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Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designed for individual motions and lack the features necessary to facilitate robot motion comparison. In this letter, we utilize a rigorous design framework to develop Motion Comparator , a web-based tool that facilitates the comprehension, comparison, and communication of robot motions. Our design process identified roboticists' needs, articulated design challenges, and provided corresponding strategies. Motion Comparator includes several key features such as multi-view coordination, quaternion visualization, time warping, and comparative designs. To demonstrate the applications of Motion Comparator, we discuss four case studies in which our tool is used for motion selection, troubleshooting, parameter tuning, and motion review. 

Abstract The acceleration and transport of energetic electrons during solar flares is one of the outstanding topics in solar physics. Recent X-ray and radio imaging and spectroscopy observations have provided diagnostics of the distribution of nonthermal electrons and suggested that, in certain flare events, electrons are primarily accelerated in the loop top and likely experience trapping and/or scattering effects. By combining the focused particle transport equation with magnetohydrodynamic (MHD) simulations of solar flares, we present a macroscopic particle model that naturally incorporates electron acceleration and transport. Our simulation results indicate that physical processes such as turbulent pitch-angle scattering can have important impacts on both electron acceleration in the loop top and transport in the flare loop, and their influences are highly energy-dependent. A spatial-dependent turbulent scattering with enhancement in the loop top can enable both efficient electron acceleration to high energies and transport of abundant electrons to the footpoints. We further generate spatially resolved synthetic hard X-ray (HXR) emission images and spectra, revealing both the loop-top and footpoint HXR sources. Similar to the observations, we show that the footpoint HXR sources are brighter and harder than the loop-top HXR source. We suggest that the macroscopic particle model provides new insights into understanding the connection between the observed loop-top and footpoint nonthermal emission sources by combining the particle model with dynamically evolving MHD simulations of solar flares.