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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.
馬場 啓多*; 渡部 有隆*; 中村 啓太*; 松本 拓; 羽成 敏秀; 川端 邦明
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 2024) (Internet), p.751 - 756, 2024/01
This study proposes a partial-to-partial point cloud registration method based on estimated parameters in photogrammetry and QR code. Some research and development on Generating a 3D map of the workspace by photogrammetric methods have been proposed for the decommissioning work at the Fukushima Daiichi Nuclear Power Plant. Photogrammetry is a method for 3D reconstruction of the location and shape of target objects from many images, and the processing time depends on the number of images. Considering the reconstruction of a large area, the number of images increases, and processing time also increases significantly. To reduce such computational time, this study considers applying SfM-MVS (Structure from Motion and Multi-View Stereo), which is one of the photogrammetry methods, to each segmented image group, aligning each obtained result, integrating them, and creating a model of the entire space. This alignment is called partial-to-partial registration and it is difficult to find the correspondence points for registration. Therefore, we place markers such as QR codes in the target reconstruction space to make it easy to find the correspondence points. We adopt the QR code as a 2D code because it is easy to reconstruct by photogrammetry. In this paper, we discuss the validity of this approach by comparing it with the integrated model using all images applying SfM-MVS. We verify the validation of the proposed method by simulation due to the large number of images and the ease of modifying the environment. The experiment about varying the number of image divisions shows that the reconstruction result from all images is more accurate than the integrated result. However, all of these models have high reconstruction accuracy. Moreover, the accuracy of the integrated model does not depend on the number of divisions.
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.
北里 宏平*; Milliken, R. E.*; 岩田 隆浩*; 安部 正真*; 大竹 真紀子*; 松浦 周二*; 高木 靖彦*; 中村 智樹*; 廣井 孝弘*; 松岡 萌*; et al.
Nature Astronomy (Internet), 5(3), p.246 - 250, 2021/03
被引用回数：44 パーセンタイル：97.1(Astronomy & Astrophysics)2019年4月「はやぶさ2」ミッションは、地球に近い炭素質の小惑星(162173)リュウグウの人工衝撃実験を成功させた。これは露出した地下物質を調査し、放射加熱の潜在的な影響をテストする機会を提供した。はやぶさ2の近赤外線分光器(NIRS3)によるリュウグウの地下物質の観測結果を報告する。発掘された材料の反射スペクトルは、表面で観測されたものと比較して、わずかに強くピークがシフトした水酸基(OH)の吸収を示す。これは、宇宙風化や放射加熱が最上部の表面で微妙なスペクトル変化を引き起こしたことを示している。ただし、このOH吸収の強度と形状は、表面と同様に、地下物質が300
Cを超える加熱を経験したことを示している。一方、熱物理モデリングでは、軌道長半径が0.344AUに減少しても、推定される掘削深度1mでは放射加熱によって温度が200Cを超えて上昇しないことが示されている。これは、リュウグウ母天体が放射加熱と衝撃加熱のいずれか、もしくは両方により熱変化が発生したという仮説を裏付けている。
海老原 健一; 杉山 優理*; 松本 龍介*; 高井 健一*; 鈴土 知明
Metallurgical and Materials Transactions A, 52(1), p.257 - 269, 2021/01
被引用回数：9 パーセンタイル：50.55(Materials Science, Multidisciplinary)応力腐食割れの原因の1つと考えられている水素脆化に関し、近年、材料の変形時に水素により過剰生成した空孔が直接の原因と考える水素助長ひずみ誘起空孔モデルが提案されている。しかし、その定量的考察はあまりなされておらず、誘起空孔の挙動の定量的評価が必要である。このことから、本研究では、水素添加と同時にひずみを与えた純鉄の薄膜試料の水素熱脱離スペクトルを、空孔及び空孔クラスターの挙動を考慮したモデルでシミュレーションした。モデルでは、9個の空孔からなる空孔クラスター(
)までを考慮し、空孔及び空孔クラスターの水素トラップエネルギーとして、分子静力学で見積もった値を用いた。また、拡散に関するパラメータも原子レベル計算で評価した値を用いた。結果として、モデルは、全体としてスペクトルを再現し、時効処理の温度に対するスペクトルの変化も再現した。一方、実験との2つの特徴的な違いも現れ、その考察から、
及び
の拡散はモデルより遅いこと、また、水素と共にひずみを与える際に、空孔クラスターも生成されることの可能性が見出された。本モデルは、照射で生成した空孔の挙動の考察にも応用可能と考える。
藤本 将秀*; 松本 益明*; 長塚 直樹*; 福谷 克之
RSC Advances (Internet), 11(7), p.4270 - 4275, 2021/01
被引用回数：0 パーセンタイル：0(Chemistry, Multidisciplinary)A fast blackening process of titanium dioxide nanoparticles by exposing to atomic hydrogen was studied by estimating the color of the nanoparticles. The whiteness of TiO
decreased exponentially with time, which suggests a first-order reaction between atomic H and surface oxygen, whose rate constant is proportional to the ambient pressure of H. The rate constant increases as the temperature of nanoparticles at exposing to atomic hydrogen. The structure and size of nanoparticles were estimated by the X-ray diffraction (XRD), which shows that a part of anatase transferred to rutile and the crystal sizes of both anatase and rutile increased by hydrogenation above 600 K. The blackening of TiO halfway stopped under the condition of the similar partial pressure of water with hydrogen. This suggests the presence of reverse reaction between HO and oxygen vacancy, whose reaction rate constant is proportional to the partial pressure of HO.
Parker, J. D.*; 原田 正英; 林田 洋寿*; 廣井 孝介; 甲斐 哲也; 松本 吉弘*; 中谷 健; 及川 健一; 瀬川 麻里子; 篠原 武尚; et al.
Materials Research Proceedings, Vol.15, p.102 - 107, 2020/05
At the RADEN instrument, we take advantage of the accurate measurement of neutron energy by time-of-flight to perform energy-resolved neutron imaging using event-type neutron imaging detectors. We are continually working to improve these detectors for better spatial resolution and shorter measurement times and, as a user facility, to improve the ease-of-use of their control and analysis software. In particular, we are actively developing a 
He-based gaseous micropattern detector known as the Micro-pixel chamber based Neutron Imaging Detector (
NID). We have recently redesigned the NID control software to allow full integration into the automated experiment control system at RADEN, and we are carrying out optimization of the analysis algorithms for improved image quality and rate performance.
篠原 武尚; 甲斐 哲也; 及川 健一; 中谷 健; 瀬川 麻里子; 廣井 孝介; Su, Y. H.; 大井 元貴; 原田 正英; 飯倉 寛; et al.
Review of Scientific Instruments, 91(4), p.043302_1 - 043302_20, 2020/04
被引用回数：51 パーセンタイル：96.53(Instruments & Instrumentation)The energy-resolved neutron imaging system, RADEN, has been installed at the pulsed neutron source in the Materials and Life Science Experimental Facility of the Japan Proton Accelerator Research Complex. In addition to conventional neutron radiography and tomography, RADEN, the world's first imaging beam-line at a pulsed neutron source, provides three main options for new, quantitative neutron imaging techniques: Bragg-edge imaging to visualize the spatial distribution of crystallographic information, resonance absorption imaging for elemental composition and temperature information, and polarized neutron imaging for magnetic field information. This paper describes the results of characterization studies of the neutronic performance and installed devices at RADEN and shows the results of several demonstration studies for pulsed neutron imaging.
及川 健一; 鬼柳 善明*; 佐藤 博隆*; 大前 良磨*; Pham, A.*; 渡辺 賢一*; 松本 吉弘*; 篠原 武尚; 甲斐 哲也; Harjo, S.; et al.
Materials Research Proceedings, Vol.15, p.207 - 213, 2020/02
Japanese swords are very attractive not only as a work of art but also a metallurgical point of view. Since Japanese vintage swords became valuable, it is indispensable to establish non-destructive analysis method to identify some peculiar characteristics. Bragg edge imaging gives real-space distributions of bulk information in a crystalline material as well as neutron tomography. In this work, we investigated crystallographic information of a Japanese sword made by Sukemasa in Izumi province in the first quarter of the 16th century. The experiments have been performed at RADEN at J-PARC. The Sukemasa sword was measured with a counting-type 2D detector and with a CCD camera. We are now analyzing the measured 2D-transmission spectra using RITS code to obtain spatial distribution of the crystallite size, the texture variation, the d110 shift and its broadening. Complementary data analysis using white beam tomography is also on going. Detailed analysis results will be presented.
松本 和也*; 井戸村 泰宏; 伊奈 拓也*; 真弓 明恵; 山田 進
Journal of Supercomputing, 75(12), p.8115 - 8146, 2019/12
被引用回数：2 パーセンタイル：24.35(Computer Science, Hardware & Architecture)ジャイロ運動論的トロイダル5次元オイラーコードGT5Dにおける反復法線形ソルバの性能向上に向けて省通信一般化最小残差法(CA-GMRES)をCPU-GPUハイブリッドクラスタで実装した。CA-GMRESに加え、計算量を削減するために我々が提案した修正版CA-GMRES(M-CA-GMRES)の実装と評価も行った。本研究から、集団通信回数の最小化と密行列積演算による高効率演算というCA-GMRESの利点が実証された。性能評価は1ノードあたりNVIDIA Tesla P100 GPU4台を搭載したReedbush-L GPUクラスタで実施した。この結果、M-CA-GMRESによりCA-GMRES, 一般化共役残差法(GCR), GMRESに比べてそれぞれ1.09x, 1.22x, 1.50xの高速化が示された。
松本 益明*; 福谷 克之; 他6名*
Journal of Vacuum Science and Technology A, 37(5), p.051601_1 - 051601_6, 2019/09
被引用回数：5 パーセンタイル：27.17(Materials Science, Coatings & Films)Oxygen-free Pd/Ti thin films have been developed as novel nonevaporable getter coatings for ultrahigh vacuum (UHV) chamber walls, which can maintain high pumping speed even after many cycles of air-vent and only require activation at a relatively low temperature of 133C. Here, the authors clarify the hydrogen (H) incorporation and release properties of such oxygen-free Pd/Ti thin films using scanning transmission electron microscopy (STEM), energy dispersive X-ray spectroscopy (EDS), and H depth profiling by 
H(
N,
)
C nuclear reaction analysis (NRA). EDS mapping and STEM show that the layers of Pd (6 nm) and Ti (14 nm) prepared by sequential UHV deposition on a stainless steel 304L substrate are clearly separated and that the Ti is completely covered by Pd, which prevents oxidation of Ti. NRA reveals that H accumulates preferentially in the Ti layer, where the H-content increases almost linearly with the H dosage. Quantitative analysis indicates that TiH
is produced in the Ti layer after an exposure of 4
10
Langmuir, where the H uptake is still not saturated. Upon heating in UHV, H starts to desorb above 170C and the release rate increases above 200C. Repeated cycles of H incorporation at room temperature (20C) and release at about 240C are possible. Although the H incorporation rate changes during the initial absorption/desorption, it stabilizes after a few (
3) incorporation/release cycles.
-synuclein related to propensity to amyloid fibril formation藤原 悟*; 河野 史明*; 松尾 龍人*; 杉本 泰伸*; 松本 友治*; 成田 哲博*; 柴田 薫
Journal of Molecular Biology, 431(17), p.3229 - 3245, 2019/08
被引用回数：14 パーセンタイル：51.71(Biochemistry & Molecular Biology)パーキンソン病発症には、脳細胞中の「-シヌクレイン」というタンパク質が線維状に集合した状態(「アミロイド線維」と呼ばれる)となることが関係すると考えられており、どのようなメカニズムでこのアミロイド線維が形成されるのかに強い関心が寄せられている。そこで研究チームは、タンパク質分子の「動き」に着目し、アミロイド線維のできやすさが様々に異なった条件でのタンパク質の動きを、J-PARCの中性子準弾性散乱装置を用いて調べた。その結果、タンパク質分子の動きの違いによりアミロイド線維のできやすさが変わること、特にアミロイド線維ができるためには、タンパク質同士が集合しやすくなるような特定の動きが必要なことを明らかにした。
北里 宏平*; Milliken, R. E.*; 岩田 隆浩*; 安部 正真*; 大竹 真紀子*; 松浦 周二*; 荒井 武彦*; 仲内 悠祐*; 中村 智樹*; 松岡 萌*; et al.
Science, 364(6437), p.272 - 275, 2019/04
被引用回数：262 パーセンタイル：99.73(Multidisciplinary Sciences)小惑星探査機はやぶさ2のターゲット天体であるリュウグウは、始原的な炭素質物質で構成されていると考えられている。はやぶさ2に搭載された近赤外分光計(NIRS3)によって、天体の表面組成を得た。天体全体の観測で、弱く細い吸収が2.72ミクロンに確認され、OHを含む鉱物の存在を示している。弱いOH吸収と低いアルベドは熱やショックによって変質を受けた炭素質コンドライトに似ている。OHバンドの位置はほとんど一定であり、衝撃片の集合によって形成されたリュウグウは組成的に均質であることを示している。
石川 徹夫*; 松本 雅紀*; 佐藤 達彦; 山口 一郎*; 甲斐 倫明*
Journal of Radiological Protection, 38(4), p.1253 - 1268, 2018/12
被引用回数：7 パーセンタイル：57.59(Environmental Sciences)本稿では、内部被ばく線量評価とそれに伴う健康影響研究の現状について解説する。その主な目的は、線量係数の不確定性について議論すること、外部被ばくと内部被ばくの放射線影響の違いについて比較すること、近年の疫学研究の結果をレビューすることである。その際、主に扱う放射性核種は、福島第一原子力発電所の事故による内部被ばく線量を評価する上で重要となる
Cs, 
Cs, 
Iとした。本解説により、現状の科学的知見に基づく場合、内部被ばくによるリスクは同じ実効線量の外部被ばくによるリスクと比較してほぼ同等かやや低いと考えるのが妥当であると結論づけられた。
甲斐 哲也; 佐藤 節夫*; 廣井 孝介; Su, Y. H.; 瀬川 麻里子; Parker, J. D.*; 松本 吉弘*; 林田 洋寿*; 篠原 武尚; 及川 健一; et al.
Physica B; Condensed Matter, 551, p.496 - 500, 2018/12
被引用回数：2 パーセンタイル：10.21(Physics, Condensed Matter)The 2012 model lithium-6 time-analyzer neutron detector (LiTA12) system, based on a lithium glass scintillator and multi-anode photomultiplier tube, has the highest neutron efficiency among the detectors for pulsed neutron imaging together with a flexibility of the efficiency by changing the thickness of the lithium glass. The authors expect this detector system could become a main detector system for the energy-resolved neutron imaging system, RADEN, at J-PARC, and have started evaluation of the LiTA12 system. For example, spatial resolution for resonance absorption imaging was evaluated by using a line-pair pattern made by 3 micro meter thick gold on a quartz plate. Less than 1 mm width line pairs were resolved at an 8 Mcps neutron counting rate and around 5 eV neutron energy.
瀬川 麻里子; 及川 健一; 甲斐 哲也; 篠原 武尚; 林田 洋寿*; 松本 吉弘*; Parker, J. D.*; 中谷 健; 廣井 孝介; Su, Y. H.; et al.
JPS Conference Proceedings (Internet), 22, p.011028_1 - 011028_8, 2018/11
We have fabricated and utilized spatial resolution test targets made of gadolinium and gold for conventional and resonance neutron imaging performed at RADEN, located at beam line BL22 of the J-PARC Materials and Life Science Experimental Facility (MLF). RADEN covers a broad energy range from cold neutrons to high-energy neutrons with energy of several tens keV and was designed to perform energy-resolved neutron imaging utilizing two-dimensional detectors combined with the accurate measurement of neutron energy by the time-of-flight method. The test targets were designed to verify the spatial resolution and image uniformity of two kinds of neutron detectors, counting-type detectors and camera-type detectors. In this presentation, we report the details of these two-dimensional test targets, and the results of demonstrations using the test targets with our neutron imaging detectors. This work was supported in part by the Photon and Quantum Basic Research Coordinated Development Program from the Ministry of Education, Culture, Sports, Science and Technology, Japan.
井戸村 泰宏; 伊奈 拓也*; 真弓 明恵; 山田 進; 松本 和也*; 朝比 祐一*; 今村 俊幸*
Proceedings of 8th Workshop on Latest Advances in Scalable Algorithms for Large-Scale Systems (ScalA 2017), p.7_1 - 7_8, 2017/11
ジャイロ運動論的5次元オイラーコードGT5Dに省通信一般化最小残差(CA-GMRES)法を適用し、一般化共役残差(GCR)法を用いたオリジナルコードとの性能比較をJAEA ICEX(Haswell)、Plasma Simulator(FX100)、Oakforest-PACS(KNL)において実施した。CA-GMRES法はGCR法に比べて約3.8倍の演算密度となることから、メモリとネットワークの帯域が制限された将来のエクサスケールアーキテクチャに適合する。性能評価の結果、GCR法に比べて計算カーネルは1.472.39倍加速され、1,280ノード処理におけるデータ縮約通信は全体コストの513%から約1%に削減された。
-ray energy spectra of 80-400 MeV 
Li(p,n) reactions under the quasi-monoenergetic neutron field at RCNP, Osaka University岩元 洋介; 佐藤 達彦; 佐藤 大樹; 萩原 雅之*; 八島 浩*; 増田 明彦*; 松本 哲郎*; 岩瀬 広*; 嶋 達志*; 中村 尚司*
EPJ Web of Conferences, 153, p.08019_1 - 08019_3, 2017/09
被引用回数：0 パーセンタイル：0.03(Nuclear Science & Technology)100-400MeVの準単色中性子照射場の開発のため、大阪大学核物理研究センター(RCNP)の100mトンネルにおいて、Li(p,n)反応から生成する中性子及び中性子場に混在する目的外放射線の線のエネルギースペクトルを測定した。飛行時間法を用いて3MeV以上の中性子エネルギースペクトルを測定し、放射線線量モニターDARWINの自動アンフォールディング機能を用いて0.1MeV以上の線エネルギースペクトルを測定した。中性子スペクトルについて、3MeV以上の中性子収量に対するピーク成分である単色中性子収量の比は0.38-0.48であった。また、入射陽子エネルギー200MeV以上において、
崩壊に伴う70MeV程度の高エネルギー線を実測した。246MeVLi(p,n)反応について、70MeV近傍における中性子収量と線収量は同程度であった。一方、全エネルギー領域の中性子線量に対する線線量の比は0.014と、線の全体の線量に対する寄与は小さいことがわかった。
