調理ロボットで学んだ自動化のコツ

Laboratory Automation Developers Conference 2020 (LADEC2020)
Session 1-6: 宮武茉子（東京大学）
朝食ロボット・クレープロボットの動画はこちら↓
https://www.youtube.com/channel/UCjr0NOy7g0At--OlXwzKgWw/featured
LADEC2020についてはこちら↓
https://laboratoryautomation.connpass.com/event/187445/

Transcript

1. ௐཧϩϘοτͰֶΜͩ
   ࣗಈԽͷίπ
   ౦ژେֶେֶӃిؾܥ޻ֶઐ߈ɹٶ෢ᣈࢠ
   

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2. ྉཧʷ΋ͷͮ͘Γ
   ٶ෢ᣈࢠ
   ࠷ۙ͸ݚڀͯ͠·͢
   

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3. ௐཧͷࣗಈԽ
   

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4. ே৯ϩϘοτ
   ʢʣ
   

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5. View Slide

6. ͳΜͰ΋͔ͭΊΔϋϯυʁ
   ࣗࡏʹಈ͚ΔϩϘοτʁ
   "*Ͱ෺ମݕ஌ʁ
   

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7. https://youtu.be/Wl8ggFsR2zA
   

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8. ສԁͷϩϘοτ
   %ϓϦϯλͰ࡞ͬͨϋϯυ
   ϩϘοτͷγεςϜ
   

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9. େֶੜਓͰ
   όʔδϣϯϲ݄Ͱ੍࡞
   

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10. ࿡ຊ໦ͷϗςϧͰ࣮ূ࣮ݧ
    

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12. ɹϓϩδΣΫτ։࢝
    ɹબߟձͰσϞʢWFSʣ
    ɹςΩαεͰలࣔʢWFSʣ
    ɹϗςϧͰ࣮ূ࣮ݧʢWFSʣ
    εέδϡʔϧ
    

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13. ɹϓϩδΣΫτ։࢝
    ɹબߟձͰσϞʢWFSʣ
    ɹςΩαεͰలࣔʢWFSʣ
    ɹϗςϧͰ࣮ূ࣮ݧʢWFSʣ
    εέδϡʔϧ
    ϲ݄ͷ௕ظٳՋͰόʔδϣϯΛ੍࡞
    

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14. ࠷଎Ͱ࡞ΔͨΊͷ
    ཁ݅ఆٛ
    

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15. ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ
    ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ
    ɾύϯΛম͘
    ɾ͝൧Λਬ͘
    ɾཛΛׂΔ
    ɾ໨ۄম͖Λ࡞Δ
    ɾϕʔίϯΛম͘
    ɾ໺ࡊΛম͘
    ɾίʔώʔΛυϦοϓ͢Δ
    ɾίʔώʔΛग़͢
    ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ
    ɾௐຯྉͰຯ෇͚͢Δ
    ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ
    ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘
    ɾΦϜϨπΛ࡞Δ
    ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ
    ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ
    ɾ໺ࡊΛ੾Δ
    ɾ੝Γ෇͚Λ͢Δ
    ɾຯḩोΛ࡞Δ
    ɾཛম͖Λ࡞Δ
    ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ
    ɾຯ෇͚ΛΧελϚΠζͰ͖Δ
    ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ
    ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ
    

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16. ೥͔͚ͯ׬ᘳͳ΋ͷΛ࡞Δ
    ϲ݄Ͱͦͦ͜͜ಈ͘΋ͷΛ࡞Δ
    

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17. ಈ͘΋ͷΛ࡞Δ
    ࣮ࡍʹಈ͔͢ վળ఺୳͢
    

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18. ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ
    ɾௐຯྉͰຯ෇͚͢Δ
    ɾ੝Γ෇͚Λ͢Δ
    ɾίʔώʔΛग़͢
    ɾཛΛׂΔ
    ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘
    ɾΦϜϨπΛ࡞Δ
    ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ
    ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ
    ɾ໺ࡊΛ੾Δ
    ɾຯḩोΛ࡞Δ
    ɾཛম͖Λ࡞Δ
    ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ
    ɾຯ෇͚ΛΧελϚΠζͰ͖Δ
    ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ
    ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ
    ɾίʔώʔΛυϦοϓ͢Δ
    ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ
    ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ
    ɾ͝൧Λਬ͘
    ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ
    ΍Δ
    ઈର΍Δ͜ͱ
    ɾύϯΛম͘
    ɾ໨ۄম͖Λ࡞Δ
    ɾϕʔίϯΛম͘
    ɾ໺ࡊΛম͘
    ՋͳΒ΍Δ͜ͱ ΍Βͳ͍͍ͯ͘͜ͱ
    

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19. ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ
    ɾௐຯྉͰຯ෇͚͢Δ
    ɾ੝Γ෇͚Λ͢Δ
    ɾίʔώʔΛग़͢
    ɾཛΛׂΔ
    ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘
    ɾΦϜϨπΛ࡞Δ
    ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ
    ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ
    ɾ໺ࡊΛ੾Δ
    ɾຯḩोΛ࡞Δ
    ɾཛম͖Λ࡞Δ
    ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ
    ɾຯ෇͚ΛΧελϚΠζͰ͖Δ
    ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ
    ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ
    ɾίʔώʔΛυϦοϓ͢Δ
    ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ
    ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ
    ɾ͝൧Λਬ͘
    ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ
    ΍Δ
    ઈର΍Δ͜ͱ
    ɾύϯΛম͘
    ɾ໨ۄম͖Λ࡞Δ
    ɾϕʔίϯΛম͘
    ɾ໺ࡊΛম͘
    ՋͳΒ΍Δ͜ͱ ΍Βͳ͍͍ͯ͘͜ͱ
    

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20. ޻ఔͷॻ͖ग़͠
    ઈର΍Δ͜ͱ
    ɾύϯΛম͘
    ɾ໨ۄম͖Λ࡞Δ
    ɾϕʔίϯΛম͘
    ɾ໺ࡊΛম͘
    ύϯΛऔΓग़͢
    ύϯΛτʔελʔʹೖΕΔ
    τʔελʔͷεΠονΛೖΕΔ
    ׂΒΕͨཛΛऔΓग़͢
    ཛΛম͘
    ໺ࡊΛऔΓग़͢
    ໺ࡊΛম͘
    ϕʔίϯΛऔΓग़͢
    ϕʔίϯΛম͘
    

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21. ڞ௨͢ΔཁૉΛऔΓग़͢
    ύϯΛऔΓग़͢
    ύϯΛτʔελʔʹೖΕΔ
    τʔελʔͷεΠονΛೖΕΔ
    ׂΒΕͨཛΛऔΓग़͢
    ཛΛম͘
    ໺ࡊΛऔΓग़͢
    ໺ࡊΛম͘
    ϕʔίϯΛऔΓग़͢
    ϕʔίϯΛম͘
    Ճ೤ௐཧ
    ৯ࡐͷϐοΫΞοϓ
    ৯ࡐͷอ؅
    ྫ
    

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22. ֤ཁૉʹඞཁͳγεςϜઃܭ
    ύϯΛऔΓग़͢
    ύϯΛτʔελʔʹೖΕΔ
    τʔελʔͷεΠονΛೖΕΔ
    ׂΒΕͨཛΛऔΓग़͢
    ཛΛম͘
    ໺ࡊΛऔΓग़͢
    ໺ࡊΛম͘
    ϕʔίϯΛऔΓग़͢
    ϕʔίϯΛম͘
    Ճ೤ௐཧ
    ৯ࡐͷϐοΫΞοϓ
    ৯ࡐͷอ؅
    ྫ
    

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23. ࠷଎Ͱಈ͘΋ͷΛ࡞Δʹ͸ʁ
    

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24. ࠷଎Ͱಈ͘΋ͷΛ࡞Δʹ͸ʁ
    ϩϘοτͷ͖΋ͪΛߟ͑Δ
    

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25. ϩϘοτͷ͖΋ͪͰ
    γεςϜઃܭ
    

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27. ܗ͕ҧ͏΋ͷۤख
    ॏ͍΋ͷ࣋ͪͨ͘ͳ͍
    ԕ͘·Ͱख͕ಧ͔ͳ͍
    

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28. Ճ೤ௐཧ
    

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29. ΦʔϒϯϨϯδ
    Ճ೤ௐཧ
    

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30. Ճ೤ௐཧ
    

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31. ൶͸ҙ֎ʹॏ͍
    λονύωϧݏ
    Ԟ·Ͱख͕ಧ͔ͳ͍
    Ճ೤ௐཧ
    

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32. ϗοτϓϨʔτʹ
    ஔ͚ͩ͘
    Ճ೤ௐཧ
    

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33. ໺ࡊ
    ৯ࡐͷϐοΫΞοϓ
    

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34. ܗ͕όϥόϥ
    ͔ͨ͞΋όϥόϥ
    Ӵੜతʹ৮Γͨ͘ͳ͍
    ৯ࡐͷϐοΫΞοϓ
    

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35. ΧοϓʹೖΕΔ
    ৯ࡐͷϐοΫΞοϓ
    

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36. ྫྷଂݿ
    ৯ࡐͷอଘ
    

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37. ൶͸ҙ֎ʹॏ͍
    Ԟ·Ͱख͕ಧ͔ͳ͍
    ҐஔΛೝࣝ͢Δඞཁ
    ৯ࡐͷอଘ
    

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38. खલʹ
    ৯΂෺͕ग़ͯ͘Δ୨
    ৯ࡐͷอଘ
    

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40. ࣗಈԽͷίπ
    

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41. ώτͷಈ࡞Λ
    ͦͷ··ϩϘοτԽ͢Δ
    

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42. ϩϘοτͷ͖΋ͪʹͳͬͯ
    γεςϜઃܭ
    

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43. ϩϘοτʹ༏͍͠γεςϜઃܭ
    ࣮૷͕γϯϓϧʹ
    ࠷଎Ͱಈ͘ϓϩτλΠϓΛ࡞ΕΔ
    

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44. ಈ͘΋ͷͷ࡞Γํ
    

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45. ΫϨʔϓ੝Γ෇͚ϩϘοτ
    ʢʣ
    

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46. ΫϨʔϓੜ஍Λ࡞ΔϩϘοτͱ
    ίϥϘاը
    ΫϨʔϓ੝Γ෇͚ϩϘοτ
    ʢʣ
    

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47. .PSJSPCPΫϨʔϓͷੜ஍Λম͘ϩϘοτ
    

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48. ੜ஍Λম͍ͨޙͷ੝Γ෇͚Λ
    ࣗಈԽ͠·ͤΜ͔ʁ
    

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49. ΫϨʔϓ੝Γ෇͚ϩϘοτ
    ϲ݄ޙʹలࣔձʂ
    

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50. ࠷଎ͰϓϩτλΠϓ࡞Γ
    ΫϨʔϓ੝Γ෇͚ϩϘοτ
    ϲ݄ޙʹలࣔձʂ
    

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51. 
    ϓϩδΣΫτ࢝ಈ
    

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52. ޻ఔͷॻ͖ग़͠
    

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53. https://www.youtube.com/watch?v=xmNcTNnMALo
    

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54. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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55. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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56. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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57. ϩϘοτʹͳΓ͖ͬͯ
    ϓϩτλΠϓ࡞Γ
    

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58. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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59. ΫϦʔϜΛͷͤΔ
    ϩϘοτϋϯυͰΫϦʔϜΛߜΓͳ͕Β
    ϩϘοτΞʔϜΛಈ͔ͯ͠
    ੜ஍ͷಛఆͷ৔ॴʹΫϦʔϜΛͷͤΔ
    

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60. ΫϦʔϜΛͷͤΔ
    ϩϘοτϋϯυͰΫϦʔϜΛߜΓͳ͕Β
    ϩϘοτΞʔϜΛಈ͔ͯ͠
    ੜ஍ͷಛఆͷ৔ॴʹΫϦʔϜΛͷͤΔ
    ΰʔϧ
    

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61. ΫϦʔϜΛͷͤΔ
    ΰʔϧ
    θϩ
    

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62. ΫϦʔϜΛͷͤΔ
    Ұؾʹ࣮૷͢Δͱࣦഊͨ͠ͱ͖ʹ
    θϩ͔Β΍Γ௚͢ඞཁ͕͋Δ
    ΰʔϧ
    θϩ
    

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63. ΫϦʔϜΛͷͤΔ
    ΰʔϧ
    θϩ
    ໨ඪ̍ ໨ඪ̎ ໨ඪ̏
    

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64. ΫϦʔϜΛͷͤΔ
    ໨ඪΛ۠੾Δͱࣦഊͯ͠΋
    Ұͭલͷͱ͜Ζʹ໭Δ͚ͩ
    ΰʔϧ
    θϩ
    ໨ඪ̍ ໨ඪ̎ ໨ඪ̏
    

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65. ΫϦʔϜΛͷͤΔ
    ΰʔϧ
    θϩ
    ໨ඪ̍ ໨ඪ̎ ໨ඪ̏
    ϋϯυऔΓ෇͚ ΞʔϜಈ࡞
    ΫϦʔϜΛग़͢
    

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66. ΫϦʔϜΛͷͤΔ
    ΰʔϧ
    θϩ
    ໨ඪ̍ ໨ඪ̎ ໨ඪ̏
    ϋϯυऔΓ෇͚ ΞʔϜಈ࡞
    ΫϦʔϜΛग़͢
    ଞͷػೳ͕࣮૷͞Εͯͳ͍
    

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67. ΫϦʔϜΛͷͤΔ
    ΰʔϧ
    θϩ
    ଞͷػೳ͕࣮૷͞Εͯͳ͍
    ໨ඪ̍ ໨ඪ̎ ໨ඪ̏
    ΫϦʔϜΛग़͢ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞
    ࣗ෼͕ϩϘοτʹͳΓ͖ͬͯಈ࡞Λิ͏
    

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68. ΫϦʔϜΛͷͤΔ
    ߜΓା εϓϨʔ؈
    

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69. ߜΓା εϓϨʔ؈
    ΫϦʔϜΛͷͤΔ
    

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70. 
    ΫϦʔϜΛͷͤΔ
    

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71. 
    
    ΫϦʔϜΛͷͤΔ
    

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72. 
    
    ΫϦʔϜΛͷͤΔ
    

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73. 
    ΫϦʔϜΛͷͤΔ
    

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74. ΫϦʔϜΛग़͠ͳ͕Β
    ಈ͔ͤΔΑ͏ʹ
    ։࢝िؒ
    ΫϦʔϜΛͷͤΔ
    
    

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75. ΫοΩʔ͕ೖͬͨ
    ΧοϓΛͻͬ͘Γฦ͢
    
    ΫοΩʔΛͷͤΔ
    

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76. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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77. ંΓͨͨΉ
    ೉ͦ͠͏͔ͩΒ
    ఘΊΑ͏
    

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78. ೉ͦ͠͏͔ͩΒ
    ఘΊΑ͏
    ંΓͨͨΉ
    

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79. ંΓͨͨΉ
    https://www.youtube.com/watch?v=xmNcTNnMALo
    

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80. ώτͱಉ͡ಈ࡞
    ϩϘοτʹ༏͍͠ಈ࡞
    ંΓͨͨΉ
    

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81. ώτͱಉ͡ಈ࡞
    ϩϘοτʹ༏͍͠ಈ࡞
    ંΓͨͨΉ
    ॊΒ͔͍΋ͷΛ͔ͭΉͷ͸ۤख
    

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82. ંΓͨͨΉ
    
    

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83. ϩϘοτʹͳΓ͖ͬͯಈ࡞Λิ͏
    ·࣮ͩ૷ͯ͠ͳ͍ػೳΛؚΊͨ
    Ұ࿈ͷಈ࡞ΛΠϝʔδͰ͖Δ
    

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84. ંΓͨͨΉ
    ϩϘοτͱંΓͨͨΈ૷ஔʹͳΓ͖Δਓ
    

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85. ંΓͨͨΉ
    ંΓͨͨΈ૷ஔʹͳΓ͖Δਓ
    

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86. ંΓͨͨΉ
    ϞʔλݻఆύʔπʹͳΓ͖ΔਓʴϩϘοτʹͳΓ͖Δਓ
    

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87. %ϓϦϯλͰ
    ϓϩτλΠϓ੍࡞
    ંΓͨͨΉ
    
    ඞཁͳػೳ͕
    Θ͔ͬͨ
    

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88. ંΓͨͨΉ
    
    

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89. εςϯϨεͷ൘ۚ
    ંΓͨͨΉ
    

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90. ંΓͨͨΊΔΑ͏ʹ
    ંΓͨͨΉ
    
    

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91. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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92. ఏڙ͢Δ
    

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93. ઃܭͨ͠
    ϕϧτίϯϕΞͰ੒ޭ
    ఏڙ͢Δ
    
    

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94. ޻ఔ
    ஫จ
    ੜ஍Λম͘
    ੜ஍ΛҠಈ
    ΫϦʔϜΛͷͤΔ
    ΫοΩʔΛͷͤΔ
    ંΓͨͨΉ
    ఏڙ͢Δ
    

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95. 
    

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96. ࠃࡍϩϘοτల
    https://youtu.be/HoCc6Pex0ns
    

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97. ࠷଎Ͱ࡞ͬͨϓϩτλΠϓ͸
    ࡉ͔͍վળ఺͕͍ͬͺ͍
    ஫ҙ఺
    

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98. ࠷଎Ͱ࡞ͬͨϓϩτλΠϓ͸
    ࡉ͔͍վળ఺͕͍ͬͺ͍
    ஫ҙ఺
    ಈ͔͢ˠվྑͷϧʔϓΛճ͢
    

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99. ಈ͘΋ͷΛ࡞Δ
    ࣮ࡍʹಈ͔͢ վળ఺୳͢
    

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100. ಈ͘΋ͷΛ࡞Δ
     ࣮ࡍʹಈ͔͢ վળ఺୳͢
     प͙Β͍͢Δͱ
     ͍͍ײ͡ͷ΋ͷ͕Ͱ͖Δ
     

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101. ·ͱΊ
     

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102. ϩϘοτʹ༏͍͠γεςϜઃܭ
     ࣮૷͕γϯϓϧʹ
     ࠷଎Ͱಈ͘΋ͷΛ࡞ΕΔ
     

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103. ಈ͘΋ͷΛ࡞Δ
     ࣮ࡍʹಈ͔͢ վળ఺୳͢
     पͯ͠׬੒౓Λ্͛Δ
     

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104. ϩϘοτʹ༏͘͠
     ࠷଎ͰϓϩτλΠϓ
     ࡞Γ·͠ΐ͏ʂ
     σόοά͢ΔΫϨʔϓళһ
     

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