Estimated camera trajectory-based integration among local 3D models sequentially generated from image sequences by SfM-MVS

Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Yashiro, Hiroshi*

Artificial Life and Robotics, 29(2), p.358 - 371, 2024/05

https://doi.org/10.1007/s10015-024-00949-4

Automatic system for sequential reconstruction from image sequences acquired from a camera by SfM-MVS

Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*

Proceedings of 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023) (Internet), 7 Pages, 2023/12

https://doi.org/10.1109/ROBIO58561.2023.10354841

Automatic process for 3D environment modeling from acquired image sequences

Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*

Proceedings of 28th International Symposium on Artificial Life and Robotics (AROB 28th 2023) (Internet), p.768 - 773, 2023/01

HAIROWorldPlugin operation manual (Revised edition)

Suzuki, Kenta; Yashiro, Hiroshi; Kawabata, Kuniaki

JAEA-Testing 2021-004, 125 Pages, 2022/03

JAEA-Testing-2021-004.pdf:6.1MB

This report is updated HAIROWorldPlugin Operation Manual (JAEA-Testing 2020-009). Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. We are developing HAIROWorldPlugin which is an extended function of Choreonoid for providing a virtual decommissioning experience. In the latest HAIROWorldPlugin, the several functions were additionally implemented. In particular, we implemented new functionalities: logging a collision status between a robot and an object, showing and logging a status of the joystick input signals, generating an environmental object model (pipe, grating, and slope), bookmarking an often used simulation settings, and recording histories of a simulation settings. In addition, this report describes the installation of the plugin to Choreonoid on Ubuntu20.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.

HAIROWorldPlugin operation manual

Suzuki, Kenta; Abe, Fumiaki; Yashiro, Hiroshi; Kawabata, Kuniaki

JAEA-Testing 2020-009, 254 Pages, 2021/03

JAEA-Testing-2020-009.pdf:18.61MB

This report is the user manual of HAIROWorldPlugin for Choreonoid. Our motivation is to develop a robot simulator based on Choreonoid for technological development to contribute the decommissioning work at the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. Choreonoid is an open source simulator which calculates the behavior of robots. The plugin is an extended function of Choreonoid which provides simulated behavior and phenomenon related to decommissioning tasks utilizing remotely operated robots. In particular, we developed additional functionalities for simulating the behavior of an underwater swimming robot, the behavior of an unmanned aerial vehicle robot, low visibility camera images, network communication failures, etc., and packaged these in the plugin. This report describes the installation of the plugin to Choreonoid on Ubuntu18.04-LTS and parameter settings of the plugin by presenting snapshots of operation windows.

Theory of macroscopic quantum tunneling with Josephson-Leggett collective excitations in multiband superconducting Josephson junctions

Asai, Hidehiro*; Ota, Yukihiro; Kawabata, Shiro*; Machida, Masahiko; Nori, F.*

Physical Review B, 89(22), p.224507_1 - 224507_7, 2014/06

https://doi.org/10.1103/PhysRevB.89.224507

Collective excitations reveal fundamental properties and potential applications of superconducting states. We study macroscopic quantum tunneling (MQT) in a Josephson junction composed of multiband superconductors, focusing on a phase mode induced by interband fluctuations: the Josephson-Leggett (JL) collective excitation mode. We derive a formula for the MQT escape rate for low-temperature switching events, carefully treating this collective mode. We clarify that the JL mode has two major effects on the MQT: (1) the zero-point fluctuations enhance the escape rate, and (2) the quantum dissipation induced by the couplings to the gauge-invariant phase difference suppresses the quantum tunneling. We show that the enhancement exceeds the suppression for a wide range of junction parameters. This enhancement originates from the single-mode interaction between the tunneling variable and the interband fluctuations.

Study of browsing functions for underwater environmental information observation in underwater monitoring sensor network system

Ozeki, Ryutaro*; Sekino, Kodai*; Suzuki, Tsuyoshi*; Sawai, Kei*; Takemura, Fumiaki*; Kawabata, Kuniaki; Yamashiro, Hideyuki*

no journal, , 

This paper proposed the browsing system and functions for underwater environmental data gathered by wireless sensor network. The discussions were done for the design approaches and implementation examples with gathered data.

Study of browsing functions for observation information in underwater monitoring sensor network system

Ozeki, Ryutaro*; Suzuki, Tsuyoshi*; Sawai, Kei*; Takemura, Fumiaki*; Kawabata, Kuniaki; Yamashiro, Hideyuki*; Ogasawara, Kei*

no journal, , 

This article describes our latest stationary underwater sensor node configuration that is used to construct an underwater monitoring sensor network (UMSN) to support the coral ecological system survey activities, and also describes about study of the required functions of a data browsing system to monitor information of underwater environmental conditions gathered by UMSN.

Study of coral growth area measurement method using fluorescence image

Suzuki, Tsuyoshi*; Ozeki, Ryutaro*; Sawai, Kei*; Yamashiro, Hideyuki*; Takemura, Fumiaki*; Kawabata, Kuniaki; Takahashi, Satoru*; Sagara, Shinichi*; Ogasawara, Kei*

no journal, , 

In the current study, we developed an underwater monitoring sensor network system to support the observational activities to maintain the coral reef environment. This paper describes the measurement method to detect the growth area of the coral for a quantitative evaluation of the coral condition change using fluorescence coral image by capturing the underwater monitoring sensor network.

Development of 3D environment modeling method and system from time series image sequence for grasping the internal state of the primary containment vessel

Kawabata, Kuniaki; Matsumoto, Taku; Hanari, Toshihide; Yashiro, Hiroshi*; Nakamura, Keita

no journal, , 

This paper described about the development of a method and system for generating three-dimensional models of environmental structures from time-series images, which we are currently working on for understanding the situation inside a nuclear reactor containment vessel. We describe our research and development scheme and introduce our research and development efforts to improve the efficiency of three-dimensional modeling from time-series images. We also introduce a prototype system that automatically executes the processes of image acquisition, modeling, and visualization, including remote image capture, image transfer over a network, calculation of 3D reconstruction, and presentation of the generated model.