研究者データベース

金井 理(カナイ サトシ)
情報科学研究院 システム情報科学部門 システム創成学分野
教授

基本情報

所属

  • 情報科学研究院 システム情報科学部門 システム創成学分野

職名

  • 教授

学位

  • 工学博士(北海道大学)

ホームページURL

科研費研究者番号

  • 90194878

ORCID ID

J-Global ID

研究キーワード

  • 大規模環境3次元レーザ計測   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   

研究分野

  • 社会基盤(土木・建築・防災) / 安全工学
  • 社会基盤(土木・建築・防災) / 社会システム工学
  • ライフサイエンス / 生体材料学
  • ライフサイエンス / 生体医工学
  • ものづくり技術(機械・電気電子・化学工学) / 加工学、生産工学
  • ものづくり技術(機械・電気電子・化学工学) / 機械要素、トライボロジー
  • ものづくり技術(機械・電気電子・化学工学) / 設計工学

職歴

  • 2007年04月 - 現在 北海道大学 大学院情報科学研究科 システム情報科学専攻 教授
  • 2003年04月 - 2007年03月 北海道大学 大学院情報科学研究科 システム情報科学専攻 助教授
  • 2004年 - 2007年 Associate Professor,Division of Systems Science and Informatics, Graduate School of Information Science and Technology, Hokkaido University
  • 2007年 - Professor,Division of Systems Science and Informatics, Graduate School of Information Science and Technology, Hokkaido University
  • 1997年 - 2003年 北海道大学 大学院工学研究科 システム情報工学専攻 助教授
  • 1997年 - 2003年 Associate Professor,Division of Systems and Information Engineering, Graduate School of Engineering, Hokkaido University
  • 1995年 - 1997年 北海道大学 工学部 精密工学科 助教授
  • 1995年 - 1997年 Associate Professor,Dept. of Precision Engineering, Faculty of Engineering, Hokkaido University
  • 1989年 - 1996年 東京工業大学 工学部 機械科学科 助教授
  • 1989年 - 1996年 Associate Professor,Dept. of Mechanical Engineering and Science, Faculty of Engineering, Tokyo Institute of Technology
  • 1987年 - 1989年 北海道大学工学部 精密工学科 助手
  • 1987年 - 1989年 Research Associate,Dept. of Precision Engineering, Faculty of Engineering, Hokkaido University

学歴

  •         - 1987年   北海道大学   工学研究科   精密工学専攻
  •         - 1987年   北海道大学
  •         - 1984年   北海道大学   工学研究科   精密工学専攻
  •         - 1984年   北海道大学
  •         - 1982年   北海道大学   工学部   精密工学科
  •         - 1982年   北海道大学

所属学協会

  • 日本写真測量学会   IEEE   日本設計工学会   精密工学会   

研究活動情報

論文

  • 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年04月 [査読有り][通常論文]
  • Shape Descriptor-based Similar Feature Extraction for Finite Element Meshing
    Hideyoshi Takashima, Satoshi Kanai
    Computer aided Design and Applications 18 5 採録決定 2021年02月 [査読有り][通常論文]
  • 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 5 採録決定 2021年02月 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • 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年10月14日 [査読有り][通常論文]
  • R. Honma, H. Date, S. Kanai
    ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2020 1091 - 1097 2020年08月14日 [査読有り][通常論文]
     
    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.
  • 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年08月12日 [査読有り][通常論文]
     
    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.
  • 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年08月12日 [査読有り][通常論文]
     
    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.
  • Hideyoshi Takashima, Satoshi Kanai
    CAD'20 2020年05月25日 [査読有り][通常論文]
  • Tetsuro Ishikawa, Satoshi Kanai, Hiroaki Date
    CAD'20 2020年05月25日 [査読有り][通常論文]
  • Ippei Takashi, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima
    Computer-Aided Design and Applications 17 2020年01月07日 [査読有り][通常論文]
  • Noriyo Colley, Shunsuke Komizunai, Atsushi Konno, Satoshi Kanai, Shinji Ninomiya
    SAGE Open Nursing 6 237796082096938 - 237796082096938 2020年01月 [査読有り][通常論文]
     
    Background 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. Objective 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. Design In vitro experimental design. Methods 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. Results 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. Conclusions Our results imply that the flexion technique was reasonably safe and the most effective of these five methods for low-viscosity secretion.
  • 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 30 2 172 - 180 日本小児呼吸器学会 2020年01月 [査読有り][通常論文]
     
    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 31 3 171 - 180 (NPO)日本医工学治療学会 2019年11月 [査読有り][通常論文]
     
    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年11月 [査読有り][通常論文]
  • Segmentation and LOD model generation of buildings from MMS point clouds of urban area
    Takuya Kanayana, Toshihide Mineushiro, Hiroaki Date, Satoshi Kanai
    精密工学会誌 85 10 912 - 918 2019年10月 [査読有り][通常論文]
  • 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 89 - 93 日本シミュレーション医療教育学会 2019年08月 [査読無し][通常論文]
     
    【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年06月 [査読有り][通常論文]
  • 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年06月 [査読有り][通常論文]
  • 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年06月 [査読有り][通常論文]
  • 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年06月 [査読有り][通常論文]
  • 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年05月 [査読有り][通常論文]
  • 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  2019年03月25日 [査読無し][通常論文]
  • 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  2019年03月25日 [査読無し][通常論文]
  • 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 2019年02月25日 [査読有り][通常論文]
     
    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.
  • 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)  2019年 [査読無し][通常論文]
  • Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi
    Computer-Aided Design & Applications 16 3 396 - 412 CAD} Solutions, {LLC 2019年01月 [査読有り][通常論文]
  • Shunsuke Komizunai, Shinji Ninomiya, Atsushi Konno, Satoshi Kanai, Tadayoshi Asaka, Eri Murata, Hiroki Mani, Nozomi Takahashi, Noriyo Colley
    IJAT 13 4 490 - 498 2019年 [査読有り][通常論文]
  • Sudo H, Kokabu T, Abe Y, Iwata A, Yamada K, Ito YM, Iwasaki N, Kanai S
    Scientific reports 8 1 17714  2018年12月07日 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi
    Computer-Aided Design and Applications 15 5 720 - 733 2018年09月03日 [査読有り][通常論文]
     
    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.
  • 脇坂 英佑, 金井 理, 伊達 宏昭
    精密工学会誌 84 8 738 - 745 公益社団法人 精密工学会 2018年08月 [査読有り][通常論文]
     
    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>
  • 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 2018年07月 [査読有り][通常論文]
  • 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年06月 [査読有り][通常論文]
  • T. Sumi, H. Date, S. Kanai
    International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 42 2 1083 - 1090 2018年05月30日 [査読無し][通常論文]
     
    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.
  • Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date
    Computer-Aided Design and Applications 15 3 353 - 366 2018年05月04日 [査読有り][通常論文]
     
    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.
  • Hiroaki Date, Takahito Yokoyama, Satoshi Kanai, Yoshiro Hada, Manabu Nakao, Toshiya Sugawara
    IJAT 12 3 328 - 338 2018年05月01日 [査読有り][通常論文]
     
    © 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.
  • 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  2018年03月14日 [査読無し][通常論文]
  • 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  2018年03月07日 [査読無し][通常論文]
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    Automation in Construction 85 193 - 208 2018年01月01日 [査読有り][通常論文]
     
    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.
  • コリー 紀代, 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 49 2 117 - 125 日本医学教育学会 2018年 [査読無し][通常論文]
     

    背景 : 在宅医療の高度化により, 気管内吸引等の高度ケアを担う人材の育成が喫緊の課題である.方法 : 気管内吸引を行う看護師と看護学生の眼球運動を測定し, 気管内吸引中の認知・判断面を含めた多重タスク構造を気管内吸引オントロジーとして可視化した.結果 : 構築された気管内吸引オントロジーの階層構造からは, 手順という手続き的知識のみならず, 医療機器に関する知識, 気管内吸引が無効であった際の選択肢に関する知識など, 多岐にわたった専門知識が要求される行為であることが示された.考察 : オントロジーは「できる」能力の範囲や評価すべき能力の定義を示す教育評価ツールとしても活用の可能性がある表現法と考えられた.

  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada
    ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION 6 9 267  2017年09月 [査読有り][通常論文]
     
    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.
  • 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 2017年06月01日 [査読有り][通常論文]
     
    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.
  • Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING 11 4 JAMDSM0045  2017年 [査読有り][通常論文]
     
    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.
  • Reiji Yoshimura, Hiroaki Date, Satoshi Kanai, Ryohei Honma, Kazuo Oda, Tatsuya Ikeda
    Geo-Spatial Information Science 19 3 171 - 181 2016年07月02日 [査読有り][通常論文]
     
    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.
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada
    Journal of Computational Design and Engineering 3 3 250 - 265 2016年07月01日 [査読有り][通常論文]
     
    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.
  • 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年 [査読有り][通常論文]
     
    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年11月 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, R. Hatakeyama, H. Date
    International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 4 61 - 66 2015年05月11日 [査読有り][通常論文]
     
    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.
  • S. Kanai, R. Hatakeyama, H. Date
    Indoor-Outdoor Seamless Modelling, Mapping and Navigation 44 W5 61 - 66 2015年 [査読有り][通常論文]
     
    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.
  • 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 2015年 [査読有り][通常論文]
     
    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.
  • Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    Computer-Aided Design and Applications 11 6 622 - 631 2014年01月01日 [査読有り][通常論文]
     
    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.
  • Hiroaki Date, Takashi Maeno, Satoshi Kanai
    Computer-Aided Design and Applications 11 6 685 - 693 2014年01月01日 [査読有り][通常論文]
     
    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.
  • Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date
    Journal of Computational Design and Engineering 1 1 13 - 26 2014年01月01日 [査読有り][招待有り]
     
    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.
  • 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 2014年 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Hiroaki Date
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2013, VOL 2B 2014年 [査読有り][通常論文]
     
    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.
  • Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date
    Journal of Computational Design and Engineering 1 1 13 - 26 2014年01月01日 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Takayuki Shibata, Takahiro Kawashima
    IJAT 8 3 406 - 419 2014年 [査読有り][通常論文]
  • Satoshi Kanai, Keiichi Shirase
    IJAT 8 3 303  2014年 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • Automatic recognition of piping system from laser scanned point clouds using normal-based region growing
    川島千明, 金井理, 伊達宏昭
    ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci. II-5/W2 121 - 126 2013年11月 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • 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年08月 [査読有り][通常論文]
  • 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年08月 [査読有り][通常論文]
  • 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年08月 [査読有り][招待有り]
  • 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年08月 [査読有り][通常論文]
  • Segmentation of MMS Point Clouds of Urban Area Based on Principal Component Analysis
    Hiroaki Date, Teppei mori, Hiroki Yokoyama, Satoshi Kanai, Hiroshi Takeda
    Proc. 2013 The International Symposium on Mobile Mapping Technology Paper No.111  2013年04月 [査読有り][通常論文]
  • Tomohiro Mizoguchi, Satoshi Kanai
    COMPUTER-AIDED DESIGN 45 4 829 - 842 2013年04月 [査読有り][招待有り]
     
    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.
  • Satoshi Kanai, Hiroaki Date
    Proceedings of the ASME Design Engineering Technical Conference 2 DETC2013-12931  2013年 [査読有り][通常論文]
     
    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.
  • 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 2013年 [査読有り][通常論文]
     
    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.
  • 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 2013年 [査読有り][通常論文]
     
    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.
  • Tomohiro Mizoguchi, Satoshi Kanai, Hiroaki Date, Hiroyuki Tanaka
    Journal of Advanced Mechanical Design, Systems and Manufacturing 7 5 862 - 875 2013年 [査読有り][招待有り]
     
    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.
  • 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 2013年 [査読有り][通常論文]
     
    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.
  • 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 2013年 [査読有り][通常論文]
     
    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年12月 [査読有り][通常論文]
  • 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年12月 [査読有り][通常論文]
  • 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年12月 [査読有り][通常論文]
  • Constructing a deformable human hand model in contact for virtual ergonomic assessment
    Yulai XIE, Satoshi KANAI, Hiroaki DATE
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100047  2012年12月 [査読有り][通常論文]
  • Quality Improvement of Finite Element Mesh Models Modified by Mesh Deformation
    Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100064  2012年12月 [査読有り][通常論文]
  • 川島千明, 金井理, 伊達宏昭
    精密工学会誌 78 8 722 - 729 2012年08月 [査読有り][通常論文]
  • Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date
    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV 523-524 932 - 938 2012年 [査読有り][通常論文]
     
    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.
  • Yulai Xie, Satoshi Kanai, Hiroaki Date
    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV 523-524 339 - 344 2012年 [査読有り][通常論文]
     
    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.
  • Hiroaki Date, Yusuke Kaneta, Akihiro Hatsukaiwa, Masahiko Onosato, Satoshi Kanai
    Computer-Aided Design and Applications 9 2 187 - 197 2012年 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Daisuke Iyoda, Yui Endo, Hideki Sakamoto, Naoki Kanatani
    International Journal on Interactive Design and Manufacturing 6 3 139 - 154 2012年 [査読有り][招待有り]
     
    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.
  • Hiromasa Suzuki, Hiroshi Katoh, Hideki Aoyama, Satoshi Kanai, Tetsuro Ogi, Takashi Kanai
    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING 6 3 323 - 323 2012年 [査読有り][通常論文]
  • 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年 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Koichi Shiina, Shingo Harada, Norio Tomii
    Journal of Rail Transport Planning and Management 1 1 25 - 37 2011年11月 [査読有り][通常論文]
     
    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.
  • デジタルハンドにおける仮想エルゴノミック評価のための指の生体力学モデル構築
    SHIMIZU Yasutomo, KANAI Satoshi, DATE Hiroaki
    Proceedings of Asian Conference on Design and Digital Engineering 2011 1 543 - 547 2011年08月 [査読有り][通常論文]
  • マーカレストラッキングとMRによる情報機器の3次元デジタルプロトタイピング
    Satoshi Kanai, Hiroaki Date, Keita Uchiyama
    Proceedings of Asian Conference on Design and Digital Engineering 2011 1 325 - 328 2011年08月 [査読無し][通常論文]
  • Tomohiro Mizoguchi, Yoshikazu Kobayashi, Kenji Shirai, Satoshi Kanai
    Proceeding SIGGRAPH '11 ACM SIGGRAPH 2011 Posters Article No.64  2011年 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Seiya Suzuki
    Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2011) (CR-ROM) 2 897 - 905 2011年 [査読有り][通常論文]
     
    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.
  • YOKOYAMA Hiroki, KANAI Satoshi, DATE Hiroaki, TAKEDA Hiroshi
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. 38-5 W12 115 - 120 2011年 [査読有り][通常論文]
     
    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%.
  • KAWASHIMA Kazuaki, KANAI Satoshi, DATE Hiroaki
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. 38-5 W12 283 - 288 2011年 [査読有り][通常論文]
     
    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.
  • MAENO Takashi, DATE Hiroaki, KANAI Satoshi
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. 38-5 W12 203 - 208 2011年 [査読有り][通常論文]
     
    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.
  • Tomohiro Mizoguchi, Yoshikazu Kobayashi, Kenji Shirai, Satoshi Kanai
    ACM SIGGRAPH 2011 Posters, SIGGRAPH'11 64  2011年 [査読有り][通常論文]
     
    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.
  • タッチパネル付情報機器プロトタイピングのためのXAMLに基づくユーザビリティ評価
    金井理
    Research in Interactive Design (CD-ROM) 3 PRIDE-P189  2010年10月 [査読有り][通常論文]
  • デジタルハンドによるエルゴノミック評価のための製品筐体の形状補間
    ENDO Yui, MIYATA Natsuki, KOUCH Makiko, MOCHIMARU Masaaki, KANAI Satoshi
    Research in Interactive Design (CD-ROM), Springer 3 PRIDE-P159  2010年10月 [査読有り][通常論文]
  • 非可視部品と形状特徴の削除による大規模アセンブリモデルの外見保存型単純化操作
    SAKAMOTO Hideki, KANATANI Naoki
    Research in Interactive Design (CD-ROM), Springer 3 VC-P144  2010年10月 [査読有り][通常論文]
  • 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年08月 [査読有り][通常論文]
  • 動的計画法と拘束付フィッティングを用いたリバースエンジニアリングのための回転特徴形状認識
    Kazuaki Kawashima, Satoshi Kanai
    Proceedings of 2010 Asian Conference on Design and Digital Engineering 612 - 619 2010年08月 [査読有り][通常論文]
  • Tomohiro Mizoguchi, Satoshi Kanai
    ADVANCES IN GEOMETRIC MODELING AND PROCESSING, PROCEEDINGS 6130 137 - + 2010年 [査読有り][通常論文]
     
    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年11月 [査読有り][通常論文]
  • 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年11月 [査読有り][通常論文]
  • 仮想エルゴノミック評価のための最適化に基づく把持姿勢生成手法
    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年04月 [査読有り][招待有り]
  • 溝口知広, 金井理
    精密工学会誌 75 4 554 - 560 2009年04月 [査読有り][通常論文]
  • Hiroaki Date, So Noguchi, Masahiko Onosato, Satoshi Kanai
    IEEE TRANSACTIONS ON MAGNETICS 45 3 1352 - 1355 2009年03月 [査読有り][通常論文]
     
    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.
  • 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年 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Taiga Higuchi, Yukiaki Kikuta
    International Journal on Interactive Design and Manufacturing 3 3 201 - 222 2009年 [査読有り][通常論文]
     
    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.
  • Keisuke Kawaguchi, Yui Endo, Satoshi Kanai
    DIGITAL HUMAN MODELING, PROCEEDINGS 5620 642 - 652 2009年 [査読有り][通常論文]
     
    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.
  • 遠藤維, 金井理, 岸浪建史, 宮田なつき, 河内まき子, 持丸正明
    精密工学会誌 75 4 548 - 553 2009年 [査読有り][通常論文]
  • 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年 [査読有り][通常論文]
     
    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.
  • 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年 [査読有り][通常論文]
     
    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.
  • 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年 [査読有り][通常論文]
     
    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年 [査読無し][通常論文]
  • XAML-based 2D/3D Prototyping System for Rapid Development of Information Appliances
    Research in Interactive Design (CD-ROM) 3 APIAHD_P127  2008年 [査読無し][通常論文]
  • Plausible Digital Hand Grasp Synthesis considering the Grasp Constratins of Information Appliances
    Research in Interactive Design (CD-ROM) 3 Virtual Concept_P34  2008年 [査読無し][通常論文]
  • Tomohiro Mizoguchi, Satoshi Kanai
    Proceedings of the ASME Design Engineering Technical Conference 1 683 - 691 2008年 [査読無し][通常論文]
     
    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年 [査読無し][通常論文]
  • Journal of the Japan Society for Precision Engineering 74 3 306 - 312 2008年 [査読無し][通常論文]
  • Journal of The Japan Society for Precision Engineering 74 7 752 - 759 2008年 [査読無し][通常論文]
  • TOMURA Toyoaki, KANAI Satoshi
    精密工学会誌 74 3 306 - 312 2008年 [査読有り][通常論文]
     
    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.
  • MIZOGUCHI Tomohiro, DATE Hiroaki, KANAI Satoshi
    精密工学会誌 74 7 752 - 759 2008年 [査読有り][通常論文]
     
    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.
  • 遠藤 維, 金井 理, 岸浪 建史, 宮田 なつき, 河内 まき子, 持丸 正明
    精密工学会誌 74 2 182 - 187 公益社団法人精密工学会 2008年 [査読有り][通常論文]
     
    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.
  • 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年 [査読有り][通常論文]
     
    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.
  • 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年 [査読有り][通常論文]
     
    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.
  • 水野 学, 伊達宏昭, 金井理, 岸浪建史
    精密工学会誌 73 3 383 - 388 2007年03月 [査読有り][通常論文]
     
    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.
  • Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.
    SAE Technical Papers 2007-01-2511  2007年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.
    SAE Technical Papers 116 7 877 - 887 2007年 [査読無し][通常論文]
  • Journal of the Japan Society for Precision Engineering 73 3 383 - 388 2007年 [査読無し][通常論文]
  • 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 2007年 [査読有り][通常論文]
  • Satoshi Kanai, Soh Horiuchi, Yukiaki Kikuta, Akihiko Yokoyama, Yoshiyuki Shiroma
    VIRTUAL REALITY, PROCEEDINGS 4563 478 - + 2007年 [査読有り][通常論文]
     
    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.
  • Digital hand and virtual ergonomic assessment simulator for styling design
    Research in Interactive Design 2 HUCED-1  2006年 [査読無し][通常論文]
  • Digital Usability Assessment for Information Appliances using User-Interface operable 3D Digital Mock-up
    Research in Interactive Design 2 HUCEID-P235  2006年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • A Parametric Deformation Method for Mesh Models based on Barycentric Coordinates
    Proceedings of Visualization Imaging and Image Processing 2006 (CD-ROM) 359 - 364 2006年 [査読無し][通常論文]
  • Flexible Feature and Resolution Control of Triangular Meshes
    Proceedings of Visualization Imaging and Image Processing 2006 (CD-ROM) 319 - 324 2006年 [査読無し][通常論文]
  • Mesh Simplification and Adaptive LOD for Finite Element mesh Generation
    International Journal of CAD/CAM 6 1 No.8  2006年 [査読無し][通常論文]
  • Endo, Y., Kanai, S., Kishinami, T., Miyata, N., Kouchi, M., Mochimaru, M.
    SAE Technical Papers 2006年 [査読有り][通常論文]
  • Hiroaki Date, Satoshi Kanai, Takeshi Kishinami, Ichiro Nishigaki
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3685 - + 2006年 [査読有り][通常論文]
     
    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.
  • Gaku Mizuno, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami, Masahiko Onosato
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3697 - + 2006年 [査読有り][通常論文]
     
    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.
  • Tomohiro Mizoguchi, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami
    GEOMETRIC MODELING AND PROCESSING - GMP 2006, PROCEEDINGS 4077 644 - 654 2006年 [査読有り][通常論文]
     
    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.
  • H Date, S Kanai, T Kishinami, Nishigaki, I, T Dohi
    JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING 5 4 266 - 276 2005年12月 [査読無し][通常論文]
     
    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.
  • 溝口 知広, 伊達 宏昭, 金井 理, 岸浪 建史
    情報処理学会論文誌 46 12 3175 - 3187 一般社団法人情報処理学会 2005年12月 [査読有り][通常論文]
     
    近年, リバースエンジニアリングや3Dデータベースの検索など, 様々なリソースからのメッシュモデルの入手が可能となり, 工業製品開発における意匠設計段階でこのようなメッシュモデルを用いる機会が多くなった.しかし, 工業製品開発の詳細設計のためには, 最終的に設計対象のソリッドモデルを生成することが必要であり, 製品開発期間短縮のため, メッシュモデルからソリッドモデルを自動で生成する技術が望まれている.そこで本研究では, メッシュモデルからのソリッドモデルの自動生成を支援するための, 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を提案する.ここで述べる特徴稜線とは, 機能的に1つの面分として認識することが望ましい三角形集合からなる領域の境界線を意味する.本手法では, メッシュに含まれる測定ノイズやメッシュ分割方法の影響を受けにくい特徴稜線抽出が可能である.また, 特徴稜線で囲まれた領域を1つの面分として認識でき, 従来の特徴稜線抽出手法では抽出しにくかったフィレット面の境界線を特徴稜線として抽出することもできる.さらに, 異なる抽出パラメータ設定より得られる特徴稜線群のうちのユーザが要求する稜線のみを選択的に合成し, これらを3次元CADシステムで読み込む機能も実現した.
  • 遠藤 維, 伊達 宏昭, 金井 理, 岸浪 建史
    精密工学会誌論文集 71 9 1168 - 1172 公益社団法人精密工学会 2005年09月 [査読有り][通常論文]
     
    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.
  • 伊達 宏昭, 金井 理, 岸浪 建史, 岩越 睦郎, 小林 政義
    情報処理学会研究報告. グラフィクスとCAD研究会報告 2005 44 55 - 60 一般社団法人情報処理学会 2005年05月 [査読有り][通常論文]
     
    本論文では, 質感や機能面から重要となるしぼやロゴ等の微小な凹凸からなるテクスチャが貼り付けられた形状の効率的な設計・試作を支援するための, 三角形メッシュモデルを用いたテクスチャ付き形状設計支援システムについて述べる.本システムは, 3Dスキャンやテクスチャ抽出によるテクスチャメッシュデータの取得, 取得したテクスチャのデジタルデータ処理, ならびに, 領域や場所指定に基づくテクスチャメッシュ合成によるテクスチャ付き形状モデリング機能からなり, 効率的で柔軟なテクスチャ付き形状設計を実現している.
  • 清水 貴文, 伊達 宏昭, 金井 理, 岸浪 建史
    情報処理学会研究報告. グラフィクスとCAD研究会報告 2005 44 7 - 12 一般社団法人情報処理学会 2005年05月 [査読有り][通常論文]
     
    本研究では, 3次元スキャナから得られる測定ノイズを含むメッシュモデルのノイズ除去を目的とした, 特徴稜線認識型メッシュスムージング手法を提案する.はじめに法線投票テンソルの固有値解析により特徴稜線を構成するメッシュエッジ群を抽出する.次に抽出したメッシュエッジ群をbilateral filteringにより特徴稜線方向にスムージングし, 最後にメッシュ全体をbilateral filteringによりスムージングすることで, 特徴稜線が稜線方向に滑らかで, かつ特徴稜線を境界として持つフェイスの測定ノイズが除去されたメッシュが得られる.
  • 戸村 豊明, 金井 理, 岸浪 建史, 上広 清, 山元 進
    精密工学会誌論文集 71 3 379 - 383 公益社団法人精密工学会 2005年03月 [査読有り][通常論文]
     
    近年, 集中管理方式の制御システムに代わり, 分散制御システム (DCS) がFAやBA等の分野へ急速に普及している. 本研究では, DCSモデルにおける制御ノード・センサ・アクチュエータモデルの動的挙動をStatechartとして記述し, また, これらの間のイベント通信経路を記述するための2つのオブジェクト指向デザインパターンを新たに提案する. これらのパターンをDCSシミュレータへ組み込み, BA分野のDCS開発事例へ適用する事により, その有効性を確認できた.
  • 伊達 宏昭, 金井 理, 岸浪 建史, 西垣 一朗, 土肥 高幸
    精密工学会誌論文集 71 2 223 - 227 公益社団法人精密工学会 2005年02月 [査読有り][通常論文]
     
    本論文では, 三角形メッシュの品質に依存する幾何・数値演算処理の安定性や精度の向上を目的とした, 頑強なメッシュ品質改善手法を提案する. 提案法は, メッシュ接続性操作自由度向上のための細分化と, 品質改善度評価に基づくメッシュ簡略化により, 入力の低品質メッシュの面分形状歪を減少し, 面分粗密を一様化するものであり, 数値的評価とFEMへ応用によりその有効性を示す.
  • 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年 [査読無し][通常論文]
     
    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).
  • T Shimizu, H Date, S Kanai, T Kishinami
    NINTH INTERNATIONAL CONFERENCE ON COMPUTER AIDED DESIGN AND COMPUTER GRAPHICS, PROCEEDINGS 1 1 281 - 286 2005年 [査読有り][通常論文]
     
    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.
  • H Date, S Kanai, T Kishinami, Nishigaki, I
    NINTH INTERNATIONAL CONFERENCE ON COMPUTER AIDED DESIGN AND COMPUTER GRAPHICS, PROCEEDINGS 1 1 339 - 344 2005年 [査読有り][通常論文]
     
    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年 [査読無し][通常論文]
  • T Mizoguchi, H Date, S Kanai, T Kishinami
    PROCEEDINGS OF THE 8TH JOINT CONFERENCE ON INFORMATION SCIENCES, VOLS 1-3 1610 - 1613 2005年 [査読無し][通常論文]
     
    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.
  • H Date, S Kanai, T Kisinami
    APPLICATIONS OF DIGITAL TECHNIQUES IN INDUSTRIAL DESIGN ENGINEERING-CAID&CD' 2005 146 - 151 2005年 [査読無し][通常論文]
     
    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",
    Proceedings of HII International 2005 (CD-ROM) 2504  2005年 [査読無し][通常論文]
  • 精密工学会誌 71 2 223 - 227 2005年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
     
    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年 [査読無し][通常論文]
     
    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年 [査読無し][通常論文]
     
    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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
  • 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年 [査読無し][通常論文]
     
    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).*
  • 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年 [査読有り][通常論文]
     
    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.
  • TOMURA Toyoaki, KANAI Satoshi, KISHINAMI Takeshi, UEHIRO Kiyoshi, YAMAMOTO Susumu
    精密工学会誌 Vol.69 No.6 815 - 819 2003年 [査読無し][通常論文]
     
    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.
  • T Tomura, S Kanai, T Kishinami
    ISORC 2003: SIXTH IEEE INTERNATIONAL SYMPOSIUM ON OBJECT-ORIENTED REAL-TIME DISTRIBUTED COMPUTING, PROCEEDINGS 83 - 90 2003年 [査読有り][通常論文]
     
    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.
  • H Date, S Kanai, T Kishinami
    IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS 1847 - 1849 2001年 [査読有り][通常論文]
     
    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.
  • Kitamura, I, S Kanai, T Kishinami
    IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS 1191 - 1193 2001年 [査読有り][通常論文]
     
    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.
  • T Tomura, S Kanai, T Kishinami
    INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 13 3 263 - 272 2000年05月 [査読有り][通常論文]
     
    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.
  • Satoshi Kanai, Takeshi Kishinami, Toyoaki Tomura
    Proceedings-IEEE International Conference on Robotics and Automation 1 401 - 407 2000年 [査読有り][通常論文]
     
    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.

書籍

  • 地理空間情報の基本と活用
    古今書院 2009年
  • Basic Theory and Application of Geo-spatial Information
    KOKON SYOIN 2009年
  • デジタルスタイルデザイン
    海文堂出版株式会社 2008年
  • Computer-Aided Design of User Interfaces IV
    Kluwer Academic Publishers 2005年

講演・口頭発表等

作品等

  • 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年
  • Delft工科大学での教員向け特別講演の実施
    2011年

その他活動・業績

特許

受賞

  • 2020年04月 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年11月 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年06月 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年11月 精密工学会 Best Paper Award of 17th International Conference on Precision Engineering
     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年07月 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年04月 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: Satoshi Kanai;Shinya Yamanishi;Hiroaki Date
  • 2014年07月 精密工学会 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年04月 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年02月 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年03月 精密工学会 2012年度 精密工学会論文賞
     「大規模環境レーザ計測点群からの配管系統の自動認識」 
    受賞者: 川島千明;金井理;伊達宏昭
  • 2012年12月 Asian Conference on Design and Digital Engineering 2012 ベストペーパー賞
     Robust and Exhaustive Symmetry Detection from Scanned Meshes 
    受賞者: 溝口知広;金井理;伊達宏昭;田中大之
  • 2010年03月 精密工学会 2009年度 精密工学会論文賞
     ICPとリージョングローイングを組み合わせた機械部品計測メッシュのユークリッド対称性認識手法 
    受賞者: 溝口知広;金井 理
  • 2008年 Symposium Co-Organizer 貢献賞
     
    受賞者: 金井 理
  • 2008年 ASME Symposium Co-Organizer Award
  • 2007年05月 日本設計工学会 The most interesting reading 賞
     デジタルエンジニアリングによる工業デザインプロセスの支援とその課題 
    受賞者: 金井 理
  • 2006年 Honor Article賞
  • 2006年 Honor Article賞
  • 2002年 第20回設計シンポジウム,設計シンポジウム賞
  • 2000年 Best Paper Award - Innovative Applications/Practice

共同研究・競争的資金等の研究課題

  • 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
    研究期間 : 2019年10月 -2021年03月 
    代表者 : 金井 理
  • 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
    研究期間 : 2012年04月 -2015年03月 
    代表者 : 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
    研究期間 : 2014年01月 -2014年06月 
    代表者 : 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
    研究期間 : 2013年04月 -2014年03月 
    代表者 : 伊達 宏昭
  • 文部科学省:科学研究費補助金(基盤研究(B), 基盤研究(B))
    研究期間 : 2012年 -2014年 
    代表者 : 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
    研究期間 : 2012年11月 -2013年06月 
    代表者 : 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
    研究期間 : 2012年04月 -2013年03月 
    代表者 : 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
    研究期間 : 2010年07月 -2012年03月 
    代表者 : 金井 理
  • 文部科学省:科学研究費補助金(挑戦的萌芽研究)
    研究期間 : 2011年 -2012年 
    代表者 : 金井 理, 伊達 宏昭
     
    (1) 多重解像度メッシュモデルによるMEMSデバイスの理想形状と製造誤差形状の重畳表現の開発: MEMSデバイス理想形状を,アセンブリ型メッシュモデルとして表現する. さらに,エッチング時の壁面の湾曲や稜線部の丸まりなどの製造誤差を含んだデバイス形状を,局所的に微細な寸法をもつ3角形の集合体として表現し, これらを粗いスケールの3角形へ多対一対応させた「多重解像度表現」としてデータ管理する方法を開発した. (2) X線CTによるMEMSデバイスの実誤差形状計測とメッシュモデルによる表現: マイクロフォーカスX線CT装置により,加速度センサMEMSを3次元計測し,実際の製造誤差を含む形状のボリュームデータ,ならびに境界面計測メッシュモデルを生成した.またこの計測メッシュモデル上で,溝部壁面の真直度やエッチングアスペクト比を,市販ソフトウエアにより計測した.(3)Fabrication Featureの自動抽出と製造可能な工程順序の全探索機能の開発: デバイスの各堆積層の境界面分集合であるFabrication Featureをメッシュモデル内から自動認識し,Featureの幾何形状に基づいて3種類に分類した.さらに,Feature間の投影重複関係を計算し,この関係に合致するFeature群の堆積順序の組合せを再帰的に探索させ,デバイスを製造可能な全工程順序を探索する機能を開発した.また,製造不可能なデバイスを誤って設計しても,Fabrication Featureの形状さえ製造可能であれば,「製造不可」という判定ではなく,初期設計案に形状が類似し,製造可能なデバイス形状の工程順序を導出する機能を開発した.これらの機能を3次元ソリッドモデリングライブラリであるParasolid上に実装した.
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2009年 -2011年 
    代表者 : 金井 理, 城間 祥之, 伊達 宏昭, 持丸 正明
     
    本研究は,ヒトの手指の形状と運動を精密に再現した「デジタルハンド」により,デジカメ等のハンドヘルド型製品の3次元CADモデルを仮想的に把持・操作させ,「持ちやすさ」や「操作のしやすさ」を迅速に評価できる「仮想エルゴノミック評価システム」の開発が目的である.このため,(1)MRI計測に基づく高精度なデジタルハンド構築,(2)最適化に基づく把持姿勢自動生成,(3)手指筋骨格モデルを用いた「持ちやすさ」の定量推定,(4)逆運動学に基づいた「操作のしやすさ」の定量推定,(5)手指・製品間の高速な接触変形シミュレーションといった機能を開発した.またこれらを,企業での製品形状評価に試用した.
  • 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)
    研究期間 : 2009年08月 -2010年03月 
    代表者 : 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
    研究期間 : 2009年04月 -2010年03月 
    代表者 : 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
    研究期間 : 2008年07月 -2009年03月 
    代表者 : 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
    研究期間 : 2008年06月 -2009年03月 
    代表者 : 金井 理
  • Recognition and Modeling from 3D Measured Data from Large-scale Environment
    研究期間 : 2009年
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2007年 -2008年 
    代表者 : 金井 理, 伊達 宏昭
     
    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.
  • 文部科学省:科学研究費補助金(萌芽研究)
    研究期間 : 2007年 -2008年 
    代表者 : 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
    研究期間 : 2007年
  • Convergent Type Digital Engineering
    Grant-in-Aid for Scientific Research
    研究期間 : 2007年
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2005年 -2006年 
    代表者 : 金井 理, 伊達 宏昭
     
    本研究は,意匠デザイン初期段階で容易に入手可能なスケッチ図や物理モデル測定点群などを入力とし,類似構造をもつ過去の解析用メッシュモデルを探し出し,これを入力にフィットするよう変形・整形させることで,新規デザイン形状に対する解析用メッシュモデルを容易かつ迅速に得ることが可能なソフトウエアの開発を目的とした.この実現のため,ソリッドモデリングと同等の形状操作能力を持ち,かつ解析用メッシュ生成に耐えうる高度なメッシュモデル操作技術を開発した.具体的な研究実績は下記の通りである.(1)スケッチに基づく類似構造メッシュ検索機能の開発問合せスケッチと類似ビューを持つ3次元メッシュモデルを,剛体変換に依存せず探索できるメッシュ検索機能を,Generic Fourier DescriptorとLocal Binary Patternを利用し開発した.(2)複数メッシュ合成機能の開発2つの複雑な4面体メッシュの重複部分を矛盾なく1つのメッシュにアセンブリする処理を,4面体メッシュに対する表面オフセットとEdge Collapse機能の組合せにより実現した.(3)メッシュ特徴領域消去機能の開発メッシュ上の微小な穴・溝・ボスなどの特徴領域を認識し,これをモデル上から消去・復元可能な特徴領域認識とLOD機能をEdge Collapseを応用し開発した.(4)大規模解析モデルの特徴認識・変形機能の開発工業用X線CTスキャン等から得られた大規模モデル上から,解析曲面で近似できる部分表面領域を自動認識するとともに,重心座標を利用した寸法駆動型メッシュモデルの変形・整形機能を開発し,その有効性を確認した.以上の成果を,研究論文11件,特許出願2件として公表した.
  • 文部科学省:科学研究費補助金(基盤研究(C))
    研究期間 : 2003年 -2004年 
    代表者 : 金井 理, 中村 孝太郎, 戸村 豊明, 岸浪 建史
     
    自動パッケージング機の設計プロセスにおいて、ワーク変形挙動,機構シミュレーション,制御ソフトウエア等の個々のシミュレータを通信により連携させることで,機械内の運転状態をシミュレート可能な評価システムを実現することが、本研究の目的である.本研究の成果概要は,下記のとおりである.(1)分散協調シミュレーション標準であるHLAに準拠したミドルウエアRTIを用い、市販の機構シミュレータと制御ソフトウエアシミュレータを実時間で協調させる開発方法論と実効環境を開発し、CDドライブ装置の自動開閉機構の動作制御機能検証に応用し、隠された設計ミス発見に有効であることを確認した。(2)複数シミュレータを協調動作させる際の,効率的なシミュレーション時刻進行のため、時刻ステップを可変にできるTime Warpメカニズムを開発し,これを協調シミュレーションのFederate内に組み込み,FieldBusで制御される自動機械のシミュレーション効率が向上することを確認した.(3)包装自動機の機能検証において,ワーク変形をFEMにより予測するため,メッシュ要素数とメッシュ形状品質の柔軟に制御可能な多重解像度有限要素メッシュ自動生成技術を開発した。また、離散シェルモデルに基づく包装フィルムの変形シミュレーションアルゴリズムを実装し,フィルム上の微少な折れにより生ずる包装プロセス不良の予測が,ある程度予測可能であることを明らかにした.
  • 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
    研究期間 : 2004年
  • Virtual ergonomic assessment of products using Digital human model
    Grant-in-Aid for Scientific Research
    研究期間 : 2004年
  • 文部科学省:科学研究費補助金(基盤研究(C))
    研究期間 : 2001年 -2002年 
    代表者 : 金井 理, 岸浪 建史
     
    3角形で構成されるマルチレゾリューション(多重解像度)・メッシュモデルを形状モデルの基準とする,統一性のある新たな3次元設計環境を構築しようというのが,本研究の目的である.本研究成果の概要は,下記のとおりである.(1)FEM解析用多重解像度メッシュモデル生成手法の開発意匠デザインで作成された高密度メッシュモデルから,メッシュ詳細度および形状詳細度の双方を独立に制御可能で,かつ解析に適する要素形状や節点次数が可能な限り一様化される,詳細形状除去型および詳細形状保存型の多重解像度メッシュモデル生成手法を夫々開発した.(2)干渉計算の効率化のための多重解像度メッシュモデル生成手法の開発ディジタルモックアップ等の基本機能として必要となるメッシュモデル間の効率的千渉チェック演算に適した,低解像度モデルが高解像度モデルを包含し,かつその形状膨張量が最小となる多重解像度メッシュモデルを,線形計画法を利用して高速に生成する手法を開発した.(3)Quasi-Interpolatlonを利用した点群からの細分割曲面メッシュ生成手法の開発Quasi-Interpolation(準補間)と適応的分割手法を利用し,高密度測定点群にフィットするLoop細分割曲面の初期制御メッシュを,適応的にかつ高速・安定に算出する手法を開発し,実際の測定点に対するフィッティング実験を行った結果,数万点の測定点群を数百点の初期制御メッシュで近似可能であることが確認された.
  • 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
    研究期間 : 2002年
  • Digital Engineering for design and prototyping of information appliances
    Funded Research
    研究期間 : 2002年
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2000年 -2001年 
    代表者 : 金井 理, 山元 進, 戸村 豊明, 岸浪 建史
     
    本研究の目的は,オブジェクト指向方法論を用い,大規模なFA用分散制御システムの効率的な設計・開発のための,システムのモデリング・シミュレーション・実装方法論とそのツール群を実用化することである。H13年度では,以下の成果が得られた.1)分散制御システムのシミュレーションモデル構築ツールの開発とシミュレータの実用性評価(戸村・山元) デザインパターンを応用し,Statechartsとイベント連鎖モデルで記述されるシミュレーションモデルを,Javaコードとして体系的に実装する方法を提案した.この方法を,CASEツールとJava開発ツールにより実装した.このシミュレータを,実用規模のエアコン制御用分散制御システムの設計と機能検証に利用した.その結果,シミュレーションモデル構築,および機能検証が約2週間で完了でき,従来に比べ,設計に要する時間が大幅に短縮されることが確認できた.2)分散制御システムのシミュレーションと実装の統合化(戸村・金井・山元) Javaコードで記述されたシミュレーションモデルから,Neuron-Cで記述される各制御ノード用の実装コードへの変換方法を,デザインパターンを応用し開発した.さらにこれを,LonWorksで制御されるFA用搬送装置の制御ソフトウェア開発に利用し,提案する変換方法論が有効であることを示した.3)Timed I/O StateChartsに基づく制御ノード用実装コードのソフトウエアテスト手法の開発(金井・岸浪) 状態遷移に加え,入出力動作に対する時間制約が記述できるTimed I/0 Statechart仕様から作成された実装コードに対し,網羅的にブラックボックステストを行えるテスト系列生成手法とテスト実施自動化ツールをJava言語で開発した.エアコン制御用コードのテストにこれを応用し,従来手作業で9日間を要したテストを,1日に短縮できることを実証した.
  • 文部科学省:科学研究費補助金(基盤研究(C))
    研究期間 : 1999年 -2000年 
    代表者 : 金井 理, 岸浪 建史
     
    デジタルな,著作権情報を「透かしデータ」として,3次元形状モデルデータ内に第三者に気づかれないよう密かにかつ除去不能な形式で埋め込み,必要に応じてこの透かしデータを抽出できる技術(「電子透かし技術」)を開発することによって,形状モデルの著作権保護を実現しようというのが本研究の目的である.本研究では,商用のポリゴンモデリングソフトウエア(要求設備)を用い,実際規模のポリゴン・ソリッド・サーフェースモデルデータを夫々作成し,透かし情報埋込み→透かし入りモデルへの座標変換・形状修正等の操作→透かし情報の抽出,といった一連の処理を実施した.また透かしデータの残存性や埋込み容量,埋め込みで生ずる形状誤差などの性能を定量的に評価した結果,ポリゴンモデルのアフィン変換に対し,透かしデータが100%保存されること,透かし埋め込みによって生ずるモデル誤差の許容値を満たした透かし埋め込みが可能であること,局所的な座標値変更に対しても,低解像度レベルに埋め込まれた透かしデータは残存する頑強性をもつことなど,良好な特性があることが明らかになった.その反面,モデルの局所的な切り取り操作に対する耐性については,不十分であることが判明した.さらに,開発透かし手法を,「2次元ベクトル型図形データ」への電子透かし手法へも適用できるよう改良し,電子地図データに対する周波数領域での透かし埋め込み・抽出実験をも実施した.その結果,ベクトル型図形データの表示上の品質を保ちつつ,著作権保護などに必要な透かしデータ量を埋め込むことが可能であり,さらに頂点座標値へのランダムノイズ重畳に対しても,埋め込まれた透かしが十分な耐性を持つことを確認できた.今後は,モデルの局所的切取りなどの操作に対しても,充分な耐性を有する透かし埋め込み処理が可能なアルゴリズムへの改良が必要である.
  • 文部科学省:科学研究費補助金(基盤研究(C))
    研究期間 : 1997年 -1998年 
    代表者 : 金井 理, 高橋 秀智, 岸浪 建史
     
    本研究は,家電品を対象に,そのリサイクル性と破棄性,ならびに分解・破砕・選別作業コストを評価しながら,最適な分解・破砕・選別処理プロセスを計画する計算機支援システムの開発を目的としている.本研究成果は,下記の通りまとめられる.(1) 「分解・破砕・材料選別の最適プロセス計画」問題の形式的定義を行った.すなわち,最適プロセス計画開題とは,使用済み製品の形態を,予め指定された回収条件(再使用,再利用,破棄)を満足する形態へ変換可能か否かを判定し,もし可能であれば,必要な分解・破砕・選別作業順序を決定する問題として定義できる.(2) 分解・破砕・選別における製品構造およびプロセス構造を,3種類のグラフにより形式的かつ統一的にモデリングする方法を提案した。(3) 分解・破砕・選別プロセス計画の立案アルゴリズムが,上記で提案したグラフベースのモデル上における接続構造変化とノード属性変化へ帰着させて統一的に記述可能であることを示した.またこれらのモデル変化における,変化適用ルールとモデル変化手順について議論した.(4) 実際の家電品データ(シェーバー,掃除機)に対するケーススタディを行い,本研究で提案するグラフベースのモデルおよび適用ルール・モデル変化手順に基づく,最適分解・破砕・選別プロセスの探索戦略が有効に機能することを示した.これらの結果より、提案するリサイクル性・破棄性の評価に基づいた組立品の最適分解点の決定が,計算機支援により可能であることが確認された.
  • 文部科学省:科学研究費補助金
    研究期間 : 1995年 -1995年 
    代表者 : 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.
  • 文部科学省:科学研究費補助金(一般研究(C))
    研究期間 : 1993年 -1994年 
    代表者 : 金井 理, 高橋 秀智
     
    (1)直交2軸の水平多関節型位置決め装置の先端に,開発した積層形圧電素子を用いたマイクロインパクトハンマー(MIH)を装着した.この装置をもちいて,治具ベースプレート上にボルト締結された部品の平面内における位置偏差および姿勢偏差を組立誤差の許容値内に収めるよう自動微小調整させた.その結果,開発した装置により,初期偏差として位置偏差30μm,姿勢偏差0.001radをもった治具部品を,位置偏差5μm,姿勢偏差0.0002radの組立誤差許容値内に安定して調整できることを実験的に確認した.(2)一般的な機械部品の調整アルゴリズム構築を目的として,複数の締結部品のそれぞれの位置,姿勢偏差からそれらの組立誤差の最大値を3次元的に解析可能な手法を開発した.すなわち,個々の部品の偏差を3次元微小座標変換で表現し,組立品におけるそれらの累積値を線形計画法により効率的に算出する方法を提案した.さらに,組立誤差を許容値内に収めるために,個々の部品の位置・姿勢偏差の許容値である寸法公差値・幾何公差値をどのように配分すべきかについて理論的考察を行い,これを非線形最適化問題として表現し,遺伝的アルゴリズムによりこの問題を有限時間内に解くための手法を提案し,加工コスト・組立コスト・検査コストの和が最小となるような公差値を導出するためのシステムを作成した.
  • 文部科学省:科学研究費補助金(一般研究(C))
    研究期間 : 1990年 -1991年 
    代表者 : 金井 理, 高橋 秀智
     
    本研究の目的は、組立工程設計で必要となる処理を統合的に支援するソフトウェア環境を開発することである。本研究により得られた成果は以下の通りである。1.組立対象製品および組立設備の構造計算機内での統一的な表現を行うデ-タモデルとしてEAR(実体関連)モデルを導入した。このモデルにより、組立設備の動作、設備間の動作優先順序関係をも記述可能な基本モデリングソフトウェアをLISP言語により開発した。2.製品組立情報として、各部品のソリッドモデルおよびLISPで表現された部品間接触拘束条件に基づく、製品モデルの組立分解手順生成モジュ-ルを開発し、組立順序の自動生成を可能とした。3.モ-タ・空気圧シリンダ・ベアリング・リニアガイドなどの機械要素を組合せ、組みつけ動作を実現できる機構のモデリング、および数式処理システムとシ-ケンス制御回路デ-タに基づいその機構の動作シミュレ-ションが可能な組立機械機構モデリングモジュ-ルを開発した。4.組立セルの制御プログラムの自動生成を目的とした、CASEシステムモジュ-ルを開発した。このモジュ-ルにより、各種センサ-、垂直多関節型ロボット、パ-ソコンで構成される組立セルの部品供給作業を対象とし、デ-タフロ-図による作業の要求仕様分析と構造化設計を行い、制御プログラムのC言語ソ-スファイルを半自動的に生成可能であることを実証した。

教育活動情報

主要な担当授業

  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学研究科
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学院
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • 大学院共通授業科目(一般科目):複合領域
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 大学院共通科目
    キーワード : デジタルヒューマンモデル, 身体機能基礎・計測, 人間工学
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学研究科
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学院
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学研究科
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学院
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学研究科
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学院
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • 信号処理
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 離散時間信号、フーリエ変換、離散時間フーリエ変換、z変換、離散時間システム
  • 英語演習
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 全学教育
    キーワード : 先端テクノロジー,ロボット,OS,通信ネットワーク,火星探査,電動飛行機
  • システムデザイン
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 設計方法論,事象駆動システム設計,電子回路設計,制御系設計
  • 電気制御システム演習Ⅰ
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 電気回路学,線形システム,電磁気学,最適化理論,システムデザイン
  • メカトロニクス基礎
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 材料力学, 振動論, 解析力学, 電気回路

大学運営

委員歴

  • 2020年03月 - 現在   (公社) 精密工学会   理事
  • 2019年02月 - 現在   (公社) 精密工学会   北海道支部 商議員   精密工学会
  • 2017年04月 - 現在   (一社)北海道産学官研究フォーラム   理事
  • 2017年04月 - 現在   (公社)日本設計工学会北海道支部   商議員・支部幹事
  • 2014年07月 - 現在   (一社)北海道産学官研究フォーラム 産官学CIM・GIS研究会   副座長
  • 2013年02月 - 現在   (公社)精密工学会 大規模環境の3次元計測と認識・モデル化技術専門委員会   委員
  • 2017年01月 - 2018年12月   (独)日本学術振興会 科学研究費委員会   専門委員
  • 2014年12月 - 2016年11月   (独)日本学術振興会 科学研究費委員会   専門委員
  • 2013年06月 - 2014年05月   精密工学会   北海道支部 支部長
  • 2012年06月 - 2013年05月   精密工学会   北海道支部 副支部長   精密工学会
  • 2012年02月 - 2013年01月   精密工学会 大規模環境の3次元計測と認識・モデル化技術専門委員会   委員長
  • 2009年04月 - 2011年03月   精密工学会   サイバーフィールド構築技術研究分科会 主査   精密工学会
  • 2008年 - 2009年   精密工学会   評議員   精密工学会
  • 2008年   日本機械学会   設計工学・システム部門 企画活動活性化委員会 委員   日本機械学会
  • 2007年   精密工学会   2007秋季全国大会実行委員会プログラム委員会幹事   精密工学会
  • 2004年 - 2006年   精密工学会   事業部会 デジタルスタイルデザイン研究分科会 幹事   精密工学会
  • 2005年   日本機械学会   設計工学・システム部門運営委員   日本機械学会
  • 2002年 - 2004年   日本機械学会   生産システム部門運営委員   日本機械学会
  • 2004年   精密工学会   現物融合型エンジニアリング専門委員会 委員   精密工学会
  • 1998年 - 2002年   精密工学会   メガポリゴン産学協同研究分科会委員   精密工学会
  • 1997年 - 1999年   日本機械学会   FA部門部門委員<99>   日本機械学会


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