Upgrade pipeline-visualization-service to 0.1.31

[ajchili]

Which issue is resolved by this Pull Request:
Resolves kubeflow/pipelines#2806 and fixes issues in #709

Description of your changes:
Upgrades pipeline-visualization-service from 0.1.27 to 0.1.31 to match api-server which is at 0.1.31 and is not longer compatible with the older visualization service due to the change in the parameters format introduced by kubeflow/pipelines#1951.

This was originally done by @enriquedacostacambio within #709, but the tests were not update. This PR resolves that.

Checklist:

• Unit tests have been rebuilt:
  1. cd manifests/tests
  2. make generate-changed-only
  3. make test

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This change is 

[k8s-ci-robot]

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[ajchili]

Superseded by #802.