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中村 啓太; 羽成 敏秀; 松本 拓; 川端 邦明; 八代 大*
Journal of Robotics and Mechatronics, 36(1), p.115 - 124, 2024/02
During the decommissioning activities, a movie was shot inside the reactor building during the investigation of the primary containment vessel by applying photogrammetry, which is one of the methods for three-dimensional (3D) reconstruction from images, to the images from this movie, it is feasible to perform 3D reconstruction of the environment around the primary containment vessel. However, the images from this movie may not be suitable for 3D reconstruction because they were shot remotely by robots owing to limited illumination, high-dose environments, etc. Moreover, photogrammetry has the disadvantage of easily changing 3D reconstruction results by simply changing the shooting conditions. Therefore, this study investigated the accuracy of the 3D reconstruction results obtained by photogrammetry with changes in the camera angle of view under shooting conditions. In particular, we adopted 3D computer graphics software to simulate shooting target objects for 3D reconstruction in a dark environment while illuminating them with light for application in decommissioning activities. The experimental results obtained by applying artificial images generated by simulation to the photogrammetry method showed that more accurate 3D reconstruction results can be obtained when the camera angle of view is neither too wide nor too narrow when the target objects are shot and surrounded. However, the results showed that the accuracy of the obtained results is low during linear trajectory shooting when the camera angle of view is wide.
松本 拓; 羽成 敏秀; 川端 邦明; 八代 大*; 中村 啓太*
Proceedings of 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023) (Internet), 7 Pages, 2023/12
This paper describes an automatic system that performs three-dimensional (3D) modeling from image sequences acquired from a camera during a survey to understand the state of the environment sequentially. The developed system sequentially generates local 3D models from image sequences acquired from a camera by the Structure from Motion and Multi-View Stereo (SfM-MVS) and integrates the models. This system, consisting of a camera, a computer, and storage, handles streaming, image acquisition, 3D modeling, and integration processes. The system is designed to perform each process in parallel while performing image acquisition. Local 3D models are integrated based on the similarity of camera trajectories, which correspond to overlapped images in each sequence, estimated from SfM. Our experiments verified the operation of the developed system from the image acquisition to the integration of local 3D models in two cases. Consequently, we confirmed that an integrated model could be generated by automatically executing each process in the system through experiments.
松本 拓; 羽成 敏秀; 川端 邦明; 八代 大*; 中村 啓太*
Proceedings of 22nd World Congress of the International Federation of Automatic Control (IFAC 2023) (Internet), p.12107 - 12112, 2023/07
This paper describes a method that integrates Three-Dimensional (3D) environment models reconstructed from image sequences to reduce the computation time of 3D environment modeling that estimates camera poses and simultaneously reconstructs a 3D environment model from images based on photogrammetry. However, 3D environment modeling is time-consuming when using many images because it finds correspondence points between them by feature matching. Therefore, we assume that the computation time is reduced by reconstructing 3D environment models from image sequences divided from an image sequence because the number of images used in 3D environment modeling becomes less. However, it is difficult to integrate the 3D environment models because the scale between them may not be the same, and overlapping regions between 3D environment models are small for integrating the models. In this paper, we propose a method that integrates 3D environment models based on camera trajectories corresponding to overlapped images between image sequences used in 3D environment modeling. To integrate them, transformation parameters are calculated from poses of camera trajectories between 3D environment models. After that, the transformed camera trajectory is aligned using coarse and fine registration. Consequently, compared with 3D environment modeling that processes an image sequence in batch, the proposed method could reduce the computation time and reconstruct a comparable integrated model.
松本 拓; 羽成 敏秀; 川端 邦明; 八代 大*; 中村 啓太*
Proceedings of 28th International Symposium on Artificial Life and Robotics (AROB 28th 2023) (Internet), p.768 - 773, 2023/01
This paper reports on an automatic process for 3D environmental modeling from acquired image sequences. We have studied methods of 3D environment modeling to understand unknown environments. However, 3D environment modeling using acquired image sequences is a time-consuming task. When 3D environment modeling is performed using image sequences acquired in an unknown environment, the generated models do not always produce the expected result. Therefore, we consider that the quality of the generated 3D environment models could be quickly verified by realizing the sequential presentation of the generated models. To verify the effectiveness of the automatic process, we implemented it under different execution environments. Consequently, the automatic process could generate a 3D environment model from acquired image sequences.
草野 完也*; 一本 潔*; 石井 守*; 三好 由純*; 余田 成男*; 秋吉 英治*; 浅井 歩*; 海老原 祐輔*; 藤原 均*; 後藤 忠徳*; et al.
Earth, Planets and Space (Internet), 73(1), p.159_1 - 159_29, 2021/12
被引用回数：6 パーセンタイル：51.19(Geosciences, Multidisciplinary)PSTEPとは、2015年4月から2020年3月まで日本国内の太陽・地球惑星圏に携わる研究者が協力して実施した科研費新学術領域研究である。この研究枠組みから500以上の査読付き論文が発表され、様々なセミナーやサマースクールが実施された。本論文では、その成果をまとめて報告する。
Si
without local inversion symmetry中村 翔太*; 兵頭 一志*; 松本 裕司*; 芳賀 芳範; 佐藤 仁*; 上田 茂典*; 三村 功次郎*; 斉木 克祥*; 磯 孝斉*; 山下 穣*; et al.
Journal of the Physical Society of Japan, 89(2), p.024705_1 - 024705_5, 2020/02
被引用回数：2 パーセンタイル：22.16(Physics, Multidisciplinary)We have succeeded in growing a new heavy fermion compound YbNiSi by the flux method. From electrical resistivity, magnetization, specific heat, magnetic torque and X-ray photoemission measurements concluded that this compound is a heavy fermion compound exhibiting an antiferromagnetic order at 0.35 K.
Theis, C.*; Carbonez, P.*; Feldbaumer, E.*; Forkel-Wirth, D.*; Jaegerhofer, L.*; Pangallo, M.*; Perrin, D.*; Urscheler, C.*; Roesler, S.*; Vincke, H.*; et al.
EPJ Web of Conferences, 153, p.08018_1 - 08018_5, 2017/09
被引用回数：0 パーセンタイル：0.03(Nuclear Science & Technology)欧州原子核研究機構(CERN)の放射線モニタとして、中性子、陽子、
線等の様々な放射線に対して有感な空気入り電離箱PTW-34031(PMI)が使用されている。PMIの各放射線に対する応答関数の計算では、CERNが開発を支援している放射線輸送計算コードFLUKAが用いられている。本研究では、このうち高エネルギー中性子に対するPMIの応答関数の精度検証のため、大阪大学核物理研究センター(RCNP)の
Li(p,n)反応を利用した準単色中性子照射場において、100-392MeVの準単色中性子に対するPMIの応答関数を測定した。その結果、200MeV以下の準単色中性子照射において、中性子エネルギースペクトルの測定値を線源としたFLUKAによる応答関数の計算値と実験値はよく一致しすることがわかった。一方、250及び392MeVの場合、中性子場にLi(p,n)反応から生成する
の崩壊に伴う線が混在するため、中性子のみを線源とした計算値は実験値を過小評価することがわかった。
圓谷 志郎; Antipina, L. Y.*; Avramov, P.*; 大伴 真名歩*; 松本 吉弘*; 平尾 法恵; 下山 巖; 楢本 洋*; 馬場 祐治; Sorokin, P. B.*; et al.
Nano Research, 8(5), p.1535 - 1545, 2015/05
被引用回数：26 パーセンタイル：71.65(Chemistry, Physical)Direct growth of graphene on insulators is expected to yield significant improvements in performance of graphene-based electronic and spintronic devices. In this study, we successfully reveal atomic arrangement and electronic properties of the coherent heterostructure of single-layer graphene and 
-Al
O
(0001). In the atomic arrangement analysis of single-layer graphene on -AlO(0001), we observed apparently contradicting results. The in-plane analysis shows that single-layer graphene grows not in the single-crystalline epitaxial manner but in the polycrystalline form with two strongly pronounced preferred orientations. This suggests the relatively weak interfacial interactions to be operative. But, we demonstrate that there exists unusually strong physical interactions between graphene and -AlO(0001), as evidenced by the short vertical distance between graphene and -AlO(0001) surface. The interfacial interactions are shown to be dominated by the electrostatic force involved in the graphene -system and the unsaturated electrons of the topmost O layer of -AlO(0001) rather than the van der Waals interactions. Such feature causes hole doping into graphene, which gives graphene a chance to slide on the -AlO(0001) surface with a small energy barrier despite the strong interfacial interactions.
Kuzubov, A. A.*; Kovaleva, E. A.*; Avramov, P. V.*; Kuklin, A. V.*; Mikhaleva, N. S.*; Tomilin, F. N.*; 境 誠司; 圓谷 志郎; 松本 吉弘*; 楢本 洋*
Journal of Applied Physics, 116(8), p.084309_1 - 084309_4, 2014/08
被引用回数：9 パーセンタイル：38.16(Physics, Applied)The interaction between carbon and BN nanotubes (NT) and transition metal Co and Ni supports was studied using electronic structure calculations. Several configurations of interfaces were considered, and the most stable ones were used for electronic structure analysis. All NT/Co interfaces were found to be more energetically favorable than NT/Ni, and conductive carbon nanotubes demonstrates lightly stronger bonding than semiconducting ones. The presence of contact-induced spin polarization was established for all nanocomposites. It was found that the contact-induced polarization of BNNT leads to the appearance of local conductivity in the vicinity of the interface while the rest of the nanotube lattice remains to be insulating.
Avramov, P. V.*; Kuzubov, A. A.*; 境 誠司; 大伴 真名歩*; 圓谷 志郎; 松本 吉弘*; Eleseeva, N. S.*; Pomogaev, V. A.*; 楢本 洋*
Journal of Porphyrins and Phthalocyanines, 18(7), p.552 - 568, 2014/07
被引用回数：1 パーセンタイル：5.27(Chemistry, Multidisciplinary)A wide variety of planar and curved fused porphyrin/metalloporphyrin nanoclusters have been studied at the LC-GGA DFT level. It was found that curved and hollow-caged 0D and 1D nanoclusters are metastable and bear unique atomic and electronic structure and mechanical properties. Under different types of mechanical loads the nanoclusters display ultrastrong and superelastic properties. The curvature of the hollow cage nanoclusters leads to the redistribution of the metal d states near the Fermi level. The extremely high spin states allow one to use Fe-porphyrin nanoclusters as molecular supermagnets and logic quantum gates for holonomic quantum computations.
大伴 真名歩; 山内 泰*; Kuzubov, A. A.*; Eliseeva, N. S.*; Avramov, P.*; 圓谷 志郎; 松本 吉弘; 楢本 洋*; 境 誠司
Applied Physics Letters, 104(5), p.051604_1 - 051604_4, 2014/02
被引用回数：12 パーセンタイル：47.17(Physics, Applied)六方晶窒化ホウ素(h-BN)はグラフェン・スピントロニクスのトンネルバリア材料として有望視されている。本研究ではスピン偏極準安定ヘリウム脱励起分光法(SPMDS)を用いて、Ni(111)上の単層h-BNのスピン分解バンド構造を調べた。SPMDSの最表面敏感性により、Ni 3
ピークの重複を受けずに部分的に占有されたギャップ内順位を検出できた。さらにこのギャップ内順位は大きなスピン偏極を持ち、Niの多数スピン側に偏極していることが示された。この正のスピン偏極は、h-BN/Ni(111)界面における-軌道混成によるものであると帰属できた。
松本 吉弘; 圓谷 志郎; 小出 明広*; 大伴 真名歩; Avramov, P.; 楢本 洋*; 雨宮 健太*; 藤川 高志*; 境 誠司
Journal of Materials Chemistry C, 1(35), p.5533 - 5537, 2013/09
被引用回数：32 パーセンタイル：76.99(Materials Science, Multidisciplinary)The spin-electronic structures across the interface between single-layer graphene and a Ni(111) thin film are explored by employing the depth-resolved X-ray absorption and magnetic circular dichroism spectroscopy with the atomic layer resolution. The depth-resolved Ni L-edge analysis clarifies that the Ni atomic layers adjacent to the interface show a transition of the spin orientation to the perpendicular one in contrast with the in-plane one in the bulk region. The C K-edge analysis reveals the intensifying of the spin-orbital interactions induced by the 
-d hybridization at the interface as well as out-of-plane spin polarization at the band region of graphene. The present study indicates the importance of the interface design at the atomic layer level for graphene-based spintronics.
interface in the Fe-doped C film境 誠司; 松本 吉弘; 大伴 真名歩; 圓谷 志郎; Avramov, P.; Sorokin, P. B.*; 楢本 洋*
Synthetic Metals, 173, p.22 - 25, 2013/06
被引用回数：2 パーセンタイル：10.3(Materials Science, Multidisciplinary)A process of tunneling conduction and the spin-dependent resistivity change (so-called tunneling magnetoresitance effect) in the Fe-doped C film with a granular structure is investigated for the current-into-plane device. Cooperative tunneling (cotunneling) through several Fe nanoparticles is suggested to be operative at temperatures lower than 20 K. By considering the effect of cotunneling on the magnetoresistance ratio, it is successfully shown that the spin polarization of tunneling electrons generated at the Fe/C interface is much higher than that in Fe crystal at low temperature in a similar fashion to that at the Co/C interface in the Co-doped C films. A strong temperature dependence of spin polarization is observed, suggesting possible influences by the thermally-induced disorders ascribed in the Fe atoms bonded with C in the C-Fe compound.
-BN/Ni nanocompositesAvramov, P.; Kuzubov, A. A.*; 境 誠司; 大伴 真名歩; 圓谷 志郎; 松本 吉弘; 楢本 洋*; Eliseeva, N. S.*
Journal of Applied Physics, 112(11), p.114303_1 - 114303_10, 2012/12
被引用回数：18 パーセンタイル：59.41(Physics, Applied)Atomic and electronic structure of graphene/Ni(111), -BN/Ni(111) and graphene/-BN/Ni(111) nanocomposites with different numbers of graphene and -BN layers and in different mutual arrangements of graphene/Ni and -BN/Ni at the interfaces was studied using LDA/PBC/PW technique. For the sake of comparison, corresponding graphene, -BN and graphene/-BN structures without the Ni plate were calculated using the same technique. It was suggested that C-
:C-
and N-:B- configurations are energetically favorable for the graphene/Ni and -BN/Ni interfaces, respectively. The Ni plate was found to induce a significant degree of spin polarization in graphene and -BN caused by direct exchange interactions of the electronic states located on different fragments.
Avramov, P.; Fedorov, D. G.*; Sorokin, P. B.*; 境 誠司; 圓谷 志郎; 大伴 真名歩; 松本 吉弘; 楢本 洋*
Journal of Physical Chemistry Letters (Internet), 3(15), p.2003 - 2008, 2012/08
被引用回数：36 パーセンタイル：79.49(Chemistry, Physical)The atomic and electronic structure of narrow zigzag nanoribbons with finite length, consisting of graphene terminated by fluorine on one side, hexagonal ()-BN, and -SiC were studied with density functional theory. It is found that the asymmetry of nanoribbon edges causes a uniform curvature of the ribbons due to structural stress in the aromatic ring plane. Narrow graphene nanoribbons terminated with fluorine on one side demonstrate a considerable out-of-plane bend, suggesting that the nanoribbon is a fraction of a conical surface. It is shown that the intrinsic curvature of the narrow nanoribbons destroys the periodicity and results in a systematic cancellation of the dipole moment. The in- and out-of-plane curvature of thin arcs allows their closure in nanorings or cone fragments of giant diameter.
Antipina, L. Y.*; Avramov, P.; 境 誠司; 楢本 洋*; 大伴 真名歩; 圓谷 志郎; 松本 吉弘; Sorokin, P. B.*
Physical Review B, 86(8), p.085435_1 - 085435_7, 2012/08
被引用回数：52 パーセンタイル：86.87(Materials Science, Multidisciplinary)The graphane with chemically bonded alkali metals (Li, Na, K) was considered as potential material for hydrogen storage. The ab initio calculations show that such material can adsorb as many as four hydrogen molecules per Li, Na, and K metal atom. These values correspond to 12.20, 10.33, and 8.56 wt% of hydrogen, respectively, and exceed the DOE requirements. The thermodynamic analysis shows that Li-graphane complex is the most promising for hydrogen storage with ability to adsorb three hydrogen molecules per metal atom at 300 K and pressure in the range of 5-250 atm.
-Co films with current-perpendicular-to-plane geometry境 誠司; 三谷 誠司*; 松本 吉弘; 圓谷 志郎; Avramov, P.; 大伴 真名歩; 楢本 洋*; 高梨 弘毅
Journal of Magnetism and Magnetic Materials, 324(12), p.1970 - 1974, 2012/06
被引用回数：3 パーセンタイル：14.91(Materials Science, Multidisciplinary)Voltage-dependence of the tunneling magnetoresistance effect in the granular C-Co films has been investigated under the current-perpendicular-to-plane geometry. The transport measurements demonstrate that the granular C-Co films show unusually an exponential MR-V dependence. Small characteristic energies of less than 10's meV are derived from the temperature dependences of the characteristic voltage in the exponential relationship. Considering the voltage drops between Co nanoparticles and also the effect of cotunneling on the energy values, the characteristic energies for the voltage-induced degradation of the spin polarization are found to show a satisfactory agreement with that for the thermally-induced one. It can reasonably be expected that the onset of magnetic disorder to the localized d-electron spins at the interface region of the C-Co compound with Co nanoparticles will lead to the unusual voltage and temperature dependence of the MR ratio and the spin polarization.
Zn
probed by muon spin relaxation髭本 亘; 伊藤 孝; 二宮 和彦; 鬼丸 孝博*; 松本 圭介*; 高畠 敏郎*
Physical Review B, 85(23), p.235152_1 - 235152_4, 2012/06
被引用回数：4 パーセンタイル：19.65(Materials Science, Multidisciplinary)ミュオンスピン回転緩和法を用いてカゴ状構造を持つ重い電子系物質PrIrZnの磁性と超伝導特性の研究を行った。1K以下で温度に依存しない
SR信号が観測され、0.11Kで観測されていた相転移は純粋な四極子転移である可能性が最も高いものと考える。0.05K以下の超伝導相では、時間反転対称性の破れた状態など非通常型を示す結果は得られなかった。また零磁場のSR実験では15K以下の常磁性状態において自発的なミュオンスピンの回転が観測され、
Prとミュオンの間に特異な結合状態が形成されていることを提案する。
圓谷 志郎; 松本 吉弘; 大伴 真名歩; Avramov, P.; 楢本 洋*; 境 誠司
Journal of Applied Physics, 111(6), p.064324_1 - 064324_6, 2012/03
被引用回数：20 パーセンタイル：62.68(Physics, Applied)近年、グラフェンなどのナノカーボンを用いたスピントロニクスが注目されている。これらの材料ではスピン-軌道相互作用が小さいことからスピン拡散長が増大し、その結果高いスピン輸送特性の実現が期待されている。本論文では、グラフェンの成長条件の最適化を行い、グラフェン層数の精密制御法を確立した。サファイア基板上にNi(111)薄膜をエピタキシャル成長した。同試料を600
Cに保持した状態で前駆体となるベンゼンガスを曝露しグラフェンを成長した。グラフェンの層数・結晶構造は原子間力顕微鏡及びラマン分光によりそれぞれ評価した。単層・2層の精密制御を行うことにより、グラフェンへのドーピング状態が均一になることを明らかにした。さらに、電子エネルギー損失分光によりグラフェン/Ni(111)を調べた結果、同界面における強い相互作用の存在を明らかにした。
北條 育子*; 小出 明広*; 松本 吉弘; 丸山 喬*; 永松 伸一*; 圓谷 志郎; 境 誠司; 藤川 高志*
Journal of Electron Spectroscopy and Related Phenomena, 185(1-2), p.32 - 38, 2012/03
被引用回数：1 パーセンタイル：7.2(Spectroscopy)In this work we have measured Co K- and L
-edge X-ray absorption near edge structure (XANES) and Co L-edge X-ray magnetic circular dichroism (XMCD) spectra, and also carried out their calculations for CCo
compounds. The observed XANES and XMCD are sensitive to the Co concentration. In the low density region (
=1.0-1.5), one Co is surrounded by three C balls. The Co L-edge XMCD analyses gives the spin magnetic moment on Co in the range 0.5-0.9 
.
