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.
【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。
35. 35
関数型インターフェース(JLS9.8)
A functional interface is an interface that has just one abstract method, and thus represents a single function contract. (In some cases, this "single" method may take the form of multiple
abstract methods with override-equivalent signatures (8.4.2) inherited from superinterfaces; in this case, the inherited methods logically represent a single method.)
More precisely, for interface I, let M be the set of abstract methods that are members of I but that do not have the same signature as any public instance method of the class Object. Then I is
a functional interface if there exists a method m in M for which the following conditions hold:
The signature of m is a subsignature (8.4.2) of every method's signature in M.
m is return-type-substitutable (8.4.5) for every method in M.
In addition to the usual process of creating an interface instance by declaring (8.1) and instantiating (15.9) a class, instances of functional interfaces can be created with lambda expressions
(15.27), method references (15.28), or constructor references.
The function descriptor of a functional interface I is a method type (8.2) that can be used to legally override (8.4.8) the abstract method(s) of I.
Let M be the set of abstract methods defined above for I. The descriptor of I consists of the following:
Type parameters, formal parameters, and return types: Let m be a method in M with i) a signature that is a subsignature of every method's signature in M and ii) a return type that is a
subtype of every method's return type in M (after adapting for any type parameters (8.4.4)); if no such method exists, then let m be a method in M that i) has a signature that is a subsignature
of every method's signature in M and ii) is return-type-substitutable for every method in M. Then the descriptor's type parameters, formal parameter types, and return type are as given by m.
Thrown types: The descriptor's thrown types are derived from the throws clauses of the methods in M. If the descriptor is generic, these clauses are first adapted to the type parameters of
the descriptor (8.4.4); if the descriptor is not generic but at least one method in M is, these clauses are first erased. Then the descriptor's thrown types include every type, E, satisfying the
following constraints:
E is mentioned in one of the throws clauses.
For each throws clause, E is a subtype of some type named in that clause.
A functional interface type is one of the following:
A functional interface
A parameterization (4.5) of a functional interface
An intersection (4.9) of interface types that meets the following criteria:
Exactly one element of the intersection is a functional interface, or a parameterization of a functional interface. Let F be this interface.
A notional interface, I, that extends all the interfaces in the intersection would be a functional interface. If any of the intersection elements is a parameterized type, then I is generic: for
each element of the intersection that is a parameterized type J<A1...An>, let P1...Pn be the type parameters of J; then P1...Pn are also type parameters of I, and I extends the type
J<P1...Pn>.
The function descriptor of I is the same as the function descriptor of F.
The function descriptor of a parameterized functional interface, F<A1...An>, where A1...An are type arguments (4.5.1), is derived as follows. Let P1...Pn be the type parameters of F; types
T1...Tn are derived from the type arguments according to the following rules (for 1 ≤ i ≤ n):
If Ai is a type, then Ti = Ai.
If Ai is a upper-bounded wildcard ? extends Ui, then Ti = Ui.
If Ai is a lower-bounded wildcard ? super Li, then Ti = Li.
If Ai is an unbound wildcard ?, then if Pi has upper bound Bi that mentions none of P1...Pn, then Ti = Bi; otherwise, Ti = Object.
If F<T1...Tn> is a well-formed type, then the descriptor of F<A1...An> is the result of applying substitution [P1:=T1, ..., Pn:=Tn] to the descriptor of interface F. Otherwise, the descriptor of
F<A1...An> is undefined.
The function descriptor of an intersection that is a functional interface type is the same as the function descriptor of the functional interface or parameterization of a functional interface that is
an element of the intersection.
36. 36
関数型インターフェース(JLS9.8)
A functional interface is an interface that has just one abstract method, and thus represents a single function contract. (In some cases, this "single" method may take the form of multiple
abstract methods with override-equivalent signatures (8.4.2) inherited from superinterfaces; in this case, the inherited methods logically represent a single method.)
More precisely, for interface I, let M be the set of abstract methods that are members of I but that do not have the same signature as any public instance method of the class Object. Then I is
a functional interface if there exists a method m in M for which the following conditions hold:
The signature of m is a subsignature (8.4.2) of every method's signature in M.
m is return-type-substitutable (8.4.5) for every method in M.
In addition to the usual process of creating an interface instance by declaring (8.1) and instantiating (15.9) a class, instances of functional interfaces can be created with lambda expressions
(15.27), method references (15.28), or constructor references.
The function descriptor of a functional interface I is a method type (8.2) that can be used to legally override (8.4.8) the abstract method(s) of I.
Let M be the set of abstract methods defined above for I. The descriptor of I consists of the following:
Type parameters, formal parameters, and return types: Let m be a method in M with i) a signature that is a subsignature of every method's signature in M and ii) a return type that is a
subtype of every method's return type in M (after adapting for any type parameters (8.4.4)); if no such method exists, then let m be a method in M that i) has a signature that is a subsignature
of every method's signature in M and ii) is return-type-substitutable for every method in M. Then the descriptor's type parameters, formal parameter types, and return type are as given by m.
Thrown types: The descriptor's thrown types are derived from the throws clauses of the methods in M. If the descriptor is generic, these clauses are first adapted to the type parameters of
the descriptor (8.4.4); if the descriptor is not generic but at least one method in M is, these clauses are first erased. Then the descriptor's thrown types include every type, E, satisfying the
following constraints:
E is mentioned in one of the throws clauses.
For each throws clause, E is a subtype of some type named in that clause.
A functional interface type is one of the following:
A functional interface
A parameterization (4.5) of a functional interface
An intersection (4.9) of interface types that meets the following criteria:
Exactly one element of the intersection is a functional interface, or a parameterization of a functional interface. Let F be this interface.
A notional interface, I, that extends all the interfaces in the intersection would be a functional interface. If any of the intersection elements is a parameterized type, then I is generic: for
each element of the intersection that is a parameterized type J<A1...An>, let P1...Pn be the type parameters of J; then P1...Pn are also type parameters of I, and I extends the type
J<P1...Pn>.
The function descriptor of I is the same as the function descriptor of F.
The function descriptor of a parameterized functional interface, F<A1...An>, where A1...An are type arguments (4.5.1), is derived as follows. Let P1...Pn be the type parameters of F; types
T1...Tn are derived from the type arguments according to the following rules (for 1 ≤ i ≤ n):
If Ai is a type, then Ti = Ai.
If Ai is a upper-bounded wildcard ? extends Ui, then Ti = Ui.
If Ai is a lower-bounded wildcard ? super Li, then Ti = Li.
If Ai is an unbound wildcard ?, then if Pi has upper bound Bi that mentions none of P1...Pn, then Ti = Bi; otherwise, Ti = Object.
If F<T1...Tn> is a well-formed type, then the descriptor of F<A1...An> is the result of applying substitution [P1:=T1, ..., Pn:=Tn] to the descriptor of interface F. Otherwise, the descriptor of
F<A1...An> is undefined.
The function descriptor of an intersection that is a functional interface type is the same as the function descriptor of the functional interface or parameterization of a functional interface that is
an element of the intersection.
@
FunctionalInterface
53. 53
ラムダ式のメソッド本体
(int n) -> {return n + 5;}
(n) -> {return n + 5;}
n -> {return n + 5;}
● return文のみ場合,return等を省略できる
(int n) -> n + 5
(n) -> n + 5
n -> n + 5
63. 63
ラムダ式の利用例
p -> p.getName()
s -> Integer.parseInt(s)
o -> list.add(o)
init -> new MyClass(init)
n -> new int[n]
● 引数を受け流すパターン
64. 64
ラムダ式の利用例
p -> p.getName()
s -> Integer.parseInt(s)
o -> list.add(o)
init -> new MyClass(init)
n -> new int[n]
● 引数を受け流すパターン
● メソッド・コンストラクタ参照
65. 65
メソッド・コンストラクタ参照
p -> p.getName()
s -> Integer.parseInt(s)
o -> list.add(o)
init -> new MyClass(init)
n -> new int[n]
● クラス名等::メソッド or new
Person::getName
Integer::perseInt
list::add
MyClass::new
int[]::new
119. 119
多重継承
class BasicPerson {
public boolean isMan() {/*...*/}
}
class ComplexPerson extends BasicPerson
implements Person {
public Sex getSex() {/*...*/}
}
123. 123
Class always win
class BasicPerson {
public boolean isMan() {/*...*/}
}
class ComplexPerson extends BasicPerson implements
Person {
public Sex getSex() {/*...*/}
}
● BasicPerson#isManが使われる
– “Class always win”
124. 124
親インターフェースの呼び出し
class ComplexPerson extends BasicPerson
implements Person {
public Sex getSex() {/*...*/}
public boolean isMan() {
return Person.super.isMan();
}
}
● インターフェース名.super.メソッド名(...)
178. 184
Putting it together
List<StudentID> list = new ArrayList<>();
for (Student s : students) {
if (s.getGrade() == 2 &&
s.getGPA() >= 3.5) {
list.add(s.getID());
}
}