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http://www.aist.go.jp/aist_j/press_release/pr2003/pr20031022/pr20031022.html 
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http://mkynet.hp.infoseek.co.jp/webcic/lib/inw2/inw_0302270.html#6 
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|ˆÚ“]¨  https://takagi1.net/webcic/lib/inw2/inw_0302270.html#6