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Jetson AGX Xavierで産業用ロボットを制御してみた

Jetson AGX Xavierで産業用ロボットを制御してみた

第5回 Jetson Japan User Groupオンラインイベントにて発表させて頂いた内容です。物体認識やゲームコントローラーで産業用ロボットを動かしたお話になります。
発表時の動画URL
https://www.youtube.com/watch?v=fzaxb_Qx9co&t=3187s

This is the content announced at the 5th Jetson Japan User Group online event.
This is a story about moving an industrial robot with object recognition and a game controller.

norihide mikami

May 15, 2021
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  1. ୈճ+FUTPO+BQBO6TFS(SPVQΦϯϥΠϯΠϕϯτ
    9BWJFSͰ࢈ۀ༻ϩϘοτΛ੍ޚͯ͠Έͨ
    ೥݄೔

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  2. ͝ѫࡰ
    ̐̌ࡀΛ໨લʹɺਓੜ௕͘ͳ͍ͱࢥ͍೥ʹ'"ۀքͷձࣾΛࣙΊͯಠཱɻ
    ݱࡏɺݸਓࣄۀओͰ̑೥໨ɻେࡕͰੜ࢈ઃඋͷ*P5ԽΛओͳࣄۀͱ͓ͯ͠Γ·͢ɻ
    ࡾ্యल
    Έ͔ΈɹͷΓͻͰ
    εϦʔΞοϓɾςΫϊϩδʔ୅ද
    ̛̖ΤϯδχΞ
    +FUTPOྺɿ̎೥̎ϲ݄
    +FUTPOߪೖ୆਺ɿ̔୆

    View Slide


  3. ϩϘοτେ޷͖ਓؒͰ͢ɾɾɾ
    ̍̓̕̕
    ̎̌̌̌
    ̎̌̍̎
    ̎̌̌̎
    ̎̌̌̓
    ۙـϩϘίϯ༏উ
    ϩϘ૬๾શࠃେձ
    ೋ଍าߦϩϘοτ։ൃ
    େֶٕज़ߨࢣ
    ̞̩̾૷ஔ։ൃ

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  4. "*ºϩϘοτͰىۀ͠Α͏ͱࢥͬͨ
    ೥(PPHMFϑΥτ
    ʹͯΠνΰ͕ݕࡧग़དྷΔ
    Α͏ʹͳΓিܸΛड͚Δ
    ೥ձࣾΛࣙΊͯ࢈ۀ༻
    ϩϘοτͱ"*Λਅ݋ʹߟ͑Δ
    ͔͠͠ɺ೥ͷஈ֊Ͱ͸෺ମݕग़ʢ0CKFDU%JUFDUJPOʣ͸ະ੒ख़Ͱͨ͠ɻ

    View Slide


  5. ຊ೔ͷΞδΣϯμ
    ̍ɽ9BWJFSͰ࢈ۀ༻ϩϘοτΛ੍ޚͯ͠Έͨ
    ̎ɽ"*ݱ৔ӡ༻ʹ͍ͭͯ

    View Slide

  6. 9BWJFSͰ࢈ۀ༻ϩϘοτΛ੍ޚͯ͠Έͨ

    View Slide


  7. ͸͡Ίʹɾɾɾ
    ࠓճ͓࿩ͤͯ͞௖͘಺༰͸ʮ304ʯͰ͸͋Γ·ͤΜɻ
    304Ͱ੍ޚͱظ଴͞Ε͍ͯͨํɺ͢Έ·ͤΜɻ
    ػց෦඼૊ΈཱͯͷࣗಈԽΛ໨తͱ͍ͯ͠·͢ͷͰɺϩϘοτ
    ͷಈ࡞͸ϝʔΧʔඪ४ͷʮ#"4*$ݴޠʯͰ͢ɻ
    .&-'"#"4*$7*
    ͔͠͠࠷ۙɺ࢈ۀ༻ϩϘοτʴ304΋ؾʹͳͬͯ·͢ɻ
    ৄ͍͠ํɺͥͻڭ͑ͯԼ͍͞ɻ
    IUUQTZPVUVCFK:KL0KU;$H
    IUUQTZPVUVCFM4NM*4[33@2 IUUQTZPVUVCFPJ9QEWV6EX
    ؾʹͳΔಈըͭ

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  8. ຊ೔͓࿩ͤͯ͞௖͘ͷ͸ҎԼ̎఺Ͱ͢
    ̍ɽ෺ମೝࣝ
    ̎ɽ%VBM4IPDL
    9BWJFS͔Βࢦྩ

    View Slide


  9. ࢈ۀ༻ϩϘοτͳΜͰॴ༗ͯ͠Δͷʁ
    ܦࡁ࢈ۀলͱ/&%0͕ओ࠵͢ΔࠃࡍϩϘοτڝٕձʮ834ʯ
    ʹग़৔͢ΔͨΊɺϩϘοτϝʔΧʔ͔Β̎୆͓आΓ͍ͯ͠·͢ɻ
    ̎̌̍̔೥݄̒̎̌೔ʹ΍ͬͯདྷ·ͨ͠ɻ
    ΋ͷͮ͘ΓΧςΰϦʔʹνϟϨϯδ͍ͯ͠·͢ɻ

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  10. ϩϘοτڝٕձ834ͱ͸ʁ
    Θ͔Γ΍͘͢ݴ͏ͱɺ౦ژΦϦϯϐοΫʹ߹Θͤͨɺ

    ϩϘοτ൛ΦϦϯϐοΫΈ͍ͨͳ΋ͷͰ͢ʢࡶͳදݱʣ

    ΦϦϯϐοΫԆظʹ߹Θͤͯɺ̎̌̎̍೥౓ʹ։࠵༧ఆɻ
    IUUQTXPSMESPCPUTVNNJUPSH

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  11. ͚ͬ͜͏ΨνͳେձͰ͢
    ɾ̎̌̍̔೥͸ւ֎̔νʔϜɺ೔ຊ̔νʔϜ
    ɾɺͱ౦ژϏοάαΠτͰ։࠵
    ɾຊେձ͸ࠓ೥౓຤ʹ༧ఆ

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  12. ϩϘοτͰԿΛ͢Δͷʁ
    ɾύʔπτϨΠʹϥϯμϜʹ഑ஔ͞Εͨ̍̐छྨͷύʔπ
    ΛϩϘοτ͕ࣗಈͰ૊Έཱͯ·͢ɻ
    ׬੒ʂ

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  13. ΨνͰ೉͍͠Ϡπ΍Μʂʂ
    ૊Έཱͯޙ͕͜Εɾɾɾ

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  14. ඞཁͳγεςϜߏ੒Λݕ౼
    ɾෳࡶͳ૊ཱ࡞ۀɺϩϘοτͰग़དྷΔ͔࣮ূ࣮ݧ͕ඞཁ
    ɹ㱺ɹήʔϜίϯτϩʔϥʔͰࣗ༝ʹಈ͔ͯ͠ࢼ͍ͨ͠
    ɾόϥόϥʹ഑ஔ͞Εͨ̍̐छྨͷύʔπΛऔΓग़͞ͳ͚Ε͹ͳΒͳ͍
    ɹ㱺ɹߴՁͳϚγϯϏδϣϯγεςϜ͕ඞཁɻ
    ɹɹʢΩʔΤϯεɺ$BOPOɺ֤ࣾϩϘοτϝʔΧʔͳͲʣ
    ϩϘοτϏδϣϯγεςϜɺ̍̌̌ʙ̏̌̌ສԁ͠·͢ɻ

    ̏%ରԠ͸΋ͬͱߴֹʂʂ
    ݸਓࢀՃͳͷͰɺແཧʂʂʂ "*ͰͳΜͱ͔ͳΒͳ͍͔ʁ
    ଞνʔϜ͸༗໊େֶ͔اۀͰ͢ɻ

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  15. ը૾ೝࣝͰ࢖༻ͨ͠ϥΠϒϥϦ
    w 5FOTPS'MPX

    5FOTPS'MPXͱ͸ɺ(PPHMF͕։ൃ͠ΦʔϓϯιʔεͰެ։ͯ͠
    ͍Δɺػցֶशʹ༻͍ΔͨΊͷιϑτ΢ΣΞϥΠϒϥϦͰ͋
    Δɻ
    w ,FSBT3FUJOBOFU

    ೥݄೔ఏग़͞Εͨ࿦จʮ'PDBM-PTTGPS%FOTF
    0CKFDU%FUFDUJPOʯΛɺ೥"NB[POϐοΩϯάνϟϨϯ
    δʹͯ༏উͨ͠ϝϯόʔ͕ઃཱͨ͠Φϥϯμͷ'*;:3͕ϓϩά
    ϥϜ࣮૷ͨ͠෺ମݕग़ιϑτ΢ΣΞɻ

    IUUQTHJUIVCDPN
    fi
    [ZSLFSBTSFUJOBOFU
    ࢀߟʹͨ͠هࣄ

    https://medium.freecodecamp.org/object-detection-in-colab-with-fizyr-retinanet-efed36ac4af3

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  16. +&540/಺෦͸1ZUIPOͰߏங
    ݕग़݁Ռ͸+40/ʹͯ͠6%1ιέοτͰ/PEF3&%΁

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  17. ̎̌̍̕೥"*෺ମೝࣝͷಈը
    IUUQTZPVUVCF,Y'HG7'S.

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  18. ̎̌̍̕೥ը૾ೝࣝγεςϜߏ੒ਤ

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  19. ̎̌̍̕೥ͷ੍ޚ൫͸͜Μͳײ͡ɾɾɾ
    ਪ࿦ίϯϐϡʔλ
    +&540/
    ҆શճ࿏༻1-$

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  20. ̎̌̍̕೥ͷը૾ೝࣝੑೳ
    w Χϝϥɹɾɾɾɹ64#ɹ̎%Χϝϥ
    w ೝࣝର৅෺ɹɾɾɾɹΧϝϥʹࣸΔ΋ͷͰ͋Ε͹ɺೝࣝՄೳ

    ͨͩ͠ɺQJYҎ্͕ඞཁʢQJYҎ্ਪ঑ʣ
    w ݕग़಺༰ɹɾɾɾɹ෺ମͷ9:࠲ඪʢճస֯͸ݱঢ়೉͍͠ʣ
    w ਪ࿦࣌ؒɹɾɾɾɹºQJYʹͯ໿ඵ
    w ֶश࣌ؒɹɾɾɾɹ໿̏࣌ؒఔ౓ʢ(PPHMF$PMBCPSBUPSZແྉ؀ڥʣ
    w ֶशຕ਺ɹɾɾɾɹࣸਅຕఔ౓ʢϑΝΠϯνϡʔχϯάʣ
    ར༻؀ڥ
    +VQZUFSOPUFCPPL (PPHMF$PMBCPSBUPSZ

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  21. ֶशΛେձձ৔Ͱߴ଎ʹճ͢ʂ
    ࡱӨɺڭࢣσʔλ࡞੒ Ϋϥ΢υֶश ݱ৔ਪ࿦
    ਪ࿦݁Ռ +1(9.-

    σʔλඍमਖ਼
    ʮݱ৔Ͱࡱ૾ʯʮϗςϧͰֶशʯ
    ཌ೔ʹ͸ΊͬͪΌೝࣝͤ͞Δ࡞ઓʂ
    (PPHMF$PMBCPSBUPSZ
    -BCFM*NH

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  22. Ξϊςʔγϣϯιϑτʢ-BCFM*NHʣ
    IUUQTHJUIVCDPNU[VUBMJOMBCFM*NH
    "OOPUBUJPOTBSFTBWFE
    BT9.-
    fi
    MFTJO
    1"4$"-70$GPSNBU

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  23. Ϋϥ΢υֶश؀ڥͷઆ໌ʢ(PPHMF$PMBCPSBUPSZʣ
    ࢀߟࢿྉʲඵ଎Ͱແྉ(16Λ࢖͏ʳਂ૚ֶश࣮ફ5JQTPO$PMBCPSBUPSZ
    IUUQTRJJUBDPNUPNP@NBLFTJUFNTCDCGCBB
    $PMBCPSBUPSZ͸ɺແྉͰ࢖͏͜ͱ͕Ͱ͖ɺ΄ͱΜͲͷओཁϒϥ΢βͰಈ࡞͢Δɺ
    ઃఆෆཁͷ+VQZUFSϊʔτϒοΫ؀ڥͰ͢ɻ(PPHMF͕ɺػցֶशͷڭҭɺݚڀ༻
    ʹ࢖ΘΕΔ͜ͱΛ໨తʹɺແঈఏڙ͍ͯ͠·͢ɻ

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  24. େձ΁ࢀՃ͢ΔҝʹτϥοΫνϟʔλʔศʢࣗඅʣ
    ԟ෮ӡૹඅສԁɾɾɾ

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  25. ձ৔޿͍

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  26. ిؾ޻ࣄେมɾɾɾ

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  27. ҆શ৹ࠪݫ͍͠

    View Slide


  28. େձͷ༷ࢠ

    View Slide


  29. 834૊Έཱͯಈը
    IUUQTZPVUVCF2"V1MC"

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  30. 834ʹ޲͚ͯվྑΛݕ౼ɾɾɾ
    ɾ΋ͬͱೝࣝਫ਼౓্͍͛ͨɻʢഎܠʹӨڹ͞ΕΔʣ
    ɾ9BWJFSͷ1ZUIPO؀ڥߏஙΊΜͲ͍͘͞ɻʢ͍͍ͩͨ̎೔͔͚ͯͨʣ
    ɾֶश࣌ؒૣ͘ͳΒͳ͍ͷʁʢ̎ʙ̏࣌ؒʣ
    ͷਓؾ͕ߴ͘ͳ͖͍ͬͯͯΔͷͰؾʹͳΔɾɾɾ

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  31. ݟ͚ͭͨʂɹ%FUFDUSPO͕ੌ͍ʂʂ
    ͖͔͚ͬ͸:PV5VCFͰϥζύΠͱ&41Λೝࣝ
    ͍ͤͯ͞ΔಈըͰ஌Δɻ
    IUUQTZPVUVCF&M"7-:B78HL
    ɾ'BDFCPPL"*3FTFBSDI͕։ൃ
    ϥΠηϯεɿ"QBDIF-JDFOTF
    ϝΠϯ։ൃऀ͸:VYJO8Vɹਗ਼՚େֶ㱺ΧʔωΪʔ
    ϝϩϯେֶम࢜㱺'BDFCPPL"*3FTFBSDI
    ೥݄ʹެ։
    IUUQTHJUIVCDPNGBDFCPPLSFTFBSDIEFUFDUSPO
    ͜Εɺ+FUTPO"(99BWJFSʹࡌΒͳ͍͔ͳɾɾɾ
    ɾηάϝϯςʔγϣϯ
    ɾֶश଎౓̏ഒ

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  32. 9BWJFSʹ%FUFDUSPO࣮૷Ͱ͖ͨʂ
    ̍ɽ࠷৽ͷ+FUQBDLΛೖΕΔʢݱࡏ7FSʣ
    ̎ɽΞοϓσʔτͱΞοϓάϨʔυ
    $ sudo apt-get update


    $ sudo apt-get upgrade
    ̏ɽ1Z5PSDIͱ5PSDI7JTJPOΠϯετʔϧ
    ɾԼه࠷৽৘ใΛݩʹ͢ΜͳΓΠϯετʔϧʢ/7*%*"͞ΜؤுͬͯΔʂʣ
    ɹɹࠓͳΒόʔδϣϯ͸1Z5PSDIWUPSDIWJTJPOW
    IUUQTGPSVNTEFWFMPQFSOWJEJBDPNUQZUPSDIGPSKFUTPOWFSTJPOOPXBWBJMBCMF
    ̐ɽEFUFDUSPOΠϯετʔϧ
    $ git clone https://github.com/facebookresearch/detectron2.git


    $ python3 -m pip install -e detectron2
    ͜ΕͰɺ؀ڥߏங׬ྃͰ͢ʂʂ
    3".ͷফඅྔͰ͕͢ɺϞσϧಡΈࠐΈ࣌ʹ̓(#ఔ࢖༻͠·͢ɻ
    ϝϞϦ(#ͷ59̎͸ಈ͖·͕ͨ͠ɺOBOP͸ಈ͖·ͤΜͰͨ͠ɻ

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  33. Ξϊςʔγϣϯπʔϧ
    MBCFMNF
    IUUQTHJUIVCDPNXLFOUBSPMBCFMNF

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  34. 834γεςϜߏ੒

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  35. ੍ޚ൫ʹ9BWJFS౥ࡌ

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  36. %FUFDUSPOͰύʔπΛೝࣝͯ͠औΓग़͢ಈը
    IUUQTZPVUVCFP*24/F2;YH

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  37. ੍ޚܥ͸/PEF3&%࢖ͬͯ·͢
    +&540/"(99BWJFS
    /PEF3&%
    8PDLFU
    #MVFUPPUI
    64#
    5$1 6%1
    ࡾඛϩϘοτ

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  38. ϒϥ΢β্ͷ(6*Ͱ։ൃͰ͖Δ
    ビジ
    ϡ
    Ξϧ
    プ
    ϩ
    グ
    ϥϛϯ
    グ
    πʔϧɻ
    ௨৴ؔ܎ͷϊʔυ͕ॆ࣮͓ͯ͠Γɺ
    *P5։ൃʹద͍ͯ͠Δɻ
    ࠃ಺Ͱ͸ɺ೔ཱɺ/&$ɺ෋࢜௨͕࠾༻
    Φʔϓϯιʔεɾιϑτ΢ΣΞ
    ϥΠηϯεɿ"QBDIF-JDFOTF

    ݴޠɿ+BWBTDSJQU
    /PEF3&%ͱ͸
    IUUQTHJUIVCDPNOPEFSFEOPEFSFE

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  39. +FUTPO΁ͷ/PEF3&%Πϯετʔϧ
    curlΠϯετʔϧ
    TVEPBQUJOTUBMMDVSM
    /PEF3&%ΠϯετʔϧεΫϦϓτ
    CBTI DVSMT-IUUQTSBXHJUIVCVTFSDPOUFOUDPNOPEFSFEMJOVY
    JOTUBMMFSTNBTUFSEFCVQEBUFOPEFKTBOEOPEFSFE

    &33΍8"3/͕ग़·͕͢ɺ໰୊͋Γ·ͤΜɻ
    /PEF3&%ࣗಈىಈ
    IUUQTOPEFSFEPSHEPDTHFUUJOHTUBSUFESBTQCFSSZQJ
    TVEPTZTUFNDUMFOBCMFOPEFSFETFSWJDF
    TVEPSFCPPU
    /PEF3&%ͷ࢝Ίํ
    MPDBMIPTU
    ΤσΟλىಈ͠·͢

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  40. ϓϨεςίϯτϩʔϥʔͰࣗ༝ʹಈ͔͍ͨ͠ʂ
    ϩϘοτϝʔΧʔͷίϯτϩʔϥʔ
    ̍࣠ͮͭϘλϯԡ͢λΠϓ
    ΞφϩάεςΟοΫͰ
    શ࣠άϦάϦಈ͔͍ͨ͠

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  41. +FUTPO%VBM4IPDL઀ଓํ๏
    δϣΠεςΟοΫGUI֬ೝπʔϧΠϯετʔϧ
    TVEPBQUJOTUBMMKTUFTUHUL
    %VBM4IPDLΛ઀ଓϞʔυʢϑϥογϡ఺໓ʣʹͯ͠ʮ8JSFMFTT$POUSPMMFSʯ
    Λొ࿥͢Δɻ઀ଓϞʔυɿ4)"3&Ϙλϯʴ14Ϙλϯ௕ԡ̑͠ඵఔ౓
    +FUTPOͷ#MVFUPPUI0/
    ʴԡ͢

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  42. +FUTPOʹ1ZHBNFΠϯετʔϧ
    ҎԼιϑτ΢ΣΞແ͍ͱɺΠϯετʔϧ࣌ʹΤϥʔൃੜ
    TVEPBQUHFUJOTUBMMQZUIPOEFWMJCTEMJNBHFEFWMJCTEMNJYFS
    EFWMJCTEMUUGEFWMJCTEMEFWMJCTNQFHEFWQZUIPOOVNQZ
    TVCWFSTJPOMJCQPSUNJEJEFW
    ff
    NQFHMJCTXTDBMFEFWMJCBWGPSNBUEFW
    MJCBWDPEFDEFWMJCGSFFUZQFEFW
    1ZHBNFΠϯετʔϧ
    QJQJOTUBMMQZHBNF
    ˞όʔδϣϯΛΠϯετʔϧग़དྷͣɺϋϚΓ·ͨ͠ɻ
    Ҏ্Ͱ1ZUIPOϓϩάϥϜ͔Β%VBM4IPDLͷૢ࡞৘ใΛऔಘग़དྷ·͢ɻ

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  43. 9BWJFSʹ઀ଓͨ͠%VBM4IPDLͰάϦάϦಈ͔ͯ͠Έͨ
    IUUQTZPVUVCF7%H[6)Y2'5L

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  44. "*ݱ৔ӡ༻ʹ͍ͭͯ

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  45. ͳͥ+FUTPOʹͩ͜ΘΔͷ͔ʁ
    (16෇͍ͨύιίϯͰ΋ྑ͍ͷͰ͸ʁͱࢥΘΕΔ͔΋͠Ε·ͤΜɻ
    ͔͠͠ɺ࠷େͷϝϦοτ͸ൃ೤ྔ͕গͳ͍ࣄͰ͢ɻʢ9BWJFSͰ8ʣ
    ੍ޚ൫ʹ૊ΈࠐΜͰ΋Թ౓্ঢΛ཈͑Δ͜ͱ͕ग़དྷ·͢ɻ
    ࢲ͸ࠓ·ͰʹϥζύΠΛ̎̌୆Ҏ্ݱ৔ʹઃஔ͖ͯ͠·ͨ͠ɻ
    9BWJFSΛݱ৔࣮૷͍ͨ͠ɾɾɾ

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  46. "*੍ޚ൫࡞ͬͪΌ͍·ͨ͠
    "*Λ੡଄ۀʹݱ৔ઃஔ͢Δʹ͸ɺ࢈ۀάϨʔυʹରԠ͢Δඞཁ͕͍͟͝·͢ɻ
    ɹ؀ڥੑೳɿ଱Թ౓ੑɺ଱ৼಈੑɺ଱คਖੑɾ଱༉ੑɾ଱ϊΠζੑɾ௨৴؀ڥͳͲ
    ͜ΕΒ؀ڥੑೳΛͰ͖Δ͚ͩߟྀͨ͠ϋʔυ΢ΣΞΛ੡࡞͓ͯ͠Γ·͢ɻ
    "*ίϯϐϡʔλΛΩϟϏωοτ൫ʹ૊ΈࠐΜͰ͝ఏڙՄೳͰ͢ɻ ࢈ۀ༻ΧϝϥɾϨϯζྫ

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  47. ޻৔༻్ʹελϯυ΋੡࡞͍ͯ͠·͢
    ޻ۀ༻੩ి༰ྔࣜλονύωϧ
    σΟεϓϨΠ࠾༻ʂ
    YΠϯν
    ઃඋ࿈ܞ༻1-$಺ଂ
    1-$ͱ1ZUIPO࿈ܞՄ

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  48. ੜ࢈ઃඋͱͷ࿈ܞ΋ରԠ͠·͢
    "*ͷਪ࿦݁ՌΛઃඋͱ࿈ܞ͢Δʹ͸ɺ࢈ۀ༻ͷ৴߸Λૹड৴͢Δඞཁ͕͍͟͝·͢ɻ
    ࢈ۀ༻Χϝϥ
    +&540/"(99BWJFS
    ઃඋ࿈ܞ༻1-$౳
    7৴߸౳
    &UIFSOFU ηϯα
    "*ιϑτ΢ΣΞىಈ৴߸ɺΤϥʔ৴߸ɺϫʔΫͷࣗಈࡱӨɺਪ࿦݁Ռͷ
    ϑΟʔυόοΫͳͲɺઃඋͱͷ࿈ܞʹ͸࢈ۀ༻ͷ৴߸͕ඞཁʹͳΓ·͢ɻ
    '"ۀքͷܦݧ͕͍͟͝·͢ͷͰɺͲΜͳઃඋͰ΋࿈ܞ͕ՄೳͰ͢ɻ
    ੜ࢈ઃඋ౳

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  49. ݱ৔ઃஔͷ͝঺հ
    ϕςϥϯిؾ޻ࣄձࣾͱڠྗͯ͠ɺ"*ɾ*P5૷ஔͷࢪ޻͕ՄೳͰ͢ɻ
    վ଄Λ൐ͬͨ*P5ػثͷઃஔ͕ܦݧ๛෋Ͱ͢ɻ
    ઃඋʹ*P5ػثΛվ଄ઃஔͨ͠ྫ
    ઃඋʹৄ͍͠ਓһͰ͝ରԠՄೳͰ͢ɻ

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  50. AI・IoT を使った技術で⽇本の現場に貢献する        
    ͝ґཔɾ͓໰͍߹Θͤ
    8αΠτʹΞΫηε
    http://3up-tec.jp
    εϦʔΞοϓɾςΫϊϩδʔ ݕࡧ
    ຊ೔͸وॏͳ͓࣌ؒΛ௖͖ɺ
    ͋Γ͕ͱ͏͍͟͝·ͨ͠ɻ

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