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適応アルゴリズム入門

ysuga
May 31, 2017

 適応アルゴリズム入門

ysuga

May 31, 2017
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  1. SUGAR SWEET ROBOTICS CO., LTD. ਎ମ΁ͷదԠͷ໰୊ • ਎ମΛ্खʹ࢖͑͹ɼૉૣ͘ɼϩόε τͳಈ࡞Λ࣮ݱͰ͖ΔͷͰ͸ͳ͍͔ʁ •

    ౦େᅳ٢ݚͷى্͖͕Γ μΠφ ϛοΫͳ WT࢈૯ݚ)31ͷى ্͖͕Γ ελςΟοΫͳ  • μΠφϛοΫͳ ಈྗֶతͳಈ͖ ͸ ೉͍͠ • ࣮ݱ͢Δϋʔυ΢ΣΞ։ൃ͕ࠔ೉ • ੍ޚͷצॴΛݟۃΊΔͷ͕ࠔ೉ 5 youtube: robologistνϟωϧΑΓ
  2. SUGAR SWEET ROBOTICS CO., LTD. ਎ମ΁ͷదԠͷ໰୊ • $PSOFMMେֶͷ1BTTJWF%ZOBNJD 8BMLFS डಈาߦػց

     • ಈྗ͕ͳͯ͘΋ਓؒͱಉ༷ ʹ਎ମͳΒɼԼΓࡔͰา͍ ͯ͠·͏ • ਫฏͳ৔ॴͰ͸ίπ͕ඞཁ • කΛ৳͹ͨ͠าߦͰΤωϧΪʔ ޮ཰͕ྑ͍ 7 http://ruina.tam.cornell.edu/hplab/pdw.htmlΑΓ
  3. SUGAR SWEET ROBOTICS CO., LTD. దԠʹ͍ͭͯߟ͑Δ • దԠͱ͸ɼదԠ౓ͷߴ͍ύϥϝʔ λΛٻΊΔ͜ͱ •

    ͭ·Γɼ஌ೳͷ໨తࣗମ͕దԠʹ ͋Δͱ΋ݴ͑Δ • ໨ඪͱͳΔదԠ౓ؔ਺͕ཅ· ͨ͸ӄʹ༩͑ΒΕ͓ͯΓɼͦ ͷదԠ౓ؔ਺͕࠷େʹͳΔύ ϥϝʔλ1NBYΛݟ͚ͭΔ • ෳ਺ͷೖྗɾग़ྗͷ૊Έ߹Θ ͕ͤ෼෍ͱͯ͠ଘࡏ͠ɼͦΕ ΒΛ࠷΋Α͘୅ද͢Δؔ਺Λ ݟ͚ͭΔ 9  p F pmax
  4. SUGAR SWEET ROBOTICS CO., LTD. า͘ϩϘοτ • ʮา͘ʯͱ͍͏ಈ࡞Λύϥ ϝʔλԽ͢Δ •

    σϑΥϧτҐஔ͔Βͷલ ޙ଍ͷ֯౓ΛВͱ͓͘ • า͘ಈ࡞Λ̎ͭͷ࢟੎ͷ पظతಈ࡞ͱߟ͑Ε͹ɼ Ϻ В  В ·Ͱͷ̐ ͭͷύϥϝʔλʹූ߸Խ Ͱ͖Δ 12 Θ1 Θ2 Θ3 Θ4
  5. SUGAR SWEET ROBOTICS CO., LTD. ϓϩάϥϜͷྲྀΕ • ෇ۙͷখ͞ͳ஋ͰϺΛ/ݸੜ੒ • ಈ࡞։࢝

    • ͢΂ͯͷϺʹ͍ͭͯ • ಈ࡞ͤͯ͞ΈΔ • ͲΕ͘Β͍Τϯίʔμ͕ճస͔ͨ͠ݕग़ • ճసྔΛಛయͱͯ͠Ϻʹ݁ͼ͚ͭΔ • ࠷ྑͷϺͷΈΛ࢒ͯ͠΄͔͸࡟আ • ࠷ྑͷϺΛ/ݸίϐʔ͢Δɽίϐʔ͢Δͱ͖ʹϺͷ֤ཁૉВO ʹΘ͔ͣʹϥϯμϜͳ஋ΛՃ͑ͯมԽͤ͞Δ • ಈ࡞։࢝ʹ໭Δ 14
  6. SUGAR SWEET ROBOTICS CO., LTD. • શ୳ࡧ • ࠷ٸ߱Լ๏ •

    ϥϯμϜ୳ࡧ • λϒʔαʔν • ٖࣅম͖ͳ·͠๏ • ڧԽֶश • ਐԽతख๏ 18
  7. SUGAR SWEET ROBOTICS CO., LTD. ϥϯμϜαʔν • ͋Δ֬཰QͰਖ਼ʹɼ͋Δ֬཰ Q ͰෛʹύϥϝʔλΛಈ͔͢

    • ͍ͣΕ͸௖্ʹண͘ • ຊ౰ʹొΕΔͷ͔Θ͔Βͳ͍ • ແବ͕ଟ͍ 22
  8. SUGAR SWEET ROBOTICS CO., LTD. ֶश͢Δ 27 K1 K4 K2

    K3 ηϯαʹର͢ΔϞʔλͷήΠϯͷߋ৽ ɾྫɿࠨʹ൓Ԡ͕͋Δ৔߹͸ࠨΛ޲͘Α͏ʹKͷ஋Λ૿ݮ͢Δ ɾࠨͷϞʔλͷήΠϯΛԼ͛Δ ɾӈͷϞʔλͷήΠϯΛ্͛Δ
  9. SUGAR SWEET ROBOTICS CO., LTD. ֶश͢Δ 28 K1 K4 K2

    K3 ɾ͍ΖΜͳηϯαΛ࣮૷ͨ͠ෳࡶͳγεςϜ ɾ໰୊ࣗମ΋ෳࡶͰɼͦͷॠؒͰ͸ͲͷΑ͏ʹύϥϝʔλΛߋ৽͠ ͯߦ͚͹͍͍͔൑அͰ͖ͳ͍ ɾใुΛड͚औͬͯʢ؈Λݟ͚ͭͯʣॳΊͯɼͲͷηϯα͕༗ޮͳ ͷ͔෼͔Δ
  10. SUGAR SWEET ROBOTICS CO., LTD. ڧԽֶश • ୳ࡧ͢ΔओମΛʮΤʔδΣϯτʯͱݺͿ • ঢ়ଶʹରԠ͢Δߦಈͷ͏ͪɼՁ஋͕ߴ͍΋

    ͷΛ༏ઌతʹબ୒ 30 S2 F B1 B2 B1 B2 B3 S1 0.1 0.2 0.2 S2 0.3 0.1 0.1 S3 0.0 0.6 0.1 S4 0.2 0.2 0.4 S5 0.0 0.1 0.1 B3
  11. SUGAR SWEET ROBOTICS CO., LTD. ڧԽֶश • બ୒ͨ͠ߦಈʹΑͬͯಘΒΕΔใु͔Βߦ ಈՁ஋ςʔϒϧΛߋ৽ 31

    S2 F B1 B2 B3 S1 0.1 0.2 0.2 S2 0.4 0.1 0.1 S3 0.0 0.6 0.1 S4 0.2 0.2 0.4 S5 0.0 0.1 0.1 r
  12. SUGAR SWEET ROBOTICS CO., LTD. ͳͥదԠɾֶश͢Δͷ͔ʁ • ਓؒͰ͸Θ͔Βͳ͍͜ͱΛϩϘοτʹͤ͞ΔͨΊ • ղ͚Δ΋ͷ͸ղ͜͏

    • ٯӡಈֶ • ը૾ॲཧ • ղ͚ͳ͍໰୊ʹରॲ͢ΔͨΊʹֶशɾదԠ • ϩόετͳಛ௃ྔநग़ • ஌ೳΛٞ࿦͢ΔͨΊʹֶशɾదԠ 45
  13. SUGAR SWEET ROBOTICS CO., LTD. 47 • Ҩ఻ࢠ HFOFUZQF ʹੜ໋ͷઃܭਤ

    • ίϐʔΛ࡞Δ • ίϐʔΛ࡞ΔࡍʹɼઃܭਤʹΘ͔ͣʹมԽ͕ى͜Δʢಥ વมҟ NVUBUJPO ࠓҰ౓ɼਐԽͱ͸
  14. SUGAR SWEET ROBOTICS CO., LTD. ਐԽͱ͸ • ΑΓ؀ڥʹద߹͢ΔҨ఻ࢠΛબൈ͢Δաఔ • ؀ڥʹద߹͢Δ͜ͱ͸ɼҰͭͷධՁ࣠Ͱ͠

    ͔ͳ͘ɼઈରతͳ༏ྼ͸ͳ͍ • ؀ڥ͸มಈ͠ɼมԽʹదԠͰ͖ͳ͔ͬͨҨ ఻ࢠ΋౫ଡ͞Εͨ 50
  15. SUGAR SWEET ROBOTICS CO., LTD. ਐԽͷྫ φφϑγ • ͨͿΜɼ࠷ॳ͸໦ͷࢬʹۮવɼগ͚ͩ͠ࣅͯΔ ࠛ஬ͩͬͨ

    • ΑΓࣅ͍ͯΔݸମͷํ͕ɼௗʹ৯΂ΒΕͳ͍Ͱ ࡁΉܗͰɼબ୒͕ىͬͨ͜ • ௕͍೥݄Λֻ͚ͯࠓͷΑ͏ͳٖଶ͕ৢ੒͞Εͨ 51 WikipediaΑΓసࡌ http://en.wikipedia.org/wiki/Phasmatodea#/media/ File:Phobaeticus_chani_Bragg,_2008;_Holotype_Female_dorsal_view.jpg
  16. SUGAR SWEET ROBOTICS CO., LTD. ਐԽͱ͸ • ੜ෺͸Ҩ఻ࢠͷ৐Γ෺ • ؀ڥʹ͓͍ͯࣗݾͷอଘ͕ՄೳͳҨ఻ࢠͷΈ͕࢒Δ

    • ؀ڥ͸มԽ͢Δ • རଞతߦಈ͢ΒҨ఻ࢠͷอଘʹؔ࿈෇͚ͯઆ໌Ͱ ͖Δ • ϦνϟʔυυʔΩϯεʮརݾతͳҨ఻ࢠ 4FMGJTI(FOF ʯ 53
  17. SUGAR SWEET ROBOTICS CO., LTD. ਐԽ৺ཧֶ • ਓؒͷࣾձֶతɾ৺ཧֶతͳ܏޲͸ਐԽͷաఔ͔Βઆ ໌͢Δ͜ͱ͕Ͱ͖Δ •

    ޓܙతརଞओٛɾڠྗؔ܎ • ϚΩϟϕϦత஌ੑԾઆ • ਓؒͷ஌ੑతͳߦಈ͸ɼࣾձ׆ಈͷதͰͷࣗવ ౫ଡʹΑͬͯਐԽͨ͠ • จԽ΋ਐԽ͢ΔʢϛʔϜʣ • ৺͔Β৺΁ͷίϐʔͷதͰɼಥવมҟ΍ࣗવ౫ଡ͕ ى͜Δ 54
  18. SUGAR SWEET ROBOTICS CO., LTD. *OUFSBDUJWF&WPMVUJPOBSZ$PNQVUBUJPO 55 Human Subjective Evaluation

    EC framework •  Selection •  Crossover •  Mutation Genetic Pool Human-Interface • ਓؒͷओ؍తͳධՁʹΑΓɼҨ఻ࢠͷదԠ౓ΛܾΊΔ
  19. SUGAR SWEET ROBOTICS CO., LTD. ઌߦݚڀ • ))-VOEFUBM • z&WPMVUJPOBSZ3PCPUJDT"$IJMESFO`T(BNFz

    • ϓϩάϥϛϯάೳྗͷͳ͍ࢠڙͰ΋؀ڥΛಈ͖ճ ΔϩϘοτ͕࡞ΕΔʂ 56 (1) (7)
  20. SUGAR SWEET ROBOTICS CO., LTD. ਎ମ΁ͷదԠͷ໰୊ • $PSOFMMେֶͷ1BTTJWF%ZOBNJD 8BMLFS डಈาߦػց

     • ݁ہɼ͏·͘ઃܭ͞Εͨ਎ମ ͕ͳ͚Ε͹ɼ͍͔ʹ৘ใॲཧ ্͕ख͍ͬͯ͘΋λεΫͷ࣮ ݱ͸ෆՄೳͰ͢ΑͶʁ 59 http://ruina.tam.cornell.edu/hplab/pdw.htmlΑΓ
  21. SUGAR SWEET ROBOTICS CO., LTD. #PEZ#SBJO$P&WPMVUJPO • ஌ೳΛ਎ମʹ৐ͤΔɼͱ͍͏ߟ ͑͸ݹ͍ͷͰ͸ͳ͍ͷ͔ʁ •

    γϛϡϨʔγϣϯͷதͰ஌ೳ ͱ਎ମΛಉ࣌ʹਐԽͤ͞Δ • ஌ೳΛѻ͍΍͍͢਎ମ • ਎ମΛѻ͍΍͍͢஌ೳ • ࣮ϩϘοτʹద༻Ͱ͖Δͷ͔ʁ 60 Hornby, Pollak: Body Brain Co-evolution using L-Systems as a Generative Coding, 2001
  22. SUGAR SWEET ROBOTICS CO., LTD. ·ͱΊ • ஌ೳͱదԠ • దԠΞϧΰϦζϜ

    • ਐԽ͢ΔϩϘοτ • ෳࡶͳ਎ମͱ؀ڥͷ૒ํΛ੍ޚ͢ΔצॴΛݟ ͚ͭग़͢ • ਎ମ͕ྑ͍σβΠϯͰͳ͚Ε͹ɼ͍͔ʹదԠ ͯ͠΋ແҙຯ 61