DMMは日本で最大級の動画配信サービスを提供しています。
昨今はニーズの多様化と高品質への対応が急務となっており、動画配信基盤の刷新に取り組んでいます。モノリシックなシステムをマイクロサービス化すべく、Ruby on Rails・AngularJS・Go を利用しています。本セッションでは、それらのアーキテクトや開発フローについて判りやすく説明します。
DMMは日本で最大級の動画配信サービスを提供しています。
昨今はニーズの多様化と高品質への対応が急務となっており、動画配信基盤の刷新に取り組んでいます。モノリシックなシステムをマイクロサービス化すべく、Ruby on Rails・AngularJS・Go を利用しています。本セッションでは、それらのアーキテクトや開発フローについて判りやすく説明します。
【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matchingharmonylab
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。
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
31. / 72
WITH句の活用
• WITH句を使って書き換え
31
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM (
-- ▽ 2番目の処理
SELECT a1, a2, b2
FROM a
JOIN (
-- ▽ 最初の処理
SELECT b1, b2 FROM b
) AS d ON (a.a1 = d.b1)
) AS e
JOIN (
-- ▽ 3番目の処理
SELECT c1, c2 FROM c
) AS f ON (e.a2 = f.c1);
http://www.slideshare.net/MarkusWinand/modern-sql
WITH
-- ▽ 最初の処理
d AS ( SELECT b1, b2 FROM b ),
-- ▽ 2番目の処理
e AS (
SELECT a1, a2, b2
FROM a JOIN d ON (a.a1 = d.b1)
),
-- ▽ 3番目の処理
f AS ( SELECT c1, c2 FROM c )
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM e
JOIN f ON (e.a2 = f.c1);
32. / 72
WITH句の活用
• WITH句を使って書き換え
32
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM (
-- ▽ 2番目の処理
SELECT a1, a2, b2
FROM a
JOIN (
-- ▽ 最初の処理
SELECT b1, b2 FROM b
) AS d ON (a.a1 = d.b1)
) AS e
JOIN (
-- ▽ 3番目の処理
SELECT c1, c2 FROM c
) AS f ON (e.a2 = f.c1);
http://www.slideshare.net/MarkusWinand/modern-sql
WITH
-- ▽ 最初の処理
d AS ( SELECT b1, b2 FROM b ),
-- ▽ 2番目の処理
e AS (
SELECT a1, a2, b2
FROM a JOIN d ON (a.a1 = d.b1)
),
-- ▽ 3番目の処理
f AS ( SELECT c1, c2 FROM c )
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM e
JOIN f ON (e.a2 = f.c1);
33. / 72
WITH句の活用
• WITH句を使って書き換え
33
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM (
-- ▽ 2番目の処理
SELECT a1, a2, b2
FROM a
JOIN (
-- ▽ 最初の処理
SELECT b1, b2 FROM b
) AS d ON (a.a1 = d.b1)
) AS e
JOIN (
-- ▽ 3番目の処理
SELECT c1, c2 FROM c
) AS f ON (e.a2 = f.c1);
http://www.slideshare.net/MarkusWinand/modern-sql
WITH
-- ▽ 最初の処理
d AS ( SELECT b1, b2 FROM b ),
-- ▽ 2番目の処理
e AS (
SELECT a1, a2, b2
FROM a JOIN d ON (a.a1 = d.b1)
),
-- ▽ 3番目の処理
f AS ( SELECT c1, c2 FROM c )
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM e
JOIN f ON (e.a2 = f.c1);
34. / 72
WITH句の活用
• WITH句を使って書き換え
34
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM (
-- ▽ 2番目の処理
SELECT a1, a2, b2
FROM a
JOIN (
-- ▽ 最初の処理
SELECT b1, b2 FROM b
) AS d ON (a.a1 = d.b1)
) AS e
JOIN (
-- ▽ 3番目の処理
SELECT c1, c2 FROM c
) AS f ON (e.a2 = f.c1);
http://www.slideshare.net/MarkusWinand/modern-sql
WITH
-- ▽ 最初の処理
d AS ( SELECT b1, b2 FROM b ),
-- ▽ 2番目の処理
e AS (
SELECT a1, a2, b2
FROM a JOIN d ON (a.a1 = d.b1)
),
-- ▽ 3番目の処理
f AS ( SELECT c1, c2 FROM c )
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM e
JOIN f ON (e.a2 = f.c1);
35. / 72
WITH句の活用
• WITH句を使って書き換え
35
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM (
-- ▽ 2番目の処理
SELECT a1, a2, b2
FROM a
JOIN (
-- ▽ 最初の処理
SELECT b1, b2 FROM b
) AS d ON (a.a1 = d.b1)
) AS e
JOIN (
-- ▽ 3番目の処理
SELECT c1, c2 FROM c
) AS f ON (e.a2 = f.c1);
http://www.slideshare.net/MarkusWinand/modern-sql
WITH
-- ▽ 最初の処理
d AS ( SELECT b1, b2 FROM b ),
-- ▽ 2番目の処理
e AS (
SELECT a1, a2, b2
FROM a JOIN d ON (a.a1 = d.b1)
),
-- ▽ 3番目の処理
f AS ( SELECT c1, c2 FROM c )
-- ▽ 最後の処理
SELECT a1, a2, b2, c1, c2
FROM e
JOIN f ON (e.a2 = f.c1);
38. / 72
CASE式の活用
• 例:CTR, CVR の集計(CASE式を使わない場合)
38
WITH
action_log AS
( SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'click' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'click' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'purchase' AS action
UNION ALL SELECT '2016-02-02' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-02' AS dt, 'view' AS action
),
t1 AS (
SELECT dt, action, COUNT(*) AS ct FROM action_log GROUP BY dt, action
)
SELECT
v.dt, COALESCE(c.ct / v.ct, 0.0) AS ctr, COALESCE(p.ct / c.ct, 0.0) AS cvr
FROM t1 AS v
LEFT OUTER JOIN t1 AS c ON v.dt = c.dt AND c.action = 'click'
LEFT OUTER JOIN t1 AS p ON v.dt = p.dt AND p.action = 'purchase'
WHERE v.action = 'view';
dt action
2016-02-01 view
2016-02-01 view
2016-02-01 view
2016-02-01 click
2016-02-01 click
2016-02-01 purchase
2016-02-02 view
2016-02-02 view
action_log
39. / 72
CASE式の活用
• 例:CTR, CVR の集計(CASE式を使わない場合)
39
WITH
action_log AS
( SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'click' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'click' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'purchase' AS action
UNION ALL SELECT '2016-02-02' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-02' AS dt, 'view' AS action
),
t1 AS (
SELECT dt, action, COUNT(*) AS ct FROM action_log GROUP BY dt, action
)
SELECT
v.dt, COALESCE(c.ct / v.ct, 0.0) AS ctr, COALESCE(p.ct / c.ct, 0.0) AS cvr
FROM t1 AS v
LEFT OUTER JOIN t1 AS c ON v.dt = c.dt AND c.action = 'click'
LEFT OUTER JOIN t1 AS p ON v.dt = p.dt AND p.action = 'purchase'
WHERE v.action = 'view';
dt action ct
2016-02-01 view 3
2016-02-01 click 2
2016-02-01 purchase 1
2016-02-02 view 2
t1
40. / 72
CASE式の活用
• 例:CTR, CVR の集計(CASE式を使わない場合)
40
WITH
action_log AS
( SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'click' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'click' AS action
UNION ALL SELECT '2016-02-01' AS dt, 'purchase' AS action
UNION ALL SELECT '2016-02-02' AS dt, 'view' AS action
UNION ALL SELECT '2016-02-02' AS dt, 'view' AS action
),
t1 AS (
SELECT dt, action, COUNT(*) AS ct FROM action_log GROUP BY dt, action
)
SELECT
v.dt, COALESCE(c.ct / v.ct, 0.0) AS ctr, COALESCE(p.ct / c.ct, 0.0) AS cvr
FROM t1 AS v
LEFT OUTER JOIN t1 AS c ON v.dt = c.dt AND c.action = 'click'
LEFT OUTER JOIN t1 AS p ON v.dt = p.dt AND p.action = 'purchase'
WHERE v.action = 'view';
dt ctr cvr
2016-02-01 0.666 0.5
2016-02-02 0 0
41. / 72
CASE式の活用
• 例:CTR, CVR の集計(CASE式を使った場合)
41
t1 AS (
SELECT
dt
, SUM(CASE action WHEN 'view' THEN 1 END) AS view_ct
, SUM(CASE action WHEN 'click' THEN 1 END) AS click_ct
, SUM(CASE action WHEN 'purchase' THEN 1 END) AS purchase_ct
FROM action_log
GROUP BY dt
)
SELECT
dt
, COALESCE( click_ct / view_ct, 0.0) AS ctr
, COALESCE( purchase_ct / click_ct, 0.0) AS cvr
FROM t1;
dt CASE view CASE click CASE purchase
2016-02-01 1 NULL NULL
2016-02-01 1 NULL NULL
2016-02-01 1 NULL NULL
2016-02-01 NULL 1 NULL
2016-02-01 NULL 1 NULL
2016-02-01 NULL NULL 1
2016-02-02 1 NULL NULL
2016-02-02 1 NULL NULL
42. / 72
CASE式の活用
• 例:CTR, CVR の集計(CASE式を使った場合)
42
t1 AS (
SELECT
dt
, SUM(CASE action WHEN 'view' THEN 1 END) AS view_ct
, SUM(CASE action WHEN 'click' THEN 1 END) AS click_ct
, SUM(CASE action WHEN 'purchase' THEN 1 END) AS purchase_ct
FROM action_log
GROUP BY dt
)
SELECT
dt
, COALESCE( click_ct / view_ct, 0.0) AS ctr
, COALESCE( purchase_ct / click_ct, 0.0) AS cvr
FROM t1;
dt view_ct click_ct purchase_ct
2016-02-01 3 2 1
2016-02-02 2 NULL NULL
t1
43. / 72
CASE式の活用
• 例:CTR, CVR の集計(CASE式を使った場合)
43
t1 AS (
SELECT
dt
, SUM(CASE action WHEN 'view' THEN 1 END) AS view_ct
, SUM(CASE action WHEN 'click' THEN 1 END) AS click_ct
, SUM(CASE action WHEN 'purchase' THEN 1 END) AS purchase_ct
FROM action_log
GROUP BY dt
)
SELECT
dt
, COALESCE( click_ct / view_ct, 0.0) AS ctr
, COALESCE( purchase_ct / click_ct, 0.0) AS cvr
FROM t1;
dt ctr cvr
2016-02-01 0.666 0.5
2016-02-02 0 0
51. / 72
WINDOW関数の活用
• 例:時系列データの解析
51
WITH
access_log AS (
SELECT '2016-02-01' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-02' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-07' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-01' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-05' AS dt, 'BBB' AS username
)
SELECT
dt, username
, LAG(dt) OVER(PARTITION BY username ORDER BY dt) AS last_access
, DATEDIFF(dt, LAG(dt) OVER(PARTITION BY username ORDER BY dt)) AS access_span
, COUNT(1) OVER(PARTITION BY username ORDER BY dt) AS cumulative_access
FROM access_log;
dt usern
ame
2016-02-01 AAA
2016-02-02 AAA
2016-02-03 AAA
2016-02-07 AAA
2016-02-01 BBB
2016-02-03 BBB
2016-02-05 BBB
52. / 72
WINDOW関数の活用
• 例:時系列データの解析
52
WITH
access_log AS (
SELECT '2016-02-01' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-02' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-07' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-01' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-05' AS dt, 'BBB' AS username
)
SELECT
dt, username
, LAG(dt) OVER(PARTITION BY username ORDER BY dt) AS last_access
, DATEDIFF(dt, LAG(dt) OVER(PARTITION BY username ORDER BY dt)) AS access_span
, COUNT(1) OVER(PARTITION BY username ORDER BY dt) AS cumulative_access
FROM access_log;
dt usern
ame
last_access
2016-02-01 AAA NULL
2016-02-02 AAA 2016-02-01
2016-02-03 AAA 2016-02-02
2016-02-07 AAA 2016-02-03
2016-02-01 BBB NULL
2016-02-03 BBB 2016-02-01
2016-02-05 BBB 2016-02-03
53. / 72
WINDOW関数の活用
• 例:時系列データの解析
53
WITH
access_log AS (
SELECT '2016-02-01' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-02' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-07' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-01' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-05' AS dt, 'BBB' AS username
)
SELECT
dt, username
, LAG(dt) OVER(PARTITION BY username ORDER BY dt) AS last_access
, DATEDIFF(dt, LAG(dt) OVER(PARTITION BY username ORDER BY dt)) AS access_span
, COUNT(1) OVER(PARTITION BY username ORDER BY dt) AS cumulative_access
FROM access_log;
dt usern
ame
last_access access
_span
2016-02-01 AAA NULL NULL
2016-02-02 AAA 2016-02-01 1
2016-02-03 AAA 2016-02-02 1
2016-02-07 AAA 2016-02-03 4
2016-02-01 BBB NULL NULL
2016-02-03 BBB 2016-02-01 2
2016-02-05 BBB 2016-02-03 2
54. / 72
WINDOW関数の活用
• 例:時系列データの解析
54
WITH
access_log AS (
SELECT '2016-02-01' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-02' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-07' AS dt, 'AAA' AS username
UNION ALL SELECT '2016-02-01' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-03' AS dt, 'BBB' AS username
UNION ALL SELECT '2016-02-05' AS dt, 'BBB' AS username
)
SELECT
dt, username
, LAG(dt) OVER(PARTITION BY username ORDER BY dt) AS last_access
, DATEDIFF(dt, LAG(dt) OVER(PARTITION BY username ORDER BY dt)) AS access_span
, COUNT(1) OVER(PARTITION BY username ORDER BY dt) AS cumulative_access
FROM access_log;
dt usern
ame
last_access access
_span
cumulative
_acess
2016-02-01 AAA NULL NULL 1
2016-02-02 AAA 2016-02-01 1 2
2016-02-03 AAA 2016-02-02 1 3
2016-02-07 AAA 2016-02-03 4 4
2016-02-01 BBB NULL NULL 1
2016-02-03 BBB 2016-02-01 2 2
2016-02-05 BBB 2016-02-03 2 3