The astounding athletic power of quadcopters | Raffaello D'Andrea

Translator: Joseph Geni Reviewer: Morton Bast

Translator: Nika Kotnik Reviewer: Matej Divjak

So what does it mean for a machine to be athletic?

Kaj pomeni, da je neka naprava atletska?

We will demonstrate the concept of machine athleticism

Pokazali vam bomo koncept atletskosti naprav

and the research to achieve it

in raziskave, potrebne za to,

with the help of these flying machines called quadrocopters,

s pomočjo teh letečih naprav, imenovanih kvadkopterji

or quads, for short.

ali kvadi na kratko.

Quads have been around for a long time.

Kvadi so tu že dolgo časa.

They're so popular these days because they're mechanically simple.

Te dni so tako priljubljeni, ker so mehansko preprosti.

By controlling the speeds of these four propellers,

Z nadzorovanjem hitrosti teh štirih propelerjev,

these machines can roll, pitch, yaw,

se te naprave lahko obračajo, nagnejo, zavijajo

and accelerate along their common orientation.

in pospešujejo v isti smeri.

On board are also a battery, a computer,

Nameščeni so tudi baterija, računalnik,

various sensors and wireless radios.

različni senzorji in brezžični radii.

Quads are extremely agile, but this agility comes at a cost.

Kvadi so izjemno spretni, a ta spretnost ima svojo ceno.

They are inherently unstable,

So neizogibno nestabilni

and they need some form of automatic feedback control

in potrebujejo neke vrste avtomatično povratno kontrolo,

in order to be able to fly.

da lahko letijo.

So, how did it just do that?

Torej, kako je pravkar naredil to?

Cameras on the ceiling and a laptop

Kamere na stropu in prenosnik

serve as an indoor global positioning system.

služijo kot notranji globalni sistem določanja položaja.

It's used to locate objects in the space

Uporablja se za lociranje predmetov v prostoru,

that have these reflective markers on them.

ki imajo na sebi te odbojne oznake.

This data is then sent to another laptop

Ti podatki so poslani na drugi prenosnik,

that is running estimation and control algorithms,

ki poganja algoritme za ocene in nadzor,

which in turn sends commands to the quad,

ki nato pošilja ukaze kvadu,

which is also running estimation and control algorithms.

ki prav tako poganja algoritme za ocene in nadzor.

The bulk of our research is algorithms.

Večina našega raziskovanja so algoritmi.

It's the magic that brings these machines to life.

To je čarovnija, ki oživi te naprave.

So how does one design the algorithms that create a machine athlete?

Kako torej narediš algoritme, ki ustvarijo mehanskega atleta?

We use something broadly called model-based design.

Uporabimo nekaj, čemur pravimo na modelih temelječ dizajn.

We first capture the physics

Najprej ujamemo fiziko

with a mathematical model of how the machines behave.

z matematičnim modelom, ki zajame obnašanje naprav.

We then use a branch of mathematics called control theory

Uporabimo vejo matematike, ki ji pravimo teorija nadzora,

to analyze these models

da analiziramo te modele,

and also to synthesize algorithms for controlling them.

in da sintetiziramo algoritme za njihov nadzor.

For example, that's how we can make the quad hover.

Naprimer, s tem kvad lebdi.

We first captured the dynamics with a set of differential equations.

Najprej smo zajeli dinamiko s setom diferencialnih enačb.

We then manipulate these equations with the help of control theory

Nato smo manipulirali te enačbe s pomočjo teorije nadzora,

to create algorithms that stabilize the quad.

da bi ustvarili algoritme, ki stabilizirajo kvad.

Let me demonstrate the strength of this approach.

Naj vam prikažem moč tega pristopa.

Suppose that we want this quad to not only hover

Recimo, da želimo, da kvad ne samo lebdi,

but to also balance this pole.

ampak tudi uravnoteži to palico.

With a little bit of practice,

Z malo vaje

it's pretty straightforward for a human being to do this,

je precej enostavno za človeka,

a mi imamo prednost dveh nog na tleh

although we do have the advantage of having two feet on the ground

in uporabo naših zelo vsestranskih rok.

and the use of our very versatile hands.

It becomes a little bit more difficult

Postane malo težje,

when I only have one foot on the ground

ko imam na tleh samo en nogo

and when I don't use my hands.

in ko ne uporabljam rok.

Notice how this pole has a reflective marker on top,

Vidite, da ima ta palica na vrhu svetlečo oznako,

which means that it can be located in the space.

kar pomeni, da jo lahko lociramo v prostoru.

(Audience) Oh!

(občinstvo) Oh!

(Applause)

(aplavz)

(Applause ends)

(konec aplavza)

You can notice that this quad is making fine adjustments

Lahko vidite, da kvad dela rahle prilagoditve,

to keep the pole balanced.

da bi palico uravnotežil.

How did we design the algorithms to do this?

Kako smo oblikovali algoritme za to?

We added the mathematical model of the pole

Modelu kvada smo dodali matematični model palice.

to that of the quad.

Once we have a model of the combined quad-pole system,

Ko imamo enkrat model kombiniranega sistema palica-kvad,

we can use control theory to create algorithms for controlling it.

lahko uporabimo teorijo nadzora, da ustvarimo algoritme za njun nadzor.

Here, you see that it's stable,

Vidite, kako je stabilna

and even if I give it little nudges,

in tudi če jo malo potisnem,

it goes back --

gre nazaj -

to the nice, balanced position.

na lepo, uravnoteženo pozicijo.

We can also augment the model

Lahko tudi nadgradimo model,

to include where we want the quad to be in space.

da vključimo, kje v prostoru želimo kvad.

Using this pointer, made out of reflective markers,

S tem kazalcem, narejenim iz odsevnih oznak,

I can point to where I want the quad to be in space

lahko pokažem, kje v prostoru želim kvad,

a fixed distance away from me.

na določeni distanci od mene.

(Laughter)

(Smeh)

The key to these acrobatic maneuvers is algorithms,

Ključ do teh akrobatskih manevrov so algoritmi,

designed with the help of mathematical models

oblikovani s pomočjo matematičnih modelov

and control theory.

in teorije nadzora.

Let's tell the quad to come back here

Povejmo kvadu, naj pride nazaj sem

and let the pole drop,

in naj pusti palico, da pade,

and I will next demonstrate the importance

in pokazal vam bom, kako pomembno

of understanding physical models

je razumeti fizikalne modele

and the workings of the physical world.

in delovanje fizičnega sveta.

Notice how the quad lost altitude when I put this glass of water on it.

Opazite, kako je kvad izgubil višino, ko sem nanj postavil kozarec vode.

Unlike the balancing pole,

Za razliko od palice,

I did not include the mathematical model of the glass

nisem vključil matematičnega modela kozarca

in the system.

v sistem.

In fact, the system doesn't even know that the glass is there.

Pravzaprav, sistem sploh ne ve, da je kozarec tam.

Like before, I could use the pointer to tell the quad

Kot prej, lahko uporabim kazalec, da povem kvadu,

where I want it to be in space.

kje v prostoru želim, da je.

(Applause)

(Aplavz)

(Applause ends)

(konec aplavza)

Okay, you should be asking yourself,

Ok, sedaj bi se morali vprašati,

why doesn't the water fall out of the glass?

zakaj voda ne steče iz kozarca?

Two facts.

Dve dejstvi.

The first is that gravity acts on all objects in the same way.

Prvo je, da gravitacija vpliva na vse objekte enako.

The second is that the propellers

Drugo je, da so propelerji

are all pointing in the same direction of the glass, pointing up.

vsi obrnjeni v isto smer kozarca, gor.

You put these two things together,

Ko združiš ti dve stvari,

the net result is that all side forces on the glass are small

je skupni rezultat, da so vse stranske sile na kozarec majhne

and are mainly dominated by aerodynamic effects,

in jim dominirajo aerodinamični učinki,

which at these speeds are negligible.

ki so ob teh hitrostih zanemarljivi.

And that's why you don't need to model the glass.

In zato vam ni treba narediti modela za kozarec.

It naturally doesn't spill, no matter what the quad does.

Naravno se ne polije, ne glede na to, kaj naredi kvad.

(Audience) Oh!

(občinstvo) Oh!

(Applause)

(aplavz)

(Applause ends)

(konec aplavza)

The lesson here

Lekcija tu je,

is that some high-performance tasks are easier than others,

da so nekatere visoko zmogljivostne naloge lažje od drugih

and that understanding the physics of the problem

in da ti razumevanje fizikalnosti problema

tells you which ones are easy and which ones are hard.

pove, katere so lahke in katere težke.

In this instance, carrying a glass of water is easy.

V tem primeru je nošenje kozarca lahko.

Balancing a pole is hard.

Uravnotežiti palico je težko.

We've all heard stories of athletes performing feats while physically injured.

Vsi smo slišali zgodbe o atletih, ki so izvajali podvige med fizično poškodbo.

Can a machine also perform with extreme physical damage?

Lahko naprava še vedno deluje, kljub hudi poškodbi?

Conventional wisdom says

Konvencionalna modrost pravi,

that you need at least four fixed motor propeller pairs in order to fly,

da potrebuješ vsaj štiri fiksne motorne propelerske pare, da lahko leti,

because there are four degrees of freedom to control:

ker nadzorujemo štiri stopnje prostosti:

roll, pitch, yaw and acceleration.

obračanje, nagibanje, zavijanje in pospeševanje.

Hexacopters and octocopters, with six and eight propellers,

Heksakopterji in oktokopterji, s šestimi in osmimi propelerji,

can provide redundancy,

lahko nudijo več moči, kot je potrebujejo, ampak kvadkopterji so bolj popularni,

but quadrocopters are much more popular

because they have the minimum number of fixed motor propeller pairs: four.

ker imajo minimalno število fiksnih motornih propelerskih parov: štiri.

Or do they?

Ali pač?

(Audience) Oh!

(občinstvo) Oh!

(Laughter)

(smeh)

If we analyze the mathematical model of this machine

Če analiziramo matematični model te naprave

with only two working propellers,

s samo dvema delujočima propelerjema,

we discover that there's an unconventional way to fly it.

odkrijemo, da obstaja neobičajen način letenja.

We relinquish control of yaw,

Izgubimo zavijanje,

but roll, pitch and acceleration can still be controlled

ampak obračanje, nagibanje in pospeševanje lahko še vedno nadzorujemo

with algorithms that exploit this new configuration.

z algoritmi, ki uporabijo to novo konfiguracijo.

Mathematical models tell us exactly when and why this is possible.

Matematični modeli nam povedo, točno zakaj in kdaj je to možno.

In this instance, this knowledge allows us to design

V tem primeru nam to znanje omogoča, da oblikujemo

novel machine architectures

izvirne načrte naprav

or to design clever algorithms that gracefully handle damage,

ali oblikovanje pametnih algoritmov, ki elegantno obvladajo poškodbe,

just like human athletes do,

tako kot človeški atleti,

instead of building machines with redundancy.

namesto da bi gradili naprave z več moči, kot je potrebujejo.

We can't help but hold our breath

Ne moremo, da ne bi zajeli sape,

when we watch a diver somersaulting into the water,

ko gledamo potapljača, kako se požene v vodo,

or when a vaulter is twisting in the air,

ali ko se skakalec vrti v zraku,

the ground fast approaching.

tla pa se mu hitro približujejo.

Will the diver be able to pull off a rip entry?

Bo potapljaču uspel skok?

Will the vaulter stick the landing?

Bo skakalcu uspel pristanek?

Suppose we want this quad here to perform a triple flip

Recimo da želimo, da se ta kvad trikrat obrne

and finish off at the exact same spot that it started.

in konča na istem mestu, kot je začel.

This maneuver is going to happen so quickly

Ta manever se bo zgodil tako hitro,

that we can't use position feedback to correct the motion during execution.

da ne moremo uporabiti pozicijske povratne informacije.

There simply isn't enough time.

Preprosto ni dovolj časa.

Instead, what the quad can do is perform the maneuver blindly,

Namesto tega lahko kvad slepo izvede manever,

observe how it finishes the maneuver,

opazuje, kako konča manever,

and then use that information to modify its behavior

in potem uporabi te informacije, da popravi to gibanje,

so that the next flip is better.

tako, da je naslednjič boljše.

Similar to the diver and the vaulter,

Podobno kot potapljač ali skakalec,

it is only through repeated practice

samo skozi vajo

that the maneuver can be learned and executed

se lahko ta manever nauči in izvede

to the highest standard.

po najvišjih standardih.

(Laughter)

(smeh)

(Applause)

(aplavz)

Striking a moving ball is a necessary skill in many sports.

Zadeti premikajočo se žogo, je nujna sposobnost v mnogih športih.

How do we make a machine do

Kako naprava naredi nekaj,

what an athlete does seemingly without effort?

kot naredi atlet navidez brez truda?

(Laughter)

(smeh)

(Applause)

(aplavz)

(Applause ends)

(konec aplavza)

This quad has a racket strapped onto its head

Ta kvad ima lopar na glavi

with a sweet spot roughly the size of an apple, so not too large.

z optimalno točko v velikosti jabolka, torej ne preveliko.

The following calculations are made every 20 milliseconds,

Naslednji izračuni so narejeni vsakih 20 milisekund

or 50 times per second.

ali 50-krat na sekundo.

We first figure out where the ball is going.

Najprej ugotovimo, kam gre žoga.

We then next calculate how the quad should hit the ball

Nato izračunamo, kako naj kvad udari žogo,

so that it flies to where it was thrown from.

da leti tja, od koder je bila vržena.

Third, a trajectory is planned that carries the quad

tretjič načrtujemo tirnico, ki ponese kvad

from its current state to the impact point with the ball.

od trenutnega mesta na točko udarca z žogo.

Fourth, we only execute 20 milliseconds' worth of that strategy.

Četrtič, izvedemo samo 20 milisekund te strategije.

Twenty milliseconds later, the whole process is repeated

Dvajset milisekund kasneje se celoten proces ponovi,

until the quad strikes the ball.

dokler kvad ne udari žoge.

(Applause)

(aplavz)

Machines can not only perform dynamic maneuvers on their own,

Naprave ne samo da same izvedejo dinamične manevre,

they can do it collectively.

to lahko počnejo v skupinah.

These three quads are cooperatively carrying a sky net.

Ti trije kvadi skupaj nosijo mrežo.

(Applause)

(aplavz)

(Applause ends)

(konec aplavza)

They perform an extremely dynamic and collective maneuver

Izvajajo neverjetno dinamičen in kolektiven manever,

to launch the ball back to me.

da bi mi prinesli žogo nazaj.

Notice that, at full extension, these quads are vertical.

Vidite, ob popolni raztegnitvi so ti kvadi vertikalno.

(Applause)

(aplavz)

In fact, when fully extended,

Ob popolni iztegnitvi

this is roughly five times greater than what a bungee jumper feels

je to petkrat več kot to, kar čuti bungee skakalec

at the end of their launch.

na koncu skoka.

The algorithms to do this are very similar

Algoritmi za to so zelo podobni

to what the single quad used to hit the ball back to me.

tistim, ki jih je uporabil en kvad, da mi je odbil žogo nazaj.

Mathematical models are used to continuously re-plan

Matematično modeli so uporabljeni za neprestano re-planiranje

a cooperative strategy 50 times per second.

kooperativne strategije 50-krat na sekundo.

Everything we have seen so far has been about the machines and their capabilities.

Vse, kar smo videli do zdaj, so bile naprave in njihove sposobnosti.

What happens when we couple this machine athleticism

Kaj se zgodi, ko združimo atletskost teh naprav

with that of a human being?

s človeško?

What I have in front of me is a commercial gesture sensor

Pred seboj imam komercialni senzor gibanja,

mainly used in gaming.

ki se uporablja pri igrah.

It can recognize what my various body parts

Lahko prepozna, kaj počnejo deli mojega telesa v realnem času.

are doing in real time.

Similar to the pointer that I used earlier,

Podobno kot kazalec, ki sem ga uporabil prej.

we can use this as inputs to the system.

lahko vstavimo te vhodne podatke v sistem.

We now have a natural way of interacting

Sedaj imamo naraven način sodelovanja

with the raw athleticism of these quads with my gestures.

surove atletskosti tega kvada z mojimi kretnjami.

(Applause)

(aplavz)

Interaction doesn't have to be virtual.

Interakcija ni nujno virtualna.

It can be physical.

Lahko je fizična.

Take this quad, for example.

Poglejmo naprimer tale kvad.

It's trying to stay at a fixed point in space.

Poskuša obstati na določeni točki v prostoru.

If I try to move it out of the way, it fights me,

Če ga poskušam premakniti, se upira

and moves back to where it wants to be.

in se premakne tja, kjer želi biti.

We can change this behavior, however.

A to obnašanje lahko spremenimo.

We can use mathematical models

Lahko uporabimo matematične modele,

to estimate the force that I'm applying to the quad.

ki ocenijo silo, ki jo uporabim na kvadu.

Once we know this force, we can also change the laws of physics,

Ko poznamo to silo, lahko spremenimo zakone fizike,

as far as the quad is concerned, of course.

vsaj kar se tiče kvada.

Here, the quad is behaving as if it were in a viscous fluid.

Tu se kvad obnaša, kot da bi bil v viskozni tekočini.

We now have an intimate way of interacting with a machine.

Sedaj imamo intimen način sodelovanja z napravo.

I will use this new capability to position

To novo sposobnost bom uporabil, da namestim

this camera-carrying quad to the appropriate location

ta kvad s kamero na primerno lokacijo

for filming the remainder of this demonstration.

za snemanje preostanka te predstavitve.

So we can physically interact with these quads

Tako lahko fizično komuniciramo s temi kvadi

and we can change the laws of physics.

in lahko spremenimo zakone fizike.

Let's have a little bit of fun with this.

Pozabavajmo se.

For what you will see next,

Zdaj boste videli

these quads will initially behave as if they were on Pluto.

kvade, ki se bodo obnašali, kot bi bili na Plutonu.

As time goes on, gravity will be increased

Čez čas se bo gravitacija povečevala,

until we're all back on planet Earth,

dokler ne bomo nazaj na Zemlji,

but I assure you we won't get there.

a zagotavljam, da ne bomo prišli tja.

Okay, here goes.

No, gremo.

(Laughter)

(smeh)

(Laughter)

(smeh)

(Applause)

(aplavz)

Whew!

Uf!

You're all thinking now,

Sedaj si mislite,

these guys are having way too much fun,

tile se preveč zabavajo

and you're probably also asking yourself,

in najbrž se sprašujete,

why exactly are they building machine athletes?

zakaj sploh gradijo mehanične atlete?

Some conjecture that the role of play in the animal kingdom

Nekateri domnevajo, da je vloga igre v živalskem kraljestvu,

is to hone skills and develop capabilities.

izboljšane spretnosti in razvijanje sposobnosti.

Others think that it has more of a social role,

Drugi mislijo, da ima socialno vlogo,

that it's used to bind the group.

da poveže skupino.

Similarly, we use the analogy of sports and athleticism

Podobno uporabljamo analogijo športa in atletskosti,

to create new algorithms for machines

da ustvarimo nove algoritme za naprave,

to push them to their limits.

da jih potisnemo do meja.

What impact will the speed of machines have on our way of life?

Kakšen vpliv bo imela hitrost teh naprav na naša življenja?

Like all our past creations and innovations,

Kot vsi naši pretekli izumi in inovacije,

they may be used to improve the human condition

jih lahko uporabimo za izboljšanje kvalitete življenja

or they may be misused and abused.

ali pa bodo zlorabljeni.

This is not a technical choice we are faced with;

To ni tehnična izbira,

it's a social one.

socialna je.

Let's make the right choice,

Odločimo se prav,

the choice that brings out the best in the future of machines,

za odločitev, ki potegne najboljše iz prihodnosti naprav,

just like athleticism in sports can bring out the best in us.

tako kot atletskost v športu potegne najboljše iz nas.

Let me introduce you to the wizards behind the green curtain.

Naj vam predstavim čarovnike za zeleno zaveso.

They're the current members of the Flying Machine Arena research team.

To so trenutni člani raziskovalne ekipe Flying Machine Arena.

(Applause)

(aplavz)

Federico Augugliaro, Dario Brescianini,

Federico Augugliaro, Dario Brescianini,

Markus Hehn, Sergei Lupashin, Mark Muller and Robin Ritz.

Markus Hehn, Sergei Lupashin, Mark Muller in Robin Ritz.

Look out for them. They're destined for great things.

Bodite pozorni nanje. Dosegli bodo velike stvari.

Thank you.

Hvala.

(Applause)

(aplavz)