Kumamoto Castle, consisting of towers and stone walls called Ishigaki, was severely damaged by the 2016 Kumamoto earthquake. As this castle has cultural significance in Japan, the damaged stone walls of the castle need to be promptly and accurately restored. In recent years, the utilization of 3D stone data has been studied to determine the position of collapsed stones precisely. The 3D stone data needs to be measured automatically in a short period of time for the efficient restoration of stone walls. To control the attitude of the stone, a small control moment gyro (CMG) device was proposed, and a robust controller with a model error compensator was applied to the CMG device. In this study, the measurement precision of a 3D model of stones using the CMG crane system was analyzed. The automatic measuring system consists of a CMG device and an elevator for a 3D scanner to reduce the load on workers. The scanning motion was planned automatically based on the shape and position of stones using depth sensors. The effectiveness of the proposed measuring system was evaluated using the accuracy and measurement time including the data correction time of the 3D modeling.

1. [1] F. Yamazaki and W. Liu, “Remote sensing technologies for post-earthquake damage assessment: a case study on the 2016 Kumamoto earthquake,” 6th ASIA Conf. on Earthquake Engineering, pp. 1-13, 2016.
2. [2] W. Liu and F. Yamazaki, “Extraction of Collapsed Buildings in the 2016 Kumamoto earthquake using multi-temporal PALSAR-2 data,” J. Disaster Res., Vol.12, No.2, pp. 241-250, doi: 10.20965/jdr.2017.p02412017, 2017.
3. [3] Y. Shirahama et al., “Characteristics of the surface ruptures associated with the 2016 Kumamoto earthquake sequence, central Kyushu, Japan,” Earth, Planets and Space, Vol.68, No.191, pp. 1-12, doi: 10.1186/s40623-016-0559-1, 2016.
4. [4] S. Ando, G. Koutaki, and K. Shirai, “ISHIGAKI retrieval through combinatorial optimization,” Proc. of the 1st Workshop on Structuring and Understanding of Multimedia, pp. 69-74, doi: 10.1145/3347317.3357241, 2019.
5. [5] Y. Take, H. Okajima, G. Koutaki, and N. Matsunaga, “Restoration of Stone Wall ISHIGAKI using drop position Information,” Proc. of the SICE Annual Conf. 2019, pp. 976-981, doi: 10.23919/SICE.2019.8859910, 2019.
6. [6] N. Matsunaga, N. B. Fauzan, H. Okajima, and G. Koutaki, “Archive method of stone wall in Kumamoto Castle lifted by small CMG crane using model error compensator,” Proc. of 12th Asian Control Conf., pp. 510-514, 2019.
7. [7] F. Inoue et al., “A practical development of the suspender device that controls load rotation by gyroscopic moments,” Proc. of the 15th ISARC, pp. 486-495, doi: 10.22260/ISARC1998/0036, 1998.
8. [8] K. Y. Yi and Y. G. Chung, “An implementation of a gyro actuator for the attitude control of an unstructured object,” Proc. 1999 IEEE Int. Conf. on Robotics and Automation, Vol.2, pp. 1626-1631, doi: 10.1109/ROBOT.1999.772592, 1999.
9. [9] N. Matsunaga, N. B. Fauzan, H. Okajima, and G. Koutaki, “Control of CMG crane using model error compensator to measure 3D digital model of ISHIGAKI stones of Kumamoto Castle,” Trans. of the JSME, Vol.87, No.893, doi: 10.1299/transjsme.20-00176, 2021 (in Japanese).
10. [10] H. Okajima, H. Umei, N. Matsunaga, and T. Asai, “A design method of compensator to minimize model error,” J. of Control, Measurement, and System Integration, pp. 267-275, doi: 10.9746/jcmsi.6.267, 2013.