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Integration of 3D environment models generated from the sections of the image sequence based on the consistency of the estimated camera trajectories

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.


プルトニウム燃料第二開発室の廃止措置状況; GB No.W-9、F-1及び内装設備の解体

永井 佑哉; 周治 愛之; 川崎 猛; 會田 貴洋; 木村 泰久; 根本 靖範*; 小沼 武司*; 冨山 昇*; 平野 耕司*; 薄井 康弘*; et al.

JAEA-Technology 2022-039, 117 Pages, 2023/06




Automatic process for 3D environment modeling from acquired image sequences

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.


Thermally altered subsurface material of asteroid (162173) Ryugu

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:30 パーセンタイル:96.42(Astronomy & Astrophysics)



The Energy-resolved neutron imaging system, RADEN

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:42 パーセンタイル:96.43(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.


Deformation analysis of reinforced concrete using neutron imaging technique

小山 拓*; 上野 一貴*; 関根 麻里子*; 松本 吉弘*; 甲斐 哲也; 篠原 武尚; 飯倉 寛; 鈴木 裕士; 兼松 学*

Materials Research Proceedings, Vol.4, p.155 - 160, 2018/05

 被引用回数:0 パーセンタイル:0.18

We developed, in this study, a novel method to observe internal deformation of concrete by the neutron transmission imaging technique. In order to visualize the internal deformation of concrete, the cement paste markers containing Gd$$_{2}$$O$$_{3}$$ powder were two-dimensionally dispersed around the ferritic deformed rebar in the reinforced concrete. This experiment was conducted using BL22, RADEN, in the Material and Life Science Experimental Facility of the Japan Proton Accelerator Research Complex. The transmission images of the reinforced concrete sample were taken at several positions on the vertical sample stage, and the displacement of the marker from the initial position was successfully evaluated within approximately $$pm$$0.1 mm accuracy by image analysis for selected markers with higher contrast and circularity. Furthermore, concrete deformation under pull-out loading to the embedded rebar was evaluated by the same way, and its reaction compressive deformation was successfully observed by analyzing the displacement of the markers. The results obtained in this study bring beneficial knowledge that the measurement accuracy of the marker displacement can be improved more by choosing a spherical shape of the marker and by increasing the contrast of the marker.


Experimental analysis of neutron and background $$gamma$$-ray energy spectra of 80-400 MeV $$^{7}$$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



Characterization of the PTW 34031 ionization chamber (PMI) at RCNP with high energy neutrons ranging from 100 - 392 MeV

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



Shielding experiments of concrete and iron for the 244 MeV and 387 MeV quasi-mono energetic neutrons using a Bonner sphere spectrometer (at RCNP, Osaka Univ.)

松本 哲郎*; 増田 明彦*; 西山 潤*; 岩瀬 広*; 岩元 洋介; 佐藤 大樹; 萩原 雅之*; 八島 浩*; 八島 浩*; 嶋 達志*; et al.

EPJ Web of Conferences, 153, p.08016_1 - 08016_3, 2017/09

 被引用回数:0 パーセンタイル:0.03



Neutron spectrometry and dosimetry in 100 and 300 MeV quasi-mono-energetic neutron field at RCNP, Osaka University, Japan

Mares, V.*; Trinkl, S.*; 岩元 洋介; 増田 明彦*; 松本 哲郎*; 萩原 雅之*; 佐藤 大樹; 八島 浩*; 嶋 達志*; 中村 尚司*

EPJ Web of Conferences, 153, p.08020_1 - 08020_3, 2017/09

 被引用回数:5 パーセンタイル:94.45



Electronic structure of ThRu$$_2$$Si$$_2$$ studied by angle-resolved photoelectron spectroscopy; Elucidating the contribution of U 5$$f$$ states in URu$$_{2}$$Si$$_{2}$$

藤森 伸一; 小畠 雅明; 竹田 幸治; 岡根 哲夫; 斎藤 祐児; 藤森 淳; 山上 浩志; 松本 裕司*; 山本 悦嗣; 立岩 尚之; et al.

Physical Review B, 96(12), p.125117_1 - 125117_9, 2017/09

 被引用回数:8 パーセンタイル:40.31(Materials Science, Multidisciplinary)

The Fermi surface and band structure of $$mathrm{ThRu}_2mathrm{Si}_2$$ have been studied by angle resolved photoelectron spectroscopy (ARPES) with the incident photon energies of $$hnu$$ = 665-735 eV. Detailed band structure and the three-dimensional shape of the Fermi surface were derived experimentally, and they are quantitatively explained by the band-structure calculation based on the density functional approximation. Comparison of the experimental ARPES spectra of $$mathrm{ThRu}_2mathrm{Si}_2$$ with those of $$mathrm{URu}_2mathrm{Si}_2$$ shows that they have considerably different spectral profiles particularly in the energy range of $$E_mathrm{B} = E_mathrm{F}$$ - 1 eV. Some energy bands with their energy dispersions of about 1 eV observed in $$mathrm{URu}_2mathrm{Si}_2$$ are missing in the ARPES spectra of $$mathrm{ThRu}_2mathrm{Si}_2$$ measured along the same high symmetry line of Brillouin zone, suggesting that U 5$$f$$ states form these bands in $$mathrm{URu}_2mathrm{Si}_2$$. The relationship between the ARPES spectra of $$mathrm{URu}_2mathrm{Si}_2$$ and $$mathrm{ThRu}_2mathrm{Si}_2$$ is very different from the case between $$mathrm{CeRu}_2mathrm{Si}_2$$ and $$mathrm{LaRu}_2mathrm{Si}_2$$ where their intrinsic difference is limited only in the very vicinity of the Fermi energy. The present result argues that the U 5$$f$$ electrons in $$mathrm{URu}_2mathrm{Si}_2$$ have strong hybridization with ligand states, and essentially have an itinerant character.


Non-aqueous selective synthesis of orthosilicic acid and its oligomers

五十嵐 正安*; 松本 朋浩*; 八木橋 不二夫*; 山下 浩*; 大原 高志; 花島 隆泰*; 中尾 朗子*; 茂吉 武人*; 佐藤 一彦*; 島田 茂*

Nature Communications (Internet), 8, p.140_1 - 140_8, 2017/07

 被引用回数:25 パーセンタイル:65.41(Multidisciplinary Sciences)

Orthosilicic acid (Si(OH)$$_{4}$$) and its small condensation compounds are among the most important silicon compounds but have never been isolated, despite the long history of intense research due to their instability. These compounds would be highly useful building blocks for advanced materials if they become available at high purity. We developed a simple procedure to selectively synthesize orthosilicic acid, its dimer, cyclic trimer, and tetramer, as well as appropriate conditions to stabilize these species, in organic solvents. Isolation of orthosilicic acid, the dimer and the cyclic tetramer as hydrogen-bonded crystals with tetrabutylammonium halides and of the cyclic trimer as solvent-containing crystals was achieved. The solid-state structures of these compounds were unambiguously clarified by single crystal X-ray diffraction analysis and also by neutron diffraction study for orthosilicic acid. Based on these results, we also succeeded in developing a more practical synthetic procedure for high concentrations of stable orthosilicic acid stably in organic solvents via a simple hydrolysis of tetraalkoxysilanes.


Applicability of the two-angle differential method to response measurement of neutron-sensitive devices at the RCNP high-energy neutron facility

増田 明彦*; 松本 哲郎*; 岩元 洋介; 萩原 雅之*; 佐藤 大樹; 佐藤 達彦; 岩瀬 広*; 八島 浩*; 中根 佳弘; 西山 潤*; et al.

Nuclear Instruments and Methods in Physics Research A, 849, p.94 - 101, 2017/03

 被引用回数:0 パーセンタイル:0.02(Instruments & Instrumentation)



Fermi surface of ThRu$$_{2}$$Si$$_{2}$$ as a reference to the strongly correlated isostructural metals investigated by quantum oscillations

松本 裕司*; 芳賀 芳範; 立岩 尚之; 青木 晴善*; 木村 憲彰*; 山村 朝雄*; 山本 悦嗣; 松田 達磨*; Fisk, Z.*; 山上 浩志*

Journal of the Physical Society of Japan, 85(10), p.104709_1 - 104709_7, 2016/10

 被引用回数:2 パーセンタイル:20.64(Physics, Multidisciplinary)

dHvA oscillations were detected on an actinide compound ThRu$$_2$$Si$$_2$$ which is regarded as a reference to strongly correlated electron systems URu$$_2$$Si$$_2$$ and CeRu$$_2$$Si$$_2$$. Observed Fermi surfaces well coincides with the band structure calculations, as well as experimentally obtained ones for a heavy fermion compound CeRu$$_2$$Si$$_2$$. On the other hand, Fermi surfaces of URu$$_2$$Si$$_2$$ have significantly different characteristics, suggesting an itinerant ground state of 5f electrons.


Baseline design of a proton linac for BNCT at OIST

近藤 恭弘; 長谷川 和男; 東 保男*; 菅原 寛孝*; 吉岡 正和*; 熊田 博明*; 松本 浩*; 内藤 富士雄*; 黒川 真一*

Proceedings of 7th International Particle Accelerator Conference (IPAC '16) (Internet), p.906 - 909, 2016/06



Characterization of high-energy quasi-monoenergetic neutron energy spectra and ambient dose equivalents of 80-389 MeV $$^{7}$$Li(p,n) reactions using a time-of-flight method

岩元 洋介; 萩原 雅之*; 佐藤 大樹; 荒木 祥平*; 八島 浩*; 佐藤 達彦; 増田 明彦*; 松本 哲郎*; 中尾 徳晶*; 嶋 達志*; et al.

Nuclear Instruments and Methods in Physics Research A, 804, p.50 - 58, 2015/12

 被引用回数:22 パーセンタイル:87.8(Instruments & Instrumentation)

大阪大学核物理研究センター(RCNP)において、80, 100及び296MeVの陽子に対する準単色中性子のエネルギースペクトルを飛行時間法により測定した。中性子スペクトルは準単色中性子ピーク部と連続部からなり、ピーク収量は陽子エネルギー80$$sim$$389MeVにおいて、0.9$$sim$$1.1$$times$$10$$^{10}$$(個/sr/$$mu$$C)の範囲であり、全体の収量に対するピーク収量の比は、0.38$$sim$$0.48であった。この準単色中性子場を用いて、ビーム軸上(0度)に設置した中性子モニターのピーク部に対する周辺線量当量(応答)を測定するため、全体の応答から、0度と25度のスペクトルの連続部の応答が等しくなる定数kを決定し、この定数で規格化された25度に設置した連続部からなる中性子モニターの応答を差し引く手法を提案した。定数kは、陽子エネルギー80$$sim$$389MeVの範囲において、0.74$$sim$$1.02であった。以上により、これまでの実験の成果と合わせて、RCNPで80$$sim$$389MeVの陽子を$$^{7}$$Liターゲットに入射させて生成する準単色中性子場の特性を示すデータを得ることができた。



近藤 恭弘; 長谷川 和男; 東 保男*; 熊田 博明*; 黒川 真一*; 松本 浩*; 内藤 富士雄*; 吉岡 正和*

Proceedings of 12th Annual Meeting of Particle Accelerator Society of Japan (インターネット), p.948 - 950, 2015/09



Contracted interlayer distance in graphene/sapphire heterostructure

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:24 パーセンタイル:71.38(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 $$alpha$$-Al$$_{2}$$O$$_{3}$$(0001). In the atomic arrangement analysis of single-layer graphene on $$alpha$$-Al$$_{2}$$O$$_{3}$$(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 $$alpha$$-Al$$_{2}$$O$$_{3}$$(0001), as evidenced by the short vertical distance between graphene and $$alpha$$-Al$$_{2}$$O$$_{3}$$(0001) surface. The interfacial interactions are shown to be dominated by the electrostatic force involved in the graphene $$pi$$-system and the unsaturated electrons of the topmost O layer of $$alpha$$-Al$$_{2}$$O$$_{3}$$(0001) rather than the van der Waals interactions. Such feature causes hole doping into graphene, which gives graphene a chance to slide on the $$alpha$$-Al$$_{2}$$O$$_{3}$$(0001) surface with a small energy barrier despite the strong interfacial interactions.


Contact-induced spin polarization in BNNT(CNT)/TM (TM=Co, Ni)nanocomposites

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:38.76(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.


Atomic structure and physical properties of fused porphyrin nanoclusters

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:5.4(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.

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