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And so we retrofit these with sensors and processors, and these robots can fly indoors.
GPSなしで屋内を 飛べるようにしています
en-ja
Without GPS.
Le robot que je tiens dans ma main
en-fr-ca
The robot I'm holding in my hand is this one, and it's been created by two students, Alex and Daniel.
यह है, इसको दो छात्रों ने बनाया है, आलेक्स और डानिएल| इसके वज़न
en-hi
So this weighs a little more than a tenth of a pound.
dan vijf gram.
en-nl
It consumes about 15 watts of power.
15 Ваттын хүчин чадалтай.
en-mn
And as you can see, it's about eight inches in diameter.
見ての通り 直径20センチほどの大きさです
en-ja
So let me give you just a very quick tutorial on how these robots work.
ڕێگه‌م بده‌ن با زۆر به‌خێرایی کورته‌یه‌کی فێرکاریتان بده‌مێ له‌سه‌ر چۆنێتی کارکردنی ئه‌م ڕۆبۆتانه‌
en-ku
So it has four rotors.
Robot ima četiri propelera.
en-hr
If you spin these rotors at the same speed, the robot hovers.
Якщо запустити ці ґвинти з однаковою швидкістю, робот зависне у повітрі.
en-uk
If you increase the speed of each of these rotors, then the robot flies up, it accelerates up.
אם מגבירים מהירות של כל אחד מהרוטורים, הרובוט טס למעלה, הוא מאיץ כלפי מעלה.
en-he
Of course, if the robot were tilted, inclined to the horizontal, then it would accelerate in this direction.
البتهِ اگر رباتها کج شوند، و به طرف افق متمایل شوند، البتهِ اگر رباتها کج شوند، و به طرف افق متمایل شوند، سپس بدین جهت شتاب میگیره.
en-fa
So to get it to tilt, there's one of two ways of doing it.
Um ihn zu kippen, gibt es zwei Möglichkeiten. In diesem Bild hier
en-de
So in this picture, you see that rotor four is spinning faster and rotor two is spinning slower.
Nesta imagem podem ver que o rotor 4 roda mais rápido e o rotor 2 roda mais devagar.
en-pt
And when that happens, there's a moment that causes this robot to roll.
สิ่งที่เกิดขึ้นคือ มันจะม้วนตัวเล็กน้อย
en-th
And the other way around, if you increase the speed of rotor three and decrease the speed of rotor one, then the robot pitches forward.
Omgekeerd, als je de snelheid van rotor drie verhoogt en die van rotor één verlaagt, dan stampt de robot om de dwars-as.
en-nl
And then finally, if you spin opposite pairs of rotors faster than the other pair, then the robot yaws about the vertical axis.
وأخيراً اذا أدرت الازواج المتقابلة من الروبوت أسرع من الزوج الاّخر، فإن الروبوت يرتفع باتجاه المحور العمودي. هناك مُعالجٌ موضوعٌ بداخلها
en-ar
So an on-board processor essentially looks at what motions need to be executed and combines these motions, and figures out what commands to send to the motors -- 600 times a second.
analiza los movimientos a ejecutar, combina estos movimientos y calcula los comandos a enviar a los motores 600 veces por segundo.
en-es
That's basically how this thing operates.
Und so funktionieren diese Dinger grundsätzlich.
en-de
So one of the advantages of this design is when you scale things down, the robot naturally becomes agile.
که‌واته‌، یه‌کێک له‌لایه‌نە باشه‌کانی ئه‌م دیزاینه‌ ئه‌وه‌یه‌، که‌ کاتێک تۆ شته‌کان بچووک ده‌که‌یته‌وه‌ ڕۆبۆته‌که‌ گرجوگۆڵ ده‌بێت
en-ku
So here, R is the characteristic length of the robot.
여기 "R"이 로봇의 길이를 표시합니다.
en-ko
It's actually half the diameter.
בעצם זה מחצית מהקוטר.
en-he
And there are lots of physical parameters that change as you reduce R.
Şi sunt o mulţime de parametri fizici care se schimbă pe măsură ce reduci R.
en-ro
The one that's most important is the inertia, or the resistance to motion.
Najvažniji parametar je tromost, ili otpor kretanju. Ispada da je
en-hr
So it turns out the inertia, which governs angular motion, scales as a fifth power of R.
сила інерції, яка регулює кутовий рух, зростає прямо пропорційно R в п'ятому степені.
en-uk
So the smaller you make R, the more dramatically the inertia reduces.
Takže čím menší R uděláte, tím dramatičtěji poklesne setrvačnost.
en-cs
So as a result, the angular acceleration, denoted by the Greek letter alpha here, goes as 1 over R.
結果，角加速度， 這裡用希臘字母的 α 表示， 變成了 1 / R 。
en-zh-tw
It's inversely proportional to R.
که رابظه معکوس با R دارد.
en-fa
The smaller you make it, the more quickly you can turn.
Što je robot manji, to je okretniji.
en-hr
So this should be clear in these videos.
На відео це добре видно. У правому нижньому куті робот
en-uk
On the bottom right, you see a robot performing a 360-degree flip in less than half a second.
ตีลังกา 360 องศา ภายในครึ่งวินาที
en-th
Multiple flips, a little more time.
Множество обръщания, малко повече време.
en-bg
So here the processes on board are getting feedback from accelerometers and gyros on board, and calculating, like I said before, commands at 600 times a second, to stabilize this robot.
A fedélzeti folyamatok visszajelzést kapnak a gyorsulásmérőktől és a giroszkópoktól, és kiszámolják, ahogy már említettem, a parancsokat másodpercenként 600-szor, a robot stabilizálása érdekében.
en-hu
So on the left, you see Daniel throwing this robot up into the air, and it shows you how robust the control is.
A la izquierda ven a Daniel que arroja el robot al aire. Eso muestra la robustez del control.
en-es
No matter how you throw it, the robot recovers and comes back to him.
不管你怎么扔 飞行器都能恢复平衡飞回来
en-zh-cn
So why build robots like this?
Навіщо потрібні такі роботи?
en-uk
Well, robots like this have many applications.
Những robot thế này có rất nhiều ứng dụng.
en-vi
You can send them inside buildings like this, as first responders to look for intruders, maybe look for biochemical leaks, gaseous leaks.
你能把它们放进像这样的大楼里 作为报警器去寻找入侵者 寻找生化泄漏 或者煤气泄漏 你还能用它们
en-zh-cn
You can also use them for applications like construction.
사용 될 수 있습니다.
en-ko
So here are robots carrying beams, columns and assembling cube-like structures.
Aquí hay robots que transportan vigas y columnas que montan estructuras cúbicas.
en-es
I'll tell you a little bit more about this.
Vou falar-vos um pouco mais sobre isso.
en-pt
The robots can be used for transporting cargo.
Τα ρομπότ μπορούν να χρησιμοποιηθούν για τη μεταφορά φορτίων.
en-el
So one of the problems with these small robots is their payload-carrying capacity.
Um dos problemas com estes pequenos robôs é a capacidade deles de transportar carga útil.
en-pt-br
So you might want to have multiple robots carry payloads.
Stoga bi bilo dobro udružiti robote za prijenos tereta.
en-hr
This is a picture of a recent experiment we did -- actually not so recent anymore -- in Sendai, shortly after the earthquake.
這是我們近期實驗的照片 -- 事實上已經不算是近期了 -- 在地震過後的仙台市(日本)。
en-zh-tw
So robots like this could be sent into collapsed buildings, to assess the damage after natural disasters, or sent into reactor buildings, to map radiation levels.
로봇들은 천재지변 재난 이후에 위험물에 접근하려고 붕괴된 건물들 안으로 들어 갈 수 있습니다. 또는 방사능 수치를 그리기 위해 원자로 건물로 들어 갈 수 도 있구요.
en-ko
So one fundamental problem that the robots have to solve if they are to be autonomous, is essentially figuring out how to get from point A to point B.
Jeden zásadní problém, který roboty musí řešit, pokud mají být autonomní, je, jak vlastně vyřešit, jak se dostat z bodu A do bodu B.
en-cs
So this gets a little challenging, because the dynamics of this robot are quite complicated.
Das ist eine ziemliche Herausforderung da die Dynamik so eines Roboters recht kompliziert ist.
en-de
In fact, they live in a 12-dimensional space.
Aslında, 12 boyutlu bir uzayda yaşıyorlar. Burada ufak bir hile yapıyoruz.
en-tr
So we use a little trick.
Vezmeme tento zakřivený dvanáctirozměrný prostor
en-cs
We take this curved 12-dimensional space, and transform it into a flat, four-dimensional space.
и го трансформираме в плоско четиримерно пространство.
en-bg
And that four-dimensional space consists of X, Y, Z, and then the yaw angle.
ואותו מרחב 4-מימדי מורכב מ-X, Y, Z ומזוית הסטייה. וכך מה שהרובוט עושה
en-he
And so what the robot does, is it plans what we call a minimum-snap trajectory.
minimum hava yörüngesinin oluşumunun planlamasıdır.
en-tr
So to remind you of physics: You have position, derivative, velocity; then acceleration; and then comes jerk, and then comes snap.
Ca să vă amintesc din fizică, aveţi poziţia, derivata, viteza, apoi acceleraţia, apoi urmează saltul şi apoi vine lansarea bruscă.
en-ro
So this robot minimizes snap.
このロボットはスナップを最小化するようになっています
en-ja
So what that effectively does, is produce a smooth and graceful motion.
Як наслідок, робот рухається плавно і ґраціозно,
en-uk
And it does that avoiding obstacles.
Robi to unikając przeszkód.
en-pl
So these minimum-snap trajectories in this flat space are then transformed back into this complicated 12-dimensional space, which the robot must do for control and then execution.
而這些最小震盪軌跡在這個平面空間中 又會被轉換回 這個複雜的 12 維空間， 才能夠讓機器人去進行 控制以及執行任務。
en-zh-tw
So let me show you some examples of what these minimum-snap trajectories look like.
Vou mostrar-vos alguns exemplos do aspeto dessas trajetórias de tração mínima.
en-pt
And in the first video, you'll see the robot going from point A to point B, through an intermediate point.
आणि पहिल्या चित्रफितीमध्ये, तुम्हाला दिसेल हा यंत्रमानव एका बिंदुकडून दुसर्‍या बिंदूकडे जाताना एका मध्यवर्ती बिंदूमधून.
en-mr
(Whirring noise) So the robot is obviously capable of executing any curve trajectory.
그래서 이 로봇이 분명하게 곡선 궤적을 따라 갈 수 있다는 것을 볼 수 있습니다.
en-ko
So these are circular trajectories, where the robot pulls about two G's.
تلك هي مسارات دائرية حيث يسحب الروبوت مايعادل ضعف تسارع الجاذبية.
en-ar
Here you have overhead motion capture cameras on the top that tell the robot where it is 100 times a second.
Burada saniyede 100 kere robota nerede olduğunu ileten üzerindeki hareket yakalayan kameradır.
en-tr
It also tells the robot where these obstacles are.
Elles lui signalent également où se trouvent les obstacles.
en-fr-ca
And the obstacles can be moving.
Перешкоди бувають рухомі.
en-uk
And here, you'll see Daniel throw this hoop into the air, while the robot is calculating the position of the hoop, and trying to figure out how to best go through the hoop.
در اینجا میتوانید ببینید که دانیل حلقه‌ها را به هوا پرتاب میکند، در اینجا میتوانید ببینید که دانیل حلقه‌ها را به هوا پرتاب میکند، و تلاش میکنند که بفهمند که بهترین مسیر برای عبور از حلقه ها کجاست.
en-fa
So as an academic, we're always trained to be able to jump through hoops to raise funding for our labs, and we get our robots to do that.
Enquanto universitários, somos sempre treinados para atravessar arcos, para arranjar fundos para os laboratórios e pomos os nossos robôs a fazê-lo.
en-pt
(Applause) So another thing the robot can do is it remembers pieces of trajectory that it learns or is pre-programmed.
(Potlesk) Jiná věc, kterou robot dovede, je, že si pamatuje trasu, kterou se naučí nebo mu je předprogramována.
en-cs
So here, you see the robot combining a motion that builds up momentum, and then changes its orientation and then recovers.
운동량을 높여서 동작을 조합하고, 방향을 바꾸고 다시 복귀하는 로봇을 볼 수 있습니다.
en-ko
So it has to do this because this gap in the window is only slightly larger than the width of the robot.
このようにする必要があるのは 通る隙間の幅がロボットよりわずかに広いだけだからです
en-ja
So just like a diver stands on a springboard and then jumps off it to gain momentum, and then does this pirouette, this two and a half somersault through and then gracefully recovers, this robot is basically doing that.
Alors, tout comme un plongeur sur un tremplin se jette pour gagner de la vitesse, et puis fait sa pirouette, ces deux saltos et demi et puis il récupère facilement, c'est en gros ce que ce robot fait.
en-fr
So it knows how to combine little bits and pieces of trajectories to do these fairly difficult tasks.
Hij kan stukjes en beetjes van banen combineren om moeilijke taken uit te voeren.
en-nl
So I want change gears.
ده‌مه‌وێت بچمه‌ سه‌ر لایه‌نێکی تر
en-ku
So one of the disadvantages of these small robots is its size.
Uma das desvantagens desses pequenos robôs é o seu tamanho.
en-pt-br
And I told you earlier that we may want to employ lots and lots of robots to overcome the limitations of size.
I kao što rekoh trebat ćemo upregnuti veliki broj robota da bi nadomjestili taj nedostatak.
en-hr
So one difficulty is: How do you coordinate lots of these robots?
一个难点是 怎么使得这些飞行器集体飞行？
en-zh-cn
And so here, we looked to nature.
Ehhez a természetet hívtuk segítségül.
en-hu
So I want to show you a clip of Aphaenogaster desert ants, in Professor Stephen Pratt's lab, carrying an object.
В этом видео пустынные муравьи Aphaenogaster переносят объект в лаборатории Стивена Прата.
en-ru
So this is actually a piece of fig.
זוהי למעשה חתיכת תאנה. למעשה נוטלים עצם כלשהו
en-he
Actually you take any object coated with fig juice, and the ants will carry it back to the nest.
ezek a hangyák becipelnek a bolyba.
en-hu
So these ants don't have any central coordinator.
这些蚂蚁没有任何中央调控
en-zh-cn
They sense their neighbors.
Ata ndjenjë praninë e fqinjëve. Nuk ka asnjë komunikim të qartë.
en-sq
There's no explicit communication.
Pero como detectan a sus vecinas
en-es
But because they sense the neighbors and because they sense the object, they have implicit coordination across the group.
і відчувають об'єкт, і тому налагодили непрямий зв'язок у групі.
en-uk
So this is the kind of coordination we want our robots to have.
इस तरह का समन्वय हम अपने रोबोट में लाना चाहते है|
en-hi
So when we have a robot which is surrounded by neighbors -- and let's look at robot I and robot J -- what we want the robots to do, is to monitor the separation between them, as they fly in formation.
Wenn wir also einen Roboter haben, der von seinen Nachbarn umgeben ist – schauen wir uns Roboter I und J an – was wir von den Robotern wollen, ist, dass sie den Abstand zwischen sich überwachen, während sie in der Formation fliegen.
en-de
And then you want to make sure that this separation is within acceptable levels.
Роботи повинні впевнитися, що ця відстань не перевищує допустимий рівень.
en-uk
So again, the robots monitor this error and calculate the control commands 100 times a second, which then translates into motor commands, 600 times a second.
Din nou roboţii monitorizează această eroare şi calculează comenzile de control de 100 de ori pe secundă, care apoi e transmis către motor de 600 de ori pe secundă. Deci şi asta a fost făcut
en-ro
So this also has to be done in a decentralized way.
decentralizovaným spôsobom.
en-sk
Again, if you have lots and lots of robots, it's impossible to coordinate all this information centrally fast enough in order for the robots to accomplish the task.
Mając wiele robotów, nie mogą być centralnie sterowane na tyle szybko, by mogły wykonywać zadania.
en-pl
Plus, the robots have to base their actions only on local information -- what they sense from their neighbors.
בנוסף על הרובוטים לבסס את פעילותם אך ורק על מידע מקומי, על מה שהם קולטים משכניהם. ולבסוף,
en-he
And then finally, we insist that the robots be agnostic to who their neighbors are.
hogy a robotok ne tudják, kik a szomszédjaik.
en-hu
So this is what we call anonymity.
To smo nazvali anonimnost.
en-hr
So what I want to show you next is a video of 20 of these little robots, flying in formation.
ما أريد عرضه بعد ذلك مشهد من 20 من تلك الروبوتات تطير في تشكيل.
en-ar
They're monitoring their neighbors' positions.
Monitorują położenie swoich sąsiadów.
en-pl
They're maintaining formation.
وتُحافظ على التشكيل.
en-ar
The formations can change.
थव्याचा आकार बदलू शकतो.
en-mr
They can be planar formations, they can be three-dimensional formations.
Структура может быть как плоской, так и трёхмерной.
en-ru
As you can see here, they collapse from a three-dimensional formation into planar formation.
Όπως μπορείτε να δείτε εδώ, μεταπίπτουν από έναν τρισδιάστατο σε έναν επίπεδο σχηματισμό.
en-el
And to fly through obstacles, they can adapt the formations on the fly.
Якщо потрібно пролетіти крізь перешкоди, роботи змінюють стрій на лету.
en-uk
So again, these robots come really close together.
這些機器人移動時真的靠得很近。
en-zh-tw