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ROSCon JP 2019講習会 ROS2の移動ロボットへの応用
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Yutaka Kondo
November 26, 2020
Technology
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670
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。
Yutaka Kondo
November 26, 2020
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Transcript
526&RQ-3ㅮ⩦ 526䛾 ⛣ື䝻䝪䝑䝖䜈䛾ᛂ⏝ ㏆⸨㇏#\RXWDON KWWSVZZZ\RXWDONMS
⮬ᕫ⤂ \XWDNDNRQGR#\RXWDONMS ᮏྡ ᅜ⡠ 䝩䞊䝮䝨䞊䝆 Ɣ aዉⰋඛ➃Ꮫ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∧
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 ⛯㎸
┠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
┠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
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
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
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
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
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
┠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/$0䛻䜘䜛ḟඖᆅᅗసᡂ 59L]䜢䛳䛯䝘䝡䝀䞊䝅䝵䞁 ⊂⮬䝇䜽䝸䝥䝖䜢䛳䛯䝘䝡䝀䞊䝅䝵䞁
1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ 1DYLJDWLRQ ⛣ື䝻䝪䝑䝖䛾⤒㊰ィ⏬䝟䝑䜿䞊䝆 Ɣ 526&U\VWDO䛷䜰䝹䝣䜯䝸䝸䞊䝇 Ɣ 䝷䜲䝣䝃䜲䜽䝹ᑐᛂ Ɣ PRYHBEDVH䛜QDYBEHKDYLRUBWUHH䛻⨨䛝䛘 ż
䝡䝦䜲䝡䜰䝒䝸䞊䛻ᑐᛂ䛧䛯䝘䝡䝀䞊䝅䝵䞁䝍䝇䜽䛾ᐇ Ɣ 7XUWOH%RW䛜526'DVKLQJ䛾1DYLJDWLRQ䛻ᑐᛂ 5DVSEHUU\3L0RXVH䛿1DYLJDWLRQᑐᛂ䛧䛯 ୡ⏺␒┠䛾⛣ື䝻䝪䝑䝖
1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ 1DYLJDWLRQ䛾䝡䝦䜲䝡䜰䝒䝸䞊 KWWSVJLWKXEFRPURVSODQQLQJQDYLJDWLRQEOREPDVW HUQDYBEWBQDYLJDWRU5($'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⾜ື
┠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
⛣ື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%
⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH 䝅䝇䝔䝮ᵓᡂ 5DVSEHUU\3L% 3& GHVFULSWLRQ URERWBVWDWHB SXEOLVKHU 5DV3L0RXVH 䝗䝷䜲䝞
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┠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
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
ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 5DVSEHUU\3L0RXVH䝟䝑䜿䞊䝆䛾䝡䝹䝗 ࣮࣡ࢡࢫ࣮࣌ࢫࡢసᡂ PNGLUSaURVGDVKLQJVUF FGaURVGDVKLQJVUF UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢྲྀᚓ
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࣮࣡ࢡࢫ࣮࣌ࢫࡢࣅࣝࢻ FROFRQEXLOGV\POLQNLQVWDOO ⎔ቃኚᩘࡢタᐃ VRXUFHaURVGDVKLQJLQVWDOOVHWXSEDVK
┠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
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 ࢹࣂࢫࣇࣝࡢᏑᅾࢆ☜ㄆ OVGHYUW GHYUWEX]]HUGHYUWPRWRUBUDZBUGHYUWOHG
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 ྑ࣮ࣔࢱࢆṆ
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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/$0䛻䜘䜛ḟඖᆅᅗసᡂ 59L]䜢䛳䛯䝘䝡䝀䞊䝅䝵䞁 ⊂⮬䝇䜽䝸䝥䝖䜢䛳䛯䝘䝡䝀䞊䝅䝵䞁
526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స 5DVSEHUU\3Lഃ 䝟䝑䜿䞊䝆䝡䝹䝗 ࢻ࣓ࣥ,'ࡢ☜ㄆ VVKXEXQWX#;;; HFKR526B'20$,1B,' <<<
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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
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\
┠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
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 VXGRDSWLQVWDOO URVGDVKLQJURVEDJ
URVGDVKLQJURVEDJ 䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䛾グ㘓䠄⤊䛿&WUO&䠅 URVEDJUHFRUGDRaUDVSLPRXVHBVODPEDJ グ㘓ࡋࡓEDJࣇࣝࡢ⏕ URVEDJSOD\aUDVSLPRXVHBVODPEDJ
┠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
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
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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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
┠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
59L]䜢䛳䛯䝘䝡䝀䞊䝅䝵䞁 ⌧ᅾ⨨ጼໃ䛾ㄪᩚ 5DVSEHUU\3L0RXVHタᐃ䛾1DYLJDWLRQ䛾ᐇ⾜ URVODXQFKUDVSLPRXVHBQDYLJDWLRQQDYLJDWLRQODXQFKS\ PDS KRPH86(5URVPDS\DPO ඛ䜋䛹సᡂ䛧䛯ᆅᅗୖ䛻䝻䝪䝑䝖䛾⌧ᅾ⨨ጼໃ䛜⾲♧䛥䜜䜎䛩䚹㛫㐪䛳䛶䛔䜜䜀䚸 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
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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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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
⊂⮬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
ż KWWSVJLWKXEFRPURVUYL]EOREURVUYL]BGHIDXOWBSOXJLQVVUFUYL]BGHIDXOWBSOXJLQVWRROVJRDOB SRVHJRDOBWRROFSS
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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 ⊂⮬䝇䜽䝸䝥䝖䜢䛳䛯䝘䝡䝀䞊䝅䝵䞁
526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾 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
Ɣ ⦅㞟༠ຊ⪅䛾୍ே䛿*HRII䛥䜣 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 䞁䝨䞊䞁 KWWSVJLK\RMSGSHERRN