[みん強]脳波でルンバを動かすためのリアルタイムデータ基盤

脳波（PiEEG）をリアルタイムに解析し、ルンバ(RoombaOpenInterface)を動かしてお茶を運ぶシステムを題材に、 「信号を意味に変換して物理世界を動かす」データ基盤の設計について発表しました

みんなの考えた最強のデータ基盤アーキテクチャ26前期〜前夜祭〜ルーキーズ
2026/5/14(木) 19:00〜
https://www.youtube.com/watch?v=7yvAfZ8vCDU

Transcript

1. ೴೾ͰϧϯόΛಈ͔͢
   ࠷ڧͷσʔλج൫ தాܧଠ @tyukei3
2. ूத͠ա͗ͯͣͬͱ࠲Γͬͺͳ͠ʹͳΔ
   ർΕͨͳͬͯ࣌ʹਫΛ͖࣋ͬͯͯཉ͍͠
3. ͦ͏ͩɺ
   ೴೾Ͱϧϯόʹ
   ͓஡Λ͖࣋ͬͯͯ΋Β͓͏ʂ
5. ᶃ
   ԿΛ࡞͔ͬͨ ೴೾(EEG)ͰϩϘοτ૟আػΛಈ͔͢γεςϜ • ಄ʹ෇͚ͨηϯαͰ೴೾ΛऔΓɺRoomba Λಈ͔͢ • ηϯα → ਪ࿦ → ੍ޚίϚϯυ͕1ඵҎ಺Ͱ1प͢Δ • ෳ਺୆ͷϚγϯΛލ͍ͩʮϦΞϧλΠϜɾσʔλύΠϓϥΠϯʯ ຊ೔͸ʮϩϘοτΛಈ͔͢࿩ʯͰ͸ͳ͘ɺͦͷཪଆͷ σʔλج൫ͷઃܭ ͷ࿩Λ͠·͢ɻ
6. eeg_roomba σʔλύΠϓϥΠϯ ෺ཧ૚ → औಘ → సૹ → ղੳ → ൑ఆ → ੍ޚ → ෺ཧ૚ + Autopilot ϧʔϓ ᶃ ෺ཧ૚ (಄ൽ) • ిۃ 16ch (࣪/ס) • ALPHA_CHANNELS=6,7 • α೾ 10–100 μV • ޙ಄෦૬౰ ᶄ PiEEG-16 + Pi-A • ADS129x ×2 (8ch×2) • 24bit ΔΣ ADC • 250 Hz, SPI • acquirer.py (systemd) • LSL push + MQTT health ᶅ ingest (PC) • LSLSource / FileReplay • host network mode • TimescaleDB COPY eeg_raw(ts,ch,uv) • MQTT eeg/chunk 250Hz • MQTT eeg/live 50Hz ᶆ feature • 1ඵ૭ / 250ms hop • HPF1Hz / LPF40Hz • 50/60Hz notch • Welch PSD • θ/α/β bandpower → eeg/alpha (retain) ᶇ decision • α_avg = mean(ch6,7) • Schmitt ώεςϦγε enter=10 / exit=6 dwell=500ms • idle ⁶ active → control/state retain ᶈ Pi-B + Arduino • FastAPI :8000 • pyserial /dev/ttyACM0 • Arduino USB-CDC • 3.3V→5V TTL ม׵ • ROI state machine ᶉ Roomba (෺ཧ) • mini-DIN 7pin • 115200 bps TTL • Drive(vel, radius) opcode 137 • Ϟʔλʔۦಈ 5.5 Autopilot ϧʔϓ (3ඵपظ / 1൑அ͋ͨΓதԝ஋ ~2s) Pi-B USB Χϝϥ • /camera/stream • MJPEG (multipart) • SOI→EOI εΩϟϯ • ࠷େ 2MB/frame api (PC, asyncio) • 3 ඵ͝ͱʹ 1 frame • asyncio.Lock ೋॏىಈ๷ࢭ • mode = goal / free goal = "my feet" • finally Ͱඞͣ stop Gemini Robotics-ER 1.6 • image + prompt + tools • temperature=0.3 • thinking=LOW • google_search tool → JSON {command, reason} Parse → Dispatch • fenceണ͕͠ˠ{...}→fallback • 5୒: fwd/left/right/back/stop • HTTP → Pi-B /command/{cmd} • MQTT roomba/cmd publish • roomba_events ʹӬଓԽ ↑ ֎޲͖ HTTPS (Google API) ج൫ϨΠϠ (PC: docker compose / 7 ίϯςφ) ɾ ωοτϫʔΫ TimescaleDB • eeg_raw (250Hz×16ch) • eeg_features (~4Hz) • events (JSONB) • roomba_events (ts,cmd,ok,src,reason, Mosquitto (MQTT) • eeg/chunk 250Hz • eeg/live 50Hz • eeg/alpha (retain) • control/state (retain) • control/threshold (retain) api + frontend • FastAPI :8080 • WS /ws (શτϐοΫ fan-out) • /history/alpha, /threshold • /autopilot/{start,stop,status} Tailscale Tailnet (؅ཧ໘) • 4 ϊʔυ: ։ൃPC / PC / Pi-A / Pi-B • WireGuard mesh, 100.x.y.z • ༻్: ssh / rsync / WebUI Ӿཡ • σʔλ໘͸ ૉͷLAN Λ௨Δ E2E ϨΠςϯγ༧ࢉ (EEGύε): தԝ஋ < 500ms / p95 < 1s — SPI→LSL 5ms ɾ ingest 20ms ɾ Welch 50ms ɾ MQTT 20ms ɾ HTTP 100ms ɾ Arduino+ROI ਺ms ɾ ϞʔλʔԠ౴ ~100ms Autopilot ύε: 1 ൑அ͋ͨΓ தԝ஋ ~2s (JPEGऔಘ 200ms + Gemini API ~1.5s + dispatch 200ms) — goal="my feet" Ͱ଍ݩࣗ཯઀ۙ → ࣗൃ stop EEG औಘ సૹ / DB ৴߸ղੳ ൑ఆ / ดϧʔϓ ϩϘοτ੍ޚ Autopilot Gemini API ڥք (LAN / ిѹ / VPN) LAN ڥք ൑ఆ → ੍ޚ HTTP POST ిѹڥք 3.3V ⁶ 5V TTL ⟲ ดϧʔϓ: Roomba ૸ߦ → ։؟ → α ݮਰ (BergerޮՌ)
7. ຊ೔ͷྲྀΕ
   ᶃ ੜ੒ ηϯα/σόΠε ᶄ సૹ MQTT ᶅ Ճ޻ LSL / લॲཧ ᶆ ஝ੵ อଘ ᶇ ൑அ autopilot ᶈ ഑৴ ϩϘοτ੍ޚ ϋʔυ΢ΣΞॱͰ͸ͳ͘ʮσʔλͷྲྀΕʯ࣠Ͱ੔ཧ͠·͢ Pi-A (ηϯαଆ) ू໿PC (MQTT + LSL + ਪ࿦ + DB) Pi-B (ϩϘοτଆ) ࣮ߦϚγϯ
8. ᶃ
   ੜ੒
   ʛ
   ηϯαͱσόΠε EEG ϔουηοτ (PiEEG) — Raspberry Pi ʹ௚݁ͨ͠η ϯα • ಄ൽʹషΔిۃ → Ξφϩάిѹ → ADC → σδλϧ஋ͷ࣌ܥྻ • αϯϓϧ͋ͨΓ 8νϟϯωϧ × float32 (= 32 byte) Λ 250 Hz Ͱ ు͖ଓ͚Δ ੜ੒ଆϚγϯ: Pi-A • ηϯαͱʮಉ͡ϋʔυʹ৐͍ͬͯΔʯͷ͕ϙΠϯτ — ͔͜͜Β ઌ͸ී௨ͷIPωοτϫʔΫ • Pi-A ͷ໾ׂ͸ʮηϯαͷബ͍ϥούʔʯ — ਪ࿦΋อଘ΋͠ͳ͍
9. ᶃ
   ੜ੒
   ʛ
   σʔλͷܗ 1αϯϓϧ 64 byte 16ch × 24bit (಺෦දݱ 4B/ch) 1ඵ 16 KB 250αϯϓϧ × 64B (ϖΠϩʔυ͸໿ 12 KB) 1෼ ≈ 960 KB = 1ηογϣϯ෼ (͏ͪα͸ ch 6,7 ͷΈ) αϯϓϧप೾਺250Hzͷ೴೾σόΠε͸݁ߏଟ͍ ΨϯϚप೾਺͕100લޙͷͨΊɺφΠΩετϨʔτΛߟྀͯ͠250Hz →ੜσʔλ͸ ͓Αͦɺ2.7 GB/೔ͷσʔλྔʹͳΔ
10. ᶄ
    సૹ
    ʛ
    .255
    ͱ͸
    Š
    ඵͰ ҰݴͰ: ܰྔͳ pub/sub ͷϝοηʔδϒϩʔΧʔ • Topic: จࣈྻͷύε ( ྫ: eeg/raw , roomba/cmd ) • Publisher ͕ topic ʹ౤͛ΔɺSubscriber ͕ड͚औΔ (Kafka ͱࣅͨൃ૝) • ϖΠϩʔυ͸த਎Λ໰Θͳ͍ (όΠφϦՄ) ࠓճͷ伴ͱͳΔ2ͭͷػೳ • retain : ʮ࠷ޙͷ஋ʯΛϒϩʔΧʔ͕͍֮͑ͯͯɺޙ͔Βܨ͍ͩ subscriber ʹ΋ଈ഑Δ • last-will : ΫϥΠΞϯτ͕མͪͨͱ͖ʮҨݴʯΛࣗಈ഑৴ → ঢ়ଶ؅ཧָ͕ʹͳΔ
11. ᶄ
    సૹ
    ʛ
    ͜ͷγεςϜͰͷ࢖͍ํ Pi-A EEG औಘ (LSL outlet) ू໿PC LSL inlet → ਪ࿦ + Mosquitto (MQTT broker) Pi-B ੍ޚ (MQTT subscriber) LSL (UDP multicast + TCP) EEG_16ch_250 MQTT (TCP) roomba/cmd MQTT ΛબΜͩཧ༝ (੍ޚίϚϯυଆ) • PC ಺ίϯςφ܈ (ਪ࿦/؂ࢹ) + Pi-B ͕ʮ͓ޓ͍ͷ IP Λ௚઀஌Βͳ͍͍ͯ͘ʯ — broker ͑͞ݟ͑Ε͹ಈ͘ • ੍ޚίϚϯυ͸ retain=true → Pi-B ࠶ىಈͰ΋ʮ࠷৽ίϚϯυʯΛଈऔಘ • ਪ࿦ίϯςφ͕མͪͨΒ last-will ͰϩϘοτΛࣗಈఀࢭ → ϋʔτϏʔτ࣮૷͕ཁΒͳ͍ ※ ηϯαˠPC ଆ (ߴස౓ͷੜ೾ܗ) ͸ MQTT Ͱ͸ͳ͘ LSL Λ࢖༻ɻཧ༝͸࣍εϥΠυ (ᶅՃ޻) Ͱɻ
12. ༨ஊ
    .255
    ͱ
    ,BGLB
    ͸Ͳ͏ҧ͏ ʮpub/sub ͳΒ Kafka Ͱ͍͍ͷͰ͸?ʯ MQTT — ʮܰྔͳݱࡏ஋ͷަ׵ʯ͕ಘҙ • ϖΠϩʔυখɾ௿஗ԆɾτϐοΫ͸໦ߏ଄ͷจࣈྻ (roomba/cmd) • retain Ͱʮ࠷৽஋ʯɺlast-will Ͱʮࢮ׆ʯ → IoT/੍ޚ޲͚ͷศརػೳ • broker ͸جຊشൃ — աڈϩά͸औΕͳ͍ Kafka — ʮશΠϕϯτΛӬଓϩάͱͯ͠࢒͢ʯ͕ಘҙ • topic ͸ ௥هܕͷϩά — աڈʹר͖໭ͯ͠࠶ੜͰ͖Δ • ύʔςΟγϣϯ + ίϯγϡʔϚάϧʔϓͰਫฏεέʔϧɺ࠶ىಈͰ΋ offset ؅ཧͰ҆શ • ͦͷ୅ΘΓ broker ͸ॏ͍ (Zookeeper ΍ KRaft ࠐΈ)ɺ࠷খ஗ԆͰ͸ MQTT ʹෛ͚Δ ࠓճͷબ୒: ʮ࠷৽஋͕෼͔Ε͹े෼ɾ௿஗Ԇɾ૊ΈࠐΈ΋ܨ͙ʯཁ݅ͳͷͰ MQTTɻϩά࠶ੜ͕ཁ݅ʹͳΕ͹ Kafka ซ༻΋ݕ౼༨஍͋Γɻ
13. ᶅ
    Ճ޻
    ʛ
    -4-
    ͱ͸
    ҰݴͰ: ࣌ܥྻετϦʔϜ + ࣌ࠁಉظ ͕ϫϯηοτͷதܧن֨ Lab Streaming Layer (೴೾/ੜମ৴߸ܥͰఆ൪) • ʮstreamʯͱ͍͏୯ҐͰ chunk + timestamp Λྲྀ͢ • αϯϓϦϯάϨʔτ / νϟϯωϧ਺ / dtype ͕ εΩʔϚͱͯ͠ݻఆ ͞ΕΔ • ࣌ࠁ߹ΘͤΛ LSL ଆ͕΍ͬͯ͘ΕΔ — ิਖ਼ΛࣗલͰॻ͔ͳ͍͍ͯ͘ • transport ͸ UDP ϚϧνΩϟετ (ݕग़) + TCP (సૹ) (Ϛγϯ಺Ͱͷ௨৴ͰΑ͘࢖ΘΕΔΈ͍ͨ)
14. ᶅ
    Ճ޻
    ʛ
    ύΠϓϥΠϯͷத਎ ೴೾ղੳ LSL inlet Pi-A ͷ outlet Λ LAN ϚϧνΩϟετͰड৴ લॲཧ όϯυύε → αଳநग़ (ch 6,7) → ૭Խ ಛ௃ྔɾਪ࿦ PSD / ᮢ஋൑ఆ → Πϕϯτੜ੒ MQTT publish PC ಺ Mosquitto → Pi-B (roomba/cmd) ໾ׂ෼୲ͷ࣮ଶ • LSL: Pi-A → PC Λ LAN ϚϧνΩϟετͰލ͙ (࣌ࠁಉظࠐΈ) • MQTT: PC ಺ίϯςφؒ + PC → Pi-B (੍ޚίϚϯυ) LSL ͸Ұൠతʹ͸Ϛγϯ಺޲͚͕ͩɺຊϓϩδΣΫτͰ͸ LAN ϚϧνΩϟ ετͰލ͍Ͱ࢖༻ • ͦͷ͓͔͛Ͱ࣌ࠁಉظ͸ LSL ʹ೚ͤΒΕΔ • ੍ޚ͸ broker ܦ༝ͳͷͰ Pi-B ͕࠶ىಈͯ͠΋ retain Ͱଈ෮ؼ
15. ᶆ
    ஝ੵ
    ʛ
    ͭͷ૬൓͢Δཁ݅ΛͲ͏ཱ྆͢Δ͔ ϦΞϧλΠϜܦ࿏ ʮࠓ͜ͷॠؒͷ൑அʯͷͨΊ • ࠷৽஋͕ < 50ms ͰಡΊΔ • ਪ࿦Ϟσϧ͕௚લ N αϯϓϧΛຖϧʔϓࢀ র • མͱ͍͍ͯ͠ (ݹ͍σʔλ͸ࣺͯΔ) ஝ੵܦ࿏ ʮ͋ͱ͔Βֶशɾ෼ੳʯͷͨΊ • શαϯϓϧΛ 1ͭ΋͚ܽͣ௕ظอଘ • ηογϣϯ୯ҐͰऔΓग़ͤΔ • ࠶ֶशɾΦϑϥΠϯ෼ੳʹ଱͑Δ vs → ʮετϦʔϜʯͱʮετΞʯΛ෼͚ɺ྆ํʹࢬ෼͔Εͤ͞Δ
16. ᶆ
    ஝ੵ
    ʛ
    ࢬ෼͔Εͷઃܭਤ LSL stream (લॲཧࡁΈ) Hot — Ring Buffer [ ݱࡏ࣮૷ࡁ ] in-memory (numpy / deque) ༻్ ᶇ ਪ࿦Ϟσϧ༻ ࢓૊Έ ௚ۙ N ඵ͚ͩอ࣋ / ࣗಈഇغ Warm — TimescaleDB [ ݱࡏ࣮૷ࡁ ] Postgres + ࣌ܥྻ֦ு ༻్ ηογϣϯ෼ੳɾՄࢹԽ ࢓૊Έ ϋΠύʔςʔϒϧ / ѹॖϙϦγ Cold — Parquet [ কདྷҊɾະ࣮૷ ] ϩʔΧϧσΟεΫ + S3 ༻్ ΦϑϥΠϯֶशɾ؂ࠪ ࢓૊Έ (Ҋ) ηογϣϯ୯ҐϑΝΠϧ + ϝλ JSON
17. ༨ஊɿީิͭ͋ͬͨ %&4*(/NE
    ː
    Ͱݕ౼ͨ͠୅ସҊ ϑΝΠϧ 1BSRVFU
    ࣌ࠁ໋໊Ͱॻ͖ஷΊɻ QBOEBT1PMBST௚݁ɻ SFUFOUJPO
    ͱΫΤϦ͸ࣗ લɻ ࣌ܥྻઐ༻ *OGMVY%# MJOF
    QSPUPDPM
    
    'MVY *OGMVY2-ɻ*P5ϝτϦΫ ε޲͚ɻֶशίετ
    
    ΤίγεςϜஅઈɻ 1PTUHSFT֦ு 5JNFTDBMF%# ඪ४42-
    
    IZQFSUBCMF
    
    ѹॖ
    
    SFUFOUJPO
    એ ݴతɻҟछςʔϒϧΛ +0*/ɻ ࠾ ༻ ྻࢦ޲0-"1 $MJDL)PVTF େن໛ूܭͱϩάʹڧ ͍ɻѹॖ཰rYɻຊ ݅ن໛Ͱ͸PWFSLJMMɺӡ ༻ॏ͍ɻ
18. ൺֱද ຊϓϩδΣΫτͷީิ
    
    पลͷओཁ࣌ܥྻɾ෼ੳ%# 5JNFTDBMF%# *OGMVY%# $MJDL)PVTF 1BSRVFU %VDL%# ํࣜ 1PTUHSFT
    ֦ு ઐ༻Τϯδϯ ྻࢦ޲
    0-"1 ϑΝΠϧ ૊ࠐ ΫΤϦݴޠ ඪ४
    42- 'MVY
    
    *OGMVY2- 42-
    ํݴ ඪ४
    42- ѹॖ཰
    DI rY rY rY Y +0*/ ˕ ˚ ˓ ˕ τϥϯβΫγϣϯ ˕
    "$*% ✕ ✕ ✕ ܧଓूܭ DPOUJOVPVT
    BHH UBTLT NBUFSJBMJ[FE
    WJFX ࣗલ ӡ༻ෛՙ ௿ த ߴ ۃ௿ ಘҙ෼໺ ࠞ߹
    0-51 ࣌ܥྻ *P5
    ϝτϦΫε େن໛෼ੳɾMPH ΞυϗοΫ෼ੳ ˕
    ڧ͍
    
    u
    
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    u
    
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    ੍ݶ͋Γ
    
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    ඇରԠ
19. ᶇ
    ൑அ
    ʛࣗಈӡస ύΠϓϥΠϯͷத৺: Gemini Robotics-ER 1.5 (VLA) • ೖྗʹ EEG ಛ௃ྔ + ը૾ + ίϯςΩετ Λ·ͱΊͯ౤͛ɺί ϚϯυΛ VLAʹܾΊͤ͞Δ • LLM ग़ྗΛ 5୒ʹεφοϓ(Լهࢀর)͔ͯ͠Β MQTT ʹ৐ͤΔ ೖग़ྗ • ೖྗ: Ring Buffer ͔Β௚ۙ N ඵͷಛ௃ྔ + पล৘ใ • ग़ྗ: લਐ / ޙୀ / ࠨટճ / ӈટճ / ఀࢭ — ཭ࢄ5஋ʹѹॖ ࣦഊ࣌ͷৼΔ෣͍ • LLM ͕஗Ԇ / λΠϜΞ΢τͨ͠Β → ʮఀࢭʯίϚϯυΛ retain (҆ શଆʹ౗͢) • ηϯα͕੾ΕͨΒ → MQTT last-will ͕ʮఀࢭʯΛࣗಈ഑৴
20. ᶈ
    ഑৴
    ʛ
    3PPNCBɹʢ3PPNCB
    0QFO
    *OUFSGBDF • Pi-B → Roomba: USB serial Ͱ Drive ίϚϯυΛૹΔ • Arduino: ిѹڥք (Roomba 5V 㱻 Pi 3.3V) Λ Arduino ʹԡ͠ࠐΜͩ • Tailscale: ՈͷWi-Fi֎Ͱ΋ϚγϯؒΛ VPN ӽ͠ʹܨ͙ (P2P ϝογϡ)
21. ֶͼɾϋϚΓͲ͜Ζ ͏·͍ͬͨ͘͜ͱ • LSL = ηϯαܥͷ transport / MQTT = ੍ޚܥͷ transportɺͱʮ޲͖ෆ޲͖Ͱ࢖͍෼͚ʯ → ഑ઢ͕ҰؾʹεοΩϦ • ʮϦΞϧλΠϜܦ࿏ʯͱʮ஝ੵܦ࿏ʯΛ෼͚ͨ͜ͱͰɺยํΛࢭΊͣʹยํΛվमͰ͖Δ • MQTT ͷ retain / last-will Ͱʮࢮ׆؅ཧίʔυʯΛ΄΅ॻ͔ͣʹࡁΜͩ ϋϚΓͲ͜Ζ • Docker host network ඞਢ: LSL ͸ UDP ϚϧνΩϟετͰ stream ݕग़ → Docker bridge ωοτϫʔΫͰ͸௨Β ͳ͍ɻinlet ίϯςφ͸ --network host ඞਢ • ࣌ࠁಉظ: Ϛγϯލ͗ͩͱ LSL ͷλΠϜελϯϓ͕ʮLSL ΫϩοΫʯج४ → DB อଘ࣌ʹͲͷ࣌ࠁ࣠Λ࠾༻͢Δ ͔ཁઃܭ • Sshܨ͍Ͱ͍ΔͱͲΕ͕ͲΕ͔Θ͔Βͳ͘ͳΔ
22. ·ͱΊ ηϯα → సૹ → Ճ޻ → ஝ੵ (ࢬ෼͔Ε) → ൑அ → ഑৴ ʮϋʔυ΢ΣΞͷ࿩ʯͰ͸ͳ͘ʮσʔλͷྲྀΕͷ࿩ʯͱͯ͠੔ཧ͢Δͱɺ࠶ར༻Ͱ͖Δઃܭ͕ݟ͑Δ
23. ϓϩτίϧ໾ׂ෼୲ ೾ܗ͸
    -4-ɺঢ়ଶͱ੍ޚ͸
    .255ɺطଘࢿ࢈͸
    )551 -4- .255 )551 ԿΛӡͿ ੜ&&(
    ೾ܗ
    DI
    ʷ
    
    )[ ঢ়ଶ
    
    ੍ޚ
    
    Πϕϯτ
    
    ಛ௃ྔ 3PPNCB
    ۦಈίϚϯυ ۩ମྫ
    UPQJD
    
    FOEQPJOU QJFFH@DI
    PVUMFU
    ˠ
    JOMFU QJFFHIFBMUI
    DPOUSPMTUBUF
    DPOUSPMUISFTIPME
    FFHDIVOL
    FFHBMQIB
    SPPNCBDNE
    ʜ 'BTU"1*
    NPWF
    IBMU
    SPPNCBTUBUF
    ˠ
    3PPNCB SFUBJO Š TUBUFZFT
    
    FWFOUOP Š ڧΈ OT
    UJNFTZOD
    ૊ࠐ
    #$*
    ࣄ࣮ඪ४
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43. ΈΜͳͷߟ͑ͨ࠷ڧͷσʔλج൫ΞʔΩςΫνϟ26લظʙલ໷ࡇʙϧʔΩʔζ 2026/5/14(໦) 19:00ʙ