Abstract takado
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The document is a master's thesis from February 10, 2009 on a biologically inspired learning method for biped rhythmic walking using static freezing and freeing. It proposes a learning method where degrees of freedom in a robot are temporarily frozen during early motion learning and then freed as learning progresses. This process is aimed at reducing difficulties in learning and converging on a solution. The method is examined through a numerical computer simulation of a biped walking robot learning to walk rhythmically. Figures 1 and 2 show snapshots of the robot walking with frozen and freed degrees of freedom, respectively. The research achievement section lists a conference paper by the author and others on learning rhythmic walking in a biped robot based on demonstrated motions.
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Describe the need to multitask in BBC (behavior-based control) syste.pdf
Describe the need to multitask in BBC (behavior-based control) systems?
Solution
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patterns of the robot’s activity emerging from interactions between the robot and its
environment. To a programmer, behaviors are control modules that cluster sets of constraints in
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behaviors in the system, and provides outputs to the robot’s actuators or to other behaviors. Thus,
a behavior-based controller is a structured network of interacting behaviors, with no centralized
world representation or focus of control. In-stead, individual behaviors and networks of
behaviors maintain any state information and models.
The basic principles of behavior-based control can be summarized briefly as follows:
• Behaviors are implemented as control laws (some-times similar to those used in control
theory), either in software or hardware, as a processing element or as a procedure.
• Each behavior can take inputs from the robot’s sen-sors (e.g., proximity sensors, range
detectors, contact sensors, camera) and/or from other modules in the
system, and send outputs to the robot’s effectors (e.g., wheels, grippers, arm, speech) and/or to
other modules.
• Many different behaviors may independently re- ceive input from the same sensors and output
action commands to the same actuators.
• Behaviors are encoded to be relatively simple, and are added to the system incrementally.
• Behaviors (or subsets thereof) are executed con- currently, not sequentially, in order to exploit
parallelism and speed of computation, as well as the interaction dynamics among behaviors and
between behaviors and the environment.
The ability to improve performance over time and to reason about the world, in the context of a
chang-ing and dynamic environment, is an important area of research in situated robotics. Unlike
in classical ma-chine learning, where the goal is typically to optimize performance over a long
period of time, in situated learning the aim is to adapt relatively quickly, toward
attaining efficiency in the light of uncertainty. Models from biology are often considered, given
its proper- ties of learning directly from environmental feedback. Variations and adaptations of
machine learning, and in particular reinforcement learning, have been effectively applied to
behavior-based robots, which have demon- strated learning to walk [38.
, navigate and create topological maps, di-vide tasks, behave socially , and even identify
opponents and score goals in robot soc-
cer. Methods from artificial life, evolutionary computation/genetic algorithms, fuzzy logic,
vision and learning, multi-agent systems, and many other research areas continue to be actively
explored and applied to behavior-based robots as their role in ani.
Generating Automatic Feedback on UI Mockups with Large Language Models
Generating Automatic Feedback on UI Mockups with Large Language Modelsを和訳紹介したものです
【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matching
公開URL：https://arxiv.org/pdf/2404.19174
出典：Guilherme Potje, Felipe Cadar, Andre Araujo, Renato Martins, Erickson R. ascimento: XFeat: Accelerated Features for Lightweight Image Matching, Proceedings of the 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2023)
概要：リソース効率に優れた特徴点マッチングのための軽量なアーキテクチャ「XFeat（Accelerated Features）」を提案します。手法は、局所的な特徴点の検出、抽出、マッチングのための畳み込みニューラルネットワークの基本的な設計を再検討します。特に、リソースが限られたデバイス向けに迅速かつ堅牢なアルゴリズムが必要とされるため、解像度を可能な限り高く保ちながら、ネットワークのチャネル数を制限します。さらに、スパース下でのマッチングを選択できる設計となっており、ナビゲーションやARなどのアプリケーションに適しています。XFeatは、高速かつ同等以上の精度を実現し、一般的なラップトップのCPU上でリアルタイムで動作します。
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swarm robots that are self-independent and self intelligence one. This concept can be essential for robots
exposed to environment that are shapeless or not easily available for an individual operator, such as a
distorted construction, the deep sea, or the surface of another planet. In this paper, we present a study on
the basic bio-inspirations of swarm and its physical configurations, such as reconfigurability, replication
and self-assembly. By introducing the swarm concepts through swarm-bot, which offers mainly
miniaturization with robustness, flexibility and scalability. This paper discusses about the various swarmbot intelligence, self-assembly and self-reconfigurability among the most important and capabilities as well
as functionality to swarm robots
Biorobotics
The document discusses the field of bio-robotics, which involves studying how to create robots that emulate or simulate living organisms mechanically or chemically, or making biological organisms as manipulatable as robots. It covers topics like animal-like robots that link biology and engineering, using bio-robotics to understand animal-environment relationships, applications in the military, for disabled people, and in various science fields. Examples are provided of bio-inspired robots like a jumping robot based on a frog and a climbing robot based on geckos, as well as research in brain-computer interfaces and exoskeletons.
Describe the need to multitask in BBC (behavior-based control) syste.pdf
Describe the need to multitask in BBC (behavior-based control) systems?
Solution
Behavior-based control employs a set of distributed, in-teracting modules, called behaviors that
collectively achieve the desired system-level behavior. To an ex-ternal observer, behaviors are
patterns of the robot’s activity emerging from interactions between the robot and its
environment. To a programmer, behaviors are control modules that cluster sets of constraints in
order to achieve and maintain a goal. Each behavior receives inputs from sensors and/or other
behaviors in the system, and provides outputs to the robot’s actuators or to other behaviors. Thus,
a behavior-based controller is a structured network of interacting behaviors, with no centralized
world representation or focus of control. In-stead, individual behaviors and networks of
behaviors maintain any state information and models.
The basic principles of behavior-based control can be summarized briefly as follows:
• Behaviors are implemented as control laws (some-times similar to those used in control
theory), either in software or hardware, as a processing element or as a procedure.
• Each behavior can take inputs from the robot’s sen-sors (e.g., proximity sensors, range
detectors, contact sensors, camera) and/or from other modules in the
system, and send outputs to the robot’s effectors (e.g., wheels, grippers, arm, speech) and/or to
other modules.
• Many different behaviors may independently re- ceive input from the same sensors and output
action commands to the same actuators.
• Behaviors are encoded to be relatively simple, and are added to the system incrementally.
• Behaviors (or subsets thereof) are executed con- currently, not sequentially, in order to exploit
parallelism and speed of computation, as well as the interaction dynamics among behaviors and
between behaviors and the environment.
The ability to improve performance over time and to reason about the world, in the context of a
chang-ing and dynamic environment, is an important area of research in situated robotics. Unlike
in classical ma-chine learning, where the goal is typically to optimize performance over a long
period of time, in situated learning the aim is to adapt relatively quickly, toward
attaining efficiency in the light of uncertainty. Models from biology are often considered, given
its proper- ties of learning directly from environmental feedback. Variations and adaptations of
machine learning, and in particular reinforcement learning, have been effectively applied to
behavior-based robots, which have demon- strated learning to walk [38.
, navigate and create topological maps, di-vide tasks, behave socially , and even identify
opponents and score goals in robot soc-
cer. Methods from artificial life, evolutionary computation/genetic algorithms, fuzzy logic,
vision and learning, multi-agent systems, and many other research areas continue to be actively
explored and applied to behavior-based robots as their role in ani.
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Describe the need to multitask in BBC (behavior-based control) syste.pdf
Describe the need to multitask in BBC (behavior-based control) syste.pdf
More from harmonylab
Generating Automatic Feedback on UI Mockups with Large Language Models
Generating Automatic Feedback on UI Mockups with Large Language Modelsを和訳紹介したものです
【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matching
公開URL：https://arxiv.org/pdf/2404.19174
出典：Guilherme Potje, Felipe Cadar, Andre Araujo, Renato Martins, Erickson R. ascimento: XFeat: Accelerated Features for Lightweight Image Matching, Proceedings of the 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2023)
概要：リソース効率に優れた特徴点マッチングのための軽量なアーキテクチャ「XFeat（Accelerated Features）」を提案します。手法は、局所的な特徴点の検出、抽出、マッチングのための畳み込みニューラルネットワークの基本的な設計を再検討します。特に、リソースが限られたデバイス向けに迅速かつ堅牢なアルゴリズムが必要とされるため、解像度を可能な限り高く保ちながら、ネットワークのチャネル数を制限します。さらに、スパース下でのマッチングを選択できる設計となっており、ナビゲーションやARなどのアプリケーションに適しています。XFeatは、高速かつ同等以上の精度を実現し、一般的なラップトップのCPU上でリアルタイムで動作します。
【修士論文】代替出勤者の選定業務における依頼順決定方法に関する研究 千坂知也
シフト勤務制の職場における従業員の急な欠勤は業務に支障をきたし，顧客などに対する信頼の失墜などにより，事業そのものに深刻な支障をきたす恐れがある．
このような急な欠勤に対し，管理者は代わりの出勤を他の従業員に依頼し，代替出勤者の選定を行う必要がある．この代替出勤者の選定業務における従来手法では，代替出勤者の選定後に発生した勤務表制約違反を解消するために勤務表全体を再作成するアプローチがとられてきた．このアプローチは厳しい勤務表制約条件が課される病院のような職場では有効とされてきたが，管理者は再作成した勤務表を再度全従業員に周知する必要があり，従業員側からしても自分以外の従業員の欠勤により自身の勤務予定が変更される可能性があるため，欠勤者が多発する職場では扱いにくい．そのため欠勤者が多発する職場では，代替出勤を行っても勤務表制約条件に違反しない従業員を事前に割り出しておき，それらの従業員に対し代替出勤依頼を行う手法がとられている．この手法では管理者の従業員に対する依頼順が業務の安定性，管理者や従業員の負担に直結する．
以上より本研究では管理者による従業員の代替出勤依頼の依頼順決定方法を提案し，代替出勤シミュレーターを構築して評価を行う．シミュレーターでは，従業員の休み希望のもと，複数の制約条件に基づき勤務表を作成し，勤務表上で確率的に欠勤を発生させ，管理者による代替出勤依頼をシミュレーションする．各従業員は管理者からの依頼に対し，確率的に可否を応答するものとする．本研究ではこのシミュレーター上で複数のパラメータセットに対し，従業員の受諾確率に基づいた方法，各従業員の代替出勤した回数に基づいた方法，代替出勤可能な日数に基づいた方法の提案、評価を行う．
【修士論文】経路探索のための媒介中心性に基づく道路ネットワーク階層化手法に関する研究
本研究では，ドライバーの細街路に対する選好を考慮した経路探索における道路ネットワークの階層化手法を提案する．提案手法では，ネットワーク分析の中心性指標の一つである媒介中心性の高いノードを特定して，各階層の非連結なサブネットワークを連結する．提案手法の有効性を検証するために，複数のドライバーの細街路への選好を用意し，札幌市の中心市街14km四方の道路ネットワークを対象とした計算機実験をおこなう．提案手法および先行手法における経路探索にかかる計算時間と得られた経路のコストを比較した結果，提案手法の優位性が確認された．
A Study on Decision Support System for Snow Removal Dispatch using Road Surfa...
This study focuses on addressing the challenges associated with decision-making in winter road snow removal operations, aiming to alleviate the burden on snow removal personnel. Specifically, we propose an approach to develop a system that collects and visualizes information on road snow conditions and weather data to support decision-making by personnel. Additionally, by sharing the collected information, we aim to facilitate the sharing of premonitions about changes in decision-making among snow removal personnel, reducing the need for physical inspections.We have validated the effectiveness of the system and confirmed its efficacy.
【卒業論文】印象タグを用いた衣服画像生成システムに関する研究
オーダーメイド服は個性を表現できる利点があるが、専門家以外は希望やこだわりが曖昧であったり、想像しているデザインの説明が難しかったりするために、デザインの注文が難しいという課題がある。
そこで、印象タグを元に衣服画像を作成する、対話型の衣服画像生成システムの開発を行い、個人の好みを反映した衣服のデザイン画を専門家以外が作成する場合の支援を試みた。
本研究ではシステムの構築を行い、性能評価として被験者に実際に操作してもらうことで、
ユーザーの発想やデザインの伝達に関する支援が可能であることを示した。
【卒業論文】大規模言語モデルを用いたマニュアル文章修正手法に関する研究
マニュアルに記載する文章では，読み手が内容を素早く明確に理解できることが重要である．そのための文章表現の技術を習得することは容易ではない．本論文では，マニュアルに適する文章を作成する支援のために，入力文章にライティングルールを適用する文章変換の手法を提案する．結果として，ライティングルールに基づく修正箇所の指摘と，修正候補の文章の生成ができた．これによって，マニュアルに適した文章を書きやすくなる．
DLゼミ: MobileOne: An Improved One millisecond Mobile Backbone
公開URL：https://openaccess.thecvf.com/content/CVPR2023/html/Vasu_MobileOne_An_Improved_One_Millisecond_Mobile_Backbone_CVPR_2023_paper.html
出典：Vasu, Pavan Kumar Anasosalu, et al.: MobileOne: An Improved One Millisecond Mobile Backbone, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (2023)
概要：モバイル端末向けのニューラルネットワークは多くの場合、FLOPsやパラメータ数で最適化されています。しかし、これらの最適化は実際のモバイルデバイスで実行した場合のネットワークの応答時間に相関しない場合があります。我々は昨今のニューラルネットワークの最適化のボトルネックを特定・分析し、その結果をもとにした新たな効率的なバックボーンMobileOneを設計しました。結果はMobileFormerと同等の性能を得ながら、38倍高速であり、最先端の効率性を達成しました。
DLゼミ: Llama 2: Open Foundation and Fine-Tuned Chat Models
公開URL：https://arxiv.org/pdf/2307.09288.pdf
出典：Touvron Hugo, et al.: Llama 2: Open foundation and fine-tuned chat models, arXiv preprint arXiv:2307.09288 (2023)
概要：70億から700億のパラメータを持つ大規模言語モデル（LLM）の事前学習であるLlama 2を開発し、リリースしました。Llama 2-Chatと呼ばれるファインチューニングされたLLMは、対話のユースケースに最適化されています。提案モデルは、検証したほとんどのベンチマークにおいて、オープンソースのチャットモデルを凌駕しており、有用性と安全性に関する人間による評価に基づいて、クローズドソースのモデルの適切な代替となる可能性があります。コミュニティが我々の研究を基に、LLMの責任ある開発に貢献できるようにすることも目的にあります。
DLゼミ: ViTPose: Simple Vision Transformer Baselines for Human Pose Estimation
公開URL：https://proceedings.neurips.cc/paper_files/paper/2022/file/fbb10d319d44f8c3b4720873e4177c65-Paper-Conference.pdf
出典：Yufei Xu, Jing Zhang, Qiming Zhang, Dacheng Tao : ViTPose: Simple Vision Transformer Baselines for Human Pose Estimation, Advances in Neural Information Processing Systems 35 (NeurIPS 2022), pp. 38571-38584 (2022)
概要：姿勢推定はコンピュータビジョンの1タスクとして知られています。本論文ではプレーンなVision Transformerを使った姿勢推定手法「ViTPose」を提案します。ViTPoseは非階層的なVision Transformerを特徴抽出のために使用し、100Mから1Bのパラメータにスケールアップ可能です。このモデルは事前学習や、複数のポーズタスク対応などにおいて柔軟性を持ち、大規模モデルの知識を小規模モデルに転送することも可能です。実験結果は、ViTPoseがMS COCO Keypoint DetectionベンチマークにおいてSoTAを達成しました。
Voyager: An Open-Ended Embodied Agent with Large Language Models
公開URL：https://arxiv.org/abs/2305.16291
出典：Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan, Anima Anandkumar : Voyager: An Open-Ended Embodied Agent with Large Language Models, arXiv: 2305.16291 (2023)
概要：本論文では、Minecraftの世界を持続的に探索し、多様なスキルを獲得し、新たな発見を人間の介入なく行う最初の大規模言語モデル（LLM）を駆使した具現化エージェントであるVoyagerを紹介する。Voyagerは、探索を最大化する自動カリキュラム、複雑な行動を格納・取得するためのスキルライブラリ、そして環境のフィードバック、実行エラー、プログラム改善のための自己確認を組み込む新たな反復的なプロンプトメカニズムの3つの主要なコンポーネントから成り立つ。
DLゼミ: Ego-Body Pose Estimation via Ego-Head Pose Estimation
公開URL：https://arxiv.org/abs/2212.04636
出典：Jiaman Li, C. Karen Liu, Jiajun Wu
: Ego-Body Pose Estimation via Ego-Head Pose Estimation, arXiv preprint arXiv:2212.04636 (2022)
概要：人間の行動理解やVR/ARへの応用において、一人称映像から人の3次元姿勢 (3D human motion)を推定することは重要である。提案手法EgoEgoは、中間表現として頭部モーションを採用した新たな手法である。問題を2分割したことにより、既存のデータセットが活用でき、他のSoTA手法より優れた性能を示した。さらにベンチマークのための一人称映像と人の3次元推定データセットARESを開発した。
ReAct: Synergizing Reasoning and Acting in Language Models
公開URL：https://arxiv.org/abs/2210.03629
出典：Shunyu Yao, Jeffrey Zhao, Dian Yu, Nan Du, Izhak Shafran, Karthik Narasimhan, Yuan Cao : ReAct: Synergizing Reasoning and Acting in Language Models, arXiv: 2210.03629 (2022)
概要：本論文では大規模言語モデルにおいて推論(Reasoning)と行動(Acting)を組合わせるprompt手法であるReActを提案した。知識集約型の推論タスク（QAタスク・事実検証タスク）と意思決定タスク（テキストゲーム、ウェブナビゲーション）でReActの性能を評価した。推論タスクにおいてReActはWikipedia APIとの対話によりChain of ThoughtのHallucinationを軽減し、意思決定タスクにおいては模倣学習や強化学習による手法を上回る性能を示した。
形態素解析を用いた帝国議会議事速記録の変遷に関する研究
対話形式議事録は，口語での会話内容が記録されており，言語研究において重要な資料となる．対話形式議事録の1つである帝国議会議事速記録は，記録期間が長く分量も多いという特徴があり，近代における言語表現の変化を分析するのに適した資料であるといえる．
このようなテキストデータに対して分析の第一段階である表現抽出を自動で行う手法については知見が少なく，抽出作業のほとんどが手作業で行われているのが現状である．大規模なデータに対して手作業での該当表現の抽出を行うのには多大な労力がかかり，見逃しも発生しやすく，分析を行う上でのボトルネックとなる．
本研究では，抽出段階の自動化を目的とし，可能の意味を表す可能表現について，品詞の組み合わせマッチングによる自動抽出を試みた．さらに，可能表現の出現頻度や変遷と会議の話題の関係性を分析するための先駆けとして，重要単語抽出による話題の自動タグ付けを行った．話題タグの自動付与においては，TF-IDFを用いたシンプルな特徴単語の抽出を試みた．可能表現の抽出においては，文型に注目した品詞のパターンマッチングによる抽出を試みた．
【卒業論文】深層生成モデルを用いたユーザ意図に基づく衣服画像の生成に関する研究
「かわいい」や「フェミニン」といった，印象を表す抽象的なファッション用語に基づいて，衣服画像の生成や編集をすることで，ユーザ意図の正確な伝達を支援することを目的とした研究．
灯油タンク内の液面高計測を用いた 灯油残量推定システムに関する研究
近年，家庭への灯油配送においてリモートセンシング化が進んでおり，灯油タンク内の残量計測が可能な通信型レーザセンサの開発が進んでいる．しかし，屋外にある灯油タンクにセンサを設置するため計測環境が不安定で，コスト面から導入可能なデバイスの性能にも制約があるため，センサの故障や異常値の計測が多く発生する．このような背景を踏まえて，本論文では，センサを管理・運用するための運用手法の確立を目的として，2つの異常検知手法と1つの残量推定手法を提案し，実データを用いた有効性の検証を行う．
深層自己回帰モデルを用いた俳句の生成と評価に関する研究
論文では，人工知能による創作の第一歩として俳句，その中でも特に一般的な有季定型句を対象とし，深層学習モデルを用いた生成と評価を行う.
既存の俳句や日本語テキストを用いてモデルを学習し，俳句生成器を構築する.
また，作成したモデルの俳句生成器としての性能を評価するために，俳人による評価済みの俳句からなる評価用データセットを作成して，有季定型句の生成における各モデルの性能を比較する.
評価用データセットの作成においてはまず，有季定型句の評価項目として句会における評価方式と俳句内の句節のつながりに着目し，これらを段階的評価の階層構造として定義した.
定義した階層構造に基づくラベル付を複数の俳人に依頼し，モデル間の性能評価に用いる.
また，各モデルが生成した文字列に対するアンケート調査を行い，現状のモデルの到達点を明らかにする.
競輪におけるレーティングシステムを用いた予想記事生成に関する研究
本研究では，競輪のレース結果予測の初心者が車券を購入する際の意思決定を補助することを目的として，レース結果を予測して，予測結果を用いた選手紹介文を生成するシステムを構築する．選手の戦績から的確に反映する特徴量を算出する手法として，多数人の同時対戦を考慮した拡張イロレーティングシステムを提案して，競輪のレース結果予測に適用する．実際の競輪のレース結果を用いた検証実験において，既存のレース結果予測手法に比べて，拡張イロレーティングシステムを用いることで予測精度を向上可能であることを確認した．さらに，拡張イロレーティングシステムを紹介文生成に用いることで，既存の手法に比べて，初心者の車券購入により有用な文章を生成可能であることを示す．
【卒業論文】B2Bオークションにおけるユーザ別 入札行動予測に関する研究
中古ブランド品の B2B オークションでは，多数のアイテム
のオークションが並列して実施されるため，参加者はすべてのアイテムの価値を検討することが困難であり，入札するアイテムの選択や，留保価格の適切な設定が課題である．本稿では，こうした課題を入札アイテムの推薦や留保価格に対する不落札率の推定により解決するため，オークションにおける多関係推薦モデル MultiRec を用いたユーザ別入札行動予測をオークションデータに適用し，その精度から利用可能性を検証した．
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DLゼミ: MobileOne: An Improved One millisecond Mobile Backbone
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DLゼミ: Llama 2: Open Foundation and Fine-Tuned Chat Models
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DLゼミ: ViTPose: Simple Vision Transformer Baselines for Human Pose Estimation
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DLゼミ: Ego-Body Pose Estimation via Ego-Head Pose Estimation
DLゼミ: Ego-Body Pose Estimation via Ego-Head Pose Estimation
ReAct: Synergizing Reasoning and Acting in Language Models
ReAct: Synergizing Reasoning and Acting in Language Models
Abstract takado
- 1. 複合情報学専攻 修士論文 (2009 年 2 月 10 日) 静的自由度の凍結と解放を利用した 静的自由度の凍結と解放を利用した 二足歩行型ロボットのリズム歩行学習法に関する研究 二足歩行型ロボットのリズム歩行学習法に する研究 ロボット 歩行学習法 複雑系工学講座 調和系工学研究室 修士 2 年 高堂陽貴 Biologically Biologically Inspired Learning Method for Biped Rhythmic Walking Method using Static Freezing & Freeing Laboratory of Harmonious Systems Engineering MC2 Haruki Takado Abstract : A global entrainment robot control which has high adaptability and flexibility to unfamiliar environments is expected to apply for robots in a human’s living space. Under this control, robots should learn their movements autonomously, because it’s quite difficult to seek settings for control systems to realize certain movement. This is, however, generally not an easy problem, in case robots have a body with many degrees of freedom. Though the global entrainment robot control can reduce system’s degrees of freedom, it’s not available just after beginning of learning. It follows that most studies design a motion with a few degrees of freedom to robots, but it limits possibilities of movements robots acquire. For early motion learning, on the other hand, it is known that living things can freeze their degrees of freedom temporarily and free them as their learning progresses. This process is considered to reduce above difficulties and lead learning convergence, but it’s not demonstrated yet. This study shows a biologically inspired learning method using static freezing & freeing for robots to get movements with a few degrees of freedom. And more, it is examined on a numerical computer simulation for a biped walking robot to learn rhythmic walking. Fig.1 凍結時二足歩行 Fig.2 解放時二足歩行 研究業績： 研究業績： 1. 高堂 陽貴, 和田充雄, 川村秀憲, 鈴木恵二, “二足歩行型ロボットのリズム歩行における教示動作に基づく学習”, 第 9 回 計測自動制御学会 システムインテグレーション部門, 岐阜, 2008 年 12 月