Researcher Profile and Settings

Master

Affiliation (Master)

• Faculty of Information Science and Technology　Systems Science and Informatics　Informatics for System Creation

Affiliation (Master)

• Faculty of Information Science and Technology　Systems Science and Informatics　Informatics for System Creation

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Profile and Settings

Degree

• Doctor of Engineering（Hokkaido University）

Profile and Settings

• Name (Japanese)

  Kanai

• Name (Kana)

  Satoshi

• Name

  200901009461218810

Alternate Names

https://www.ist.hokudai.ac.jp/labo/dgp/

Achievement

Research Interests

• 3D Laser Scanning of Large-scale Environments   形状モデリング   設計システム   デジタルエンジニアリング   CAD   Geometric Modeling   Design System   Digital Engineering   CAD   

Research Areas

• Social infrastructure (civil Engineering, architecture, disaster prevention) / Safety engineering
• Social infrastructure (civil Engineering, architecture, disaster prevention) / Social systems engineering
• Life sciences / Biomaterials
• Life sciences / Biomedical engineering
• Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Manufacturing and production engineering
• Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Machine elements and tribology
• Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Design engineering

Research Experience

• 2023/04 - Today Hokkaido University, Faculty of Information Science and Technology Specially-appointed Professor
• 2019/04 - 2023/03 北海道大学 大学院情報科学研究院 システム情報科学部門 教授
• 2007/04 - 2019/03 Hokkaido University Professor
• 2003/04 - 2007/03 Hokkaido University Graduate School of Information Science and Technology, Division of Systems Science and Informatics
• 1997 - 2003 Hokkaido University Graduate School of Engineering
• 1995 - 1997 Hokkaido University School of Engineering
• 1989 - 1996 Tokyo Institute of Technology School of Engineering, Dept. of Mechanical Engineering and Science
• 1987 - 1989 Hokkaido University School of Engineering

Education

•        - 1987  Hokkaido University
•        - 1987  Hokkaido University  Graduate School, Division of Engineering  Division of Precision Engineering
•        - 1984  Hokkaido University
•        - 1984  Hokkaido University  Graduate School, Division of Engineering  Division of Precision Engineering
•        - 1982  Hokkaido University  School of Engineering
•        - 1982  Hokkaido University  Faculty of Engineering  Department of Precision Engineering

Committee Memberships

• 2020/10 - Today   18th annual International CAD Conference   Paper Co-Chair
• 2020/03 - Today   The Japan Society for Precision Engineering   Director
• 2018/05 - Today   International Journal of Automation Technology (Fuji Technology Press)   Editorial Board
• 2013/10 - Today   Journal of Computational Design and Engineering (Oxford Academic)   Editorial Board
• 2007/04 - Today   International Journal on Interactive Design and Manufacturing (Springer)   Executive Scientific Board
• 2019/11 -2020/06   17th annual International CAD Conference   Paper Co-Chair
• 2013/05 -2013/12   International Journal of Automation Technology (Fuji Technology Press)   Guest editor for a special issue “CAD/CAM/Digital Engineering”
• 2011/09 -2013/09   International Journal of CAD/CAM (Society of CAD/CAM Engineers)   Editor-in-Chief
• 2013/03 -2013/08   2013 Asian Conference on Design and Digital Engineering   Workshop Co-Chair of Emergent applications of CAD
• 2012/03 -2012/12   2012 Asian Conference on Design and Digital Engineering   Workshop Co-Chair of Emergent applications of CAD
• 2009/10 -2010/10   IDMME - Virtual Concept 2010   Invited workshop Chair of Product Design for the Future
• 2008/04 -2009/03   International Journal on Interactive Design and Manufacturing (Springer)   Guest editor for a special issue “Advanced prototyping for human-centered design for information appliances”

Awards

• 2022/06 19th Annual International CAD Conference CAD'22 Bset Paper Award
   Preliminary Shape Similarity Analysis and Standardization for Pre-Bent Rod Design for Adult Spinal Deformity Correction 

  受賞者: A. Soutome;S. Kanai;H. Date;H. Sudo;T. Kokabu;Y. Abe;H. Moridaira;H. Taneichi
• 2020/04 文部科学省 令和2年度科学技術分野の文部科学大臣表彰 科学技術賞(研究部門)
   脊柱変形疾患に対する革新的医療機器の開発と実用化研究 

  受賞者: 須藤英毅(北海道大学) 金井理(北海道大学) 千葉晶彦(東北大学)
• 2019/11 ICCBEI 2019 Scientific Committee Best Paper Award Honorable Mentioned
   Automatic indoor environment modeling from laser-scanned point clouds using graph-based regular arrangement recognition 

  受賞者: Hayato Takahashi;Hiroaki Date;Satoshi Kanai
• 2019/06 16th Annual International CAD Conference Best Paper Award
   Free-form Feature Classification for Finite Element Meshing based on Shape Descriptors and Machine Learning 

  受賞者: Ippei Takaishi;Satoshi Kanai;Hiroaki Date;Hideyoshi Takashima
• 2018/11 Japan Society for Precisiton Engineering Best Paper Award
   3D Asymmetry Analysis of Human's Back Surface for Early Screening of Idiopathic Scoliosis 

  受賞者: Kanai Satoshi;Hideki Sudo;Terufumi Kokabu;Hiroshi Nagaeda;Takayuki Hayashi;Hajime Ohta
• 2018/07 15th Annual International CAD Conference Best Paper Award
   Cylinder-based Efficient and Robust Registration and Model Fitting of Laser-scanned Point Clouds for As-built Modeling of Piping Systems 

  受賞者: Ryota Moritani;Satoshi Kanai;Hiroaki Date;Masahiro Watanabe;Takahiro Nanano;Yuta Yamauchi
• 2015/04 2nd International Conference on Civil and Building Engineering Informatics Best Paper Award
   Optimal setup of a terrestrial laser scanner for capturing piping objects in plants 

  受賞者: KANAI Satoshi;Shinya Yamanishi;Hiroaki Date
• 2014/07 Japan Society for Precisiton Engineering Best Paper Award of 15th International Conference on Precision Engineering
   MR-based 3D prototyping for information appliances using random dot markers and fingernail color detection 

  受賞者: Satoshi Kanai;Hiroaki Date;Jiabin Guan
• 2014/04 Digital Human Modeling Symposium 2014 Best Research Award
   Efficient Large-Scale as-Built Environment Modeling Based on 3D Laser-Scanning for Human Walking Simulation 

  受賞者: Tsubasa Maruyama;Satoshi Kanai;Hiroaki Date
• 2014/02 Society of CAD/CAM Engineers Gaheon Award
   An Efficient Simulation of Skin Contact Deformation for Virtual Ergonomic Assessments of Handheld Products 

  受賞者: Yulai Xie;Satoshi Kanai;Hiroaki Date
• 2013/03 Japan Society for Precision Engineering JSPE Best Paper Award 2012
   Automatic Recognition of Piping System from Large-scale Terrestrial Laser Scanned Point Cloud 

  受賞者: KAWASHIMA Kazuaki;KANAI Satoshi;DATE Hiroaki
• 2012/12 Asian Conference on Design and Digital Engineering 2012 The Best Paper Award
   Robust and Exhaustive Symmetry Detection from Scanned Meshes 

  受賞者: MIZOGUCHI Tomihiro;KANAI Satoshi;DATE Hiroaki;TANAKA Hiroyuki
• 2010/03 Japan Society for Precision Engineering JSPE Best Paper Award 2009
   Euclidean Symmetry Detection from Scanned Meshes of Mechanical Objects based on a Combination of ICP and Region Growing Algorithms 

  受賞者: MIZOGUCHI Tomohiro;KANAI Satoshi
• 2008 Symposium Co-Organizer 貢献賞
   

  受賞者: 金井 理
• 2008 ASME Symposium Co-Organizer Award
  
• 2007/05 Japan Society for Design Engineering The most interesting reading award
   Computer-aided Industrial Design and its Issues 

  受賞者: KANAI Satoshi
• 2006 Honor Article賞
  
• 2002 第20回設計シンポジウム，設計シンポジウム賞
  
• 2000 Best Paper Award - Innovative Applications/Practice
  

Published Papers

• Ceiling Equipment Extraction from TLS Point Clouds for Reflected Ceiling Plan Creation

  Riho Akiyama, Hiroaki Date, Satoshi Kanai, Kazushige Yasutake

  International Journal of Automation Technology 2024/09/05
• 人工呼吸器装着中の気管内吸引トレーニングが可能なシミュレータSimmar+ESTE-SIMの開発

  コリー 紀代, 五十嵐 真里, 小水内 俊介, 井上 創造, 中村 美鈴, 金井 理, 近野 敦, 二宮 伸治

  小児保健研究 (公社)日本小児保健協会 83 (講演集) 152 - 152 0037-4113 2024/05
• Development of Notch-Free, Pre-Bent Rod Applicable for Posterior Corrective Surgery of Thoracolumbar/Lumbar Adolescent Idiopathic Scoliosis.

  Yoko Ishikawa, Satoshi Kanai, Katsuro Ura, Terufumi Kokabu, Katsuhisa Yamada, Yuichiro Abe, Hiroyuki Tachi, Hisataka Suzuki, Takashi Ohnishi, Tsutomu Endo, Daisuke Ukeba, Masahiko Takahata, Norimasa Iwasaki, Hideki Sudo

  Journal of clinical medicine 12 (17) 2023/09/04 [Refereed]
   

  Adolescent idiopathic scoliosis (AIS), the most common pediatric musculoskeletal disorder, causes a three-dimensional spine deformity. Lenke type 5 AIS is defined as a structural thoracolumbar/lumbar curve with nonstructural thoracic curves. Although a rod curvature will affect clinical outcomes, intraoperative contouring of the straight rod depends on the surgeon's knowledge and experience. This study aimed to determine the optimum rod geometries to provide a pre-bent rod system for posterior spinal surgery in patients with Lenke type 5 AIS. These pre-bent rods will be beneficial for achieving proper postoperative outcomes without rod contouring based on surgeon experience. We investigated 20 rod geometries traced in posterior spinal reconstruction in patients with Lenke type 5 AIS. The differences between the center point clouds in each cluster were evaluated using the iterative closest point (ICP) method with modification. Before the evaluation using the ICP method, the point clouds were divided into four clusters based on the rod length using a hierarchical cluster analysis. Because the differences in the values derived from the ICP method were <5 mm for each length-based cluster, four representative rod shapes were generated from the length-based clusters. We identified four optimized rod shapes that will reduce operation time, leading to a decreased patient and surgeon burden.
• Footprint Detection of Ceiling Equipment from TLS Point Clouds

  Riho Akiyama, Hiroaki Date, Satoshi Kanai, Kazushige Yasutake

  Proceedings of the 5th International Conference on Civil and Building Engineering Informatics 465 - 470 2023/07/20 [Refereed]
  
• Graph Neural Network-Based Finite Element Feature Recognition from B-rep Model

  Ryosuke Moriya, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima, Tetsufumi Taichi

  Proceedings of CAD'23 254 - 259 2769-8440 2023/07/12 [Refereed]
  
• Graph Neural Network-Based Finite Element Feature Recognition from B-rep Model

  Ryosuke Moriya, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima, Tetsufumi Taichi

  Computer-Aided Design and Applications 掲載決定 2769-8440 2023/06/20 [Refereed]
  
• Proficiency evaluation of simulation education on the entire tracheal suctioning process using a motion capture system and a catheter control sensing device

  Noriyo Colley, Shunsuke Komizunai, Satoshi Kanai, Atsushi Konno, Sozo Inoue, Misuzu Nakamura, Shinji Ninomiya

  Journal of International Nursing Research 2 (1) e2021 - 0016 2436-3448 2023/02/17 [Refereed]
  
• Preliminary Shape Similarity Analysis and Standardization for Pre-Bent Rod Design for Adult Spinal Deformity Correction

  Ayane Soutome, Satoshi Kanai, Hiroaki Date, Terufumi Kokabu, Yuichiro Abe, Hiroshi Moridaira, Hiroshi Taneichi, Hideki Sudo

  Computer-Aided Design and Applications 20 (5) 797 - 813 2023/01/18 [Refereed][Not invited]
  
• Extraction of Vector Data of Region and Line-Type Defects on Road Surface from MMS Point Clouds

  Ryohei Honma, Hiroaki Date, Satoshi Kanai

  Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering 公益社団法人 精密工学会 89 (8) 654 - 660 0912-0289 2023/08/05 [Refereed]
   

  It is important to accurately inspect road pavement conditions for maintaining the safety and comfort of drivers. In recent years, Mobile Mapping System (MMS) mounted with a laser scanner has been widely used and pavement defect extraction using MMS point clouds is expected. This paper presents an extraction method of region-type defects such as rutting and potholes and line-type defects such as cracks of pavement surfaces using point clouds acquired by a Mobile Mapping System. The features of the proposed method compared with related works are the ability to extract displacements of the region and line-type defects using a single framework and the ability to extract defects with different scales and complex geometries. The proposed method first estimates an ideal pavement surface based on smooth curve fitting to scanlines using an index that represents the impact level of defects at each point. Then, vector data of region and line-type defects are extracted using displacements from the ideal pavement surface at each point. In the experiments, the proposed method achieved an IoU (Intersection over Union) of 80.2% for extracted regions and ground truth of region-type defects, and a recall of 90.7%, a precision of 97.0%, and an RMS of 10.0mm by Heipke's proposed method in the extraction of line-type defects.
• Error ellipsoidal model estimation for TLS point clouds and its application to point cloud registration

  S. Yokomori, H. Date, S. Kanai, Y. Moribe

  Proceedings of the 19th international conference on precision engineering (ICPE2022) C240  2022/11/30 [Refereed]
  
• Efficient and Precise Approximated Object Model Generation for Optimal View Planning in Structure-from-motion and Multi-view-stereo

  Genki YOSHIDA, Satoshi KANAI, Hiroaki DATE

  Proceedings of 19th International Conference on Precision Engineering (ICPE 2022) C175  2022/11/30 [Refereed][Not invited]
  
• Personally Adapted Human Body Model Generation Based on 3D Body Scanning, Mesh Morphing, and Statistical Shape Model

  A. Sotome, S. Kanai, H. Date, Y. Endo

  Proceedings of the 19th international conference on precision engineering (ICPE2022) P15  2022/11/29 [Refereed]
  
• Feature Recognition from B-rep Models for Finite Element Meshing using Graph Neural Network

  Ryosuke MORIYA, Satoshi KANAI, Hiroaki DATE, Tetsufumi TAICHI, Hideyoshi TAKASHIMA

  Proceedings of 19th International Conference on Precision Engineering (ICPE2022) C282  2022/11/29 [Refereed]
  
• Deep-Learning-Based Three-Dimensional Detection of Individual Wave-Dissipating Blocks from As-Built Point Clouds Measured by UAV Photogrammetry and Multibeam Echo-Sounder

  Yajun Xu, Satoshi Kanai, Hiroaki Date, Tomoaki Sano

  REMOTE SENSING 14 (21) 5575  2022/11 [Refereed]
   

  Wave-dissipating blocks are the armor elements of breakwaters that protect beaches, ports, and harbors from erosion by waves. Monitoring the poses of individual wave-dissipating blocks benefits the accuracy of the block supplemental work plan, recording of the construction status, and monitoring of long-term pose change in blocks. This study proposes a deep-learning-based approach to detect individual blocks from large-scale three-dimensional point clouds measured with a pile of wave-dissipating blocks placed overseas and underseas using UAV photogrammetry and a multibeam echo-sounder. The approach comprises three main steps. First, the instance segmentation using our originally designed deep convolutional neural network partitions an original point cloud into small subsets of points, each corresponding to an individual block. Then, the block-wise 6D pose is estimated using a three-dimensional feature descriptor, point cloud registration, and CAD models of blocks. Finally, the type of each segmented block is identified using model registration results. The results of the instance segmentation on real-world and synthetic point cloud data achieved 70-90% precision and 50-76% recall with an intersection of union threshold of 0.5. The pose estimation results on synthetic data achieved 83-95% precision and 77-95% recall under strict pose criteria. The average block-wise displacement error was 30 mm, and the rotation error was less than 2 degrees. The pose estimation results on real-world data showed that the fitting error between the reconstructed scene and the scene point cloud ranged between 30 and 50 mm, which is below 2% of the detected block size. The accuracy in the block-type classification on real-world point clouds reached about 95%. These block detection performances demonstrate the effectiveness of our approach.
• Shape Similarity Analysis and Standardization for Pre-bent Rod Design for Spinal Deformity Correction

  Ayane Soutme, Satoshi Kanai, Hiroaki Date, Terufumi Kokabu, Yuichiro Abe, Hiroshi Moridaira, Hiroshi Taneichi

  CAD'22 Proceedings 209 - 214 2022/06/08 [Refereed]
  
• MIXED REALITY VISUALIZATION OF POINT CLOUDS FOR SUPPORTING TERRESTRIAL LASER SCANNING

  K. Ohno, H. Date, S. Kanai

  The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2022 251 - 258 2022/05/30 [Refereed]
   

  Abstract. 3D point clouds from terrestrial laser scanners (TLS) are used in a variety of fields and applications. To acquire high-quality point clouds that have enough point density, small scanning errors, and no lack of points in important regions, appropriate scan planning, including determination of scanner positions and scan conditions, is required. Currently, planning is supported by knowledge and experience of skilled workers, and it is difficult to ensure the quality of acquired point clouds. In this study, we propose a system for visualization of point clouds to support the acquisition of high-quality point clouds using TLS. The system allows the user to see and check the quality of scanned TLS point clouds and unscanned regions intuitively by superimposing the point clouds onto the real world using a mixed reality (MR) device. In addition, the system supports finding the next best scanner position for additional laser scans based on predicted scan quality visualization to acquire higher-quality points or fill the unscanned regions.
• Development of Nursing Skill Proficiency Criteria for Dynamic Projection Mapping Simulator Using Motion Capture System

  Colley Noriyo, Komizunai Shunsuke, Kanai Satoshi, Konno Atsushi, Inoue Sozo, Nakamura Misuzu, Ninomiya Shinji

  高等教育ジャーナル : 高等教育と生涯学習 北海道大学高等教育推進機構高等教育研究部 29 61 - 67 1341-9374 2022/03
• Recognition of Free-form Features for Finite Element Meshing using Deep Learning

  Hideyoshi Takashima, Satoshi Kanai

  Computer-Aided Design and Applications 19 (4) 677 - 693 1686-4360 2022/07 [Refereed][Not invited]
   

  Finite element (FE) models used in large-scale vehicle simulations are usually composed of high-quality FE meshes that comply with in-house meshing specifications. The meshing patterns, location, and resolution are strictly defined for specific free-form features, such as ribs and bosses, in the specifications. However, finding such free-form features on the given computer-aided design (CAD) models requires a great deal of manual operation. This study proposes a deep-learning (DL) approach to recognize free-form features on CAD models for the automatic generation of FE models to address this issue. This approach allows training a deep neural network on point clouds with reasonable recognition accuracy using a dataset with a large variety of free-form feature shapes represented by the point cloud. The dataset is generated from parametric CAD modeling. It classifies the types of the free-form feature shapes on an input product model and label local feature areas on them. The proposed free-form feature recognition method was experimentally verified using two types of complicated product models. First, models where multiple free-form feature shapes are located independently. Second, where multiple feature shapes are smoothly connected and interacted. The labeling verification showed excellent automatic identification of the feature locations and local feature areas on free-form feature shapes. These results suggest that the proposed DL approach for free-form feature recognition effectively generates FE models.
• Quantification of Cartilage Surface Degeneration by Curvature Analysis Using 3D Scanning in a Rabbit Model.

  Dawei Liang, Tomohiro Onodera, Masanari Hamasaki, Ryosuke Hishimura, Kentaro Homan, Liang Xu, Yuan Tian, Satoshi Kanai, Norimasa Iwasaki

  Cartilage 13 (2_suppl) 19476035211059597 - 19476035211059597 2021/11/20 [Refereed][Not invited]
   

  OBJECTIVE: Accurate analysis to quantify cartilage morphology is critical for evaluating degenerative conditions in osteoarthritis (OA). Three-dimensional (3D) optical scanning provides 3D data for the entire cartilage surface; however, there is no consensus on how to quantify it. Our purpose was to validate a 3D method for evaluating spatiotemporal alterations in degenerative cartilages in a rabbit OA model by analyzing their curvatures at various stages of progression. DESIGN: Twelve rabbits underwent anterior cruciate ligament transection (ACLT) unilaterally and were divided into 4 groups: 4 weeks control, 4 weeks OA, 8 weeks control, and 8 weeks OA. 3D scanning, India ink staining, and histological assessments were performed in all groups. In 3D curvature visualization, the surfaces of the condyles were divided into 8 areas. The standard deviations (SD) of mean curvatures from all vertices of condylar surfaces and subareas were calculated. RESULTS: Regarding the site of OA change, curvature analysis was consistent with India ink scoring. The SD of mean curvature correlated strongly with the India ink Osteoarthritis Research Society International (OARSI) score. In curvature histograms, the curvature distribution in OA was more scattered than in control. Of the 8 areas, significant OA progression in the posterolateral part of the lateral condyle (L-PL) was observed at 4 weeks. The histology result was consistent with the 3D evaluation in terms of representative section. CONCLUSIONS: This study demonstrated that 3D scanning with curvature analysis can quantify the severity of cartilage degeneration objectively. Furthermore, the L-PL was found to be the initial area where OA degeneration occurred in the rabbit ACLT model.
• 仮想生体反応の呈示・実施者の属性による気管吸引中の視線計測結果と作業負担感への影響

  コリー 紀代, 小水内 俊介, 金井 理, 井上 創造, 近野 敦, 中村 美鈴, 二宮 伸治

  人工呼吸 (一社)日本呼吸療法医学会 38 (2) 162 - 168 0910-9927 2021/11 

  【目的】本研究では、(1)プロジェクションマッピング映像による仮想生体反応の呈示の有無や実施者の属性にかかわらず、視線計測結果が習熟度評価指標となりうるかを検証し、(2)生体反応を呈するシミュレータを用いた際の作業負担感を初学者と熟練者において比較することを目的とする。【方法】看護師群と学生群の気管吸引の所要時間、視線の停留時間・停留回数を測定した。タスク終了後に日本語版NASA-TLXを用い、両群の作業負担感を比較した。【結果】生体反応呈示の有無と属性による交互作用は認められず、所要時間と視線停留時間において看護師群-学生群間の主効果が認められた。作業負担感は26項目中5項目に有意差が認められた。【結論】看護師群の視線停留時間が統計学的有意に短く、習熟度評価に有用な指標と考えられた。作業負担感は生体反応の呈示により学生群・看護師群ともに高まり、先行研究よりも有意差のある項目数が減少した。(著者抄録)
• Recognition of Free-form Features for Finite Element Meshing using Deep Learning

  Hideyoshi Takashima, Satoshi Kanai

  Proceedings of CAD’21 31 - 35 2021/07 [Refereed][Not invited]
  
• An algorithm for using deep learning convolutional neural networks with three dimensional depth sensor imaging in scoliosis detection.

  Terufumi Kokabu, Satoshi Kanai, Noriaki Kawakami, Koki Uno, Toshiaki Kotani, Teppei Suzuki, Hiroyuki Tachi, Yuichiro Abe, Norimasa Iwasaki, Hideki Sudo

  The spine journal : official journal of the North American Spine Society 21 (6) 980 - 987 2021/06 [Refereed][Not invited]
   

  BACKGROUND CONTEXT: Timely intervention in growing individuals, such as brace treatment, relies on early detection of adolescent idiopathic scoliosis (AIS). To this end, several screening methods have been implemented. However, these methods have limitations in predicting the Cobb angle. PURPOSE: This study aimed to evaluate the performance of a three-dimensional depth sensor imaging system with a deep learning algorithm, in predicting the Cobb angle in AIS. STUDY DESIGN: Retrospective analysis of prospectively collected, consecutive, nonrandomized series of patients at five scoliosis centers in Japan. PATIENT SAMPLE: One hundred and-sixty human subjects suspected to have AIS were included. OUTCOME MEASURES: Patient demographics, radiographic measurements, and predicted Cobb angle derived from the deep learning algorithm were the outcome measures for this study. METHODS: One hundred and sixty data files were shuffled into five datasets with 32 data files at random (dataset 1, 2, 3, 4, and 5) and five-fold cross validation was performed. The relationships between the actual and predicted Cobb angles were calculated using Pearson's correlation coefficient analyses. The prediction performances of the network models were evaluated using mean absolute error and root mean square error between the actual and predicted Cobb angles. The shuffling into five datasets and five-fold cross validation was conducted ten times. There were no study-specific biases related to conflicts of interest. RESULTS: The correlation between the actual and the mean predicted Cobb angles was 0.91. The mean absolute error and root mean square error were 4.0° and 5.4°, respectively. The accuracy of the mean predicted Cobb angle was 94% for identifying a Cobb angle of ≥10° and 89% for that of ≥20°. CONCLUSIONS: The three-dimensional depth sensor imaging system with its newly innovated convolutional neural network for regression is objective and has significant ability to predict the Cobb angle in children and adolescents. This system is expected to be used for screening scoliosis in clinics or physical examination at schools.
• 視線移動量と視線移動速度頻度分析による気管内吸引技術の習熟度評価の検討

  横尾 さくら, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治

  医工学治療 (NPO)日本医工学治療学会 33 (Suppl.) 169 - 169 1344-1221 2021/05
• Extraction of Road Edges from MMS Point Clouds Using Bend Angle of Scanline

  本間 亮平, 伊達 宏昭, 金井 理

  写真測量とリモートセンシング 日本写真測量学会 60 (2) 53 - 64 0285-5844 2021/05 [Refereed][Not invited]
  
• Multi-view stereo reconstruction technique for weakly-textured surfaces

  Kei Akutsu, Satoshi Kanai, Hiroaki Date

  Proceedings of the 10th International Conference on Bridge Maintenance, Safety and Management (IABMAS 2020) 2021/04 [Refereed][Not invited]
  
• 気管内吸引手技の2D/3D動画視聴による学習効果評価指標の開発

  萬谷 麗奈, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 萬井 太規, 二宮 伸治

  医工学治療 (NPO)日本医工学治療学会 33 (1) 21 - 29 1344-1221 2021/03 [Refereed][Not invited]
   

  気管内吸引は侵襲を伴うため、医学生・看護学生を含め、免許取得前の医療系学生が実施する機会は限られている。そのため、患者や療養者のケアを行う家族ケア提供者も含め、より多くの人間が気管内吸引手技を獲得する一助となるよう、Two Dimensional(2D)動画とThree Dimensional Computer Graphics(3DCG)動画を開発した。本研究の目的は、一般的な気管内吸引の2D動画と、2D動画をもとに製作した3DCGアニメーション動画を看護師と看護学生に視覚呈示し、視線の停留点移動速度と観察結果を問うアンケートを実施により、停留点移動速度の学習効果評価項目指標としての適用可能性を検討することを目的とした。動画視聴中の看護師と学生の視線を両眼構成の視線計測システムにて記録・分析した結果、看護師群と学生群ともに2D/3Dいずれの動画視聴においても停留点移動速度頻度分析における両群間の統計学的有意差は認められなかったものの、共通して二峰性のグラフを示した。アンケート結果からは両群ともに動画視聴による学習効果について肯定的な意見が大部分を占めた。今後は、操作方法や3D動画中の説明の追加などの意見を踏まえて動画を改良した上で、停留点移動速度頻度分析による学習効果への影響を測定することが課題である。(著者抄録)
• Direct Generation of Cartesian Grid for As-built CFD Analysis from Laser-scanned Point Clouds

  Tetsuro Ishikawa, Satoshi Kanai, Hiroaki Date

  Computer-Aided Design and Applications 18 (6) 1341 - 1358 2021/02/26 [Refereed][Not invited]
  
• Shape Descriptor-Based Similar Feature Extraction for Finite Element Meshing

  Hideyoshi Takashima, Satoshi Kanai

  Computer-Aided Design and Applications 18 (5) 1080 - 1095 2021/01/07 [Refereed][Not invited]
  
• A nursing education simulator that exhibits vital reactions that enables training in endotratracheal suctioning, repositioning, and tube feeding

  KOMIZUNAI Shunsuke, COLLEY Noriyo, NINOMIYA Shinji, KANAI Satoshi, KONNO Atsushi

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 一般社団法人 日本機械学会 2021 2A1-E06  2021 [Not refereed]
   

  This paper describes a functional expansion of a nursing education simulator that has been developed focusing on the endotracheal suctioning. Most patients who require endotracheal suctioning also require tube feeding. In addition to sputum aspiration and repositioning, by providing training functions for tube feeding, educational elements of the nursing simulator, such as the relationship between tasks, and the vital reactions to the procedures, are expanded.
• Study on Real-Time Point Cloud Superimposition on Camera Image to Assist Environmental Three-Dimensional Laser Scanning.

  Kenta Ohno, Hiroaki Date, Satoshi Kanai

  International Journal of Automation Technology 15 (3) 324 - 333 1881-7629 2021 [Refereed][Not invited]
   

  Recently, three-dimensional (3D) laser scanning technology using terrestrial laser scanner (TLS) has been widely used in the fields of plant manufacturing, civil engineering and construction, and surveying. It is desirable for the operator to be able to immediately and intuitively confirm the scanned point cloud to reduce unscanned regions and acquire scanned point clouds of high quality. Therefore, in this study, we developed a method to superimpose the point cloud on the actual environment to assist environmental 3D laser measurements, allowing the operator to check the scanned point cloud or unscanned regions in real time using the camera image. The method included extracting the correspondences of the camera image and the image generated by point clouds by considering unscanned regions, estimating the camera position and attitude in the point cloud by sampling correspondence points, and superimposing the scanned point cloud and unscanned regions on the camera image. When the proposed method was applied to two types of environments, that is, a boiler room and university office, the estimated camera image had a mean position error of approximately 150 mm and mean attitude error of approximately 1 degrees, while the scanned point cloud and unscanned regions were superimposed on the camera image on a tablet PC at a rate of approximately 1 fps.
• Construction of a detachable artificial trachea model for three age groups for use in an endotracheal suctioning training environment simulator.

  Takaaki Yoshimura, Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Satoshi Kanai, Atsushi Konno, Koichi Yasuda, Hiroshi Taguchi, Takayuki Hashimoto, Shinichi Shimizu

  PloS one 16 (3) e0249010  1932-6203 2021 [Refereed][Not invited]
   

  Tracheal suctioning is an important procedure to maintain airway patency by removing secretions. Today, suctioning operators include not only medical staff, but also family caregivers. The use of a simulation system has been noted to be the most effective way to learn the tracheal suctioning technique for operators. While the size of the trachea varies across different age groups, the artificial trachea model in the simulation system has only one fixed model. Thus, this study aimed to construct multiple removable trachea models according to different age groups. We enrolled 20 patients who had previously received proton beam therapy in our institution and acquired the treatment planning computed tomography (CT) image data. To construct the artificial trachea model for three age groups (children, adolescents and young adults, and adults), we analyzed the three-dimensional coordinates of the entire trachea, tracheal carina, and the end of the main bronchus. We also analyzed the diameter of the trachea and main bronchus. Finally, we evaluated the accuracy of the model by analyzing the difference between the constructed model and actual measurements. The trachea model was 8 cm long for children and 12 cm for adolescents and young adults, and for adults. The angle between the trachea and bed was about 20 degrees, regardless of age. The mean model accuracy was less than 0.4 cm. We constructed detachable artificial trachea models for three age groups for implementation in the endotracheal suctioning training environment simulator (ESTE-SIM) based on the treatment planning CT image. Our constructed artificial trachea models will be able to provide a simulation environment for various age groups in the ESTE-SIM.
• Simple Textured Polygon Model Generation from Multiple TLS Point Clouds

  Shinichiro Imai, Hiroaki Date, Satoshi Kanai, Yoshinori Moribe, Masaki Nakamura

  Proceedings of the 18th International Conference on Precision Engineering (ICPE2020) 2020/11 [Refereed][Not invited]
  
• Precise Denoising of 3D Point Clouds with Awareness of Point-Wise Measuring Quality

  Kohei Tsubooka, Satoshi Kanai, Hiroaki Date, Tatsuo Hariyama, Masahiro Watanabe

  Proceedings of the 18th International Conference on Precision Engineering (ICPE2020) 2020/11 [Refereed][Not invited]
  
• Streamlining Photogrammetry-based 3D Modeling of Construction Sites using a Smartphone, Cloud Service and Best-view Guidance

  Ryota Moritani, Satoshi Kanai, Kei Akutsu, Kiyotaka Suda, Abdalrahman Elshafey, Nao Urushidate, Mitsuru Nishikawa

  Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC) 2020/10/14 [Refereed][Not invited]
  
• EXTRACTION OF ROAD EDGES FROM MLS POINT CLOUDS USING BEND ANGLE OF SCANLINES

  R. Honma, H. Date, S. Kanai

  ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2020 1091 - 1097 2020/08/14 [Refereed][Not invited]
   

  Abstract. Efficient road edge extraction from point clouds acquired by Mobile Laser Scanning (MLS) is an important task because the road edge is one of the main elements of high definition maps. In this paper, we present a scanline-based road edge extraction method using a bend angle of scanlines from MLS point clouds. Scanline-based methods have advantages in that computational cost is low, it is easy to extract accurate road edges, and they are independent of driving speed of MLS compared to methods using unorganized points. In contrast, there are some problems with these methods where the extraction accuracy becomes low at curb cuts and intersections. The extraction accuracy becomes low caused by the scanning noise and small occlusion from weeds and fallen leaves. In addition, some parameters should be adjusted according to the mounting angle of the laser scanner on the vehicle. Therefore, we present a scanline-based road edge extraction method which can solve these problems. First, the points of the scanline are projected to a plane in order to reduce the influence of the mounting angle of the laser scanner on the vehicle. Next, the bend angle of each point is calculated by using filtered point clouds which are not vulnerable to small occlusions around the curb such as weeds. Then, points with a local maximum of bend angle and close to trajectories are extracted as seed points. Finally, road edges are generated by tracking based on bend angle of scanlines and smoothness of road edges from the seed points. In the experiments, our proposed methods achieved a completeness of over 95.3%, a correctness of over 95.0%, a quality of over 90.7%, and RMS difference less than 18.7 mm in total.
• PLAUSIBLE RECONSTRUCTION OF AN APPROXIMATED MESH MODEL FOR NEXT-BEST VIEW PLANNING OF SFM-MVS

  R. Moritani, S. Kanai, H. Date, Y. Niina, R. Honma

  ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2020 465 - 471 2020/08/12 [Refereed][Not invited]
   

  Abstract. Structure-from-Motion (SfM) and Multi-View Stereo (MVS) are widely used methods in three dimensional (3D) model reconstruction for an infrastructure maintenance purpose. However, if a set of images is not captured from well-placed positions, the final dense model can contain low-quality regions. Since MVS requires a much longer processing time than SfM as larger amounts of images are provided, it is impossible for surveyors to wait for the SfM–MVS process to complete and evaluate the geometric quality of a final dense model on-site. This challenge results in response inefficiency and the deterioration of dense models in 3D model reconstruction. If the quality of the final dense model can be predicted immediately after SfM, it will be possible to revalidate the images much earlier and to obtain the dense model with better quality than the existing SfM–MVS process. Therefore, we propose a method for reconstructing a more plausible 3D mesh model that accurately approximates the geometry of the final dense model only from sparse point clouds generated from SfM. This approximated mesh model can be generated using Delaunay triangulation for the sparse point clouds and triangle as well as tetrahedron filtering. The approximated model can be used to predict the geometric quality of the final dense model and for an optimization-based view planning. Some experimental results showed that our method is effective in predicting the quality of the final dense model and finding the potentially degraded regions. Moreover, it was confirmed that the average reconstruction errors of the dense model generated by the optimization-based view planning went below tens of millimeters and falls within an acceptable range for an infrastructure maintenance purpose.
• DETECTION OF INDOOR ATTACHED EQUIPMENT FROM TLS POINT CLOUDS USING PLANAR REGION BOUNDARY

  H. Takahashi, H. Date, S. Kanai, K. Yasutake

  ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2020 495 - 500 2020/08/12 [Refereed][Not invited]
   

  Abstract. Laser scanning technology is useful to create accurate three-dimensional models of indoor environments for applications such as maintenance, inspection, renovation, and simulations. In this paper, a detection method of indoor attached equipment such as windows, lightings, and fire alarms, from TLS point clouds, is proposed. In order to make the method robust against to the lack of points of equipment surface, a footprint of the equipment is used for detection, because the entire or a part of the footprint boundary shapes explicitly appear as the boundary of base surfaces, i.e. walls for windows, and ceilings for lightings and fire alarms. In the method, first, base surface regions are extracted from given TLS point clouds of indoor environments. Then, footprint boundary points are detected from the region boundary points. Finally, target equipment is detected by fitting or voting using given target footprint shapes. The features of our method are footprint boundary point extraction considering occlusions, shape fitting with adaptive parameters based on point intervals, and robust shape detection by voting from multiple footprint boundary candidates. The effectiveness of the proposed method is evaluated using TLS point clouds.
• 吸引の3Dアニメーション視聴中の仮想的なカメラによる視線の軌道と視点の変化の測定(Measurement of eye-trajectory and viewpoint change by a virtual camera during three-dimensional animation of suctioning)

  Colley Noriyo, Taira Yuya, Komizunai Shunsuke, Ninomiya Shinji, Kanai Satoshi, Konno Atsushi, Mani Hiroki, Asaka Tadayoshi, Inoue Sozo, Nakamura Misuzu

  医学教育 51 (Suppl.) 78 - 78 0386-9644 2020/07
• 生体反応を持つシミュレーターでの器官吸引に関する視線追跡を用いた分析(Eye-tracking Analysis of Tracheal Suctioning on a Simulator with Vital Reactions)

  Colley Noriyo, Umesawa Sarina, Ninomiya Shinji, Komizunai Shunsuke, Kanai Satoshi, Konno Atsushi, Mani Hiroki, Asaka Tadayoshi, Inoue Sozo, Nakamura Misuzu

  医学教育 51 (Suppl.) 78 - 78 0386-9644 2020/07
• Shape Descriptor-based Similar Feature Extraction for Finite Element Meshing

  Hideyoshi Takashima, Satoshi Kanai

  CAD'20 2020/05/25 [Refereed][Not invited]
  
• Direct Generation of Cartesian Grid for As-built CFD Analysis from Laser Scanned Point Clouds

  Tetsuro Ishikawa, Satoshi Kanai, Hiroaki Date

  CAD'20 2020/05/25 [Refereed][Not invited]
  
• Free-Form Feature Classification for Finite Element Meshing based on Shape Descriptors and Machine Learning

  Ippei Takashi, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima

  Computer-Aided Design and Applications 17 2020/01/07 [Refereed][Not invited]
  
• Relationship Between Tracheal Suctioning Catheter Motion and Secretion Amount Based on Viscosity

  Noriyo Colley, Shunsuke Komizunai, Atsushi Konno, Satoshi Kanai, Shinji Ninomiya

  SAGE Open Nursing 6 237796082096938 - 237796082096938 2377-9608 2020/01 [Refereed][Not invited]
   

  To provide safe tracheal suctioning, the American Association of Respiratory Care guideline discusses the length of suctioning catheter, but the most effective tracheal suctioning catheter technique is still unknown. The aim of this study is to compare the amount of simulated secretion produced by five different handlings of a catheter at two different viscosities and in two different models to discover the most effective suctioning maneuver in the various mucus conditions. In vitro experimental design. The amount of secretion aspirated by our researcher's manipulation of a suctioning catheter was measured. The tip of the catheter was recorded using a high-speed video camera to visualize the secretion motion. The most effective suctioning technique differed depending on the viscosity of the secretion. There were no significant differences between five suctioning methods applied to high-viscosity phlegm in a tracheal membrane model, but the flexion technique was the most efficient for low-viscosity secretion. Our results imply that the flexion technique was reasonably safe and the most effective of these five methods for low-viscosity secretion.
• Proficiency evaluation of tracheal suctioning using motion capture system and the NASA-TLX

  長内 真理乃, コリー 紀代, 小水内 俊介, 二宮 伸治, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦

  日本小児呼吸器学会雑誌 日本小児呼吸器学会 30 (2) 172 - 180 2187-5731 2020/01 [Refereed][Not invited]
   

  気管内吸引は、気管や気管支粘膜などの損傷や損傷に伴う大量出血、低酸素症、嘔吐、疼痛といったリスクがあり侵襲度が高い技術であるとされる。より実践的な指導により免許取得後の安全な吸引を実施するためにも、客観的な数値や尺度による評価が必要になるが、気管内吸引技術の習熟度を示す指標を検討している先行研究は多くはない。そこで本研究はモーションキャプチャを用い、気管内吸引シミュレーション中の看護師群と看護学生群の習熟度の評価指標や教育項目を検討した。また、NASA-TLXを用いて精神的負担感を調査した。動作解析より、所要時間、左手背総移動距離、左右の手背の停留回数・停留時間について群間に有意差が認められ、NASA-TLXの結果からは学生群の方が時間の余裕のなさや作業結果への不満足というストレスが大きいことが示された。従って、これらが気管内吸引の習熟度の客観的評価項目として有用である可能性が示唆された。(著者抄録)
• 気管内吸引手技中の視線計測による看護師と看護学生の習熟度の比較

  竹内 由佳, コリー 紀代, 二宮 伸治, 小水内 俊介, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦

  医工学治療 (NPO)日本医工学治療学会 31 (3) 171 - 180 1344-1221 2019/11 [Refereed][Not invited]
   

  本研究では視線計測に基づく教育評価項目や評価指標の抽出を目的とし、気管内吸引シミュレーション中の看護師と看護学生を対象に両眼構成視線計測装置(Pupil、Pupil Labs社)を用いた視線計測により手技の所要時間、視線の停留回数・停留時間、停留点移動速度を比較した。視線計測後には、NASA-TLXを用いて作業負担度を調査した。その結果、所要時間、視線の停留時間、視線の停留回数・停留時間に有意差が認められた。作業負担度には有意差が見られなかったことから、両群とも模擬環境において同等のストレスがあったと推測される。不慣れな環境においてもパフォーマンスに差が現れることから、手技の所要時間や視線の停留回数・停留時間は習熟度を評価する客観的な指標となりうることが示された。(著者抄録)
• Automatic Indoor Environment Modeling from Laser-scanned Point Clouds using Graph-based Regular Arrangement Recognition

  Hayato Takahashi, Hiroaki Date, Satoshi Kanai

  Proceedings of the 4th International Conference on Civil and Building Engineering Informatics 368 - 375 2019/11 [Refereed][Not invited]
  
• Segmentation and LOD model generation of buildings from MMS point clouds of urban area

  Takuya Kanayana, Toshihide Mineushiro, Hiroaki Date, Satoshi Kanai

  Journal of the Japan Society of Precision Engineering 85 (10) 912 - 918 2019/10 [Refereed][Not invited]
  
• 一人称視点で模範手技の追体験が可能な没入型看護教育システム ESTE-VR

  小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治, コリー 紀代

  日本シミュレーション医療教育学会雑誌 日本シミュレーション医療教育学会 7 89 - 93 2187-9281 2019/08 

  【背景】在宅医療の浸透に伴い、医師や看護師ではない範囲も含め、一定水準の看護教育を受けたケア提供者を増やすことは重要な課題となる。【目的】気管内吸引を例に、手技の習熟を支援する体験型の看護教育システムを開発する。【方法】気管内吸引中の実施者の全身動作および視線を計測する。仮想現実(Virtual reality:VR)空間で人型モデルに計測データを反映することで手技の再現・観察を可能とする。【結果】学習者が模範手技を一人称視点で追体験することが可能であるとともに、指導者が学習者の手技を自由な視点から観察し定量的に分析・評価するための手段にもなる。【考察】手取り足取りの指導を使用者自身の模倣で代替することにより、言語化しにくいコツや巧みさの伝達を支援しうる。(著者抄録)
• 吸引カテーテル操作に応じた生体反応を呈するプロジェクションマッピングシミュレータ ESTE-SIM

  小水内 俊介, コリー 紀代, 近野 敦, 金井 理, 浅賀 忠義, 高橋 望, 二宮 伸治

  日本シミュレーション医療教育学会雑誌 日本シミュレーション医療教育学会 7 118 - 119 2187-9281 2019/08
• 一人称視点で熟練者の身体動作と視線を追体験可能な没入型看護教育システム ESTE-VR

  小水内 俊介, コリー 紀代, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治

  日本シミュレーション医療教育学会雑誌 日本シミュレーション医療教育学会 7 118 - 118 2187-9281 2019/08
• ESTE-VR : An immersive nursing education system that provides re-experience of exemplary procedure from first-person's view

  小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治, コリー 紀代

  日本シミュレーション医療教育学会雑誌 日本シミュレーション医療教育学会 7 89 - 93 2187-9281 2019/08 [Not refereed][Not invited]
   

  【背景】在宅医療の浸透に伴い、医師や看護師ではない範囲も含め、一定水準の看護教育を受けたケア提供者を増やすことは重要な課題となる。【目的】気管内吸引を例に、手技の習熟を支援する体験型の看護教育システムを開発する。【方法】気管内吸引中の実施者の全身動作および視線を計測する。仮想現実(Virtual reality:VR)空間で人型モデルに計測データを反映することで手技の再現・観察を可能とする。【結果】学習者が模範手技を一人称視点で追体験することが可能であるとともに、指導者が学習者の手技を自由な視点から観察し定量的に分析・評価するための手段にもなる。【考察】手取り足取りの指導を使用者自身の模倣で代替することにより、言語化しにくいコツや巧みさの伝達を支援しうる。(著者抄録)
• LS POINT CLOUD REGISTRATION BASED ON ICP ALGORITHM USING POINT QUALITY

  H. Date, E. Wakisaka, Y. Moribe, S. Kanai

  Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 (W13) 963 - 968 2019/06 [Refereed][Not invited]
  
• MLS POINT CLOUD SEGMENTATION BASED ON FEATURE POINTS OF SCANLINES

  R. Honma, H. Date, S. Kanai

  Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 (W13) 1007 - 1013 2019/06 [Refereed][Not invited]
  
• QUALITY PREDICTION OF DENSE POINTS GENERATED BY STRUCTURE FROM MOTION FOR HIGH-QUALITY AND EFFICIENT AS-IS MODEL RECONSTRUCTION

  R. Moritani, S. Kanai, H. Date, Y. Niina, R. Honma

  nt. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 (W13) 95 - 101 2019/06 [Refereed][Not invited]
  
• Free-form Feature Classification for Finite Element Meshing based on Shape Descriptors and Machine Learning

  Ippei Takaishi, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima

  Proc. 16th Annual International CAD Conference 414 - 419 2019/06 [Refereed][Not invited]
  
• Optimal Laser Scan Planning for As-Built Modeling of Plant Renovations Using Mathematical Programming

  Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date

  Proceedings of 2019 International Symposium on Automation and Robotics in Construction 91 - 98 2019/05 [Refereed][Not invited]
  
• 3D非対称性解析を用いた側弯症検出システムにおける同一被検者に対する再現性

  小甲晃史, 須藤英毅, 金井理, 安倍雄一郎, 岩崎倫政

  Journal of Spine Research 10 (3) 164  1884-7137 2019/03/25 [Not refereed][Not invited]
  
• 4D‐FEAシミュレーションによる術前計画と積層造形技術を含む脊柱変形矯正用カスタムメイドロッドの開発

  須藤英毅, 金井理, 小甲晃史, 青柳健太, 王昊, 安倍雄一郎, 岩崎倫政, 千葉晶彦

  Journal of Spine Research 10 (3) 434  1884-7137 2019/03/25 [Not refereed][Not invited]
  
• Generating facial expressions of pain with projection mapping for the nurse training simulator (1st report): Effect on the tracheal aspiration time for a patient with cerebral palsy

  Fauzi Ahmad Ridwan, Kanai Satoshi, Date Hiroaki, Komizunai Shunsuke, Konno Atsushi, Colley Noriyo, Ninomiya Shinji

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2019S 860 - 861 2019/03/01 

  Patients with cerebral palsy suffer from permanent movement disorder, and a nurse usually performs their tracheal aspiration where a tube must be inserted into the patient’s trachea. The tube insertion procedure must be performed quickly and carefully in order for the patient not to experience significant pain, anxiety, and even tracheal bleeding that would cause fear for the patient. To master such skill, many training opportunities should be provided for the novice nurses. Therefore, a training simulator is needed that could mimic the real situation of the procedure to provide an accurate and realistic feedback to the novice nurses. To realize that goal, we have developed a simulator that provides a head mannequin with the pain sensor attached and can project computer-generated patient’s facial expressions onto the mannequin face using projection mapping. The expression can change in conjunction with pain intensity the patient would receive due to the sputum blockage in the trachea and due to the hard contact of the tube tip with the trachea. The effectiveness of the projection mapping in the simulator is evaluated by comparing how fast trained and novice nurses finish the procedure when the facial expression of the pain is simulated or not.
• Quantitative analysis of regional endocardial geometry dynamics from 4D cardiac CT images: endocardial tracking based on the iterative closest point with an integrated scale estimation.

  Kazuya Kobayashi, Satoru Wakasa, Koji Sato, Satoshi Kanai, Hiroaki Date, Satomi Kimura, Noriko Oyama-Manabe, Yoshiro Matsui

  Physics in medicine and biology 64 (5) 055009 - 055009 0031-9155 2019/02/25 [Refereed][Not invited]
   

  Regional cardiac function analysis is important for the diagnosis and treatment planning of ischemic heart disease, but has not been sufficiently developed in the field of computed tomography (CT). Therefore, we propose a 3D endocardial tracking framework for cardiac CT using local point cloud registration based on the iterative closest point with an integrated scale estimation algorithm. We also introduce regional function descriptors that express the curvature and stretching of the endocardium: Surface distortion (E) and Scaling rate (S). For a region-to-region comparison, we propose endocardial segmentation according to coronary perfusion territories defined by the Voronoi partition based on coronary distribution. Our study of 65 endocardial segments in ten subjects showed that global endocardial deformation has a positive relationship with the stroke volume index (r  =  0.896 and 0.829 in [Formula: see text] and [Formula: see text], respectively) and ejection fraction (r  =  0.804 and 0.835), and a positive relationship with the brain natriuretic peptide level (r  =  0.690 and 0.776). A positive relationship between segmental E and S (r  =  0.845), a higher value of E in ischemic segments (p   =  0.021) that are determined by fractional flow reserve estimated from coronary CT data, and a higher value of S in the left circumflex artery territory (p   <  0.05) were also observed. The required radiation dose was 5.0  ±  0.7 mSv and the computation time was 7.2  ±  1.1 min. The result suggests that proposed endocardial deformation analysis using CT can be conducted on site and in time for the acute setting, and may be useful for the diagnosis of cardiac dysfunction or myocardial ischemia.
• A Study on Rapid Reverse Engineering of Castings ‐Generation of Beautified Solid Models with Surface Properties Based on the Separation of Casting and Machining Surfaces‐

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季

  精密工学会誌(Web) 85 (3) 267‐273(J‐STAGE)  1882-675X 2019 [Not refereed][Not invited]
  
• An Interactive Endotracheal Suctioning Simulator Which Exhibits Vital Reactions: ESTE-SIM.

  Shunsuke Komizunai, Shinji Ninomiya, Atsushi Konno, Satoshi Kanai, Tadayoshi Asaka, Eri Murata, Hiroki Mani, Nozomi Takahashi, Noriyo Colley

  IJAT 13 (4) 490 - 498 2019 [Refereed][Not invited]
  
• Automated noninvasive detection of idiopathic scoliosis in children and adolescents: A principle validation study.

  Sudo H, Kokabu T, Abe Y, Iwata A, Yamada K, Ito YM, Iwasaki N, Kanai S

  Scientific reports 8 (1) 17714 - 17714 2045-2322 2018/12/07 [Refereed][Not invited]
   

  Idiopathic scoliosis is the most common pediatric musculoskeletal disorder that causes a three-dimensional deformity of the spine. Early detection of this progressive aliment is essential. The aim of this study is to determine outcomes using a newly developed automated asymmetry-evaluation system for the surface of the human back using a three-dimensional depth sensor. Seventy-six human subjects suspected to have idiopathic scoliosis were included in this study. Outcome measures include patient demographics, radiographic measurements, and asymmetry indexes defined in the automated asymmetry-recognition system. The mean time from scanning to analysis was 1.5 seconds. For predicting idiopathic scoliosis of greater than 25°, the area under the curve was 0.96, sensitivity was 0.97, and specificity was 0.88. The coefficient of variation for repeatability analyses using phantom models was 1-4%. The intraclass correlation coefficient obtained for intra-observer repeatability for human subjects was 0.995. The system three-dimensionally scans multiple points on the back, enabling an automated evaluation of the back's asymmetry in a few seconds. This study demonstrated discriminative ability in determining whether an examinee requires an additional x-ray to confirm diagnosis.
• Optimal Laser Scan Planning of Terrestrial Laser Scanner for As-built Modeling of HVAC Systems using Integer Programming

  Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date

  International Conference on Precision Engineering (ICPE2018) 2018/11 [Refereed][Not invited]
  
• 3D Asymmetry Analysis of Human’s Back Surface for Early Screening of Idiopathic Scoliosis

  Satoshi Kanai, Hideki Sudo, Terufumi Kokabu, Hiroshi Nagaeda, Takayuki Hayashi, Hajime Ohta

  International Conference on Precision Engineering (ICPE2018) D-5-2  2018/11 [Refereed][Not invited]
  
• Cylinder-based Efficient and Robust Registration and Model Fitting of Laser-scanned Point Clouds for As-built Modeling of Piping Systems

  Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi

  Computer-Aided Design and Applications 16 (3) 396 - 412 2018/09/29 [Refereed][Not invited]
  
• Cylinder-based simultaneous registration and model fitting of laser-scanned point clouds for accurate as-built modeling of piping system

  Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi

  Computer-Aided Design and Applications 15 (5) 720 - 733 1686-4360 2018/09/03 [Refereed][Not invited]
   

  In this study, a novel algorithm for cylinder-based registration and model fitting of laser-scanned point clouds was proposed. The algorithm was designed specifically for as-built modeling of a plant piping system. In contrast with Iterative Closest Point (ICP)-based methods, fine registration and model fitting were performed simultaneously, by solving a single nonlinear constraint equation. This prevented alignment error arising in registration from propagating to model fitting. Coarse registration was automated by identifying cylindrical surfaces and by finding matches among their cylinder axes using a random sample consensus (RANSAC) method. The accuracy and robustness of the proposed algorithm was first confirmed using scan simulations. It performed well even when there was zero overlap between scans, and was demonstrated to achieve better modeling accuracy than ICP-based methods. The algorithm was then applied to point clouds scanned from a real plant, with successful results. The proposed algorithm achieves as-built modeling accuracies that would be fully acceptable when conducting renovation work on existing piping systems.
• Optimal Laser Scan Planning of Terrestrial Laser Scanner for As-built Modeling of HVAC Systems

  WAKISAKA Eisuke, KANAI Satoshi, DATE Hiroaki

  Journal of the Japan Society for Precision Engineering 公益社団法人 精密工学会 84 (8) 738 - 745 0912-0289 2018/08 [Refereed][Not invited]
   

  3D laser scanners have recently been introduced for efficient as-built modeling in the heating, ventilating and air conditioning (HVAC) industry. Given their highly complex installation, when scanning the piping objects in HVAC systems using a terrestrial laser scanner (TLS), it is difficult to manually determine feasible scanner placement to capture the object areas required for renovation work at high accuracy and quality without occlusion. We propose an algorithm for a model-based optimum scan planning method for a TLS. This method uses a coarse 3D model generated by structure-from-motion, and finds optimal scanner placement that satisfies visibility, scan range, incident angle, and scan quality constraints. In this study, the optimal scanner placement problem is formulated as a 0-1 integer programming problem that is solved using the branch and bound method. In addition, a GPU significantly increases the speed of the precomputation of visibility constraints. In an evaluation, the proposed algorithm outperformed our previously proposed greedy method in terms of the number of scans and scan coverage ratio, and it shows performance equal to the greedy method in terms of modeling quality.</p>
• Identification of optimized rod shapes to guide anatomical spinal reconstruction for adolescent thoracic idiopathic scoliosis.

  Kokabu T, Kanai S, Abe Y, Iwasaki N, Sudo H

  Journal of orthopaedic research : official publication of the Orthopaedic Research Society 36 (12) 3219 - 3224 0736-0266 2018/07 [Refereed][Not invited]
   

  Adolescent idiopathic scoliosis (AIS), the most common pediatric musculoskeletal disorder, causes a three-dimensional deformity of the spine. Although rod curvature could play an important role in anatomical spinal reconstruction in patients with thoracic AIS, intraoperative contouring of the straight rod induces notches into the rod, leading to decreased fatigue strength. Here, we analyzed pre-bent rod geometries from 46 intraoperative tracings of the rod geometry, which can provide anatomical spinal reconstruction in patients with thoracic AIS. The center point clouds of the rod shapes were extracted and approximated as arcs and straight lines. The difference between the center point clouds were evaluated using the iterative closest point methods. When the rod shapes were divided into six groups based on length followed by hierarchical cluster analysis, 10 representative rod shapes were obtained with a difference value of 5 mm. Thus, we identified optimized rod shapes to guide anatomical spinal reconstruction for thoracic AIS, which will reduce not only the risk of rod breakage but also operation time, leading to decreased patient burden. © 2018 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 36:3219-3224, 2018.
• Automated recognition and 3D CAD modeling of standardized steel bridge members in a laser scan

  Satoshi Kanai, Motoaki Hashikawa, Hiroaki Date

  7th International Conference on Computing in Civil and Building Engineering, 2018/06 [Refereed][Not invited]
  
• Multiple tls point cloud registration based on point projection images

  T. Sumi, H. Date, S. Kanai

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 42 (2) 1083 - 1090 1682-1750 2018/05/30 [Not refereed][Not invited]
   

  In this paper, an efficient and robust registration method of multiple point clouds is proposed. In our research, we assume that point clouds are acquired by Terrestrial Laser Scanning (TLS) systems, and the scanned environments have a relatively flat base plane such as the ground or a floor. Our method is based on an existing pairwise registration method based on point projection images, which can quickly register the point clouds under the above assumptions. In the method, sliced point clouds are projected onto the base plane, and a binary image with feature points is created. The registration is done by using feature points of the images based on the sample consensus strategy. In this paper, first, we improve the efficiency of the pairwise registration method by introducing height and occlusion information to the image. Then, a validity check method of pairwise registration using space-classified images is proposed to avoid exhaustive pairwise registration in the multiple point cloud registration process. Finally, an efficient multiple point cloud registration algorithm based on progressive creation of a point cloud connectivity graph using iterative rough and precise pairwise registration and the validity check method is proposed. The effectiveness of our method is shown through its application to three datasets of outdoor environments.
• Model-based next-best-view planning of terrestrial laser scanner for HVAC facility renovation

  Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date

  Computer-Aided Design and Applications 15 (3) 353 - 366 1686-4360 2018/05/04 [Refereed][Not invited]
   

  Recently, terrestrial laser scanners (TLSs) have been introduced to efficient as-built three-dimensional (3D) modeling in the heating, ventilating, and air-conditioning (HVAC) industry. When scanning the highly tangled installation of piping objects in HVAC systems using TLS, it is difficult to manually decide feasible scanner placement to scan the necessary regions of objects for construction with high accuracy and high point density and without any occlusion. Therefore, in this paper, we propose a model-based next-best-view planning method for TLS. The method uses a coarse 3D model generated by structure-from-motion (SfM), and it finds the near-optimum scanner placement that maximizes scan coverage while satisfying the constraints on the factors influencing scan quality such as beam incident angle, scan range, and scan overlap. The constraints are imposed based on user-specified scanning priority levels. Scanner placement is determined based on voxel-based space occupancy classification. The superiority of scanner placement by using the proposed method is verified through a comparative evaluation of the modeling accuracy with scanner placement by an experienced operator.
• Efficient Registration of Laser-Scanned Point Clouds of Bridges Using Linear Features.

  Hiroaki Date, Takahito Yokoyama, Satoshi Kanai, Yoshiro Hada, Manabu Nakao, Toshiya Sugawara

  IJAT 12 (3) 328 - 338 1881-7629 2018/05/01 [Refereed][Not invited]
   

  © 2018, Fuji Technology Press. All rights reserved. Efficient registration of point clouds from terrestrial laser scanners enables us to move from scanning to point cloud applications immediately. In this paper, a new efficient rough registration method of laser-scanned point clouds of bridges is proposed. Our method relies on straight-line edges as linear features, which often appear in many bridges. Efficient edge-line extraction and line-based registration methods are described in this paper. In our method, first, sampled regular point clouds based on the azimuth and elevation angles are created, and planar regions are extracted using the region growing on the regular point clouds. Then, straight lines of the edges of the planar regions are extracted as linear features. Next, vertical and horizontal line clusters are created according to the direction of the lines. To align the position and orientation of two point clouds, two corresponding nonparallel line pairs from line clusters are used. In the registration process, the RANSAC approach with a hash table of line pairs is used. In this process, the hash table is used for finding candidates of corresponding line pairs efficiently. Sampled points on the line pairs are used to align the line pairs, and occupied voxels and downsampled point clouds are used for efficient consensus calculation. The method is tested using three data sets of different types of bridges: a small steel bridge, a middle-size concrete bridge, and a high-pier concrete bridge. In our experiments, successful rates of our rough registration were 100%, and the processing time of rough registration for 19 point clouds was about 1 min.
• 3D非対称性解析による革新的脊柱側弯症検診システムの研究開発

  須藤英毅, 小甲晃史, 林隆行, 安倍雄一郎, 岩田玲, 長枝浩, 岩崎倫政, 金井理

  日本整形外科学会雑誌 92 (3) S691  0021-5325 2018/03/14 [Not refereed][Not invited]
  
• 思春期特発性側弯症におけるロッド曲線形状の類似分析手法の開発

  小甲晃史, 小甲晃史, 金井理, 安倍雄一郎, 岩崎倫政, 須藤英毅

  日本整形外科学会雑誌 92 (2) S207  0021-5325 2018/03/07 [Not refereed][Not invited]
  
• Tripping risk evaluation system based on human behavior simulation in laser-scanned 3D as-is environments

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date

  Automation in Construction 85 193 - 208 0926-5805 2018/01/01 [Refereed][Not invited]
   

  Tripping-related falls are the leading cause of unintentional deaths in the elderly. Tripping risk must be evaluated by considering intrinsic and extrinsic factors affecting the interactions between humans and the environment. The goal of this study is to develop a new tripping risk evaluation system based on human behavior simulation in an “as-is” environment model, i.e., environment model reflecting detailed environmental geometry. First, a three-dimensional (3D) as-is environment model is automatically constructed from laser-scanned point clouds in the environment. From this model, potential tripping-hazard regions are automatically detected. Finally, the tripping risk of detected hazard region is quantitatively evaluated based on a combined human behavior and Monte Carlo simulation. The simulated tripping risk is compared with that measured using real humans, and it is revealed that the dimensional limit of risk evaluation accuracy in terms of barrier height on a walking terrain is very close to 10 mm.
• Future Possibilities for Endotracheal Suctioning Ontologies Based on the Ocular Movement of Skilled Nurses

  Colley Noriyo, Shimizu Hiromi, Takahashi Nozomi, Komizunai Shunsuke, Konno Atsushi, Kanai Satoshi, Ninomiya Shinji, Otsuka Ken, Asaka Tadayoshi

  Igaku Kyoiku / Medical Education (Japan) 日本医学教育学会 49 (2) 117 - 125 0386-9644 2018 [Not refereed][Not invited]
   

  Introduction: Due to the advancement of the home-based healthcare, increasing the number of professionals who are able to administer homebased treatments, such as endotracheal suctioning, is an urgent issue.Methods: By measuring the ocular movement of nurses, nursing students and previous researches, an endotracheal suctioning ontology was visualized. It included a multiplex task structure, recognition, and judgment, as well as identifying procedures used during endotracheal suctioning that could contribute to a discussion on educational feasibility.Results: From the hierarchical structure of the constructed endotracheal suctioning ontology, not only the procedural knowledge but also knowledge about medical devices, knowing what options exist when endotracheal suctioning is ineffective, and a wide range of other expertise is needed to perform endotracheal suctioning safely.Discussion: An endotracheal suctioning ontology was created from the ocular movement of nurses. Ontologies are a potential tool for defining minimum requirements and the scope of ability that must be evaluated before clinical practicum.

• 分野横断インフラ維持管理技術の開発とその社会実装―戦略的イノベーション創造プログラム(SIP)―インフラ維持管理におけるICTの利活用

  安達淳, 金井理

  土木学会誌 土木学会 102 (10) 20‐21 - 37 0021-468X 2017/10/15 [Not refereed][Invited]
  
• Simulation-Based Evaluation of Ease of Wayfinding Using Digital Human and As-Is Environment Models

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada

  ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION 6 (9) 267  2220-9964 2017/09 [Refereed][Not invited]
   

  As recommended by the international standards, ISO 21542, ease of wayfinding must be ensured by installing signage at all key decision points on walkways such as forks because signage greatly influences the way in which people unfamiliar with an environment navigate through it. Therefore, we aimed to develop a new system for evaluating the ease of wayfinding, which could detect spots that cause disorientation, i.e., "disorientation spots", based on simulated three-dimensional (3D) interactions between wayfinding behaviors and signage location, visibility, legibility, noticeability, and continuity. First, an environment model reflecting detailed 3D geometry and textures of the environment, i.e., "as-is environment model", is generated automatically using 3D laser-scanning and structure-from-motion (SfM). Then, a set of signage entities is created by the user. Thereafter, a 3D wayfinding simulation is performed in the as-is environment model using a digital human model (DHM), and disorientation spots are detected. The proposed system was tested in a virtual maze and a real two-story indoor environment. It was further validated through a comparison of the disorientation spots detected by the simulation with those of six young subjects. The comparison results revealed that the proposed system could detect disorientation spots, where the subjects lost their way, in the test environment.
• Development of a bridge inspection support system using two-wheeled multicopter and 3D modeling technology

  Yoshiro Hada, Manabu Nakao, Moyuru Yamada, Hiroki Kobayashi, Naoyuki Sawasaki, Katsunori Yoko Ji, Satoshi Kanai, Fumiki Tanaka, Hiroaki Date, Sarthak Pathak, Atsushi Yamashita, Manabu Yamada, Toshiya Sugawara

  Journal of Disaster Research 12 (3) 593 - 606 1883-8030 2017/06/01 [Refereed][Not invited]
   

  Recently, many countries have faced serious problems associated with aging civil infra structures such as bridges, tunnels, dams, highways and so on. Aging infrastructures are increasing year by year and suitable maintenance actions are necessary to maintain their safety and serviceability. In fact, infrastructure deterioration has caused serious problems in the past. In order to prevent accidents with civil infrastructures, supervisors must spend a lot of money to maintain the safe conditions of infrastructures. Therefore, new technologies are required to reduce maintenance costs. In 2014 the Japanese government started the Cross-Ministerial Strategic Innovation Promotion Program (SIP), and technologies for infrastructure maintenance have been studied in the SIP project [1]. Fujitsu Limited, Hokkaido University, The University of Tokyo, Nagoya Institute of Technology and Docon Co. Limited have been engaged in the SIP project to develop a bridge inspection support system using information technology and robotic technology. Our system is divided into the following two main parts: bridge inspection support robots using a two-wheeled multicopter, and an inspection data management system utilizing 3D modeling technology. In this paper, we report the bridge inspection support system developed in our SIP project.
• Efficient conformal tetrahedral finite element mesh generation for moving objects with contact by mesh adaptation

  Hiroki Maehama, Hiroaki Date, Satoshi Kanai

  JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING 11 (4) JAMDSM0045  1881-3054 2017 [Refereed][Not invited]
   

  In current product design, CAE based on FEA has become absolutely imperative for developing high quality products. In some analyses of assembly models with movable parts such as electro-magnetic field analyses of motors, conformal tetrahedral meshes including meshes both of objects (parts) and space (called "object mesh" and "space mesh" in this paper) are needed. In general CAE processes, poses of moving parts of CAD models are first modified, then conformal meshes of the modified CAD models are generated, and FEAs are finally performed at each pose of the object in motion. However, simultaneous conformal meshing for objects and spaces is unstable and time-consuming. To reduce the frequency of the meshing, many mesh adaptation methods have been proposed. Although they can generate the conformal mesh of each object pose by modifying the mesh connectivity and vertex positions depending on the object motion, they are inefficient because the mesh topology and geometry are globally adapted even if the differences in poses of the objects in motion are very small In addition, they do not deal with contacts of the object meshes. In this paper, we propose a new efficient tetrahedral mesh adaptation method for moving objects with contact. For efficient mesh adaptation, the mesh adaptation process is applied to only a set of space mesh elements around the moving object based on a distance field. In addition, to keep mesh conformity on the contact regions between object meshes, the topology and geometry of surface triangular meshes of contacted object meshes are adapted by vertex repositioning and local topological operations. The proposed method is demonstrated using three samples. In an experimental result where a cylinder is translated toward a half tube, the conformal tetrahedral meshes with 160k tetrahedra were generated without any inverted elements for about 5 seconds in each motion step.
• Automatic registration of MLS point clouds and SfM meshes of urban area

  Reiji Yoshimura, Hiroaki Date, Satoshi Kanai, Ryohei Honma, Kazuo Oda, Tatsuya Ikeda

  Geo-Spatial Information Science 19 (3) 171 - 181 1009-5020 2016/07/02 [Refereed][Not invited]
   

  Recent advances in 3D scanning technologies allow us to acquire accurate and dense 3D scan data of large-scale environments efficiently. Currently, there are various methods for acquiring large-scale 3D scan data, such as Mobile Laser Scanning (MLS), Airborne Laser Scanning, Terrestrial Laser Scanning, photogrammetry and Structure from Motion (SfM). Especially, MLS is useful to acquire dense point clouds of road and road-side objects, and SfM is a powerful technique to reconstruct meshes with textures from a set of digital images. In this research, a registration method of point clouds from vehicle-based MLS (MLS point cloud), and textured meshes from the SfM of aerial photographs (SfM mesh), is proposed for creating high-quality surface models of urban areas by combining them. In general, SfM mesh has non-scale information therefore, scale, position, and orientation of the SfM mesh are adjusted in the registration process. In our method, first, 2D feature points are extracted from both SfM mesh and MLS point cloud. This process consists of ground- and building-plane extraction by region growing, random sample consensus and least square method, vertical edge extraction by detecting intersections between the planes, and feature point extraction by intersection tests between the ground plane and the edges. Then, the corresponding feature points between the MLS point cloud and the SfM mesh are searched efficiently, using similarity invariant features and hashing. Next, the coordinate transformation is applied to the SfM mesh so that the ground planes and corresponding feature points are adjusted. Finally, scaling Iterative Closest Point algorithm is applied for accurate registration. Experimental results for three data-sets show that our method is effective for the registration of SfM mesh and MLS point cloud of urban areas including buildings.
• Motion-capture-based walking simulation of digital human adapted to laser-scanned 3D as-is environments for accessibility evaluation

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada

  Journal of Computational Design and Engineering 3 (3) 250 - 265 2288-5048 2016/07/01 [Refereed][Not invited]
   

  Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only “as-planned” situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with “as-is” environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.
• VISION-BASED WAYFINDING SIMULATION OF DIGITAL HUMAN MODEL IN THREE DIMENSIONAL AS-IS ENVIRONMENT MODELS AND ITS APPLICATION TO ACCESSIBILITY EVALUATION

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date

  PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2016, VOL 1A 2016 [Refereed][Not invited]
   

  Elderly and disabled individuals must be able to access the indoor and outdoor environment in an easy and safe manner. Accessibility must be assessed not only in terms of physical friendliness for users, but also of cognitive friendliness such as the ease of wayfinding. To ensure the ease of wayfinding, signage information available at every key decision point is essential because it enables people to find their way in unfamiliar environment. The aim of the present study is to develop virtual accessibility evaluation system that evaluates the environment accessibility from the cognitive friendliness aspect, such as the ease of wayfinding, by combining realistic human behavior simulation using a digital human model (DHM) with as-is environment models. To realize this system, we develop a vision-based wayfinding simulation algorithm for the DHM in textured three-dimensional (3D) as-is, environment models. The as-is environment models are constructed with the structure-from-motion (SfM) technique. During the wayfinding simulation, the visibility and legibility of each sign are evaluated on the basis of the visual perception of the DHM and its visibility catchment area (VCA). The DHM walking trajectory is dynamically generated depending on the perceived sign. When a disorientation place is detected where the DHM cannot find any sign indicating its destination, plans for rearranging the signs are proposed by the simulation user and then examined using a developed virtual eyesight simulator (VES). The VES enables the user to check the DHM eyesight virtually during the wayfinding simulation through a head mounted display. To mimic visual impairments, visual impairment filters are introduced into the VES. In this paper, we demonstrate the process of detecting the disorientation place, and planning and evaluating the rearranged signage.
• Surface extraction based on roughness for rapid reverse engineering of castings

  Akihisa Urata, Hiroaki Date, Satoshi Kanai, Takayuki Gotoh, Seiki Yasuda

  Asian Conference on Design and Digital Engineering 2015 (ACDDE 2015) CD-ROM 2015/11 [Refereed][Not invited]
   

  非接触式三次元形状測定器を用いた鋳造品の迅速なリバースエンジニアリング（RE）を目的とし，計測三角形メッシュデータからの鋳肌面と機械加工面の分離する手法を提案し，面粗さ値に基づいて機械加工平面と円筒面の抽出，および鋳肌面上に存在するが機械加工面として誤検出されないように改良した面粗さ推定法と領域形状の評価による手法を提案している．
• IMPROVEMENT OF 3D MONTE CARLO LOCALIZATION USING A DEPTH CAMERA and TERRESTRIAL LASER SCANNER

  Satoshi Kanai, R. Hatakeyama, H. Date

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 (4) 61 - 66 1682-1750 2015/05/11 [Refereed][Not invited]
   

  Effective and accurate localization method in three-dimensional indoor environments is a key requirement for indoor navigation and lifelong robotic assistance. So far, Monte Carlo Localization (MCL) has given one of the promising solutions for the indoor localization methods. Previous work of MCL has been mostly limited to 2D motion estimation in a planar map, and a few 3D MCL approaches have been recently proposed. However, their localization accuracy and efficiency still remain at an unsatisfactory level (a few hundreds millimetre error at up to a few FPS) or is not fully verified with the precise ground truth. Therefore, the purpose of this study is to improve an accuracy and efficiency of 6DOF motion estimation in 3D MCL for indoor localization. Firstly, a terrestrial laser scanner is used for creating a precise 3D mesh model as an environment map, and a professional-level depth camera is installed as an outer sensor. GPU scene simulation is also introduced to upgrade the speed of prediction phase in MCL. Moreover, for further improvement, GPGPU programming is implemented to realize further speed up of the likelihood estimation phase, and anisotropic particle propagation is introduced into MCL based on the observations from an inertia sensor. Improvements in the localization accuracy and efficiency are verified by the comparison with a previous MCL method. As a result, it was confirmed that GPGPU-based algorithm was effective in increasing the computational efficiency to 10-50 FPS when the number of particles remain below a few hundreds. On the other hand, inertia sensor-based algorithm reduced the localization error to a median of 47mm even with less number of particles. The results showed that our proposed 3D MCL method outperforms the previous one in accuracy and efficiency.
• IMPROVEMENT OF 3D MONTE CARLO LOCALIZATION USING A DEPTH CAMERA AND TERRESTRIAL LASER SCANNER

  S. Kanai, R. Hatakeyama, H. Date

  Indoor-Outdoor Seamless Modelling, Mapping and Navigation 44 (W5) 61 - 66 2194-9034 2015 [Refereed][Not invited]
   

  Effective and accurate localization method in three-dimensional indoor environments is a key requirement for indoor navigation and lifelong robotic assistance. So far, Monte Carlo Localization (MCL) has given one of the promising solutions for the indoor localization methods. Previous work of MCL has been mostly limited to 2D motion estimation in a planar map, and a few 3D MCL approaches have been recently proposed. However, their localization accuracy and efficiency still remain at an unsatisfactory level (a few hundreds millimetre error at up to a few FPS) or is not fully verified with the precise ground truth. Therefore, the purpose of this study is to improve an accuracy and efficiency of 6DOF motion estimation in 3D MCL for indoor localization. Firstly, a terrestrial laser scanner is used for creating a precise 3D mesh model as an environment map, and a professional-level depth camera is installed as an outer sensor. GPU scene simulation is also introduced to upgrade the speed of prediction phase in MCL. Moreover, for further improvement, GPGPU programming is implemented to realize further speed up of the likelihood estimation phase, and anisotropic particle propagation is introduced into MCL based on the observations from an inertia sensor. Improvements in the localization accuracy and efficiency are verified by the comparison with a previous MCL method. As a result, it was confirmed that GPGPU-based algorithm was effective in increasing the computational efficiency to 10-50 FPS when the number of particles remain below a few hundreds. On the other hand, inertia sensor-based algorithm reduced the localization error to a median of 47mm even with less number of particles. The results showed that our proposed 3D MCL method outperforms the previous one in accuracy and efficiency.
• MoCap-Based adaptive human-like walking simulation in laser-scanned large-scale as-built environments

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 9185 193 - 204 1611-3349 2015 [Refereed][Not invited]
   

  Accessibility evaluation to enhance accessibility and safety for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Human behavior simulation has been progressing in crowd behavior analysis and emergency evacuation planning. This research aims to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with as-built environmental models. To achieve this goal, we developed a new algorithm for generating human-like DHM walking motions, adapting its strides and turning angles to laser-scanned as-built environments using motion-capture (MoCap) data of flat walking. Our implementation quickly constructed as-built three-dimensional environmental models and produced a walking simulation speed sufficient for real-time applications. The difference in joint angles between the DHM and MoCap data was sufficiently small. Demonstrations of our environmental modeling and walking simulation in an indoor environment are illustrated.
• Quality Improvement of Deformed Mesh Models for FEA by Density and Geometry-recovering Phased ODT Smoothing

  Hiroki Maehama, Hiroaki Date, Satoshi Kanai

  Computer-Aided Design and Applications 11 (6) 622 - 631 1686-4360 2014/01/01 [Refereed][Not invited]
   

  ABSTRACT: For realizing efficient product shape design, many dimension-driven mesh deformation methods have been proposed. However, the deformed mesh models often include many distorted elements, and lose the original mesh properties (mesh density and shape approximation accuracy). To solve these problems, we propose a quality improvement method for the deformed tetrahedral mesh models. Our method is based on Optimal Delaunay Triangulation (ODT) smoothing with edge split and edge collapse. In our method, element shape qualities are improved from the boundary to the inside of the mesh model, and original mesh properties are recovered in the deformed mesh models by an additional step in the ODT smoothing. In addition, degenerated and inverted elements are removed by local topological operations. The effectiveness of our method is demonstrated by applications to some simple mesh models.
• A Rendering Method of Laser Scanned Point Clouds of Large Scale Environments by Adaptive Graphic Primitive Selection

  Hiroaki Date, Takashi Maeno, Satoshi Kanai

  Computer-Aided Design and Applications 11 (6) 685 - 693 1686-4360 2014/01/01 [Refereed][Not invited]
   

  In this paper, a rendering method of the laser scanned point clouds of large scale environments is proposed for supporting an easy and intuitive understanding of the scanned environments. In this method, an adaptive primitives selection model and hierarchical point representation are used in the rendering of the scanned environment. Local geometry of the objects are estimated by principal component analysis, and the graphic primitives for points are adaptively created for effective rendering. View-dependent LOD using point hierarchy and an adaptive primitives selection model are also achieved for efficient rendering. Some rendering results for point clouds acquired from different scanning systems are shown and compared with other methods.
• As-built modeling of piping system from terrestrial laser-scanned point clouds using normal-based region growing

  Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date

  Journal of Computational Design and Engineering 1 (1) 13 - 26 2288-5048 2014/01/01 [Refereed][Invited]
   

  Recently, renovations of plant equipment have been more frequent because of the shortened lifespans of the products, and as-built models from large-scale laser-scamied data is expected to streamline rebuilding processes. However, the laser-scanned data of an existing plant has an enormous amount ofpoints, captures inmcate objects, and includes a high noise level, so the manual reconstmction of a 3D model is very time-consuming and costly. Among plant equipment, piping systems account for the greatest proportion. Therefore, the purpose of this research was to propose an algorithm which could automatically recognize a piping system from the terrestrial laser- scanned data plant equipment. The straight pomon pipes, connecting parts, and connection relationship ofthe piping system can be recognized in this algorithm. Normal-based region growing and cylinder surface fitting can extract all possible locations ofpipes, including straight pipes, elbows, and junctions. Tracing the axes of a piping system enables the recognition of the positions of these elements and their connection relationship. Using only point clouds, the recognition algorithm can be performed in a fUlly automatic way. The algorithm was applied to large-scale scamied data of an oil rig and a chemical plant. Recognition rates of about 86%, 88%, and 71% were achieved straight pipes, elbows, andjunctions, respectively.
• 大規模3次元レーザ計測とデジタルヒューマンモデルを活用したas-built環境内の基本歩行シミュレーション技術の開発

  丸山翼, 金井理, 伊達宏昭

  精密工学会誌 80 (8) 755 - 762 2014 [Refereed][Not invited]
  
• Finding the next-best scanner position for as-built modeling of piping systems

  K. Kawashima, S. Yamanishi, S. Kanai, H. Date

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 (5) 313 - 320 1682-1750 2014 [Refereed][Not invited]
   

  Renovation of plant equipment of petroleum refineries or chemical factories have recently been frequent, and the demand for 3D as-built modelling of piping systems is increasing rapidly. Terrestrial laser scanners are used very often in the measurement for as-built modelling. However, the tangled structures of the piping systems results in complex occluded areas, and these areas must be captured from different scanner positions. For efficient and exhaustive measurement of the piping system, the scanner should be placed at optimum positions where the occluded parts of the piping system are captured as much as possible in less scans. However, this "next-best" scanner positions are usually determined by experienced operators, and there is no guarantee that these positions fulfil the optimum condition. Therefore, this paper proposes a computer-aided method of the optimal sequential view planning for object recognition in plant piping systems using a terrestrial laser scanner. In the method, a sequence of next-best positions of a terrestrial laser scanner specialized for as-built modelling of piping systems can be found without any a priori information of piping objects. Different from the conventional approaches for the next-best-view (NBV) problem, in the proposed method, piping objects in the measured point clouds are recognized right after an every scan, local occluded spaces occupied by the unseen piping systems are then estimated, and the best scanner position can be found so as to minimize these local occluded spaces. The simulation results show that our proposed method outperforms a conventional approach in recognition accuracy, efficiency and computational time.
• HOMOGRAPHY-BASED LOW-COST GAZE ESTIMATION AND ITS APPLICATION TO THE USABILITY ASSESSMENT OF DIGITAL PROTOTYPES OF INFORMATION APPLIANCES

  Satoshi Kanai, Hiroaki Date

  PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2013, VOL 2B 2014 [Refereed][Not invited]
   

  Recently 3D digital prototypes of information appliances have been proposed for efficient user acceptance tests of user-interface (UI) usability. The purpose of this research is to develop a gaze estimation system based on Homography and to fully integrate it with a 3D digital prototype of the information appliances in order to obtain information more useful for usability assessment. The estimation system consists only of four infrared LEDs and a USB camera and is low-cost. The gaze estimation enables the system not only to record a gaze point on the prototype but to identify the UI objects which the user is looking for in real time during the test session. A gaze-based index was newly introduced to identify the misleading UI objects and to quantify the irrelevance of the UI design. A case study suggested that the integration of the gaze estimation with the 3D digital prototype and the proposed index were useful for automatically identifying which irrelevant UI objects misled the users' operations which could not yet be captured in previous simple event logging of the user inputs.
• As-built modeling of piping system from terrestrial laser-scanned point clouds using normal-based region growing

  Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date

  Journal of Computational Design and Engineering 1 (1) 13 - 26 2288-5048 2014/01/01 [Refereed][Not invited]
   

  Recently, renovations of plant equipment have been more frequent because of the shortened lifespans of the products, and as-built models from large-scale laser-scamied data is expected to streamline rebuilding processes. However, the laser-scanned data of an existing plant has an enormous amount ofpoints, captures inmcate objects, and includes a high noise level, so the manual reconstmction of a 3D model is very time-consuming and costly. Among plant equipment, piping systems account for the greatest proportion. Therefore, the purpose of this research was to propose an algorithm which could automatically recognize a piping system from the terrestrial laser- scanned data plant equipment. The straight pomon pipes, connecting parts, and connection relationship ofthe piping system can be recognized in this algorithm. Normal-based region growing and cylinder surface fitting can extract all possible locations ofpipes, including straight pipes, elbows, and junctions. Tracing the axes of a piping system enables the recognition of the positions of these elements and their connection relationship. Using only point clouds, the recognition algorithm can be performed in a fUlly automatic way. The algorithm was applied to large-scale scamied data of an oil rig and a chemical plant. Recognition rates of about 86%, 88%, and 71% were achieved straight pipes, elbows, andjunctions, respectively.
• Feature-Based 3D Process Planning for MEMS Fabrication.

  Satoshi Kanai, Takayuki Shibata, Takahiro Kawashima

  IJAT Fuji Technology Press 8 (3) 406 - 419 1881-7629 2014 [Refereed][Not invited]
  
• Editorial: CAD, CAM, and Digital Engineering.

  Satoshi Kanai, Keiichi Shirase

  IJAT 8 (3) 303  2014 [Refereed][Not invited]
  
• Accurate registration of MMS point clouds of urban areas using trajectory

  TAKAI Shyungo, DATE Hiroaki, KANAI Satoshi, NIINA Y, ODA K, IKEDA T

  ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci. II-5/W2 277 - 282 2013/11 [Refereed][Not invited]
  
• Automatic recognition of piping system from laser scanned point clouds using normal-based region growing

  KAWASHIMA Kazuaki, KANAI Satoshi, DATE Hiroaki

  ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci. II-5/W2 121 - 126 2013/11 [Refereed][Not invited]
  
• Data Modeling and Geometry Registration for the Integrated Management of the BIM and Laser-scanned Point Clouds

  YAMAOKA Shinya, KANAI Satoshi, DATE Hiroaki

  Proc. International Conference on Civil and Building Engineering Informatics 55 - 63 2013/11 [Refereed][Not invited]
  
• Making a Digital Human Walk Directly in the 3D Laser-scanned Point Clouds of Indoor Environments

  MARUYAMA Tsubasa, KANAI Satoshi, DATE Hiroaki

  Proc. International Conference on Civil and Building Engineering Informatics 69 - 76 2013/11 [Refereed][Not invited]
  
• As-built modeling of piping system from terrestrial laser scanned point clouds using normal-based region-growing

  KAWASHIMA Kazuaki, KANAI Satoshi, DATE Hiroaki

  Proc. 2013 Asian Conference on Design and Digital Engineering 552 - 562 2013/08 [Refereed][Not invited]
  
• Variational hand modeling based on image-based 3D model reconstruction

  XIE Yulai, KANAI Satoshi, DATE Hiroaki

  Proc. 2013 Asian Conference on Design and Digital Engineering 542 - 551 2013/08 [Refereed][Not invited]
  
• Detection and Classification of Pole-like Objects from Mobile Laser Scanning Data of Urban Environments

  YOKOYAMA Hiroki, KANAI Satoshi, DATE Hiroaki, TAKEDA Hiroshi

  International Journal of CAD/CAM 13 (2) 31 - 40 2013/08 [Refereed][Invited]
  
• An Efficient Simulation of Skin Contact Deformation for Virtual Ergonomic Assessments of Handheld Products

  XIE Yulai, KANAI Satoshi, DATE Hiroaki

  International Journal of CAD/CAM 13 (1) 81 - 95 2013/08 [Refereed][Not invited]
  
• Segmentation of MMS Point Clouds of Urban Area Based on Principal Component Analysis

  DATE Hiroaki, MORI Teppei, YOKOYAMA Hiroki, KANAI Satoshi, TAKEDA Hiroshi

  Proc. 2013 The International Symposium on Mobile Mapping Technology Paper No.111  2013/04 [Refereed][Not invited]
  
• Decomposing scanned assembly meshes based on periodicity recognition and its application to kinematic simulation modeling

  Tomohiro Mizoguchi, Satoshi Kanai

  COMPUTER-AIDED DESIGN 45 (4) 829 - 842 0010-4485 2013/04 [Refereed][Invited]
   

  Along with the recent growth of industrial X-ray computerized tomography (CT) scanning systems, it is now possible to non-destructively acquire the entire meshes of assemblies. This technology has the potential to realize an advanced inspection process of an assembly, such as estimation of their assembly errors or examinations of their dynamic behaviors in motion using a model reflecting real assembled situations. However, to realize the process, it is necessary to accurately decompose the mesh and to extract a set of partial meshes, each of which corresponds to a single part, from the entire meshes of assemblies measured from the CT scans. Moreover, it is required to create models that are ready for dynamic behavior simulations. In this paper, we focus on CT scanned meshes of gear assemblies as examples, and propose beneficial methods for establishing such advanced inspections. We first propose a method that accurately decomposes the mesh into partial meshes, each of which corresponds to a single gear, using periodicity recognitions. The key idea is first to accurately recognize the periodicity of each gear, then to extract sets of topologically connected mesh elements where periodicities are valid, and finally to interpolate points in plausible ways from an engineering viewpoint to the area where surface meshes are not generated, especially the contact area between parts in the CT scanning process. We also propose a method for creating kinematic simulation models which can be used for a gear teeth contact evaluation using extracted partial meshes and their periodicities. Such an evaluation of teeth contacts is one of the most important functions in kinematic simulations of gear assemblies for predicting the power transmission efficiency, noise and vibration. The characteristics of the proposed method is that (1) it can robustly and accurately recognize periodicities from noisy scanned meshes, (2) it can estimate the plausible boundaries of neighboring parts without any previous knowledge from single-material CT scanned meshes, and (3) it can efficiently extract partial meshes from large scanned meshes containing millions of triangles in a few minutes. We demonstrate the effectiveness of our method on a variety of artificial and real CT scanned meshes. (C) 2011 Elsevier Ltd. All rights reserved.
• Homography-based low-cost gaze estimation and its application to the usability assessment of digital prototypes of information appliances

  Satoshi Kanai, Hiroaki Date

  Proceedings of the ASME Design Engineering Technical Conference 2 DETC2013-12931  2013 [Refereed][Not invited]
   

  Recently 3D digital prototypes of information appliances have been proposed for efficient user acceptance tests of user interface (UI) usability. The purpose of this research is to develop a gaze estimation system based on Homography and to fully integrate it with a 3D digital prototype of the information appliances in order to obtain information more useful for usability assessment. The estimation system consists only of four infrared LEDs and a USB camera and is low-cost. The gaze estimation enables the system not only to record a gaze point on the prototype but to identify the UI objects which the user is looking for in real time during the test session. A gazebased index was newly introduced to identify the misleading UI objects and to quantify the irrelevance of the UI design. A case study suggested that the integration of the gaze estimation with the 3D digital prototype and the proposed index were useful for automatically identifying which irrelevant UI objects misled the users' operations which could not yet be captured in previous simple event logging of the user inputs. Copyright © 2013 by ASME.
• Simulating a walk of digital human model directly in massive 3D laser-scanned point cloud of indoor environments

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8026 (2) 366 - 375 0302-9743 2013 [Refereed][Not invited]
   

  Recently, human behavior simulations in 3-dimensional environment models have been enabled by the advance in computer performances. However, manually building the 3D models for the simulations are still costly and time-consuming, and the resultant models are sometimes inaccurate and do not necessarily reflect as-built environments. The final goal of our research is to realize the accessibility evaluation of "as-built" environments based on the human behavior simulation. To achieve the goal, in this study, we developed a technology where as-built 3D environment models could be constructed in a fully automatic way from laser-scanned 3D point clouds measured from as-built indoor environments. Additionally, we realized a basic walking simulation function in the as-built environment model represented by the point clouds. The modeling and simulation efficiency and accuracy were evaluated. © 2013 Springer-Verlag.
• Anatomy-based variational modeling of digital hand and its verification

  Yulai Xie, Satoshi Kanai, Hiroaki Date

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8026 (2) 384 - 392 0302-9743 2013 [Refereed][Not invited]
   

  This study proposed a method to construct an anatomy-based variational modeling of a Digital Hand model, which can be used to efficiently generate various individual hand models with different dimensions for virtual ergonomic assessments. The skin surface of a generic hand model was hierarchically partitioned into 15 segments according to the hand surface anatomy. Then it was deformed by scaling and aligning the segments so that it satisfied individual hand dimensions. Moreover, the hand models of different hand postures with markers were reconstructed using a multi-view 3D model reconstruction technique. The extracted positions of markers were used to estimate the individual bone-link structure. The proposed method was validated through comparing the generated hand skin model which fitted the hand dimensions of a subject with his MRI-measured hand surface, and comparing the generated bone-link structure, which fitted joint motion of the subject, with the reconstructed hand models based on a multi-view 3D reconstruction technique. © 2013 Springer-Verlag.
• Robust and exhaustive method for symmetry detection from scanned meshes

  Tomohiro Mizoguchi, Satoshi Kanai, Hiroaki Date, Hiroyuki Tanaka

  Journal of Advanced Mechanical Design, Systems and Manufacturing 7 (5) 862 - 875 1881-3054 2013 [Refereed][Invited]
   

  Engineering objects often exhibit symmetries on their surfaces for functionality or aesthetics. Detecting such symmetries from their scanned meshes enables advanced applications, such as feature-based CAD model reconstruction or mesh size reduction for efficient CAE. In this paper, we propose a new method for detecting a common class of symmetries in engineering, such as translation, rotation and reflection, from scanned meshes of a variety of objects ranging from mechanical parts to aesthetic products. Major advantages of our proposed method over conventional ones are considerable robustness for scanner noise and exhaustive detection of multiple symmetries from a mesh. We demonstrate its effectiveness from various experiments on scanned meshes acquired by laser or CT scanners. We also show that surface distortions or deformations on the object surfaces can be evaluated using symmetries quantitatively. © 2013 by JSME.
• 段階的ODTスムージングを用いた寸法駆動変形四面体メッシュの品質改善:解析用メッシュのセグメンテーションと任意曲面のメッシュ品質改善

  前濱 宏樹, 伊達 宏昭, 金井 理

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2013 845 - 846 2013 

  本研究では，CAEによるパラメータサーベイ効率化を目的とした，段階的ODTスムージングに基づく寸法駆動変形四面体メッシュの品質改善手法を提案してきた．本報では，円錐面や球面，トーラス面等のより多くの種類の曲面のメッシュ品質改善を目的として，法線テンソルに基づく初期表面領域抽出と領域間の幾何学的特性を用いた解析メッシュセグメンテーション手法と，局所パラメータ化による任意曲面のメッシュ品質改善手法を提案する．
• 情報機器プロトタイピングためのRP造形モデルを用いた３次元トラッキング(第2報):爪先色変化検出による入力イベントの認識

  関 佳斌, 金井 理, 伊達 宏昭

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2013 837 - 838 2013 

  ハンドヘルド情報機器のユーザビリティ評価ができるVirtual prototypeの開発を行うため,小型photo-detectorを用いた爪先色変化による入力イベントの認識機能を開発した．製品上のタッチパネルに対するタップやドラッグ操作をRP造型モデル上で認識するため，本研究では，指先接触時に爪先の色変化をphoto-detectorで検出する．さらに，detector裏面のLED光を二次元画像トラッキングすることにより，指先位置の検出を試みた．
• Variational digital hand modeling using image-based 3D model reconstruction

  Xie Yulai, Kanai Satoshi, Date Hiroaki

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2013 827 - 828 2013 

  A method for variational modeling of individual hands from a template hand model is described. The marked individual hand is reconstructed based on image-based multi-view 3D model reconstruction technique. According to hand joint anatomical knowledge, a single axis rotation assumption is proposed for estimating the joint axes and joint centers by the positions of dot markers at the backside of the hand skin in different hand postures. On the other hand, the skin surface of the template hand model is hierarchically partitioned into segments according to the hand surface anatomy by main creases on palmar side. The segments of the template hand model are scaled according to the feature dimensions of the reconstructed individual hand model. Finally, the template hand model scaled in segment-wise way is registered to the reconstructed hand model by a rough alignment process where the gravity center of the point sets on the creases of both models are matched and a fine alignment process where the segments of both models are matched based on ICP algorithm. Compared with previous works, the method is more subject-friendly, inexpensive, and efficient.
• RANSACによる屋内環境レーザ計測点群のBIM構成要素への効率的なマッチングと差分点抽出

  山岡 晋也, 金井 理, 伊達 宏昭

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2013 641 - 642 2013 

  本研究では, 急速に普及しているBIMの継続的更新を実現させるため, 建物内をレーザ計測した点群データを用いて変更情報を抽出し, BIMに反映させることを目的とする. 本報では, 変更情報の抽出を可能とするため, RANSACにより計測点群をBIMの構成要素へ自動的に, かつ高速にレジストレーションし, 対応付ける手法を開発した. さらに, BIMへ関連付けられない点を差分点として抽出する手法を提案する.
• 大規模環境レーザ計測点群からの配管系統の自動認識(第5報):法線ベクトルに基づくRegion-growingによる認識の高精度化

  川島 千明, 金井 理, 伊達 宏昭

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2013 637 - 638 2013 

  本研究では，生産設備やプラント施設のレーザ計測点群中から，配管系統を自動的に認識抽出することを目的とする．本報では，法線に基づくregion-growingを用いて配管系統に含まれる直進パイプの認識を行った後，認識された直進パイプの軸線と付近の計測点群を用いて接続要素の認識を行うことで各要素の認識率の高精度化を図った．
• レーザスキャン環境モデル内でのデプスカメラによるモンテカルロ自己位置推定

  畠山 龍, 金井 理, 伊達 宏昭

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2013 633 - 634 2013 

  近年，BIMの普及や地上設置型の3Dレーザースキャナの進歩から屋内環境の3次元モデルの利用が容易になってきている．将来的には人の屋内ナビゲーションサービスへの利用などが考えられるが，それには3次元の自己位置推定が必要不可欠である．そこで本研究では3Dレーザースキャナにより得られた詳細な3次元モデルを環境情報として利用し，近年注目されている距離センサであるデプスカメラを用いて3次元の自己位置推定を行い，その精度検証を行った．
• 実環境のレーザ計測点群内における人間行動シミュレーションとそのアクセシビリティ評価への応用（第4報）:らせん階段と坂道を含む屋内・屋外環境上での歩行シミュレーション機能の開発

  丸山 翼, 金井 理, 伊達 宏昭

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2013 645 - 646 2013 

  人間行動シミュレーションのための大規模環境モデルの構築は現在人手で行われており，そのコスト，品質，正確さに問題がある．本研究では，実環境の3次元レーザ計測点群を用いて，人間行動シミュレーションに基づく環境のアクセシビリティ評価のための，現状を正確に反映した大規模環境モデルを，低コストに自動構築する技術の開発を目的とする．本報では，前報で開発した歩行シミュレーション機能を，らせん階段を含む2階建ての屋内環境，および凹凸のある坂道を含む，約2億点からなる屋外環境の大規模計測点群上においても人間のモデルが自律的に歩行可能な機能へと拡張したので報告する．
• Anatomy-based variational modeling of digital hand and its verification

  Yulai Xie, Satoshi Kanai, Hiroaki Date

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8026 (2) 384 - 392 0302-9743 2013 [Refereed][Not invited]
   

  This study proposed a method to construct an anatomy-based variational modeling of a Digital Hand model, which can be used to efficiently generate various individual hand models with different dimensions for virtual ergonomic assessments. The skin surface of a generic hand model was hierarchically partitioned into 15 segments according to the hand surface anatomy. Then it was deformed by scaling and aligning the segments so that it satisfied individual hand dimensions. Moreover, the hand models of different hand postures with markers were reconstructed using a multi-view 3D model reconstruction technique. The extracted positions of markers were used to estimate the individual bone-link structure. The proposed method was validated through comparing the generated hand skin model which fitted the hand dimensions of a subject with his MRI-measured hand surface, and comparing the generated bone-link structure, which fitted joint motion of the subject, with the reconstructed hand models based on a multi-view 3D reconstruction technique. © 2013 Springer-Verlag.
• Simulating a walk of digital human model directly in massive 3D laser-scanned point cloud of indoor environments

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8026 (2) 366 - 375 0302-9743 2013 [Refereed][Not invited]
   

  Recently, human behavior simulations in 3-dimensional environment models have been enabled by the advance in computer performances. However, manually building the 3D models for the simulations are still costly and time-consuming, and the resultant models are sometimes inaccurate and do not necessarily reflect as-built environments. The final goal of our research is to realize the accessibility evaluation of "as-built" environments based on the human behavior simulation. To achieve the goal, in this study, we developed a technology where as-built 3D environment models could be constructed in a fully automatic way from laser-scanned 3D point clouds measured from as-built indoor environments. Additionally, we realized a basic walking simulation function in the as-built environment model represented by the point clouds. The modeling and simulation efficiency and accuracy were evaluated. © 2013 Springer-Verlag.
• Adaptive Selection of Rendering Primitives for Point Clouds of Large Scale Environments

  MAENO Takashi, DATE Hiroaki, KANAI Satoshi

  Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100078  2012/12 [Refereed][Not invited]
  
• Automatic Recognition and Modeling of Piping System from Large-scale Terrestrial Laser Scanned Point Cloud

  KAWASHIMA Kazuaki, KANAI Satoshi, DATE Hiroaki, KIM Tae-wan

  Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100022  2012/12 [Refereed][Not invited]
  
• Feature-based 3D Process Planning for MEMS Fabrication

  KANAI Satoshi, SHIBATA Takayuki, KAWASHIMA Takahiro

  Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100093  2012/12 [Refereed][Not invited]
  
• Constructing a deformable human hand model in contact for virtual ergonomic assessment

  XIE Yulai, KANAI Satoshi, DATE Hiroaki

  Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100047  2012/12 [Refereed][Not invited]
  
• Quality Improvement of Finite Element Mesh Models Modified by Mesh Deformation

  MAEHAMA Hiroki, DATE Hiroaki, KANAI Satoshi

  Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100064  2012/12 [Refereed][Not invited]
  
• Automatic Recognition of Piping System from Large-scale Terrestrial Laser Scanned Point Cloud

  KAWASHIMA Kazuaki, KANAI Satoshi, DATE Hiroaki

  Journal of the Japan Society for Precision Engineering 公益社団法人 精密工学会 78 (8) 722 - 729 0912-0289 2012/08 [Refereed][Not invited]
   

  Recently, changes of plant equipments become more frequent, and the construction of as-built models of the existing plant from laser scan data is expected to make the reconstruction processes more efficient. The purpose of this research is to propose an algorithm which can recognize a piping system from terrestrial laser scan data of plant equipments. The straight portion of pipes, connecting relationship of the piping system can be recognized in this algorithm. Eigenvalue analyses of the point clouds and of the normal vectors enable the recognition. Using only point clouds, the recognition algorithm can be applied to registered point clouds and can be performed in a fully automatic way. The recognition results of real plants have shown the effectiveness of the algorithm.
• Automatic recognition of a piping system from laser scanned points by eigenvalue analysis

  Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date

  EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV 523-524 932 - 938 1013-9826 2012 [Refereed][Not invited]
   

  In recent years, changes in plant equipment have been becoming more frequent, and as-built modeling of plants from large-scale laser scanned data is expected to make their rebuilding processes more efficient. The purpose of our research was to propose an algorithm which can automatically recognize piping systems from massive terrestrial laser scanned point clouds of plants. Point clouds of a piping system can be extracted based on eigenvalue analysis and using region-growing from the laser scanned points. Eigenvalue analysis of the point clouds and point normals then allows for the recognition of straight portions of pipes. Connecting parts can also be recognized from the connection relationship between pipe axes and their neighboring scanned point distributions.
• Simulation of contact deformation property of Digital Hand skin and its experimental verifications

  Yulai Xie, Satoshi Kanai, Hiroaki Date

  EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV 523-524 339 - 344 1013-9826 2012 [Refereed][Not invited]
   

  The contact deformation of human skin is a significant factor in the virtual ergonomic assessment of handheld products, but previous works have neglected it or dealt with it in a simple way. In this paper, we propose a physical model of the contact deformation of human skin and, based on this model, present an efficient contact solving method to simulate the physical contact of the Digital Hand with product surfaces. The realistic contact deformation effect was realized, and we experimentally verified the estimated contact area, contact force and pressure distribution, and found the estimation results by the proposed model and the contact solving method well fit with the experimental data and the past data from the literature.
• Object recognition in terrestrial laser scan data using spin images

  Hiroaki Date, Yusuke Kaneta, Akihiro Hatsukaiwa, Masahiko Onosato, Satoshi Kanai

  Computer-Aided Design and Applications 9 (2) 187 - 197 1686-4360 2012 [Refereed][Not invited]
   

  This paper describes a method of object recognition in terrestrial laser scan data of complex scenes. By local 3D shape matching between the CAD model mesh of the object and the laser scan data of the scene, the existence of the object is recognized and its location and orientation in the scene are extracted. Spin-images are used for shape matching. In this paper, some techniques for applying spin-image matching to the terrestrial laser scan data are proposed. They include robustness improvements for the scan noise and the differences in vertex densities by normal averaging and uniform point sampling, and efficient calculation by using multi-resolution images and geometric point filtering. © 2012 CAD Solutions, LLC.
• Appearance preserving simplification of 3D CAD model with large-scale assembly structures

  Satoshi Kanai, Daisuke Iyoda, Yui Endo, Hideki Sakamoto, Naoki Kanatani

  International Journal on Interactive Design and Manufacturing 6 (3) 139 - 154 1955-2513 2012 [Refereed][Invited]
   

  Currently commercial 3D CAD systems which had only been used in upper stage of design scenes become widely used in lower stages such as rough sales purposes, model exporting to external users or e-commerce on Web. Usually, in the design stage, solid models even of very fine parts or full-detailed shapes have been built in the CAD systems, and the assembly models tend to have a huge number of parts and very complex inner structures. Moreover, for achieving the light-weight and strengthened parts, the inner structures of the housing such as ribs or bosses have had very complex geometries. However, when they are used for browsing, styling review and sales purposes, there is hardly the occasion where is full-detailed assembly models are required, and the primary purpose of the systems is often to fast render external shapes rather than to render detailed inner structures. Appearance preserving simplification of large scale assembly model available to the commercial 3D CAD systems is strongly needed for these purposes. Therefore, this paper proposes several appearance preserving simplification methods of 3D CAD model with large-scale assembly structures. Three simplification methods are proposed in the paper (1) only by removing invisible parts from the assembly, (2) by removing both invisible form features from the part surface and invisible parts themselves from the assembly, and (3) by removing both form features and parts which are invisible even when position and orientation of movable parts change in the assembly. Our methods are based on an algorithm which can directly detect invisible parts or features by pre-rendering the models from multiple view directions and reading the rendered results from the frame buffer. Our algorithm can be carried out regardless of CAD systems. Thanks to using the current GPU, invisible parts or features detection is robust and fast in the algorithm. If needed, geometric dependency among the features in the assembly can be kept even in the simplification. The performances of these simplification methods in model size reduction and the processing time are examined. © 2012 Springer-Verlag.
• Efficient simulation of human hand skin deformation based on a nonlinear elasticity model for virtual ergonomic assessment

  Xie Yulai, Kanai Satoshi, Date Hiroaki

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2012 271 - 272 2012 

  Hand skin deformation is a significant role in the virtual ergonomic assessment of handheld products. In this paper, a nonlinear elasticity model is used to simulate the skin contact deformation, and quasi volume preserving property of skin is considered for more realistic simulation. An efficient contact solving method is developed for simulating the physical contact with product surfaces. The hand surface skin is partitioned anatomically into different regions for being able to specify different physical properties in them and for efficient simulation for the ergonomic assessment of grasp ability. The realistic contact deformation effect was efficiently realized, and was experimentally verified. The verification results show that the proposed skin deformable model is effective, in the acceptable range for virtual ergonomic assessment.
• 大規模環境レーザ計測点群の効果的表示のための適応的描画プリミティブ選択

  前野 峻, 伊達 宏昭, 金井 理

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2012 301 - 302 2012 

  大規模環境レーザ計測点群の表示は，計測環境の直感的な理解や概観を得るために必要である．しかし，視点が点群に近づいた際，点のみによる表示では面的な情報がないため，計測環境の目視による理解が困難となる．本研究では大規模環境レーザ計測点群の目視による理解を容易にするために，視点からの距離や点分布状況に応じて描画プリミティブ（点，線分，スプラット，メッシュ）を適応的に選択した点群表示手法について述べる．
• 実環境のレーザ計測点群内における人間行動シミュレーションとそのアクセシビリティ評価への応用（第1報）:計測点群内における基本歩行シミュレーション機能の開発

  丸山 翼, 金井 理, 伊達 宏昭

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2012 303 - 304 2012 

  近年，大規模環境内における人間行動シミュレーションに関する研究が活発に行われている．しかし，これらのシミュレーション環境の構築は人手で行われており，そのコスト，品質，正確さに問題がある．そこで本研究では，実環境の3次元レーザ計測点群を用いた，現状を正確に反映した低コストな人間行動シミュレーションの実現を目的とする．本報では，屋内環境の計測点群内における人間の歩行シミュレーションについて報告する．
• 市街地レーザ計測点群からの柱状物体認識と分類:コンテクスト特徴を用いた分類精度改善

  横山 博貴, 伊達 宏昭, 金井 理, 武田 浩志

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2012 281 - 282 2012 

  本研究では，設備管理の対象として需要が高い電柱や街灯，標識などの柱状物体を，市街地レーザ計測点群から自動的に認識・分類することを目的としている．これまで柱状物体の認識手法，ならびに電柱，街灯，標識への分類手法を提案してきた．本報では，柱状物体のパーツ構造などの形状特徴，ならびに他の柱状物体との相対的な位置関係から求まるコンテクスト特徴に基づいて，柱状物体の分類精度を改善するアルゴリズムを提案する．
• 段階的ODTスムージングを用いた寸法駆動変形メッシュの品質改善

  前濱 宏樹, 伊達 宏昭, 金井 理

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2012 259 - 260 2012 

  CAEプロセスの効率化を目的とした四面体メッシュの寸法駆動変形手法が提案されている．しかし，変形後の四面体メッシュは要素形状品質が低下し，変形前のメッシュ密度や形状近似精度も失われてしまう．本報ではメッシュ密度や近似精度を考慮した頂点の追加・削除とスムージング手法をシャープエッジから形状表面，形状内部へ段階的に適用することによる，変形後の四面体メッシュの品質改善手法を提案する．
• 大規模環境レーザ計測点群からの配管系統の自動認識（第3報）:パイプ及び接続要素の定義パラメータ抽出

  川島 千明, 金井 理, 伊達 宏昭, 金 泰完

  精密工学会学術講演会講演論文集 公益社団法人 精密工学会 2012 279 - 280 2012 

  本研究では，生産設備やプラント施設のレーザ計測点群中から，配管系統を自動的に認識抽出することを目的とする．本報では，グリッド化を用いた前報のアルゴリズムの高速化に加えて，配管系統の軸上の点列への曲線フィッティングによる接続関係の認識と，認識結果に基づくパイプ直進部とエルボ・連結部の3Dモデリングに必要となる定義パラメータ抽出を行ったので報告する．
• Special Issue on Asian Conference on Design and Digital Engineering 2011 Preface

  Hiromasa Suzuki, Hiroshi Katoh, Hideki Aoyama, Satoshi Kanai, Tetsuro Ogi, Takashi Kanai

  JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING 6 (3) 323 - 323 1881-3054 2012 [Refereed][Not invited]
  
• ESTIMATING EASE OF SINGLE-FINGERED OPERATIONS OF HAND-HELD APPLIANCES WITH DIGITAL HAND

  Satoshi Kanai, Seiya Suzuki

  PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2011, VOL 2, PTS A AND B 897 - 905 2012 [Refereed][Not invited]
   

  Ergonomic-conscious design of hand-held information appliances greatly strengthens their competitiveness. However, current ergonomic assessments are carried out in the form of "real" user-tests which need many human subjects and expensive physical mockups, and only subjective evaluations are obtained. To solve these problems, in this paper, the Digital Hand where the 3D bone structure, surface skin geometry of the human hand are imitated was developed for quantitatively estimating the ease of single-fingered operations of hand-held appliances. The ease is estimated based on the reachability of a finger tip to several specified operation target points, and on the finger joint angle margin which reflects the mobile range of motions of all operating fingers' joints. An effective correlation was found between the estimation measures and the subjective comfort ratings in the fingered operations of a SLR camera.
• An optimal delay management algorithm from passengers' viewpoints considering the whole railway network

  Satoshi Kanai, Koichi Shiina, Shingo Harada, Norio Tomii

  Journal of Rail Transport Planning and Management 1 (1) 25 - 37 2210-9706 2011/11 [Refereed][Not invited]
   

  We propose an algorithm for optimal delay management. Delay management means a decision whether or not to keep a connection between trains and is made by dispatchers when trains are delayed. We set dissatisfaction of all passengers in the whole railway network as a criterion and develop an algorithm which seeks for a delay management plan which minimizes passengers' dissatisfaction. The algorithm is a combination of simulation and optimization. The simulation part consists of a train traffic simulator and a passenger flow simulator which work in parallel. The train traffic simulator forecasts future train diagrams considering the dynamic interaction between trains and passengers. The passenger flow simulator traces behaviour of all the passengers one by one and calculates how many passengers get on/off at each station. This information is given to the train traffic simulator and necessary dwell times are calculated. Passengers' dissatisfaction is also estimated from the results of the passenger flow simulation. In the optimization part, we use the tabu search algorithm. We will show the details of our algorithm together with numerical results using real world data. © 2011 Elsevier Ltd.
• A data management method for efficient search and rendering of multiple large scale point clouds

  T. Maeno, H. Date, S. Kanai

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 38 (5) 203 - 208 1682-1750 2011/09/03 

  Recently, with the progress of laser scanning technology, it has become possible to scan several environments such as buildings, roads, and cities easily and at a low cost. There are typically three scanning methods: TLS (Terrestrial Laser Scanning), MMS (Mobile Mapping System), and ALS (Airborne Laser Scanning), and the environments are scanned for measurement, modelling, and simulation etc. Therefore, an efficient and comprehensive data management method, which can handle these point clouds in various applications is strongly required. In this paper, we describe a method of data management for efficient search and rendering of multiple large scale point clouds. First, we define a general point cloud file format including the octree and the quantization structure. Next, the data management method enabling an efficient search and rendering of the point clouds is proposed. Finally, the effectiveness of our method is verified using several actual data sets.
• Pole-like objects recognition from mobile laser scanning data using smoothing and Principal Component Analysis

  H. Yokoyama, H. Date, S. Kanai, H. Takeda

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 38 (5) 115 - 120 1682-1750 2011/09/03 

  With the spread of the Mobile Laser Scanning (MLS) system, the demands for the management of road and facilities using MLS point clouds have increased. Especially, pole-like objects such as streetlights, utility poles, street signs and etc. are in high demand as facilities to be managed. We propose a method for recognizing pole-like objects from MLS point clouds. Our method is based on Laplacian smoothing using the k-nearest neighbors graph, Principal Component Analysis for recognizing points on pole-like objects, and thresholding for the degree of pole-like objects. Our method can robustly recognize pole-like objects with various radii and tilt angles from MLS point clouds. For correctly segmented objects, accuracy of pole-like object recognition is on average 97.4%.
• Automatic recognition of a piping system from large-scale terrestrial laser scan data

  K. Kawashima, S. Kanai, H. Date

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 38 (5) 283 - 288 1682-1750 2011/09/03 

  Recently, changes in plant equipment have been becoming more frequent because of the short lifetime of the products, and constructing 3D shape models of existing plants (as-built models) from large-scale laser scanned data is expected to make their rebuilding processes more efficient. However, the laser scanned data of the existing plant has massive points, captures tangled objects and includes a large amount of noises, so that the manual reconstruction of a 3D model is very time-consuming and costs a lot. Piping systems especially, account for the greatest proportion of plant equipment. Therefore, the purpose of this research was to propose an algorithm which can automatically recognize a piping system from terrestrial laser scan data of the plant equipment. The straight portion of pipes, connecting parts and connection relationship of the piping system can be recognized in this algorithm. Eigenvalue analysis of the point clouds and of the normal vectors allows for the recognition. Using only point clouds, the recognition algorithm can be applied to registered point clouds and can be performed in a fully automatic way. The preliminary results of the recognition for large-scale scanned data from an oil rig plant have shown the effectiveness of the algorithm.
• Constructing a Finger Biomechanical Model for Virtual Ergonomic Assessment in Digital Hand

  SHIMIZU Yasutomo, KANAI Satoshi, DATE Hiroaki

  Proceedings of Asian Conference on Design and Digital Engineering 2011 1 543 - 547 2011/08 [Refereed][Not invited]
  
• 3D Digital Prototyping of Information Appliances based on Mixed Reality with Markerless Tracking

  KANAI Satoshi, DATE Hiroaki, UCHIYAMA Keita

  Proceedings of Asian Conference on Design and Digital Engineering 2011 1 325 - 328 2011/08 [Not refereed][Not invited]
  
• Parts identification and motion estimation on CT scanned assembly meshes

  Tomohiro Mizoguchi, Yoshikazu Kobayashi, Kenji Shirai, Satoshi Kanai

  ACM SIGGRAPH 2011 Posters, SIGGRAPH'11 Article No.64  2011 [Refereed][Not invited]
   

  Along with the recent improvements of the industrial X-ray CT scanning systems, it is now possible to non-destructively acquire the entire meshes of mechanical assemblies. This technology has the potential to realize an advanced inspection of assemblies, such as examining assembling errors or dynamic behaviors in motion using the meshes reflecting really-assembled situations. However, to realize such advance inspections, it is required to identify each part and to estimate their motions in the meshes. © 2011 ACM.
• Estimating ease of single-fingered operations of hand-held appliances with digital hand

  Satoshi Kanai, Seiya Suzuki

  Proceedings of the ASME Design Engineering Technical Conference 2 897 - 905 2011 [Refereed][Not invited]
   

  Ergonomic-conscious design of hand-held information appliances greatly strengthens their competitiveness. However, current ergonomic assessments are carried out in the form of "real" user-tests which need many human subjects and expensive physical mockups, and only subjective evaluations are obtained. To solve these problems, in this paper, the Digital Hand where the 3D bone structure, surface skin geometry of the human hand are imitated was developed for quantitatively estimating the ease of single-fingered operations of hand-held appliances. The ease is estimated based on the reachability of a finger tip to several specified operation target points, and on the finger joint angle margin which reflects the mobile range of motions of all operating fingers' joints. An effective correlation was found between the estimation measures and the subjective comfort ratings in the fingered operations of a SLR camera. © 2011 by ASME.
• POLE-LIKE OBJECTS RECOGNITION FROM MOBILE LASER SCANNING DATA USING SMOOTHING AND PRINCIPAL COMPONENT ANALYSIS

  H. Yokoyama, H. Date, S. Kanai, H. Takeda

  ISPRS WORKSHOP LASER SCANNING 2011 38-5 (W12) 115 - 120 2194-9034 2011 [Refereed][Not invited]
   

  With the spread of the Mobile Laser Scanning (MLS) system, the demands for the management of road and facilities using MLS point clouds have increased. Especially, pole-like objects such as streetlights, utility poles, street signs and etc. are in high demand as facilities to be managed. We propose a method for recognizing pole-like objects from MLS point clouds. Our method is based on Laplacian smoothing using the k-nearest neighbors graph, Principal Component Analysis for recognizing points on pole-like objects, and thresholding for the degree of pole-like objects. Our method can robustly recognize pole-like objects with various radii and tilt angles from MLS point clouds. For correctly segmented objects, accuracy of pole-like object recognition is on average 97.4%.
• AUTOMATIC RECOGNITION OF A PIPING SYSTEM FROM LARGE-SCALE TERRESTRIAL LASER SCAN DATA

  K. Kawashima, S. Kanai, H. Date

  ISPRS WORKSHOP LASER SCANNING 2011 38-5 (W12) 283 - 288 2194-9034 2011 [Refereed][Not invited]
   

  Recently, changes in plant equipment have been becoming more frequent because of the short lifetime of the products, and constructing 3D shape models of existing plants (as-built models) from large-scale laser scanned data is expected to make their rebuilding processes more efficient. However, the laser scanned data of the existing plant has massive points, captures tangled objects and includes a large amount of noises, so that the manual reconstruction of a 3D model is very time-consuming and costs a lot. Piping systems especially, account for the greatest proportion of plant equipment. Therefore, the purpose of this research was to propose an algorithm which can automatically recognize a piping system from terrestrial laser scan data of the plant equipment. The straight portion of pipes, connecting parts and connection relationship of the piping system can be recognized in this algorithm. Eigenvalue analysis of the point clouds and of the normal vectors allows for the recognition. Using only point clouds, the recognition algorithm can be applied to registered point clouds and can be performed in a fully automatic way. The preliminary results of the recognition for large-scale scanned data from an oil rig plant have shown the effectiveness of the algorithm.
• A DATA MANAGEMENT METHOD FOR EFFICIENT SEARCH AND RENDERING OF MULTIPLE LARGE SCALE POINT CLOUDS

  T. Maeno, H. Date, S. Kanai

  ISPRS WORKSHOP LASER SCANNING 2011 38-5 (W12) 203 - 208 2194-9034 2011 [Refereed][Not invited]
   

  Recently, with the progress of laser scanning technology, it has become possible to scan several environments such as buildings, roads, and cities easily and at a low cost. There are typically three scanning methods: TLS (Terrestrial Laser Scanning), MMS (Mobile Mapping System), and ALS (Airborne Laser Scanning), and the environments are scanned for measurement, modelling, and simulation etc. Therefore, an efficient and comprehensive data management method, which can handle these point clouds in various applications is strongly required. In this paper, we describe a method of data management for efficient search and rendering of multiple large scale point clouds. First, we define a general point cloud file format including the octree and the quantization structure. Next, the data management method enabling an efficient search and rendering of the point clouds is proposed. Finally, the effectiveness of our method is verified using several actual data sets.
• Pole-like Objects Recognition from Mobile Laser Scanning Data in Urban Environment

  Yokoyama Hiroki, Date Hiroaki, Kanai Satoshi, Takeda Hiroshi

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 143 - 144 2011 

  モバイルレーザスキャニング(MLS)の普及により，市街地レーザ計測点群を用いた道路やその周辺設備の管理への需要が増加している．特に，電柱や街灯，標識などの柱状物体は，管理対象の設備として需要が高い．そこで本研究では，市街地レーザ計測点群に対して細線化と主成分分析，並びに柱状物体度評価指標を用いて，様々な太さや傾きの柱状物体を自動的に認識できるアルゴリズムを開発し，その認識性能を評価したので報告する．
• A study of object recognition using geometric models from 3D laser scan data of environments:a method of object recognition for point clouds using spin images

  Kaneta Yusuke, Date Hiroaki, Kanai Satoshi

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 127 - 128 2011 

  本研究では，環境内における認識したい対象の存在有無・位置姿勢を，対象の形状モデルを用いて環境のレーザ計測データ（三角形メッシュ）から認識する手法を提案してきた．本報告では，レジストレーションされた計測点群への対象認識の柔軟な適用，ならびに大規模計測データでの対象認識実現のためのデータ量を削減した，三角形メッシュを用いない，レーザ計測点群に対する対象認識手法を提案する．
• A Data Management Method for Efficient Search and Rendering of Multiple Large Scale Point Clouds

  Maeno Takashi, Date Hiroaki, Kanai Satoshi

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 117 - 118 2011 

  近年，地上設置型，車載型，航空機搭載型レーザスキャナによる建物や市街地などの環境の計測を容易に行うことが可能になってきている．本研究ではこれらの計測で得られた大規模複数点群を様々なアプリケーションで効率的，包括的に取り扱うことができるデータ管理手法を提案する．八分木構造を元にした点群データ構造を規定し，大規模複数点群の効率的な検索やLOD表示とそれを可能とするデータ管理手法について述べる．
• Automatically Recognition of a Piping System from Laser Scan Data of Large-Scale Environments:Automatically extraction a piping system and recognition connection relationship

  Kawashima Kazuaki, Kanai Satoshi, Date Hiroaki

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 123 - 124 2011 

  近年，レーザ計測点群を利用した，既存プラント設備の実態が反映されたas-built型モデル作成の需要が高まっている．特に，配管系統はプラント設備のモデル化で必須の対象となる．本報では，共分散行列を用いた計測点群全体からの配管系統の計測点群の自動抽出，および，認識した各パイプの径，軸位置・方向に基づくエルボやＴジャンクションといった接続要素とパイプ間の接続関係の自動認識を行ったので報告する．
• Region-based Automatic Classification of Airborne LiDAR Data

  Ui Koutarou, Kanai Satoshi, Date Hiroaki, Yokoo Yasuhiro, Asada Norichika, Takeda Hiroshi

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 129 - 130 2011 

  本研究では3次元都市モデリングおよび2次元マッピングのための，航空機LiDARデータからの建物領域の認識を目的としている．本報では，地表面および建物領域認識の高精度化のための，モルフォロジーフィルターを用いた地表面分類と、非地面点領域の境界線形状に基づく建物領域の判定手法を提案し，その分類精度を検証する．
• Research on identifying the gaze object on 3D digital prototyping of information equipment with Eye-Tracking

  Nagafuchi Tatsuya, Kanai Satoshi, Date Hiroaki

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 275 - 276 2011 

  近年，情報機器開発に際しユーザビリティを考慮したUI設計が求められている．本研究では，これまでユーザーの注視点位置を推定するEye-Trackingシステムの開発と精度の向上を行なってきた．これを用いてUI可動型ディジタルプロトタイプ操作時にユーザーが注視しているUI上の注視オブジェクトの特定を行うことで，誤操作時のUI上の箇所や誤操作原因が推定可能となる．そこで本報告では，Eye-Trackingを用いたディジタルプロトタイプ上注視オブジェクトの特定について報告する．
• Implementing Deformable Property of Skin in Contact of Digital Hand

  Xie Yulai, Kanai Satoshi, Date Hiroaki

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2011 273 - 274 2011 

  The virtual ergonomic assessment based on Digital Hand which estimates grasp posture and evaluates the quality of grasp is valuable for hand-held product design, because it can save the cost of test subjects, time, fabricating physical mockups, and it also enables objective evaluation. In this paper, we propose the method to implement deformable property caused by a contact between Digital Hand and the product surface by modeling the fingers as ″quasi-rigid″ objects, by constructing a physical model based on Boussinesq formula which approximates skin contact deformation mechanism, by detecting collision between Digital Hand and a product surface and enlarging the collision area, and then by finally solving Linear Complementarity Problem to resolve the contact and to produce the visible skin surface deformation. The plausible skin deformation could be obtained, because the method preserved the volume of Digital Hand before and after the skin deformation. In addition, utilizing the locality property of the deformation, the method can be easily used by the existing Digital Hand model and do not affect its original scheme of skin deformation caused by bending the finger.
• Parts identification and motion estimation on CT scanned assembly meshes

  Tomohiro Mizoguchi, Yoshikazu Kobayashi, Kenji Shirai, Satoshi Kanai

  ACM SIGGRAPH 2011 Posters, SIGGRAPH'11 64  2011 [Refereed][Not invited]
   

  Along with the recent improvements of the industrial X-ray CT scanning systems, it is now possible to non-destructively acquire the entire meshes of mechanical assemblies. This technology has the potential to realize an advanced inspection of assemblies, such as examining assembling errors or dynamic behaviors in motion using the meshes reflecting really-assembled situations. However, to realize such advance inspections, it is required to identify each part and to estimate their motions in the meshes. © 2011 ACM.
• XAML-Based Usability Assessment for Prototyping Information Appliances with Touch Sensitive Interfaces

  KANAI Satoshi

  Research in Interactive Design (CD-ROM) 3 PRIDE-P189  2010/10 [Refereed][Not invited]
  
• Shape Interpolation of Product Housings for Ergonomic Assessment using Digital Hand

  ENDO Yui, MIYATA Natsuki, KOUCH Makiko, MOCHIMARU Masaaki, KANAI Satoshi

  Research in Interactive Design (CD-ROM), Springer 3 PRIDE-P159  2010/10 [Refereed][Not invited]
  
• Appearance Preserving Simplification of Large Scale Assembly Models by Invisible Part and Form Feature Removal

  SAKAMOTO Hideki, KANATANI Naoki

  Research in Interactive Design (CD-ROM), Springer 3 VC-P144  2010/10 [Refereed][Not invited]
  
• Constructing MRI-based 3D Precise Human Hand Models for Product Ergonomic Assessments

  SHIMIZU Yasutomo, KAWAGUCHI Keisuke, KANAI Satoshi

  Proceedings of 2010 Asian Conference on Design and Digital Engineering 837 - 844 2010/08 [Refereed][Not invited]
  
• Recognition of Revolved Features using Dynamic Programming and Constraint Fitting for Reverse Engineering

  Kazuaki Kawashima, Satoshi Kanai

  Proceedings of 2010 Asian Conference on Design and Digital Engineering 612 - 619 2010/08 [Refereed][Not invited]
  
• Physically-based grasp posture generation for virtual ergonomic assessment using digital hand

  Yui Endo, Natsuki Miyata, Makiko Kouchi, Masaaki Mochimaru, Satoshi Kanai

  Advances in Applied Digital Human Modeling 166 - 175 2010/01/01 

  Our research purpose is to develop a system for ergonomics design, which enables an ergonomic evaluation for handheld information appliances without “real” subjects and physical mockups by integrating a digital hand with a product model. In this paper, we propose a new method for physically-based grasp posture generation by using a commercial realtime physics engine.
• Approximative generation of springback compensation surface in stamping die design:generation of correspondence between reference geometry mesh and mesh the measured from real form product

  Suzuki Kunihiro, Murakami Yukimi, Kanai Satoshi

  Proceedings of JSPE Semestrial Meeting 公益社団法人 精密工学会 2010 95 - 96 2010 

  Recently, high strength steel sheets are rapidly introduced to automotive parts and amount of springback of these parts increases extremely. It is required to prevent the amount. However, mesh based on the measured from real formed sheets after springback does not have the same topology as the one of reference geometry mesh. However, different topology disables the user to use the proposed compensation estimation method. In this study, we propose a method where the correspondences can be found between the reference mesh and the measured mesh which has the different topology from the reference one, and which has the deformation relationship with it, under the preserving property.
• Decomposing Scanned Assembly Meshes Based on Periodicity Recognition and Its Application to Kinematic Simulation Modeling

  Tomohiro Mizoguchi, Satoshi Kanai

  ADVANCES IN GEOMETRIC MODELING AND PROCESSING, PROCEEDINGS 6130 137 - + 0302-9743 2010 [Refereed][Not invited]
   

  Along with the rapid growth of industrial X-ray CT scanning systems, it is now possible to non-destructively acquire the entire meshes of assemblies consisting of a set of parts. For the advanced inspections of the assemblies, such as estimation of their assembling errors or examinations of their behaviors in the motions, based on their CT scanned meshes, it is necessary to accurately decompose the mesh and to extract a set of partial meshes each of which correspond to a part. Moreover it is required to create models which can be used for the real-product based simulations. in this paper, we focus on CT scanned meshes of gear assemblies as examples and propose beneficial methods for establishing such advance inspections of the assemblies. We first propose a method that accurately decomposes the mesh into partial meshes each of which corresponds to a gear based on periodicity recognitions. The key idea is first to accurately recognize the periodicity of each gear and then to extract the partial meshes as sets of topologically connected mesh elements where periodicities are valid. Our method can robustly and accurately recognize periodicities from noisy scanned meshes. In contrast to previous methods, our method can deal with single-material CT scanned meshes and can estimate the correct boundaries of neighboring parts with no previous knowledge. Moreover it can efficiently extract the partial meshes from large scanned meshes containing about one million triangles in a few minutes. We also propose a method for creating simulation models which can be used for a gear teeth contact evaluation using extracted partial meshes and their periodicities. Such an evaluation of teeth contacts is one of the most important functions in kinematic simulations of gear assemblies for predicting the power transmission efficiency, noise and vibration. We demonstrate the effectiveness of our method on a variety of artificial and CT scanned meshes.
• Process Planning System for an MEMS Device using a 3D Geometric Model

  Tomonao KITAHARA, Satoshi KANAI, Takayuki SHIBATA, Takahiro KAWASHIMA

  Proceedings of Asian Symposium for Precision Engineering and Nanotechnology 2009 (ASPEN 2009) 2E11  2009/11 [Refereed][Not invited]
  
• 3D Shape Retrieval considering Assembly Structure

  KANAI Satoshi, MIURA Takashi

  Proceedings of Asian Symposium for Precision Engineering and Nanotechnology 2009 (ASPEN 2009) 1A1-15  2009/11 [Refereed][Not invited]
  
• Optimization-Based Grasp Posture Generation Method of Digital Hand for Virtual Ergonomic Assessment

  ENDO Yui, KANAI Satoshi, KISINAMI Takeshi, MIYATA Natsuki, MOCHIMARU Masaaki

  SAE International Journal of Passenger Cars -Electronic and Electrical Systems 1 (1) 590 - 598 2009/04 [Refereed][Invited]
  
• Euclidean Symmetry Detection from Scanned Meshes of Mechanical Objects based on a Combination of ICP and Region Growing Algorithms

  MIZOGUCHI Tomohiro, KANAI Satoshi

  Journal of the Japan Society for Precision Engineering 公益社団法人 精密工学会 75 (4) 554 - 560 0912-0289 2009/04 [Refereed][Not invited]
   

  Recently scanned meshes from mechanical objects can be easily acquired using high-energy industrial X-ray CT scanning technologies, and these meshes are widely used in various fields of product developments. Mechanical objects often exhibit symmetries for their functionality. They are originally defined by creating a copy of the solid and then by placing it with a certain transformation including an arbitrary set of translations, rotations, and reflections. Therefore it is desired to detect such symmetries from the scanned meshes for their effective use in mesh applications, such as reconstruction of CAD models with compact data representations or CAE mesh enhancement using the symmetries. In this paper, we propose a method that can detects multiple Euclidean symmetries from scanned meshes of mechanical objects based on a combination of ICP and region growing algorithms. We define Euclidean symmetries detection as to detect both pairs of regions that match under certain transformations and their transformations including arbitrary sets of translations, rotations, and reflections. We also propose a method that derives all possible sequences for reconstructing an entire model from the original mesh using planar-reflective symmetries among all the detected symmetries, and represents them in an AND/OR graph in order to compactly represent the mesh. Our proposed method contains several advantages. It can robustly detect symmetries from noisy scanned meshes that include many planar regions. Our method also can detect both global and local Euclidean symmetries from meshes. Moreover it can detect maximally large pairs of regions under user specified tolerances. We demonstrate the effectiveness of the proposed method from various experiments using X-ray CT scanned meshes of mechanical objects.
• Flexible Control of Multimaterial Tetrahedral Mesh Properties by Using Multiresolution Techniques

  Hiroaki Date, So Noguchi, Masahiko Onosato, Satoshi Kanai

  IEEE TRANSACTIONS ON MAGNETICS 45 (3) 1352 - 1355 0018-9464 2009/03 [Refereed][Not invited]
   

  This paper describes a method for flexibly controlling the properties of a given multimaterial tetrahedral mesh for finite-element analysis. Our method is based on multiresolution techniques. A given mesh is first subdivided and then simplified so that the resulting mesh satisfies the user-specified thresholds for mesh properties (element size, shape, valence, and geometric tolerance). Once the simplification is completed, mesh resolution and density can be modified quickly by using level of detail.
• APPLYING USER INTERFACE-OPERABLE 3D DIGITAL PROTOTYPES TO HUMAN-CENTERED DESIGN OF INFORMATION APPLIANCES

  Satoshi Kanai, Taiga Higuchi, Yukiaki Kikuta

  DETC 2008: PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATIONAL IN ENGINEERING CONFERENCE, VOL 3, PTS A AND B 867 - 876 2009 [Refereed][Not invited]
   

  One of the critical issues of realizing human centered design (HCD) for information appliances is how to efficiently find the weakness of usability of the user interfaces (UI). At present, user test is the most reliable method of evaluating usability of UI. But executing user-test costs much due to fabrication of physical prototypes, securing of test subjects and facilities and the manual-based analysis of the test results. To solve the problems, we propose a computer-supported environment for testing and usability assessment for human centered-design of information appliances in the paper. In the environment, UI-operable 3D digital prototypes can be designed and used for user tests instead of physical prototypes, and the test results can be automatically analyzed to clarify the weak points of the UI design. UI-operable 3D digital prototypes can be modeled by integrating the state-transition-based UI behavior model with 3D CAD models of the housings. A function of graphically displaying user's operational history helps the designers identify which portions in the UI specification induce wrong operations of users. A function of indicating digital questionnaire based on cognitive walkthrough method also enables them to reveal causes of the wrong operations and to clarify point of redesign. Comparison of the test results using different types of digital prototypes showed that the proposed UI-operable 3D digital prototype could fully replace the physical prototype in early design stage.
• 3D digital prototyping and usability enhancement of information appliances based on UsiXML

  Satoshi Kanai, Taiga Higuchi, Yukiaki Kikuta

  International Journal on Interactive Design and Manufacturing 3 (3) 201 - 222 1955-2513 2009 [Refereed][Not invited]
   

  Recently, usability assessment of user interfaces (UIs) in the early design stage has become indispensable for the human-centered design of information appliances. Several digital prototyping tools of the UI software, in which the UI behavior can be simulated, have been developed so far. However, some problems can arise when using them for the usability assessment, such as: a lack of simulation fidelity, time-consuming modeling work, and lack of systematic usability assessment functions. To solve these problems, we developed a tool for virtual 3D prototyping and usability assessment of information appliances. First, we extended the specification of UsiXML (which is the XML-compliant UI description language) so that the static structure both of the logical elements displayed on the UI and of the physical elements placed on the housings can be modeled. Secondly, we developed 3D prototyping and simulation functions so that the extended UsiXML is combined with the 3D CAD models of the housings and where the interaction can be simulated based on the dynamic-behavior model of the UsiXML. Finally, we developed the automated user test and usability assessment functions which are connected to the models of the extended UsiXML. An example of the efficient usability assessment and the UI redesign using a 3D digital prototype of a digital camera is shown. © Springer-Verlag 2009.
• Database-Driven Grasp Synthesis and Ergonomic Assessment for Handheld Product Design

  Keisuke Kawaguchi, Yui Endo, Satoshi Kanai

  DIGITAL HUMAN MODELING, PROCEEDINGS 5620 642 - 652 0302-9743 2009 [Refereed][Not invited]
   

  Recently, simulation-based ergonomic assessments for handheld products, such as mobile phones, have seen a growing interest and have been increasingly studied. In these studies, the combination of 3D product models and "digital hands", which are a parametric 3D models of human hands, have been used. One of the keys to the ergonomic assessment using the digital hand is the "grasp synthesis" where plausible grasp postures for the product model have to be generated. In this paper, we propose a new database-driven grasp synthesis method considering the geometric constraints of grasping handheld products. The proposed method can generate more plausible grasp postures for handheld products in easier interactions than those of previous ones.
• A Development of an Ergonomic Assessment System by Integrating a Digital Hand with a Product Model (2nd Report)

  Yui ENDO, Satoshi KANAI, Natsuki MIYATA, Makiko KOUCHI, Masaaki MOCHIMARU

  Journal of the Japan Society for Precision Engineering 75 (4) 548 - 553 1882-675X 2009 [Refereed][Not invited]
  
• APPLYING USER INTERFACE-OPERABLE 3D DIGITAL PROTOTYPES TO HUMAN-CENTERED DESIGN OF INFORMATION APPLIANCES

  Satoshi Kanai, Taiga Higuchi, Yukiaki Kikuta

  DETC 2008: PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATIONAL IN ENGINEERING CONFERENCE, VOL 3, PTS A AND B 867 - 876 2009 [Refereed][Not invited]
   

  One of the critical issues of realizing human centered design (HCD) for information appliances is how to efficiently find the weakness of usability of the user interfaces (UI). At present, user test is the most reliable method of evaluating usability of UI. But executing user-test costs much due to fabrication of physical prototypes, securing of test subjects and facilities and the manual-based analysis of the test results. To solve the problems, we propose a computer-supported environment for testing and usability assessment for human centered-design of information appliances in the paper. In the environment, UI-operable 3D digital prototypes can be designed and used for user tests instead of physical prototypes, and the test results can be automatically analyzed to clarify the weak points of the UI design. UI-operable 3D digital prototypes can be modeled by integrating the state-transition-based UI behavior model with 3D CAD models of the housings. A function of graphically displaying user's operational history helps the designers identify which portions in the UI specification induce wrong operations of users. A function of indicating digital questionnaire based on cognitive walkthrough method also enables them to reveal causes of the wrong operations and to clarify point of redesign. Comparison of the test results using different types of digital prototypes showed that the proposed UI-operable 3D digital prototype could fully replace the physical prototype in early design stage.
• AN OPTIMIZATION-BASED APPROACH FOR GRASP POSTURE GENERATION OF DIGITAL HAND

  Yui Endo, Satoshi Kanai, Natsuki Miyata, Makiko Kouchi, Masaaki Mochimaru, Jun Konno, Michiyo Ogasawara, Marie Shimokawa

  DETC 2008: PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATIONAL IN ENGINEERING CONFERENCE, VOL 3, PTS A AND B 877 - 885 2009 [Refereed][Not invited]
   

  Recently, as handheld information appliances, such as mobile phones, PDAs, have widely spread, the development of these appliances should pay more attention in their ergonomic design. However, the user tests for developing the "ergonomic" appliances are usually done by many real subjects testing a variety of these physical mockups, and the process of these tests usually requires the expensive cost and has to take a long time. So, we propose a software system of an automatic ergonomic assessment system for designing handheld information appliances by integrating the digital hand model with the 3D product model of the appliance. Our system has the following four feature functions for ergonomic assessment: 1) Generation of kinematically and geometrically accurate digital hand models with rich dimensional variation, 2) automatic grasp posture generation and evaluation of the posture stability by estimating the force-closure and the grasp quality, 3) automatic evaluation of ease of the finger motion in operating the user interface, 4) aiding the designers to re-design the housing shapes and user-interfaces in the product model. In this paper we propose a new optimization-based method the 2) of the above functions. As the objective function, we use the number of the contact points, the fit of the specific part of the hand surface for the feature edges of the product surface and the margin for the constraints on the joint angle limits of the figures. The experimental studies on the grasp posture generation for the digital camera indicate that more realistic grasp posture could be generated using the proposed optimization-based method than the one using our former method.
• EUCLIDEAN SYMMETRY DETECTION FROM SCANNED MESHES BASED ON A COMBINATION OF ICP AND REGION GROWING ALGORITHMS

  Tomohiro Mizoguchi, Satoshi Kanai

  DETC 2008: PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 1, PTS A AND B 683 - 691 2009 [Refereed][Not invited]
   

  Recently, meshes of engineering objects have been easily acquired by 3D laser or high-energy industrial X-ray CT scanning systems and they are widely used in product developments. For the effective use of scanned meshes in inspection, re-design, and simulation of the objects, it is important to reconstruct CAD models from the meshes. Engineering objects often exhibit Euclidean symmetries for their functionalities. Therefore, it is essential to detect such symmetries when reconstructing CAD models with compact data representations which are similar to the ones already defined in CAD systems. However, existing methods for reconstructing CAD models have not focused on detecting such symmetries. In this paper, we propose a new method that detects partial or global Euclidean symmetries, including translation, rotation, and reflection, from scanned meshes of engineering objects based on the combination of the ICP and the region growing algorithms. Our method can robustly and efficiently extract pairs of symmetric regions and their transformations under which the pair can be closely matched to each other. We demonstrate the effectiveness of the proposed method from experiments on various scanned meshes.
• Recognizing Periodicities on 3D Scanned Meshes Based on Indexed-ICP Algorithm

  Research in Interactive Design (CD-ROM) 3 IDMME_P35  2008 [Not refereed][Not invited]
  
• XAML-based 2D/3D Prototyping System for Rapid Development of Information Appliances

  Research in Interactive Design (CD-ROM) 3 APIAHD_P127  2008 [Not refereed][Not invited]
  
• Plausible Digital Hand Grasp Synthesis considering the Grasp Constratins of Information Appliances

  Research in Interactive Design (CD-ROM) 3 Virtual Concept_P34  2008 [Not refereed][Not invited]
  
• Euclidean symmetry detection from scanned meshes based on a conbination of ICP and region growing algorithms

  Tomohiro Mizoguchi, Satoshi Kanai

  Proceedings of the ASME Design Engineering Technical Conference 1 683 - 691 2008 [Not refereed][Not invited]
   

  Recently, meshes of engineering objects have been easily acquired by 3D laser or high-energy industrial X-ray CT scanning systems and they are widely used in product developments. For the effective use of scanned meshes in inspection, re-design, and simulation of the objects, it is important to reconstruct CAD models from the meshes. Engineering objects often exhibit Euclidean symmetries for their functionalities. Therefore, it is essential to detect such symmetries when reconstructing CAD models with compact data representations which are similar to the ones already defined in CAD systems. However, existing methods for reconstructing CAD models have not focused on detecting such symmetries. In this paper, we propose a new method that detects partial or global Euclidean symmetries, including translation, rotation, and reflection, from scanned meshes of engineering objects based on the combination of the ICP and the region growing algorithms. Our method can robustly and efficiently extract pairs of symmetric regions and their transformations under which the pair can be closely matched to each other. We demonstrate the effectiveness of the proposed method from experiments on various scanned meshes. Copyright © 2008 by ASME.
• Content-based 3D Mesh Model Retrieval from Hand-written Sketch

  International Journal on Interactive Design and Manufacturing 2 (2) 87 - 98 2008 [Not refereed][Not invited]
  
• Object-oriented Design Patterns for Parallel Discrete Event Simulation of Distributed Control Systems

  TOMURA Toyoaki, KANAI Satoshi

  Journal of the Japan Society for Precision Engineering 公益社団法人精密工学会 74 (3) 306 - 312 0912-0289 2008 [Not refereed][Not invited]
   

  Distributed control systems(DCS) consist of many sensors/actuators and a network interconnecting them, and are being introduced in various automation areas. For assuring the control performance of a DCS under heavy communication traffic, the precise simulation of the DCS is strongly needed. For this purpose, we propose a uniform, efficient and systematic method based on object-oriented design patterns for modeling and simulating DCSs. In this paper, two design patterns are newly proposed; Time-Warp pattern and Protocol pattern. Time-Warp pattern describes classes and interaction for executing the DCS simulation by communicating events having send/receive times, using Time Warp mechanism. Protocol pattern describes classes and interaction for uniformly structuring various communication protocol models used in DCSs, which are composed of the interactions among several layers and the state transition of each layer in a communication protocol. Finally, the effectiveness of the DCS simulator which is developed using these patterns was proved by comparing simulation results with the experiment results using the real DCS consisting of four CAN-based control nodes.
• Efficient Mesh Segmentation based on Region Growing and Merging

  MIZOGUCHI Tomohiro, DATE Hiroaki, KANAI Satoshi

  Journal of The Japan Society for Precision Engineering 公益社団法人精密工学会 74 (7) 752 - 759 0912-0289 2008 [Not refereed][Not invited]
   

  To effectively use scanned meshes obtained by 3D laser scanner or X-ray CT scanning systems in engineering applications, such as inspection and CAD model reconstruction, we need to segment meshes and extract desirable regions and their approximating surfaces. Surfaces of engineering objects are commonly represented by a set of analytic surfaces, such as planes, cylinders, spheres, cones. Therefore, the mesh surface of them needs to be approximated by a set of analytic surfaces. In this paper we propose an efficient mesh segmentation algorithm based on region growing and region merging. Our algorithm first robustly and accurately estimates mesh principal curvatures using the two-pass estimation method. Then it fast extracts regions and their approximating analytic surfaces based on region growing even if regions are smoothly blended. Finally it efficiently merges initial set of regions of large and complex scanned meshes under the user specified tolerances using region merging. We demonstrate the efficiency and accuracy of our algorithm with scanned meshes acquired from real engineering objects by X-ray CT scanning systems.
• Object-oriented Design Patterns for Parallel Discrete Event Simulation of Distributed Control Systems

  TOMURA Toyoaki, KANAI Satoshi

  Journal of the Japan Society of Precision Engineering 公益社団法人精密工学会 74 (3) 306 - 312 0912-0289 2008 [Refereed][Not invited]
   

  Distributed control systems(DCS) consist of many sensors/actuators and a network interconnecting them, and are being introduced in various automation areas. For assuring the control performance of a DCS under heavy communication traffic, the precise simulation of the DCS is strongly needed. For this purpose, we propose a uniform, efficient and systematic method based on object-oriented design patterns for modeling and simulating DCSs. In this paper, two design patterns are newly proposed; Time-Warp pattern and Protocol pattern. Time-Warp pattern describes classes and interaction for executing the DCS simulation by communicating events having send/receive times, using Time Warp mechanism. Protocol pattern describes classes and interaction for uniformly structuring various communication protocol models used in DCSs, which are composed of the interactions among several layers and the state transition of each layer in a communication protocol. Finally, the effectiveness of the DCS simulator which is developed using these patterns was proved by comparing simulation results with the experiment results using the real DCS consisting of four CAN-based control nodes.
• Efficient Mesh Segmentation base on Region Growing and Merging

  MIZOGUCHI Tomohiro, DATE Hiroaki, KANAI Satoshi

  Journal of the Japan Society of Precision Engineering 公益社団法人精密工学会 74 (7) 752 - 759 0912-0289 2008 [Refereed][Not invited]
   

  To effectively use scanned meshes obtained by 3D laser scanner or X-ray CT scanning systems in engineering applications, such as inspection and CAD model reconstruction, we need to segment meshes and extract desirable regions and their approximating surfaces. Surfaces of engineering objects are commonly represented by a set of analytic surfaces, such as planes, cylinders, spheres, cones. Therefore, the mesh surface of them needs to be approximated by a set of analytic surfaces. In this paper we propose an efficient mesh segmentation algorithm based on region growing and region merging. Our algorithm first robustly and accurately estimates mesh principal curvatures using the two-pass estimation method. Then it fast extracts regions and their approximating analytic surfaces based on region growing even if regions are smoothly blended. Finally it efficiently merges initial set of regions of large and complex scanned meshes under the user specified tolerances using region merging. We demonstrate the efficiency and accuracy of our algorithm with scanned meshes acquired from real engineering objects by X-ray CT scanning systems.
• A development of an ergonomic assessment system by integrating a digital hand with a product model (1st Report) - An function of virtually evaluating grasp stability for products

  Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.

  Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering 公益社団法人精密工学会 74 (2) 182 - 187 0912-0289 2008 [Refereed][Not invited]
   

  The purpose of this research is to develop a system that can evaluate stability and ease of a person grasping products such as digital cameras without real subjects and physical mockups. In the system, we integrate 3D digital hand models with the 3D CAD models of the product to realize the virtual ergonomic assessment. The system features are the following; i) Geometrically accurate 3D digital hand models with rich Japanese size varieties are used for the assessment, ii) A semi-automatic grasp planning function is installed to efficiently find appropriate grasp posture for the exterior housings geometries of appliances, and iii) "Force-closure" and the "grasp quality" indices can quantitatively evaluate grasp stability for the product.
• Development of a production information management system to support environmental CSR activities for process production

  Takafumi Shimizu, Satoshi Kanai, Masayuki Ichinohe, Toshijiro Ohashi, Yasuo Nakagawa

  DETC2007: PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNOLOGY CONFERENCE AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 4 819 - 828 2008 [Refereed][Not invited]
   

  Recently, awareness of Corporate Social Responsibility (CSR) has been raised and various environmental regulations have spread in many countries. Under this situation, manufacturers of process production, production information management systems are required that can archive and retrieve data not only of final products and raw materials but of chemical substances contained, intermediate products and wastes generated, and energy consumption during the production. However, management systems and product models currently used for assembly production do not fit the above requirement. To solve the problem, first, an object-oriented process-product model was designed which can represent these data and can be easily implemented on commercial ORDBMS. Second, traceability functions of explosion and implosion covering chemical substances, intermediate products, wastes and energy were developed on the ORDBMS. Third, a generic environmental law model was designed which can represent restrictions of various environmental regulations in a uniform way. Finally, a conformance checking function for environmental regulations was developed by combining the generic environmental law model with the process-product model. The effectiveness of the models and functions was verified by applying them to full-scale production data of functional polymer films and checking its conformance to RoHS and EuP directives.
• Quasi-optimal mesh segmentation via region growing/merging

  Tomohiro Mizoguchi, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami

  PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2007, VOL 6, PTS A AND B 547 - 556 2008 [Refereed][Not invited]
   

  Recently meshes of engineering objects are easily acquired by 3D laser or high energy X-ray CT scanning systems, and these meshes are widely used in product developments. To effectively use scanned meshes in engineering applications, such as inspection, CAD model reconstruction, and convergent-type CAE, we need to segment meshes and extract desirable regions and their approximating surfaces as preprocessing. Engineering objects are commonly represented as a set of analytic surfaces, such as planes, cylinders, spheres, cones, and tori. Therefore, the mesh surface of engineering objects needs to be approximated as a set of analytic surfaces. Moreover, a mesh surface should be approximated with a minimum number of analytic surfaces and their approximating error should be minimized as a result of segmentation. We call the segmentation that satisfies these two conditions the optimal segmentation as proposed in [1]. However, optimal segmentation algorithms need a long calculation time. Today's high energy X-ray CT scanning systems generate large meshes with millions of triangles from objects including hundreds of regions. Thus, computationally expensive algorithms, such as [1], cannot be directly applied to these large and complex meshes from the aspect of efficiency. In this paper we propose an efficient new quasi-optimal mesh segmentation algorithm via region growing and region merging. First, our algorithm robustly and accurately estimates mesh principal curvatures using the local surface fitting by two-pass algorithm. Second, it uses the curvatures to appropriately create seed regions, and then it quickly grows each seed region and extracts grown regions and their approximating analytic surfaces from a whole mesh. Finally, our region merging algorithm efficiently merges extracted regions in order to minimize the number of regions while keeping the user specified tolerances of the surface fitting, and it results in quasi-optimal segmentation. We demonstrate the performance of our algorithm with scanned meshes acquired from real engineering objects by 3D laser and X-ray CT scanning systems.
• Free-Form Deformation for Mesh Models based on Barycentric Coordinates for Convex Polytope

  MIZUNO Gaku, DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi

  Journal of the Japan Society of Precision Engineering 公益社団法人精密工学会 73 (3) 383 - 388 0912-0289 2007/03 [Refereed][Not invited]
   

  In this paper, we present a parametric deformation method for mesh models based on barycentric coordinates for convex polytope. First, we propose a FFD (free-form deformation)based on barycentric coordinates. Arbitrary convex polytope can be used for the deformation handle of the FFD. Next, we propose an automatic handle construction method for the FFD based on definition and classification of deformation types. Deformation handles suitable for user intended deformation types can be automatically constructed by selecting the deformation type and model portions to be deformed. Finally, we propose a parametric handle deformation method driven by the affine transformation. In our method, user can deform the model by selecting deformation type, portions to be deformed, and by manipulating one or two deformation parameters. Moreover, we propose a method for preserving approximated geometric continuity at the boundary between deformed portions and non-deformed portions of the models. For this purpose, we impose geometric constrains derived from analysis of derivatives of barycentric coordinates on the deformation handle for each deformation type.
• Virtual ergonomic assessment on handheld products based on virtual grasping by digital hand

  Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.

  SAE Technical Papers 2007-01-2511  2007 [Not refereed][Not invited]
  
• Development of a Production Information Management System to Support Environmental CSR Activities for Process Production

  Proceedings of ASME 2007 Design Engineering Technical Conferences and Computers and Information in Engineering Conference (CD-ROM) DETC2007-35316  2007 [Not refereed][Not invited]
  
• Quasi-Optimal Mesh Segmentation via Region Growing/Merging

  Proceedings of ASME 2007 Design Engineering Technical Conferences and Computers and Information in Engineering Conference (CD-ROM) DETC2007-35171  2007 [Not refereed][Not invited]
  
• A multi-disciplinary distributed simulation environment for mechatronic system design enabling hardware-in-the-loop simulation based on HLA

  International Journal on Interactive Design and Manufacturing 1 (3) 175 - 179 2007 [Not refereed][Not invited]
  
• Virtual ergonomic assessment on handheld products based on virtual grasping by digital hand

  Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.

  SAE Technical Papers 116 (7) 877 - 887 2007 [Not refereed][Not invited]
  
• Free-form Deformation for Mesh Models based on Barycentric Coordinates for Convex Polytope

  MIZUNO Gaku, DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi

  Journal of the Japan Society for Precision Engineering 公益社団法人精密工学会 73 (3) 383 - 388 0912-0289 2007 [Not refereed][Not invited]
   

  In this paper, we present a parametric deformation method for mesh models based on barycentric coordinates for convex polytope. First, we propose a FFD (free-form deformation)based on barycentric coordinates. Arbitrary convex polytope can be used for the deformation handle of the FFD. Next, we propose an automatic handle construction method for the FFD based on definition and classification of deformation types. Deformation handles suitable for user intended deformation types can be automatically constructed by selecting the deformation type and model portions to be deformed. Finally, we propose a parametric handle deformation method driven by the affine transformation. In our method, user can deform the model by selecting deformation type, portions to be deformed, and by manipulating one or two deformation parameters. Moreover, we propose a method for preserving approximated geometric continuity at the boundary between deformed portions and non-deformed portions of the models. For this purpose, we impose geometric constrains derived from analysis of derivatives of barycentric coordinates on the deformation handle for each deformation type.
• Virtual grasping assessment using 3D digital hand model

  Yui Endo, Satoshi Kanai, Takeshi Kishinami, Natsuki Miyata, Makiko Kouchi, Masaaki Mochimaru

  10th Annual Applied Ergonomics Conference: Celebrating the Past - Shaping the Future 2007 

  The purpose of this research is to develop a simulator which can evaluate stability and ease of human's grasping handheld information appliancessuch as digital cameras without real subjects and physical mockups. In the simulator, we integrate 3D digital hand models with the 3D CAD models of the appliance to realize the virtual grasping assessment. The features of the simulator are that 1) geometrically accurate 3D digital hand models with rich Japanese size varieties are used for the assessment, 2) a semi-automatic grasp planning function is installed to efficiently find appropriate grasp posture for the exterior housings geometries of appliances, 3) stability of grasping can be quantitatively evaluated based on the "force-closure" and the "grasp quality" indices, and 4) ease of grasping can be qualitatively evaluated based on "comfort database" constructed from the PCA for measurements of finger joint angles of real subject's.
• A computer-aided ergonomic assessment and product design system using digital hands

  Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 4561 LNCS 833 - 842 0302-9743 2007 [Refereed][Not invited]
  
• An integrated environment for testing and assessing the usability of information appliances using digital and physical mock-ups

  Satoshi Kanai, Soh Horiuchi, Yukiaki Kikuta, Akihiko Yokoyama, Yoshiyuki Shiroma

  VIRTUAL REALITY, PROCEEDINGS 4563 478 - + 0302-9743 2007 [Refereed][Not invited]
   

  Executing user-test of information appliances costs much due to fabrication of physical functional mockups, the securing of human subjects for the test, and preparation of testing facilities. Results of the user test have to be manually analyzed by usability engineers, and the analysis takes a couple of weeks. In this paper, we propose an integrated software and hardware environment for prototyping and assessing usability of information appliances where the users can operate a user-interface either of a 2D digital mockup or 3D digital mockup or a physical-mockup of the appliance under the test. This function enables engineers to test and evaluate the usability of the appliances both from the cognitive aspect and from the physical aspects.
• Effects of olmesartan, an AT1 receptor antagonist, on hypoxia-induced activation of ERK1/2 and pro-inflammatory signals in the mouse lung

  Yoshiyuki Tanabe, Yuki Morikawa, Takao Kato, Satoshi Kanai, Taichi Watakabe, Ami Nishijima, Hijiri Iwata, Kaori Isobe, Mayumi Ishizaki, Koichi Nakayama

  NAUNYN-SCHMIEDEBERGS ARCHIVES OF PHARMACOLOGY 374 (3) 235 - 248 0028-1298 2006/12 

  The present study aimed to investigate the effects of olmesartan, an antagonist for angiotensin II receptor type 1(AT1), on the activation of extracellular signal-regulated kinases (ERK)1/2, tissue remodeling, and pro-inflammatory signals in the right ventricle and lung of mice during the early phase of hypobaric hypoxia. Phosphorylation of ERK1/2 in both tissue types in response to hypoxia peaked at 1-3 days, and declined rapidly in the right ventricle, whereas in the lung it was sustained for at least 8 days. Upregulation of angiotensinogen mRNA was observed in the hypoxic lung at 4-9 days, but not in the hypoxic right ventricle and pulmonary artery. Olmesartan inhibited the hypoxia-induced phosphorylation of ERK1/2 in the lung, but not in the right ventricle. Neither right ventricular hypertrophy nor the thickening of the intrapulmonary arterial wall was ameliorated by olmesartan. However, this drug inhibited the expression of the mRNA for angiotensinogen and several pro-inflammatory factors, including interleukin-6 and inducible nitric oxide synthase in the hypoxic lung. These results suggest that olmesartan blocks a potential positive feedback loop of the angiotensin II-AT1 receptor system, which may lead to attenuate pro-inflammatory signals in the mouse lung, that are associated with hypoxic pulmonary hypertension, without inducing any appreciable effects on the compensatory cardiopulmonary hypertrophy at an early phase of exposure to a hypobaric hypoxic environment.
• Digital hand and virtual ergonomic assessment simulator for styling design

  Research in Interactive Design 2 HUCED-1  2006 [Not refereed][Not invited]
  
• Digital Usability Assessment for Information Appliances using User-Interface operable 3D Digital Mock-up

  Research in Interactive Design 2 HUCEID-P235  2006 [Not refereed][Not invited]
  
• An ergonomic assessment system using a digital hand for designing handheld information appliances

  Proceedings of ASME 2006 Design Engineering Technical Conferences and Computers and Information in Engineering Conference (CD-ROM) 1 (1) DETC2006-99114  2006 [Not refereed][Not invited]
  
• A Parametric Deformation Method for Mesh Models based on Barycentric Coordinates

  Proceedings of Visualization Imaging and Image Processing 2006 (CD-ROM) 359 - 364 2006 [Not refereed][Not invited]
  
• Flexible Feature and Resolution Control of Triangular Meshes

  DATE H.

  Proc. Sixth IASTED International Conference on Visualization, Imaging, and Image Processing, 2006 319 319 - 324 2006 [Not refereed][Not invited]
  
• Mesh Simplification and Adaptive LOD for Finite Element mesh Generation

  International Journal of CAD/CAM 6 (1) No.8  2006 [Not refereed][Not invited]
  
• A parametric deformation for mesh models based on barycentric coordinates

  Gaku Mizuno, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami

  Proceedings of the 6th IASTED International Conference on Visualization, Imaging, and Image Processing, VIIP 2006 359 - 364 2006 

  Free-Form Deformation (FFD) [1] is a popular method for deforming 3D geometric models. FFD first embeds the model in the regular lattice (handle). Then by deforming the handle, the embedded model is deformed. However, FFD has the following problems for engineering applications: 1) it is difficult to make the handle suitable for the user-intended deformation type such as bend and twist, 2) it requires complicated manipulation, and 3) it cannot produce deformations precisely because the degree of deformation such as the angle of bend cannot be specified explicitly. Therefore, in order to solve these problems, we propose a parametric deformation method for mesh models. First, we propose an FFD based on barycentric coordinates (BCFFD) for a convex polytope. Second, we propose an automatic handle construction method for the BCFFD based on definition and classification of deformation types such as bend, twist, and so on. Third, we propose a parametric deformation method based on BCFFD. Finally, we derive constraints for the handle that preserve geometric continuity at boundary between the deformed and non-deformed portion of the model. Using our methods, the user can deform the mesh model by selecting the deformation type and portions to be deformed, and by manipulating deformation parameters.
• A Study of Multiresolution Mesh Modeling for Finite Element Analysis

  Date Hiroaki, Kanai Satoshi, Nishigaki Ichiro, Onosato Masahiko

  Proceedings of JSPE Semestrial Meeting 一般社団法人日本機械学会 2006 41 - 42 2006 

  Connecting some meshes is required for realizing mesh-based efficient CAE, for example, generating assembly models or setting analysis conditions. This paper proposes a new mesh combining method for triangular and tetrahedral meshes. First, the connectors which connect given two meshes are inserted, and then they are removed by the edge collapse simplification. As a result, a connected mesh that has coincident elements on the shared portions can be obtained. Our method is applicable to the meshes that have no-coincident elements and geometries on the portion to be connected, and it supports several types of mesh connections, i.e. curve-curve, curve-surface, and surface-surface connections.
• An application of a digital hand to ergonomic assessment of handheld information appliances

  Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.

  SAE Technical Papers 2006 [Refereed][Not invited]
  
• A multiresolution mesh processing system for efficient CAE

  Hiroaki Date, Satoshi Kanai, Takeshi Kishinami, Ichiro Nishigaki

  2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3685 - + 2006 [Refereed][Not invited]
   

  With the progress of 3D scanning technology and storing mesh data to 3D model databases, the use of the meshes obtained by scanning and DB querying in CAE have been strongly required in addition to those obtained from traditional meshing of solid models. In our research, we developed a multiresolution mesh processing system for triangular meshes to realize CAE using various kinds of meshes. Our system consists of three functions based on the multiresolution techniques: mesh quality improvement, mesh properties control, and local mesh density control. This paper describes these functions including the extension for tetrahedral meshes, and also shows their effective use in the CAE.
• Parametric deformation of mesh models for efficient CAE

  Gaku Mizuno, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami, Masahiko Onosato

  2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3697 - + 2006 [Refereed][Not invited]
   

  Free-Form Deformation (FFD) is a popular method for deforming 3D geometric models. FFD first embeds the model in the parametric space defined by regular lattice (handle). Then by deforming the handle, the embedded model is deformed. However the FFD has following problems for engineering applications such as deformation of mesh models for Computer Aided Engineering (CAE): 1) It is difficult to make handle suitable for intended deformation type such as bend and twist, 2) it requires complicated manipulation to deform and 3) it can not explicitly specify the degree of deformations such as angle of bend. Therefore, in order to solve these problems, we present a parametric deformation method for mesh models. First, we propose an FFD based on barycentric coordinates (BCFFD). Then, we propose an automatic handle construction method for the BCFFD based on definition and classification of deformation types such as bend, twist and so on. Finally, we propose a parametric deformation method. Using our methods, the user can deform the mesh model by selecting deformation type and portions to be deformed, and by manipulating one or two deformation parameters.
• Segmentation of scanned mesh into analytic surfaces based on robust curvature estimation and region growing

  Tomohiro Mizoguchi, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami

  GEOMETRIC MODELING AND PROCESSING - GMP 2006, PROCEEDINGS 4077 644 - 654 0302-9743 2006 [Refereed][Not invited]
   

  For effective application of laser or X-ray CT scanned mesh models in design, analysis, and inspection etc, it is preferable that they are segmented into desirable regions as a pre-processing. Engineering parts are commonly covered with analytic surfaces, such as planes, cylinders, spheres, cones, and tori. Therefore, the portions of the part's boundary where each can be represented by a type of analytic surface have to be extracted as regions from the mesh model. In this paper, we propose a new mesh segmentation method for this purpose. We use the mesh curvature estimation with sharp edge recognition, and the non-iterative region growing to extract the regions. The proposed mesh curvature estimation is robust for measurement noise. Moreover, our proposed region growing enables to find more accurate boundaries of underlying surfaces, and to classify extracted analytic surfaces into higher-level classes of surfaces: fillet surface, linear extrusion surface and surface of revolution than those in the existing methods.
• High-quality and property controlled finite element mesh generation from triangular meshes using the multiresolution technique

  H Date, S Kanai, T Kishinami, Nishigaki, I, T Dohi

  JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING 5 (4) 266 - 276 1530-9827 2005/12 [Not refereed][Not invited]
   

  In this paper, we propose a new triangular finite element mesh generation scheme from various kinds of triangular meshes using the multiresolution technique. The proposed scheme consists of two methods: a mesh quality improvement method and a mesh property control method. The basic strategy of these methods is a combination of the mesh subdivision and simplification. Given mesh is first subdivided to obtain enough degree of freedom for a property change, then by simplification using edge collapse for the resulting mesh to change the mesh properties, we can easily improve and control the mesh properties required for finite element analysis.
• Feature Edges Extraction on Mesh Models Based on Wide Range Normal Evaluation and Modified Watershed Method(Media and Representations)

  MIZOGUCHI TOMOHIRO, DATE HIROAKI, KANAI SATOSHI, KISHINAMI TAKESHI

  IPSJ Journal 一般社団法人情報処理学会 46 (12) 3175 - 3187 0387-5806 2005/12 [Refereed][Not invited]
   

  Recently, mesh models are easily obtained from several resources such as reverse engineering and searching 3D database. These mesh models are often used at the style design stage in product development. But at the detail design stage, solid models are necessary, therefore the technique which automatically generates solid models from mesh models is required for more efficient product development. In this paper, we propose a new method of feature edges extraction of triangular mesh models based on wide range normal evaluation and segmentation using modified Watershed method for generating solid models from mesh models automatically. We define feature edges as boundary edges of the region consisting of a set of triangles which should be recognized as a face. Our method is robust for scanning noise and differences of mesh connectivity, and it allows us to recognize the region bounded by extracted feature edges as a face. Our method also enables the extraction of boundary edges of fillet surface as feature edges, which was difficult by previous methods. Moreover we implemented the functions for selecting and collecting required feature edges which are extracted at different parameter settings for extractions by user interactions, and importing resulting feature edges into 3D CAD system.
• Reverse Engineering of a Subdivision Surface Enabling Accurate Fitting around Feature Edges

  ENDO Yui, DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi

  Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers 公益社団法人精密工学会 71 (9) 1168 - 1172 1348-8724 2005/09 [Refereed][Not invited]
   

  This paper proposes a new algorithm for fitting a Loop subdivision surface to dense sample points. Our fitting algorithm uses marching cubes and shrink-wrapping to fit the initial control mesh to the points measured from objects. It uses quasi-interpolation to quickly calculate the positions of initial control points from subdivision limit points and uses QEM- and curvature-based mesh simplification to preserve feature boundaries of the minute fillet regions so as to accurately fit to the feature edges. The effectiveness of our fitting algorithm was verified in reverse engineering of broad range of engineering mock-ups such as housings of a handheld wireless communicator, a cellphone, and a turbine blade. The resulting initial control mesh of the subdivision surface that was fit to over 10^6-point cloud had about several thousand of vertices with approximately 10^<-3> mean normalized fitting error.
• A Textured Shape Design System using Mesh Modeling

  Date Hiroaki, Kanai Satoshi, Kishinami Takeshi, Iwakoshi Mutsuro, Kobayashi Masayoshi

  IPSJ SIG Notes 一般社団法人情報処理学会 2005 (44) 55 - 60 0919-6072 2005/05 [Refereed][Not invited]
   

  In this paper, we introduce a design system of textured shapes with small bumps using mesh-modeling techniques. Our system consists of three functions: 1) texture mesh data acquisition based on 3D scanning of sample texture material and texture extraction from existing textured models, 2) digital data processing of the texture mesh, and 3) textured shape modeling by combining meshes according to the user-specified region or direction of texture. These functions allow us to achieve effective textured shape design and prototyping.
• A Mesh Smoothing Method with Feature Edge ldentification

  Shimizu Takafumi, Date Hiroaki, Kanai Satoshi, Kishinami Takeshi

  IPSJ SIG Notes 一般社団法人情報処理学会 2005 (44) 7 - 12 0919-6072 2005/05 [Refereed][Not invited]
   

  In this paper, we propose a mesh smoothing method with feature edge identification for mesh models including the measurement noise obtained from 3D scanner. First, by doing the eigen analysis of normal voting tensor, mesh edge groups that compose the feature edges can be extracted. Second, a bilateral filtering is applied to the extracted mesh edge groups in order to generate smooth edges along feature edge directions. Finally, by applying modified bilateral filtering to the overall mesh, the mesh model is obtained where the feature edges are smoothed along their directions and measurement noise included in faces surrounded by feature edges are removed.
• Object-Oriented Design Patterns for Modeling Dynamic Behavior of Distributed Control Systems

  TOMURA Toyoaki, KANAI Satoshi, KISHINAMI Takeshi, UEHIRO Kiyoshi, YAMAMOTO Susumu

  Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers 公益社団法人精密工学会 71 (3) 379 - 383 1348-8724 2005/03 [Refereed][Not invited]
   

  Distributed control systems (DCS) consist of many distributed sensors and actuators and a network interconnecting them, and are being introduced in various automation areas. For assuring the control performance of DCS under the heavy communication traffic, the simulation of DCS is strongly needed. For this purpose, we propose a uniform, efficient and systematic method based on object-oriented design patterns for modeling and simulating DCSs. In this paper, two design patterns are newly proposed. Statechart pattern describes classes and interaction for uniformly executing the state transitions in a finite state machine (FSM). Event-Chain pattern describes classes and interaction for uniformly dispatching the events among FSMs. The systematic procedures of implementation from the patterns to the Java code of the DCS model, are also discussed. Finally, effectiveness of proposed method was proved by developing a Java-based DCS simulator for distributed HVAC system.
• Mesh Quality Improvement based on Subdivision and Simplification

  DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi, NISHIGAKI Ichiro, DOHI Takayuki

  Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers 公益社団法人精密工学会 71 (2) 223 - 227 1348-8724 2005/02 [Refereed][Not invited]
   

  Low-quality triangular meshes with extremely distorted triangles are generated from several mesh generation approaches, including reverse engineering and solid model tessellations. However, such meshes have a negative effect on mesh applications such as digital geometry processing and finite element analysis. Therefore, a robust and fast algorithm for mesh quality improvement is strongly required. In this paper, we propose a new mesh quality improvement method based on mesh subdivision and simplification. In our method, we first subdivide the input mesh until the resulting mesh has a sufficient degree of freedom for topology modification. Then by simplifying the subdivided mesh based on the edge collapse according to the measure of mesh quality improvement, we are able to obtain the high-quality mesh. Our approach also generates the multiresolution hierarchy of a high-quality triangular mesh, which is also useful for several mesh applications. Finally, we show the effectiveness of our approach through applications with geometric models of industrial products and quantitative evaluations.
• Satoshi Kanai, Toyoaki Tomura, Kiyoshi Uehiro and Susumu Yamamoto： "Chapter 8, Object-oriented Design Pattern Approach to Seamless Modeling, Simulation and Implementation of Distributed Control systems", 67-76 (Eiji Arai, Jan Goosenaerts, Fumihiko Kim・・・

  2005 [Not refereed][Not invited]
   

  Satoshi Kanai, Toyoaki Tomura, Kiyoshi Uehiro and Susumu Yamamoto： "Chapter 8, Object-oriented Design Pattern Approach to Seamless Modeling, Simulation and Implementation of Distributed Control systems", 67-76 (Eiji Arai, Jan Goosenaerts, Fumihiko Kimura and Keiichi Shirase編: "Knowledge and Skill Chains in Engineering and Manufacturing", Springer, New York) (2005).
• A new bilateral mesh smoothing method by recognizing features

  T Shimizu, H Date, S Kanai, T Kishinami

  NINTH INTERNATIONAL CONFERENCE ON COMPUTER AIDED DESIGN AND COMPUTER GRAPHICS, PROCEEDINGS 1 (1) 281 - 286 2005 [Refereed][Not invited]
   

  In this paper, we propose a new mesh smoothing method for mesh models with measurement noise obtained from a 3D scanner. Our proposed method enables not only the removal of noise from the faces but the preservation and smoothing of features recognized as sharp edges and corners. First, by using the eigen analysis of normal voting tensor, mesh edges composed of sharp edges can be extracted. Second, bilateral filtering is applied to extracted mesh edges to smooth the mesh edges along the direction of the sharp edge. Finally, by applying modified bilateral filtering to the overall mesh, a mesh model with sharp edges smoothed along their directions and measurement noise removed from faces was obtained.
• Mesh simplification and adaptive LOD for finite element mesh generation

  H Date, S Kanai, T Kishinami, Nishigaki, I

  NINTH INTERNATIONAL CONFERENCE ON COMPUTER AIDED DESIGN AND COMPUTER GRAPHICS, PROCEEDINGS 1 (1) 339 - 344 2005 [Refereed][Not invited]
   

  In this paper, we propose a new triangular finite element mesh generation method based on simplification of high-density mesh and adaptive Level-of-Detail (LOD) methods for efficient CAE. Mesh simplification evaluating mesh properties is applied to control the mesh properties required for FE mesh, such as the number of triangular elements, element shape quality and size while keeping the specified approximation tolerance. Adaptive LOD methods based on vertex hierarchy according to curvature and region of interest, and global LOD method preserving density distributions are also proposed in order to construct a more appropriate FE mesh. These methods enable efficient generation of FE meshes with appropriate properties for analysis from a high-density mesh. Finally, the effectiveness of our approach is shown through evaluations of the FE meshes for practical use.
• Human-Computer Interactions for Digital Styling Design – A difficult road toward bridging the gap between concepts and 3D models

  Research in Interactive Design 1 VC20050024  2005 [Not refereed][Not invited]
  
• Feature edge extraction from mesh model based on wide range normal evaluation and modified watershed method

  T Mizoguchi, H Date, S Kanai, T Kishinami

  PROCEEDINGS OF THE 8TH JOINT CONFERENCE ON INFORMATION SCIENCES, VOLS 1-3 1610 - 1613 2005 [Not refereed][Not invited]
   

  Recently, a technique which automatically generates solid models from mesh models is required in the field of reverse engineering for more efficient product development. In this paper, we propose a new feature edge extraction method from triangular mesh models based on wide range normal evaluation and segmentation using the modified Watershed method. Our feature edge extraction method is robust for mesh models with scanning noise and different mesh connectivity, and it enables recognition of the region bounded by extracted feature edges as a face. It also enables extraction of boundary edges of the fillet surface as feature edges, which was difficult using previous methods. These characteristics are effective for automatic solid model generation. Moreover we implemented functions for selecting and collecting the required feature edges extracted at different parameter settings, and transferring the resulting feature edges into a 3D CAD system.
• Textured shape design using detail extraction based on mesh smoothing and flattening

  H Date, S Kanai, T Kisinami

  APPLICATIONS OF DIGITAL TECHNIQUES IN INDUSTRIAL DESIGN ENGINEERING-CAID&CD' 2005 146 - 151 2005 [Not refereed][Not invited]
   

  In this paper, we propose a new texture extraction method from an existing mesh surface with texture consisting of small bumps for efficient textured shape design. Our texture extraction approach consists of two stages: In the first stage, the geometries of base surface and texture (displacements) are separated from the textured surface using a combination of smoothing operations: the normal smoothing for estimating base surface normals, and the smoothing of vertex positions for separating geometries. The latter one is realized by moving vertices along the estimated normal direction, and it enables extraction of displacements from meshes with different proper-ties. In the second stage, by applying mesh flattening using a parameterization technique to the estimated base surface, the initial flat mesh is generated. The final texture is then obtained by offsetting the vertices of the resulting flat mesh according to the extracted displacements. As a result, texture mesh, which represents bumpiness of the texture from base surface by the height values of the vertices, can be obtained.
• Low-cost and rapid prototyping of UI-embedded mock-ups using RFID and its application to usability testing

  HORIUCHI S.

  Proceedings of HCII 2005, Theories Models and Processes in HCI 4 2504  2005 [Not refereed][Not invited]
  
• Mesh Quality Improvement based on Subdivision and Simplification

  DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi, NISHIGAKI Ichiro, DOHI Takayuki

  Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers 公益社団法人精密工学会 71 (2) 223 - 227 1348-8724 2005 [Not refereed][Not invited]
   

  Low-quality triangular meshes with extremely distorted triangles are generated from several mesh generation approaches, including reverse engineering and solid model tessellations. However, such meshes have a negative effect on mesh applications such as digital geometry processing and finite element analysis. Therefore, a robust and fast algorithm for mesh quality improvement is strongly required. In this paper, we propose a new mesh quality improvement method based on mesh subdivision and simplification. In our method, we first subdivide the input mesh until the resulting mesh has a sufficient degree of freedom for topology modification. Then by simplifying the subdivided mesh based on the edge collapse according to the measure of mesh quality improvement, we are able to obtain the high-quality mesh. Our approach also generates the multiresolution hierarchy of a high-quality triangular mesh, which is also useful for several mesh applications. Finally, we show the effectiveness of our approach through applications with geometric models of industrial products and quantitative evaluations.
• Object-Oriented Design Patterns for Modeling Dynamic Behavior of Distributed Control Systems

  TOMURA Toyoaki, KANAI Satoshi, KISHINAMI Takeshi, UEHIRO Kiyoshi, YAMAMOTO Susumu

  Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers 公益社団法人精密工学会 71 (3) 379 - 383 1348-8724 2005 [Not refereed][Not invited]
   

  Distributed control systems (DCS) consist of many distributed sensors and actuators and a network interconnecting them, and are being introduced in various automation areas. For assuring the control performance of DCS under the heavy communication traffic, the simulation of DCS is strongly needed. For this purpose, we propose a uniform, efficient and systematic method based on object-oriented design patterns for modeling and simulating DCSs. In this paper, two design patterns are newly proposed. Statechart pattern describes classes and interaction for uniformly executing the state transitions in a finite state machine (FSM). Event-Chain pattern describes classes and interaction for uniformly dispatching the events among FSMs. The systematic procedures of implementation from the patterns to the Java code of the DCS model, are also discussed. Finally, effectiveness of proposed method was proved by developing a Java-based DCS simulator for distributed HVAC system.
• Yui Endo, Hiroaki Date, Satoshi Kanai and Takeshi Kishinami： "A robust and accurate fitting algorithm of a Loop Subdivision Surface for a Complex and High Density Point Cloud", Proceedings of Digital Engineering Workshop, 156-163, (2005)*.*

  2005 [Not refereed][Not invited]
  
• Soh Horiuchi, Satoshi Kanai, Takeshi Kishinami, Shoichi Hosoda, Yasuaki Ohshima and Yoshiyuki Shiroma: "A New Virtual Design Mockup for Digital Devices with Operable GUI using an RFID chip and Mixed Reality", Proceedings of Virtual Concept 2005, [1/1(C・・・

  2005 [Not refereed][Not invited]
   

  Soh Horiuchi, Satoshi Kanai, Takeshi Kishinami, Shoichi Hosoda, Yasuaki Ohshima and Yoshiyuki Shiroma: "A New Virtual Design Mockup for Digital Devices with Operable GUI using an RFID chip and Mixed Reality", Proceedings of Virtual Concept 2005, [1/1(CD-ROM) VC2005154] (2005)*. *
• Muturo Iwakoshi, Seiki Yasuda, Masayoshi Kobayashi, Masamichi Mito, Satoshi KANAI and Takeshi Kishinami: “A Development of a Stereolithography Machine enabling Direct Fabrication of Colored Prototype”, Proceedings of SME Rapid Prototyping & Manufacturi・・・

  2005 [Not refereed][Not invited]
   

  Muturo Iwakoshi, Seiki Yasuda, Masayoshi Kobayashi, Masamichi Mito, Satoshi KANAI and Takeshi Kishinami: “A Development of a Stereolithography Machine enabling Direct Fabrication of Colored Prototype”, Proceedings of SME Rapid Prototyping & Manufacturing 2005, [1/1(CD-ROM) ] (2005).
• Satoshi Kanai, Toyoaki Tomura, Kiyoshi Uehiro and Susumu Yamamoto： "Chapter 8, Object-oriented Design Pattern Approach to Seamless Modeling, Simulation and Implementation of Distributed Control systems", 67-76 (Eiji Arai, Jan Goosenaerts, Fumihiko Kim・・・

  2005 [Not refereed][Not invited]
   

  Satoshi Kanai, Toyoaki Tomura, Kiyoshi Uehiro and Susumu Yamamoto： "Chapter 8, Object-oriented Design Pattern Approach to Seamless Modeling, Simulation and Implementation of Distributed Control systems", 67-76
  (Eiji Arai, Jan Goosenaerts, Fumihiko Kimura and Keiichi Shirase編: "Knowledge and Skill Chains in Engineering and Manufacturing", Springer, New York) (2005).
• 「広域的法線評価と改良Watershed法に基づくメッシュモデルの特徴稜線抽出手法」

  情報処理学会論文誌 46 (12) 3175 - 3187 2005 [Not refereed][Not invited]
  
• Feature edges extraction on mesh models based on wide range normal evaluation and modified watershed method

  Information Processing Society Japan Journal 46 (12) 3175 - 3187 2005 [Not refereed][Not invited]
  
• Endo,Y., KANAI,S. and Kishinami,T. : " A robust, accurate and flexible fitting algorithms of subdivision surface for point cloud in industrial design use", Proceedings of 3D Modelling 2004, [1/1(CD-ROM) 1] (2004)

  2004 [Not refereed][Not invited]
  
• Date, H., KANAI,S. and Kishinami, T. : " Mesh quality improvement based on mesh subdivision and simplification", Proceedings of 3D Modelling 2004, [1/1(CD-ROM) 2] (2004)

  2004 [Not refereed][Not invited]
  
• Urushihara, A., Kanai,S., Kishinami,T. and Tomura, T.: "BEHAVIOR MODELER: Systematically generating Statechart from Functional Relations and Scenarios for prototyping User Interface", Proceedings of 5th International Conference on Computer-aided Design・・・

  2004 [Not refereed][Not invited]
   

  Urushihara, A., Kanai,S., Kishinami,T. and Tomura, T.: "BEHAVIOR MODELER: Systematically generating Statechart from Functional Relations and Scenarios for prototyping User Interface", Proceedings of 5th International Conference on Computer-aided Design of User Interfaces CADUI'2004, 67-80 (2004).*
• Real -time tracking of head rotation for human-computer-interaction based on image projection curves

  Takanori Yamada, Katsuhisa Shibukawa, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami

  Proceedings of the Fourth IASTED International Conference on Visualization, Imaging, and Image Processing 129 - 134 2004 

  This paper addresses our proposed method to automatically detect the direction of the rotational motion of the human head The method introduced in this paper develops a human interface, especially in regards to the mouse cursor which can be controlled by the motion of the head motion. Conventionally, template matching is mainly used to make a computer recognize the motion and position of the human face, but there are several problems with terms of versatility and time involved with calculation. We propose a new algorithm to detect the head rotational motion by calculating the shift length of projection curves which are derived from the Hue information of each image.
• Algebraic declaration and axiom based validation for user interface design of IT instrument

  Y Kikuchi, S Kanai, T Kishinami

  IEEE INTERNATIONAL SYMPOSIUM ON COMMUNICATIONS AND INFORMATION TECHNOLOGIES 2004 (ISCIT 2004), PROCEEDINGS, VOLS 1 AND 2 232 - 237 2004 [Refereed][Not invited]
   

  We propose a declaration and validation method for finite state machine specification in an initial design phase of user interface. The declaration is based on the mathematical algebra. The validation has an input of the algebra and done based on C. A. R. Hoare's effort using prepared axiom set, The algebraic declaration is transferred to assertion and validated for specific subject. This methodology has an advantage of mathematical robustness and a flexibility to cover a lot of dynamic model. We developed a prototype system using Mathematica and used VWC (Visual Wireless Communicator) as a test case for declaration and validation. We are going to report background, subjects, the fundamental method, an implementation and a validation of declared VWC specification.
• Object-oriented Design Patterns for Modeling Static Structures of Distributed Control Systems

  TOMURA Toyoaki, KANAI Satoshi, KISHINAMI Takeshi, UEHIRO Kiyoshi, YAMAMOTO Susumu

  Journal of the Japan Society of Precision Engineering 公益社団法人精密工学会 Vol.69 (No.6) 815 - 819 0912-0289 2003 [Not refereed][Not invited]
   

  Recently distributed control systems (DCS), which consist of many devices and a network interconnecting them, are introduced in various automation systems. For assuring the control performance under the heavy communication traffic, the simulation of DCS is strongly needed. For this purpose, we propose a uniform, efficient and systematic method based on object-oriented design patterns for modeling and simulating DCS. Two design patterns are newly proposed. Device-Constructor and Composite-Device-Constructor patterns describe classes and mechanisms for uniformly structuring device models composed of sensor and actuator models, and for uniformly structuring composite device models composed of device models. The systematic procedures of implementation from the patterns to Java code of the DCS model are also discussed. Finally, effectiveness of proposed method was proved in developing a Java-based DCS modeler and simulator for building automation area.
• 「パラメタライゼーションを用いた表面詳細合成形状の三角形メッシュモデリング」

  精密工学会誌 69 (4) 608 - 612 2003 [Not refereed][Not invited]
  
• A cooperative simulation mechanism of distributed control systems based on object-oriented design patterns

  T Tomura, S Kanai, T Kishinami

  ISORC 2003: SIXTH IEEE INTERNATIONAL SYMPOSIUM ON OBJECT-ORIENTED REAL-TIME DISTRIBUTED COMPUTING, PROCEEDINGS 83 - 90 2003 [Refereed][Not invited]
   

  Distributed control systems (DCSs) consisting of a plant, a controller composed of many devices, and an open network interconnecting devices, are now used in many automation areas. For assuring the control performance under the heavy traffic on the network, the simulation of DCS is strongly needed. In the case of DCSs for controlling a mechanical plant, the graphical and cooperative simulation between the controller model and the plant model becomes important to verify the sequence of motions of the plant. For this purpose, we propose a systematic object-oriented-based DCS modeling procedure to efficiently and uniformly develop the DCS simulation model. From this procedure, we can describe the formal description of DCS simulation model based on five object-oriented design patterns which describe the structure and behavior of the DCS. We also propose an event chain mechanism between the statechart-based controller model and the graphical plant model. Finally, the cooperative DCS simulation software is developed by! using the Java 3D API.
• XML/Web based infrastructure to support sharing geospatial data and ecological model for simulation of eco-resource

  F Tanaka, D Sakaguchi, S Kanai, T Kishinami, S Saitoh

  IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS 213 - 215 2001 [Not refereed][Not invited]
   

  This paper describes the XML/Web based infrastructure to support sharing geospatial data and an ecological model for simulation of eco-resource.
• An adaptive LOD control method for textured digital terrain model using wavelet-based multiresolution representation

  H Date, S Kanai, T Kishinami

  IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS 1847 - 1849 2001 [Refereed][Not invited]
   

  In this paper, we propose an adaptive level-of-detail control method using wavelet-based multiresolution representation for triangulated mesh and digital image for the purpose of efficient data processing for transmitting and displaying a textured digital terrain model in a network-based server-client system.
• Copyright protection of vector map using digital watermarking method based on discrete Fourier transform

  Kitamura, I, S Kanai, T Kishinami

  IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS 1191 - 1193 2001 [Refereed][Not invited]
   

  In this paper, a new digital watermarking method for the vector map was proposed, where the watermark could be embedded in a set of polylines by using discrete Fourier transform (DFT). The robustness for the external attacks and visual degradation caused by embedding were evaluated and effectiveness of the watermarking was confirmed. Our watermarking method is especially robust for the attacks of the vertex reorder, and noise imposition on vertex coordinates.
• Seamless design methodology of manufacturing cell-control software based on activity-control-condition and object diagram

  T Tomura, S Kanai, T Kishinami

  INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 13 (3) 263 - 272 0951-192X 2000/05 [Refereed][Not invited]
   

  A manufacturing cell. must be changed according to the type, variations and intended rate of production for the product. In order to shorten the period of time required for the cell-control software development, the system designer must have the descriptions of the configuration of the cell and the sequence of activities required in the cell, and a comprehensive design methodology based on these descriptions. First, we propose a seamless design methodology that is comprehensive and has a clear design concept. The methodology is based on the diagrammatic specification and the conversion processes of it, The diagrammatic specification represents both the configuration of die cell and the sequence of activities required in the cell; what kind of devices exist in the cell and how they are connected with each other, and how they should work in order to complete the task. The methodology specifies the step-by-step conversion processes from the initial diagrammatic specification to the cell-control software code, The conversion is divided into three processes: refinement of the device activities, translation of the device activities into the cell-controller activities, and transformation from the cell-controller activities to the cell-control software code. Secondly, as the diagrammatic specification, we propose an object diagram and an Activity-Control-Condition (ACC) diagram. The object diagram represents a set of objects and the links among them. The ACC diagram represents the sequence of activities required in the cell as three constructs: the state transitions of objects involved in each activity, the control logic among activities and the conditions for the control. Thirdly, we show the diagram editor how to help the system designer carry out the processes in the design methodology. The system designer can use the following functions of the diagram editor: modifying, sating and loading the object diagram and ACC diagram, and generating the cell-control software code from the translated ACC diagram. Finally, we show the implementation method of the cell-control software, and we verify the functionality of the software by comparing it with the sequence of activities in the ACC diagram.
• Object-oriented graphical specification and seamless design procedure for manufacturing cell control software development

  Satoshi Kanai, Takeshi Kishinami, Toyoaki Tomura

  Proceedings-IEEE International Conference on Robotics and Automation 1 401 - 407 1050-4729 2000 [Refereed][Not invited]
   

  In this paper, a seamless design methodology for developing manufacturing cell control software is proposed. The methodology is based both on the graphical specification and on the systematic design procedure of its conversion to the control code. The graphical specification describes the component configuration of the cell and the activity sequence on which the devices should act. An object diagram and an Activity-Control-Condition (ACC) diagram are introduced for this purpose. The systematic design procedure specifies a clearly-defined conversion from the initial graphical specification to the cell control software code. The conversion consists of three processes: refinement, translation and transformation. A diagram editor has also been developed to help the programmer carry out this design procedure. Finally, the functionality of the control software generated by using the proposed methodology is validated through co-simulation with a Petri net simulator.
• Digital watermarking for 3d polygonal model based on wavelet transform

  Hiroaki Date, Satoshi Kanai, Takeshi Kishinami

  Proceedings of the ASME Design Engineering Technical Conference 2 1063 - 1072 1999 

  Recently, much interest is being taken in a method to protect the copyright of digital data and prevent illegal duplication of it. However, in the area of CAD/CAM and CG, there are no effective ways to protect the copyright of the 3D geometric models. As a first step to solve this problem, a new digital watermarking method for 3D polygonal'models is introduced in this paper. Watermarking is one of the copyright protection methods where an invisible watermark is secretly embedded into the original data. The proposed wateimarking method is based on the wavelet transform (WT) and multi-resolution representation(MRR) of the polygonal model. The watermark can be embedded in the large wavelet coefficient vectors at various resolution levels of the MRR. This makes the embedded watermark imperceptible and invariant to the affine transformation,- and also makes the control of the geometric error caused by the watermarking reliable.

MISC

• TPPV気管内吸引シミュレータ演習におけるインシデントの分類

  コリー紀代, 佐藤敦子, 藤本和恵, 石川孝則, 塩田愛子, 二島良輔, 二宮伸治, 小水内俊介, 五十嵐真里, 金井理, 近野敦, 中村美鈴, 井上創造  医工学治療  36-  (Supplement)  2024
• 在宅人工呼吸器ケア教育の標準化とその課題:360度動画視聴後のアンケート結果から

  コリー紀代, 五十嵐真里, 二宮伸治, 中島裕史, 中村美鈴, 井上創造, 今井適, 金井理, 近野敦, 小水内俊介, 長和俊, 倉島庸, 平田健司, 渡邊祐介, 石田稔, 高橋誠  医工学治療  35-  (Supplement)  2023
• 気管内吸引技術習得における360度動画とフルCG動画の可能性と課題

  コリー紀代, 今井適, 五十嵐真里, 中島裕史, 二宮伸治, 中村美鈴, 井上創造, 小水内俊介, 平田健司, 金井理, 近野敦, 長和俊, 倉島庸, 渡邊祐介, 石田稔, 高橋誠  医工学治療  35-  (Supplement)  2023
• 多様な患者シナリオの作成が可能な人工呼吸器トレーニングアプリSimmarの開発

  二宮伸治, コリー紀代, 五十嵐真里, 中島裕史, 南早苗, 中村美鈴, 井上創造, 今井適, 金井理, 近野敦, 小水内俊介, 長和俊, 倉島庸, 平田健司, 渡邊祐介, 石田稔, 高橋誠  医工学治療  35-  (Supplement)  2023
• Experience of Integrative Research among Nursing Science, Engineering, and Information Technology and Tactics for Global Standard

  コリー紀代, 小水内俊介, 金井理, 近野敦, 中村美鈴, 井上創造, 二宮伸治  日本ロボット学会誌  41-  (4)  2023
• 計測に基づくインフラ構造物の3次元モデル生成とその維持管理への応用 (特集 社会インフラセンシングの新しい潮流)

  金井 理, 伊達 宏昭, 田中 文基  計測と制御 : journal of the Society of Instrument and Control Engineers  60-  (11)  780  -784  2021/11  [Not refereed][Invited]
  
• 仮想生体反応の呈示・実施者の属性による気管吸引中の視線計測結果と作業負担感への影響

  コリー紀代, 小水内俊介, 金井理, 井上創造, 近野敦, 中村美鈴, 二宮伸治  人工呼吸(Web)  38-  (2)  2021
• 視線移動量と視線移動速度頻度分析による気管内吸引技術の習熟度評価の検討

  横尾さくら, コリー紀代, 小水内俊介, 近藤敦, 金井理, 二宮伸治  医工学治療  33-  (Supplement)  2021
• A multi-platform remote nursing education system that allows to take and re-experience a demonstration guidance of exemplary procedures

  佐藤優太, 木村仁, 小水内俊介, COLLEY Noriyo, 二宮伸治, 金井理, 近野敦  計測自動制御学会北海道支部学術講演会論文集  53rd-  2021
• Development of an Early Screening System for Scoliosis Using Depth Camera and 3D Symmetry Analysis

  KANAI Satoshi, SUDO Hideki, KOKABU Terufumi  Journal of the Japan Society for Precision Engineering  87-  (12)  912  -916  2021  [Not refereed][Invited]
  
• A review of Structure-from-Motion and Multi-View-Stereo

  金井 理  写真測量とリモートセンシング  60-  (3)  95  -99  2021  [Not refereed][Invited]
  
• Functional Mappingを用いた3次元メッシュモデルの非剛体レジストレーションに関する研究

  山岡 茉莉, 金井 理, 伊達 宏昭  精密工学会学術講演会講演論文集  2020-  (0)  258  -259  2020  

  スキャン毎に姿勢が異なる物体の3Dスキャンでは，複数スキャンデータ統合時に非剛体マッチングを行いレジストレーションを実施する必要がある．本報では，既存手法であるメッシュのスペクトル分解とFunctional Mappingを用いた3次元形状間の非剛体マッチング手法により，スキャンシミュレーションで得られた部分データおよびそれとスケールが同じで欠損の無い完全なテンプレートモデル間の対応関係算出を行った例を報告する．

• 形状記述子を用いたソリッドモデルからのFEMメッシュ生成向け形状特徴抽出

  髙石 一平, 金井 理, 伊達 宏昭, 髙嶋 英厳  精密工学会学術講演会講演論文集  2020-  (0)  204  -205  2020  

  本研究では，鋳鍛造部品のCADモデル上から自由曲面を持つボスやリブなどの形状特徴を表面三角形メッシュ表現に変換して抽出し，抽出特徴部に適合するFEMメッシュ生成を自動化することを目的とする．本報では，入力となる抽出対象形状特徴のボス・リブをBag-of-featureとクラスタリングを用いて選定し，形状記述子の一致性を利用してスケールが異なる抽出対象形状特徴を全体形状モデル上から自動抽出する基本機能を実現した．

• CAEモデルデータ自動生成のための類似特徴形状検索手法の開発

  高嶋 英厳, 金井 理  精密工学会学術講演会講演論文集  2020-  (0)  210  -211  2020  

  本研究は，対象形状のソリッドモデル上から，予め登録された基準特徴形状とサイズ等がパラメトリックな変形関係にある特徴形状部を自動抽出することを目的とし，メッシュ及び形状記述子を用いた基準特徴形状とのキーポイントマッチング，及び，RANSACを用いた射影変換関係形状ペアの探索を用いた類似特徴形状検索手法を提案する．

• MMS取得点群を用いた道路空間情報の抽出（第2報）:スキャンラインの湾曲度評価に基づく車道境界線の抽出と性能評価

  本間 亮平, 伊達 宏昭, 金井 理  精密工学会学術講演会講演論文集  2020-  (0)  234  -235  2020  

  車道部と歩道部の境界線である車道境界線は，自動運転用地図や道路台帳などの高精度地図における基本構成要素である．既存のMMS取得点群を用いた車道境界線抽出手法は，段差の小さい歩道切り下げ部の抽出率が低くなる他，計測ノイズの影響を受けやすいという問題がある．本研究では，MMS取得点群のスキャンラインの平滑化と湾曲度の評価により，これらの問題を解決可能な車道境界線抽出手法を提案し，その性能評価を行う．

• View planning for high-quality and efficient as-is model reconstruction by SfM-MVS (5th report):Improvement of an approximate surface mesh model based on geometric features

  Moritani Ryota, Kanai Satoshi, Date Hiroaki, Niina Yasuhito, Honma Ryohei  Proceedings of JSPE Semestrial Meeting  2020-  (0)  226  -227  2020  

  インフラ建造物の維持管理作業に，多数の重複した画像から3D as-isモデルを生成可能なStructure from MotionとMulti-View Stereo (SfM-MVS)技術の活用が広がっている．しかし，どの位置から何枚画像を撮影すれば高品質な3Dモデルが生成可能か事前の推定が困難なため，モデルの品質が低下する場合がある．本研究ではSfM-MVSによる効率的で高品質なas-isモデル生成のための最適撮影計画支援システムの開発を最終目的とし，本報ではSfMのみから生成したラフな近似物体表面モデルに対して，幾何学的特徴を活用したメッシュのフィルタリングを行い，近似物体表面モデルの形状精度を改良したので報告する．

• 画像のコントラスト強調と対象形状仮説に基づく深度の適応的選択による低テクスチャ表面のSfM-MVS再構成モデル品質の向上

  阿久津 啓, 金井 理, 伊達 宏昭, 新名 恭仁, 本間 亮平  精密工学会学術講演会講演論文集  2020-  (0)  230  -231  2020  

  多数画像から３次元モデルを再構成できるSfM-MVSが様々な分野で普及している．しかし，低テクスチャ表面では，対象の3次元再構成が良好に行えない問題が残されている．本研究では，MVSの深度マップ推定時に，画像のコントラスト強調と対象形状の仮定に基づき推定された深度の中から，輝度情報の適合性の高い深度を選択し，より高品質な深度マップを生成し，再構成モデルの品質を向上させる手法を開発した．

• レーザ計測に基づく屋内空間CFD解析用直交格子の自動生成

  石川 哲朗, 金井 理, 伊達 宏昭  精密工学会学術講演会講演論文集  2020-  (0)  248  -249  2020  

  既存屋内空間の空調改修などのためにCFD(数値流体力学)シミュレーションが普及している．シミュレーションのためには通常，解析対象空間の3Ðモデルから生成した解析格子が必要である．この3Ðモデルは図面や計測をもとに現状,手動または半自動で生成する必要があるため時間やコストがかかる．そこで本研究では,解析対象空間を地上型レーザスキャナで計測した点群のみから3Dモデルを作ることなく，空間のボクセル分割や空間占有状態推定によりCFD解析用の不等間隔直交格子を自動で生成する手法を開発した．

• レーザ計測点群からの屋内環境モデリング:天井面付属設備の自動抽出

  髙橋 勇斗, 伊達 宏昭, 金井 理, 安武 和成  精密工学会学術講演会講演論文集  2020-  (0)  244  -245  2020  

  本研究は，レーザ計測点群からの屋内環境自動3次元モデリング手法の開発を目的とし，これまでに，平行・直交・等間隔などの規則性を考慮した屋内環境（天井・壁面・床面）のモデリング手法，ならびに，窓などの壁面に付随する設備の抽出手法を提案してきた．本報では，天井面計測点の境界抽出に基づく，照明器具や火災報知器などの天井面付属設備の自動抽出手法を提案する．

• Synthesizing Dynamic Facial Expressions of the Patient Model with Projection Mapping for the Nurse Training Simulator

  Ahmad Ridwan Fauzi, Kanai Satoshi, Date Hiroaki, Komizunai Shunsuke, Konno Atsushi, Colley Noriyo, Ninomiya Shinji  Proceedings of JSPE Semestrial Meeting  2020-  (0)  254  -255  2020  

  Tube insertion through trachea is a procedure performed by nurses to suck the sputum out of the patient's trachea. If the procedure is not performed carefully, it causes inconvenience and damages patient's trachea. To train novice nurses to practice the procedure in a safer environment, we developed a projection mapping-based nurse training simulator, and its effectiveness was evaluated. From the evaluations, it was found that more facial expressions, including choking, coughing, and patient's relaxed states, still must be integrated into the patient model so the nurse could be more immersed into the simulator. To achieve that, a Facial Action Coding System (FACS)-based video analysis tool is first used to identify the activated facial action units (AU) in those states and they are applied to the synthetic deformations on a 3D face of the patient model. The degree of naturalness, reality and effectiveness are evaluated.

• 複数TLS点群からのテクスチャ付ポリゴン生成に関する研究:領域形状を考慮した点群分割と平面・掃引体の簡略ポリゴン生成

  今井 心一朗, 伊達 宏昭, 金井 理, 森部 義規, 中村 将基  精密工学会学術講演会講演論文集  2020-  (0)  240  -241  2020  

  本研究では，膨大なデータ量による表示速度低下や点の隙間による表示品質低下といった点群の３次元表示における問題を解決可能な，複数TLS点群からの表示用テクスチャ付ポリゴン生成手法を提案する．本報では，点群中の領域形状を考慮した，表示用ポリゴン向けの点群分割手法および，透明部を持つテクスチャ画像をマップした矩形ポリゴンおよび三角形ストリップによる平面領域および掃引体の表現手法を提案する．

• Hygienic Manipulation Evaluation System during Endotracheal Suctioning using Bilateral Dorsum Manus Total Travel Distance*

  Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Tadayoshi Asaka, Hiroki Mani, Hana Takizawa, Sarina Umesawa, Yuya Taira, Eri Murata, Misuzu Nakamura, Sozo Inoue, Satoshi Kanai, Atsushi Konno  2020 IEEE/SICE International Symposium on System Integration (SII)  500  -503  2020/01  [Not refereed][Not invited]
  
• 気管内吸引手技中の視線計測による看護師と看護学生の習熟度の比較

  竹内由佳, COLLEY Noriyo, 二宮伸治, 小水内俊介, 金井理, 浅賀忠義, 中村美鈴, 井上創造, 村田恵理, 萬井太規, 近野敦  医工学治療  31-  (3)  171  -180  2019/11  [Not refereed][Not invited]
   

  本研究では視線計測に基づく教育評価項目や評価指標の抽出を目的とし、気管内吸引シミュレーション中の看護師と看護学生を対象に両眼構成視線計測装置(Pupil、Pupil Labs社)を用いた視線計測により手技の所要時間、視線の停留回数・停留時間、停留点移動速度を比較した。視線計測後には、NASA-TLXを用いて作業負担度を調査した。その結果、所要時間、視線の停留時間、視線の停留回数・停留時間に有意差が認められた。作業負担度には有意差が見られなかったことから、両群とも模擬環境において同等のストレスがあったと推測される。不慣れな環境においてもパフォーマンスに差が現れることから、手技の所要時間や視線の停留回数・停留時間は習熟度を評価する客観的な指標となりうることが示された。(著者抄録)
• 一人称視点で熟練者の身体動作と視線を追体験可能な没入型看護教育システム ESTE-VR

  小水内 俊介, コリー 紀代, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治  日本シミュレーション医療教育学会雑誌  7-  118  -118  2019/08  [Not refereed][Not invited]
  
• 吸引カテーテル操作に応じた生体反応を呈するプロジェクションマッピングシミュレータ ESTE-SIM

  小水内 俊介, コリー 紀代, 近野 敦, 金井 理, 浅賀 忠義, 高橋 望, 二宮 伸治  日本シミュレーション医療教育学会雑誌  7-  118  -119  2019/08  [Not refereed][Not invited]
  
• Optimal Laser Scan Planning of Terrestrial Laser Scanner for As‐Built Modeling of HVAC Systems

  脇坂英佑, 金井理, 伊達宏昭  新菱冷熱中央研究所報  26-  9‐20  2019/08  [Not refereed][Not invited]
  
• 4D‐有限要素解析シミュレーションによる術前計画と積層造形技術を含む脊柱変形矯正用カスタムメイドインプラントの開発

  須藤英毅, 金井理, 小甲晃史, 安倍雄一郎, 岩崎倫政, 千葉晶彦  別冊整形外科  (75)  218‐221  2019/04  [Not refereed][Not invited]
  
• 3次元スキャンと3次元対称性解析による脊柱側弯症高速・高感度検診システムの開発

  金井理, 須藤英毅  医科学応用研究財団研究報告(CD-ROM)  36-  50‐57  2019/02  [Not refereed][Not invited]
  
• ESTE-VR: An immersive nursing education system that provides re-experience of exemplary procedure from first-person’s view

  小水内俊介, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治, コリー紀代  日本シミュレーション医療教育学会雑誌  7-  2019
• 吸引カテーテル操作に応じた生体反応を呈するプロジェクションマッピングシミュレータ:ESTE-SIM

  小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 高橋望, 二宮伸治  日本シミュレーション医療教育学会雑誌  7-  2019
• 一人称視点で熟練者の身体動作と視線を追体験可能な没入型看護教育システム:ESTE-VR

  小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治  日本シミュレーション医療教育学会雑誌  7-  2019
• Editorial: Augmented Prototyping and Fabrication for Advanced Product Design and Manufacturing.

  Satoshi Kanai, Jouke C. Verlinden  Int. J. Autom. Technol.  13-  (4)  451  -452  2019  [Not refereed][Invited]
  
• as-built Modeling Technologies of Large-Scale Environments and Their Applications

  金井理  精密工学会誌(Web)  85-  (3)  217‐222(J‐STAGE)  2019  [Not refereed][Not invited]
  
• Development of a device for real‐time measurement of sputum volume and catheter contact load for endotracheal suction training simulator

  二宮伸治, COLLEY Noriyo, 小水内俊介, 近野敦, 金井理, 高橋望, 浅賀忠義  日本シミュレーション医療教育学会雑誌  6-  92‐98  2018/09/18  [Not refereed][Not invited]
  
• 看護シミュレータ開発におけるプロジェクションマッピング/拡張現実による視覚提示の課題

  小水内俊介, 近野敦, 金井理, 二宮伸治, 浅賀忠義, 高橋望, コリー紀代  日本シミュレーション医療教育学会雑誌  6-  126  -126  2018/09  [Not refereed][Not invited]
  
• 市街地MMS計測点群からの建物3Dモデリング―建物低層部におけるセグメンテーション精度の改善―

  金山拓也, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.A04‐8  2018/08/20  [Not refereed][Not invited]
  
• Structure from Motionによる効率的で高品質なas‐isモデル生成のための最適撮影計画―モデル品質低下要因の分析とその対策法の考察―

  森谷亮太, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.A04‐13  2018/08/20  [Not refereed][Not invited]
  
• 鋳造品の迅速リバースエンジニアリングに関する研究―計測シミュレーションに基づく鋳造品の最適計測姿勢推定手法の有用性評価―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.A01‐5  2018/08/20  [Not refereed][Not invited]
  
• CAEモデルデータ自動生成のための特徴形状認識手法の開発―SHOT特徴量と非剛体変換を用いたサイズ違い及び歪みのある特徴形状の認識―

  高嶋英厳, 金井理  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.A01‐3  2018/08/20  [Not refereed][Not invited]
  
• 視線移動量を用いた気管内吸引シミュレータの教育評価の検討

  コリー紀代, 小水内俊介, 近野敦, 金井理, 浅賀忠義, 中村美鈴, 井上創造, 村田恵理, 萬井太規, 二宮伸治  日本小児呼吸器学会雑誌  29-  (Suppl.)  108  -108  2018/08  [Not refereed][Not invited]
  
• 人工呼吸器装着児(者)の社会参加を促進する多職種連携における構造的課題

  コリー紀代, 清水弘美, 大塚健, 高橋望, 近野敦, 小水内俊介, 金井理, 二宮伸治, 井上創造, 村田恵理, 萬井太規, 浅賀忠義  医学教育  49-  (Suppl.)  205  -205  2018/07  [Not refereed][Not invited]
  
• 重症心身障害児(者)施設におけるパルスオキシメータによる継続測定データの活用可能性と今後の課題

  コリー紀代, 玉置美香, 山田真代, 八柳千佳子, 稲村道子, 近野敦, 小水内俊介, 金井理, 二宮伸治, 井上創造, 村田恵理, 萬井太規, 浅賀忠義  小児保健研究(Web)  77-  (Suppl)  205 (WEB ONLY)  2018/05/31  [Not refereed][Not invited]
  
• 重症心身障害児(者)施設におけるパルスオキシメータによる継続測定データの活用可能性と今後の課題

  コリー 紀代, 玉置 美香, 山田 真代, 八柳 千佳子, 稲村 道子, 近野 敦, 小水内 俊介, 金井 理, 二宮 伸治, 井上 創造, 村田 恵理, 萬井 太規, 浅賀 忠義  小児保健研究  77-  (講演集)  205  -205  2018/05  [Not refereed][Not invited]
  
• 特発性側弯症手術に対して使用したロッドに対する形状類似分析手法の開発

  小甲晃史, 金井理, 安倍雄一郎, 岩崎倫政, 須藤英毅  Journal of Spine Research  9-  (3)  239  2018/03/25  [Not refereed][Not invited]
  
• 市街地MMS計測点群からの建物3Dモデリング―高さレイヤごとの建物占有領域推定による建物セグメンテーション―

  金山拓也, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.I08  2018/03/01  [Not refereed][Not invited]
  
• メッシュ変形に基づく人体有限要素モデルの高速姿勢変更手法の開発(第三報)―メッシュ品質改善の導入および物体把持接触応力解析への適用―

  廣澤憲麻, 多田充徳, 宮田なつき, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.I32  2018/03/01  [Not refereed][Not invited]
  
• 円筒オブジェクト一致制約を利用したプラント配管系統レーザスキャン点群データの高精度レジストレーション(第4報)―円筒ラフ抽出精度の改良およびラフレジストレーションの効率化―

  森谷亮太, 金井理, 伊達宏昭, 渡辺正浩, 中野隆宏, 山内雄太  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.I21  -576  2018/03/01  [Not refereed][Not invited]
   

  プラント配管系統を複数個所から計測した点群同士の位置合わせでは，配管系統上の点群間の重複が少ない場合，精密な位置合わせとモデリングが行えない問題がある．そこで本研究では，各点群内から部分的な配管円筒オブジェクトを先に認識し，円筒群が空間で一致する幾何制約を利用して，重複が少ない場合でも，点群間のラフおよび精密レジストレーションを行う手法を提案する．本報では，精密位置合わせ時の制約式の違いやICPのような既存手法との精度比較，ならびにラフレジストレーション自動化を行ったので報告する．
• 市街地レーザ計測点群からの類似形状セグメント抽出

  加藤雅志, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.I09  2018/03/01  [Not refereed][Not invited]
  
• 鋳造品の迅速リバースエンジニアリングに関する研究―高品質CADモデル生成のための最適計測姿勢推定―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.B74  2018/03/01  [Not refereed][Not invited]
  
• 鋼橋レーザ計測点群からの規格部材の自動抽出(第4報)―様々な断面形状タイプをもつ規格部材の抽出―

  橋川元彰, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.I19  2018/03/01  [Not refereed][Not invited]
  
• 難計測部をもつ空調設備as‐built3次元モデル構築のための最適スキャナ配置計画(第3報)―GPUによる可視性判定の高速化と数理計画法を用いたスキャナの最適配置の導出―

  脇坂英佑, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2018-  ROMBUNNO.I02  2018/03/01  [Not refereed][Not invited]
  
• 思春期特発性側弯症におけるロッド曲線形状の類似分析手法の開発

  小甲晃史, 金井理, 安倍雄一郎, 岩崎倫政, 須藤英毅  北海道整形災害外科学会  134th-  41  2018  [Not refereed][Not invited]
  
• 特発性側弯症手術に対して使用したロッドに対する形状類似分析手法の開発

  小甲晃史, 金井理, 安倍雄一郎, 岩崎倫政, 須藤英毅  北海道整形災害外科学会  135th-  28  2018  [Not refereed][Not invited]
  
• 座学と実習を補間するスマートフォン/タブレットを用いたインタラクティブなパーソナル看護教育教材:ESTE‐mobile

  小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治  日本呼吸療法医学会学術集会プログラム・抄録集  40th-  257  2018  [Not refereed][Not invited]
  
• 痰吸引カテーテル接触荷重計測デバイスESTE‐SDを用いた臨床経験が接触荷重と挿入長に与える影響の評価

  二宮伸治, 小水内俊介, 村田恵理, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, コリー紀代  日本呼吸療法医学会学術総会プログラム・抄録集  40th-  260  2018  [Not refereed][Not invited]
  
• 3Dスキャナと非対称性解析に基づく脊柱側弯症早期検診システムの開発

  金井理, 須藤英毅, 小甲晃史, 長枝浩, 林隆行, 太田初  日本設計工学会北海道支部研究発表論文集  2018-  (2)  13‐16  2018  [Not refereed][Not invited]
  
• 生体反応を呈するシミュレータESTE‐SIMのための吸引時SpO2/脈拍数の実測に基づく数理モデル定式化の試み

  コリー紀代, 小水内俊介, 村田恵理, 稲村道子, 玉置美香, 山田真代, 八柳千佳子, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, 二宮伸治  日本呼吸療法医学会学術総会プログラム・抄録集  40th-  258  2018  [Not refereed][Not invited]
  
• 没入型看護教育システムESTE‐VRを用いた習熟度分析評価ツール

  小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治  日本呼吸療法医学会学術総会プログラム・抄録集  40th-  257  2018  [Not refereed][Not invited]
  
• 医工連携による次世代型脊柱変形矯正用インプラントの開発戦略

  須藤英毅, 金井理, 小甲晃史, 青柳健太, WANG Hao, 岩崎倫政, 千葉晶彦  日本バイオマテリアル学会大会予稿集(Web)  40th-  165 (WEB ONLY)  2018  [Not refereed][Not invited]
  
• 特発性側弯症手術に対して解剖学的脊柱配列獲得を目指して使用したロッドに対する形状類似分析手法の開発

  小甲晃史, 金井理, 安倍雄一郎, 岩崎倫政, 須藤英毅  日本側彎症学会演題抄録集  52nd-  276  2018  [Not refereed][Not invited]
  
• Optimal Laser Scan Planning of Terrestrial Laser Scanner for As-built Modeling of HVAC Systems

  脇坂英佑, 金井理, 伊達宏昭  精密工学会誌(Web)  84-  (8)  738‐745(J‐STAGE)  2018  [Not refereed][Not invited]
  
• 気管内吸引技術の量的評価の試み:Dynamic Time Warpingを用いた分析結果から

  コリー紀代, 清水弘美, 大塚健, 金井理, 近野敦, 二宮伸治, 浅賀忠義, 小水内俊介, 萬井太規, 村田恵理, 高橋望, 井上創造  医工学治療  30-  (Supplement)  128  -128  2018  [Not refereed][Not invited]
  
• Future Possibilities for Endotracheal Suctioning Ontologies Based on the Ocular Movement of Skilled Nurses

  Colley Noriyo, Shimizu Hiromi, Takahashi Nozomi, Komizunai Shunsuke, Konno Atsushi, Kanai Satoshi, Ninomiya Shinji, Otsuka Ken, Asaka Tadayoshi  Igaku Kyoiku / Medical Education (Japan)  49-  (2)  117  -125  2018  [Not refereed][Not invited]
   

  Introduction: Due to the advancement of the home-based healthcare, increasing the number of professionals who are able to administer homebased treatments, such as endotracheal suctioning, is an urgent issue.Methods: By measuring the ocular movement of nurses, nursing students and previous researches, an endotracheal suctioning ontology was visualized. It included a multiplex task structure, recognition, and judgment, as well as identifying procedures used during endotracheal suctioning that could contribute to a discussion on educational feasibility.Results: From the hierarchical structure of the constructed endotracheal suctioning ontology, not only the procedural knowledge but also knowledge about medical devices, knowing what options exist when endotracheal suctioning is ineffective, and a wide range of other expertise is needed to perform endotracheal suctioning safely.Discussion: An endotracheal suctioning ontology was created from the ocular movement of nurses. Ontologies are a potential tool for defining minimum requirements and the scope of ability that must be evaluated before clinical practicum.

• Development of a device for real-time measurement of sputum volume and catheter contact load for endotracheal suction training simulator

  二宮伸治, コリー紀代, 小水内俊介, 近野敦, 金井理, 高橋望, 浅賀忠義  日本シミュレーション医療教育学会雑誌  6-  92  -98  2018  [Not refereed][Not invited]
  
• Visual presentation by projection mapping/augmented reality for nursing simulators which exhibit vital reactions

  小水内俊介, 近野敦, 金井理, 二宮伸治, 浅賀忠義, 高橋望, COLLEY Noriyo  日本シミュレーション医療教育学会雑誌  6-  99  -103  2018  [Not refereed][Not invited]
  
• 鋼橋レーザ計測点群からの規格部材の自動抽出(第2報)―抽出精度の改善―

  橋川元彰, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.H13  -522  2017/09/05  [Not refereed][Not invited]
   

  本研究では，鋼橋の上部構造を対象とし，そのレーザ計測点群から規格部材を構成する平面やエッジを抽出し，データベースに登録したJIS規格部材の規格寸法をエッジ間パラメータとマッチングすることによって規格部材を自動抽出する手法の開発を目的とする．本報では，レーザ入射方向に基づく部材構成平面の特定，点密度に応じた規格寸法判定の閾値の動的設定等により，抽出精度の改善を図ったので報告する．
• メッシュ変形に基づく人体有限要素モデルの高速姿勢変更手法の開発(第二報) 接触応力解析結果の比較による提案手法の有用性検証

  廣澤憲麻, 多田充徳, 宮田なつき, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.D63  -272  2017/09/05  [Not refereed][Not invited]
   

  本研究は，人体有限要素モデルに対し，変形前のメッシュ品質を維持したまま，高速にモデルの姿勢を変形する手法の開発を目的とする．本報では，提案手法による手の有限要素モデルの姿勢変更の結果を報告する．また，姿勢変更手法として最も一般的である有限要素解析を用いて姿勢変更を行った場合と，提案手法により姿勢変更を行った場合のそれぞれについて，物体との接触応力解析の結果を比較し，提案手法の有用性を検証する．
• 鋳造品の迅速リバースエンジニアリングに関する研究―機械加工面間の微小フィーチャー認識とCADモデル生成―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.F35  -402  2017/09/05  [Not refereed][Not invited]
   

  本研究は鋳造品の迅速リバースエンジニアリングを目的に，計測メッシュを鋳肌面と機械加工面に分離しそれぞれへの必要精度でのモデリングにより実現する．本報ではこれまでに抽出した機械加工平面・円筒面に加え，回転形状の鋳造品を対象に従来抽出できなかった面取りやフィレット部といった機械加工面間の微小領域を回転面として抽出する．また，抽出した鋳肌面，回転面，その他の機械加工面の集合演算によりCADモデルを生成する．
• 円筒オブジェクト一致制約を利用したプラント配管系統レーザスキャン点群データの高精度レジストレーション(第2報)―重み付き最小二乗法導入によるレジストレーションの精度向上―

  森谷亮太, 金井理, 伊達宏昭, 渡辺正浩, 中野隆宏, 山内雄太  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.H03  -510  2017/09/05  [Not refereed][Not invited]
   

  プラント配管系統を複数個所から計測した点群同士の位置合わせでは，配管系統上の点群間の重複が少ない場合，精密な位置合わせとモデリングが行えない問題がある．そこで本研究では，各点群内から部分的な配管円筒オブジェクトを先に認識し，円筒群が空間で一致する幾何制約を利用して，重複が少ない場合でも，点群間のラフおよび精密レジストレーションを行う手法を提案する．本報では，最小二乗法による最適解算出時において，点の入射角，計測距離やモデルからのフィッティング誤差等の重みを伴った重み付き最小二乗法を導入することにより，精密レジストレーションの精度向上を行ったので報告する．
• 思春期特発性側弯症におけるロッド曲線形状の類似分析手法の開発

  小甲晃史, 金井理, 安倍雄一郎, 岩崎倫政, 須藤英毅  日本整形外科学会雑誌  91-  (8)  S1795  2017/08/31  [Not refereed][Not invited]
  
• 3D非対称性解析による革新的脊柱側弯症検診システムの研究開発

  須藤英毅, 小甲晃史, 林隆行, 安倍雄一郎, 岩田玲, 長枝浩, 岩崎倫政, 金井理  日本整形外科学会雑誌  91-  (8)  S1475  2017/08/31  [Not refereed][Not invited]
  
• 3D非対称性解析による革新的脊柱側弯症検診システムの研究開発

  須藤英毅, 小甲晃史, 林隆行, 安倍雄一郎, 岩田玲, 長枝浩, 岩崎倫政, 金井理  東日本整形災害外科学会雑誌  29-  (3)  368  2017/08/15  [Not refereed][Not invited]
  
• 熟練看護師の視線計測による気管内吸引オントロジーの構築

  COLLEY Noriyo, 清水弘美, 高橋望, 小水内俊介, 近野敦, 金井理, 二宮伸治, 大塚健, 浅賀忠義  医学教育  48-  (Suppl.)  230  -230  2017/08/01  [Not refereed][Not invited]
  
• 点群投影画像に基づく大規模環境レーザ計測点群の自動位置合わせ グラフ表現を用いた複数点群のロバスト・高精度位置合わせ

  角太樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.H02  -546  2017/03/01  [Not refereed][Not invited]
   

  本研究は大規模環境レーザ計測点群のロバストかつ高精度な自動位置合わせ技術の開発を行う．本手法ではまず，既提案の点群投影画像を用いたラフ位置合わせと妥当性判定，およびICPによる精密位置合わせを行う．その実行結果と各点群の推定計測位置から得た点群の幾何学的関係を用いて，各点群の隣接関係とそのグラフ表現を構築し，累積誤差の緩和を行う複数点群の位置合わせを実施する．
• 高解像度CT画像に対する心臓内膜の3次元運動解析

  木村仁美, 伊達宏昭, 金井理, 松居喜郎, 若狭哲  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.C79  -232  2017/03/01  [Not refereed][Not invited]
   

  現在，心機能の評価では，心臓全体の運動を指標化する方法が一般的である．しかし，心不全の場合心臓の壁運動は局所的に不均一となり，拡張収縮運動が正常に行われている領域とその運動が殆ど見られない領域に分かれる為，診断・治療ではそれらの局所的な違いを解析する事が重要となる．そこで本研究では，時系列CT画像より3次元心内膜メッシュモデルを作成し，これらを利用した3次元運動解析を行った為，報告を行う．
• レーザ計測点群に対する局所形状特徴量の抽出とその応用 各局所形状特徴量の比較と特徴線生成への応用

  加藤雅志, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H14  -562  2017/03/01  [Not refereed][Not invited]
   

  点密度差や計測ノイズの大きなレーザ計測点群からのロバストな局所形状特徴量の抽出が，物体認識や環境理解において必要となる．本研究では，主成分分析に基づく近似曲率やDoN（Difference of Normals），マルチスケール特徴量等の局所形状特徴量を比較し，各手法の有用性を示す．また，計測対象環境の理解の手助けを目的とした，各特徴量の特徴線生成への応用を行う．
• 市街地MMS計測点群からの建物LODモデリング デプス画像を用いた3次元ファサードモデリング

  峯後俊秀, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.H16  -566  2017/03/01  [Not refereed][Not invited]
   

  建物の3次元モデルは用途により必要とされる詳細度（LOD）が異なり，複数の詳細度で建物モデルを表現することが求められる．前報までにCityGMLのLOD0（建物のフットプリント），LOD1（LOD0の鉛直スイープ）建物モデルを生成し，さらに規則性を持つ窓のモデル化を行った．本報ではさらに詳細度の高い建物モデルを生成することを目的とし，ファサード近傍の建物点集合より生成したデプス画像からの矩形抽出に基づくファサードモデリングを行う．
• 大規模3次元実環境モデル内における人間行動シミュレーションとそのアクセシビリティ評価への応用 デジタルヒューマン経路探索シミュレーションに基づく経路発見容易性評価技術の有効性・妥当性検証

  丸山翼, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2017-  (0)  ROMBUNNO.H08  -556  2017/03/01  [Not refereed][Not invited]
   

  本研究では，高齢者を含む誰もが屋内外環境を支障なく安全・快適に利用できるかといった環境アクセシビリティの定量評価が可能な人間行動シミュレーション技術の開発を目的とする．前報では，写真測量技術により構築された3次元実環境モデル上でのデジタルヒューマン経路探索シミュレーションによる環境の経路発見容易性評価技術を開発した．本報ではその有効性と妥当性を，シミュレーション結果と実被験者による経路探索実験結果の比較に基づき検証した．
• 円筒オブジェクト一致制約を利用したプラント配管系統レーザスキャン点群データの高精度レジストレーション

  森谷亮太, 金井理, 伊達宏昭, 渡辺正浩, 中野隆宏, 山内雄太  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H23  -576  2017/03/01  [Not refereed][Not invited]
   

  プラント配管系統を複数個所から計測した点群同士の位置合わせでは，配管系統上の点群間の重複が少ない場合，精密な位置合わせとモデリングが行えない問題がある．そこで本研究では，各点群内から部分的な配管円筒オブジェクトを先に認識し，円筒群が空間で一致する幾何制約を利用して，重複が少ない場合でも，点群間のラフおよび精密レジストレーションを行う手法を提案する．本報では，精密位置合わせ時の制約式の違いやICPのような既存手法との精度比較，ならびにラフレジストレーション自動化を行ったので報告する．
• メッシュ変形に基づく人体有限要素モデルの高速姿勢変更手法の開発 SSDとMVCを用いた人体四面体メッシュの変形

  廣澤憲麻, 伊達宏昭, 金井理, 多田充徳, 宮田なつき  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H69  -618  2017/03/01  [Not refereed][Not invited]
   

  車両の衝突シミュレーションや製品のエルゴノミクス設計に用いられている人体の有限要素モデルは，基準姿勢の種類の少なさや任意姿勢の生成の困難さが問題視されている．そこで，skeletal subspace deformation（SSD）による表皮変形およびmean value coordinateを用いた内部要素変形により，関節部を含む人体の四面体メッシュに対し，メッシュ品質を維持したままの希望姿勢への変更を可能とする手法を提案する．また，本手法を指のモデルに適用し，その有用性を検証する．
• 寸法駆動変形およびメッシュ適合に基づく解析用四面体メッシュ生成法の有効性検証

  前濱宏樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H33  -586  2017/03/01  [Not refereed][Not invited]
   

  本報ではCAE効率化を目的として開発した寸法駆動変形・メッシュ適合手法による解析用四面体メッシュ生成法の有効性を検証する．本手法とメッシュ分割に基づく既存手法によるメッシュ生成の処理時間の比較，本手法で生成したメッシュの解析結果と理論解の比較による解析精度検証，ならびに本研究で開発してきた品質改善手法による解析精度改善効果の確認を行い，本手法によるメッシュ生成法の有効性を示す．
• レーザ計測点群から矩形・円形断面が混在する配管系統の自動認識

  鳴海晶也, 金井理, 伊達宏昭, 脇坂英佑  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H24  -578  2017/03/01  [Not refereed][Not invited]
   

  近年，施設における設備更新の頻度増加に伴い，設備の現況を反映した3次元形状モデルの利用が期待されている．そこで本研究では，3次元レーザ計測点群から配管系統の自動認識を行う手法の開発を目的とする．これまで，計測点群の断面解析とマンハッタンワールド仮説に基づく連続性を用いた矩形断面ダクトの認識手法を提案した．本報では，同様の手法を用いて，矩形・円形断面が混在する配管系統の認識を可能としたので報告する．
• 鋼橋レーザ計測点群からの規格部材の自動抽出

  橋川元彰, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H26  -582  2017/03/01  [Not refereed][Not invited]
   

  鋼橋に対する維持管理への活用の面からCIMの導入が盛んとなっており，新しく作られる鋼橋だけでなく現況の橋梁に対しても3次元CADモデルを効率的に生成する技術が望まれている．本研究では，鋼橋の上部構造を対象とし，そのレーザ計測点群から規格部材を構成する平面やエッジを抽出し，データベースに登録した規格部材のJIS規格寸法をエッジ間パラメータとマッチングすることによって規格部材を自動抽出する手法の開発を目的とする．
• 難計測部をもつ空調設備as‐built3次元モデル構築のための最適スキャナ配置計画(第2報) 計測重要度を考慮したスキャナ配置位置の推定と効果検証

  脇坂英佑, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2017-  ROMBUNNO.H07  -554  2017/03/01  [Not refereed][Not invited]
   

  本研究では，SfMモデルとして得られた計測対象設備の事前知識をもとに，必要な計測範囲や計測重要度を考慮した最適なスキャナ配置計画手法の開発を目的とする．本報では，前報で提案したボクセルの空間占有状態の分類結果に基づき，計測品質の制約を満たし，工事に必要な箇所を効率的に計測可能なスキャナ配置位置を推定する手法を提案した．さらに，可視性のみを考慮した配置や計測作業員による配置の設置回数や計測率を本手法と比較し，その効果を検証した．
• Efficient conformal tetrahedral finite element mesh generation for moving objects with contact by mesh adaptation

  Hiroki Maehama, Hiroaki Date, Satoshi Kanai  JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING  11-  (4)  2017  [Not refereed][Not invited]
   

  In current product design, CAE based on FEA has become absolutely imperative for developing high quality products. In some analyses of assembly models with movable parts such as electro-magnetic field analyses of motors, conformal tetrahedral meshes including meshes both of objects (parts) and space (called "object mesh" and "space mesh" in this paper) are needed. In general CAE processes, poses of moving parts of CAD models are first modified, then conformal meshes of the modified CAD models are generated, and FEAs are finally performed at each pose of the object in motion. However, simultaneous conformal meshing for objects and spaces is unstable and time-consuming. To reduce the frequency of the meshing, many mesh adaptation methods have been proposed. Although they can generate the conformal mesh of each object pose by modifying the mesh connectivity and vertex positions depending on the object motion, they are inefficient because the mesh topology and geometry are globally adapted even if the differences in poses of the objects in motion are very small In addition, they do not deal with contacts of the object meshes. In this paper, we propose a new efficient tetrahedral mesh adaptation method for moving objects with contact. For efficient mesh adaptation, the mesh adaptation process is applied to only a set of space mesh elements around the moving object based on a distance field. In addition, to keep mesh conformity on the contact regions between object meshes, the topology and geometry of surface triangular meshes of contacted object meshes are adapted by vertex repositioning and local topological operations. The proposed method is demonstrated using three samples. In an experimental result where a cylinder is translated toward a half tube, the conformal tetrahedral meshes with 160k tetrahedra were generated without any inverted elements for about 5 seconds in each motion step.
• 3D非対称性解析による革新的脊柱側弯症検診システムの研究開発

  須藤英毅, 小甲晃史, 林隆行, 安倍雄一郎, 岩田玲, 長枝浩, 岩崎倫政, 金井理  日本側彎症学会演題抄録集  51st-  160  2017  [Not refereed][Not invited]
  
• A Study on Rapid Reverse Engineering of Castings -A Separation of the Casting and Machining Surfaces from Scanned Triangular Meshes-

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会誌(Web)  83-  (5)  474‐480(J‐STAGE)  -480  2017  [Not refereed][Not invited]
   

  Recently, it has become necessary to develop a more advanced reverse engineering (RE) technique that can generate CAD models of complex shapes from scanned mesh more efficiently. In this study, we propose a new efficient reverse engineering method of castings. In the method, machining and casting surfaces of the scanned mesh are separated, and precise surface fitting is applied only to the machining surfaces. The method can realizes an efficient RE process since different geometric processing and modeling techniques can be applicable to machining and casting surfaces individually. In addition, suitable geometric processes in the applications of the CAD models, such as machining margin addition and machining planning for machining surfaces in the duplication, can be automatically applied to each machining and casting surfaces, because they are recognized in our method. In this paper, we develop two methods. First, the surfaces are classified into the casting and machining surfaces based on triangle roughness. Second, boundaries of the casting surfaces are smoothed and modified so as to intersect machining surfaces for generation of the CAD models. We show some experimental results using some scanned meshes of castings.
• 3D Monte Carlo localization using a depth camera and terrestrial laser scanner

  金井理, 畠山龍, 伊達宏昭  写真測量とリモートセンシング  55-  (4)  235‐239,234  -239  2016/09/12  [Not refereed][Not invited]
   

  The purpose of this study is to improve an accuracy and efficiency of 6DOF motion estimation in 3D MCL for indoor localization. Firstly, a terrestrial laser scanner is used for creating a precise 3D mesh model as an environment map, and a professional-level depth camera is installed as an outer sensor. GPU scene simulation is also introduced to upgrade the speed of prediction phase in MCL. Moreover, for further improvement, GPGPU programming is implemented to realize further speed up of the likelihood estimation phase, and anisotropic particle propagation is introduced into MCL based on the observations from an inertia sensor. Improvements in the localization accuracy and efficiency are verified by the comparison with a previous MCL method. The results showed that our proposed 3D MCL method outperforms the previous one in accuracy and efficiency.

• A Study of the Automatic Recognition of Air Ducts and Piping System from Laser Scanned Point Clouds: Part 1: Recognition of Rectangular Ducts

  脇坂英佑, 鳴海晶也, 金井理, 伊達宏昭  新菱冷熱中央研究所報  23-  63‐68  2016/08/25  [Not refereed][Not invited]
  
• 点群投影画像に基づく大規模環境レーザ計測点群の自動位置合わせ 点群特徴を用いた画像の拡張による効率化

  角太樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.I15  2016/08/20  [Not refereed][Not invited]
  
• 大規模3次元実環境モデル内における人間行動シミュレーションとそのアクセシビリティ評価への応用 3次元レーザ計測点群からのつまづきリスク潜在領域の抽出

  丸山翼, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.I21  -776  2016/08/20  [Not refereed][Not invited]
   

  本研究では，高齢者を含む誰もが屋内外環境を支障なく安全・快適に利用できるかといった環境アクセシビリティの定量評価が可能な人間行動シミュレーション技術の開発を目的とする．本報では，前報で開発した3次元実環境モデル上でのデジタルヒューマンの歩行シミュレーション機能に対し，歩行中のデジタルヒューマンの視覚から，写真測量技術により自動構築された環境中のサインモデルの可視性と視認性を推定する機能を開発した．
• 難計測部をもつ空調設備as‐built3次元モデル構築のための最適スキャナ配置計画(第1報) 不完全なSfMモデルに基づいた計測対象空間の空間占有状態分類手法

  脇坂英佑, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.I09  2016/08/20  [Not refereed][Not invited]
  
• 鋳造品の迅速リバースエンジニアリングに関する研究―計測メッシュからの計測困難な貫通穴の推定―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.I61  -194  2016/08/20  [Not refereed][Not invited]
   

  本研究では，鋳造品の計測メッシュから機械加工面と鋳肌面を分離し，それぞれを必要精度でモデリングすることによる，鋳造品の迅速なリバースエンジニアリング(RE)の実現を目的とする．本報では，高品質な自由曲面パッチ生成のための鋳肌面メッシュの滑らかな境界生成手法と，REで生成したCADモデルの機械加工応用支援のための曲面フィッティング精度に基づく機械加工平面の法線および機械加工円筒面の軸の整列手法を提案する．
• Automatic registration of MLS point clouds and SfM meshes of urban area

  Reiji Yoshimura, Hiroaki Date, Satoshi Kanai, Ryohei Honma, Kazuo Oda, Tatsuya Ikeda  Geo-Spatial Information Science  19-  (3)  171  -181  2016/07/02  [Not refereed][Not invited]
   

  Recent advances in 3D scanning technologies allow us to acquire accurate and dense 3D scan data of large-scale environments efficiently. Currently, there are various methods for acquiring large-scale 3D scan data, such as Mobile Laser Scanning (MLS), Airborne Laser Scanning, Terrestrial Laser Scanning, photogrammetry and Structure from Motion (SfM). Especially, MLS is useful to acquire dense point clouds of road and road-side objects, and SfM is a powerful technique to reconstruct meshes with textures from a set of digital images. In this research, a registration method of point clouds from vehicle-based MLS (MLS point cloud), and textured meshes from the SfM of aerial photographs (SfM mesh), is proposed for creating high-quality surface models of urban areas by combining them. In general, SfM mesh has non-scale information therefore, scale, position, and orientation of the SfM mesh are adjusted in the registration process. In our method, first, 2D feature points are extracted from both SfM mesh and MLS point cloud. This process consists of ground- and building-plane extraction by region growing, random sample consensus and least square method, vertical edge extraction by detecting intersections between the planes, and feature point extraction by intersection tests between the ground plane and the edges. Then, the corresponding feature points between the MLS point cloud and the SfM mesh are searched efficiently, using similarity invariant features and hashing. Next, the coordinate transformation is applied to the SfM mesh so that the ground planes and corresponding feature points are adjusted. Finally, scaling Iterative Closest Point algorithm is applied for accurate registration. Experimental results for three data-sets show that our method is effective for the registration of SfM mesh and MLS point cloud of urban areas including buildings.
• Motion-capture-based walking simulation of digital human adapted to laser-scanned 3D as-is environments for accessibility evaluation

  Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada  Journal of Computational Design and Engineering  3-  (3)  250  -265  2016/07/01  [Not refereed][Not invited]
   

  Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only “as-planned” situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with “as-is” environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.
• 大規模3次元実環境モデル内における人間行動シミュレーションとそのアクセシビリティ評価への応用―デジタルヒューマンの視覚に基づくサインの可視性・視認性の推定機能の開発―

  丸山翼, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N05  2016/03/01  [Not refereed][Not invited]
  
• 航空写真計測メッシュとMMS計測点群を用いた高品質市街地モデル生成―MMS計測点群による航空写真計測メッシュの改善―

  吉村玲二, 伊達宏昭, 金井理, 本間亮平, 織田和夫, 池田辰也  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N19  -794  2016/03/01  [Not refereed][Not invited]
   

  本研究では，市街地の航空写真からSfMにより生成された粗い3Dメッシュモデル（航空写真計測メッシュ）を高密度なMMS計測点群により改善することで，市街地環境の高品質なメッシュモデルの生成を目的とする．本報では，位置とスケールを合わせた航空写真計測メッシュとMMS計測点群を入力として，計測重複領域におけるMMS計測点群による航空写真計測メッシュの修正，ならびにMMS計測点群にのみ存在する物体のメッシュ化とその追加により，高品質市街地モデルを生成する手法を提案する．
• レーザ計測点群からの空調ダクト配管系統の自動認識に関する研究(第2報)―領域成長法による認識率向上―

  鳴海晶也, 金井理, 伊達宏昭, 脇坂英佑  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N04  -774  2016/03/01  [Not refereed][Not invited]
   

  近年，施設における設備更新の頻度増加に伴い，設備の現況を反映した3次元形状モデルの利用が期待されている．そこで本研究では，3次元レーザ計測点群からダクトで構成された配管系統の自動認識を行う手法の開発を目的とする．前報でマンハッタンワールド仮説と計測点の連続性を用いたダクトの認識手法を報告した．本報では前報に加え，領域成長法を用い，ごく一部の面しか測定されていないダクトも認識可能としたので報告する．
• コンクリート構造物点検のための3次元Localization手法の開発(第2報)―Random Dot MarkerとRGB‐Dカメラによる3次元Localizationシステムの精度評価―

  奥野洋朗, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N16  -790  2016/03/01  [Not refereed][Not invited]
   

  本研究では，拡張現実感による効率的点検作業支援の要素技術として，コンクリート構造物を撮影したカメラ位置・姿勢を実時間で推定できる3次元Localization手法を開発する．本報では，Random Dot Marker・RGB-Dカメラ・ホモグラフィ分解によりこれを実現するシステムを構築し，実験室内におけるカメラの3次元Localizationの機能評価(動作範囲，精度，処理速度)を行ったため報告する．
• 点群投影画像に基づく複数大規模環境レーザ計測点群の自動レジストレーション―空間分類に基づくレジストレーション妥当性評価を用いた手法性能改善―

  角太樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N20  -796  2016/03/01  [Not refereed][Not invited]
   

  本研究はこれまで，大規模環境のレーザ計測点群の自動レジストレーション手法の開発を目的とし，点群を基準平面へ投影して得られる点群投影画像の特徴点マッチングに基づく自動レジストレーション手法の開発を行ってきた．本報では，レイトレーシングを用いて空間分類を行った点群投影画像を利用し，レジストレーションの妥当性をより詳細に評価することで，屋外環境にも対応したロバストなレジストレーション手法を提案する．
• 市街地MMS点群からの機械学習手法によるセグメンテーションと建物LODモデリング

  峯後俊秀, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N08  -780  2016/03/01  [Not refereed][Not invited]
   

  近年，市街地環境における景観や都市計画，防災等のシミュレーションの需要が高まっており，これらシミュレーションにおいては様々な詳細度（LOD）の市街地3次元モデルが要求される．本研究では，MMS点群からの市街地LODモデルの生成を目的とする．本報告では，機械学習手法であるAdaboostを用いた市街地点群のセマンティックセグメンテーションと，LODを考慮した建物モデルの効率的な生成手法を提案する．
• 鋳造品の迅速リバースエンジニアリングに関する研究―高品質CADモデル生成のための鋳肌面境界と機械加工面の整形―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.C63  -194  2016/03/01  [Not refereed][Not invited]
   

  本研究では，鋳造品の計測メッシュから機械加工面と鋳肌面を分離し，それぞれを必要精度でモデリングすることによる，鋳造品の迅速なリバースエンジニアリング(RE)の実現を目的とする．本報では，高品質な自由曲面パッチ生成のための鋳肌面メッシュの滑らかな境界生成手法と，REで生成したCADモデルの機械加工応用支援のための曲面フィッティング精度に基づく機械加工平面の法線および機械加工円筒面の軸の整列手法を提案する．
• 配管系統のレーザ計測とモデル化のための最適スキャナ位置推定(第2報)―認識率検証の高精度化と効率化―

  山西伸哉, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N13  -784  2016/03/01  [Not refereed][Not invited]
   

  本研究では，配管系統を効率的にモデル化できる最適スキャナ位置を自動推定する手法を提案する．3Dモデルを用いて計算機上で地上型レーザスキャナのスキャンシミュレーションを行い，擬似的に生成した計測点群から得られた配管系統の認識結果を基に，次の最適スキャナ位置を推定する．本報では3Dモデル上の配管要素と計測点群から認識された配管要素の比較の自動化による配管系統の認識率検証の効率化と，レジストレーションを考慮した最適スキャナ位置推定についての報告を行う．
• RGB‐Dカメラを用いたデジタルヒューマンモデルに対するインタラクティブ教示システム(第3報)―最適化手法に基づく製品モデルに対する姿勢フィット―

  久澤大輝, 金井理, 伊達宏昭, 多田充徳, 宮田なつき, 遠藤維  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.N37  -808  2016/03/01  [Not refereed][Not invited]
   

  本研究は，RGB-Dカメラを用いた製品評価のためのデジタルヒューマンモデルに対する効率的でインタラクティブな姿勢教示システムの開発を目的とする．本報では，RGB-Dカメラによって推定した人体の製品利用近似姿勢から，最適化手法を用いて製品モデル表面とデジタルヒューマンモデル表皮がフィットする人体姿勢を求める手法について報告する．
• 組立製品の効率的解析用四面体メッシュ生成法

  前濱宏樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2016-  ROMBUNNO.C74  -206  2016/03/01  [Not refereed][Not invited]
   

  CAEにおける組立製品の解析の効率化を目的とし，個別に生成された各部品の四面体メッシュから，組立品のコンフォーマルなメッシュを生成し，部品間の相対運動を可能とする手法を提案する．局所位相変更と頂点移動を用いた部品間の境界三角形メッシュの一致処理，局所位相変更を用いた扁平・裏返り要素除去及び密度制御，ODTに基づく品質改善により組立製品の解析用四面体メッシュを効率的に生成する．
• PS3-15 MOTION-CAPTURE-BASED WALKING SIMULATION ADAPTED TO LASER-SCANNED LARGE-SCALE COMPLEX AS-BUILT ENVIRONMENTS FOR ACCESSIBILITY EVALUATION(PS3: Poster Short Presentation III,Poster Session)

  Maruyama Tsubasa, Kanai Satoshi, Date Hiroaki, Tada Mitsunori  Proceedings of the ... Asian Pacific Conference on Biomechanics : emerging science and technology in biomechanics  2015-  (8)  276  -276  2015/09/16
• Development of 3D CAD/CAM Data Creation Support Tools for Reverse Engineering

  安田星季, 万城目聡, 神生直敏, 櫻庭洋平, 岩越睦郎, 浦田昇尚, 伊達宏昭, 金井理, 後藤孝行  北海道立総合研究機構工業試験場報告  (314)  59‐66  2015/08/31  [Not refereed][Not invited]
  
• レーザ計測点群からの空調ダクト配管系統の自動認識に関する研究(第1報)―矩形断面ダクトの認識―

  鳴海晶也, 金井理, 伊達宏昭, 脇坂英佑  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.A61  -64  2015/08/20  [Not refereed][Not invited]
   

  近年，施設における設備更新の頻度増加に伴い，設備の現況を反映した3次元形状モデルの利用が期待されている．本研究では，3次元レーザ計測点群から空調ダクトの配管系統の全自動認識を行う手法の開発を目的とする．本報では，マンハッタンワールド仮説と計測点の連続性を基に，レーザ計測点群から矩形断面ダクトで構成された，配管系統を全自動で認識する手法を開発したので報告する．
• 実環境のレーザ計測点群内における人間行動シミュレーションとそのアクセシビリティ評価への応用(第9報)―歩行中のつま先クリアランス推定・表示機能の開発―

  丸山翼, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.A36  -48  2015/08/20  [Not refereed][Not invited]
   

  近年，高齢者を含む誰もが屋内外の環境を支障なく安全・快適に利用できるかといった環境アクセシビリティの担保が重要となってきている．そこで本研究では，人間行動シミュレーション技術と実環境の3次元レーザ計測点群を組合わせ，環境アクセシビリティを定量的に評価可能な技術の実現を目的とする．本報では，前報までに開発した点群上でのMoCap-based歩行シミュレーション結果から，歩行中のつま先クリアランスを推定し，シミュレーションと同期してユーザに提示する機能を開発したので報告する．
• 鋳造品の迅速リバースエンジニアリングに関する研究―ネジ加工領域の検出とそのパラメータ抽出―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.A32  -432  2015/08/20  [Not refereed][Not invited]
   

  本研究では，鋳造品の計測メッシュから機械加工面と鋳肌面を分離し，それぞれを必要精度でモデリングすることによる，鋳造品の迅速なリバースエンジニアリングの実現を目的とする．本報では，既提案法における鋳肌面領域の誤検出を解決するためのメッシュ表面粗さ値推定の改善法と鋳肌面領域の分離性能の改善法を提案する．
• 空間・移動物体に対する効率的高品質メッシュ生成法―接触を伴う物体運動に対するメッシュ適合―

  前濱宏樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.A30  -434  2015/08/20  [Not refereed][Not invited]
   

  本報ではCAEにおける組立部品の解析の効率化を目的とし，空間と物体の両方が分割された四面体メッシュに対し，メッシュ品質と物体境界のメッシュ要素の整合性を維持した物体運動を可能とする手法を提案する．提案手法では，平均値座標による物体外部のメッシュ変形，距離場を用いた要品質改善要素の効率的な抽出，ODTに基づく品質改善により，物体運動の各時間ステップの高品質メッシュを効率的に生成する．
• 未計測領域補完のためのTLSとデプスカメラ計測点群の自動レジストレーション

  角太樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.A68  -74  2015/08/20  [Not refereed][Not invited]
   

  大規模環境の計測点群に存在する未計測領域は，モデリングやシミュレーションといった点群利用アプリケーションに悪影響を与える．そこで本研究は，軽量かつ持ち運びが容易なデプスカメラを用いて，TLS点群内の未計測領域を補完する手法の開発を目的とする．本報では，点群を基準平面へ投影して得られる点群投影画像を用いた，TLS点群とデプスカメラ計測点群の高速なレジストレーション手法を提案する．
• 鋳造品の迅速リバースエンジニアリングに関する研究―面粗さ推定法と鋳肌面分離性能の改善―

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H02  2015/03/01  [Not refereed][Not invited]
  
• 市街地レーザ計測点群からの柱状物体認識に関する研究―柱状物体部品の高精度抽出法とボクセル表現を用いた部品認識法―

  江戸太樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H66  -496  2015/03/01  [Not refereed][Not invited]
   

  柱状物体（電柱, 標識等）を効率的に管理するため，市街地レーザ計測点群からの柱状物体認識を行う．本研究では，柱状物体が持つ複数の役割を認識するために類似検索を用いた柱状物体部品（変圧器，照明器具等）の認識に取り組む．本報では，柱状物体部品の高精度抽出法，ならびにボクセル表現されたサンプル部品と点群中の他の部品に対する形状特徴フィルタリング及びボクセル比較による部品認識法を提案し，認識精度を評価する．
• 実環境のレーザ計測点群内における人間行動シミュレーションとそのアクセシビリティ評価への応用(第8報)―階段や坂道を歩行可能なMoCap‐based歩行シミュレーションの開発―

  丸山翼, 金井理, 伊達宏昭, 多田充徳  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H79  -514  2015/03/01  [Not refereed][Not invited]
   

  近年，高齢者を含む誰もが屋内外の環境を支障なく利用できるかといった環境アクセシビリティの担保が重要となってきている．そこで本研究では，人間行動シミュレーション技術と実環境の3次元レーザ計測点群を組み合わせ，環境アクセシビリティを定量的に評価可能な技術の開発を目的とする．本報では，前報で開発したMoCap-based歩行シミュレーション機能に対し，平地歩行のMoCapデータのみから坂道と階段上のDHMの歩行パターンを生成する機能を開発したので報告する．
• 配管系統のレーザ計測とモデル化のための最適スキャナ位置推定(第1報)―位置推定の高速化と認識率検証の効率化―

  山西伸哉, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H81  -518  2015/03/01  [Not refereed][Not invited]
   

  本研究では，配管系統を効率的にモデル化できる最適スキャナ位置を自動推定する手法を提案する．3Dモデルを用いて計算機上で地上型レーザスキャナのスキャンシミュレーションを行い，擬似的に生成した計測点群から得られた配管系統の認識結果を基に，次の最適スキャナ位置を推定する．最適スキャナ位置の推定を行う際に用いる光線追跡法にDDA(Digital Differential Analyzer)を利用することで処理の高速化を実現した．また，3Dモデル上の配管要素と計測点群から認識された配管要素の比較を自動化することで配管系統の認識率検証の効率化を行った．
• RGB‐Dカメラを用いたデジタルヒューマンモデルに対するインタラクティブ教示システム(第一報)―距離場と物理シミュレーションを用いた製品モデルに対する姿勢フィット手法―

  久澤大輝, 金井理, 伊達宏昭, 多田充徳, 宮田なつき, 遠藤維  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H33  -470  2015/03/01  [Not refereed][Not invited]
   

  本研究は，RGB-Dカメラを用いた製品評価のためのデジタルヒューマンモデルに対する効率的でインタラクティブな姿勢教示システムの開発を目的とする．本報では，RGB-Dカメラによる人体の姿勢推定結果を元に距離場と物理シミュレーションを利用し製品モデルに対するモデルの姿勢を求める手法について報告する．
• 基本メッシュのフィッティングによるレーザ計測点群からの市街地環境メッシュモデリング―サンプルメッシュを用いた類似形状物体の抽出と自動モデリング―

  新田一馬, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H43  -480  2015/03/01  [Not refereed][Not invited]
   

  本報では，市街地環境中に形状が類似したものが多数配置されている物体（街灯など）のモデリング手法を提案する．本手法では，市街地レーザ計測点群から事前にモデル化したい物体のサンプルメッシュモデルを手動で作成し，高さ値に基づく地面点の除去，ユークリディアンクラスタリングによるセグメンテーション，セグメントとサンプルメッシュのグラフを用いたマッチングとフィッティングにより，物体のメッシュモデル生成を行う．
• コンクリート構造物点検のための3次元Localization手法の開発―Random Dot MarkerとRGB‐DカメラによるLocalization精度の評価―

  奥野洋朗, 金井理, 伊達宏昭, 丸山翼  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H62  -490  2015/03/01  [Not refereed][Not invited]
   

  近年，橋梁・トンネルの定期近接目視点検が義務化され，その作業効率化が課題となっている．現状では，点検者が過去の記録を参照し，構造物を観察し，損傷を調書に記載する煩雑な作業が必要である．本研究では，拡張現実感による効率的点検作業支援の要素技術として，コンクリート構造物を撮影したカメラ位置・姿勢を実時間で推定できる3次元Localization手法を開発する．本報では，Random Dot MarkerとRGB-Dカメラによりこれを実現する基本原理を提案し，実験室内での精度評価を報告する．
• 走行軌跡を用いた市街地MMS計測点群の高精度レジストレーション―GCPを参照した点群位置修正と大規模点群データへの通用―

  高井俊吾, 伊達宏昭, 金井理, 本間亮平, 織田和夫, 池田辰也  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H74  -630  2015/03/01  [Not refereed][Not invited]
   

  モバイルマッピングシステム(MMS)により同じ領域を複数回計測した点群には，IMUのドリフトやGPSの誤差に起因するずれが生じる場合がある．本研究では，MMSの走行軌跡を用いた点群のずれ検出箇所の決定，市街地MMS計測点群向けの新しいICPアルゴリズムによる点群間のずれ量導出，ならびに，走行軌跡に基づくずれ量の補間を用いた点群修正による，MMS計測点群の高精度レジストレーション手法を提案する．
• GPUプログラミングによるデプスカメラを用いた屋内自己位置推定

  畠山龍, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H69  -502  2015/03/01  [Not refereed][Not invited]
   

  本研究では，地上設置型レーザースキャナにより得られた精密な3次元の屋内環境モデルを環境地図情報として，デプスカメラを用いた3次元の自己位置推定を行うことを目的とする．前報では，モンテカルロ自己位置推定(MCL)アルゴリズムにおいて尤度計算処理の高速化のためにGPUプログラミングの導入を行い，処理速度を評価した．本報では，実環境において自己位置推定実験を行い，推定位置精度の評価結果を報告する．
• 空間・移動物体に対する効率的高品質メッシュ生成法

  前濱宏樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H03  -434  2015/03/01  [Not refereed][Not invited]
   

  本報ではCAEにおける組立部品の解析の効率化を目的とし，空間と物体の両方が分割された四面体メッシュに対し，メッシュ品質と物体境界のメッシュ要素の整合性を維持した物体運動を可能とする手法を提案する．提案手法では，平均値座標による物体外部のメッシュ変形，距離場を用いた要品質改善要素の効率的な抽出，ODTに基づく品質改善により，物体運動の各時間ステップの高品質メッシュを効率的に生成する．
• 航空写真計測メッシュとMMS計測点群を用いた高品質市街地モデル生成―計測データ間の位置合わせ―

  吉村玲二, 伊達宏昭, 金井理, 本間亮平, 織田和夫, 池田辰也  精密工学会大会学術講演会講演論文集  2015-  ROMBUNNO.H46  -794  2015/03/01  [Not refereed][Not invited]
   

  本研究では，市街地の航空写真からSfMにより生成された粗い3Dメッシュモデル（航空写真計測メッシュ）を高密度なMMS計測点群により改善することで，市街地環境の高品質なメッシュモデルの生成を目的とする．本報では，位置とスケールを合わせた航空写真計測メッシュとMMS計測点群を入力として，計測重複領域におけるMMS計測点群による航空写真計測メッシュの修正，ならびにMMS計測点群にのみ存在する物体のメッシュ化とその追加により，高品質市街地モデルを生成する手法を提案する．
• 鋳肌面・機械加工面分離に基づく鋳造品の迅速リバースエンジニアリングに関する研究

  浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季  日本設計工学会研究発表講演会講演論文集  2015-  29  -32  2015  [Not refereed][Not invited]
  
• デジタルヒューマンモデルに対するデプスカメラを用いたインタラクティブな姿勢教示手法

  久澤大輝, 多田充徳, 宮田なつき, 遠藤維, 金井理, 伊達宏昭  日本設計工学会研究発表講演会講演論文集  2015-  33  -36  2015  [Not refereed][Not invited]
  
• Dimension-driven Deformation of Tetrahedral Meshes of Mechanical Parts for Parameter Survey Analysis

  前濱宏樹, 伊達宏昭, 金井理  精密工学会誌(Web)  81-  (4)  368-375 (J-STAGE)  2015  [Not refereed][Not invited]
  
• 大規模実環境アクセシビリティ評価に向けたデジタルヒューマン歩行シミュレーションの開発

  丸山翼, 金井理, 伊達宏昭  日本設計工学会北海道支部研究発表論文集  2014-  (1)  5  -6  2015  [Not refereed][Not invited]
  
• 組立製品の効率的解析のための高品質四面体メッシュ生成(空間・物体を分割した四面体メッシュの物体運動への適合)

  前濱宏樹, 伊達宏昭, 金井理  日本設計工学会研究発表講演会講演論文集  2015-  37  -40  2015  [Not refereed][Not invited]
  
• CAE効率化のための解析用四面体メッシュの寸法駆動変形―変形領域の局所化によるメッシュ変形とメッシュ品質改善の高速化―

  前濱宏樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.K38  2014/09/01  [Not refereed][Not invited]
  
• 基本メッシュのフィッティングによるレーザ計測点群からの市街地環境メッシュモデリング

  新田一馬, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.H05  -480  2014/09/01  [Not refereed][Not invited]
   

  本報では，市街地環境中に形状が類似したものが多数配置されている物体（街灯など）のモデリング手法を提案する．本手法では，市街地レーザ計測点群から事前にモデル化したい物体のサンプルメッシュモデルを手動で作成し，高さ値に基づく地面点の除去，ユークリディアンクラスタリングによるセグメンテーション，セグメントとサンプルメッシュのグラフを用いたマッチングとフィッティングにより，物体のメッシュモデル生成を行う．
• 走行軌跡を用いた市街地MMS計測点群の高精度レジストレーション―ラフレジストレーションとずれ算出用部分点群の適応的抽出―

  高井俊吾, 伊達宏昭, 金井理, 本間亮平, 織田和夫, 池田辰也  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.H20  -630  2014/09/01  [Not refereed][Not invited]
   

  モバイルマッピングシステム(MMS)により同じ領域を複数回計測した点群には，IMUのドリフトやGPSの誤差に起因するずれが生じる場合がある．本研究では，MMSの走行軌跡を用いた点群のずれ検出箇所の決定，市街地MMS計測点群向けの新しいICPアルゴリズムによる点群間のずれ量導出，ならびに，走行軌跡に基づくずれ量の補間を用いた点群修正による，MMS計測点群の高精度レジストレーション手法を提案する．
• GPUプログラミングによるデプスカメラを用いた屋内自己位置推定の高速化

  畠山龍, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.H22  2014/09/01  [Not refereed][Not invited]
  
• 実環境のレーザ計測点群内における人間行動シミュレーションとそのアクセシビリティ評価への応用(第6報)―MoCapデータに基づくデジタルヒューマンモデル歩行シミュレーションの高精度化―

  丸山翼, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.H17  2014/09/01  [Not refereed][Not invited]
  
• 実環境のレーザ計測点群内における人間行動シミュレーションとそのアクセシビリティ評価への応用(第5報)―低密度計測点群からの歩行面領域点群抽出アルゴリズムの開発―

  丸山翼, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.E33  2014/03/01  [Not refereed][Not invited]
  
• パーツ分析に基づいた市街地レーザ計測点群からの柱状物体役割認識

  江戸太樹, 伊達宏昭, 金井理, 武田浩志  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.J62  2014/03/01  [Not refereed][Not invited]
  
• 3次元幾何公差検証のための計測点群への形体フィッティングアルゴリズムライブラリの提案

  岩崎匠史, 金井理, 伊達宏昭, 渡辺正浩, 谷口敦史  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.J73  2014/03/01  [Not refereed][Not invited]
  
• 走行軌跡を用いた市街地MMS計測点群の高精度レジストレーション マルチパス計測データへの適用とレジストレーションの頑健性改善

  高井俊吾, 伊達宏昭, 金井理, 新名恭仁, 織田和夫, 池田辰也  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.E39  -630  2014/03/01  [Not refereed][Not invited]
   

  モバイルマッピングシステム(MMS)により同じ領域を複数回計測した点群には，IMUのドリフトやGPSの誤差に起因するずれが生じる場合がある．本研究では，MMSの走行軌跡を用いた点群のずれ検出箇所の決定，市街地MMS計測点群向けの新しいICPアルゴリズムによる点群間のずれ量導出，ならびに，走行軌跡に基づくずれ量の補間を用いた点群修正による，MMS計測点群の高精度レジストレーション手法を提案する．
• 頂点タイプ分類とRANSACによる差分点を含む屋内環境レーザ計測点群のBIM構成要素へのマッチング

  山岡晋也, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.E31  2014/03/01  [Not refereed][Not invited]
  
• 配管系統レーザ計測におけるスキャンオクルージョン最小化のための最適スキャナ配置の自動推定

  川島千明, 金井理, 伊達宏昭, 山西伸哉  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.E43  2014/03/01  [Not refereed][Not invited]
  
• 曲面情報と空間埋め込みを用いた解析用四面体メッシュの寸法駆動変形

  前濱宏樹, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.J77  2014/03/01  [Not refereed][Not invited]
  
• 情報機器プロトタイピングためのRP造型モデルを用いた三次元トラッキング(第3報)―ユーザ入力・モデルトラッキング・UIシミュレーション機能の統合―

  JIABIN Guan, 金井理, 伊達宏昭  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.O18  2014/03/01  [Not refereed][Not invited]
  
• レーザ計測点群からの市街地環境メッシュモデリングに関する研究―サンプルメッシュを用いた街路樹の抽出・認識と自動モデリング―

  新田一馬, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.E36  2014/03/01  [Not refereed][Not invited]
  
• 大規模環境の統合点群モデルの自動生成(第三報)―点群ペア位置合せとマッチ判定による複数点群の完全自動位置合せ―

  松山雄介, 伊達宏昭, 金井理  精密工学会大会学術講演会講演論文集  2014-  ROMBUNNO.E45  2014/03/01  [Not refereed][Not invited]
  
• 大規模三次元環境の認識・モデル化技術=レーザ計測点群からの高度な物体認識とその課題=

  金井理  光アライアンス  25-  (2)  48  -52  2014/02/01  [Not refereed][Not invited]
  
• Recent Progress of 3D Measurement, Recognition and Modeling of Large-scale Environments

  KANAI Satoshi  Journal of the Japan Society for Precision Engineering  79-  (5)  379  -383  2013/05  [Not refereed][Invited]
  
• 大規模環境のレーザ計測に基づいたas-built BIM生成技術の動向 (特集 光学技術と他分野との融合による新しい展開)

  金井 理  光技術コンタクト = Optical and electro-optical engineering contact  51-  (3)  3  -9  2013/03  [Not refereed][Not invited]
  
• 大規模環境のレーザ計測に基づいたas-built BIM生成技術の動向

  金井 理  光技術コンタクト  51-  (3)  3  -9  2013/03  [Not refereed][Invited]
  
• System Design and Modeling Laboratory

  KANAI Satoshi  設計工学  47-  (7)  334  -334  2012/07/05  [Not refereed][Not invited]
  
• Constructing of finger biomechanical model for estimating manipulation force in digital hand

  Shimizu Yasutomo, Kanai Satoshi, Date Hiroaki, Shirato Hiroki, Kamishima Tamotsu, Ogisu Kimihiro  Proceedings of JSPE Semestrial Meeting  2011-  (0)  107  -108  2011  [Not refereed][Not invited]
   

  In the virtual ergonomic assessments for product design using a digital hand, estimating the force of hand for grasping and manipulating the product are very effective in building criteria of the reasonable assessment. In this paper, we proposed the method to derive exerted force by building construct the musculoskeletal biomechanical model of a finger, and by solving a non-linear optimization problem on the forces of finger tendons, muscles and the joint surfaces in case of grasping the product. In addition, the derived exerted forces were verified by comparing the previous experiment of results.
• Cyber Field Engineering—Current Status and the Future—

  KANAI Satoshi, MASUDA Hiroshi, ONOSATO Masahiko, KAWAMURA Kohji, DATE Hiroaki  Journal of the Japan Society for Precision Engineering  76-  (10)  1121  -1124  2010/10  [Not refereed][Invited]
  
• Prototyping and Usability Assessment of User Interface of Information Appliances Utilizing a 3D CAD System

  KANAI Satoshi  Journal of Japan Society for Design Engineering  45-  (7)  319  -326  2010/07/05  [Not refereed][Invited]
  
• Cyber Field Engineering—Current Status and the Future—

  KANAI Satoshi, MASUDA Hiroshi, ONOSATO Masahiko, KAWAMURA Kohji, DATE Hiroaki  Journal of the Japan Society for Precision Engineering  76-  (10)  1121  -1124  2010  [Not refereed][Not invited]
  
• 218 Process planning system fbr MEMS device using a 3D geometric model

  KITAHARA Tomonao, KANAI Satoshi  The Proceedings of Manufacturing Systems Division Conference  2010-  (0)  103  -104  2010  [Not refereed][Not invited]
   

  This paper proposes new 3D process planning system for MEMS device manufacturing. The process planning system can derive fabrication process from 3D MEMS device models based on the deposition precedence relationships between fabrication features. The basic of the method for the process planning was proposed by previous papers. The system can derive the fabrication process and the device model estimated to be fabricated by the fabrication process. And the shape of the device model which is difficult to fabricate is modified to fabricate shape, but it is likely to become the shape without satisfying the design specifications. To solve the problem, this paper proposes a redesign function which enables the designer to redesign the modified device model which has a manufacturable shape and satisfy the design specification based on the association of the device shape with the fabrication process.
• CAD/CAM/CAE/計測/RPにおける形状モデリングの現状と展望--メッシュモデリング技術の開発 (特集 CAD/CAM/CAE/計測/RPの連動・連鎖による金型づくり)

  金井 理  型技術  24-  (9)  18  -22  2009/08  [Not refereed][Invited]
  
• Advanced prototyping for human-centered design for information appliances

  Satoshi Kanai, Jouke Verlinden  International Journal on Interactive Design and Manufacturing  3-  (3)  131  -134  2009  [Not refereed][Invited]
  
• デジタルハンドを用いた仮想エルゴノミック評価

  金井 理, 遠藤 維  機械設計  52-  (5)  98  -103  2008/04  [Not refereed][Invited]
  
• Applications of Digital Prototyping to Operational Simulation and Usability Assessment of Information Appliances(Product development based on usability evaluation)

  KANAI Satoshi  Journal of the Japan Society of Precision Engineering  74-  (2)  131  -134  2008/02/05  [Not refereed][Invited]
  
• 3324 Study on a Process Planning System for MEMS Device using 3D Geometric Model

  KITAHARA Tomonao, KANAI Satoshi  The proceedings of the JSME annual meeting  2008-  (0)  225  -226  2008  [Not refereed][Not invited]
   

  Recently, because markets of MEMS develop rapidly, it is expected to increase occasions of MEMS device design. However, it is difficult for designers unlearned in MEMS fabrication process to judge whether the device can be fabricated or not. In our study, we developed a process planning system for MEMS device using 3D geometric model based on block segmentation, which derives all fabrication sequences and their recipes.
• 1102 Euclidean Symmetry Detection from High-resolution X-ray CT Scanned Model

  Mizoguchi Tomohiro, Kanai Satoshi  The Proceedings of Manufacturing Systems Division Conference  2008-  (0)  11  -12  2008  [Not refereed][Not invited]
   

  We propose the method that detects Euclidean symmetries from scanned meshes of mechanical objects based on a combination of ICP and Region Growing algorithms. Our method can robustly detect Euclidean symmetries, including translation, rotation, and planar reflection, from noisy scanned meshes. Our method also can detect maximally large symmetries under the user specified tolerances from scanned meshes that contain many planar regions. The effectiveness of the method is verified by using various scanned meshes of mechanical objects.
• 1104 Virtual Prototype Tool for Mechatronic Device of Material Handling for Afficultural Products

  KANAI Satoshi, TADA Tatsumi, KIKUTA Yukiaki, YOKOYAMA Akihiko  The Proceedings of Manufacturing Systems Division Conference  2008-  (0)  15  -16  2008  [Not refereed][Not invited]
   

  A large amount of mechatoronic equipments for the material handling of vegetables and fruits have been introduced into the agriculture and the food manufactures in Hokkaido. However, the individual differences among the size, shape, and the mass of these products of are very large, and the verification of the mechanisms and the control systems is still verified in the try-and-error way using physical prototypes. This makes the development of the equipments time-consuming and expensive. In this research, a virtual prototyping tool was developed intended for the design of "automatic potato grader". First, 3D grader mechanism model with 3D "potato geometry model" was built, and the operation of the grader part was simulated in cooperation with the control program mounted on the real PLC.
• 1203 Study on a Process Planning System for MEMS Device using 3D Geometric Model

  KITAHARA Tomonao, KANAI Satoshi  The Proceedings of Manufacturing Systems Division Conference  2008-  (0)  21  -22  2008  [Not refereed][Not invited]
   

  Recently, because markets of MEMS develop rapidly, it is expected to increase occasions of MEMS device design. However, it is difficult for designers unlearned in MEMS fabrication process to judge whether the device can be fabricated or not. In our study, we developed a process planning system for MEMS device using 3D geometric model based on block segmentation, which derives all fabrication sequences and their recipes.
• 2305 Fast Calculation of the Yield Prediction for Semiconductor Manufacturing

  KANAI Satoshi, FUJIWARA Yoshitaka  The Proceedings of Manufacturing Systems Division Conference  2008-  (0)  75  -76  2008  [Not refereed][Not invited]
   

  With the higher density of semiconductor devices, the yield prediction simulations such as the CAA (Critical Area Analysis) generally have to take a few days. Therefore, faster calculation is needed to reduce the elapsed time of the prediction. This study aims to propose a management structure of the design layout data which enable the elapsed time of CAA simulation to be considerably faster than the current one while still keeping the simulation accuracy unchanged. A management structure of the layout data using the range tree and interval tree and a prediction method of the query range size were developed to make the 2-dimensional range query in the CAA faster. The CAA calculation which is 10 times to 500 times faster than the current one was achieved.
• The development of an automatic conversion method from DSM obtained by airborne LIDAR to DEM

  KANAI Satoshi, KURITA Teppei  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  16-  29  -32  2007/10/20  [Not refereed][Not invited]
  
• J-028 Prototyping and usability assessment for information appliances user interface based on UsiXML

  Higuchi Taiga, Horiuchi Sou, Kanai Satoshi  情報科学技術フォーラム一般講演論文集  6-  (3)  451  -452  2007/08/22  [Not refereed][Not invited]
  
• An Application of Digital Engineering to Prototyping and Usability Assessment of Information Appliances

  金井 理, 菊地 慶仁, 坂田 豊, 浜崎 亮輔, 城間 祥之, 大島 康彰  Human interface  8-  (1)  13  -18  2006/02/25  [Not refereed][Invited]
  
• Surface Model Generation from Point Clouds

  DATE Hiroaki, KANAI Satoshi  Journal of Japan Society for Design Engineering  41-  (2)  68  -76  2006/02/05  [Refereed][Invited]
  
• Computer-Aided Industrial Design and its Issues

  KANAI Satoshi  Journal of Japan Society for Design Engineering  41-  (1)  2  -10  2006/01/05  [Not refereed][Invited]
  
• 1304 A Research of Collaborative Simulation for Mechatronics System Based on HLA

  MIYASHITA Taku, KANAI Satoshi, KISHINAMI Takeshi, TADA Tatsumi  The Proceedings of Manufacturing Systems Division Conference  2006-  (0)  13  -14  2006  [Not refereed][Not invited]
   

  Recently, collaborative simulation environment is needed in the mechatoronics product design. In this research, a systematic collaborative simulation environment is proposed using HLA (High Level Architecture) which is the IEEE standard of a distributed simulation. In this report, an omni-directional electric wheelchair is joined to a federation as one federate, and the verification of acceleration control system is done. SILS (Software-in-the-loop) and HILS (Hardware-in-the-loop Simulation) using HLA can shorten the time until preparing the simulation and obtain more accurate simulation results.
• 1306 Multiresolution Mesh Modeling System for Efficient CAE

  Date Hiroaki, Kanai Satoshi, Kishinami Takeshi, Nishigaki Ichiro  The Proceedings of Manufacturing Systems Division Conference  2006-  (0)  17  -18  2006  [Not refereed][Not invited]
   

  With the progress of 3D scanning technology and storing mesh data to 3D model databases, the use of the meshes obtained by scanning and DB querying in CAE have been strongly required in addition to those obtained from traditional meshing of solid models. In this paper, we introduce our multiresolution mesh modeling system that can satisfy above requirements. Our system includes the functions that allow us to use several kinds of meshes in the CAE ; mesh properties control, mesh density control, feature suppression, and mesh combining. The effective use of them in the CAE is also described.
• 4208 Development of a production information management system coping with the CSR for chemical products

  SHIMIZU Takafumi, KANAI Satoshi, KISHINAMI Takeshi, ICHINOHE Masayuki, OHASHI Toshijiro, NAKAGAWA Yasuo  The Proceedings of Manufacturing Systems Division Conference  2006-  (0)  57  -58  2006  [Not refereed][Not invited]
   

  Recently, concerns on CSR (Corporate Social Responsibility) have been raised and legal regulations for the environment have spread. Companies are required to disclose how the production activities give influences on the environment. Under this situation, information management systems that can manage chemical substances included not only in the final product, but also intermediate products, byproducts and consumed energy, are required. Such systems must be able to trace each lot from products up to composing materials and vice versa for risk management. The purposes of this research are to design a process and product model for batch production, and to develop a prototype of a batch production information management system that can accommodate environmental CSR. We first designed a model as a set of process elements that contain substance and energy information that is required for accommodating environmental CSR. Then, we developed a system on Object-Relational database management system, and verified traceability that specifies material lot number from product lot number.
• I-055 Content-Based Image Retrieval of Color Images using Hierarchical Quad-Tree Code of Partial Mean Differences as Image Features : Evaluation of Retrieval Performance for Color Images

  Kurita Rhohei, Kanai Satoshi, Kishinami Takeshi, Shibukawa Katsuhisa  情報科学技術フォーラム一般講演論文集  4-  (3)  133  -134  2005/08/22  [Not refereed][Not invited]
  
• J-036 Efficient Ray Tracing using Ray Differential and Mesh Model Simplification

  Miyashita Taku, Kanai Satoshi, Kishinami Takeshi  情報科学技術フォーラム一般講演論文集  4-  (3)  259  -260  2005/08/22  [Not refereed][Not invited]
  
• 1A1-N-036 A Development of a System for Ergonomic Design by Integrating a Digital Hand with Product Models (1st Report) : Overview of System Functions and a Function for Generating Basic Grasp Posture(Universal Design,Mega-Integration in Robotics and Mech

  Endo Yui, Kanai Satoshi, Kishinami Takeshi, Mochimaru Masaaki, Kouchi Makiko, Miyata Natsuki  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005-  (0)  13  -13  2005  [Not refereed][Not invited]
  
• Human-Computer Interactions for Digital Styling Design ? A difficult road toward bridging the gap between concepts and 3D models

  Research in Interactive Design  1-  VC20050024  2005  [Not refereed][Not invited]
  
• Integration of digital hand into 3D CAD

  Miyata, N., Kanai, S.  Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering  71-  (4)  431  -434  2005  [Not refereed][Invited]
  
• 「機械工学便覧 デザイン編β７ 生産システム工学」<日本機械学会編>

  日本機械学会  2005  [Not refereed][Not invited]
  
• I-043 Image Retrieval based on hierarchical coding of partial mean

  Kurita Ryohei, Shibukawa Katsuhisa, Kanai Satoshi, Kishinami Takeshi  情報科学技術フォーラム一般講演論文集  3-  (3)  101  -102  2004/08/20  [Not refereed][Not invited]
  
• Collaboration of "Kansei" and Digital Technology on Style Design(Digital Style Design Research)(Review of Research Fruits by the Technical Committees of JSPE)

  AOYAMA Hideki, KANAI Satoshi  Journal of the Japan Society of Precision Engineering  70-  (8)  1030  -1032  2004/08/05  [Not refereed][Invited]
  
• Formal description technique and behaviour verification for warly design stage of embeded system

  Kikuchi Yoshihito, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  178  -178  2004  [Not refereed][Not invited]
   

  製品開発の初期段階では,筐体や操作システムの意匠的なデザインに重点が置かれるが,システムの挙動に関する分析は,重要視されていない.本報告では,設計初期段階において,システムの入力と出力の関係を形式的に記述し,挙動の安定性などに関する分析を行う方式の提案を行う.本報告では,状態遷移が階層化されている中での同時並行状態の記述表現,記述内容の検証について,Mathematicaを用いた試作システムについて報告する.
• A Research of Packaging Process Simulation Using Physical-based Animation Method (1st Report)

  Hashida Yuki, Kanai Satoshi, Kishinami Takeshi, Nakagawa Kotaro, Sato Shoichi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  179  -179  2004  [Not refereed][Not invited]
   

  製品パッケージング機の設計に3DCADとCAEが活用されているが、現在のCAEでは、パッケージングに使われるポリマーフィルムの変形挙動がシミュレーションできないため、実機上での機械調整作業に時間を費やしている。そのため、折れ変形、曲げ変形、たるみといった変形を考慮したフィルムのモデル化を行う必要がある。本報では離散シェルモデルを用いたフィルムの曲げ変形に対応したフィルムのモデル化及びそのシミュレーションについて報告する。
• A 3D Model Retrieval System for Style Design Based on Hand-written Sketch

  Kamata Yuki, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  180  -180  2004  [Not refereed][Not invited]
   

  本研究では、デザイナーが入力したスケッチ画像と類似した3次元モデルを検索するシステムを構築する。本報では、そのシステムのうち,工業デザイナーがデザインの初期段階で描くようなプロポーション(構え)を描画した概略構造スケッチに基づき、3次元メッシュモデルをデータベースから検索する手法について提案する。
• Revese engineering of Loop subdivision surfaces for complex shapes

  Kanai Satoshi, Endo Yui, Kisinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  184  -184  2004  [Not refereed][Not invited]
   

  工業製品の物理モデルを計測した高密度点群から、点群に高精度にフィットする細分割曲面を自動生成する手法について提案することが本研究の目標である。本研究では、穴を有するなどの複雑なモデル形状を高密度に計測した点群から、ボクセル表現とShrinkWrap法を利用して適切な位相と幾何をもつ細分割曲面初期制御メッシュを自動生成し、高精度に点群にフィッテングするLoop細分割曲面を生成可能な手法を提案する。
• A Study of HLA-based Multi-disciplinary Distributed Collaborative Simulation for Product Design - Development of a Collaborative Simulation Support Tool

  Shimizu Takafumi, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  361  -361  2004  [Not refereed][Not invited]
   

  メカトロ製品等の総合機能検証には,電気系・メカ系など複数分野のシミュレータを接続した協調シミュレーションが有用である。本研究は,分散シミュレーション国際標準であるHLAを利用し,この協調シミュレーション環境の柔軟な実現を目標とする。しかし現在,市販の製品設計用シミュレータ向けにこの環境を実現するには,シミュレーションモデル間での交換情報定義や,HLA機能を付加するための追加コーディング作業が必要となり効率的ではない。そこで本報では,各シミュレータのシミュレーションモデルを読み取り,HLAでの協調シミュレーション時の交換情報をグラフィカルに定義でき,これに基づいて追加コードのソースコード自動生成が可能な,支援ツールを提案する。
• Feature Edge Extraction of Triangular Mesh Models based on Wide Range Normal Evaluation and Modified Watershed Method

  溝口 知広, 伊達 宏昭, 金井 理, 岸浪 建史  Proceedings of JSPE Semestrial Meeting  2004-  (0)  10  -10  2004  [Not refereed][Not invited]
   

  本研究では,三角形メッシュモデルの形状機能面単位での処理を目的とした,広域的法線評価とWatershed法に基づくメッシュモデルの特徴稜線抽出手法を提案してきた.既提案手法では,Watershed法の性質上抽出されない稜線がある,1通りの抽出パラメータ設定のみでは目的とする稜線の抽出が行えないといった問題点があった.そこで本報では,Watershed法の改良と,異なる設定ごとに抽出された特徴稜線を集約する機能により,要求する特徴稜線群を効率よく抽出可能な手法を提案する.
• A Correlation Evaluation on Network Communication Characteristics between Pattern-based Distributed Control Simulator and Real System

  Tomura Toyoaki, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  106  -106  2004  [Not refereed][Not invited]
   

  近年,FAやBAの分野で分散制御システム(DCS)が導入され始めている.DCSでは,トラフィック増加に伴う通信遅れがDCSの制御機能を損なわないように各制御ノードの通信パラメータを調整する必要があるため,現在,DCSの挙動を事前検証できるDCSシミュレータが求められている.本報では,オブジェクト指向デザインパターンに基づいて規定された構造と挙動を持つDCSモデルを用いてシミュレーションを実行し,その結果と実機との相関性を検証する事により,本研究で提案するデザインパターンの有効性を示す.
• The research of packaging process simulation using physical-based animation method (2nd report)

  Hashida Yuki, Kanai Satoshi, Kishinami Takeshi, Nakamura Kotaro, Sato Syoichi, Maruoka Masatomo  Proceedings of JSPE Semestrial Meeting  2004-  (0)  15  -15  2004  [Not refereed][Not invited]
   

  フィルムを用いる自動パッケージング機では包装不良を起こさない運転条件の発見のため、実機上で多くの調整時間が必要である。この問題の解決のため、本研究では、フィルムの変形挙動を解析可能なシミュレータの開発を目的としている。前報でフィルムの変形シミュレーションが可能なフィルムのモデル化について報告した。また本報では、適応的メッシュを利用した、物理ベースアニメーション手法に基づくフィルムのモデル化及びシミュレーションについて報告する。
• Formal description technique and behaviour verification for warly design stage of embeded system

  Kikuchi Yoshihito, Kishinami Takeshi, Kanai Satoshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  17  -17  2004  [Not refereed][Not invited]
   

  製品開発の初期段階では,筐体や操作システムの意匠的なデザインに重点が置かれるが,システムの挙動に関する分析は,重要視されていない.本報告では,設計初期段階において,システムの入力と出力の関係を形式的に記述し,挙動の安定性などに関する分析を行う方式の提案を行う.<br>本報告では,状態遷移が階層化されている中での非決定性仕様に対しての検証について,試作システムについて報告する.
• 3D Model Retrieval System Based on Hand-written Sketch - Rotation Invaliant Method Using Boundery-image and Caracteristic-line-image.

  Kamata Yuki, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  23  -23  2004  [Not refereed][Not invited]
   

  本研究は、デザイナーが発案時に描く手書きスケッチ画像を入力とし、3次元メッシュモデルデータベース内から、このスケッチに類似した投影画像を有するメッシュモデルを効率的に検索する手法を提案する。効率的探索のために、まずモデルの輪郭のみが表現された影画像により検索を行い、類似モデル候補集合を作成する。次に候補集合内のモデルに対し、輪郭内部に描かれた稜線描画方向の類似性に基づき、類似モデルの絞込みを行う。
• A Robust, Accurate, and Flexible Fitting Algorithms of Subdivision Surface for Point Cloud in Industrial Design Use

  Endo Yui, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2004-  (0)  26  -26  2004  [Not refereed][Not invited]
   

  従来,細分割曲面を用いたリバースエンジニアリングの対象はCGモデルを前提としたため,複雑な製品のデザインモデルの高密度測定点群に対して安定かつ高精度に曲面にフィットできなかった.本研究では,曲率評価に基づくフィレット等の特徴保存,Quasi-Interpolationおよび非一様細分割を用いてこの問題を解決し,高密度測定点群にフィットするLoop細分割曲面を生成する新手法を提案する.提案手法を100万点以上の規模の高密度点群に適用し,これを約1/200の頂点数をもつメッシュモデルに圧縮可能である.
• A study on the fusion of visual and physical mock-ups using an RFID-Tag embedded interface

  Horiuchi So, Kanai Satoshi, Kishinami Takeshi, Hosoda Syouichi, Oshima Yasuaki, Shiroma Yoshiyuki  Proceedings of JSPE Semestrial Meeting  2004-  (0)  55  -55  2004  [Not refereed][Not invited]
   

  IT機器の設計段階において機能評価を行うモデルには物理モックアップやデジタルモックアップがあるが、機能評価できる事項・時期共に適切なモックアップは存在しない。本研究では設計の早い段階に、筐体デザインとUIデザインの両面から人間工学的なユーザビリティの評価を可能とするシステムとしてRFIDを用いた仮想・実体融合型デザインモックアップを提案し、家電リモコンのボタン配置評価に応用した事例について述べる。
• A Study of Multiresolution Mesh Modeling for Finite Element Analysis - Adaptive Level-of-Detail for Tetrahedral Meshes

  Date Hiroaki, Kanai Satoshi, Kishinami Takeshi, Nishigaki Ichiro, Dohi Takayuki  Proceedings of JSPE Semestrial Meeting  2004-  (0)  9  -9  2004  [Not refereed][Not invited]
   

  本研究では,高密度メッシュの低解像度化に基づいた,頑強で性質制御性の高い<br>有限要素解析用メッシュ生成手法を開発してきた.本報では,より様々な解析目的に<br>適したメッシュ生成を目的とした,局所的なメッシュの粗密付けが可能な多重解像度<br>四面体メッシュの解像度制御,並びに,メッシュ粗密分布を維持できる大局的な<br>解像度制御手法を提案し,幾つかの解析ケースへの適用例と共にその有効性を示す.
• A study on the fusion of virtual and physical mock-ups using an RFID-Tag embedded interface

  HORIUCHI So, KANAI Satoshi, KISHINAMI Takeshi  The proceedings of the JSME annual meeting  2004-  (0)  41  -42  2004  [Not refereed][Not invited]
   

  The awareness of design for ISO 13407 in product planning phase increases usability testing of digital devices at early stage in development process is strongly needed. In development process, various mock-ups are made and applied to usability testing. But, existing taock-ups are not enough to assess the usability of user interface, because they don't enable us to assess the usability from cognitive and physical aspects simultaneously. To solve these problems, we proposed the fusion of virtual and physical mock-ups by using RFID embedded interface and applied it to usability testing for digital devices.
• Reverse Engineering Method of Subdivision Surfaces for Dense Unorganized Sample Points Measured from Complex Shapes

  ENDO Yui, DATE Hiroaki, Kanai Satoshi, Kishinami Takeshi  The proceedings of the JSME annual meeting  2004-  (0)  59  -60  2004  [Not refereed][Not invited]
   

  In terms of smooth surface generation over arbitrary topological mesh, simplicity of geometric calculation, and easiness of LOD, subdivision surface has the attractive features as a surface to be fit in reverse engineering (RE). Recently, several fitting algorithms have been proposed for RE using subdivision surfaces. However, these are not suitable for RE in the industrial design process where the physical mock-up models have very complex product geometries. To solve this problem, we propose a new method for fitting a Loop subdivision surface to a given high resolution point cloud by using a quasi-interpolation and a non-uniform subdivision algorithm. The resulting initial control mesh that was fit to about 1,000,000 points had 12,000 faces with 10^<-6>6 normalized fitting error.
• Feature Edge Extraction on Triangular Mesh Models based on Wide Range Normal Evaluation and Segmentation

  Mizoguchi Tomohiro, Date Hiroaki, Kanai Satoshi, Kishinami Takeshi  The proceedings of the JSME annual meeting  2004-  (0)  61  -62  2004  [Not refereed][Not invited]
   

  Recently, triangular mesh models are widely used in product design and manufacturing. However, too many triangular patches are required for representing complex shapes accurately and it is also difficult to handle a meaningful set of triangular faces. To solve these problems, we propose a feature edge extraction method of triangular meshes based on segmentation using modified Watershed method and wide range normal evaluation. The proposed method robustly extracts feature edges from noisy mesh models, and enable to handle mesh models efficiently.
• Geometry-Behavior Collaborative Digital Prototyping for IT Products based on STEP

  INOUYE Takashi, SAKATA Yutaka, YOSHINAGA Yoshiaki, HAMASAKI Ryosuke, KISHINAMI Takeshi, KANAI Satoshi  The proceedings of the JSME annual meeting  2004-  (0)  245  -246  2004  [Not refereed][Not invited]
   

  The coordination of exterior style design and interactive design of GUI (Graphical User Interface) greatly influences the market competitiveness of numerous IT products, such as cellular phones, PDAs and digital appliances, and therefore must be reviewed early in the design stage. For efficient design review, a unified 3D virtual prototyping tool is needed for designers where both the styling of a product's exterior and GUI's.dynamic behaviour can be evaluated simultaneously. We developed a geometry-behaviour collaborative prototyping tool based on STEP (ISO10303) standards. This tool can be associated with the STEP AP203file of a 3D geometric model from 3DCAD, then the behaviour of the GUI can be defined according to the 'STEP behaviour schema' using EXPRESS language. Finally, in our prototyping, the behaviour model can be mapped into the animation script of a particular Web3D format. The designers can fully examine the usability and functionality of the GUI using the working prototype on Web3D browser.
• A Prototyping System for Surface Textured Models using Triangular Mesh Modeling and Stereo Lithography

  Date Hiroaki, Kanai Satoshi, Kishinami Takeshi, Iwakoshi Mutsuro, Kobayashi Masayoshi  The proceedings of the JSME annual meeting  2004-  (0)  249  -250  2004  [Not refereed][Not invited]
   

  The surface of many industrial products can be considered to have geometries consisting of a base shape and surface textures, such as detailed geometrical patterns, logotypes and symbols. In this paper, we propose a textured shape design method based on mesh-based texture integration, and introduce an efficient prototyping system of the textured shapes using proposed method and stereo lithography. In this system, we can simply generate the mesh model with texture, and the resulting mesh model can be directly applicable to stereo lithography. Therefore, prototypes of textured shapes can be produced efficiently.
• A Verification of Correlation between Distributed Control Simulator based on Object-oriented Design Patterns and Real System

  TOMURA Toyoaki, KANAI Satoshi, KISHINAMI Takeshi  The proceedings of the JSME annual meeting  2004-  (0)  351  -352  2004  [Not refereed][Not invited]
   

  DCSs (distributed control systems) consisting of many devices and an open network are used in factory automation and building automation areas. Before making the actual DCS, we must accurately estimate the control characteristics of network in the DCS. In this paper, we propose two object-oriented design patterns which specify the structure and behavior of the communication protocol of devices, and synchronize the clocks of components in the DCS model. Finally, we evaluate the correlation between the result of DCS simulation using the CAN protocol model and the network communication of the actual CAN-based DCS.
• Development of analysis mesh generator using multi resolution mesh model

  NISHIGAKI Ichiro, DATE Hiroaki, KANAI Satoshi  The proceedings of the JSME annual meeting  2004-  (0)  89  -90  2004  [Not refereed][Not invited]
   

  We have developed an appearance-design-CAD-coupled simulation framework that will enable engineers to perform analysis simulations during the appearance design process. This is not only a prototype process, but also the most innovative product design process to date. We applied multi-resolution representation technology to an automatic mesh generation system, in order to obtain low-resolution analysis meshes from high-resolution appearance design meshes. Because engineers are able to design appearance and function all at once, we can eliminate redesigns caused by design defects in the original function design process.
• Date H., Kanai,S., Kishinami T., Kobayashi, M. and Iwakoshi,M. : "A Prototyping System for Surface Textured Shapes using Triangular Mesh Modeling and Stereo Lithography", Proceedings of 2004 Japan-USA Symposium on Flexible Automation, [1/1(CD-ROM) JL・・・

  2004  [Not refereed][Not invited]
   

  Date H., Kanai,S., Kishinami T., Kobayashi, M. and Iwakoshi,M. : "A Prototyping System for Surface Textured Shapes using Triangular Mesh Modeling and Stereo Lithography", Proceedings of 2004 Japan-USA Symposium on Flexible Automation, [1/1(CD-ROM) JL018] (2004)*
• KANAI,S., Kishinami,T. and Tada T.: "Multi-disciplinary Distributed Simulation for designing IT Devices by Integrating off-the-shelf CAX systems based on HLA", Proceedings of Fall 2004 Simulation Interoperability Workshop, 315-325 (2004)*

  2004  [Not refereed][Not invited]
  
• Date H., Kanai,S., Kishinami T., Kobayashi, M. and Iwakoshi,M. : "A Prototyping System for Surface Textured Shapes using Triangular Mesh Modeling and Stereo Lithography", Proceedings of 2004 Japan-USA Symposium on Flexible Automation, [1/1(CD-ROM) JL・・・

  2004  [Not refereed][Not invited]
   

  Date H., Kanai,S., Kishinami T., Kobayashi, M. and Iwakoshi,M. : "A Prototyping System for Surface Textured Shapes using Triangular Mesh Modeling and Stereo Lithography", Proceedings of 2004 Japan-USA Symposium on Flexible Automation,
  [1/1(CD-ROM) JL018] (2004)*
• Date,H., Kanai,S., Kishinami,T., Nishigaki,I. and Dohi, T. : "Multiresolution Finite Element Mesh Generation", Proceedings of 2004 ASME Int.Design Engineering Technical Conferences & Computers and Information in Engineering Conference, [1/1(CD-ROM) DET・・・

  2004  [Not refereed][Not invited]
   

  Date,H., Kanai,S., Kishinami,T., Nishigaki,I. and Dohi, T. : "Multiresolution Finite Element Mesh Generation", Proceedings of 2004 ASME Int.Design Engineering Technical Conferences & Computers and Information in Engineering Conference, [1/1(CD-ROM) DETC2004-57663] (2004).*
• Tomura,T., KANAI S. and Kisinami T. : "A PARALLEL DISCRETE EVENT SIMULATION METHODOLOGY OF DISTRIBUTED CONTROL SYSTEMS USING OBJECT-ORIENTED PROTOCOL MODEL AND TIME WARP MECHANISM", Proceedings of 2004 Japan-USA Symposium on Flexible Automation, [1/1 (・・・

  2004  [Not refereed][Not invited]
   

  Tomura,T., KANAI S. and Kisinami T. : "A PARALLEL DISCRETE EVENT SIMULATION METHODOLOGY OF DISTRIBUTED CONTROL SYSTEMS USING OBJECT-ORIENTED PROTOCOL MODEL AND TIME WARP MECHANISM", Proceedings of 2004 Japan-USA Symposium on Flexible Automation, [1/1 (CD-ROM) JL031] 2004.*
• LOD control methods for dynamic visualization of large 3D terrain model using wavelet transform and quadtree

  HASHIDA YUKI, KANAI SATOSHI, KISHINAMI TAKESHI  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  12-  493  -496  2003/09/30  [Not refereed][Not invited]
  
• LOD Control for Mesh Models and its Application to Digital Engineering(Technology Based on a Larg Quantity of Discrete Geometries for Digital Engineering)

  KANAI Satoshi, DATE Hiroaki, KISHINAMI Takeshi  Journal of the Japan Society of Precision Engineering  69-  (4)  490  -493  2003/04/05  [Not refereed][Not invited]
  
• Triangular Mesh Modeling of Surface-detail-integrated Shape using Parameterization

  DATE Hiroaki, KANAI Satoshi, KISHITANI Takeshi  Journal of the Japan Society of Precision Engineering  69-  (4)  581  -585  2003/04/05  [Not refereed][Not invited]
   

  The surface of many industrial products may have geometries composed both of base shape and surface detail. From the design point of view, it is efficient to design the base shape and surface detail independently, and then to integrate the surface detail with the base shape surface for obtaining the surface-detail-integrated shape. In this paper, to realize a flexible and efficient mesh modeling for the surface-detail-integrated shape, we propose a method that integrates the surface detail with the base shape using parameterization. In our method, the user can simply design the surface-detail-integrated shape by specifying the references of integration for the base shape and surface detail, which makc positional and directional correspondence between both shapes. Surface detail integration is automatically done so as to satisfy the geometric constraints of the surface detail on the integrated shape based on successive expansion and local modification of parameterization. Finally, we demonstrate our method with several examples and evaluate the accuracy of integration, and discuss the approach which can improve the precision of surface detail integration.
• A Verification of Graphical Behavior of Distributed Control Systems Using Java 3D and Object-oriented Design Patterns

  TOMURA Toyoaki, KANAI Satoshi, KISHINAMI Takeshi  旭川工業高等専門学校研究報文  40-  (40)  21  -30  2003/03  [Not refereed][Not invited]
   

  Distributed control systems (DCSs), which consist of a plant, a controller composed of many devices, and an open network interconnecting devices, are now used in many automation areas. For assuring the control performance under the heavy traffic on the network, the simulation of DCS is strongly needed. In the case of DCSs for controlling an mechanical plant, the graphical and cooperative simulation between the controller model and the plant model becomes important to verify the sequence of motions of the plant. For this purpose, we propose a systematic object-oriented-based DSC modeling procedure to efficiently and uniformly develop the DCS simulation model. From this procedure, we can describe the formal description of DCS simulation model based on five object-oriented design patterns which describe the structure and behavior of the DCS. We also propose an event chain mechanism between the statechart-based controller medel and the graphical plant model. Finally, a cooperative DCS simulation software is developed by using the Java 3D API.
• 平成14年度〔財団法人日本測量調査技術協会〕事業委員会札幌講演会(平成14年6月21日) データモデリングCG技術のGISへの応用

  金井 理  測量調査技術  (84)  3  -26  2003/03  [Not refereed][Not invited]
  
• Multiresolution Representation of Triangular Mesh Model with Surface Detail -Improvement of Mesh Quality and Application to FEM -

  Date Hiroaki, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  7  -7  2003  [Not refereed][Not invited]
   

  本研究では，三角形メッシュモデル形状の表面詳細を選択的に除去&middot;保存した低解像度メッシュを得られる，フィルタリングに基づいたメッシュモデルの多重解像度表現化手法を提案してきた．本報告では，既提案法により得られる低解像度メッシュのFEM解析での利用を目的とし，面分の正三角形化，頂点価数の均一化など，FEM解析用メッシュに要求される性質を持つ低解像度メッシュを得られる多重解像度表現化手法を提案する．
• A Study on the Redesign of Information Appliances Products - A Case Study about the MPEG Video Recording/Playback Equipment (VideoBOX) -

  Shiroma Yoshiyuki, Ohshima Yasuaki, Kawakoshi Fumihiro, Nitadori Yasunobu, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  12  -12  2003  [Not refereed][Not invited]
   

  本研究は，組み込み基盤内蔵の薄型情報機器（製品）を対象として，その外観スタイルのリ&middot;デザインを実際に再現することにより，アイディア&middot;スケッチからデザイン&middot;モデル（物理プロトタイプ）制作に至る意匠デザイン技術の確立を図ることが目的である．本講演では，ネットワーク対応MPEG録画&middot;再生装置（VideoBOX）のリ&middot;デザインプロセスについて報告する．
• Reverse Engineering Using Loop Subdivision Surface -Deriving Control Mesh based on Quasi-Interpolation and Adaptive Splitting-

  Nachi Kazuma, Kanai Satosi, Kisinami Takesi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  18  -18  2003  [Not refereed][Not invited]
   

  本研究では、従来のパラメトリック曲面に比べ、任意位相の多面体上に単一の曲面を容易に定義できるという特徴を持つ細分割曲面を、リバースエンジニアリングの出力として生成する手法を提案する。基本的な概念は、quasi-interpolationを用いて、与えられた点群から初期制御メッシュを導出する。その過程において、点群へのフィッティング誤差に基づき、制御メッシュを適応的に分割することにより、少ない三角形数でフィッティング精度を満たす初期制御メッシュを導出する。
• Parallel and Discrete Event Simulation of Distributed Control Systems for FA based on Design Patterns and Time-Warp Mechanism

  Tomura Toyoaki, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  195  -195  2003  [Not refereed][Not invited]
   

  近年，FAやBAの分野において，分散制御システム(DCS)が導入され始めている．本研究では，FA用DCSの視覚的挙動の検証を目的として，Statechart で記述された制御装置モデルと，Java3Dで記述された制御対象モデルの協調シミュレーションを行うためのデザインパターンを提案してきた．一方，DCSにおけるネットワーク上での通信遅れやパケットの損失が原因でDCSの制御性能が著しく低下するような状況を予測するためには，DCSシミュレーションモデルにおける制御ノード間の事象を論理時刻上で並列に取り扱う必要がある．そこで本報では，これまで提案してきたデザインパターンに基づくDCSシミュレーションモデルに対して，並列離散事象シミュレーションの一手法であるタイムワープ機構を組み込む事により，ネットワーク特性の影響を考慮したFA用DCSの挙動シミュレーションを行う事を目的とする．
• A Study of Usefulness of Specification Description Languages in Designing Human Interface of Embedded Systems

  Tomura Toyoaki, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  470  -470  2003  [Not refereed][Not invited]
   

  組み込みシステムにおけるヒューマンインターフェイスの挙動仕様は，Statechart をベースとした記述で表現可能であると考えられる．この挙動仕様をディジタル化して，組み込みシステムのシミュレーションや実装へ流用するためのStatechart ベースの記述言語としては，SpecCやViewpointのmtxなどが挙げられる．本研究では，これらの言語を用いて，製品化されている組み込みシステムが持つヒューマンインターフェイスの挙動仕様を記述する事により，これらの記述能力と有用性について詳しく議論する．
• Specification of Behaviors in Embedded Systems based on Statecharts, Scenarios and Functional Models

  Urushihara Akihiko, Kanai Satoshi, Kishinami Takeshi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  471  -471  2003  [Not refereed][Not invited]
   

  本研究は、シナリオ、Statecharts及び機能モデルにより、組み込み型システムのヒューマンインターフェースの挙動を記述するモデリング手法を提案する。本報告では、組み込みシステムの挙動のモデリング向けに拡張されたStatechartsの定義、及び製品の機能モデルとシナリオからStatechartsを定義する手法を提案する。また、そのための簡易的なモデラ機能の開発事例も紹介する。
• Formal Description Technique and Behaviour Verification for Early Design Stage of Embeded System

  KIKUCHI Yoshihito, KANAI Satoshi, KISHINAMI Takeshi  Proceedings of JSPE Semestrial Meeting  2003-  (0)  474  -474  2003  [Not refereed][Not invited]
   

  製品開発の初期段階では，筐体や操作システムの意匠的なデザインに重点が置かれるが，システムの挙動に関する分析は，重要視されていない．本報告では，設計初期段階において，システムの入力と出力の関係を形式的に記述し，挙動の安定性などに関する分析を行う方式の提案を行う．また具体的なマルティメディア機器を対象とした記述に関しても報告する．
• A Research on Multi-Functional Behavior Modeler for embedded Systems Development

  kanai Satoshi, Urushibara Hidehiko, takeshi kishinami, kikuchi yoshihito, Tomura Toyoaki  Proceedings of JSPE Semestrial Meeting  2003-  (0)  477  -477  2003  [Not refereed][Not invited]
   

  現在，PDAや携帯電話といった情報機器の設計工程で，最もボトルネックとなっているのが，組込みソフトウエア開発工程である．その原因は，デザイン初期段階での製品挙動仕様記述がディジタル化されていない点である．そこで本研究では，意匠設計と組込みフトウエア開発を統合化するための多機能Behaviorモデラーの開発プロジェクト概要を述べる．このモデラーでは，組込みシステムのヒューマンインターフェースの挙動仕様を初期デザイン段階で，Statechartなどを利用してモデル化するとともに，これを高度仕様検証，CAD連携シミュレーション，CASEツールへのデータ変換，製品テストシナリオ自動生成等へ応用可能な機能をもつ．
• Toyoaki Tomura, Satoshi Kanai, Takeshi Kishinami: "A Cooperative Simulation Mechanism of Distributed Control Systems Based on Object-Oriented Design Patterns", Proceedings of Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed ・・・

  2003  [Not refereed][Not invited]
   

  Toyoaki Tomura, Satoshi Kanai, Takeshi Kishinami: "A Cooperative Simulation Mechanism of Distributed Control Systems Based on Object-Oriented Design Patterns", Proceedings of Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, pp.83-90 , 2003.*
• Takashi Inoue, Yutaka Sakata, Ryosuke Hamasaki, Satoshi Kanai and Takeshi Kishinami: "Geometry-behavior Collaborative Digital Prototyping for IT Products based on STEP and Web3D", Proceedings of Virtual Concept 2003, pp.388-393, 2003.*

  2003  [Not refereed][Not invited]
  
• Satoshi Kanai and Takafumi Shimizu: "HLA/RTI-based Scalable Distributed Virtual Prototyping Environment for Embedded System Design, Proceedings of Virtual Concept 2003, pp.100-107, 2003.*

  2003  [Not refereed][Not invited]
  
• フィルタリングを用いた表面詳細を含むメッシュモデルの多重解像度化

  伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2002-  (2)  5  -5  2002/10/01  [Not refereed][Not invited]
  
• Loop細分割曲面を用いた点群からのリバースエンジニアリング : Quasi-interpolationに基づく制御メッシュ導出法

  名知 数馬, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2002-  (2)  13  -13  2002/10/01  [Not refereed][Not invited]
  
• Java3Dとデザインパターンに基づく分散制御システムの3次元協調シミュレーション

  戸村 豊明, 金井 理, 岸浪 建史, 伊深 和浩, 上広 清, 山元 進  精密工学会大会学術講演会講演論文集  2002-  (2)  379  -379  2002/10/01  [Not refereed][Not invited]
  
• Development of a Web-XML Geographic Database based on ISO19100 series

  KANAI Satoshi, TANAKA Fumiki, KISHINAMI Takeshi, SAITOH Makoto, SAITOH Sei-ichi, TANI Hiroshi, TATENO Kyoichi  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  11-  275  -278  2002/09/30  [Not refereed][Not invited]
  
• Geographic information query system using Semantic Web

  SAITO Makoto, TANAKA Fumiki, KANAI Satoshi, KISHINAMI Takeshi  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  11-  293  -296  2002/09/30  [Not refereed][Not invited]
  
• D-4 Research for use of ISO 19100 Geograhic information data on Semantic Web : Conversion to RDF Schema from UML representation of geographic information datamodel

  SAITO Makoto, TANAKA Fumiki, KANAI Satoshi, KISHINAMI Takeshi  情報科学技術フォーラム一般講演論文集  2002-  (2)  7  -8  2002/09/13  [Not refereed][Not invited]
  
• J-31 A Study of Multiresolution Mesh Model for Collision Detection : Local LOD Control and its Application to Collision Detection

  DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi  情報科学技術フォーラム一般講演論文集  2002-  (3)  263  -264  2002/09/13  [Not refereed][Not invited]
  
• UML/Statecharts-based Automated Testing on Software for Factory Automation

  KANAI Satoshi, TOMURA Toyoaki, UEHIRO Kiyoshi, YAMAMOTO Susumu  Manufacturing Systems Division Conference  2002-  (0)  39  -40  2002/03/26  [Not refereed][Not invited]
   

  Many kinds of FA control software have reactive and event-driven behaviors. These behaviors can be expressed as Statecharts : a finite state machine with hierarchical states and with guards of transitions. In this research, Statechart-based automated testing method on software for FA is proposed. Generation of test sequence for testing on state-transitions and of test data for testing on guard conditions could be fully automated from Statecharts, and critical error in implementation could be tested systematically. The practical application showed its effectiveness on efficiency and quality improvement in control software development process.
• Modeling and Implementation of Structure of Distributed Control System Usi

  Tomura Toyoaki, Kanai Satoshi, Kishinami Takeshi, Uehiro Kiyoshi, Yamamoto Sus  旭川工業高等専門学校研究報文  39-  (39)  37  -46  2002/03  [Not refereed][Not invited]
  
• UMLとデザインパターンを利用したFA用分散制御ソフトウェアの迅速開発

  戸村 豊明, 金井 理, 岸浪 建史, 伊深 和浩, 上広 清, 山元 進  精密工学会大会学術講演会講演論文集  2002-  (1)  54  -54  2002/03/01  [Not refereed][Not invited]
  
• フィルタリングとパラメタライゼーションに基づくメッシュモデルの表面詳細抽出と合成

  伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2002-  (1)  260  -260  2002/03/01  [Not refereed][Not invited]
  
• 形状モデルのデータ構造分析に基づいた汎用電子透かし手法

  金井 理, 北村 伊久裕, 岸浪 建史  精密工学会大会学術講演会講演論文集  2002-  (1)  261  -261  2002/03/01  [Not refereed][Not invited]
  
• Loop細分割曲面を用いた点群からのリバースエンジニアリング:改良shrink wrappingを用いた点群からのsemi-regular mesh生成

  名知 数馬, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2002-  (1)  269  -269  2002/03/01  [Not refereed][Not invited]
  
• KANAI,S., KISHINAMI,T., TOMURA,T., UEHIRO,K.,YAMAMOTO,S.and IBUKA,K.: "Object-oriented Design Pattern Approach to Seamless Modeling, Simulation and Implementation of Distributed Control Systems", Proceedings of The 5th International Conference on Desig・・・

  2002  [Not refereed][Not invited]
   

  KANAI,S., KISHINAMI,T., TOMURA,T., UEHIRO,K.,YAMAMOTO,S.and IBUKA,K.: "Object-oriented Design Pattern Approach to Seamless Modeling, Simulation and Implementation of Distributed Control Systems", Proceedings of The 5th International Conference on Design of Information Infrastructure Systems for Manufacturing 2002 (DIISM2002), 165-172 (2002)*
• Tomura,T.,Kanai,S., Kishinami,T., Ibuka,K., Uehiro,K. and Yamamoto,S. : "Seamless Modeling and Simulation Methodology of Distributed Control Systems based on Object-Oriented Design Pattern", 254-259 (2002)*

  2002  [Not refereed][Not invited]
  
• Tomura,T., Kanai,S., Kishinami,T., Ibuka,K., Uehiro,K. and Yamamoto,S.: "Seamless Integration of Simulating and Implementing Distributed Control Systems based on Object-Oriented Design Pattern Approach", ASME/ISICE Proc. of 2002 Japan-USA Flexible Auto・・・

  2002  [Not refereed][Not invited]
   

  Tomura,T., Kanai,S., Kishinami,T., Ibuka,K., Uehiro,K. and Yamamoto,S.: "Seamless Integration of Simulating and Implementing Distributed Control Systems based on Object-Oriented Design Pattern Approach", ASME/ISICE Proc. of 2002 Japan-USA Flexible Automation Conference, 1: 123-129 (2002)*
• Web-XML Distributed Data Base System for Eco-Resource Information

  KANAI Satoshi, TANAKA Fumiki, KISHINAMI Takeshi, SAITOH Sei-ichi, TANI Hiroshi, TATENO Kyoichi  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  10-  203  -206  2001/09/30  [Not refereed][Not invited]
  
• パラメタライゼーションを用いたメッシュ合成によるフィレット生成

  伊達 宏昭, 金井 理, 岸波 建史  精密工学会大会学術講演会講演論文集  2001-  (2)  38  -38  2001/09/01  [Not refereed][Not invited]
  
• B-spline Waveletを用いた点群からの細分割曲面モデル生成

  金井 理, 伊達 宏昭, 岸浪 建史  精密工学会大会学術講演会講演論文集  2001-  (2)  53  -53  2001/09/01  [Not refereed][Not invited]
  
• デザインパターンに基づくDCS制御ノード用ソフトウエアの迅速開発

  戸村 豊明, 金井 理, 岸浪 建史, 伊深 和浩, 上広 清, 山元 進  精密工学会大会学術講演会講演論文集  2001-  (2)  81  -81  2001/09/01  [Not refereed][Not invited]
  
• 3003 Automated Design of Intermediate Shape Models for Free-form Surface Machining based on Multi-resolution Analysis by Wavelet Transform

  KANAI Satoshi, DATE Hiroaki, KISINAMI Takeshi  The ... Factory Automation Conference  2001-  (1)  41  -42  2001/03/22  [Not refereed][Not invited]
   

  In the operation planning of 3-D free-form machining for die and cavity shapes, a series of intermediate shape models must be designed as the references of NC programming. In this paper, we apply a new wavelet-based multi-resolution analysis to the representation of a series of intermediate shape models for free-form surface machining. The proposed wavelet-based approach enables very compact data representation for these models, and enables the geometric relations between each resolution model to be designed so as to avoid overcut and to level the cutting loads. The effectiveness of the approach was verified through the simulation for practical free-form shape models.
• Wavelet-based Multi-resolution Representation and LOD Control for Texture-mapped Polygonal Model

  MIURA Yuki, DATE Hiroaki, KANAI Satoshi  IPSJ SIG Notes  2001-  (14)  19  -24  2001/02/16  [Not refereed][Not invited]
   

  A multi-resolution representation and its LOD control become necessary for efficiently processing a texture-mapped polygonal model with huge faces and high-resolution texture images.For this purpose, first we propose a re-meshing algorithm where the texture-mapped polygonal model with arbitrary topology can be converted into the one with semi-regular topology suitable for wavelet transform.Then, we discuss how to compose the multi-resolution representation of the texture-mapped polygonal model where the resolutions of the polygon geometry and the texture image can be individually controlled by respectively applying the 3D and 2D wavelet transforms to the polygonal model and to the texture images of the re-meshed model.
• A Modeling Method for Triangulated Meshes with Surface Detail and its Multiresolution Representation

  Date Hiroaki, Kanai Satoshi, Kishinami Takeshi  IPSJ SIG Notes  2001-  (14)  43  -48  2001/02/16  [Not refereed][Not invited]
   

  The surface of many industrial products can be considered to have geometries composed both of base shape and surface detail.From design point of view, it is efficient design the base shape and surface detail independently.However, only base shape is often required in some applications, such as analysis, machining, and display for this type of composed shape.In this paper, to realize the flexible and efficient modeling for a mesh model with surface detail and its efficient data processing, we propose a method for integrating the surfave datail with base shape, and the multiresolution representation method based on rules of edge removal for this surface-detail-integrated shape so as to keep the base shape
• 技術解説 加工から見た機械系CAD/CAMへのニーズとその対応--自由曲面CAMシステム技術を中心として

  金井 理  機械と工具  45-  (2)  71  -75  2001/02  [Not refereed][Not invited]
  
• T.Tomura, S.Kanai, K.Uehiro and S.Yamamoto : Object-Oriented Design Pattern Approach for Modeling and Simulating Open Distributed Control System, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 211-216, 2001.*

  2001  [Not refereed][Not invited]
  
• Developing simulation models of open distributed control system by using object-oriented structual and behavioral patterns

  T Tomura, K Uehiro, S Kanai, S Yamamoto  FOURTH IEEE INTERNATIONAL SYMPOSIUM ON OBJECT-ORIENTED REAL-TIME DISTRIBUTED COMPUTING, PROCEEDINGS  428  -437  2001  [Not refereed][Not invited]
   

  An open distributed control system (DCS), which consists of many devices and an open network interconnecting them, is now used in many automation areas. For assuring the control performance under the heavy traffic on the network, the simulation of a DCS is strongly needed. For this purpose, we propose an object-oriented design pattern approach as a uniform, efficient and accurate method of modeling and simulating a DCS. Four design patterns are newly proposed. Device-Constructor and Composite-Device-Constructor patterns describe classes and mechanisms for uniformly structuring device models composed of many kinds of sensors and actuators. Statechart pattern defines classes and the state-transition execution mechanism for realizing the behavior of sensors and actuators in a device. While Event-Chain pattern defines classes and the event dispatching mechanism among sensors and actuators intra-device and inter-device. The systematic implementation procedures from these patterns to the executable Java code of the DCS simulation model are also discussed. Finally, the effectiveness of our approach was proved by developing the Java-based DCS modeler and simulator used in building automation area.
• Efficient Spatial and Temporal Resolution Control for archiving and retrieving a series of Remote Sensing Image Data using 3D Wavelet Transform

  S Kanai, M Imai, T Kishinami, S Saitoh  IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS  2271  -2273  2001  [Not refereed][Not invited]
   

  This paper proposed efficient spatial and temporal resolution controlling methods for the time series of remote sensing images based on 3D wavelet transform. For fast archiving and retrieving the images, incremental decomposition of multi-resolution representation, and spatially and temporally local reconstruction were also proposed. The efficiencies of the methods were evaluated through simulations.
• ウエーブレット変換を用いたメッシュモデルの幾何・テクスチャの独立ＬＯＤ制御

  金井理  Visual Computing とＣＡＤ合同シンポジウム2001予稿集(査読付)  103  -108  2001  [Not refereed][Not invited]
  
• I.Kitamura, S.Kanai and T.Kishinami: Copyright Protection of Vector Map using Digital Watermarking Method based on Discrete Fourier Transform, Proceedings of IEEE 2001 International Geoscience and Remote Sensing Symposium, CD-ROM,TH16_09 (2001)

  2001  [Not refereed][Not invited]
  
• H.Date, S.Kanai and T.Kishinami: An Adaptive LOD Control Method for Textured Digital Terrain Model using Wavelet-based Multiresolution Representation, Proceedings of IEEE 2001 International Geoscience and Remote Sensing Symposium, CD-ROM,TP16_03 (2001)

  2001  [Not refereed][Not invited]
  
• An efficient method of controlling resolution of spatial and temporal data based on 3D Haar Wavelet Transform and its application to satellite remote sensing data

  IMAI Masashi, KANAI Satoshi, KISHINAMI Takeshi, SAITOH Seiichi  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  9-  165  -168  2000/09/30  [Not refereed][Not invited]
  
• Digital Watermarking method for Vector Map based on Wavelet Transform

  KITAMURA Ikuhiro, KANAI Satoshi, KISHINAMI Takeshi  地理情報システム学会講演論文集 = Papers and proceedings of the Geographic Information Systems Association  9-  417  -421  2000/09/30  [Not refereed][Not invited]
  
• 高精度設計対象表現の為の3次元のポリゴンモデルへの表面詳細幾何合成とその詳細度制御手法

  伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (2)  421  -421  2000/09/01  [Not refereed][Not invited]
  
• 形状保存パラメタライゼーションに基づく合成型多重解像度表現のためのポリゴンリメッシュ化手法

  三浦 夕季, 伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (2)  422  -422  2000/09/01  [Not refereed][Not invited]
  
• オブジェクト指向デザインパターンを活用した超分散システム制御ネットワークシミュレータ用デバイスモデルの迅速構築

  戸村 豊明, 金井 理, 岸浪 建史, 上広 清, 山元 進  精密工学会大会学術講演会講演論文集  2000-  (2)  499  -499  2000/09/01  [Not refereed][Not invited]
  
• 超分散システムネットワークシミュレーター用モデル検証のための適合性試験法 : 並行サブ状態を含む状態遷移仕様の確認

  魚住 一, 金井 理, 岸浪 建史, 上広 清, 山元 進, 戸村 豊明  精密工学会大会学術講演会講演論文集  2000-  (2)  500  -500  2000/09/01  [Not refereed][Not invited]
  
• 超分散システム制御ネットワークシミュレータを用いたビルオートメーション用制御ネットワークのモデリングと性能評価

  上広 清, 戸村 豊明, 山元 進, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (2)  501  -501  2000/09/01  [Not refereed][Not invited]
  
• Wavalet変換による3次元ポリゴンデータとデジタル画像の合成型多重解像度表現に関する研究

  三浦 夕季, 伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (1)  33  -33  2000/03/01  [Not refereed][Not invited]
  
• 資源環境時空間モデリングに関する研究(第1報) : 海洋生態系モデリングへの応用

  坂口 大作, 田中 文基, 金井 理, 岸浪 建史, 斎藤 誠一, 飯田 浩二, 山内 皓平  精密工学会大会学術講演会講演論文集  2000-  (1)  49  -49  2000/03/01  [Not refereed][Not invited]
  
• ウェーブレット変換を用いた多重解像度表現に基づくCAM用形状モデリング : 工具offset面を考慮した中間加工形状系列の加工性向上

  伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (1)  56  -56  2000/03/01  [Not refereed][Not invited]
  
• 超分散システム制御ネットワークシミュレータの開発(第1報) : ネットワーク特性を考慮した統合シミュレーション手法

  上広 清, 戸村 豊明, 山元 進, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (1)  70  -70  2000/03/01  [Not refereed][Not invited]
  
• 超分散システム制御ネットワークシミュレータの開発(第2報) : 状態遷移仕様のデザインパターンを用い制御対象モデルの迅速開発

  戸村 豊明, 上広 清, 山元 進, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  2000-  (1)  71  -71  2000/03/01  [Not refereed][Not invited]
  
• プラント制御対象モデルにおける状態遷移仕様の適合性試験に関する研究

  魚住 一, 金井 理, 岸浪 建史, 上広 清, 山元 進  精密工学会大会学術講演会講演論文集  2000-  (1)  72  -72  2000/03/01  [Not refereed][Not invited]
  
• Tomura,T. Kanai,S. and Kishinami,T.; Seamless design methodology of manufacturing cell-control software based on activity-control-condition and object diagram, International Journal of COMPUTER INTEGRATED MANUFACTURING 2000,13(3) :263-272(2000)*

  2000  [Not refereed][Not invited]
  
• Tomura,T. Kanai,S and Kishinami,T.; Systematic Development Methodology for Manufacturing Station Simulation Model based on Object-Oriented Differential Modeling, 2000 Japan-USA Symposium on Flexible Automation, 2000JUSFA-13048 (2000)

  2000  [Not refereed][Not invited]
  
• Date,H. Kanai,S. and Kishinami,T.; Wavelet-Based Multiresolution Representation of a Geometric Model for Free-Form Surface Machining,2000 Japan-USA Symposium on Flexible Automation, 2000JUSFA-13035(2000)

  2000  [Not refereed][Not invited]
  
• Kanai,S. and Tomura,T.; Object-oriented Graphical Specification and Seamless Design Procedure for Manufacturing Cell Control Software Development,Proc. of IEEE Int Conf. On Robotics & Automation, CR-ROM (2000)

  2000  [Not refereed][Not invited]
  
• Tomura,T. Kanai,S and Kishinami,T.; Systematic Development Methodology for Manufacturing Station Simulation Model based on Object-Oriented Differential Modeling, 2000 Japan-USA Symposium on Flexible Automation, 2000JUSFA-13048 (2000)

  2000  [Not refereed][Not invited]
  
• Tomura,T. Kanai,S. and Kishinami,T.; Seamless design methodology of manufacturing cell-control software based on activity-control-condition and object diagram, International Journal of COMPUTER INTEGRATED MANUFACTURING 2000,13(3) :263-272(2000)*

  2000  [Not refereed][Not invited]
  
• 「VR世界の構成方法」<廣瀬通孝編>

  培風館  2000  [Not refereed][Not invited]
  
• Deigital Watermarking for 3D Polygons Based on Wavelet Transform

  DATE Hiroaki, KANAI Satoshi, KISHINAMI Takeshi  Journal of the Japan Society of Precision Engineering  65-  (9)  1275  -1279  1999/09/05  [Not refereed][Not invited]
   

  Recently, muchi, interest is being taken in method to protect the copyright of digital data and preventing illegal duplication of it. However, in the area of CAD/CAM and CG, there are no effective ways to protect the copyright of the 3D geometric models. As a first step to solve the problem, a new digital watermarking method for 3D polygonal models is introduced in this paper. Watermarking is one of the copyright protection methods where an invisible watermark is secretly embedded into the original data. The proposed watermarking method is based on the wavelet transform (WT) for the polygonal model. The watermark can be embedded in the large wavelet coefficient vectors at various resolution levels of the transformed model. The method makes the embedded watermark imperceptible and invariant to the affine transformation. And also makes the control of the geometric error caused by the watermarking reliable. Finally, the effectiveness of the proposed watermarking method is shown through several simulation results.
• UMLと参照モデルに基づく製造ステーションのシミュレーション用モデル開発方法論

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1999-  (2)  49  -49  1999/09/01  [Not refereed][Not invited]
  
• ウェーブレット変換を用いた多重解像度表現に基づくCAM用形状モデリング-等高線加工用の多重解像度中間加工形状モデルの自動生成-

  伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1999-  (2)  148  -148  1999/09/01  [Not refereed][Not invited]
  
• UMLの静的構造図と挙動図に基づいた製造ステーションモデル構築法とシミュレータへの実装

  戸村 豊明, 金井 理, 岸浪 健史  精密工学会大会学術講演会講演論文集  1999-  (1)  49  -49  1999/03/05  [Not refereed][Not invited]
  
• EXPRESS/E2ダイナミックモデルを用いたFA制御対象モデルの挙動記述

  戸村 豊明, 金井 理, 岸浪 健史, 菊地 慶仁  精密工学会大会学術講演会講演論文集  1999-  (1)  50  -50  1999/03/05  [Not refereed][Not invited]
  
• 自由曲線の多重解像度近似における再帰分割法とウエーブレット変換法の相互関係

  金井 理, 伊達 宏昭, 岸浪 健史  精密工学会大会学術講演会講演論文集  1999-  (1)  68  -68  1999/03/05  [Not refereed][Not invited]
  
• ウェーブレット変換を用いた多重解像度表現に基づくCAM用形状モデリング

  伊達 宏昭, 金井 理, 岸浪 健史  精密工学会大会学術講演会講演論文集  1999-  (1)  69  -69  1999/03/05  [Not refereed][Not invited]
  
• 家電品分解・破砕・選別計画支援システムの開発(第一報) -製品構造モデル・プロセスモデルの表現と最適プロセスの導出法-

  佐々木 亮太, 金井 理, 岸浪 健史  精密工学会大会学術講演会講演論文集  1999-  (1)  285  -285  1999/03/05  [Not refereed][Not invited]
  
• 家電品分解・破砕・選別計画支援システムの開発 -(第2報) システム実装方法と各種家電品に対する適用例-

  金井 理, 佐々木 亮太, 岸浪 健史  精密工学会大会学術講演会講演論文集  1999-  (1)  286  -286  1999/03/05  [Not refereed][Not invited]
  
• プロセスプランのペトリネット表現とそのカラー化によるスケジューリングへの応用

  水野 陽太, 金井 理, 岸浪 健司  精密工学会大会学術講演会講演論文集  1999-  (1)  314  -314  1999/03/05  [Not refereed][Not invited]
  
• Kanai,S., Sasaki,R. and Kishinami,T.:"Representation of Product and Processes for Planning Disassembly, Shredding, and Material Sorting based on Graphs,Proc. of IEEE Int. Symposium on Assembly and Task Planning(ISATP99), pp123-128(1999)

  1999  [Not refereed][Not invited]
  
• Kanai,S. and Kishinami,T.:"A Virtual Verification Environment for the Sequence Control System using VRML and JAVA",1999 ASME Proc. of Design Engineering Technical Conferences, 99-DETC/CIE-9032 (CD-ROM)(1999)

  1999  [Not refereed][Not invited]
  
• Date,H. Kanai,S. and Kishinami,T.:"DIGITAL WATERMARKING FOR 3D POLYGONAL MODEL BASED ON WAVELET TRANSFORM",1999 ASME Proc. of Design Engineering Technical Conferences, 99-DETC/CIE-9031 (CD-ROM)(1999)

  1999  [Not refereed][Not invited]
  
• 破砕・選別を含んだプロダクト・プロセスモデリング

  佐々木 亮太, 金井 理, 岸浪 健史  精密工学会大会学術講演会講演論文集  1998-  (2)  18  -18  1998/09/01  [Not refereed][Not invited]
  
• 設計・生産のためのバーチャルリアリティー技術(キーノートスピーチ)

  井越 昌紀, 小野里 雅彦, 高橋 秀智, 金井 理  精密工学会大会学術講演会講演論文集  1998-  (2)  45  -45  1998/09/01  [Not refereed][Not invited]
  
• VRMLによるデジタル作業マニュアルのモデル化と実装

  金井 理, 水城 陽一, 岸浪 建司  精密工学会大会学術講演会講演論文集  1998-  (2)  59  -59  1998/09/01  [Not refereed][Not invited]
  
• シーケンス制御のためのバーチャル制御対象モデル構築

  金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1998-  (2)  60  -60  1998/09/01  [Not refereed][Not invited]
  
• ウェーブレット変換による3次元ポリゴンモデルへの「電子透かし」の埋め込み

  伊達 宏昭, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1998-  (2)  92  -92  1998/09/01  [Not refereed][Not invited]
  
• プロセスプランのペトリネット表現とそのスケジューリングへの応用

  水野 陽太, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1998-  (2)  154  -154  1998/09/01  [Not refereed][Not invited]
  
• アプリケーション非依存型の製造ステーションモデル構成法 -シミュレーションとプログラミングにおけるステーションモデル共有化メカニズム-

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1998-  (2)  598  -598  1998/09/01  [Not refereed][Not invited]
  
• Behavior Modelを含む生産セルのオブジェクトモデリングに関する研究

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1998-  (1)  2  -2  1998/03/05  [Not refereed][Not invited]
  
• 分散環境とフォースディスプレイによる曲面モデルの遠隔評価・修正システム

  金井 理, 水野 陽太, 岸浪 建史, 高橋 秀智  精密工学会大会学術講演会講演論文集  1998-  (1)  12  -12  1998/03/05  [Not refereed][Not invited]
  
• 製造プロセスの仕様記述とその利用に関する研究 -ワークセル内のプロセス仕様記述能力の比較評価-

  水野 陽太, 金井 理, 岸浪 建史, 菊地 慶仁  精密工学会大会学術講演会講演論文集  1998-  (1)  20  -20  1998/03/05  [Not refereed][Not invited]
  
• 分解・処理計画支援システムの開発 -分解・処理における製品情報表現とその変換規則-

  佐々木 亮太, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1998-  (1)  64  -64  1998/03/05  [Not refereed][Not invited]
  
• Kanai,S., Date,H. and Kishinami,T.: "Digital Watermarking for 3D polygons using Multiresolution Wavelet Decomposition", Proceedings of 6th IFIP Workshop on Geometric Modeling: 296-306 (1998)

  1998  [Not refereed][Not invited]
  
• Tomura,T.,Kanai,S.and Kishinami,T.: "Seamless Design Methodology for Manufacturing Cell-Controll Software based on Activity-Control-Condition and object Diagrams", Proceedings of the 1998 Japan-U.S.A. Symposium on Flexible Automation :1315-1322 (1998)

  1998  [Not refereed][Not invited]
  
• FA制御対象のフレームワークに関する基礎研究

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1997-  (2)  538  -538  1997/10/01  [Not refereed][Not invited]
  
• 北海道支部の近況

  金井 理  精密工学会誌 = Journal of the Japan Society of Precision Engineering  63-  (4)  590  -590  1997/04/05  [Not refereed][Not invited]
  
• デザインスケッチからのリアルタイムNURB曲線生成の研究

  金井 理, 遠藤 明彦, 堀田 邦彦, 青木 潔  精密工学会大会学術講演会講演論文集  1997-  (1)  21  -22  1997/03/01  [Not refereed][Not invited]
  
• 自由曲面形状モデルの評価・修正のための力覚伝送機能を持つネットワーク型共同作業スペース(第1報) -システムの目的と概要-

  高橋 秀智, 金井 理  精密工学会大会学術講演会講演論文集  1997-  (1)  483  -484  1997/03/01  [Not refereed][Not invited]
  
• 自由曲面形状モデルの評価・修正のための力覚伝送機能を持つネットワーク型共同作業スペース(第2報) -実験システムの構成とシステムの評価-

  高橋 秀智, 金井 理  精密工学会大会学術講演会講演論文集  1997-  (1)  485  -486  1997/03/01  [Not refereed][Not invited]
  
• 事例ベース推論による組立製品の設計改良案作成(第3報) -設計改良案導出インプリメンテーション-

  金 学位, 金井 理  精密工学会大会学術講演会講演論文集  1997-  (1)  509  -510  1997/03/01  [Not refereed][Not invited]
  
• Waveletを用いた形状の多重精度近似表現とそのCAMシステムへの応用

  林田 嘉将, 田中 文基, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1997-  (1)  517  -518  1997/03/01  [Not refereed][Not invited]
  
• FA制御ソフトウェアのラピッドプロトタイピング(第4報) -制御プログラム仕様記述から制御プログラムソースコードへの変換手法-

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1997-  (1)  961  -962  1997/03/01  [Not refereed][Not invited]
  
• FA制御ソフトウェアのラピッドプロトタイピング(第5報) -仕様図エディタを用いた制御プログラムの開発-

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1997-  (1)  963  -964  1997/03/01  [Not refereed][Not invited]
  
• 動画像動作認識の為の移動領域図形抽出 -フレーム間時間平均によるノイズ削減-

  国米 祐司, 渋川 勝久, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1997-  (1)  1225  -1226  1997/03/01  [Not refereed][Not invited]
  
• Kanai, S., Takahashi, H. and Nishihara, K. : "Concurrent Design and Simulation Tool for the Rapid Developmrnt on the Sequence Control Software", Rapid Product Development, Proceedings of the 8th International Conference on Production Engineering(8th IC・・・

  1997  [Not refereed][Not invited]
   

  Kanai, S., Takahashi, H. and Nishihara, K. : "Concurrent Design and Simulation Tool for the Rapid Developmrnt on the Sequence Control Software", Rapid Product Development, Proceedings of the 8th International Conference on Production Engineering(8th ICPE), 509-518 (1997)
• Kanai, S., Takahashi, H. and Kishinami, T. : "Networked Haptic Interfaces for Distant Redesign and Review of Free-form Surfaces", Proceedings of ASME Design Engineering Technical Conferences, 【1／1(CD-ROM)DETC97／DFM-4366】, (1997)

  1997  [Not refereed][Not invited]
  
• Takahashi, H. and Kanai, S. : "Experimental Assessment for Examination of Curves and Surfaces by Auditory Sense", Journal of Robotics and Mechatronics, 9(6) : 434-438 (1997)

  1997  [Not refereed][Not invited]
  
• Takahashi, H. and Kanai, S. : "Networked collaborative work space for examining and modifying free-form surface models with haptic sensation", Rapid Product Development, Proceedings of the 8th International Conference on Production Engineering(8th ICPE・・・

  1997  [Not refereed][Not invited]
   

  Takahashi, H. and Kanai, S. : "Networked collaborative work space for examining and modifying free-form surface models with haptic sensation", Rapid Product Development, Proceedings of the 8th International Conference on Production Engineering(8th ICPE), 556-565 (1997)
• FA制御ソフトウェアのラピッドプロトタイピング(第2報) -機器構成仕様及び作業仕様の分析と制御機器の動作仕様への分解-

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1996-  (2)  345  -346  1996/09/01  [Not refereed][Not invited]
  
• A Study on Virtual Reality of NC Programming for Free-Form Surfaces

  TAKAHASHI Hidetomo, KANAI Satoshi  Int. J. Jpn Soc. Prec. Eng.  30-  (2)  177  -182  1996/06/30
• 事例ベース推論による組立製品の設計改良案作成(第1報) -オブジェクト指向による設計改良案のモデル化-

  金 學位, 高橋 秀智, 金井 理  精密工学会大会学術講演会講演論文集  1996-  (1)  41  -42  1996/03/01  [Not refereed][Not invited]
  
• FA制御ソフトウェアのラビッドプロトタイピング(第1報) -OMTによるステーションコントローラモデルの構築-

  戸村 豊明, 金井 理, 岸浪 建史  精密工学会大会学術講演会講演論文集  1996-  (1)  47  -48  1996/03/01  [Not refereed][Not invited]
  
• 組立機械構造のモデル化とシミュレーション(第2報) -構成要素のモデル化と動的シミュレーション手法-

  西原 清, 高橋 秀智, 金井 理  精密工学会大会学術講演会講演論文集  1996-  (1)  49  -50  1996/03/01  [Not refereed][Not invited]
  
• PLC制御プログラム開発支援環境とその応用(第2報) -動作シーケンスシミュレーション性能の評価-

  金井 理, 西原 清, 澤谷 淳一郎, 高橋 秀智  精密工学会大会学術講演会講演論文集  1996-  (1)  51  -52  1996/03/01  [Not refereed][Not invited]
  
• 聴覚を用いた自由曲面形状モデルの知覚に関する研究(第1報)-聴覚による形状の知覚の基本特性の評価-

  高橋 秀智, 加納 隆史, 金井 理  精密工学会大会学術講演会講演論文集  1996-  (1)  507  -508  1996/03/01  [Not refereed][Not invited]
  
• ハップティックインターフェースによる形状モデルの知覚(第2報)-力覚と視覚との知覚特性比較-

  山本 拓未, 高橋 秀智, 金井 理  精密工学会大会学術講演会講演論文集  1996-  (1)  509  -510  1996/03/01  [Not refereed][Not invited]
  
• A Study on Virtual Reality of NC Programming for Free-Form Surfaces

  TAKAHASHI Hidetomo, KANAI Satoshi  Journal of the Japan Society of Precision Engineering  62-  (1)  70  -74  1996/01/05  [Not refereed][Not invited]
   

  When we generate the cutter path for free-form surfaces by a CAM system, we have to minimize the aircut of it and to ensure the accuracy of the machined products. But it is very difficult for the conventional CAM system to set the adequate cutting condition and to generate the path only for the part to be cut. On the other hand, a profiling machine has been commonly used by die-manufacturers, because it enables the workers to directly generate the cutter path during monitoring the cutting situation. However a profiling machine needs the master-model of product and the accuracy of the cutter path is not high. Therefore we introduce the virtual reality into NC programming system for free-form surfaces. And an accurate virtual profiling system without master-models was realized. The worker can manually profile the model in the computer and can generate NC data for free-form surfaces by using the proposed system. In this paper, the construction of the virtual profiling system is described. The virtual profiling system consists of a bilateral master-slave system which has a 3DOF orthogonal direct drive manipulator, a profiling simulation software, and a cutting simulation software. The virtual profiling system can generate the cutter path for free-form surface models in real time with the accuracy of ±0.1μm.
• ASPEN: Computer-Aided Assembly Sequence Planning and Evaluation System Based on Predetermined Time Standard

  S. Kanai, H. Takahashi, H. Makino  CIRP Annals - Manufacturing Technology  45-  (1)  35  -39  1996  [Not refereed][Not invited]
   

  The purpose of this research is to objectively evaluate the differences among the feasible assembly sequences. For this purpose, a computer-aided Assembly Sequence Planning and Evaluation system (ASPEN) was developed. ASPEN automatically searches all geometrically feasible sequences by decomposing solid models of a product. ASPEN also chooses an optimum sequence with the least operating time. MTM (Methods Time Measurement) and DFA (Boothroyd's Design For Assembly) which are kinds of predetermined time standards are used to explicitly evaluate the differences of operating time among feasible sequences. The calculation of the operating time based on the data obtained from the sequence planning is discussed. The proposed evaluation method is verified through an experiment on actual assembling work. © 1996 CIRP.
• S. Kanai, M. Onozuka and H. Takahashi : "Optimal Tolerance Synthesis by Genetic Algorithm under the Machining and Assembling Constraints", (F. Kimura : Computer-Aided Tolerancing, 235-250, Chapman & Hall, London, 1996)

  1996  [Not refereed][Not invited]
  
• H. Takahashi and S. Kawai : "A Study on Virtual Reality of NC Programming for Free-Form Surfaces", International Journal of Japan Society forPrecision Engineering, 30(2) : 177-182 (1996)＊

  1996  [Not refereed][Not invited]
  
• 「自由曲面用NCプログラミングのための人工現実感システムの研究」

  高橋 秀智, 金井 理  『精密工学会誌』  62-  (1)  70  -74  1996  [Not refereed][Not invited]
  
• 『デザインエンジニアリング総覧』<竹内芳美>

  フジテクノシステム  1996  [Not refereed][Not invited]
  
• PLC制御プログラム開発支援環境とその応用

  金井 理, 高橋 秀智, 西原 清  精密工学会大会学術講演会講演論文集  1995-  (2)  423  -424  1995/09/01  [Not refereed][Not invited]
  
• ハップティックインターフェースによる自由曲面形状の知覚

  高橋 秀智, 金井 理, 山本 拓未  精密工学会大会学術講演会講演論文集  1995-  (2)  639  -640  1995/09/01  [Not refereed][Not invited]
  
• Foreword of Special Issue of Reevaluation of Production Software

  SUZUKI Hiromasa, NISHIKIMI Mikiko, KANAI Satoshi, MATUMOTO Akihiro  Journal of the Japan Society of Precision Engineering  60-  (4)  475  -476  1994/04/05  [Not refereed][Not invited]
  
• CAD System for Pattern Making(Dies, Molds and Models)

  KANAI Satoshi  Journal of the Japan Society of Precision Engineering  59-  (7)  1066  -1068  1993/07/05  [Not refereed][Not invited]
  
• Generation of 3 Dimensional Free-form Curve Model by Automatic Recognition of Rough Sketch

  Furushima Shusaku, Kanai Satoshi, Takahashi Hidetomo  Journal of the Japan Society of Precision Engineering  59-  (6)  969  -974  1993/06/05  [Not refereed][Not invited]
   

  This paper presents the system which enables a style designer to generate 3 dimensional free-form curve models in a computer easily as if he draws rough sketches on paper. The system consists of three modules; the user-interface module which enables a designer to draw rough sketches in the form of perspective projection directly on the display, the module to automatically recognize geometric and topological constraints on the rough sketches, and the module to calculate 3 dimensional points and free-form curves based on these constraints. The process of these modules can be quickly executed during the interaction of the designer with the computer. Finally some examples of the processing are shown, and efficiency of the system is evaluated.
• An Application of the Artificial Reality to the Free-Form Surface Modeling

  KANAI Satoshi, TAKAHASHI Hidetomo  Journal of the Robotics Society of Japan  10-  (7)  898  -902  1992/11/15  [Not refereed][Not invited]
  
• "インテリジェントCAD(下) : テクノロジーと展望 : 編者/吉川弘之, 富山哲男 : 発行/朝倉書店 (1991年刊, A5判, 153ページ, 定価2900円)"

  金井 理  精密工学会誌  57-  (10)  1716  -1716  1991/10/05  [Not refereed][Not invited]
  
• A Study on an Automatic Marking System for Large Castings and Forgings (3rd Report) : System Configuration and Experimental Results

  YOKOUCHI Hirotaka, KISHINAMI Takeshi, KANAI Satoshi, HAKUTA Kenji, HAYAKAWA Tamotsu, NOMURA Hideo  Journal of the Japan Society of Precision Engineering  55-  (11)  2039  -2045  1989/11/05  [Not refereed][Not invited]
   

  This paper deals with an automatic marking system for large castings and forgings. The developed automatic marking system consists of three subsystems ; that is the 5-directional 3-D object (or form) measuring system to obtain the entire workpiece shape, the automatic matching software to determine the relative position of product model in the measured workpiece model space, and the automatic mark scribing system to scribe marks on the workpiece for indicating the determined position. Satisfactory results have been confirmed by some experimental tests.
• A Study on an Automatic Marking System for Large Castings and Forgings (2nd Report) : The Software for Automatic Matching of the Required Shape in the Workpiece and Mark Scribing Process

  KANAI Satoshi, YOKOUCHI Kirotaka, KISHINAMI Takeshi, HAKUTA Kenji, HAYAKAWA Tamotsu, NOMURA Hideo  Journal of the Japan Society of Precision Engineering  55-  (10)  1793  -1798  1989/10/05  [Not refereed][Not invited]
   

  This paper describes the software structure of the proposed automatic marking system to shorten the set-up time for large castings and forgings. The system mainly consists of two modules ; the first one is to determine the relative position of the required shape into the workpiece, and the second one is to calculate the NC data for the scribing lines. The proposed software system accepts both the workpiece shape data from the developed measuring system and the geometric model of the required shape from the CAD system. Also it adjusts the position and orientation of the geometric model in the workpiece space, makes the stock removal uniform around the workpiece, and generates NC data for the scriber based on these models. Satisfactory results have been confirmed by some tests.
• An Application of Voxel Representation to Machining Simulator

  Kishinami Takeshi, Kanai Satoshi, Shinjyo Hiroyuki, Nakahara Hiroshi, Saito Katsumasa  Journal of the Japan Society of Precision Engineering  55-  (1)  105  -110  1989/01/05  [Not refereed][Not invited]
   

  This paper describes a machining simulator based on voxel representation. In order to realize a high level computer controlled machining system, it is necessary to develop the machining simulation technique which is able to forecast machining phenomena such as removal shape and cutting force, cutter collision and so on. Voxel representation is introduced into the machining simulator, which makes it easy to do a logical set operation between objects, and the conversion process from modeling space to voxel space is proposed. Some experimental results of the simulator are also demonstrated.
• A Study on an Automatic Marking System for Large Castings and Forgings (1st Report) : Development of Non-contact Distance Measuring Sensor and 5-Directional Measuring System for Recognition of Workpiece Shape

  YOKOUCHI Hirotaka, HAYAKAWA Tamotsu, KIKUCHI Kazuyuki, KANAI Satoshi, KISHINAMI Takeshi  Journal of the Japan Society of Precision Engineering  54-  (12)  2353  -2358  1988/12/05  [Not refereed][Not invited]
   

  The paper proposes a computer-aided 3-dimensional shape measuring system which consists of 5-directional measuring machine installed with a newly developed non-contact distance sensor, and processors provided to transform the measured distance data to coordinates then also to construct entire mesh point data of the object workpiece. The distance sensor is based on an astronomical telescope typed optical system, equipped with laser tube and one dimensional CCD set horizontally on the optical axis. The device has following features : (1) wide range of measuring distance, (2) high measuring rate, (3) linear measuring characteristics, (4) less hidden effect and (5) compact size. The system is one of the sub-systems in a more comprehensively computer-aided marking system which, also having been realized in the same period, executes automatically all processes concerning to marking operation for large sized workpiece produced by casting and/or forging. Some test results of the measurement are presented constructing mesh point data model of the entire surface for a few typical workpieces.
• 穴加工工程設計のためのエキスパ-トシステム (インテリジェントFA特集号)

  斎藤 勝政, 岸浪 建史, 金井 理  システムと制御  31-  (7)  p528  -535  1987/07  [Not refereed][Not invited]
  
• Cell-Constructed-geometric-Model (CCM) and Its Modelling System

  KANAI Satoshi, TANAKA Fumiki, KISHINAMI Takeshi, SAITO Katsumasa  Journal of the Japan Society of Precision Engineering  52-  (10)  1808  -1814  1986/10/05  [Not refereed][Not invited]
   

  The Cell-Constructed-geometric-Model (CCM) is proposed as a new conception for the data representation of geometric model. The CCM consists of three-dimensional array of some finite Cells. The Cell means a unit volumetric solid bounded by six curved surfaces, and is regarded as an extended idea of bi-cubic parametric surface interpolation to a tri-cubic one. The interpolative method of the CCM is a rational cubic Bézier's. Therefore, with the CCM, it is possible to represent a closed volumetric solid bounded by some analytic surfaces and sculptured surfaces using the same data structure. This paper describes the mathematical formulation and the internal data structure of the CCM. Then the application of the CCM to the geometric model for CAM system, Finite-Element-Analysis, and calculation of weight and volume of a solid, are considered. Finally, developed geometric modelling system and methods of modelling to make the CCM interactively are described, and a modelling example of the CCM is shown.
• CAM System Consisting of Hierarchical Modules Based on Cell-Constructed-geometric-Model

  Satoshi Kanai, Fumiki Tanaka, Takeshi Kishinami, Katsumasa Sarro  Journal of the Japan Society for Precision Engineering  52-  (11)  1927  -1933  1986  [Not refereed][Not invited]
   

  A new style of CAM system which consists of hierarchical modules was developed, and as a basic geometric model for the system, the Cell-Constructed-geometric-Model (CCM) was proposed. These enables us to decompose the CCM into the several Machining Face Groups (MFG) which are created by the same cutting operations, to determine various information about machining, to generate cutter path for each MFG and to check and distribute NC data to machine tools in an interactive way. The CCM which is based on a rational Bezier interpolation, is efficient to make and edit the MFG, and to generate cutter path. In this paper, the structure and functions of these hierarchical modules and an example of the processing are described. And the concept and contribution of the CCM to these modules are also shown. © 1986, The Japan Society for Precision Engineering. All rights reserved.
• 有理パラメータ補間式よるセル構造化幾何モデルとそのモデリングシステム

  金井理  昭和60年度精機学会春季大会学術講演会講演論文集  171-  1985

Books etc

• 地理空間情報の基本と活用

  古今書院 2009
• Basic Theory and Application of Geo-spatial Information

  KOKON SYOIN 2009
• デジタルスタイルデザイン

  海文堂出版株式会社 2008
• Computer-Aided Design of User Interfaces IV

  Kluwer Academic Publishers 2005

Presentations

• 画像処理による低テクスチャ物体のSfM‐MVS再構成品質向上  [Not invited]

  阿久津啓, 金井理, 伊達宏昭, 新名恭仁, 本間亮平

  日本写真測量学会学術講演会発表論文集  2019/11
• SfM‐MVS向け最適撮影計画支援システムのための品質予測指標の改善および撮影不足箇所の推定  [Not invited]

  森谷亮太, 金井理, 伊達宏昭, 新名恭仁, 本間亮平

  日本写真測量学会学術講演会発表論文集  2019/11
• スキャンラインの湾曲度評価に基づくMMS取得点群からの車道境界線抽出  [Not invited]

  本間亮平, 伊達宏昭, 金井理

  日本写真測量学会学術講演会発表論文集  2019/11
• 多重撮影とヒストグラム均一化による低テクスチャ物体のSfM‐MVS再構成処理の頑健性と精度向上  [Not invited]

  阿久津啓, 森谷亮太, 金井理, 伊達宏昭

  精密工学会大会学術講演会講演論文集  2019/09
• MMS取得点群を用いた道路空間情報の抽出(第1報)―スキャンラインに基づく点群セグメンテーション―  [Not invited]

  本間亮平, 伊達宏昭, 金井理

  精密工学会大会学術講演会講演論文集  2019/09
• 局所形状記述子と機械学習を用いたソリッドモデルからのFEMメッシュ生成向け形状特徴の抽出・分類  [Not invited]

  高石一平, 金井理, 伊達宏昭, 高嶋英厳

  精密工学会大会学術講演会講演論文集  2019/09
• レーザ計測点群からの規則性を考慮した屋内環境モデリング―共平面と等間隔を考慮したモデリング―  [Not invited]

  高橋勇斗, 伊達宏昭, 金井理

  精密工学会大会学術講演会講演論文集  2019/09
• 市街地MMS計測点群からの建物3Dモデリング―高さの非一様性を考慮した建物LODモデル生成―  [Not invited]

  金山拓也, 伊達宏昭, 金井理

  精密工学会大会学術講演会講演論文集  2019/09
• メッシュのスペクトル分解とFunctional Mappingを用いた3次元形状の非剛体マッチングとその設計応用に関する研究  [Not invited]

  山岡茉莉, 金井理, 伊達宏昭

  精密工学会大会学術講演会講演論文集  2019/09
• Functional Mappingを用いた3次元形状間の非剛体マッチングの研究―精緻化アルゴリズムによるマッチング精度の改善効果―  [Not invited]

  山岡茉莉, 金井理, 伊達宏昭

  精密工学会大会学術講演会講演論文集  2019/08
• レーザ計測点群からの規則性を考慮した屋内環境モデリング―矩形境界認識に基づく屋内物体のモデリング―  [Not invited]

  高橋勇斗, 伊達宏昭, 金井理

  精密工学会大会学術講演会講演論文集  2019/08
• SfM‐MVSによる効率的で高品質なas‐isモデル生成のための最適撮影計画支援システムの開発(第3報)―モデル品質予測指標の改善―  [Not invited]

  森谷亮太, 金井理, 伊達宏昭, 新名恭仁, 本間亮平

  精密工学会大会学術講演会講演論文集  2019/08
• 映像や写真などビジュアル情報の施工活用について  [Not invited]

  漆館直, 西川充, 須田清隆, 可児憲生, 横山隆明, 金井理

  土木学会年次学術講演会講演概要集(CD-ROM)  2019/08
• SfM‐MVSによる効率的で高品質なas‐isモデル生成のための最適撮影計画支援システムの開発  [Not invited]

  森谷亮太, 金井理, 伊達宏昭, 新名恭仁, 本間亮平

  日本写真測量学会学術講演会発表論文集  2019/05
• 3Dデプスセンサを用いた脊柱側弯症に対する自動診断支援技術の開発  [Not invited]

  須藤英毅, 小甲晃史, 安倍雄一郎, 岩田玲, 岩崎倫政, 金井理

  別冊整形外科  2019/04
• 4D‐FEAシミュレーションによる術前計画と積層造形技術を含む脊柱変形矯正用カスタムメイドロッドの開発  [Not invited]

  須藤英毅, 金井理, 小甲晃史, 小甲晃史, 青柳健太, 王昊, 安倍雄一郎, 岩崎倫政, 千葉晶彦

  日本整形外科学会雑誌  2019/03
• 3D非対称性解析を用いた側弯症検出システムにおける同一被検者に対する再現性  [Not invited]

  小甲晃史, 小甲晃史, 須藤英毅, 金井理, 安倍雄一郎, 岩崎倫政

  日本整形外科学会雑誌  2019/03
• 医工連携による次世代型脊柱変形矯正用インプラントの研究開発戦略  [Not invited]

  須藤英毅, 金井理, 小甲晃史, 青柳健太, 王昊, 安倍雄一郎, 岩崎倫政, 千葉晶彦

  日本整形外科学会雑誌  2018/08
• 人間指向デザインのためのデジタルエンジニアリング  [Invited]

  金井 理

  KKE Vision 2013  2013/10
• 点群の構造化と近傍探索  [Invited]

  金井 理

  精密工学会 「点群処理基礎技術」講習会  2013/09
• Making a digital human walk in laser-scanned 3d point clouds of large-scale indoor environments  [Not invited]

  KANAI Satoshi

  VES Panel -Low cost VR technology for industrial applications, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC2013)  2013/08
• デジタルハンドによる仮想エルゴノミック評価機能の開発と製品設計への応用  [Invited]

  金井 理

  デジタルヒューマン技術協議会  2013/06
• Point Cloud Processing & Applications  [Not invited]

  KANAI Satoshi, DATE Hiroaki

  SPAR Europe 2012 University Pavilion  2012/11
• 3D object recognition from massive laser scanned points of large-scale environments: A proposal for a collaborative research  [Invited]

  KANAI Satoshi

  4th KMU-HU Joint Workshop  2012/11
• 点群処理基礎 -近傍探索・法線推定-  [Invited]

  金井 理

  精密工学会 「点群処理基礎技術」講習会  2012/09
• Digital Hand: 3D Human Hand Modeling and its Application to Virtual Ergonomic Assessments  [Invited]

  KANAI Satoshi

  The 1st Int. Joint Workshop on Intelligent Convergence Technology  2012/06
• Reconstruction of as-built building information models from large-scale laser-scanned point clouds  [Invited]

  KANAI Satoshi

  2012 JSPE Spring Annual Conference  2012/03
• 3D Periodic Pattern Recognition from X-ray CT scanned mesh  [Invited]

  KANAI Satoshi

  2011 SNU-HU/GCOE Collaborative Workshop on Advanced 3D Modeling and Sensing for Complex Objects and Environments  2011/10
• 3D digital prototyping and usability assessment of user interfaces based on User Interface Description Languages -Lessons learned from UsiXML and XAML  [Invited]

  KANAI Satoshi

  UIDL'2011 - Software Support for User Interface Description Language - Interact'2011 Workshop  2011/09
• 3D Object Recognition from Laser-scanned Points of Large-scale Environments  [Invited]

  KANAI Satoshi

  3rd Joint Workshop Korea Maritime Univ.―Hokkaido Univ.  2011/07
• 3D human hand modeling and its application to virtual ergonomic assessments  [Invited]

  KANAI Satoshi

  CAD 2011 Conference and Exhibition  2011/06
• 精密工学会 サイバーフィールド構築技術研究分科会における「大規模レーザ計測点群データ処理技術」の研究動向  [Invited]

  金井 理

  SPAR-J 2011  2011/05
• 情報機器開発におけるデジタルエルゴノミック評価とその応用  [Invited]

  金井 理

  日本大学大学院 工学研究科 特別講義  2010/11
• Recognizing 3D regularities from large scale CT or Laser-scanned meshes of engineering products  [Invited]

  KANAI Satoshi

  2nd Joint Workshop Korea Maritime University – Hokkaido University  2010/11
• ３次元CADモデルやFEMメッシュからの対称性の自動認識技術  [Invited]

  金井 理

  ＪＳＴ新技術説明会  2010/10

Association Memberships

• 日本写真測量学会   IEEE   日本設計工学会   精密工学会   

Works

• 韓国海洋大学校工科大学での学部学生向け特別講演の実施

  2011
• Delft工科大学での教員向け特別講演の実施

  2011

Research Projects

• Development of home mechanical ventilator AR simulators which bridge practice education gap

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2022/04 -2025/03 

  Author : コリー 紀代, 二宮 伸治, 金井 理, 近野 敦, 井上 創造, 中村 美鈴, 小水内 俊介

   

  本研究では、①医療事故の体験も可能な人工呼吸器複合現実シミュレータの開発と、②機械学習を用いた特徴量抽出による学習評価アルゴリズムの構築を目的としている。
  ①に関しては、広島国際大学の二宮教授ラボにおいて人工呼吸器の操作パネルと測定値グラフの表示が可能な人工呼吸器トレーニングアプリSimmarを開発いただき、関東圏の2大学において大学院生約40名を対象としたユーザテストとアンケート調査を実施した。その結果、卒後1年目から人工呼吸器に携わったと回答した者が30名(71.4%)、学部レベルでSIMMAN-ALS5000を使用した経験のある12名のうち、8名が満足したと回答し、4名が不満と回答した。大学院レベルでSIMMAN-ALS5000を使用した17名のうち、12名が満足したと回答した。まともに習ったことがないという自由記載も認められた。同時に、特別支援学校における人工呼吸器装着児への看護師のかかわりについて360度動画教材を開発し、アンケートを実施したところ、教材の難易度について、学部3年次の学習内容として適切と回答した者が約8割、学部4年次として適切と回答した者が同じく約8割であった。2023年度はこれらの結果と学会発表後のディスカッションを踏まえ、教材の難易度を設定する。
  ②に関しては、九州工業大学の井上教授と共に機械学習において抽出すべきタスクについて検討し、先行研究に基づき、手袋着用から手袋廃棄までの気管内吸引の一連の流れを1回の気管内吸引とし、吸引前の判断指標となる「肺音聴診」、吸引後の看護介入である「体位ドレナージ」を含めた行動認識のためのアノテーションを進めている。翌年度は、習熟度を判定する分類器の開発を進める。
• 「教育と臨床の乖離」に架橋する在宅人工呼吸器複合現実シミュレータの開発

  日本学術振興会：科学研究費補助金

  Date (from‐to) : 2022/04 -2024/03 

  Author : コリー紀代, 金井理, 近野敦, 小水内俊介, 二宮信治
• 三次元画像解析に基づく新規骨性パラメーターによる股関節疾患の遠隔画像診断法の確立

  科学研究費補助金

  Date (from‐to) : 2021/04 -2024/03 

  Author : 入江 徹, 金井 理
• ３次元画像計測を用いた 堆雪体積測定技術の開発

  国土交通省：令和４年度：建設現場の生産性を飛躍的に向上するための革新的技術の導入・活用に関するプロジェクト

  Date (from‐to) : 2022/08 -2023/03 

  Author : 金井理, 須田清隆, abdulrahman mohamed, 漆館直
• SfM-MVSのための最適撮影計画支援システムの実用化に向けた開発

  ㈱アジア航測：

  Date (from‐to) : 2021/08 -2023/03 

  Author : 金井理,伊達宏昭, 本間亮平, 新名恭仁
• ＣＡＥモデル自動生成のためのデジタル幾何処理技術に関する開発

  ㈱AIS北海道：

  Date (from‐to) : 2021/06 -2023/03 

  Author : 伊達宏昭, 髙嶋英巌, 泰地哲史
• 写真計測による土木構造物の高能率・高品質３次元再構成技術の開発

  ㈱環境風土テクノ：

  Date (from‐to) : 2020/04 -2022/03 

  Author : 金井理, 須田清隆
• レーザ計測に基づく屋内空間のAs-built CFD解析用メッシュ生成技術の開発

  ㈱新菱冷熱：

  Date (from‐to) : 2020/11 -2021/10 

  Author : 金井理, 脇坂英佑
• Development of data processing methods of 3D scanned point cloud of environments based on point quality optimization

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2018/04 -2021/03 

  Author : Date Hiroaki

   

  In this research, we developed methods of 3D scan data processing considering the scan quality in order to use 3D scan data of large-scale environments and structures more stably and accurately in several 3D applications. We developed methods for estimating the scan quality of 3D scan data (point clouds), methods for supporting 3D scan data acquisition to efficiently acquire high quality 3D scan data, and basic processing methods of 3D scan data based on the scan quality. The effectiveness of the methods were evaluated through experiments using real scan data of some environments and structures.
• ３次元計測点群からの消波ブロックの３次元認識と補充ブロックの高精度見積

  ㈱アルファ水工：

  Date (from‐to) : 2020/04 -2021/03 

  Author : 金井理, 佐野朝昭
• 中小建設業を対象にした映像を活用したIoT施工法(VisualConstruction)の開発

  国土交通省：建設技術研究開発費補助金

  Date (from‐to) : 2019/10 -2021/03 

  Author : 金井 理
• Development of three-dementional simulation to improve instant judgement and technical elaborateness

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2017/04 -2020/03 

  Author : Noriyo Colley

   

  To provide safe and effective tracheal suctioning, prompt and multiangle decision and delicate catheter operation must be acquired. We developed a Projection Mapping simulator which shows biological reactions of an adult patient by 3D Computer Graphics to train above mentioned skills. Several scenarios which frequently clinically occur, e.g. the drop of the arterial oxygen saturation by the prolonged suctioning time, was created. Using such scenario, experienced nurse's and nursing students' eye movement and motion was inspected to quantify the learning curve to obtain judgment skill and delicate suctioning catheter control. Particular results were shown about the difference of eye movement and motion between the nursing student group and the nurse group.
• Creation of hyperrealistic VR environment based on MMS measurement point cloud data and evaluation of traveling road surface by the Kansei information

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2014/04 -2018/03 

  Author : KAWAMURA AKIRA, Rossi Riccardo, Kanitpong Kunnawee

   

  This study aims at development of an evaluation method of road surface from the viewpoint of road users and the establishment of a high-level PMS.
  Firstly, we designed the traveling scenario of driving simulator (DS) collecting point cloud data at real roads acquired by Mobile Mapping System (MMS) device and meteorological data so as to show drivers sequence of images of road and its surroundings super-realistically. Then we carried out the experiment using the DS to evaluate road surface based on subjective rating and physiological response of the drivers. The result suggests that heart-rate variability correlates well with the subject rating. Furthermore, we conducted physiological response analysis by the DS in consideration of driving situations.The analysis result enables identification of Kansei expression corresponding to road surface characteristics and it represents a way of modeling road surface evaluation for the road maintenance and serviceability in terms of road users.
• High quality point cloud generation of large-scale environments using various 3D scanners

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2014/04 -2017/03 

  Author : Date Hiroaki

   

  In this research, some methods for combining several 3D scan data from various 3D scanning systems and optimized scanning in order to obtain high quality 3D scan data of large-scale environments and structures. For combining several 3D scan data, efficient automatic registration methods for 3D scan data acquired from terrestrial laser scanner, mobile laser scanner, handy scanner, and structure from motion are developed. For optimized scanning, methods to estimate best laser-scanner positions which allow us to acquire high quality point clouds with a smaller number of scanning, considering scanning importance of the objects and laser-scanning properties, are developed.
• Accessibility evaluation of large-scale as-built environment by the integration of laser-scanning and digital human model

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2014/04 -2016/03 

  Author : Kanai Satoshi, DATE HIROAKI

   

  The goal of this research is to realize the accessibility evaluation of "as-built" environments based on the detailed human behavior simulation. To this end, we propose a method where as-built 3D environment models can be constructed in a fully automatic way from laser-scanned 3D point clouds measured from as-built environments. Additionally, we propose an advanced walking simulation function of the digital human model (DHM) in the as-built environment models. The proposed simulation enabled a DHM to automatically walk utilizing the functions of the global path findings, the walking path location control, the local collision avoidance and the walking motion generation. Moreover, we applied our modeling and simulation algorithms to the complex as-built environments such as a two-storey indoor environment, and an outdoor environment which includes slopes. The efficiency and effectiveness of the modeling and simulation were confirmed.
• リバースエンジニアリングの迅速化を図る３次元CAD/CAMデータ作成支援システムの開発

  北海道立総合研究機構：受託研究

  Date (from‐to) : 2012/04 -2015/03 

  Author : 金井 理
• モバイルマッピングによる計測データを用いた物体認識の研究

  国際航業株式会社：共同研究

  Date (from‐to) : 2014/01 -2014/06 

  Author : 金井 理
• 高精度属性付MMS点群の高精度・高能率Registration手法の開発

  アジア航測株式会社：共同研究

  Date (from‐to) : 2013/04 -2014/03 

  Author : 伊達 宏昭
• Fully-automatic build and update technology of 3D as-built equipment model by laser scanning

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2012 -2014 

  Author : KANAI Satoshi, DATE Hiroaki, MIZOGUCHI Tomohiro

   

  The purpose of this research is to develop advanced and fully-automated software for object recognition and modeling from massive laser scanned point clouds captured from large-scale equipment with current status to automatically construct “as-built equipment model” where each object in the equipment is semantically annotated. The software also aims for updating the as-built model continuously over time with minimum effort of additional laser scanning operation over long term, and for proposing a set of common and invariant primitive point clouds processing algorithms to support the recognition and modeling chemical plants, large-buildings, electric power plants etc.
• モバイルマッピングによる計測データを用いた物体認識の研究

  国際航業株式会社：共同研究

  Date (from‐to) : 2012/11 -2013/06 

  Author : 金井 理
• 高精度属性付MMS点群の高精度・高能率Registration手法の開発

  アジア航測株式会社：共同研究

  Date (from‐to) : 2012/04 -2013/03 

  Author : 金井 理
• マイクロフォーカスＸ線CTシステムを用いた現物融合型CAD/CAE解析技術の開発

  北海道立総合研究機構：受託研究

  Date (from‐to) : 2010/07 -2012/03 

  Author : 金井 理
• Accurate process planning of MEMS devices using multi-resolution mesh models

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2011 -2012 

  Author : KANAI Satoshi, DATE Hiroaki, SHIBATA Takayuki, KAWASHIMA Takahiro

   

  The objective of this study is to enable designers who are not necessarily the experts on MEMS(Micro Electro Mechanical Systems) manufacturing processes to easily plan the feasible and low-cost manufacturing processes of MEMS devices. To achieve this, a prototype of the computer-aided process planning system of MEMS devices was developed where (1) all feasible process plans of the device could be searched for and (2) device shapes and structures easier to fabricate could be estimated automatically based on the multi-resolution mesh model of the devices.
• Development of a practical virtual ergonomic assessment system using Digital Hand

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(B))

  Date (from‐to) : 2009 -2011 

  Author : Satoshi KANAI, Yoshiyuki SHIROMA, Hiroaki DATE, Masaaki MOCHIMARU

   

  The purpose of the research is to build a virtual ergonomic assessment system for handheld products such as digital cameras based on the Digital Hand. The Digital Hand is a model which can simulate the 3D precise outer skin geometry and finger kinematic structure of human hands. Ease-of-grasp and ease-of fingered operation can be quantitatively evaluated in the system. The following functions were developed ; (1) Constructing Digital Hand models based on MRI measurement of human hands, (2) Optimization-based grasp posture synthesis, (3) Quantitative estimation of ease-of-grasp based on muscle-skeletal model, (4) Quantitative estimation of ease-of fingered operation, and (5) Efficient contact deformation simulation between hand and product. Moreover, the developed software was applied to evaluating the product shape in real design environments of manufactures.
• 3次元デジタルプロトタイプを用いた情報機器の超短期間ユーザビリティ評価システムの開発

  科学技術振興機構：平成２１年度シーズ発掘試験（発掘型）

  Date (from‐to) : 2009/08 -2010/03 

  Author : 金井 理
• 機械装置のリアルタイム制御シミュレーション技術に関する研究

  北海道大学 連携融合事業「協働型開発研究事業－地域ＣＯＥの形成－」：平成21年度 特別教育研究経費連携融合事業

  Date (from‐to) : 2009/04 -2010/03 

  Author : 金井 理
• 航空レーザ点群データを用いた高精度モデリング技術の開発

  国際航業株式会社：共同研究

  Date (from‐to) : 2008/07 -2009/03 

  Author : 金井 理
• プレス成型品スプリングバック見込み形状自動生成に関する研究

  トヨタケーラム：共同研究

  Date (from‐to) : 2008/06 -2009/03 

  Author : 金井 理
• Recognition and Modeling from 3D Measured Data from Large-scale Environment

  Date (from‐to) : 2009
• A study on automatic high-quality 3D geometric model generation A study on automatic high-quality 3D geometric model generationA study on automatic high-quality 3D geometric model generation methods from X-ray CT scan data

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(B))

  Date (from‐to) : 2007 -2008 

  Author : Satoshi KANAI, Hiroaki DATE

   

  本研究は, 工業用X線CT計測データから全自動・高品質な3次元形状モデルを構築する技術を実現すべく, 実工業製品の大規模なX線CT計測メッシュから, エンジニアリングで要求される高品質な3次元形状モデルのフィーチャ認識を, 高精度に, 安定かつ自動で, しかも高速に行なえるアルゴリズムと, 認識の基本となる高精度なメッシュ曲率算出アルゴリズムを開発し, そのアルゴリズムが十分な実用性をもつことを検証した.
• デジタルハンドを用いた情報機器の意匠・エルゴノミクス両立デザイン支援の研究

  文部科学省：科学研究費補助金(萌芽研究)

  Date (from‐to) : 2007 -2008 

  Author : 金井 理, 持丸 正明, 城間 祥之

   

  (1)製品のユーザインタフェース操作に適したデジタルハンド把持姿勢自動生成手法の開発デジタルハンドに対する把持姿勢の容易な把持姿勢例題のデータベースを用い, 対話入力なしに, 情報機器に適した把持姿勢を自動導出できる新たな把持姿勢生成法を提案した. まず把持させたい製品モデルに対し, データベースへ登録された既存の把持姿勢例題中から, 入力製品形状を幾何学的に把持可能な全ての姿勢候補を形状マッチングにより探索し, 次に上肢関節可動性と製品表示部可視性という2種類の幾何学的制約に基づき, 姿勢候補の効率的な絞り込みを行うことで, 入力された情報機器の把持と操作に適合したごく少数の姿勢候補のみを導出可能なことを, 2種類の情報機器製品モデル(デジタル1眼レフカメラ, 携帯電話)に対する把持姿勢生成の計算機実験から明らかにした.(2)製品再設計のためのフィット性を考慮したデジタルハンド把持姿勢自動生成手法の開発持ちやすさの第三の評価指標として, 筐体と手の問の「フィット性」の仮想評価手法を提案するとともに, フィット性に優れた把持姿勢を最適化に基づき生成する手法を提案した. すなわち, ハンド・筐体間の接触点数, 筐体凸稜線部への指腹部分の重複程度, 手指関節角の連動性の3者から構成されるフィット性を表した目的関数を設定し, その最適化に基づき把持姿勢を自動決定する手法を開発している. また市販一眼レフカメラのグリップ部を対象に, 推定された最適把持姿勢を実被験者に再現させ, その姿。勢が人間にとっても, よりフィット感の高い妥当な姿勢であることを実験的に検証した.
• 現物融合型デジタルエンジニアリング

  科学研究費補助金

  Date (from‐to) : 2007
• Convergent Type Digital Engineering

  Grant-in-Aid for Scientific Research

  Date (from‐to) : 2007
• A research on integrated process of solid-model-less styling design and analysis using advanced mesh modeling operations

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(B))

  Date (from‐to) : 2005 -2006 

  Author : Satoshi KANAI, Hiroaki DATE

   

  The purpose of this research is to develop software where legacy mesh models for analysis can be retrieved using a query of a hand written sketch or sampled point data from physical model, where a new mesh model for analysis for a new design idea can be obtained quickly by deforming the legacy models so as to fit to the sketch or sampled points. Therefore, in this research, advanced mesh modeling operations which stand geometric modeling ability similar to conventional solid modeling operations and mesh-generation for analysis were developed. The research results can be summarized as follows. 1) A content based mesh retrieval function from hand-written sketch has been developed where mesh models which have similar projected view to the sketch can be retrieved using generic Fourier descriptor and local binary patterns. 2) A mesh-assembly function has been developed where two complex mesh models in contact can be merged into one model using surface offsetting and edge-collapse operations for tetrahedral mesh. 3) A mesh feature removal function has been developed where the small form features on the mesh model such as holes, slots and bosses can be automatically recognized and these features can be removed or regenerated using our LOD control algorithm. 4) Feature recognition and mesh deforming functions have been developed where partial surface regions on the large scale mesh which can be approximated to a singe kind of analytic surface can be automatically segmented, and where geometry of the mesh can be deformed in the dimension driven way using a special deforming function based on the barycentric coordinate interpolation for mesh. These research results were presented in public in the form of 10 research papers and 2 patent applications.
• Research on Digital semantic product model for product life cycle support

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2002 -2006 

  Author : KISHINAMI Takeshi, YAMADA Makoto, TANAKA Fumiki, AKAMA Kiyoshi, MISTUI Satoshi, KONDO Tsukasa

   

  The manufacturing industry is increasingly dependent on digital tools, such as CAD, CAE, CAM, product data management (PDM) systems CNC machines to design and manufacture products. Moreover, the movement toward concurrent engineering drives the need for frequent transformation of the product data between different digital tools. In order to realize the articulate link between design and manufacturing and the traceable manufacturing system, it is necessary to realize interoperable digital tools which represent the semantics of information independently of any implementations. Interoperability characterizes the ability of product model data to accurately represent objects in all collaborative engineering environments. Today, all engineering data, such as geometry representation data, tolerance data, etc., are not used throughout product development processes. An interoperability error makes product model data unusable when applying digital tools. If an interoperability error arises in collaborative engineering applications, tracking the error back to its source is expensive (if not impossible) and requires a significant amount of time. Moreover, the quality of data that represent information should be ensured during the product life cycle. In this research, the Digital Semantic Model that fulfills the above requirements was proposed. The digital semantic product model consisted of the quality assurance of the product model data, the semantic modeling for humans (such as designer and worker), understandable and computer readable data, and the functional modeling for supporting the product life cycle. In order to ensure the product model data, the Product Data Quality Checking method for the ISO Standard product model was proposed. In order to support all of the product lifecycle activities, the functional model for each activity was developed based on the related ISO Standard. In order to represent the semantics of the data, the EXPRESS language for data modeling and XML for representing the data, was adopted.
• Advanced Functional Evaluation System for Automatic Machinery enabling to combine Multi-disciplinary Simulations

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(C))

  Date (from‐to) : 2003 -2004 

  Author : Satoshi KANAI, 中村 孝太郎, Toyoaki TOMURA, Takeshi KISHINAMI, Kohtaro NAKAMURA

   

  The purpose of this research is to develop a virtual functional evaluation system for designing automatic machinery where multi-disciplinary simulators for workpiece deformation, machine kinematics and control software can be coordinated and collaborated each other, and where the realistic behavior of the machine can be simulated.The results of the research were summarized as follows :(1)A methodology and a developing environment were proposed where commercial off-the-shelf kinematic simulator and control software simulator could be communicated real-time using RTI middleware compatible with the distributed simulation standard HLA. The environment was applied to verify the dynamic behavior of a CD drive mechanism under control, and it was confirmed that several kinds of hidden mechanical and control design mistakes could be easily found by using this environment.(2)To realize the efficient simulation time advancement in the collaborative simulation among different simulators, the Time Warp mechanism was developed where the time step could vary in each federate. This mechanism was implemented in federates of the collaborative simulation, and it was confirmed that the simulation efficiency of the automatic machinery controlled by the FieldBus was greatly improved.(3)To predict the workpiece deformation by FEA for verifying the automatic packaging machine, a multi-resolution FEA mesh generation method was developed where the number of elements and geometric qualities of the elements can be controlled flexibly. And a deformation simulation algorithm of thin packaging film based on discrete shell model was implemented, and the defects of the packaging process caused by the fine creases could be predicted to some extent.
• デジタルヒューマンモデルを利用した製品の仮想エルゴノミック評価技術

  科学研究費補助金

  Date (from‐to) : 2004
• Virtual ergonomic assessment of products using Digital human model

  Grant-in-Aid for Scientific Research

  Date (from‐to) : 2004
• Unified 3D Design Environment using Multi-resolution Mesh Modeling

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(C))

  Date (from‐to) : 2001 -2002 

  Author : Satoshi KANAI, Takeshi KISHINAMI

   

  The purpose of this research is to develop a new unified 3D design environment where the multi-resolution triangular mesh models are used as the standard of the geometric models.The results of the research were summarized as follows :(1) The development of multi-resolution mesh modeling for FEM analysis.Two types of multi-resolution mesh modeling methods were developed : Detail-preserving type and Detail-Removing type. In the methods, level-of-detail for mesh and geometry can be controlled independently, and the shape and vertex order of the mesh can be leveled.(2) The development of multi-resolution mesh modeling for collision detection.The multi-resolution mesh modeling method was develped where the low-resolution mesh contains the high-resolution one and the over-estimation amount between these meshes can be minimized using linear programming. This method is useful for fast collision test of digital mock-up systems.(3) The development of generating subdivision surfaces from point cloud using quasi-interpolation.In this method, the geometry and topology of the initial control mesh of a Loop subdivision surf:ace can be generated fast, stably and adaptively from a cloud of measured points. The experimental results showed that several ten thousand measured points were approximated only by the subdivision surface with the control mesh of several hundred vertices.
• 情報機器設計とプロトタイピングのためのデジタルエンジニアリング

  受託研究

  Date (from‐to) : 2002
• Digital Engineering for design and prototyping of information appliances

  Funded Research

  Date (from‐to) : 2002
• A study of representation of a machining knowledge and a manufacturing resource model for an integrated manufacturing design system

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 2000 -2001 

  Author : KISHINAMI Takeshi, TANAKA Fumiki, KANAI Satoshi

   

  A significant amount of research for machining process planning and machining feature extraction has been carried out for realizing an integrated CAD/CAPP/CAM system. The Standard for the Exchange of Product model data (STEP) has also emerged as a viable method for product model data exchange among design activities. However, a consistent STEP/AP set for integrating design, process planning and machining for mechanical components has not completely been developed thus far, because process planning is very complicated for analyzing a process and making a support data model, and STEP is intended to concentrate data communication on the area of design and management process. To solve this problem in this project, we perform the following items: 1. Establishing a information modeling technology that enable us to archiving and sharing the machining knowledge and information of machining resources in a manufacturing system 2. Implementing the integrated manufacturing design system based on the proposed information modeling technology of the machining knowledge and machining resources. 3. Making a process plan for a mechanical part using the proposed integrated manufacturing design system.
• A Seamless Environment for developing Massively Distributed Control Software of Factory Automation

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(B))

  Date (from‐to) : 2000 -2001 

  Author : Satoshi KANAI, 山元 進, Toyoaki TOMURA, Takeshi KISHINAMI, Susumu YAMAMOTO

   

  The purpose of this research is to utilize a methodology and a tool for modeling, simulating and implementing the massively distributed control software for factory automation system based on object-orientation. The following results were obtained.1) Evaluation of utilization for proposed tool for simulation and modeling.A systematic methodology was proposed for implementing the simulation models described by Statecharts and event chain model as Java code by using design patterns. And the methodology was implemented by applying a CASE tool and a Java development tool. It was applied to designing and verifying the distributed control system for a practical air-control system. As a result, the design and verification could be completed in two weeks, and it was confirmed the design period could be greatly reduced.2) Integration of simulation with implementation for distributed control system.A transformation method from the simulation models described by Java code to the implementation code described by Neuron-C was developed based on the design patterns. It can be applied to developing the control software for material handling unit of factory automation. As a result, the effectiveness of the proposed method was confirmed.3) Software testing method and tool for verifying implemented code of control nodes based on timed I/O Statecharts.A testing method and a tester tool were developed by Java code where the black box testing can be automatically applied for the implemented code of simulation models generated from timed I/O Statechart. They were applied to testing the control code for air conditioning system, and it was confirmed that a testing period could be reduced to only one day by using the proposed method and tool.
• A study on the Digital Watermarking and Copyright Protection Method for 3D Geometric Models

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(C))

  Date (from‐to) : 1999 -2000 

  Author : Satoshi KANAI, Takeshi KISHINAMI

   

  The purpose of this research is to develop the new digital watermarking methods for 3D geometric models in the area of CAD, CAM, CAE and CG.Watermarking is one of the copyright protection methods where an invisible watermark is secretly embedded into the original data. The proposed watermarking method is based on wavelet transform and multi-resolution representation of the 3D geometric models.In this research, large-scale polygon, solid and surface models were firstly designed using commercial 3-D CAD systems. Then the series of operations consisting watermark embedding on these models, coordinate transformation and modification of models, and watermark extraction were executed in order to evaluate the performance of proposed watermarking method.The robustness of the watermark for external attacks, capacity of embeddable watermark and the geometric error caused by watermark embedding were evaluated quantitatively. The following results were obtained ;(1) The embedded watermarks were completely kept under the affine transformation.(2) The geometric error of the models caused by the embedding could be easily kept within the specified tolerances.(3) The embedded watermarks were robust to the several attacks such as noise superposition and vertex modification on the models.(4) The embedded watermarks were not robust to the cropping operation for the models.Furthermore, the developed watermarking method was improved so as to be applied to the watermarking for 2D vector data such as digital map. As a result of the experiment, it was verified that the visual quality of the data could be kept, the capacity of the watermark was large enough to store the copyright data, and the watermark was very robust to the noise superposition on the vertex coordinates.In the future, the modification of the algorithm will be necessary so that the embedded watermark becomes more robust to the cropping operation for the 2-D or 3-D geometric models.
• Formal Representation of Machining Process and Systematizing of Machining Feature Model

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1998 -1999 

  Author : KISHINAMI Takeshi, TANAKA Fumiki, KANAI Satoshi

   

  This research deals with feature models of a machining operation and machined shapes for single cutting edge machining, which correspond directly to the machining process model. The feature model of the machining operation is proposed from the viewpoint of the dimension of a macro cutting tool, the dimension of feed motion, and the number of enveloping constraints. The feature model of the machined shape is also proposed from the viewpoint of the removal volume, the machined surface, and the surface texture. The linkage between both feature models is accomplished by the concept of a working tool. The working tool consists of the swept macro tool, the envelope of the swept macro tool, and the working edge. We proposed the abstract model of the machining process and the abstract model of operation planning which may represent the linear equations. We also pointed out that there are only 15 types of machining operations.
• A study on the optimal disassembly process planning for the consumer products based on the evaluation of recyclability and disposability

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(基盤研究(C))

  Date (from‐to) : 1997 -1998 

  Author : Satoshi KANAI, Hidetomo TAKAHASHI, Takeshi KISHINAMI

   

  The purpose of this research is to develop the computer aided planning of an optimum disassembly, shredding and material sorting process for the consumer electric appliances by evaluating both of their recyclability and disposability, and required costs of the process.The results of this research are summarized as follows ;(1) The problem of "an optimum process planning for disassembly shredding and material sorting" was formally defined. The problem is to determine whether and how sequences of disassembly, shredding and material sorting activities can transform a given retired product into forms which satisfy specified retrieval conditions.(2) Three graphs were proposed to formally and uniformly express product and process structures in disassembly, shredding and sorting.(3) The planning of disassembly, shredding and sorting could be recognized as changes of the graph structures and node attributes in graph-based model. Rules and procedures for these changes were discussed.(4) Several case study on the home electric appliances (electric shaver and cleaner) proved that an effectiveness of the proposed strategies for finding an optimum disassembly, shredding and sorting process based on proposed graph-based models, application rules and transforming procedures.From these results, it was confirmed that the proposed computer-aided optimal disassembly process planning for the consumer products based on the evaluation of recyclability and disposability was effective.
• A Method of Construction on Virtual World

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1995 -1997 

  Author : HIROSE Michitaka, KANAI Satoshi, YOKOI Shigeki, HARASHIMA Hiroshi, KIRIYAMA Takashi, IKEI Yasushi

   

  Contents development is one of the most important topics in the virtual reality research. The main purpose of group 3 is to develop software tools for generating various virtual worlds and to investigate potentials of the virtual worlds generated. Brief summary of our study is as follows ; (1) Development of virtual environment visualization workbench : We developed a multi-screen 3D display to provide researchers high-definition virtual world as a common work bench. In addition, we developed basic software libraries to integrate the experimental software developed by the group members with this display with various existing software tools. (2) Basic software to construct simulation world : In this sub group, basic softwares to perform simulation-based world generation are treated. First, we focused on interactive manipulation of virtual objects by hands. Especially, manipulation system that enables user to manipulate virtual objects by both hands are developed. Second, a force display having very high dexterity is developed to check virtual model intuitivety. Third, we developed simulation method to simulate physical law in virtual space. By investigating the behavior of virtual objects when objects collide in grasping and moving by the users, we could simulate behaviors of virtual objects such as collision, slip, and rotation. (3) Producing virtual world with various data resources : In this sub group, methods to generate virtual world without 3D geometric model are investigated. In this research, we constructed high quality virtual world using real video images. To implement large-scale walk through system, we developed image synthesis system consisting of image capture system, image management system and also image reconstruction system. (Prof. Hirose) As a theoretical base of this kind of world generation, we developed image reconstruction method to obtain 3D space information by optimizing camera position. (4) Generating network based virtual environment using high-speed image network : This sub group is working on "networked"-virtual world. For example, we developed Tele-communication system that provides users very-wide field of view images to support remote collaboration. And we investigated roles of the peripheral visual field in working or communication task using the system.
• 人工現実感を応用した自由曲面CAD/CAMシステムの開発

  文部科学省：科学研究費補助金

  Date (from‐to) : 1995 -1995 

  Author : 金井 理, 佐々木 哲夫, 岸浪 建史

   

  本研究は、金型自由曲面CAD/CAMシステムのヒューマンインターフェース部に人工現実感生成技術を導入し、仮想空間内の自由曲面モデル形状や工具モデルを直接操作しながらCAD/CAMシステムへ指示を与えることのできる「仮想クレイモデリングシステム」ならびに「仮想倣い加工システム」の試作と開発を行ない,その応答性およひ操作性を実験的に評価することを目的としている.本年度の研究実績は,以下のようにまとめられる.1.「仮想クレイモデリングシステム」の開発においては,自由曲面の切削による造形作業を仮想空間内で模擬するため,切削工具の運動を認識し,形状モデルからの疑似的な切削抵抗を操作者へ提示可能な,受動形力提示デバイスを用いたシステムを試作した.まず,実験に基づいた切削抵抗予測式の構築法,切削による形状変化をリアルタイムに計算するZ-mapデータに基づく切削シミュレーションアルゴリズム,Z-mapデータから曲面形状モデルへの変換手法を明らかにした.次いで,力提示デバイスを電磁パウダーブレーキを用いて実現し,自由曲面形状モデルの造形が可能であることを実験的に確認した.さらに,仮想空間における工具の位置決め実験を行うことにより,切削抵抗の力フィードバックを与えた場合,形状モデルに対する切削工具モデルの位置決め精度,操作時間を共に向上できることを実験的に検証した.2.「仮想倣い加工システム」の開発においては,仮想空間内において曲面形状モデル表面を倣うことのできる能動形力覚提示デバイスを用いて,曲面切削用の工具経路データを直接操作で能率良く教示できるシステムを試作した.まず、リニアサーボモータユニット3台に力帰還形制御を適用し,高い応答性と剛性を有する能動形力覚提示デバイスを作成した.また,自由曲面形状モデルに対するプローブモデルの高速干渉チェックアルゴリズム,ならびにプローブモデルをモデル上へ高精度に位置決めするための補正アルゴリズムを明らかにした.さらに仮想空間内での倣い作業実験を行い,本システムが制御周期3ms以内,工具経路生成精度±0.1μmなる性能を有しており,曲面切削用NCプログラミングへ十分利用可能であることを確認した.
• Research on the Flexible Adjustment Cell for Mechanical Assembly

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(一般研究(C))

  Date (from‐to) : 1993 -1994 

  Author : Satoshi KANAI, Hidetomo TAKAHASHI

   

  (1) As the essential device of the flexible adjustment, the micro-impact hummers (MIHs) made by the piezoelectric actuators were newly developed, and were installed into the 2 dimensional NC positioning table. By using this device, the experiments on the automatic micro adjustment of the positional and orientational deviation for the bolt-fastened component were done. The results of the experiments showed that the developed device could stably adjust the position and orientation of the jig-component with the initial deviation of 30 mum and 0.001 rad into the allowable deviation zone of 5 mum and 0.0002 rad.(2) For the purpose on the optimal tolerances synthesis of the mechanical assembly, a computer aided system for the 3D tolerance synthesis system was developed. The assembly was represented by solid model, and dimensional and geometrical tolerances were formulated as a set of inequalities. Differential coordinate transformation and linear programming were used to analyze the dimensional and geometrical tolerance stack-up. The cost data base descried the relation among form featured, tolerance range, machining and set-up costs. Tolerance synthesis was formulated as the combinational optimization problem under the stack-up conditions. Genetic Algorithm was applied to solve these problems. The coding method and genetic operators were discussed. The algorithm was evaluated through the tolerance synthesis for the gear box. It was confirmed that the proposed GA based tolerance synthesis method could find the optimum tolerance allocation plan for a rational period.
• Research on Integrated Process Planning System for Assembly

  Ministry of Education, Culture, Sports, Science and Technology：Grants-in-Aid for Scientific Research(一般研究(C))

  Date (from‐to) : 1990 -1991 

  Author : Satoshi KANAI, Hidetomo TAKASHASHI

   

  The purpose of the research is to develop the computer aided system which enables process planners to design suitable assembly cell and assembly system in different phases of process planning of the assembly. The results of the research are summarized as follows ;1. The uniform date model for representing activities concerning with process planning of the assembly, was proposed. The structure of the product and assembling machine, motion of the assembling machine, and ordered relation among various motions of the machines, can be represented by EAR (Entity Attribute Relationship) Model, and was implemented as LISP frame structure.2. The assembly sequence planning system based on the assembly model of the product was developed. The assembly model was represented as the set of solid models of parts and the constraint conditions between mating parts. The system can automatically generate the feasible de-assembling sequence based not only on feasible movement of each part and precedence relation derived from constraint conditions, but also on the interference detection between parts by solid models.3. The design system for the assembling machine was developed. They system enables the process planner to compose machine elements such as motor, air cylinder, bearing, gear etc. based on 3D model to make mechanism, and to simulate motions of the machine based on sequence control diagram and expression processing software.4. The CASE tool to automatically generate the control program for the assembling machine and cell is developed. The tool is applied to the program development for the flexible parts feeding cell which consists of image processing unit, range finder, 6-axis robot and personal computer. The structured analysis of the process was done by using DFD, and the C source code of the program can be semi-automatically generated by referring to the specification and configuration of the sensors and the robot.
• Development and Construction of the Expert System for Finishing Operation of dies and Molds.

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1989 -1990 

  Author : SAITO Katsumasa, KANAI Satoru, SASAKI Tetsuo, NARAHARA Hiroyuki, MIYOSHI Takashi

   

  In order to establish an automatic manufacturing system for dies and molds, two problems in the mold industry must primarily be developed. One is an automatic design system. and other is a surface finishing technology for acavity surface of dies and molds. Especially, the cavity surface of plastic mold is still finished by handiwork of a skill machinist. In this research project, the knowledge of a mold skilled machinist for mold polishing operation was acquired to develop good performance of an automatic polishing tool, and an expert system to design the polishing process were established. The study is summarized as follows : 1. The polishing properties of a skilled machinist in respect tosurface roughness, stock removal and scratch were obtained and analyzed quantitatively. 2. An expert system for mold polishing by using the knowledge of skilled machinists was constructed, and the feasibility of the expert system is verified with experiments in die and mold shop. 3. Finishing experiments were carried out with different kinds of polishing tools, not only by a skilled machinist handiwork, but also by mechanical method by using NC milling machine. 4. According to the solution of this expert system, milled surface of S55C steel were polished with selected tools and the number of polishing strokes. 5. Consequently, this expert system was confirmed to be useful for scheduling and determination of the polishing process, and it was verified that the performance of this developed tool were similar to expert's performance of mold machinist.
• Intelligent Model and Communication for Distributed Automated Manufacturing System

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1989 -1990 

  Author : KISHINAMI Takeshi, MORIWAKI T, SUZUKI H, ITO Y, FURUKAWA F, SANAI S

   

  This report describes the cooperative works for an intelligent model and communication for the distributed automated manufacturing system which was done by ten researchers belonged seven different universitys. The following results were obtained. 1) In order to analysis the structure of distributed automated manufacturing system, the following items were investigated ; -Basic structure of Distributed Automated Manufacturing System -Intelligent data structure for product model -Communication for the distributed system -Recongnition for manufacturing enviroments -Control mechanism and information processing for manufacturing process 2) For constructing the distributed automated manufactring system, it is very important isses to develop the computer model for manufactring process. 3) An intelligent mechanism for deriving the necessary information for manufacturing operation from the given objective information was proposed based on the object oriented data base. 4) Data exchange between the distributed manufactring facilities should be done base on the context driven communication mechanism. 5) The distributed automated manufactring system should have the recongnision function for machining enviroment and geometric shape.
• Development of Automatic Set-Up Equipment for Large Forging and Casting

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1988 -1990 

  Author : KISHINAMI T, HAYAKAWA T, YOKOUCHI H, KANAI S, SAITO K, HAKUTA K

   

  This report describes the Automatic set-up equipment to shorten the machining preparation work for machining of large castings and forgings. The system mainly consists of three modules : the first one is the computer-aided three-dimensional shape measuring system which consists of 5-directional measuring machine installed with a newly developed non-contact distance sensor, and processors provided to transform the measured distance data to coordinates then also to construct netire mesh point data of the object workpiece. The distance sensor is based on an astronomical telescope typed optical system, equiped with laser tube and one dimensional CCD set horizontally on the optical axis. The second is to determine the relative position of the required shape into the workpiece, and the third one is to calculate the NC data for the scribing lines. The proposed software system accepts both the workpiece shape data from the developed measuring system and the geometric model of the required shape from the CAD system. Also it adjusts the position and orientation of the geometric model in the workpiece space, makes the stock removal uniform around the workpiece, and generates NC data for the sribe based on these models. Satisfactory results have been confirmed by some tests.
• Analysis and Automation of Polishing Motion of a Skilled Machinist by Handwork for Mold and Die

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1988 -1989 

  Author : MIYOSHI Takashi, SAITO Katsumasa

   

  The automated form machining has already been carried out by NC machine tool in manufacturing mold and die, however, the mold cavity surfaces are still polished by a skilled machinist's handwork. The purpose of this paper is to not only study polishing mechanism and properties of a skilled machinist by handwork, but also develop an automated polishing tool based on the analysis of polishing motion and the knowledge acquisition of experts. The results obtained are summarized as follows: (1) The surface roughness(R) is exponentially decreased with the increase of the number of polishing operation(N) and can be obtained quantitatively according to the following equation: R = (R_0-Re)exp(-aN) + Re where R_0 is surface roughness before polishing, Re is final surface roughness and a is exponential constant factor. (2) The curve of the stock removal vs the polishing times is expressed approximately with two lines and the intersection of the two lines corresponds to the critical polishing times in which the surface can be almost finished. (3) The developed automated polishing tool which is attached to the spindle of NC machine tool makes it possible to finish the surface like a skilled machinist by handwork. (4) Using new polishing parameter(N/(f/n)) consisting of the three factors of wheel revolution(n), feed rate(f) and polishing times(N), the surface roughness and the stock removal can be dealt with quantitatively regardless of polishing conditions.
• A Study of Geometra Machining Simulator

  Japan Society for the Promotion of Science：Grants-in-Aid for Scientific Research

  Date (from‐to) : 1988 -1989 

  Author : KISHINAMI T., TANAKA F., KANAI S., SAITO K.

   

  The machining simulation technique is very important for computer aided manufacturing system and NC data verification. If we can forecast the machining phenomena, for example, cutter collision, cutter removal shape, removed volume and cutting force by using simulation techniques, a more high level computer controlled machining system can be realized. Some research on machining simulation based on conventional geometric modeling techniques such as CSG or Breps have already been done. However, these approaches were time consuming and complex because of the massive set operations between workpiece and cutting tool. Difficulty in defining cutter swept volume, and restricted within their specific application. To solve these problems, we introduce the voxel representation of geometric model and logical set operation on voxel space. The machining simulation technique based on the voxel representation of geometric models makes it possible to recognize not only cutter collision but also various status among cutting tool, workpiece and fixturing device, by the uniform data representation and simple logical bitwise operations.

Industrial Property Rights

• 特許第7388652号:気管内吸引の訓練装置  

  コリー 紀代, 近野 敦, 金井 理, 小水内 俊介, 二宮 伸治  国立大学法人北海道大学, 学校法人常翔学園  202303016194170776
• 特願2020-168525:３次元モデル生成装置および３次元モデル生成プログラム  2020年/10/05

  金井 理, 伊達宏昭, 阿久津啓, 水上幸治, 野中秀樹, 新名恭仁, 本間亮平  北海道大学, アジア航測㈱
• 特許6502587:ロッド群、弓状ロッド群、脊柱安定化システム、およびロッドの製造方法    2019/03/29

  安倍雄一郎, 小甲晃史, 瀬川剛, 金井理, 須藤英毅
• 特許6488536:側弯症診断支援装置，側弯症診断支援方法及びプログラム    2019/03/08

  金井 理, 須藤英毅, 安倍雄一郎, 長枝 浩
• 特開2019-032292:対称性可視化装置、対称性可視化方法及びプログラム  2019/02/28

  長枝 浩, 林 隆行, 金井 理, 須藤 英毅, 安倍 雄一郎  国立大学法人北海道大学  201903003394212891
• 特許6408624:計測機配置位置決定装置、計測機配置位置決定方法およびプログラム    2018/10/17

  脇坂 英佑, 金井 理, 伊達 宏昭
• WO2017-175761:側弯症診断支援装置、側弯症診断支援方法及びプログラム  2017/10/12

  金井 理, 須藤 英毅, 安倍 雄一郎, 長枝 浩  国立大学法人北海道大学, 株式会社ノア  201903021237344987
• 特許第6179913号:柱状物体抽出方法、柱状物体抽出プログラム、及び柱状物体抽出装置  2017/07/28

  金井 理, 伊達 宏昭, 横山 博貴, 森 哲平, 武田 浩志  国立大学法人北海道大学, 国際航業株式会社  201703020087831255
• 特許第6041127号:柱状物体抽出方法、柱状物体抽出プログラム、及び柱状物体抽出装置  2016/11/18

  金井 理, 伊達 宏昭, 横山 博貴, 森 哲平, 武田 浩志  国立大学法人北海道大学, 国際航業株式会社  201703015703665514
• 特許第5594681号:測量データの分類方法、及び測量データの分類装置  2014/08/15

  金井 理, 横尾 泰広, 浅田 典親, 武田 浩志, 森 大  国際航業株式会社  201403065642650939
• 特許第5419284号:プレス成型金型のスプリングバック見込み形状生成方法及び装置  2013/11/29

  金井 理, 村上 幸己  国立大学法人北海道大学, 株式会社トヨタケーラム  201403007253728205
• 特許第4714444号:四面体メッシュ生成方法およびプログラム  2011/04/01

  金井 理, 伊達 宏昭, 岸浪 建史, 西垣 一朗  国立大学法人北海道大学, 株式会社日立製作所  200903046414874121
• 特許第4701119号:アセンブリメッシュモデル生成方法及びシステム  2011/03/11

  金井 理, 岸浪 建史, 伊達 宏昭, 西垣 一朗  国立大学法人北海道大学, 株式会社日立製作所  201303052980715505
• 特許第4670056号:ユーザビリティ評価システム及びユーザビリティ評価プログラム  2011/01/28

  金井 理, 岸浪 建史, 堀内 聡, 菊田 幸明, 浜崎 亮輔, 吉永 孝明, 坂田 豊, 菊地 慶仁  国立大学法人北海道大学  201103055174645038
• 特許第4669941号:3次元デザイン支援装置及びプログラム  2011/01/28

  金井 理, 岸浪 建史, 遠藤 維, 持丸 正明, 河内 まき子, 宮田 なつき  国立大学法人北海道大学, 独立行政法人産業技術総合研究所  201103000607156666
• 特許第4664218号:メッシュモデル生成システム  2011/01/14

  金井 理, 岸浪 建史, 伊達 宏昭, 西垣 一朗  国立大学法人北海道大学, 株式会社日立製作所  201103089638699685
• 特許第4664023号:解析用四面体メッシュ生成装置  2011/01/14

  金井 理, 伊達 宏昭, 岸浪 建史, 西垣 一朗  国立大学法人北海道大学, 株式会社日立製作所  201103066854733839
• 特許第4568843号:解析曲面セグメンテーション装置、方法、プログラム及び記録媒体  2010/08/20

  金井 理, 岸浪 建史, 溝口 知広, 伊達 宏昭  国立大学法人北海道大学  200903016650222007
• 特開2010-014541:ユークリッド対称性認識システム、方法及びプログラム  2010/01/21

  金井 理, 溝口 知広  国立大学法人 北海道大学  201003018422439415
• 特許第4403277号:凸多面体に対する重心座標を用いた自由形状変形システム  2009/11/13

  金井 理, 岸浪 建史, 伊達 宏昭, 水野 学  国立大学法人 北海道大学  200903030959217906
• 特開2009-053870:データ軽量化システム、データ軽量化方法、データ軽量化プログラム、及び記録媒体  2009/03/12

  金井 理, 遠藤 維, 高橋 将幸, 坂本 英樹, 金谷 尚輝  国立大学法人 北海道大学, 株式会社構造計画研究所  200903088058404624
• 特許第4189705号:電子情報データ埋め込み方法及び抽出方法並びに電子情報データ埋め込み装置及び抽出装置、並びに前記方法のプログラムを記録した記録媒体  2008/09/26

  金井 理, 伊達 宏昭, 青木 潔, 遠藤 明彦  金井 理, 株式会社エクサ  201103034093998273
• 特許第4175551号:電子情報埋め込み方法及びその抽出方法、電子情報埋め込み装置及びその抽出装置、並びにそのプログラム  2008/08/29

  金井 理, 中根 達英, 栗崎 直子, 北村 伊久裕  国際航業株式会社  201103039661762494
• 特開2008-186133:凸多面体に対する重心座標を用いた自由形状変形システム  2008/08/14

  金井 理, 岸浪 建史, 伊達 宏昭, 水野 学, 小野里 雅彦  国立大学法人 北海道大学  200903047301352869
• 特開2008-059180:3次元デザイン支援装置、方法、プログラム及び記録媒体  2008/03/13

  金井 理, 岸浪 建史, 遠藤 維, 持丸 正明, 河内 眞紀子, 宮田 なつき  国立大学法人 北海道大学, 独立行政法人産業技術総合研究所  200903008357003616
• 特開2007-272575:ユーザビリティ評価システム、3Dデジタルプロトタイプ作成システム、ユーザビリティ評価方法、3Dデジタルプロトタイプ作成方法、ユーザビリティ評価プログラム及び3Dデジタルプロトタイプ作成プログラム  2007/10/18

  金井 理, 岸浪 建史, 堀内 聡, 菊田 幸明, 浜崎 亮輔, 吉永 孝明, 坂田 豊, 菊地 慶仁  国立大学法人 北海道大学  200903060712934474
• 特開2007-233560:メッシュモデル生成方法  2007/09/13

  金井 理, 岸浪 建史, 伊達 宏昭, 西垣 一朗  国立大学法人 北海道大学, 株式会社日立製作所  200903080281326820
• 特開2007-128467:特徴稜線認識型メッシュスムージング手法  2007/05/24

  金井 理, 清水 貴文, 伊達 宏昭  国立大学法人 北海道大学  200903007211660368
• 特許第3935078号:航空電子地図情報作成方法及び航空電子地図情報作成装置  2007/03/30

  金井 理, 中根 達英, 栗崎 直子, 北村 伊久裕  国際航業株式会社  201103014985030612
• 特開2006-285627:3次元モデルの類似検索装置及び方法  2006/10/19

  金井 理, 鎌田 雄喜, 岸浪 建史  国立大学法人 北海道大学  200903001219085232
• 特開2006-285685:3次元デザイン支援装置及び方法  2006/10/19

  金井 理, 岸浪 建史, 遠藤 維, 持丸 正明, 河内 まき子, 宮田 なつき  国立大学法人 北海道大学, 独立行政法人産業技術総合研究所  200903021374572205
• 特開2006-277713:3次元メッシュモデルの特徴稜線抽出装置、プログラム及び方法  2006/10/12

  金井 理, 岸浪 建史, 溝口 知広, 伊達 宏昭  国立大学法人 北海道大学  200903058237027985
• 特開2006-277712:3次元モデルのフィッティング装置、方法及びプログラム  2006/10/12

  金井 理, 岸浪 建史, 遠藤 維, 伊達 宏昭  国立大学法人 北海道大学  200903061691339828
• 特許第3799511号:透視図3次元NURB曲線自動復元方法及び装置  2006/05/12

  金井 理, 遠藤 明彦, 堀田 邦彦  金井 理, 株式会社エクサ  200903037194962424
• 特開2006-072531:有限要素解析用の四面体メッシュの生成方法およびその方法を用いた有限要素解析システム  2006/03/16

  金井 理, 伊達 宏昭, 岸浪 建史, 西垣 一朗  国立大学法人 北海道大学, 株式会社日立製作所  200903036140720631
• 特開2005-275439:UI設計評価方法及び装置  2005/10/06

  金井 理, 堀内 聡  金井 理  200903043215961660
• 特開2005-242721:GUIプログラミング支援システム及びステートチャート作成プログラム  2005/09/08

  漆原 映彦, 金井 理, 岸浪 建史  国立大学法人 北海道大学  200903006025680948
• 特開2005-242651:高品質メッシュモデルの生成システムおよび生成プログラム  2005/09/08

  金井 理, 伊達 宏昭  国立大学法人 北海道大学  200903091512155767
• 特開2005-242647:解像度制御システム、解像度制御プログラム  2005/09/08

  金井 理, 伊達 宏昭  国立大学法人 北海道大学  200903098995177264
• 特開2004-295255:干渉判定システム及び干渉判定プログラム  2004/10/21

  金井 理, 伊達 宏昭  北海道大学長  200903037363070155
• 特開2004-295254:初期制御メッシュ導出システム及び初期制御メッシュ導出プログラム  2004/10/21

  金井 理, 名知 数馬  北海道大学長  200903054563233816
• 特開2004-295258:表面詳細抽出システム及び表面詳細抽出プログラム  2004/10/21

  金井 理, 伊達 宏昭  北海道大学長  200903093563430706
• 特開2004-295259:表面詳細合成システム及び表面詳細合成プログラム  2004/10/21

  金井 理, 伊達 宏昭  北海道大学長  200903097465031033
• WO2003-051034:電子情報埋め込み方法及びその抽出方法、電子情報埋め込み装置及びその抽出装置、並びにそのプログラム  2003/06/19

  金井 理, 中根 達英, 栗崎 直子, 北村 伊久裕  国際航業株式会社  200903002706199371
• Electronic information burying method and extracting method, electronic information burying apparatus and extracting appratus, and programs therefor

  United States Patent 7370363