ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

ROSCon JP 2019 https://roscon.jp/2019/ の前日に開催されました有料講習会の後半資料を公開します。

Transcript

1. 526&RQ-3ㅮ⩦఍
   526䛾
   ⛣ື䝻䝪䝑䝖䜈䛾ᛂ⏝
   ㏆⸨㇏#\RXWDON
   KWWSVZZZ\RXWDONMS
   

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2. ⮬ᕫ⤂௓
   \XWDNDNRQGR#\RXWDONMS
   
   ᮏྡ ᅜ⡠
   䝩䞊䝮䝨䞊䝆
   Ɣ aዉⰋඛ➃኱Ꮫ㝔኱Ꮫ༤ኈ䠄ᕤᏛ䠅
   Ɣ a䜹䝽䝎䝻䝪䝔䜱䜽䝇㛤Ⓨ㒊୺௵
   Ɣ a526-DSDQ8*୺ᐓ
   Ɣ a3UHIHUUHG1HWZRUNV䜶䞁䝆䝙䜰
   Ɣ 526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾ฟ∧
   

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3. 5DVSEHUU\3L0RXVH526&RQ-3ㅮ⩦఍䜻䝑䝖
   ௒ᅇ䛾⛣ື䝻䝪䝑䝖䛾ㅮ⩦఍䜻䝑䝖䜢䛤㉎ධ䛔
   䛯䛰䛡䜎䛩䚹
   Ɣ ⌧ᆅㄳồ᭩ᡶ䛔䠄ྎᩘ㝈ᐃ䠅
   ż ⛯㎸෇
   Ɣ 䜰䞊䝹䝔䜱䝻䝪䝑䝖䝅䝵䝑䝥
   ż KWWSVZZZUWVKRSMSLQGH[SKS"P
   DLQBSDJH SURGXFWBLQIR F3DWK
   B SURGXFWVBLG
   ż ⛯㎸෇
   
   

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4. ┠ḟ
   6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
   1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
   ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
   ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
   5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
   526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
   ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
   6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
   59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
   ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
   
   

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5. ┠ḟ
   6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
   1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
   ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
   ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
   5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
   526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
   ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
   6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
   59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
   ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
   
   

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6. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
   6/$0
   ³6/$0䛸䛿䚸⮬ᕫ఩⨨᥎ᐃ䛸⎔ቃᆅᅗసᡂ䜢ྠ᫬䛻⾜䛖䛣䛸䜢ゝ
   䛖䚹ṇᘧྡ⛠䛿䚸6LPXOWDQHRXV/RFDOL]DWLRQDQG0DSSLQJ䚹఩⨨
   䛾᥎ᐃ䜔䝬䝑䝥సᡂ䛻䛿䝺䞊䝄䞊䝺䞁䝆䝇䜻䝱䝘䞊 ᇦ䝉䞁䝃䚸
   /,'$5䚸䜹䝯䝷䚸䜶䞁䝁䞊䝎䚸䝬䜲䜽䝻䝣䜷䞁䜰䝺䜲䛺䛹䛜฼⏝䛥䜜
   䜛䛣䛸䛜ከ䛔䚹´
   KWWSVMDZLNLSHGLDRUJZLNL6/$0
   
   

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7. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
   *RRJOH&DUWRJUDSKHU
   Ɣ 䜾䝸䝑䝗䝧䞊䝇䛾䝇䜻䝱䞁䝬䝑䝏䞁
   䜾䛻䜘䜛㏲ḟฎ⌮6/$0䛸䜾䝷䝣
   䝧䞊䝇䛾䝞䝑䝏ฎ⌮6/$0䛾⤌䜏
   ྜ䜟䛫
   Ɣ /RRS&ORVXUH䛒䜚
   Ɣ ḟඖ䛰䛡䛷䛺䛟ḟඖ6/$0䛻䜒
   ᑐᛂ
   Ɣ 526䛷䛾䝕䝣䜯䜽䝖䝇䝍䞁䝎䞊䝗
   䠄526䛷䛿&DUWRJUDSKHU䛾䜏ᑐ
   ᛂ䠅
   
   

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8. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
   䝘䝡䝀䞊䝅䝵䞁
   ³䝘䝡䝀䞊䝅䝵䞁䝇䝍䝑䜽䛿䚸䜸䝗䝯䝖䝸䜔䝉䞁䝃䞊䝕䞊䝍䜢ධຊ䛧䚸
   䝻䝪䝑䝖䜈㏿ᗘᣦ௧䜢ฟຊ䛧䜎䛩䚹䝘䝡䝀䞊䝅䝵䞁䝇䝍䝑䜽䜢౑䛖䛻
   䛿䚸䝻䝪䝑䝖䛜7)䛾ᗙᶆ⣔䝒䝸䞊䜢ᣢ䛳䛶䛚䜚䚸ṇ䛧䛔䝯䝑䝉䞊䝆
   䛾䝍䜲䝥䛾䝉䞁䝃䞊䝕䞊䝍䜢㏦ಙ䛧䛶䛔䜛䛣䛸䛜ồ䜑䜙䜜䛶䛔䜎
   䛩䚹´
   KWWSZLNLURVRUJQDYLJDWLRQ2YHUYLHZ
   
   

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9. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
   1DYLJDWLRQ䝟䝑䜿䞊䝆
   
   ኱ᇦⓗ
   ⤒㊰ィ⏬
   ᒁᡤⓗ
   ⤒㊰ィ⏬
   ᚟ᖐ⾜ື
   ኱ᇦⓗ
   䝁䝇䝖ᆅᅗ
   ᒁᡤⓗ
   䝁䝇䝖ᆅᅗ
   

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10. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛾᚟ᖐ⾜ື
    
    526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾 䜘䜚㌿㍕
    526䛷䛿⾜䛝ワ䜎䜚ゎᾘ䛜䚸䜋䜌ᅛᐃ䛾᚟ᖐ⾜ື䛾䜏
    

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11. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    
    

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12. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    1DYLJDWLRQ
    ⛣ື䝻䝪䝑䝖䛾⤒㊰ィ⏬䝟䝑䜿䞊䝆
    Ɣ 526&U\VWDO䛷䜰䝹䝣䜯䝸䝸䞊䝇
    Ɣ 䝷䜲䝣䝃䜲䜽䝹ᑐᛂ
    Ɣ PRYHBEDVH䛜QDYBEHKDYLRUBWUHH䛻⨨䛝᥮䛘
    ż 䝡䝦䜲䝡䜰䝒䝸䞊䛻ᑐᛂ䛧䛯䝘䝡䝀䞊䝅䝵䞁䝍䝇䜽䛾ᐇ⿦
    Ɣ 7XUWOH%RW䛜526'DVKLQJ䛾1DYLJDWLRQ䛻ᑐᛂ
    
    5DVSEHUU\3L0RXVH䛿1DYLJDWLRQᑐᛂ䛧䛯
    ୡ⏺␒┠䛾⛣ື䝻䝪䝑䝖
    

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13. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    1DYLJDWLRQ䛾䝡䝦䜲䝡䜰䝒䝸䞊౛
    
    KWWSVJLWKXEFRPURVSODQQLQJQDYLJDWLRQEOREPDVW
    HUQDYBEWBQDYLJDWRU5($'0(PG
    1DYLJDWLRQ䝕䝣䜷䝹䝖䛾
    䝡䝦䜲䝡䜰䝒䝸䞊
    Ɣ ⤒㊰ィ⏬䛾ᅇᩘไ㝈
    ௜䛝෌ィ⏬
    Ɣ ⾜䛝ワ䜎䜚᫬䛾ᅇᩘ
    ไ㝈௜䛝᚟ᖐ⾜ື
    

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14. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    
    

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15. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    
    Ɣ 53/L'$5$0
    ż ୓෇๓ᚋ䛷㈙䛘䜛'/L'$5
    Ɣ 53/L'$5䝬䜴䞁䝖
    ż '䝥䝸䞁䝍䛷〇స
    ż 67/䝣䜯䜲䝹
    Ɣ 5DVSEHUU\3L0RXVH9
    ż 䜰䞊䝹䝔䜱〇⛣ື䝻䝪䝑䝖䝥
    䝷䝑䝖䝣䜷䞊䝮
    ż 5DVSEHUU\3L%
    

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16. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    䝅䝇䝔䝮ᵓᡂ
    
    5DVSEHUU\3L% 3&
    GHVFULSWLRQ
    URERWBVWDWHB
    SXEOLVKHU
    5DV3L0RXVH
    䝗䝷䜲䝞
    53/L'$5
    䝗䝷䜲䝞
    VWDWLFBWUDQVIRUP
    BSXEOLVKHU
    EULQJXS
    1DYLJDWLRQ
    *RRJOH
    &DUWJUDSKHU
    UYL]
    URVEDJ
    WHOHRSBWZLVWB
    MR\NH\ERDUG
    䝉䞁䝅䞁䜾䛸
    䜰䜽䝏䝳䜶䞊䝅䝵䞁䛾䜏 䛭䜜௨እ
    

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17. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    
    

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18. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    8EXQWX䛸526'DVKLQJ䛾䜲䞁䝇䝖䞊䝹
    ᮏㅮ⩦఍䛷䛿8EXQWX䛾䜲䞁䝇䝖䞊䝹䚸䛚䜘䜃526'DVKLQJ䛾䝉䝑䝖䜰䝑䝥䛿᏶
    ஢䛧䛶䛔䜛䜒䛾䛸䛧䛶㐍䜏䜎䛩䚹
    90:DUH䛺䛹䛾௬᝿໬䝋䝣䝖䜴䜵䜰䜢౑䛳䛶䜲䞁䝇䝖䞊䝹䛧䛶䛔䜛ሙྜ䚸䝛䝑䝖䝽䞊䜽タᐃ
    䜢䝤䝸䝑䝆䛻ኚ᭦䛧䛶䛟䛰䛥䛔䚹
    Ɣ 8EXQWX䛾䜲䞁䝇䝖䞊䝹
    ż KWWSVJELJJVJLWKXELRURVBPRYHLWBUVMBWXWRULDOOLQX[BDQGBURVBLQVWDOOKWPO
    ż KWWSVOLQX[IDQLQIRXEXQWXLQVWDOOJXLGH
    Ɣ 526'DVKLQJ'LDGHPDWD䛾䝉䝑䝖䜰䝑䝥
    ż KWWSVURVFRQMSZRUNVKRSFRPSXWHUBSUHSBOLQX[KWPO
    ż KWWSVLQGH[URVRUJGRFURV,QVWDOODWLRQ'DVKLQJ/LQX[,QVWDOO'HELDQV
    
    

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19. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVH䝟䝑䜿䞊䝆䛾䝡䝹䝗
    ࣮࣡ࢡࢫ࣮࣌ࢫࡢసᡂ
    PNGLUSaURVGDVKLQJVUF
    FGaURVGDVKLQJVUF
    UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢྲྀᚓ
    JLWFORQHKWWSVJLWKXEFRP\RXWDONUDVSLPRXVHBURVJLW
    FGUDVSLPRXVHBURV
    JLWVXEPRGXOHXSGDWHLQLW
    FG
    
    

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20. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVH䝟䝑䜿䞊䝆䛾䝡䝹䝗
    ౫Ꮡࢯࣇࢺ࢙࢘࢔ࣃࢵࢣ࣮ࢪࡢ࢖ࣥࢫࢺ࣮ࣝ
    VXGRURVGHSLQLW
    URVGHSXSGDWH
    URVGHSLQVWDOOIURPSDWKVVUFLJQRUHVUFU\
    ࣮࣡ࢡࢫ࣮࣌ࢫࡢࣅࣝࢻ
    FROFRQEXLOGV\POLQNLQVWDOO
    ⎔ቃኚᩘࡢタᐃ
    VRXUFHaURVGDVKLQJLQVWDOOVHWXSEDVK
    
    

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21. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    
    

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22. 5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    5DVSEHUU\3L䛻66+᥋⥆䠄;;;䛿ྛᮘ䛻๭䜚ᙜ䛶䜙䜜䛯␒ྕ䠅
    VVKXEXQWX#;;;
    ࣃࢫ࣮࣡ࢻࡣ
    ࢹࣂ࢖ࢫࣇ࢓࢖ࣝࡢᏑᅾࢆ☜ㄆ
    OVGHYUW
    GHYUWEX]]HUGHYUWPRWRUBUDZBUGHYUWOHG
    
    

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23. 5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    䝋䝣䝖䜴䜵䜰䝇䜲䝑䝏䜢21
    HFKR!GHYUWPRWRUHQ
    ྑ࣮ࣔࢱࢆ+]࡛ᅇ㌿
    HFKR!GHYUWPRWRUBUDZBU
    ྑ࣮ࣔࢱࢆ೵Ṇ
    HFKR!GHYUWPRWRUBUDZBU
    
    

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24. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    
    

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25. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
    5DVSEHUU\3Lഃ䝟䝑䜿䞊䝆䝡䝹䝗
    ࢻ࣓࢖ࣥ,'ࡢ☜ㄆ
    VVKXEXQWX#;;;
    HFKR526B'20$,1B,'
    <<<
    <<UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢࣅࣝࢻ
    FGaURVGDVKLQJ
    FROFRQEXLOGV\POLQNLQVWDOO
    
    

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26. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
    5DVSEHUU\3LഃEULQJXS䝟䝑䜿䞊䝆䛾㉳ື
    ⎔ቃኚᩘ䛾タᐃ
    VRXUFH
    aURVGDVKLQJLQVWDOOVHWXSEDVK
    EULQJXS䝟䝑䜿䞊䝆ࡢ㉳ື
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    URERWODXQFKS\
    
    5DVSEHUU\3L%
    GHVFULSWLRQ
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    SXEOLVKHU
    5DV3L0RXVH
    䝗䝷䜲䝞
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    䝗䝷䜲䝞
    VWDWLFBWUDQVIRUP
    BSXEOLVKHU
    EULQJXS
    

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27. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
    ᣢཧ3&ഃ䝗䝯䜲䞁タᐃ
    ᣢཧ3&ࡢࢻ࣓࢖ࣥ,'タᐃ㸦5DVSEHUU\3L0RXVH࡜ྠࡌ್㸧
    H[SRUW526B'20$,1B,' <<<
    䝗䝯䜲䞁,'䛾タᐃ䜢ᛀ䜜䛯䜚ㄗ䛳䛯䜚䛩䜛䛸䚸௚ே䛾5DVSEHUU\3L0RXVH䛜ືస䛧䛶䛧
    䜎䛖ᜍ䜜䛜䛒䜚䜎䛩䚹
    5DVSEHUU\3L0RXVH䛸䛾㏻ಙ☜ㄆ
    URVQRGHOLVW
    
    UDVSLPRXVHBGULYHU
    
    
    

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28. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
    ᣢཧ3&ഃ䝷䜲䝣䝃䜲䜽䝹タᐃ
    5DVSEHUU\3L0RXVH䛾䝷䜲䝣䝃䜲䜽䝹䜢ึᮇ໬䚸䝇䝢䞁㛤ጞ
    URVOLIHF\FOHVHWUDVSLPRXVHBGULYHUFRQILJXUH
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    䝰䞊䝍21
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    URERWODXQFKS\䛿㉳ື䛩䜛䛤䛸䛻ୖ䛾䛴䛾䝁䝬䞁䝗䜢ᐇ⾜䛩䜛ᚲせ䛜䛒䜚䜎䛩䚹
    
    

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29. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
    ᣢཧ3&ഃ㐲㝸᧯స
    䜻䞊䝪䞊䝗䛻䜘䜛㐲㝸᧯స
    URVUXQWHOHRSBWZLVWBNH\ERDUGWHOHRSBWZLVWBNH\ERDUG
    ㏿ᗘタᐃ䛾ึᮇタᐃ䛷䛿๓㐍ᚋ㐍䛜㏿䛩䛞䜛䛯䜑䚸[䜻䞊䜢ఱᅇ䛛ᢲ䛧䛶⛣ື㏿ᗘ䜢
    >PV@䛟䜙䛔䛻䛧䜎䛧䜗䛖䚹
    WHOHRSBWZLVWBMR\䝟䝑䜿䞊䝆䜢౑䛘䜀䚸䝆䝵䜲䝟䝑䝗䛻䜘䜛㐲㝸᧯స䜒䛷䛝䜎䛩䚹
    
    

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30. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స
    ᣢཧ3&ഃ59L]䛻䜘䜛ྍど໬
    5DVSEHUU\3L0RXVHタᐃ䛾59L]㉳ື
    URVODXQFKUDVSLPRXVHBEULQJXSUYL]ODXQFKS\
    
    

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31. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
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    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
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32. ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    
    ඛ䜋䛹䛾㐲㝸᧯స䜢ᐇ⾜䛧䛴䛴䚸䛩䜉䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䜢グ㘓䛧䜎䛩䚹
    URVEDJ㛵㐃䝟䝑䜿䞊䝆䛾䜲䞁䝇䝖䞊䝹
    VXGRDSWXSGDWH
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    URVGDVKLQJURVEDJ
    
    
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    ඲䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䛾グ㘓䠄⤊஢䛿&WUO&䠅
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    グ㘓ࡋࡓEDJࣇ࢓࢖ࣝࡢ෌⏕
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33. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
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    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
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34. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ
    EDJ䝣䜯䜲䝹䜢౑䛳䛯ሙྜ
    
    ඛ䜋䛹ಖᏑ䛧䛯EDJ䝣䜯䜲䝹䜢෌⏕䛧䛺䛜䜙䚸*RRJOH&DUWRJUDSKHU䜢ᐇ⾜䛧䛶6/$0䛻
    䜘䜛ḟඖᆅᅗ䜢సᡂ䛧䜎䛩䚹
    5DVSEHUU\3L0RXVHタᐃ䛾&DUWRJUDSKHU䛾ᐇ⾜
    URVODXQFKUDVSLPRXVHBFDUWRJUDSKHUFDUWRJUDSKHUODXQFKS\
    グ㘓䛧䛯EDJ䝣䜯䜲䝹䛾෌⏕
    URVEDJSOD\aUDVSLPRXVHBVODPEDJ
    59L]ୖ䛷ᆅᅗ䛜᏶ᡂ䛧䛯䝍䜲䝭䞁䜾䛷ḟඖᆅᅗ䝕䞊䝍䜢ಖᏑ
    URVUXQQDYBPDSBVHUYHUPDSBVDYHUIaURVPDS
    

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35. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ
    EDJ䝣䜯䜲䝹䜢౑䜟䛺䛔ሙྜ
    
    䛭䛾ሙ䛷㐲㝸᧯స䜢䛧䛺䛜䜙䚸*RRJOH&DUWRJUDSKHU䜢ᐇ⾜䛧䛶6/$0䛻䜘䜛ḟඖᆅ
    ᅗ䜢సᡂ䛧䜎䛩䚹
    5DVSEHUU\3L0RXVHタᐃ䛾&DUWRJUDSKHU䛾ᐇ⾜
    URVODXQFKUDVSLPRXVHBFDUWRJUDSKHUFDUWRJUDSKHUODXQFKS\
    䜻䞊䝪䞊䝗䛻䜘䜛㐲㝸᧯స
    URVUXQWHOHRSBWZLVWBNH\ERDUGWHOHRSBWZLVWBNH\ERDUG
    59L]ୖ䛷ᆅᅗ䛜᏶ᡂ䛧䛯䝍䜲䝭䞁䜾䛷ḟඖᆅᅗ䝕䞊䝍䜢ಖᏑ
    URVUXQQDYBPDSBVHUYHUPDSBVDYHUIaURVPDS
    

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36. 
    KWWSV\RXWXEH28Q]U24
    

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37. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ
    ḟඖᆅᅗ䛾ㄪᩚ
    
    &DUWRJUDSKHU䛾タᐃ䝣䜯䜲䝹䜢ㄪᩚ䛩䜛䛣䛸䛻䜘䜚䚸ᆅᅗ䛾ゎീᗘ䜔᭦᪂㢖ᗘ䛺䛹䜢ኚ
    ᭦䛩䜛䛣䛸䛜䛷䛝䜎䛩䚹
    Ɣ &DUWRJUDSKHUタᐃ䝣䜯䜲䝹
    ż KWWSVJLWKXEFRP\RXWDONUDVSLPRXVHBURVEOREPDVWHUUDVSLPRXVHBFDUW
    RJUDSKHUFRQILJUDVSLPRXVHBUSOLGDUBDPOXD
    Ɣ タᐃ㡯┠䛾ෆᐜ
    ż KWWSVJRRJOHFDUWRJUDSKHUURVUHDGWKHGRFVLRHQODWHVWFRQILJXUDWLRQKW
    PO
    

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38. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
    1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ
    ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH
    ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥
    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స
    ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕
    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
    59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
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39. 59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ⌧ᅾ఩⨨ጼໃ䛾ㄪᩚ
    
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    URVODXQFKUDVSLPRXVHBQDYLJDWLRQQDYLJDWLRQODXQFKS\
    PDS KRPH86(5URVPDS\DPO
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    59L]䛾'3RVH(VWLPDWH䝪䝍䞁䜢ᢲ䛧䛶ṇ䛧䛔఩⨨ጼໃ䜢୚䛘䛶䛟䛰䛥䛔䚹ᕥ䜽䝸䝑䜽
    䛧䛯఩⨨䛜┠ᶆ఩⨨䚸䝗䝷䝑䜾䛧䛯᪉ྥ䛜┠ᶆጼໃ䛻䛺䜚䜎䛩䚹
    

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40. 59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    ┠ᶆ఩⨨ጼໃ䛾タᐃ
    
    59L]䛾1DYLJDWLRQ*RDO䝪䝍䞁䜢ᢲ䛧䛶䚸┠ᶆ䛸䛺䜛ᆅⅬ䛾఩⨨ጼໃ䜢୚䛘䛶䛟䛰䛥
    䛔䚹ᕥ䜽䝸䝑䜽䛧䛯఩⨨䛜┠ᶆ఩⨨䚸䝗䝷䝑䜾䛧䛯᪉ྥ䛜┠ᶆጼໃ䛻䛺䜚䜎䛩䚹
    

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41. 
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42. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
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    6/$0䛻䜘䜛ḟඖᆅᅗసᡂ
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43. ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁
    వຊ䛜䛒䜚䜎䛧䛯䜙䚸59L]䜢౑䜟䛪䛻UFOFSSUFOS\䜢౑䛳䛶┠ᶆ఩⨨ጼໃ䜢୚䛘䜛䝜䞊
    䝗䜢ᐇ⿦䛧䛶䜏䜎䛧䜗䛖䚹
    Ɣ 526䛾0RYH%DVH&OLHQW䛾䜘䛖䛺ᑓ⏝䜽䝷䜲䜰䞁䝖䛿䛺䛟䚸1DYLJDWH3DWK7R3RVH
    䜰䜽䝅䝵䞁䛾䜽䝷䜲䜰䞁䝖䜢䛭䛾䜎䜎౑䛔䜎䛩䚹
    Ɣ ༢⣧䛻3RVH6WDPSHG䝖䝢䝑䜽䛾㏦ಙ䛷䜒┠ᶆ఩⨨ጼໃ䜢୚䛘䜙䜜䜎䛩䚹
    Ɣ 59L]䛾1DYLJDWLRQ*RDO䝪䝍䞁䛾ᐇ⿦䛜ཧ⪃䛻䛺䜚䜎䛩䚹
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44. ┠ḟ
    6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ
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45. 
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    Ɣ ⥙⨶ⓗ䛻526䜢ᢅ䛳䛯ୡ⏺᭱ึ䛾᭩⡠
    Ɣ 526'DVKLQJ'LDGHPDWD‽ᣐ
    Ɣ 526䜢᣺䜚㏉䜛❶䜒䛒䜚
    Ɣ 5RRPED䛾526䝗䝷䜲䝞⛣⾜ᐇ㊶
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    Ɣ 526&RQ-3ㅮ⩦఍๓༙䛾ෆᐜ䜢䜹䝞䞊
    Ɣ ᢏ⾡ホㄽ♫䛾㟁Ꮚ᭩⡠䛜఍ᮇ୰䛾䜏༙㢠䜻䝱
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