Laser-based geometric modeling using cooperative multiple mobile robots

Abstract—In order to construct three-dimensional shape models of large-scale architectural structures using a laser range finder, a number of range images are taken from various viewpoints. These images are aligned using post-processing procedures such as the ICP algorithm. However, in general, before applying the ICP algorithm, these range images must be aligned roughly by a human operator in order to converge to precise positions. The present paper proposes a new modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called Cooperative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Thus, the proposed system can construct 3D shapes of large-scale architectural structures without any post-processing procedure or manual registration. ICP is applied optionally for a subsequent refinement of the model. Measurement experiments in unknown and large indoor/outdoor environments are carried out successfully using the newly developed measurement system consisting of three mobile robots named CPS-V. Generating a model of Dazaifu Tenmangu, a famous cultural heritage, for its digital archive completes the paper. I

Robust 2D-3D alignment based on geometrical consistency

This paper presents a new registration algorithm of a 2D image and a 3D geometrical model, which is robust for initial registration errors, for reconstructing a realistic 3D model of indoor scene settings. One of the typical tech-niques of pose estimation of a 3D model in a 2D image is the method based on the correspondences between 2D pho-tometrical edges and 3D geometrical edges projected on the 2D image. However, for indoor settings, features extracted on the 2D image and jump edges of the geometrical model, which can be extracted robustly, are limited. Therefore, it is difficult to find corresponding edges between the 2D image and the 3D model correctly. For this reason, in most cases, the relative position has to be manually set close to correct position beforehand. To overcome this problem, in the pro-posed method, firstly the relative pose is roughly estimated by utilizing geometrical consistencies of back-projected 2D photometrical edges on a 3D model. Next, the edge-based method is applied for the precise pose estimation after the above estimation procedure is converged. The performance of the proposed method is successfully demonstrated with some experiments using simulated models of indoor scene settings and actual environments measured by range and image sensors. 1

Display of both N- and C-terminal target fusion proteins on the Aspergillus oryzae cell surface using a chitin-binding module

A novel cell surface display system in Aspergillus oryzae was established by using a chitin-binding module (CBM) from Saccharomyces cerevisiae as an anchor protein. CBM was fused to the N or C terminus of green fluorescent protein (GFP) and the fusion proteins (GFP-CBM and CBM-GFP) were expressed using A. oryzae as a host. Western blotting and fluorescence microscopy analysis showed that both GFP-CBM and CBM-GFP were successfully expressed on the cell surface. In addition, cell surface display of triacylglycerol lipase from A. oryzae (tglA), while retaining its activity, was also successfully demonstrated using CBM as an anchor protein. The activity of tglA was significantly higher when tglA was fused to the C terminus than N terminus of CBM. Together, these results show that CBM used as a first anchor protein enables the fusion of both the N and/or C terminus of a target protein

Study on Establish a Brittle Fracture Prediction Considering Different Crack Opening Modes Using Mixed-Mode Ratio

In this study, we propose a method for predicting the occurrence of brittle fractures in the beam-to-column joints of steel structures, considering different crack opening modes. We conducted experiments on beam-to-diaphragm joint specimens with varying plastically constrained cracks to reproduce brittle fractures. The experiments’ results demonstrated the effectiveness of the toughness scale model and the Weibull stress approach. In addition, we propose the mixed-mode ratio, which is a quantitative index of the mode difference, and we applied it to the finite element models of the specimens. In this study, we evaluate the validity of the mixed-mode ratio and explore the differences in crack opening modes, as they pertain to the occurrence of brittle fractures

Study on Establish a Brittle Fracture Prediction Considering Different Crack Opening Modes Using Mixed-Mode Ratio

In this study, we propose a method for predicting the occurrence of brittle fractures in the beam-to-column joints of steel structures, considering different crack opening modes. We conducted experiments on beam-to-diaphragm joint specimens with varying plastically constrained cracks to reproduce brittle fractures. The experiments’ results demonstrated the effectiveness of the toughness scale model and the Weibull stress approach. In addition, we propose the mixed-mode ratio, which is a quantitative index of the mode difference, and we applied it to the finite element models of the specimens. In this study, we evaluate the validity of the mixed-mode ratio and explore the differences in crack opening modes, as they pertain to the occurrence of brittle fractures

Fast implementation of level set method and its realtime applications

Abstract – The level set method (LSM) has been widely used for various applications such as motion tracking and 3D geometrical modeling. However, the calculation cost of reinitialization and updating of an implicit function is considerably expensive as compared with conventional active contour models such as ”Snakes”. To tackle this problem, we propose an efficient algorithm of the LSM named the Fast Level Set Method(FLSM). This paper introduces some experiments based on the FLSM, including 2D real-time tracking of moving objects in video images, and 3D simultaneous motion capture system of multiple targets using stereo range images