benefit of automatic sound analysis is that our method can be used in any VR application without modifying the application itself. We evaluated the proposed method for 3D spatial sound visualization in a user study. Additionally, the conducted user study investigated which condition (corresponding to different senses) leads to faster performance in 3D sound localization task. For this purpose, we compared three conditions: haptic feedback only, LED feedback only, combined haptic and LED feedback. Our study results suggest that DHH participants could complete sound-related VR tasks significantly faster using LED and haptic+LED conditions in comparison to only haptic feedback. The presented method for spatial sound visualization can be directly used to enhance VR applications for use by DHH persons, and the results of our user study can serve as guidelines for the future design of accessible VR systems.",
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        "title": "Effects of Using Vibrotactile Feedback on Sound Localization by Deaf and Hard-of-Hearing People in Virtual Environments",
        "date": "2021",
        "abstract": "Sound source localization is important for spatial awareness and immersive Virtual Reality (VR) experiences. Deaf and Hard-of-Hearing (DHH) persons have limitations in completing sound-related VR tasks efficiently because they perceive audio information differently. This paper presents and evaluates a special haptic VR suit that helps DHH persons efficiently complete sound-related VR tasks. Our proposed VR suit receives sound information from the VR environment wirelessly and indicates the direction of the sound source to the DHH user by using vibrotactile feedback. Our study suggests that using different setups of the VR suit can significantly improve VR task completion times compared to not using a VR suit. Additionally, the results of mounting haptic devices on different positions of users´ bodies indicate that DHH users can complete a VR task significantly faster when two vibro-motors are mounted on their arms and ears compared to their thighs. Our quantitative and qualitative analysis demonstrates that DHH persons prefer using the system without the VR suit and prefer mounting vibro-motors in their ears. In an additional study, we did not find a significant difference in task completion time when using four vibro-motors with the VR suit compared to using only two vibro-motors in users´ ears without the VR suit.",
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        "title": "Integrated multi-objective evolutionary optimization of production layout scenarios for parametric structural design of flexible industrial buildings",
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        "abstract": "Due to product individualization, customization and rapid technological advances in manufacturing, production systems are faced with frequent reconfiguration and expansion. Industrial buildings that allow changing production scenarios require flexible load-bearing structures and a coherent planning of the production layout and building systems. Yet, current production planning and structural building design are mostly sequential and the data and models lack interoperability. In this paper, a novel parametric evolutionary design method for automated production layout generation and optimization (PLGO) is presented, producing layout scenarios to be respected in structural building design. Results of a state-of-the-art analysis and a case study are combined to develop a novel concept of integrated production cubes and the design space for PLGO as basis for a parametric production layout design method. The integrated production cubes concept is then translated into a parametric PLGO framework, which is tested on a pilot-project of a hygiene production facility to evaluate the framework and validate the defined constraints and objectives. Results suggest that our framework can produce feasible production layout scenarios which respect flexibility and building requirements. In future research the design process will be extended by the development of a multi-objective evolutionary optimization process for industrial buildings to provide flexible building solutions that can accommodate a selection of several prioritized production layouts.",
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        "title": "Immersive training of first responder squad leaders in untethered virtual reality",
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        "abstract": "We present the VROnSite platform that supports immersive training of first responder units´ on-site squad leaders. Our training platform is fully immersive, entirely untethered to ease use and provides two means of navigation-abstract and natural walking-to simulate stress and exhaustion, two important factors for decision making. With the platform´s capabilities, we close a gap in prior art for first responder training. Our research is closely interlocked with stakeholders from multiple fire brigades to gather early feedback in an iterative design process. In this paper, we present the system´s design rationale, provide insight into the process of training scenario development and present results of a user study with 41 squad leaders from the firefighting domain. Virtual disaster environments with two different navigation types were evaluated using quantitative and qualitative measures. Participants considered our platform highly suitable for training of decision making in complex first responder scenarios and results show the importance of the provided navigation technologies in this context.",
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        "title": "Motion Similarity Modeling - A State of the Art Report",
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        "title": "Virtual vs. Physical Navigation in VR: Study of Gaze and Body Segments Temporal Reorientation Behaviour",
        "date": "2019-03",
        "abstract": "This paper investigates whether the body anticipation synergies in real environments (REs) are preserved during navigation in virtual environments (VEs). Experimental studies related to the control of human locomotion in REs during curved trajectories report a top-down reorientation strategy with the reorientation of the gaze anticipating the reorientation of head, the shoulders and finally the global body motion. This anticipation behavior provides a stable reference frame to the walker to control and reorient his/her body according to the future walking direction. To assess body anticipation during navigation in VEs, we conducted an experiment where participants, wearing a head-mounted display, performed a lemniscate trajectory in a virtual environment (VE) using five different navigation techniques, including walking, virtual steering (head, hand or torso steering) and passive navigation. For the purpose of this experiment, we designed a new control law based on the power-law relation between speed and curvature during human walking. Taken together our results showed a similar ordered top-down sequence of reorientation of the gaze, head and shoulders during curved trajectories between walking in REs and in VEs (for all the evaluated techniques). However, the anticipation mechanism was significantly higher for the walking condition compared to the others. The results presented in this paper pave the way to the better understanding of the underlying mechanisms of human navigation in VEs and to the design of navigation techniques more adapted to humans.",
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        "booktitle": "Proceedings of IEEE VR 2019 - 26th IEEE Conference on Virtual Reality and 3D User Interfaces",
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        "title": "Towards Eye-Friendly VR: How Bright Should It Be?",
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        "abstract": "Visual information plays an important part in the perception of the world around us. Recently, head-mounted displays (HMD) came to the consumer market and became a part of the everyday life of thousands of people. Like with the desktop screens or hand-held devices before, the public is concerned with the possible health consequences of the prolonged usage and question the adequacy of the default settings. It has been shown that the brightness and contrast of a display should be adjusted to match the external light to decrease eye strain and other symptoms. Currently, there is a noticeable mismatch in brightness between the screen and dark background of an HMD that might cause eye strain, insomnia, and other unpleasant symptoms.\n\nIn this paper, we explore the possibility to significantly lower the screen brightness in the HMD and successfully compensate for the loss of the visual information on a dimmed screen. We designed a user study to explore the connection between the screen brightness HMD and task performance, cybersickness, users’ comfort, and preferences. We have tested three levels of brightness: the default Full Brightness, the optional Night Mode and a significantly lower brightness with original content and compensated content.   Our results suggest that although users still prefer the brighter setting, the HMDs can be successfully used with significantly lower screen brightness, especially if the low screen brightness is compensated",
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