Kenji Shimada

Kenji Shimada
Carnegie Mellon University | CMU · Mechanical Engineering - Robotics Institute - Biomedical Engineering - Civil and Environmental Engineering

Ph.D. Professor

About

243
Publications
36,933
Reads
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3,666
Citations

Publications

Publications (243)
Article
Full-text available
While millions of scanned engineering drawings are received every year, the online quotation companies for custom mechanical parts have experienced a surging need to increase their processing efficiency by replacing the currently manual inspection process with an automatic system. Previous work has used traditional, and data-driven computer-vision...
Conference Paper
Full-text available
We present a new data generation method to facilitate an automatic machine interpretation of 2D engineering part drawings. While such drawings are a common medium for clients to encode design and manufacturing requirements, a lack of computer support to automatically interpret these drawings necessitates part manufacturers to resort to laborious ma...
Article
Design and optimization of hull shapes for optimal hydrodynamic performance have been a major challenge for naval architectures. Deep learning bears the promise of comprehensive geometric representation and new design synthesis. In this work, we develop a Deep Neural Network (DNN) based approach to encode the hull designs to condensed representatio...
Conference Paper
View Video Presentation: https://doi.org/10.2514/6.2022-2477.vid Bimetallic additive manufacturing (AM) allows for new design options, as components can leverage the advantageous properties of each metal. Directed energy deposition (DED) is an additive manufacturing process well suited for bimetallic printing, as it can effectively transition betwe...
Article
Full-text available
There has been high demand for personal protective equipment (PPE) during the COVID-19 pandemic, especially N95 respirators. Unfortunately, at the early stage of the pandemic, the supply could not meet the demand for N95 respirators, leading to a shortage and unsafe reuse of this form of PPE. We developed the Moldable Mask to ease the demand for N9...
Preprint
Full-text available
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation in complex static environments with sophisticated mapping algorithms, such as occupancy map and ESDF map, thes...
Article
Introduction Ultrasound-guided peripheral intravenous catheter (US-PIVC) placement is an effective technique to establish PIV access when the traditional approach fails. Many training programs utilize commercial or homemade phantoms for procedural training. However, commercial products tend to be expensive and lack realism, while homemade blocks te...
Article
Full-text available
Minimizing weight while maintaining strength in components is a continuous struggle within manufacturing industries, especially in aerospace. This study explores how controlling the dimensions of the geometric parameters of a lattice yields ideal mechanical properties for aerospace-related applications. A previously developed Bubble-mesh based comp...
Article
Full-text available
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the sampled information from the previous planning iterations, leading to redundant computation and longer exploration...
Article
Noninvasive ventilator support such as BiPAP or CPAP is often used for patients with obstructive sleep apnea or neuromuscular disorders, such as ALS, where respiratory muscles are weakened. Current commercially available masks for BiPAP and CPAP are often cited as being ill-fitting and leaky, leading to poor quality of sleep or reduced usage of the...
Conference Paper
Full-text available
While additive manufacturing has seen rapid proliferation in recent years, process monitoring and quality assurance methods capable of detecting micro-scale flaws have seen little improvement and remain largely expensive and time-consuming. In this work we propose a pipeline for training two deep learning flaw formation detection techniques includi...
Preprint
Full-text available
The current design of aerodynamic shapes, like airfoils, involves computationally intensive simulations to explore the possible design space. Usually, such design relies on the prior definition of design parameters and places restrictions on synthesizing novel shapes. In this work, we propose a data-driven shape encoding and generating method, whic...
Conference Paper
A novel method is proposed to generate additional Δv on a spacecraft without major size, weight or power (SWaP) increases. The key is mass re-purposing. On-board spacecraft mass can be repurposed and used as fuel, extending a mission by several km/s of Δv, depending on the materials and propulsion system. Future spacecraft can be manufactured with...
Preprint
Full-text available
At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically computed using frontier-based or information-theoretic methods. Frontier-based methods define the information gain of an exploration path as the number of boundary cells...
Preprint
Full-text available
The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based heuristics typically evaluate the information gain of a viewpoint by the number of visible frontier voxels, which is a discrete measure that can only be optimized by sampli...
Preprint
Full-text available
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the environments' size and complexity. This work proposes a novel framework combining incremental frontier distribution...
Preprint
Full-text available
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the sampled information from the previous planning iterations, leading to redundant computation and longer exploration...
Preprint
In this paper, we propose a multi-resolution deep-learning architecture to semantically segment dense large-scale pointclouds. Dense pointcloud data require a computationally expensive feature encoding process before semantic segmentation. Previous work has used different approaches to drastically downsample from the original pointcloud so common c...
Preprint
Full-text available
We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In the proposed sampling-based coverage path planning method, we formulate the multi-UAV inspection applications as a multi-agent coverage path planning problem. By combining two NP-hard problems: Set Covering Problem (SCP) and Ve...
Article
Full-text available
Workpiece location is critical to efficiently plan actions downstream in manufacturing processes. In labor-intensive heavy industries, like construction and shipbuilding, multiple stakeholders interact, stack and move workpieces in the absence of any system to log such actions. While track-by-detection approaches rely on sensing technologies such a...
Article
This paper presents a new computational method based on the feasible-set method for removing inverted elements in surface and volumetric meshes and its applications to the facet-repair and boundary-layer generation problems. The proposed method calculates for each node a region called ‘feasible set’ in which the node can reside without creating an...
Preprint
There is a strong demand for covering a large area autonomously by multiple UAVs (Unmanned Aerial Vehicles) supported by a ground vehicle. Limited by UAVs' battery life and communication distance, complete coverage of large areas typically involves multiple take-offs and landings to recharge batteries, and the transportation of UAVs between operati...
Article
Full-text available
Global routing has been a historically challenging problem in electronic circuit design, where the challenge is to connect a large number of circuit components with wires without violating the design rules for the printed circuit boards or integrated circuits. Similar routing problems also exist in the design of complex hydraulic systems, pipe syst...
Article
Full-text available
Logging and tracking raw materials, workpieces and engineered products for seamless and quick pulls is a complex task in the construction and shipbuilding industries due to lack of structured storage solutions. Additional uncertainty is introduced if workpieces are stacked and moved by multiple stakeholders without maintaining an active and up-to-d...
Conference Paper
We propose a data-driven 3D shape design method that can learn a generative model from a corpus of existing designs, and use this model to produce a wide range of new designs. The approach learns an encoding of the samples in the training corpus using an unsupervised variational autoencoder-decoder architecture, without the need for an explicit par...
Preprint
Full-text available
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning (CPP) problem is often formulated for these inspection applications because of the coverage requirement. Tradit...
Preprint
Full-text available
Global routing has been a historically challenging problem in electronic circuit design, where the challenge is to connect a large and arbitrary number of circuit components with wires without violating the design rules for the printed circuit boards or integrated circuits. Similar routing problems also exist in the design of complex hydraulic syst...
Article
Automating the double-hull block welding improves the shipbuilding efficiency and mitigates health risk to the welders. Due to the unique challenge posed by the internal structures, existing technologies are at most semi-autonomous. Believing that mobility is key to full autonomy, we employ mobile robot technology to transport the welding manipulat...
Preprint
Full-text available
We propose a data-driven 3D shape design method that can learn a generative model from a corpus of existing designs, and use this model to produce a wide range of new designs. The approach learns an encoding of the samples in the training corpus using an unsupervised variational autoencoder-decoder architecture, without the need for an explicit par...
Article
Introduction Snoring is an indicator of obstructive sleep apnea (OSA), which contributes to cardiovascular disease and mortality. To better study snoring, audio-based snore detection methods using different feature representations have been proposed. However, there is a gap in (1) baseline comparisons of different deep learning features, and (2) an...
Article
Bone deformities are often complex three-dimensional (3D) deformities, and correcting them is difficult. To correct persistent clubfoot deformity in adolescents or adults, an external fixator is sometimes used to encourage tissue growth and preserve healthy tissues. However, it is difficult to set up, resulting in long surgeries and steep learning...
Article
High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an upsampling of 3D point clouds without the need for hard-coded rules. Our approach uses a deep network with Chamfer...
Article
Full-text available
Abstract The two most popular models used in anatomical training for residents, clinicians, or surgeons are cadavers and sawbones. The former is extremely costly and difficult to attain due to cost, ethical implications, and availability, while the latter is said to not have the same tactile fidelity or mechanical properties as human bone. This stu...
Article
Surface/shape inspection is a common and highly repetitive task in the factory production line. Using robots to automate the inspection process could help to reduce the costs and improve the productivities. In robotized surface/shape inspection application, the planning problem is to find a nearoptimal sequence of robotic actions that inspect the s...
Article
Full-text available
Noninvasive ventilator support using bi-level positive airway pressure/continuous positive airway pressure (BiPAP/CPAP) is commonly utilized for chronic medical conditions like sleep apnea and neuromuscular disorders like amyotrophic lateral sclerosis (ALS) that lead to weakness of respiratory muscles. Generic masks come in standard sizes and are o...
Preprint
Full-text available
High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an upsampling of 3D point clouds without the need for hard-coded rules. Our approach uses a deep network with Chamfer...
Article
Full-text available
Model-based view planning is to find a near-optimal set of viewpoints that cover the surface of a target geometric model. It has been applied to many building inspection and surveillance applications with Unmanned Aerial Vehicle (UAV). Previous approaches proposed in the past few decades suffer from several limitations: many of them work exclusivel...
Article
Full-text available
Introduction We developed an economical three-dimensional printed and casted simulator of the hand for the training of percutaneous pinning. This simulator augments the traditional “See one, do one, teach one” training model. Methods To evaluate the simulator, five expert orthopaedic surgeons were recruited to perform percutaneous pinning on the s...
Preprint
Water-lifting technologies in rural areas of the developing world have enormous potential to stimulate agricultural and economic growth. The treadle pump, a human-powered low-cost pump designed for irrigation in developing countries, can help farmers maximize financial return on small plots of land by ending their dependency on rain-fed irrigation...
Article
Full-text available
In Japan, inspection of irrigation water canals has been mostly conducted manually. However, the huge demand for more regular inspections as infrastructure ages, coupled with the limited time window available for inspection, has rendered manual inspection increasingly insufficient. With shortened inspection time and reduced labor cost, automated in...
Preprint
Water-lifting technologies for irrigation have significant potential to increase agricultural yields and stimulate economic growth in rural areas of the developing world. Human-powered water pumps have been used with great success in this rapidly developing market. KickStart's MoneyMaker Hip Pump is a human-powered water pump with additional design...
Article
Water-lifting technologies for irrigation have significant potential to increase agricultural yields and stimulate economic growth in rural areas of the developing world. Human-powered water pumps have been used with great success in this rapidly developing market. KickStart’s MoneyMaker Hip Pump is a human-powered water pump with additional design...
Article
This paper presents a new method for extracting feature edges from computer-aided design (CAD)-generated triangulations. The major advantage of this method is that it tends to extract feature edges along the centroids of the fillets rather than along the edges where fillets are connected to nonfillet surfaces. Typical industrial models include very...
Article
Full-text available
New design tools have created a growing interest for presenting complex geometries and patterns. The need to form curved geometries of facades, without incurring high construction costs and time increases, presents one of the most complex design challenges for any project. In this paper, we present and demonstrate a new computational framework for...
Article
Full-text available
Volumetric decomposition is essential for all-hexahedral mesh generation. Because fully automatic decomposition methods that can generate high-quality hexahedral meshes for arbitrary volumes have yet to be realized, manual decomposition is still required frequently. Manual decomposition is a laborious process and requires a high level of user exper...
Article
Full-text available
Background Snoring has been shown to be associated with adverse physical and mental health, independent of the effects of sleep disordered breathing. Despite increasing evidence for the risks of snoring, few studies on sleep and health include objective measures of snoring. One reason for this methodological limitation is the difficulty of quantify...
Conference Paper
This paper focuses on the evaluation of a prototype for a computer-based tutoring system for prostate cryosurgery, while reviewing its key building blocks and their benchmark performance. The tutoring system lists geometrical constraints of cryoprobe placement, displays a rendered shape of the prostate, simulates cryoprobe insertion, enables distan...
Chapter
The popularity of unmanned aerial vehicles (UAVs) is increasing as technological advancements boost their favorability for a broad range of applications. One application is science data collection. In fields like earth and atmospheric science, researchers are seeking to use UAVs to augment their current portfolio of platforms and increase their acc...
Article
Synthetic design thinking is needed to create innovative products. We propose an educational method for creative design that can enhance a person’s ability to generate a new products’ concept that are not extensions of existing ones. The method starts with a person coming up with a concept based on ‘intuitive synthesis’ in which the metaphor of a ‘...