加戸 啓太

At precut fabrication sites for high-mix low-volume production, multi-axis machines are operated using a dedicated CAD/CAM that derives an operating path concurrently with detailed modeling. Because a CAD/CAM based workflow has complicated frontloading and data management issues, the authors developed a generic CAM that creates an operation path from a 3D geometry of a part. This paper reports a process path deriving method for a circular saw using 3D shape recognition based on PointNet. The proposed method classifies shape types and segments cut patterns for joints of parts represented as a point cloud. A validation experiment showed the joints are classified and segmented properly.

There is a problem that thinned woods are overly small diameter and un-uniform shape to saw up into lumbers as building elements. This research attempts to solve this problem by developing thinned woods processing system that consists of a thinned wood management database and robotic fabrication. In the database, thinned woods are managed as features based on photogrammetry. Appropriate materials are suggested when intended shapes are input into an inquiry function. In the robotic fabrication, a lathe-like work bench synchronously rotates the material with the robot’s movement. Validation by building log walls shows that variational shapes of thinned woods can be processed efficiently.

Building information modeling (BIM) is the concept that involves building a three-dimensional model (3D model) as a virtual building and using this virtual building to perform various simulations and evaluations. 3D visualization using virtual reality is a typical use of BIM. A game engine-that is, a development environment for video games-has been effectively utilized as a development environment for architectural virtual reality (VR) applications. Various functions provided by the game engine can be used to develop VR applications. However, the intermediate file-based data coordination that is conventionally used requires problematic tasks associated with the cyclic process involving design and visualization. A two-way cooperation that interconnects architectural 3D CAD and a VR application developed in a game engine is described in this paper, with a special emphasis on 3D model management. In the two-way cooperation system, 3D models in architectural 3D CAD are shared with the VR application through a relay database. Three-dimensional model representation that is mesh-based and parametric-based is employed to manage 3D models. In addition, two expansions, a delta update function and an editing function, make cooperation smooth and bidirectional. An immersive VR application designed for decision making with stakeholders such as architects or clients is demonstrated in this study.

This study aimed at processing parts of traditional wooden construction method using a robot processing machine. We report on the development of the tool-exchange-type machine that uses an articulated robot for processing parts of traditional wooden construction method. While showing the development methods of processing tools and control method of a robot, we describe the development of multiple significant processing robots, which can process parts of the traditional shapes. Moreover, we processed the parts of traditional wooden construction method using a robot with the developed tools and control system, which is has been demonstrated in this study.

In this study, the authors attempt representation of procedures for tsugite-shiguchi by programming language. Classes for parts which have some joints are considered in aspects from geometry generation and information management. Based on these consideration, the authors programmed tsugite-shiguchi representation system which computes shapes of cutting for joints. Procedures for tsugite-shiguchi are compiled follow steps in this system: determining a joint pattern, calculating homogeneous transformation matrices as attitudes of each parts and its joints, creating shapes which represent subtraction from original lumbers. Detailed 3D model of Himeji castle which created with this system is also shown.

Computer vision is concerned with the theory and technology for robot's eyes that obtain information from images. It focuses on how to reconstruct structure or other information about the 3D scene from one or several images. Tracking is one of the indispensable requirements for computer vision system and is responsible for registering the virtual world in the real world. The authors select a marker-based tracking method, which computes the location such as position and orientation of a square marker in physical space out of an image captured by a camera. In this paper, the authors would like to propose some applied tools for construction industry.