3D Working Environment Research Articles

Visualization software for radioactive contamination based on Compton camera: COMRIS.

Identifying and visualizing the radiation source location are important in reducing the radiation exposure of workers at the decommissioning site of the Fukushima Daiichi Nuclear Power Station and in improving the radiation protection functions in other sites where radiation sources are handled. In this paper, we developed the COMpton camera for Radiation Imaging System (COMRIS) to identify and visualize the radiation source location in 3D using output data from a Compton camera and a simultaneous localization and mapping (SLAM) device as input data. Here, we presented COMRIS to visualize a 137Cs-radiation source in a dark environment using data acquired by a commercial Compton camera and a LiDAR-based SLAM device mounted on a robot as input data. The radiation source image obtained using the Compton camera was drawn on the 3D work environment model acquired by the SLAM device, and the radiation source location was visible in 3D.

Upper limb motor improvement in chronic stroke after combining botulinum toxin A injection and multi-joints robot-assisted therapy: a case report.

Spasticity is one of the major complications after stroke. Botulinum toxin type A (BoNT-A) injection is commonly used to manage focal spasticity. However, it is uncertain whether BoNT-A can improve activities of daily living function of paretic arm. The recovery of functions of the affected arm is also the aim of robotic upper limb (UL) therapy. The motorized exoskeleton assists the patient in a large 3D work environment by promoting movement for the UL (shoulder, elbow, wrist, hand). The combination of the BoNT-A injection and the robotic therapy might enhance functional recovery after stroke. We reported the case of a chronic stroke patient in which the injection of BoNT-A was combined with multi-joint exoskeleton training. The patient showed improvement in the motor control of the UL, supporting the feasibility of this approach.

A comparative study of noise elimination algorithms for a 3D terrain model through object clustering and the differential method

The technology to automatically detect the surrounding working environment for modeling of the result is the key essential technique for the automation of the construction equipment developments. When noise takes place during 3D modeling of the front work area of the automated construction equipments, the point of noise occurrence during the surface modeling can result in ground level phenomenon in the form of triangular pyramid to lower the quality of the modeling. This can greatly affect the detection of the objects around the automated equipment. This study proposed revised object clustering and differential algorithms for noise elimination of 3D terrain model and compared the noise elimination performance of existing algorithm and proposed algorithm on the images of actual earthwork working environment. It is expected that the noise elimination algorithm proposed in this study will be very useful as a widely used essential technology required for the development of automated technology not only in earthwork field but also in other general construction and civil engineering fields by noise elimination of the 3D working environment model.

Projection-Recognition-Projection Method for Automatic Object Recognition and Registration for Dynamic Heavy Equipment Operations

AbstractIt is challenging to recognize dynamic three-dimensional (3D) objects in a scattered construction work environment because it is difficult to process large amounts of incomplete and complex site data from optical sensors in real time or near-real time. This paper proposes a model-based automatic dynamic object recognition and registration method, projection-recognition-projection (PRP), to help heavy equipment operators rapidly perceive the 3D working environment at construction sites. In this study, machine vision and laser scanning technologies were used to rapidly recognize and register dynamic target objects in 3D space. The proposed PRP method extracts a target object’s point cloud data from the background scene to significantly reduce scan data size and modeling time. The target objects’ point clouds are then processed to rapidly recognize and register 3D target models from a model database to the corresponding point clouds. Several field tests at construction equipment operation sites show ...

An Approach of Aerial Photogrammetry Measurement Based on 3D Model

. This paper introduces a new approach on measurement of aerial photogrammetry. Because of the development of stereoscopic display technology, the author wants to change 2D working environment to 3D working environment during aerial photogrammetry measuring process. The approach gives a new way to do aerial photogrammetry measurement in 3D environment. Firstly, we made image pixel data one-to-one corresponding with DEM data of the area. Then, we built a 3D model of the area. Since the one-to-one corresponding of DEM and image, we obtained photo coordinates of the target points of stereo pair on left image and right image in single click. And then, with the help of traditional theory， we finished calculation of the transforming from photo coordinate system to ground coordinate system, by which we could obtain ground coordinates of the target points. Finally, we overlapped the points which we calculated on the DLG in ArcGIS software to validate the correction of the calculation. The result shows that the precise of this approach is acceptable. At the end of the paper, the author gave some advices to improve the approach and the expectation of 3D measurement in true 3D environment.

An Approach of Aerial Photogrammetry Measurement Based on 3D Model

.This paper introduces a new approach on measurement of aerial photogrammetry. Because of the development of stereoscopic display technology, the author wants to change 2D working environment to 3D working environment during aerial photogrammetry measuring process. The approach gives a new way to do aerial photogrammetry measurement in 3D environment. Firstly, we made image pixel data one-to-one corresponding with DEM data of the area. Then, we built a 3D model of the area. Since the one-to-one corresponding of DEM and image, we obtained photo coordinates of the target points of stereo pair on left image and right image in single click. And then, with the help of traditional theory， we finished calculation of the transforming from photo coordinate system to ground coordinate system, by which we could obtain ground coordinates of the target points. Finally, we overlapped the points which we calculated on the DLG in ArcGIS software to validate the correction of the calculation. The result shows that the precise of this approach is acceptable. At the end of the paper, the author gave some advices to improve the approach and the expectation of 3D measurement in true 3D environment.

Multiview 3D reconstruction in geosciences

Multiview three-dimensional (3D) reconstruction is a technology that allows the creation of 3D models of a given scenario from a series of overlapping pictures taken using consumer-grade digital cameras. This type of 3D reconstruction is facilitated by freely available software, which does not require expert-level skills. This technology provides a 3D working environment, which integrates sample/field data visualization and measurement tools. In this study, we test the potential of this method for 3D reconstruction of decimeter-scale objects of geological interest. We generated 3D models of three different outcrops exposed in a marble quarry and two solids: a volcanic bomb and a stalagmite. Comparison of the models obtained in this study using the presented method with those obtained using a precise laser scanner shows that multiview 3D reconstruction yields models that present a root mean square error/average linear dimensions between 0.11 and 0.68%. Thus this technology turns out to be an extremely promising tool, which can be fruitfully applied in geosciences.

A 3D surface modeling system for intelligent excavation system

The purpose of this study is to develop a mobile 3D work environment recognition system for civil earthwork. A mobile 3D laser scanner system and software have been developed in this research. This study is a part of Intelligent Excavation System (IES) project that develops an autonomous earthwork system. Work environment data acquisition and recognition is the first stage of the project. In order to optimize and automate the 3D scanning process, Mobile 3D Imaging System was designed, and an actual earthwork environment was scanned and processed using the developed system. The paper describes (1) the selection of the most appropriate scanner for the construction field, (2) development of vehicle mounting station for the scanner, (3) development of the customized scanner controller software, and (4) development of automated mesh creation and registration of multiple scan data.

Tectonic model and three-dimensional fracture network analysis of Monte Alpi (southern Apennines)

The Monte Alpi (southern Italy) is well known as an outcropping analogue of the Val d'Agri subsurface units which host a number of oil fields of economic importance. This paper presents an example of a detailed study which integrates stratigraphy, structural geology, tectonic analysis and fracture network study. The new structural model presented is based on a detailed 1:12,500 field survey of the area, whose results are illustrated in a comprehensive outcrop map, geological map and structural cross-sections, and stereographic projections and palaeostress inversion calculations of a mesostructural data set. The Monte Alpi Unit is characterised by a 2000-m-thick sequence of Jurassic–Cretaceous platform carbonates, conformably covered by Middle–Upper Miocene calcarenites. This sequence is unconformably covered by Upper Messinian terrigenous clastics, mainly along a number of major growth faults. Our detailed mapping revealed that the Monte Alpi Unit is tectonically overlain by the Lagonegro basinal Unit (thin siliceous carbonates and remnants of pelagic pelitic and carbonate deposits, all highly deformed) and by the Monte la Spina Unit (cataclastic Mesozoic carbonates and dolomites). This solves earlier raised questions concerning the palaeogeographic provenance of the carbonates outcropping in the area, which can thus without any doubt be correlated with the external carbonate domains known from the subsurface. The present-day structure shows a structural inversion along the major Late Miocene growth faults which acted as sinistral transpressive faults. The latter faults are part of a regional set dissecting the southern Apennines, active up till at least Middle Pleistocene times. A fracture study was performed on the Mesozoic carbonates of the area in order to collect data regarding length distribution, orientation, density and spatial heterogeneity of the fracture network to be used for considerations regarding exploration and development of the Val d'Agri reservoirs. The data were collected on 37 horizontal (strata-parallel) and vertical outcrop surfaces through photographic restitution and digitising of fracture lineament traces, and measurements of orientations of all visible fractures. Furthermore, three major outcropping rock walls along the flanks of Monte Alpi and Santa Croce were photographed and fracture and fault zone lineaments were digitised. All data were inserted and calibrated in a three-dimensional (3D) Geographic Information Systems and Computer Aided Design (GISCAD) environment consisting of a database and a 3D geographical framework comprising topographic map, Digital Terrain Model (DTM), geological map, aerial photograph lineament map and a 3D reconstruction of major fault surfaces. Making use of the potential of the 3D working environment, outcrop surfaces and rock walls were reconstructed at their correct 3D position and orientation. Data analysis comprised stereographic contour diagrams and rosette diagrams of 1800 fracture orientations in order to recognise main fracture sets. Three corrections were performed on these data: length weighting, Terzaghi correction (removal of sample orientation bias) and tilt removal. From a comparison between orientation data on various scales combined with field evidence, it can be deduced that fault and fracture sets are part of the same structural pattern, and that fracture sets were generated prior to Plio-Pleistocene tectonics and passively rotated. Fracture and fault length distribution was analysed by the generation of diagrams which plot cumulative frequency versus length in log–log space, normalising for area of observation. These diagrams, composed of about 30,000 measurements and constituting the most complete data set presented in the literature up till now, show that small-scale and large-scale features form part of one scale invariant system with fractal properties. No scale gap is present in our data set which comprises rock wall data in the ‘subseismic’ scale range. It appears that the 3D fracture network can best be described by a fractal dimension of 2.98 and a coefficient of 0.25. The outcome of the study places important constraints on fracture network simulation exercises in hydrocarbon reservoir simulation studies, which use numerical input parameters in order to make predictions of the tectonic texture present in the subsurface.