Analytical Point-Cloud Based Geometric Modeling For AM and Its Application To CH Preservation

applied
sciences
Article
Analytical Point-Cloud Based Geometric Modeling
for Additive Manufacturing and Its Application to
Cultural Heritage Preservation
Tashi 1 , AMM Sharif Ullah 2, * ID
, Michiko Watanabe 2 and Akihiko Kubo 2
1 Graduate School of Engineering, Kitami Institute of Technology, 165 Koen-cho, Kitami 090-8507, Japan;
d1871308030@std.kitami-it.ac.jp
2 Faculty of Engineering, Kitami Institute of Technology, 165 Koen-cho, Kitami 090-8507, Japan;
michy@mail.kitami-it.ac.jp (M.W.); kuboak@mail.kitami-it.ac.jp (A.K.)
* Correspondence: ullah@mail.kitami-it.ac.jp; Tel./Fax: +81-157-26-9207

Received: 28 March 2018; Accepted: 22 April 2018; Published: 24 April 2018
Featured Application: Featured Application: Without relying on scanner or image processing,

one can use the presented work to create rapid prototypes of artifacts having cultural significance
and beyond.
Abstract: Point-cloud is a valuable piece of information for geometric modeling and additive
manufacturing of different types of objects. In most cases, a point-cloud is obtained by using
the 3D scanners or by using image processing. Alternatively, one can rely on an analytical approach
for creating the required point-cloud. In this study, we develop an analytical method that uses both
equation and algorithm-based approaches for creating a point-cloud for modeling a given object
(or shape). The analytically created point-cloud can then be processed by using a commercially
available CAD package to create a virtual model (or solid CAD model) of the object. Finally,
the virtual model can be used to create a physical model (or replica) of the underlying object using
a commercially available additive manufacturing device (e.g., a 3D printer). The abovementioned
procedure of analytical point-cloud based geometric modeling for additive manufacturing can be
applied to preserve artifacts having cultural significance. In particular, we consider the Ainu motifs
that represent the cultural heritage of Ainus living in the northern part of Japan (Hokkaido). We first
classify the motifs and then model them in the form of a point-clouds using both equations and a
recursive process (algorithm) proposed in this study. Finally, we create the CAD model and physical
models of the artifacts having Ainu motifs on them. This way, we show the effectiveness of the
analytical point-cloud based geometric modeling for additive manufacturing.
Keywords: point-cloud; additive manufacturing; geometric modeling; cultural heritage;

Hokkaido Ainu
1. Introduction
In contrary to the conventional manufacturing processes (e.g., subtractive manufacturing
processes, such as, milling, drilling, turning, and alike), Additive Manufacturing (AM) processes
have been introduced to manufacture physical objects by adding materials layer by layer [1]. AM
(also known as 3D printing (3DP), rapid prototyping, or freeform fabrication) can now be used to
manufacture objects having complex shapes and multi-scale structures. AM can also manufacture
objects by adding different types of materials at different layers. As a result, AM has transformed the
way that the objects are being designed and manufactured [2–4]. AM is now applied to manufacture
automotive parts [5], aerospace parts [2], biomedical products (e.g., dental braces, artificial tissues,
Appl. Sci. 2018, 8, 656; doi:10.3390/app8050656 www.mdpi.com/journal/applsci

Appl. Sci. 2018, 8, 656 2 of 18
hearing aids, dummy cadaver, and prosthetic) [6–12], educational objects [13–15], fashion items (e.g.,
cloth, shoes,
Appl. Sci. and
2018, 8,jewelry)
x FOR PEER[16–20],
REVIEW foodstuffs (e.g., pizza, chocolate, crackers, and pasta) 2 of 18 [21–23],
construction objects (e.g., 3D printed house) [24–26], and items for preserving and restoring cultural
heritagecloth,
[27].shoes,
Small, and jewelry) [16–20],
affordable, foodstuffs (e.g.,
and user-friendly AMpizza, chocolate,
machines crackers,
(e.g., and pasta)
3D printers) are [21–23],
now available
construction
Appl. Sci. objects (e.g.,
2018, 8,businesses, 3D
x FOR PEER REVIEW printed house) [24–26], and items for preserving and restoring cultural
2 of 18
for running small too [28–30].
heritage [27]. Small, affordable, and user-friendly AM machines (e.g., 3D printers) are now available
Ascloth,
schematically
for running
shoes,small
illustrated
businesses,
and jewelry)
in[28–30].
too
[16–20],
Figure 1, a typical AM operation consists of the following five
foodstuffs (e.g., pizza, chocolate, crackers, and pasta) [21–23],
steps: (1) As schematically
creation
construction of a 3D illustrated
computer-aided
objects (e.g., 3D printedin Figure
house)1,[24–26],
designa typical
andAM
(CAD) operation
model
items consists
of the
for preserving of the
desired
and following
object
restoring five model);
(virtual
cultural
steps: (1) creation
heritage [27].of
(2) triangulation Small,of a 3D computer-aided
affordable,
the CAD modeland (known design
user-friendly (CAD) model
AM machines
as STL data); (3) of the
(e.g., desired object
3D printers)
slicing (virtual model);
are now available
of triangulated CAD model;
(2) running
for triangulation
(4) execution of AM small of the CAD andmodel
businesses,
process; too (knownfinishing
(5)[28–30].
surface as STL data); (3) slicing
of the physical of triangulated
model [1,2]. CAD model; (4)
execution of AM process;
As schematically and (5) in
illustrated surface finishing
Figure of the
1, a typical AMphysical model
operation [1,2]. of the following five
consists
steps: (1) creation of a 3D computer-aided design (CAD) model of the desired object (virtual model);
(2) triangulation of the CAD model (known as STL data); (3) slicing of triangulated CAD model; (4)
execution of AM process; and (5) surface finishing of the physical model [1,2].
Figure
Figure 1. The
1. The workingprinciple
working principle of
ofAdditive
AdditiveManufacturing
Manufacturing(AM).(AM).
However, the advent of AM has introduced a technology called Reverse Engineering (RE), as
schematically
However, the illustrated
advent ofinAM Figurehas2.introduced
In RE based aAM, a 3D scanner
technology firstReverse
called scans anEngineering
object and (RE),
Figure 1. The
represents it by a relatively large working
number principle of Additive
of points ManufacturingUsing
called point-cloud. (AM). a CAD package, the
as schematically illustrated in Figure 2. In RE based AM, a 3D scanner first scans an object and
point-cloud
However, is transformed
the advent of intoAM a solid CAD model.
has introduced The CAD model
a technology calledcan be modified
Reverse as preferred
Engineering (RE), by
as
represents
the
it by
user
a relatively
before manufacturing
large it
number
by AM. Thus,
ofREpoints
is mainly
called
used
point-cloud.
for preserving
Using
artistic and
aculturally
CAD package,
schematically illustrated in Figure 2. In RE based AM, a 3D scanner first scans an object and
the point-cloud
significantis
represents it transformed
objects by creating
by a relatively intotheareplicas
large solid CAD
number model.
orofmanufacturing
points The
called CAD object
another model
point-cloud. cana on
based
Using be
CAD modified
the physic ofas
package, preferred
the
the
existing
by the point-cloudobject
user before for which the
manufacturing
is transformed intosolid it CAD
a solidbyCAD model
AM. is not
Thus,
model. available.
TheRECADis model Seecan
mainly [10,11,31–35]
used for more details
for preserving
be modified as preferredartistic
by and
regarding
the
culturally user RE. manufacturing
before
significant it by AM. Thus,
objects by creating RE is mainly
the replicas used for preserving
or manufacturing artistic and
another culturally
object based on the
physic significant objectsobject
of the existing by creating the replicas
for which or manufacturing
the solid CAD modelanother object basedSee
is not available. on the physic of thefor more
[10,11,31–35]
existing object
details regarding RE. for which the solid CAD model is not available. See [10,11,31–35] for more details
regarding RE.
Figure 2. A workflow for Reverse Engineering (RE) based AM.
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Appl. Sci. 2018, 8, 656 3 of 18
Nevertheless, as described in Figure 2, when a solid CAD model is not available in the first place,
one can rely on the most primitive representation of an object, i.e., a point-cloud, and execute the
steps shown in Figure 1. Therefore, point-cloud based geometric modeling has earned a great deal
of attention from the AM community. However, it has been emphasized that the conventional CAD
systems need additional functionalities to generate solid models of complex shapes (e.g., multi-scale
cellular and lattice structures) from point-clouds [2]. In addition, creating a complex shape from
a point-cloud using conventional CAD systems requires a great deal of skill, making it a heavily
user-skill-dependent activity. This means that the typical steps of AM as shown in Figures 1 and 2
can be modified to accommodate the point-cloud in a befitting manner. This creates a notion called
Point-Cloud based AM (PCAM). In most cases, a point-cloud is obtained by using the 3D scanners and
processed before creating a CAD modeling. This issue is described elaborately in the literature review
section. However, one can rely on some analytical approaches for creating the required point-cloud for
PCAM. This direction of PCAM has not yet been explored compared to other direction, i.e., 3D-scanner
based point-cloud creation for PCAM. Thus, the objective of this article is to shed some lights on an
analytical point-cloud based AM. As an application, the cultural heritage preservation is considered.
Based on the abovementioned contemplation, this article is written. The remainder of this article
is organized, as follows: Section 2 describes the relevant research work available in the literature
regarding PCAM. Section 3 describes the proposed PCAM method that uses both equations and
algorithmic approaches for creating a point-cloud for modeling a given object (or shape), as well as its
CAD model and AM based prototype. Section 4 describes the application of the proposed PCAM in
creating artifacts having cultural significance. In particular, the Ainu motifs that represent the cultural
heritage of Ainus living in the northern part of Japan (Hokkaido) is considered. Section 5 provides the
concluding remarks of this study.
2. Literature Review
This section described a relatively comprehensive literature review on the PCAM and closely
related issues. In the literature, it has been found that both the data acquisition processes and the
surface model creation techniques for PCAM have been covered in different angles. These two aspects
of PCAM is reviewed in the following two sub-sections.
2.1. Data Acquisition Process for PCAM

Data acquisition has three aspects, namely, registration, noise removal, and data reduction that
make a point-cloud meaningful to the CAD systems [36]. The registration process combines all the
fragmented point-clouds into a coordinate system. The noise removal process removes the unwanted
noises from the point-cloud. The data reduction process removes the redundant points from the
point-cloud. It is worth mentioning that registration and noise removal processes are sometimes
inseparable. These two aspects are described as follows.
Point-cloud registration methods are classified broadly into three categories: greedy searching-based,
global feature-based, and local feature-based methods. See [37] for the details. To ensure an accurate
and efficient point-cloud registration and noise removal, numerous researchers have developed
different techniques or algorithms. Some of the selected research are briefly discussed as follows.
Li and Song [38] have developed a modified iterative closest point algorithm based on dynamic
adjustment factor for the registration of point-clouds and CAD modeling. The registration time is
reduced significantly and registration accuracy is improved considerably, but the method’s convergence
process is very slow and needs many iterations. Zhao and Illius [39] have implemented machine
learning algorithms combined with the shape descriptor to classify the 3D point-clouds. James et al. [31]
have developed a photogrammetry color segmentation based technique as an alternative approach
to scan and construct 3D point-cloud for RE applications. Watanabe et al. [40] have shown various
ways for aligning the short-range point-clouds (captured by using a portable laser scanner) to a
large-scale point-cloud (captured by using a terrestrial laser scanner). They aligned the point-clouds
Appl. Sci. 2018, 8, 656 4 of 18
in a reasonable time with good precision. Yap et al. [6] have implemented different types of data
acquisition methods, such as engineering drawing, computed tomography, and optical coherence
tomography, to build the 3D printed bio-models for medical applications. They observed that the data
acquisition and conversion technique had a significant effect on the quality of the model. Syed et al. [41]
have investigated the influence of the surface characteristics on the point-cloud. They acquired the
point-cloud by using a laser scanning probe and observed that the surface characteristics affect the
quality of the point-cloud, no matter the scanning accuracy. On the other hand, regarding the data
reduction process, Lee and Woo [42] have developed an algorithm to remove the redundant points
from a point-cloud to reduce the execution time for integration of RE and RP. Removing the redundant
points from the point-cloud saves the computation time to a large extent.
2.2. Surface Model Creation Techniques for PCAM

Once the point-cloud is available and processed based on the aspects described above, a surface
model creation is considered. Since the point-clouds are obtained from RE, a great emphasis is given
on the creation of freeform surfaces. In this regard, the curve-based modeling and the polygon-based
modeling are the most commonly used methods [36]. These issues are described as follows.
In the curve-based modeling, it includes three steps, namely, segmentation, curve fitting, and
skinning. A Non-Uniform Rational B-Spline (NURBS) curves using the least square method is used in
the curve-based modeling technique. For example, Fayolle et al. [43] have developed a construction
tree model for surface model creation from the point-cloud. Schwartz et al. [44] have generated a 3D
model by building a loft feature through some curves generated by slicing the point-cloud wherein the
point-cloud data are obtained from 3D sketching. Xu et al. [45] have implemented a virtual approach
for slicing the point-cloud for AM process. Haiqiao et al. [46] have developed the algorithms for
generating blocked patterns automatically from the point-cloud data that can be used in garment
manufacturing. Peternell and Steiner [47] have developed an algorithm for the surface reconstruction of
a piecewise planar object or CAD model from the point-cloud. Pal [48] have developed a tangent plane
method for generating 3D geometry from the point-cloud. Oropallo et al. [49,50] have implemented a
point-cloud based approach to directly slicing of NURBS based model for 3DP rather than STL-based
slicing. They used original NURBS model and converted the model into a point-cloud, and the applied
direct slicing.
The polygon-based modeling (on the other hand) consists of four steps, namely, triangulation,
decimation, subdivision, and triangle to NURBS fitting. The triangulation can be performed by using
the methods called Delaunay triangulation, alpha shaping, crusting, and volumetric triangulation.
Recently, many authors have improved the efficiency of the abovementioned methods. For example,
Masuda et al. [32] have developed a method for a reconstruction of polygonal faces from the
point-cloud and mapped each point-cloud onto a 2D image for detecting the bounded planar faces.
Ma et al. [51] have developed an umbrella facet matching algorithm to construct the watertight
manifold triangle meshes from the point-cloud. Zhong et al. [52] have developed an inverse distance
square method for direct slicing of the spatial point-cloud data obtained from the RE for rapid
prototyping [26] applications. They also implemented the extended extrapolation method to obtain a
vertical slicing contour, wherein the contour points in each layer are searched, sorted, and reconstructed
by interpolation of NURBS. Yang et al. [53] have developed an algorithm based on the moving
least-squared process that can intersect with lines, planes, polygonal mesh, and NURBS surface for
the direct manufacturing of object given by a massive point-cloud without building the CAD model.
Percoco and Galantucci [54] have developed a genetic algorithm for direct slicing of the point-cloud for
RP. It can be used to overcome the limitations of polygonization of the point-cloud. Chang et al. [55]
have developed a method for surface reconstruction from the point-clouds for creating the textures on
the surface which can be used in a medical scaffold.
It is worth mentioning that, compared to the curve-based modeling processes, the polygon-based
modeling systems take less time regardless of the geometric complexity of the scanned parts. However,
Appl. Sci. 2018, 8, 656 5 of 18
it isSci.
Appl. still challenging
2018, to REVIEW
8, x FOR PEER reconstruct the fine details, such as the sharp corners and edges using 5 ofthe
18
methods mentioned above.
Apart
Apartfrom
fromthethepoint-clouds
point-cloudsobtained
obtainedby byusing
usingdata
dataacquisition
acquisitionsystem,
system,e.g.,
e.g.,aa3D
3Dscanner,
scanner,laserlaser
probe,
probe,and
andalike,
alike,as
asexplained
explainedin inabove,
above,aapoint-cloud
point-cloudcan canalso
alsobe
becreated
createdbyby using
using mathematical
mathematical
process.
process.Some
Someauthors
authors have
havealso
alsoworked
workedin the other
in the direction.
other For example,
direction. UllahUllah
For example, et al. et
[56–58] and
al. [56–58]
Ullah [59] have
and Ullah created
[59] have some
created point-clouds
some point-clouds thethe
using
usingthethe
mathematical
mathematicalprocesses
processescalled
callediterative
iterative
function
functionsystems
systemsand andMonte
MonteCarlo
Carlosimulation.
simulation.TheyTheyhave
haveusedusedthe
thepoint-clouds
point-cloudsas asthe
thebase
basemodels
models
and
andmanufactured
manufacturedthe theself-similar
self-similarobjects
objects(e.g.,
(e.g.,fractals)
fractals)and
andporous
porousstructures.
structures.The
Theissues
issuesrelated
relatedto to
the
thedesign
designfor
forAMAMusing
usingmathematically
mathematicallygenerated
generatedpoint-cloud
point-cloudhavehavealso
alsobeen
beendiscussed
discussedin in[56].
[56].
3.3.Method
Method
As
Asdescribed
describedininthetheprevious
previoussections,
sections,the
themain
mainemphasis
emphasisofofpoint-cloud
point-cloudbased
basedAM AMisison onthe
the
point-clouds obtained by scanning the existing objects. Alternatively, one can create point-clouds
point-clouds obtained by scanning the existing objects. Alternatively, one can create point-clouds
using
using an analyticalapproach,
an analytical approach,which
which hashas
notnot yet been
yet been studied
studied elaborately,
elaborately, as mentioned
as mentioned in the
in the previous
previous section,
section, too. Thus,too. Thus,
this thisdescribes
section section describes the proposed
the proposed method formethod
PCAM forasPCAM
shownasinshown
Figurein3.Figure
In this
3. In this approach, other than the analytical approach for creating the point-clouds, the CAD
approach, other than the analytical approach for creating the point-clouds, the CAD modeling and
modeling and modeling
triangulation triangulationare modeling
involved. are involved.
As shown As shown
in Figure in Figure
3, first 3, first theis point-cloud
the point-cloud created by the is
created by approach.
analytical the analytical
Then approach. Then theare
the point-clouds point-clouds
transformed areinto
transformed
solid models intousing
solidCAD
models using
packages,
CAD
which packages,
is referredwhich
to as is referred
CAD to as CAD
modeling. In themodeling.
next step, In
thethe next
solid CADstep, the solid
models are CAD
used to models
createarethe
used to create the
triangulation triangulation
model model
of the solids, of the
which solids, which
is referred is referred to modeling
to as triangulation as triangulation
and themodeling
outcome
and the outcome (STL data) can be used in the AM for building physical models.
(STL data) can be used in the AM for building physical models.
Point-cloud Created by an ②
① CAD Modeling
Analytical Approach
③
④
Additive Manufacturing Triangulation Modeling
Figure 3. Proposed method for Point-Cloud based Additive Manufacturing (PCAM).

Figure 3. Proposed method for Point-Cloud based Additive Manufacturing (PCAM).
Now the question is how to create the point-clouds using the analytical approach? In this regard,
Now
there are themain
two question is how to
approaches, create the
namely, the point-clouds
deterministicusing the analytical
point-cloud approach?
creation In this
process and regard,
stochastic
there are two main approaches, namely, the deterministic point-cloud creation process
point-cloud creation process [59]. In deterministic point-cloud creation process, one can use two and stochastic
point-cloud
different creation One
procedures. process [59].procedures
of the In deterministic
uses a point-cloud creation process,
parametric-equation-based one can and
approach use the
two
different procedures. One of the procedures uses a parametric-equation-based approach
other uses an algorithmic approach. On the other hand, in stochastic point-cloud creation process, and the other
usescan
one anuse
algorithmic approach.
a pure stochastic On the other
approach (e.g., ahand, in stochastic
point-cloud that ispoint-cloud
created by creation process,
Monte Carlo one can
simulation
use a pure stochastic approach (e.g., a point-cloud that is created by Monte Carlo
of a variable that follows normal distribution [59]) or a semi-stochastic approach where some affinesimulation of a
variable that follows normal distribution [59]) or a semi-stochastic approach where
maps are used in a semi-stochastic manner (e.g., IFS fractals [56]). However, in this study, the some affine maps
are used in a approach
deterministic semi-stochastic manner (e.g., IFS fractals [56]). However, in this study, the deterministic
is considered.
approach is considered.
3.1. Parametric-Equation-Based Approach
3.1. Parametric-Equation-Based Approach
In parametric-equation-based approach, a shape is modeled by a set of parametric equations.
In parametric-equation-based approach, a shape is modeled by a set of parametric equations.
For example, consider the point-clouds shown in Figure 4. As seen in Figure 4, four shapes, namely,
For example, consider the point-clouds shown in Figure 4. As seen in Figure 4, four shapes, namely,
Line, Ellipse, Hexagon, and Bicorn curve are represented by four different point-clouds. These point-
Line, Ellipse, Hexagon, and Bicorn curve are represented by four different point-clouds. These
clouds are created by using the parametric-equation-based approach described in Appendix A. It is
point-clouds are created by using the parametric-equation-based approach described in Appendix A.
worth mentioning that the parametric curves (e.g., Bezier curves, B-Splines, and NURBS) also belong
It is worth mentioning that the parametric curves (e.g., Bezier curves, B-Splines, and NURBS) also
to this category. The number of points in the point-cloud depends on the discretization of the
belong to this category. The number of points in the point-cloud depends on the discretization of the
parameter involved, as described in Appendix A. The application of the point-clouds created by
parameter involved, as described in Appendix A. The application of the point-clouds created by using
using parametric-equation-based approach is described in details in Section 4. However, for the sake
parametric-equation-based approach is described in details in Section 4. However, for the sake of
of better understanding, an example showing how to integrate these point-clouds with regard to
Figure 3 is shown in Figure 5.
As seen in Figure 5a, first, some piece-wise straight-lines are considered; these lines are modeled
by using a point-cloud created by the parametric equations defined in Equation (A1). Then the point-

Appl. Sci. 2018, 8, 656 6 of 18
better understanding, an example showing how to integrate these point-clouds with regard to Figure 3
is shown in Figure 5.
Appl.
Appl. Sci.
As2018,
Sci. seen8,8,in
2018, xx FOR PEER
Figure
FOR PEER5a,REVIEW
first, some piece-wise straight-lines are considered; these lines are modeled
REVIEW 66 of
of 18
18
by using a point-cloud created by the parametric equations defined in Equation (A1). Then the
cloud
cloud isis rotated
point-cloud rotated by
by using
is rotated usingbyEquations
Equations (A2)
(A2) and
using Equations (A3)
and(A2) to
to create
(A3)and (A3) the
create the required
theteeth
required
to create teeth of
of the
required gear.
theteeth The
gear.of thepoint-
The point-
gear.
clouds
clouds
The of the teeth
of the teethofare
point-clouds are transferred
thetransferred to CAD packages
to CAD packages
teeth are transferred to CAD forfor CAD modeling.
CAD modeling.
packages The result
The resultThe
for CAD modeling. of CAD
of CAD modeling
resultmodeling
of CAD
is
is shown
shown in
modeling inisFigure
Figure
shown 5b.
5b.inNowadays,
Figure 5b. CAD
Nowadays, CAD packages
packages
Nowadays, can perform
perform triangulation
canpackages
CAD can performmodeling,
triangulation modeling,
triangulationtoo.
too. The
The result
result
modeling,
of
too.triangulation
of triangulation modeling
The result ofmodeling is
triangulation shown
is shown in Figure
in Figure
modeling 5c. The
5c. The
is shown STL data
STL data
in Figure generated
generated
5c. The from
STL datafrom the triangulation
the triangulation
generated from the
modeling
modeling can
triangulation can then
then bebe used
modeling canto
used manufacture
tothen be used ato
manufacture a physical
physical model
manufacturemodelaof
of the
the gear using
using AM
gearmodel
physical AM (e.g.,
(e.g.,
of the 3D
gear printing),
3Dusing
printing),
AM
as
as shown
shown
(e.g., in
in Figure
Figureas
3D printing), 5d.
5d.shown in Figure 5d.
Bicorn
Bicorn curve
curve
Line
Line
Hexagon
Hexagon Ellipse
Ellipse
yy
xx
Figure
Figure 4.
4. Point-clouds
Point-clouds created
created by
by using
using the
the parametric-equation-based
parametric-equation-based approach.
approach.
Figure 4. Point-clouds created by using the parametric-equation-based approach.
yy
xx
(a)
(a) (b)
(b)
(d)
(d) (c)
(c)
Figure
Figure 5.
5. PCAM of gear model using parametric-equation-based approach. (a)
(a) Point-cloud of
of aa gear
Figure 5. PCAM
PCAMofofgear
gearmodel
modelusing
usingparametric-equation-based
approach. Point-cloud
(a) Point-cloud gear
of a
created
created by the
by the parametric equations of some piecewise lines; (b) CAD modeling of the gear; (c)
gear created by parametric equations
the parametric of some
equations piecewise
of some lines;lines;
piecewise (b) CAD modeling
(b) CAD of the
modeling gear;
of the (c)
gear;
Triangulation
Triangulation modeling
modeling of the
of the gear;
gear; (d) Additive
(d)(d)
Additive manufacturing
manufacturing (3D
(3D printing).
printing).
(c) Triangulation modeling of the gear; Additive manufacturing (3D printing).
3.2.
3.2. Algorithmic
Algorithmic Approach
Approach
Sometimes
Sometimes it it is
is not
not anan essay
essay task
task to
to image
image the
the right
right set
set of
of equations
equations for
for creating
creating aa point-cloud
point-cloud
using
using the
the method
method described
described in in the
the previous
previous sub-section.
sub-section. InIn this
this case,
case, aa point-cloud
point-cloud can
can be
be created
created
recursively using an algorithmic approach. Ullah et al. [58] have shown an algorithmic
recursively using an algorithmic approach. Ullah et al. [58] have shown an algorithmic approach approach
where
where set
set points
points are
are created
created recursively
recursively by by two
two user-defined
user-defined parameters
parameters called
called distance
distance and
and angle.
angle.
We
We have
have modified
modified their
their algorithm
algorithm to to the
the create
create point-cloud
point-cloud forfor geometric
geometric modeling.
modeling. Steps
Steps to
to create
create aa
point-cloud
point-cloud based
based on on aa recursive
recursive process
process are
are as
as Algorithm
Algorithm 1: 1:
Appl. Sci. 2018, 8, 656 7 of 18
3.2. Algorithmic Approach

Sometimes it is not an essay task to image the right set of equations for creating a point-cloud
using the method described in the previous sub-section. In this case, a point-cloud can be created
recursively using an algorithmic approach. Ullah et al. [58] have shown an algorithmic approach
where set points are created recursively by two user-defined parameters called distance and angle.
We have modified their algorithm to the create point-cloud for geometric modeling. Steps to create a
point-cloud based on a recursive process are as Algorithm 1:
Algorithm 1 Point-cloud Creation Algorithm

1 Define: Center Point Pc = (Pcx , Pcy ) ∈ <2 , Length d > 0, Initial Angle α ∈ <
2 Define: Instantaneous Distances (ri ∈ < | i = 1, ..., n)
3 Define: Rotational Angles (ρi ∈ <| i = 1, ..., n)
4 Calculate: P0 = (P0x , P0y ) so that P0x = Pcx + d cos α and P0y = Pcy + d sin α
Iterate: For i = 1, ..., n
5 Rotate P0 by an angle ρi around Pc in the counter-clockwise direction to
create Pi = (Pix , Piy ) so that

Pix = Pcx + ( P0x − Pcx ) cos ρi − P0y − Pcy sin ρi and

Piy = Pcy + ( P0x − Pcx ) sin ρi + P0y − Pcy cos ρi
Extend Pi to Pei that is point on the line Pc Pi at adistance
ri from Pc
Peix = Pcx + ( Pix − Pcx ) rdi and Peiy = Pcy + Piy − Pcy ri
d
End For
6 Output: Point-Cloud, PC = {Pei | i = 1, ..., n}
The description of the algorithm is as followed. The algorithm consists of four steps: Step 1 is the
input step. Step 2 is the calculation step. Step 3 is the iteration step. Step 4 is the output step. In the
input step, the following entities are defined: Center Point Pc = (Pcx , Pcy ) ∈ <2 , Length d > 0, Initial
Angle α ∈ <, Instantaneous Distances (ri ∈ < | i = 1, ..., n), and Rotational Angles (ρi ∈ <| i = 1, ..., n).
In the calculation step, P0 = (P0x , P0y ) is calculated, which is a point at a distance d and the line Pc P0
makes an angle α in the counter-clockwise direction from the x-axis. In the iteration step, the points
denoted as Pi = (Pix , Piy ) are created by rotating P0 at an angle ρi in the counter-clockwise direction
from the x-axis. Afterward, the points Pi = (Pix , Piy ) are placed at a distance ri from Pc resulting
Pei = (Pix , Piy ), i = 1, ..., n. In the output step, the points Pei = (Pix , Piy ), i = 1, ..., n, are collected for
creating the desired Point-Cloud, i.e., PC = {Pei | i = 1, ..., n}. Figure 6 schematically illustrates the
algorithm up to two iterations. As seen from Figure 6, the algorithm creates points with respect to Pc
and P0 depending on the values of ri and ρi . It can be used to create different kinds of planner shape.
In this respect, the user needs to choose the right pairs of Instantaneous Distances (ri ∈ < | i = 1, ..., n)
and Rotational Angles (ρi ∈ < | i = 1, ..., n). To get more insights into the algorithm, three example
shapes are created as shown in Figure 7. In particular, the point-clouds shown in Figure 7 correspond
to a circle, a curvy shape, and a leaf.
As seen in Figure 7a for α = 5◦ , ri = 20, i = 1, ..., 37, ρ1 = 0, ρ2 = 10, ..., ρ37 = 360 degrees, the points
of the point-clouds correspond to the points on the circumference of a circle having a radius of 20
and the center at (5, 10). By linearly decreasing ri and simultaneously increasing ρi and vice versa
creates the point-cloud of a curvy shape as shown in Figure 7b. Systematic increase and decrease in
both ri and ρi or keeping ρi constant for certain instants creates the point-cloud of a leaf is shown in
Figure 7c. The use of the algorithmic approach, along with the parametric-equation-based approach,
will be presented in detail in the next section.
desired Point-Cloud, i.e., PC = {Pei | i = 1, ..., n}. Figure 6 schematically illustrates the algorithm up to
two iterations. As seen from Figure 6, the algorithm creates points with respect to Pc and P0 depending
on the values of ri and ρi. It can be used to create different kinds of planner shape. In this respect, the
user needs to choose the right pairs of Instantaneous Distances (ri ∈ ℜ | i = 1, ..., n) and Rotational
Angles (ρi ∈ ℜ | i = 1, ..., n). To get more insights into the algorithm, three example shapes are created
as 2018,
Appl. Sci. shown in Figure 7. In particular, the point-clouds shown in Figure 7 correspond to a circle, a curvy8 of 18
8, 656
shape, and a leaf.
Pe1 = (Pe1x,Pe1y) Pe2 = (Pe2x,Pe2y)
P2 =(P2x,P2y)
P1 =(P1x,P1y)
r1 𝜌2
𝜌1 r2
P0 = (P0x,P0y) P0 = (P0x,P0y)
d d
𝛼 𝛼
Pc = (Pxc,Pyc) Pc = (Pxc,Pyc)
Appl. Sci. 2018, 8, x FOR PEER REVIEW 8 of 18
(a) (b)
and ρFigure
i or keeping ρi constant
6. Schematic forofcertain
diagram instants
a point-cloud creates
creation bythe point-cloudapproach.
an algorithmic of a leaf(a)
is First
shown in Figure
iteration;
Figure
7c. The 6. Schematic diagram of a point-cloud
alongcreation
with theby an algorithmic approach. approach,
(a) First iteration;
(b)use of the
Second algorithmic
iteration. approach, parametric-equation-based will be
presented
(b) Secondin detail in the next section.
iteration.
As seen in Figure 7a for α = 5°, ri = 20, i = 1, ..., 37, ρ1 = 0, ρ2 = 10, ..., ρ37 = 360 degrees, the points
of the point-clouds
30 correspond to the points
400 on the circumference of a circle having a radius of 20 and
60
the center at (5, 10). By linearly decreasing ri and simultaneously increasing ρi and vice versa creates
the point-cloud of a curvy shape as shown300 in Figure 7b. Systematic increase and decrease in both ri
40
20 200
ri
i
y
20
100
10 0 0
0 20 40 0 20 40 0 20 40 60
i i x
(a)
100 300 100
80 50
200
60
0
y
i
ri
40
100
-50
20
0 0 -100
0 10 20 30 40 0 10 20 30 40 -100 -50 0 50 100
i i x
(b)
60 375 50
300 25
40
225
0
ri
y
i
20 150
-25
75
0 0 -50
0 20 40 60 80 100 0 20 40 60 80 100 -50 -25 0 25 50
i i x
(c)
Figure 7. Point-cloud created by using the algorithmic approach. (a) Circle; (b) Curvy shape; (c) Leaf.
Figure 7. Point-cloud created by using the algorithmic approach. (a) Circle; (b) Curvy shape; (c) Leaf.
4. Cultural Heritage Preservation
4. Cultural Heritage Preservation
RE based AM is used for digitizing, preserving, and restoring artifacts having cultural
significance,
RE based AM asisdescribed in [27,60,61].
used for digitizing, As far as and
preserving, the preservation of cultural
restoring artifacts havingheritage using
cultural RE
significance,
technology
as described in is[27,60,61].
concerned,Asa great
far asdealthe of work has been
preservation done based
of cultural on the
heritage image
using REprocessing
technology is
technique.
concerned, For example,
a great Furferi
deal of work hasetbeen
al. [62] havebased
done created
onathe
2.5D modelprocessing
image (tactical model) from paintings
technique. For example,
(i.e., 2D art) that is useful for visually impaired and blind individuals to experience the content
Furferi et al. [62] have created a 2.5D model (tactical model) from paintings (i.e., 2D art) that is useful
(historically significant paintings). The reconstruction process consists of mainly five steps, as
follows: (1) Preliminary image processing for correcting the distortion and segmentation in the image;
(2) Perspective geometric-based scene reconstruction for creating a 2.5D virtual object; (3) Volume
reconstruction for retrieving the volumetric information of the 2.5D virtual object; (4) Virtual bas-
relief reconstruction for integrating the outcomes of the steps 2 and 3; (5) Rapid prototyping of the
virtual bas-relief. In this method, the explicit use of the point-cloud is not seen. In this study, the main
Appl. Sci. 2018, 8, 656 9 of 18
for visually impaired and blind individuals to experience the content (historically significant paintings).
The reconstruction process consists of mainly five steps, as follows: (1) Preliminary image processing
for correcting the distortion and segmentation in the image; (2) Perspective geometric-based scene
reconstruction for creating a 2.5D virtual object; (3) Volume reconstruction for retrieving the volumetric
information of the 2.5D virtual object; (4) Virtual bas-relief reconstruction for integrating the outcomes
of the steps 2 and 3; (5) Rapid prototyping of the virtual bas-relief. In this method, the explicit use of
the point-cloud is not seen. In this study, the main focus is to employ the point-cloud for creating the
artifacts which have cultural significance.
However, in RE based AM the point-clouds of the artifacts are obtained by using scanners, and
processing the
Appl. Sci. 2018, 8, xscanner
FOR PEER created
REVIEWpoint-clouds for the sake of AM requires a great deal of computational 9 of 18
efforts, as described in Section 2. Alternatively, one can use the method described in Section 3 to create
efforts,
the as described
point-cloud in Section
without using a2.scanner.
Alternatively, one canthus
This section use describes
the method thedescribed in Section
application 3 to
of the method
create theinpoint-cloud
described Section 3 for without usingpreserving,
digitizing, a scanner. This section thus
and restoring the describes the application
cultural heritage relevantofartifacts.
the
method described in Section 3 for digitizing, preserving, and restoring the cultural heritage
In particular, the motifs relevant to Ainu culture is considered. The Ainu are indigenous peoples used relevant
toartifacts.
live in theIn particular,
northern partthe motifs
of therelevant
Japanese toarchipelago
Ainu culture[63],
is considered. The Ainuand
namely, Hokkaido are indigenous
Aomori. They
also used to live in Sakhalin peninsula. The Ainu peoples often use exotic and unique motifs and
peoples used to live in the northern part of the Japanese archipelago [63], namely, Hokkaido crafted
Aomori. They also used to live in Sakhalin peninsula. The Ainu peoples often use exotic and unique
on their clothing, houses, personal belongings, tools, and spiritual artifacts. Sometimes these motifs
motifs crafted on their clothing, houses, personal belongings, tools, and spiritual artifacts. Sometimes
represent the identity of a segment of Ainu peoples living in a locality.
these motifs represent the identity of a segment of Ainu peoples living in a locality.
4.1. Classification of Ainu Motifs
4.1. Classification of Ainu Motifs
Figure 8 shows some photographs of Ainu artifacts crafted with the motifs. The authors took the
Figure 8 shows some photographs of Ainu artifacts crafted with the motifs. The authors took the
pictures at a souvenir shopping street located at the Akan Spa.
pictures at a souvenir shopping street located at the Akan Spa.
Figure 8. Some glimpses of Ainu motifs.

Figure 8. Some glimpses of Ainu motifs.
However, before creating the point-clouds of the motifs using the proposed method, it is
important
However,to study
beforethe types the
creating of the motifs. TheofSapporo
point-clouds the motifscity authority
using providesmethod,
the proposed a classification of
it is important
toAinu
studymotifs, as shown
the types of theinmotifs.
Table 1The
[64].Sapporo
As seencity
in Table 1, theprovides
authority motif number 1 takes theofshape
a classification Ainuofmotifs,
a
asthorn
shownthatinisTable
called1Ayusi in Ainu
[64]. As seen language.
in Table 1,The
themotif
motifnumber
number 2 takes
1 takesthethe
shape of aofspiral
shape a thornthatthat
is is
calledAyusi
called MoreuininAinu
Ainu language.
language. The
Themotif
motifnumber
number 3 takes thethe
2 takes shape of a of
shape spiral with that
a spiral smallisthorns
calledthat
Moreu
is called Arus-moreu in Ainu language. The motif number 4 takes the shape of a spiral with corners
that is called Sikike-nu-moreu in Ainu language. The motif number 5 takes the shape of an eye that
is called Sik in Ainu language. The motif number 6 takes the shape of intersects each other that is
called Utasa in Ainu language. The motif number 7 takes the shape of two spirals that is called Uren-
moreu in Ainu language. The motif number 8 takes the shape of two spirals shape with an eye that
Appl. Sci. 2018, 8, 656 10 of 18
in Ainu language. The motif number 3 takes the shape of a spiral with small thorns that is called
Arus-moreu in Ainu language. The motif number 4 takes the shape of a spiral with corners that is
called Sikike-nu-moreu in Ainu language. The motif number 5 takes the shape of an eye that is called
Sik in Ainu language. The motif number 6 takes the shape of intersects each other that is called Utasa
in Ainu language. The motif number 7 takes the shape of two spirals that is called Uren-moreu in
Ainu language. The motif number 8 takes the shape of two spirals shape with an eye that is called
Ski-uren-moreu in Ainu language. The motif number 9 takes the shape of a spiral plant that is called
Moreu-etok in Ainu language. The motif number 10 takes the shape of a vane that is called Punkar
in Ainu language. The motif number 11 takes shape of a flower that is called Apapo-piras (u) ke in
Ainu language. The motif number 12 takes shape of flower bud that is called Apapo-epuy in Ainu
language. The motifs number 13 and 14 shapes do not have Ainu names, but they look like a heart type
Appl. Sci. 2018, 8, x FOR PEER REVIEW 10 of 18
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piras
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Apapo-epuy
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motifs
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Different as 13
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number and, 14)
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motifs. thus,
14)The can
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can
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motifs classified
be
Ainu classified
classified motifs
called as
as [64].
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as
other the motifs.
plant
motifs.
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other motifs (i.e., the Table
canmotifs 1. Different
number 13 types
and of
number Hokkaido-based Ainu motifs [64].
piras
motifs,
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(u)
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ke, thus,
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be classified
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represent
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represent asAinu synthetic
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thus,
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can
motifs
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becalled
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motifs
classified
Description
motifs
as[64].
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[64].
as
as the
the motifs.
plant
Punkar,
plant motifs.
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The
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Number
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motifs represent
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Ainu
13
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number 14)
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be classified
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other
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piras
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other the plant
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Number 1
1 (i.e., Table
the motifs
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13 types
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number
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motifs
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motifs
shape as [64].
[64].
marked with
other thorn
motifs.
with thorn
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Motif number 13
Ainu Ayusi
and number
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other thorn
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Motif
Motif
Table Ainu Ayusi
types
Ayusi
Moreu Nameof Hokkaido-based A
A shape
shape marked
motifs
spiral [64].
marked
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with thornthorn
Number
2 12
Number Table 1. 1. Different
Different Ainu
Ainu
types
Ayusi
types
Moreu
Ayusi Name
Name
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of
of Hokkaido-based
Hokkaido-based A
A Ainu
shape
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motifs
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motifs
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marked A spiral
[64].
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shape
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thorn
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Number 1 2 Table
Motif 1. Different Ainu Moreu
types
Ayusi Nameof Hokkaido-based A Ainu
shape A spiral
motifs
marked
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[64].with thorn
122 Table 1. Different Moreu
Ayusi
types
Moreu of Hokkaido-based A shape
shape
Ainu A spiral [64].
marked
motifs
spiral shape
with
shape thorn
Number
Number21133 Motif Arus-moreu
Ainu
Ainu Ayusi
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Ayusi
Name
Name A spiral
AA
A
spiral
shape
shape
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marked
spiral
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shapemarked
with
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with
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with
thorns
thorns
Number
3 2 2 3 Ainu Moreu
Arus-moreu
Moreu Name A spiral A
shape
A spiral
Description
spiral with shape
shape small thorns
Number 231 1 3 Motif Ainu Ayusi
Arus-moreu
Arus-moreu
Moreu
Ayusi
Arus-moreu Name A
A spiralA shape
spiral
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A spiral marked
Description
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shape spiral with
shape
with shapewith
small
with
with thorn
thorns
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3241 Sikike-nu-moreu
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shape marked
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shapewith
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3324421 Ayusi
Arus-moreu
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4 3 244 Arus-moreu
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3
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44553 Arus-moreu
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shape
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5 4 Utasa
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5564 Sik
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57466
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6 6 574 Sikike-nu-moreu
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that intersects
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6857 Utasa
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shapes intersects
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7 67
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76
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that
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shape
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Utasa
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87996 Utasa
Moreu-etok
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spiral Twothat like
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87 Utasa
Moreu-etok
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an plant
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8 8 8997 Ski-uren-moreu
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like
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like
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aa with
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spirally an eye
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10 79 Uren-moreu
Moreu-etok
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like
shape alike shapes
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9
108 7 Uren-moreu
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like
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10 98 Ski-uren-moreu
Moreu-etok
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shape a with
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an eye
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10
9 11
10 9988 Ski-uren-moreu
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Moreu-etok
Ski-uren-moreu
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11
109 8 Apapo-piras Punkar
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11
10
11 99 Apapo-piras Punkar
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10
12
11
10 Punkar (u)
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10 11
12
10 9 Moreu-etok
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11
12
11
12
10 9 Moreu-etok
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ke AA Ashape
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12
11
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13 Apapo-epuy
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13 Apapo-epuy
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11 1210
11
12
13
11
Apapo-epuy
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11 Apapo-epuy
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14
12
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11 Apapo-epuy
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12 Apapo-epuy A shape like fishing
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12 13
12
14
13
14 Apapo-epuy --
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13
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14 Apapo-epuy - - AA shape
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12
13
14 Apapo-epuy - AA shape
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4.2. Point-Cloud 13
14
13 Creation
14 - AA shape
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4.2. Point-Cloud
4.2. Point-Cloud 13 Creation
13 14 Creation -- - A
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shapelike
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4.2. Point-Cloud
4.2. Point-Cloud
There are 13
14 Creation
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four main motifs as described - - above. The firstAthree A A shape
shape like
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modeled by using
4.2. Point-Cloud
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14 Creation -- above. The firstAthree shape
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the Point-Cloud
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4.2. parametric-equation-based
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main
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whereas above. the The
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whereas the The other first A
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4.2. There
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above. the The
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three of them
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of them can can be modeled
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be modeled by using
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4.2.parametric-equation-based
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First consider Creation
main
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for representing above. the Theother
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motifs canthreebe modeled
of
called them Moreu, by using
can be
Sik,modeledthe Utasa
and algorithmic
by using
using
approach.
4.2.
the Point-Cloud
approach. There
First are
consider Creation
four main
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point-clouds approach,
as described
for whereas
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the first
motifs canthreebe modeled
of
called them Moreu, by
can using
be
Sik, the
modeled
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4.2.parametric-equation-based
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as whereas
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First
4.2. Point-Cloud
the First consider
are
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consider
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The
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The
above.
representing
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the
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The
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the
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the
first
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first
motifs
for can
three
representing
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of
of them
called
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modeled
called
representing them Moreu,
Moreu,
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the
the
can
can be
bymotifbe modeled
Sik,
motif
Sik,
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and
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and
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the Utasa
and
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representing
can be of
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and
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Moreu using
algorithmic is
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First consider follows.
four theLet
main P
motifs=
point-clouds
i (P ,
as P
approach.
approach,
ix iy ) be
described
for an arbitrary
The
whereas
representing above.equationthe point
The other
the first
for
motifson the
three
representing
can be motif
of
modeled
called them called
Moreu, thecan
by Moreu.
be
motif
using
Sik, modeled The
called
andthe equation
by
Moreu using
algorithmic
Utasa using is
approach.
the
described First as
consider
parametric-equation-based follows. Let
theLet P
point-clouds
i = (P approach.
,
approach,
ix P iy ) be
for an The
representing
whereas equation
arbitrary point
the
thepointother for
motifsonrepresenting
can the
be motif
called
modeled Moreu, the
called motif
Moreu.
Sik, and
bythem
using called
and The
the UtasaMoreu
equation
using
algorithmic is
the
of
the P parametric-equation-based
described
approach.
There
described
approach. First
is are consider
as
defined four
as follows.
as
follows. the
main
follows.
Letpoint-clouds
P
P = (P approach.
i = (Papproach,
motifs ixas,
, P
P iy for
) be
described
) be an The
representing
whereas
an equation
arbitrary
arbitraryabove. the the
other
point for
motifs
The onrepresenting
can
on the
first
thebecalled
motif
three
modeled
motif Moreu, the
called
of
called by motif
Sik,
Moreu.
using
Moreu. called
can
the Utasa
The
Thebe Moreu using
equation
modeled
algorithmic
equation is by
the
of
the P parametric-equation-based
i
i First
described is consider
as follows.
defined
approach. as theLet
follows. Pi = (Papproach.
point-clouds
i
ix, Piyfor
ix
approach.
iy
anThe
) berepresenting The equation
arbitrary
equation the
point for
motifs
for onrepresenting
the called
representing motifMoreu, the
called
the motif
Sik, and
Moreu.
motif calledUtasa
The
called Moreuusing
equation
Moreu is
is
usingdescribed
the
of P
approach.
of the as follows.
is
i First defined
consider
isparametric-equation-based
Pparametric-equation-based
i Firstdefined
consider as theLet
as follows.
the
follows. Pi = (Pixapproach.
point-clouds
point-clouds , Piy)for be
for anThe arbitrary
representing
approach,
representing equation
whereas point
the
the for
motifson
motifs thethecalled
representing motifMoreu,
other
called called
can
Moreu, thebe Moreu.
motif
Sik,
Sik, and
modeled
and The
calledUtasa
Utasa equation
Moreu
by using
using
using is the
described
the
of P
described is
i First as
defined
as follows.
consider follows.
as
follows. Let
follows.
Let
theLet 𝑃P
Piii ====(P
point-clouds (P ix, P
(P𝑃approach.
ix, P +iyiy))for
𝑎𝜃be an
anThe
berepresenting
sin(𝜃 arbitrary
arbitrary 𝑃 =point
),equation 𝑃 for
point
the +on
on
motifs 𝑏𝜃 the
representing
the motif
motif
called
cos(𝜃 ) Moreu, called
the motif
called Moreu.
Moreu.
Sik, and The
called
The
Utasa equation
Moreu
(1)using
equation is
of
the
thePP
described is
Firstdefined
as
iparametric-equation-based
consider as follows.
the P
point-clouds
𝑃 = 𝑃 ix , P
approach.
+iy)for𝑎𝜃be an arbitrary
The
representing
sin(𝜃 ) ,equation
𝑃 = point
the
𝑃 for on
motifs
+ 𝑏𝜃 the
representing motif
called
cos(𝜃 ) called
Moreu, the Moreu.
motif
Sik, and The
calledUtasa equation
Moreu
(1) using is
algorithmic
of iparametric-equation-based
described approach.
is definedas follows. as follows.
Let 𝑃 approach. The equation
)),,equation for representing the motif called Moreu
(1) is
of
theP
of Piparametric-equation-based
i is defined
described is
In defined
as
Equation
as follows.
as
follows. follows.
(1), θLet
i = θ
𝑃P
P
i ==
0i + =
(P𝑃
=(i(P
, P+
, P+iyiy))𝑎𝜃
𝑃−ixapproach.
1)Δθ, 𝑎𝜃be sin(𝜃
bei =
anThe
sin(𝜃
an
arbitrary
1,...,n, ,
arbitrary
𝑃
𝑃 b >=
a, =point
𝑃
𝑃 bfor
point
0, ≥ +on
+
on
a,
𝑏𝜃 the
the
and
cos(𝜃
representing
𝑏𝜃 cos(𝜃 motif
motif
Δθ >
)) called
0. the motif
called
Figure
Moreu.
Moreu.
9a shows
The Moreu
called
The the
equation
(1)point-
equation
(1) is
described as follows. Let 𝑃 =
P0i +==(i(P 𝑃 approach.
ix, P
ix + 𝑎𝜃
) be sin(𝜃
an The )
arbitrary
, equation
𝑃 = 𝑃
point for + representing
𝑏𝜃
on thecos(𝜃 motif ) the
called motif
Moreu. called
Thethe Moreu
equation
(1) is
of P
described is
In defined
Equation
as follows. as follows.
(1), θLet = 𝑃θP0i +== (P𝑃 − 1)Δθ,
+iy𝑎𝜃
i =
sin(𝜃 1,...,n,) a,
𝑃 b >
= 0,
𝑃 b ≥+ a,𝑏𝜃 and cos(𝜃 Δθ > ) 0. Figure 9a shows point-
−−ixix,,1)Δθ,
P+iy)𝑎𝜃 be an arbitrary
)),, a, point on the motif called Moreu. The equation
i
of P
cloud i In
described is
In ofEquation
defined
Moreu
as
Equation as
in(1),
follows.
(1), θ
θ
i
i = θ
follows.
accordance
Let =
𝑃
θ
𝑃P + == (i
(P
(i
𝑃
with
𝑃 P Equation
1)Δθ,
+ )
𝑎𝜃beii ==sin(𝜃
an 1,...,n,
sin(𝜃 (1),
arbitrary
1,...,n,
𝑃
a,
𝑃 bb >>=
where = 0,
𝑃
point
0,
𝑃 abb =≥≥+ + a,𝑏𝜃
0.15,
on
a,𝑏𝜃 and
the
and
cos(𝜃
b
cos(𝜃Δθ
= 0.2,
motif
Δθ >>)) 0. 0.θ 0Figure
called=
Figure 0°, Δθ 9a
Moreu.
9a = shows
10°,
showsThen the
=
the (1)point-
29,
(1) P
equation0x =
point-
of Pi In
cloud is defined
Equation as follows.
(1), θi = θ
i 0 i
𝑃0 +=(iwith 𝑃− 1)Δθ, iy
𝑎𝜃i =sin(𝜃 1,...,n,), a, b= > 0,𝑃 b ≥+0.15, a,𝑏𝜃 and =Δθ >) 0. 0Figure 9a shows = (1)
the point-
Pi isof
of and Moreuas
Pdefined
in accordance
follows. +Equation (1), 𝑃where
b >=0,𝑃 baaa ≥= b Δθ
cos(𝜃 0.2,
>) 0.θ = 0°, Δθ 9a= 10°, n the 29, P0x =
of Pi In
cloud
3,
cloud
cloud isof
In of
of
Equation
0yMoreu
= 3. as
defined
Moreu
Equation
Moreu
in
in
in
(1),
(1),
θi = θ
accordance
follows.
accordance
θ i = θ
accordance
𝑃00 ++=(i (i 𝑃−− 1)Δθ,
with
with
with 1)Δθ, 𝑎𝜃ii =sin(𝜃
+Equation
Equation
Equation =
1,...,n,
1,...,n,
), a,
(1),
(1),
(1), ,
𝑃where
a,where
b
where > 0, ab ≥
=
a,
==+0.15,
a,𝑏𝜃and
0.15,
0.15,and
bb == 0.2,
cos(𝜃
b Δθ
= 0.2,
0.2, > 0.θ000Figure
θ
θ
== 0°,
Figure
= 0°, Δθ
0°, Δθ
Δθ 9a
==shows
=
10°,
10°, n
shows
10°, n =
point-
== (1)
n the 29,
29,
(1)
29,
P
P0x
P 0x =
point-
0x =
=
3, and
cloud Inof
In P 0y =
Moreu3.
Equation
Equation (1),
in(1), θii == θ
accordance
θ θ
𝑃00 ++=
𝑃 = (iwith
(i 𝑃−− representing
𝑃 1)Δθ,
+ 𝑎𝜃ii ==sin(𝜃
𝑎𝜃
+Equation
1)Δθ, 1,...,n,
sin(𝜃
1,...,n,
)
(1), a,
, a,
)the 𝑃
𝑃 bb >>=
where
=
=0,0,𝑃abb =≥≥+0.15,
𝑃 + a,𝑏𝜃
a,
𝑏𝜃 and
and
cos(𝜃
b =Δθ
cos(𝜃Δθ 0.2, >>described
) 0. Figure
θ0Figure
) 0. = 0°, Δθ 9a=shows
9a shows the
10°, n the (1)
= (1)
29,point-
PP0xi ==
point-
3,
3, and
and P
P 0y == 3.
Similarly, 3. the equation for , motif called Sik is as follows. Let
cloud
3, and
cloud In of 0yMoreu
PEquation
of 0y
= 3. the
Similarly,
Moreu in accordance
in(1),
𝑃
θi = θ𝑃0 +=
equation
accordance
=(iwith
for
𝑃 + Equation
− representing
with 1)Δθ, 𝑎𝜃 sin(𝜃
𝑎𝜃ii ==sin(𝜃
Equation 1,...,n, (1),
)
, a,
)the
(1),
𝑃where > 0,𝑃baacalled
bmotif
where
𝑃 =≥ 0.15,
+ 𝑏𝜃
a,𝑏𝜃and b Δθ
cos(𝜃
Sik = 0.2,
is
)
>described
) 0. θ = 0°,
θ000Figure Δθ as ==
9a 10°,
=shows
follows.n = Let
n the 29, P 0x =
point-
PP i =
3,
(P and
cloud
ix,PIn In )P
iyofbe =an
Similarly,
Similarly, 3. arbitrary
0yMoreu
Equation
Equation in
the
the accordance
(1),
(1),equation
θ
θ = θ0 + for
i point
i = θ0 +on
equation (i
for
(i
𝑃
with
−−the +Equation
representing
1)Δθ,
motif
representing
1)Δθ, i = 1,...,n,
called (1),
1,...,n, the
the
𝑃where
a,
Sik.
a, bb >>=
motif
motifThe0,
0, ==≥≥+0.15,
abbequation
called
called
0.15,
a,
a, and
and bb =Δθ
cos(𝜃
Sik
Sik
= is
of
Δθ
0.2,
0.2,
is P>>describedθ
0.
is
idescribed
0. == 0°,
Figure
defined
Figure
0°, Δθ
Δθ as
9a
as
9a
10°, n
10°,
follows.
asshows
follows.
follows.
shows == (1)
the
the
29,
29,
Let PP0x
0xi =
point-
Let P
point-i =
3, and
cloud
(Pixand
3, ,PIn
and P
of =
Similarly, 3.
Moreu
iy)PEquation
be
0y =an
0y
3.arbitrary in
the accordance
(1),equation
point
θi point
= θ0 +on for
on with
(iwith the
−the Equation
representing
motif
1)Δθ, i = called (1),
1,...,n, the where
Sik.motif
b >The
a,where a =
called
equation
0, abcalled 0.15,
≥ 0.15,
a, and b
Sik = 0.2,
is
ofisP>described
Δθ θ
described
i is
0. 0 = 0°,
defined
Figure Δθ as
9a = 10°,
follows.
asfollows. n
follows.
shows =
the 29,
Let PP
point-
0xi =
3,
(P ix,PSimilarly,
cloud iy)
In P
ofbe =an3.
0yMoreu
Equation the
in
arbitrary
(1),equation
accordance
θ = θ + for
(i − representing
Equation
motif
1)Δθ, i = called
1,...,n,the
(1), motif
Sik.
a, b The
> 0, b =
equation
≥ a, andSikb =of
Δθ 0.2,
P > i is
0.θ =
0defined
Figure 0°, Δθ as
9aas= 10°, n
follows.
shows =
the Let
29, PP i =
point-
(P ix,Piy)
cloud ofbe
ix,PSimilarly,
an
Moreu arbitrary point
in accordance
the equation on
forwith the motif
Equation
representing called (1),
)the Sik.
where
motif The equation
𝑃 aacalled= 0.15,
𝑏sinSik ofis
b =of P,described
0.2, i is θ0defined
= 0°, Δθ as=follows.
follows.
10°, n = Let 29, PP0xii =
0x
= is as 29, PP
i 0
3,
(P and
cloud iy)Pbe
of =an
Similarly, 3. arbitrary
0yMoreu the point
equation
in accordance 𝑃 on for
=with the
𝑃 motif
representing
+ 𝑎coscalled
Equation (𝜃(1), , Sik.
the motif
𝑃where The
= equation
called
=+0.15, Sik
b (𝜃 )P
0.2, i is θ0defined
described = 0°, Δθ asas follows.
10°, n = (2)
=follows. Let 0x =
Appl. Sci. 2018, 8, 656 11 of 18
First consider the point-clouds for representing the motifs called Moreu, Sik, and Utasa using
the parametric-equation-based approach. The equation for representing the motif called Moreu is
described as follows. Let Pi = (Pix , Piy ) be an arbitrary point on the motif called Moreu. The equation
of Pi is defined as follows.
Pix = P0x + aθi sin(θi ), Piy = P0y + bθi cos(θi ) (1)
In Equation (1), θ i = θ 0 + (i − 1)∆θ, i = 1, ..., n, a, b > 0, b ≥ a, and ∆θ > 0. Figure 9a shows the
point-cloud of Moreu in accordance with Equation (1), where a = 0.15, b = 0.2, θ 0 = 0◦ , ∆θ = 10◦ , n = 29,
P0x = 3, and P0y = 3.
Similarly, the equation for representing the motif called Sik is described as follows. Let Pi = (Pix ,Piy )
be an arbitrary point on the motif called Sik. The equation of Pi is defined as follows.
Pix = P0x + a cos3 (θi ), Piy = P0y + b sin3 (θi ), (2)
In Equation (2), θ i = θ 0 + (i − 1)∆θ, i = 1, ..., n, a, b > 0, a = b, ∆θ > 0, and 0 ≤ θ i ≤ 360. Figure 9b

Appl. Sci. 2018, 8, x FOR PEER REVIEW
Appl. Sci.the
shows 2018, 8, x FOR PEER
point-cloud Sik in accordance with Equation (2), where a = 2, b = 2, θ 0 = 0◦ , ∆θ 11
ofREVIEW of 18
of ◦18,
11 10
=
n = 37, P0x = 3, and P0y = 3. The third main motif called Utasa which takes shape of two lines intersected
at mid-point.
mid-point. Thus,
at mid-point. Thus, the
the point-cloud
point-cloud of
of Utasa
Utasa can
can bebe created
created by using
by using line
using line Equation
line Equation (A1)
Equation (A1) which
(A1) which
which isis
is
at Thus, the point-cloud of Utasa can be created by
described
describedin in Section
inSection 3.1.
Section3.1.
3.1.
described
6 6
6 6
3 3
yy
yy
3 3
0 0
0 0
0 3 6 0 3 6
0 3 6 0 3 6
x x
x x
(a)
(a) (b)
(b)
Figure
Figure 9.
9. Point-clouds
Point-clouds created
created using
using the
approach. (a)
(a) Moreu;
Moreu; (b)
(b) Sik.
Sik.
Figure 9. Point-clouds created using the parametric-equation-based approach. (a) Moreu; (b) Sik.
The
The fourth
fourth main
main motif
motif called
called Ayusi
Ayusi cannot
cannot be be created
created by by using
using the
approach.
The Thus,
fourth the
main Ayusi
motif can be
called modeled
Ayusi using
cannot the
be
approach. Thus, the Ayusi can be modeled using the algorithmic approach. algorithmic
created by approach.
using the parametric-equation-based
Figure
approach.
Figure 10
10 shows
Thus, the
the point-cloud
the Ayusi
shows can be modeled
point-cloud of
of Ayusi
using
Ayusi in
in accordance
the algorithmic
accordance with the
the algorithm
algorithm described
withapproach. described in in Section
Section
3.2,
3.2, for α = 0°, d = 10, Pcx = 0, Pcy = 2, and where ri and ρi are systematically adjusted for i = 1, 2, …,
for α
Figure = 0°,
10 d =
shows10, P
thecx = 0, P cy = 2, and
point-cloud of where
Ayusi in r i and ρi are with
accordance systematically
the algorithmadjusted for
described i =
in 1, 2,
Section 85.
…,3.2,
85.
Some
for α = 0motifs
Some
◦
motifs can
, d = 10, Pcxbe
can = 0,created
be created by
by combining
Pcy = 2, and where ri andboth
combining ρi arethe
both parametric-equation-based
systematically
the adjusted for i = 1, 2,approach
parametric-equation-based and
. . . , 85. Some
approach and
algorithmic
motifs can be
algorithmic approach,
created by
approach, the example
example is
combining
the shown
both
is in
in Figure
Figure 11. 11. In
In Figure
shown Figure 11 11 the point-cloud
approach
the and of
point-cloud of Series1
Series1 is
algorithmic is
created
approach, using
the the algorithmic
example is shown approach
in Figure and
11. Series2
In Figure is11created
the by using
point-cloud
created using the algorithmic approach and Series2 is created by using the parametric-equation- the
of parametric-equation-
Series1 is created using
based
the approach.
algorithmic
based approach.approach and Series2 is created by using the parametric-equation-based approach.
20 200 10
20 200 10
150
150
100 5
yy
10 5
ii
ri ri
10 100
50
50
0
0 0 0
0 0 -15 -10 -5 0 5 10 15
0 25 50 75 100 0 25 50 75 100 -15 -10 -5 0 5 10 15
0 25 50 75 100 0 25 50 75 100 x
i i x
i i
Figure
Figure 10.
Figure 10. Point-clouds
10. Point-clouds of
Point-clouds of Ayusi
of created
Ayusicreated
Ayusi using
createdusing the
usingthe algorithmic
thealgorithmic approach.
algorithmicapproach.
approach.
10
10
5
yy
Algorithm-based
Algorithm-based
Equation-based
Equation-based
0
0
0 5 10
10 100 5
i
ri
50
0
0 0
-15 -10 -5 0 5 10 15
0 25 50 75 100 0 25 50 75 100
i i x
Appl. Sci. 2018, 8, 656 12 of 18
Figure 10. Point-clouds of Ayusi created using the algorithmic approach.
10
y
Algorithm-based
Equation-based
0
0 5 10
x
Figure 11.
Figure 11. Point-clouds
Point-clouds of
of Ski-uren-moreu
Ski-uren-moreu created using both
created using both the
the algorithmic
algorithmic approach
approach and
and
4.3. CAD Modeling,

Appl. Sci. Triangulation
2018, 8, x FOR PEER REVIEWModeling and AM 12 of 18
Based on the Ainu motifs, three models, namely, Model-1, Model-2, and Model-3 are created.
4.3. CAD Modeling, Triangulation Modeling and AM
This section describes the CAD Modeling, Triangulation Modeling, and execution of AM, as described
in FigureBased on the Ainu
3, of Model-1, motifs, three
Model-2, models, namely, Model-1, Model-2, and Model-3 are created.
and Model-3.
This section describes the CAD Modeling, Triangulation Modeling, and execution of AM, as
The Model-1 is created by using four Ski-uren-moreus and a Sik (shown in Figure 9b). Other three
described in Figure 3, of Model-1, Model-2, and Model-3.
Ski-uren-moreus are obtained by rotation a Ski-uren-moreu as shown in Figure 11. The rotation is
The Model-1 is created by using four Ski-uren-moreus and a Sik (shown in Figure 9b). Other
performed using Equations (A2) and (A3), where θ = π/2, π, and 3π/2. Combining all the point-clouds,
three Ski-uren-moreus are obtained by rotation a Ski-uren-moreu as shown in Figure 11. The rotation
the point-cloud
is performed of Model-1
using is obtained
Equations (A2) and as shown
(A3), where inθFigure 12a.
= π/2, π, andNow,
3π/2. the point-clouds
Combining all the of Model-1
point-
is clouds,
transferred the point-cloud
to commerciallyof Model-1 is
available
Appl. Sci. 2018, 8, x; doi: FOR PEER REVIEW obtained
CAD as shown
package in
for Figure
CAD 12a. Now,
modeling. the
The point-clouds
result of of CAD
the
www.mdpi.com/journal/applsci
Model-1
modeling is is transferred
shown to commercially
in Figure 12b. Onceavailable
the CAD CAD package is
modeling fordone,
CAD modeling. The resultmodeling
the triangulation of the is
CAD modeling is shown in Figure 12b. Once the CAD modeling is done, the
performed simply by saving the CAD model into an STL data file using a CAD package (the detailstriangulation modeling
is performed
are not shown tosimplyavoidby saving the CAD The
commerciality). model into an
result of STL data file using
triangulation a CAD package
modeling is shown (theindetails
Figure 12c.
The are
STLnot shown
data to avoidfrom
generated commerciality). The result
the triangulation of triangulation
modeling can bemodeling
used to is shown
build in Figure model
a physical 12c. of
The STL data generated from the triangulation modeling can be used to build a physical model of the
the Model-1 using AM devices (e.g., 3D printer) as shown in Figure 12d. In this case, an ordinary 3D
Model-1 using AM devices (e.g., 3D printer) as shown in Figure 12d. In this case, an ordinary 3D
printer is used (the details are not shown to avoid commerciality).
printer is used (the details are not shown to avoid commerciality).
(a) (b)
(d) (c)
Figure 12. Model-1 based on Ainu motifs. (a) Point-cloud; (b) Solid CAD model; (c) Triangulation
Figure Model-1
12.(d)
data; Physicalbased
modelon Ainu
built motifs.
by 3D (a) Point-cloud; (b) Solid CAD model; (c) Triangulation data;
printer.
(d) Physical model built by 3D printer.
The Model-2 is created based on Moreu, Sik, and Utasa of main Ainu motifs. A total of twenty-
four Moreus, eight Siks, one Utasa, and lines are used for creating the Model-2 as shown in Figure 13.
The step-by-step point-clouds creation procedure of the Model-2 are as follows. Firstly, using
Equation (A1), the point-cloud of Utasa and Square shape is created. Then, the point-clouds of two
Moreu motifs are created so that they become symmetric about the y-axis. Next, the point-cloud of
two lines are created to connect the point-clouds of the Moreu motifs to the point-cloud of a square.
Appl. Sci. 2018, 8, 656 13 of 18
The Model-2 is created based on Moreu, Sik, and Utasa of main Ainu motifs. A total of
twenty-four Moreus, eight Siks, one Utasa, and lines are used for creating the Model-2 as shown
in Figure 13. The step-by-step point-clouds creation procedure of the Model-2 are as follows. Firstly,
using Equation (A1), the point-cloud of Utasa and Square shape is created. Then, the point-clouds of
two Moreu motifs are created so that they become symmetric about the y-axis. Next, the point-cloud
of two lines are created to connect the point-clouds of the Moreu motifs to the point-cloud of a square.
The same is done for the two other point-clouds of Moreu motifs, which are symmetrical about the
y-axis. Then, point-cloud of Sik is created on top of the Moreu point-clouds. Now, the point-cloud of
two connecting lines, Moreu, and Sik are rotated using Equations (A2) and (A3), where θ = π/2, π,
and
13 of 18
3π/2. The same operation is repeated using Equations (A2) and (A3), where θ = π/4, 3π/4, 5π/4, and
and 7π/4,
7π/4, to complete
to complete the the required
required point-cloud.
point-cloud. TheThe result
result is is shown
shown ininFigure
Figure13a.
13a.The
TheCAD
CADmodeling,
modeling,
triangulation modeling, and AM process of Model-2 are performed similarly to the Model-1,
triangulation modeling, and AM process of Model-2 are performed similarly to the Model-1, as shown as
shown in Figure 13.
in Figure 13.
(a) (b)
(d) (c)
Figure 13. Model-2 based on Ainu motifs. (a) Point-cloud; (b) Solid CAD model; (c) Triangulation data;
data; (d) Physical model built by 3D printing.
(d) Physical model built by 3D printing.
The Model-3 is created based on the Ainu motif shown in Figure 14a. It consists of Moreu, Sik,
Ayusi,The Model-3
ellipses, is created
curves, basedThe
and lines. on point-cloud
the Ainu motif shown
of Ayusi is in Figure
created 14a. the
using It consists of Moreu,
algorithmic Sik,
approach
Ayusi,
and restellipses,
of the curves, and lines.
point-cloud The point-cloud
are created of Ayusi is created using theapproach
using the parametric-equation-based algorithmic approach
which are in
and rest of the point-cloud are created using the parametric-equation-based approach
described in the previous section. Figure 14b shows the point-cloud of Ainu motif shown in Figure which are in
14a. The in
described CAD modeling,
the previous triangulation
section. modeling,
Figure 14b shows theand AM process
point-cloud ofmotif
of Ainu Model-2
shownarein performed
Figure 14a.
similarly to the Model-1 and Model-2, as shown in Figure 14.
The CAD modeling, triangulation modeling, and AM process of Model-2 are performed similarly to
the Model-1 and Model-2, as shown in Figure 14.
As seen from Figure 13, the Model-2 and Model-3 are more complicated than the Model-1, thus
it consumes more time. It worth mentioning that while creating the point-cloud, it is better to start
first from the center of a model and go outward. This step helps calculate the size of the shape and
its location on the x-y plane. As shown in Figures 12 and 13, the models correspond to the main
motifs (see Table 1). One can combine other motifs (e.g., synthetic, and plant motifs) to creates other
(a) (b)
(d) (c)
data; (d) Physical model built by 3D printing.
Appl. The Model-3

Sci. 2018, 8, 656 is created based on the Ainu motif shown in Figure 14a. It consists of Moreu, 14 Sik,
of 18
Ayusi, ellipses, curves, and lines. The point-cloud of Ayusi is created using the algorithmic approach
and rest of the point-cloud are created using the parametric-equation-based approach which are in
culturally in
described significant artifacts
the previous of Ainus.
section. Since
Figure 14bthe point-cloud
shows creation of
the point-cloud process
Ainu does
motifnot depend
shown on the
in Figure
software package, it can be integrated with other devices used in the manufacturing
14a. The CAD modeling, triangulation modeling, and AM process of Model-2 are performed of artifacts, e.g.,
2D printing.
similarly to the Model-1 and Model-2, as shown in Figure 14.
(a) (b)

(d) (c) 14 of 18
(e)
Figure 14. Model-3 based on Ainu motifs. (a) Ainu Motif; (b) Point-cloud; (c) Solid CAD Model; (d)
Figure 14. Model-3 based on Ainu motifs. (a) Ainu Motif; (b) Point-cloud; (c) Solid CAD Model;
Triangulation data; (e) Physical model built by 3D printing.
(d) Triangulation data; (e) Physical model built by 3D printing.
As seen from Figure 13, the Model-2 and Model-3 are more complicated than the Model-1, thus
5. Concluding Remarks
it consumes more time. It worth mentioning that while creating the point-cloud, it is better to start
first from the center
Currently, of a emphasis
the main model and ofgo outward. based
point-cloud This step
AMhelps calculate
is on the the sizeobtained
point-clouds of the shape and
by using
its location on the x-y plane. As shown in Figures 12 and 13, the models correspond to
a 3D scanner or by using image processing. An alternative approach can also equally be helpful, the main motifs
(see Table 1). One
as demonstrated in can combine two
the previous other motifs Particularly,
sections. (e.g., synthetic,
the and plant motifs)
combination of theto creates other
equation-based
culturally significant
and algorithmic artifacts
approach of Ainus.
of creating Since the point-cloud
point-clouds help createcreation
meaningprocess
objects,does
e.g., not depend
objects on
having
the software
cultural package,asitshown
significance can beinintegrated withsection.
the previous other devices
In someused in one
cases, the manufacturing
can integrate theofstochastic
artifacts,
e.g., 2D printing.
approach of creating point-cloud with the presented deterministic approach. This issue is open for
further research. There are other open issues for future research, as well. For example, what if one
5. Concludingthe
superimposes Remarks
point-cloud obtained by a 3D scanner on the point-cloud obtained by the presented
Currently, the main emphasis of point-cloud based AM is on the point-clouds obtained by using
a 3D scanner or by using image processing. An alternative approach can also equally be helpful, as
demonstrated in the previous two sections. Particularly, the combination of the equation-based and
algorithmic approach of creating point-clouds help create meaning objects, e.g., objects having
cultural significance as shown in the previous section. In some cases, one can integrate the stochastic
Appl. Sci. 2018, 8, 656 15 of 18
approach? If the point-cloud obtained by the presented approach is considered the ideal point-cloud,
then the point-cloud obtained by a 3D scanner can be processed based on the ideal one. This might
open a new direction for PCAM. Nevertheless, as shown in the previous section, Ainu motifs can
easily be modeled by the proposed PCAM, although the motifs are complex (i.e., having a complex
structure of radius of curvature). As a result, one can use the proposed PCAM for creating aesthetic
artifacts lucidly having complex geometry.
Author Contributions: Tashi, AMM Sharif Ullah, Michiko Watanabe, and Akihiko Kubo conceived the idea.
Tashi and AMM Sharif Ullah conducted the literature review. Tashi, AMM Sharif Ullah and Michiko Watanabe
developed the method. Tashi, AMM Sharif Ullah, and Akihiko Kubo developed the rapid prototypes. Tashi and
AMM Sharif Ullah wrote the manuscript.
Conflicts of Interest: The authors declare no conflict of interest.
Appendix A. Details of Equation-Based Point-Clouds

Let P0 = (P0x , P0y ) and P1 = (P1x , P1y ) be the starting and end points of a straight-line in the x-y
plane. Let ∀t ∈ [0, 1] be the parameter. An arbitrary point, P(t) = (Px (t), Py (t)) between P0 and P1 is
given as follows:
Px (t) = P0x (1 − t) + P1x (t) Py (t) = P0y (1 − t) + P1y (t) (A1)
While creating a point-cloud using Equation (A1), the parameter is varied as follows:
t = 0, ∆t, 2∆t, ..., 1. Thus, the value of ∆t decides the number of points in the point-cloud. In Figure 4,
the point-cloud representing a straight-line is created using the abovementioned formulation.
A straight-line given by the point-cloud defined by Equation (A1) can be used as an edge of the
face of a shape (e.g., a hexagon). In this case, one can rotate the point-cloud around the center of the
shape to create other edges, as required. To be more specific, let Pr = (Prx , Pry ) be the center of the
shape and P0 (t) = (P0 x (t), P0 y (t)) be the position of the point, P(t) = (Px (t), Py (t)) after its rotation around
Pr = (Prx , Pry ) in the counter-clockwise direction by an angle θ. Thus, the following formulation holds:
Px0 (t) = Prx + ( Px (t) − Prx ) cos θ − Py (t) − Pry sin θ

(A2)
Py0 (t) = Pry + ( Px (t) − Prx ) sin θ + Py (t) − Pry cos θ

(A3)
The formulation defined by Equations (A2) and (A3) is used five times to create the five
point-clouds of the five edges from the point-cloud of the first edge for θ = π/3, 2π/3, π, 4π/3,
and 5π/3. This way one can create the face of any shape in terms of point-clouds.
Let Pc = (Pcx , Pcy ) be a center of ellipse in the x-y plane. Let ∀t ∈ [0, 1] be the parameter. Consider, a
and b are major and minor radius of the ellipse, respectively. For ellipse, a, b > 0 and a > b. An arbitrary
point, P(t) = (Px (t), Py (t)) is given by
Px (t) = Pcx + a cos(2πt) Py (t) = Pcy + b cos(2πt) (A4)
While creating a point-cloud using Equation (A4), the parameter is varied as follows: t = −1,
−1 + ∆t, −1 + 2∆t, ..., 1. Thus, the value of ∆t decides the number of points in the point-cloud.
In Figure 4, the point-cloud representing the ellipse is created using the abovementioned formulation.
Let P(t) = (Px (t), Py (t)) be an arbitrary point in the x-y plane. Let ∀t ∈ [−1, 1] be the parameter.
A curve called Bicorn curve is given as follows:
cos2 (πt)(2 + cos(πt))

Px (t) = sin(πt) Py (t) = (A5)
3 + sin2 (πt)
Appl. Sci. 2018, 8, 656 16 of 18
While creating a point-cloud using Equation (A5), the parameter is varied as follows: t = −1,
−1 + ∆t, −1 + 2∆t, ..., 1. Thus, the value of ∆t decides the number of points in the point-cloud. In
Figure 4, the point-cloud representing the Bicorn curve is created using the abovementioned formulation.
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Analytical Point-Cloud Based Geometric Modeling For AM and Its Application To CH Preservation

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Featured Application: Featured Application: Without relying on scanner or image processing,

Keywords: point-cloud; additive manufacturing; geometric modeling; cultural heritage;

Appl. Sci. 2018, 8, 656; doi:10.3390/app8050656 www.mdpi.com/journal/applsci

Figure 2. A workflow for Reverse Engineering (RE) based AM.

Appl. Sci. 2018, 8, x; doi: FOR PEER REVIEW www.mdpi.com/journal/applsci

Figure 2. A workflow for Reverse Engineering (RE) based AM.

2.1. Data Acquisition Process for PCAM

2.2. Surface Model Creation Techniques for PCAM

Figure 3. Proposed method for Point-Cloud based Additive Manufacturing (PCAM).

Appl. Sci. 2018, 8, x; doi: FOR PEER REVIEW www.mdpi.com/journal/applsci

3.2. Algorithmic Approach

Algorithm 1 Point-cloud Creation Algorithm

Pe1 = (Pe1x,Pe1y) Pe2 = (Pe2x,Pe2y)

Appl. Sci. 2018, 8, x; doi: FOR PEER REVIEW www.mdpi.com/journal/applsci

Figure 8. Some glimpses of Ainu motifs.

Pix = P0x + aθi sin(θi ), Piy = P0y + bθi cos(θi ) (1)

Pix = P0x + a cos3 (θi ), Piy = P0y + b sin3 (θi ), (2)

In Equation (2), θ i = θ 0 + (i − 1)∆θ, i = 1, ..., n, a, b > 0, a = b, ∆θ > 0, and 0 ≤ θ i ≤ 360. Figure 9b

4.3. CAD Modeling,

Appl. The Model-3

Appl. Sci. 2018, 8, x FOR PEER REVIEW

Appl. Sci. 2018, 8, x; doi: FOR PEER REVIEW www.mdpi.com/journal/applsci

Appendix A. Details of Equation-Based Point-Clouds

Px (t) = P0x (1 − t) + P1x (t) Py (t) = P0y (1 − t) + P1y (t) (A1)

Px0 (t) = Prx + ( Px (t) − Prx ) cos θ − Py (t) − Pry sin θ

Py0 (t) = Pry + ( Px (t) − Prx ) sin θ + Py (t) − Pry cos θ

Px (t) = Pcx + a cos(2πt) Py (t) = Pcy + b cos(2πt) (A4)

cos2 (πt)(2 + cos(πt))

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