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VijayKumar_2012-_善于合作的飞行机器人_
Good morning. 早上好
I'm here today to talk about autonomous , flying beach balls. 我今天想谈谈 自主飞行沙滩球,
autonomous:adj.自治的;自主的;自发的;
No, agile aerial robots like this one. 其实,是小型飞行器,像这一个
agile:adj.敏捷的;机敏的;活泼的; aerial:adj.从飞机上的;空中的;空气中的;地表以上的;n.天线;
I'd like to tell you a little bit about the challenges in building these and some of the terrific opportunities for applying this technology . 我想和大家谈谈设计这些飞行器时的挑战 和使用这些飞行器能给我们带来的 很多用处
terrific:adj.极好的;极其的,非常的;可怕的; applying:v.申请,请求;使用;应用;(apply的现在分词) technology:n.技术;工艺;术语;
So these robots are related to unmanned aerial vehicles . 这些飞行器 源于无人驾驶的飞行器
unmanned:adj.无人的; v.使失去男子气质(unman的过去式和过去分词形式); vehicles:n.车辆;飞行器;运行工具;(vehicles是vehicle的复数)
However, the vehicles you see here are big. 但是那些都体积很大
They weigh thousands of pounds, are not by any means agile. 通常上万磅重 毫无灵活型可言
by any means:无论如何;
They're not even autonomous. 它们也不是真的自主飞行的
In fact, many of these vehicles are operated by flight crews that can include multiple pilots, operators of sensors and mission coordinators . 事实上,很多这些飞行器 都是受飞行团队控制的 包括好几个飞行员 感应雷达操作员 和团队协调员
multiple:adj.数量多的;多种多样的;n.倍数; sensors:n.[自]传感器,感应器;感测器(sensor的复数); mission:n.使命,任务;代表团;布道;v.派遣;向…传教; coordinators:n.协调者;同等的人或物(coordinator的复数形式);
What we're interested in is developing robots like this -- and here are two other pictures -- of robots that you can buy off the shelf. 我们想设计的飞行器是这样的—— 这里有两张照片—— 是你能够在超市里买到的那种小飞行器
So these are helicopters with four rotors and they're roughly a meter or so in scale and weigh several pounds. 小型直升机,四个螺旋桨 不超过一米长 只不过几磅重
rotors:n.[电][机][动力]转子;回转轴(rotor的复数形式); roughly:adv.粗糙地;概略地; scale:n.规模;比例;鳞;刻度;天平;数值范围;v.衡量;攀登;剥落;生水垢;
And so we retrofit these with sensors and processors , and these robots can fly indoors without GPS. 我们把它们稍微改造一下,加上感应器和处理器, 它们就可以在室内飞 用不着导航系统
retrofit:vt.改进;[计]更新;式样翻新;n.式样翻新;花样翻新; processors:n.加工机(或工人);处理器;处理机;(processor的复数) indoors:adv.在室内,在户内;
The robot I'm holding in my hand is this one, and it's been created by two students, 我现在拿着的这个飞行器 是其中之一 是两个学生做出来的
Alex and Daniel. 艾利克斯和丹尼尔
So this weighs a little more than a tenth of a pound. 这个仅仅比零点一磅 稍微重一点
It consumes about 15 watts of power. 只需要大约十五瓦的电源
consumes:v.消耗,耗费;吃;喝;饮;使充满(强烈的感情);(consume的第三人称单数) watts:n.瓦特(功率单位);
And as you can see , it's about eight inches in diameter . 你能看到 它的直径大约只有八个英寸
as you can see:正如你所看到的;你是知道的; diameter:n.直径;对径;放大率;放大倍数;
So let me give you just a very quick tutorial on how these robots work. 让我给你们快速解释一下 这些飞行器是怎么工作的
tutorial:adj.辅导的;家庭教师的,个别指导的;n.个别指导;
So it has four rotors. 它有四个螺旋桨
If you spin these rotors at the same speed, the robot hovers . 当四个螺旋桨转速相同 这个飞行器就浮在空中
spin:v.旋转;纺纱;吐丝;纺线;n.头晕;(快速)旋转;常用于英式英语;晕头转向; hovers:盘旋;
If you increase the speed of each of these rotors, then the robot flies up, it accelerates up. 当所有螺旋桨的速度提升时 这个飞行器就加速升高
accelerates:vt.使…加快;使…增速;vi.加速;促进;增加;
Of course, if the robot were tilted , inclined to the horizontal , then it would accelerate in this direction. 当然了,如果飞行器已经是倾斜的 向着地平线侧过来 就会向这个方向加速
tilted:v.倾斜;使倾向于;偏向;(tilt的过去分词和过去式) inclined:adj.有…倾向; v.(使)倾向于,有…的趋势; (incline的过去分词和过去式) horizontal:n.水平线;水平面;横线;水平位置;adj.水平的;与地面平行的;横的;
So to get it to tilt, there's one of two ways of doing it. 怎么能让它侧过来呢,有两个途径
So in this picture you see that rotor four is spinning faster and rotor two is spinning slower. 从这张照片 你能看到四号螺旋桨旋转加速 同时二号螺旋桨转速变慢
spinning:n.纺纱(手艺):纺线v.(使)旋转:纺线:纺纱;(spin的现在分词)
And when that happens there's moment that causes this robot to roll. 这时 飞行器就能向一边倒
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. 反之亦然 当三号螺旋桨加速 一号减速时 飞行器就向前倒
decrease:v.降低;减少;缩小;减弱;n.减少;减小量;所减少的总量;减缩位置; pitches:pitch的变形;
And then finally , if you spin opposite pairs of rotors faster than the other pair, then the robot yaws about the vertical axis . 最后 如果任意两端的螺旋桨的转速 大于另两端的螺旋桨的转速 飞行器就能原地旋转
finally:adv.终于;最终;(用于列举)最后;彻底地; vertical:n.垂直线;垂直位置;adj.竖的;垂直的;直立的;纵向的; axis:n.轴;轴线;轴心国;
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. 所以装在飞行器上的处理器 基本上能判断需要执行哪些动作 然后把它们组合起来 决定给螺旋桨下什么指令 一秒钟六百次
on-board:adj.在船上的;在车上的;在飞机上的; essentially:adv.本质上;本来; executed:v.(尤指依法)处决,处死;实行;执行;实施;(execute的过去分词和过去式)
That's basically how this thing operates. 简单地说这些飞行器就是这么工作的
basically:adv.主要地,基本上;
So one of the advantages of this design is, when you scale things down, the robot naturally becomes agile. 这个设计的一个好处 就是小巧 这些飞行器很灵活
advantages:n.有利条件; v.有利于; naturally:adv.自然地;自然而然地;轻而易举;天生地;大方地;
So here R is the characteristic length of the robot. 这里的R 是飞行器的长度
characteristic:n.特征;特点;品质;adj.典型的;独特的;特有的;
It's actually half the diameter. 其实是半径
And there are lots of physical parameters that change as you reduce R. 当半径变小时 很多物理参数都会变
physical:adj.[物]物理的;身体的;物质的;符合自然法则的;n.体格检查; parameters:n.决定因素;规范;范围;(parameter的复数)
The one that's the most important is the inertia or the resistance to motion . 最重要的一个参数是 惯性, 也就是对于运动的阻力
inertia:n.[力]惯性;惰性,迟钝;不活动; resistance:n.电阻;抵抗;阻力;抗力; motion:n.动作;移动;手势;请求;意向;议案;v.运动;打手势;
So it turns out, the inertia, which governs angular motion, scales as a fifth power of R. 结果是 惯性决定角速度 它是半径的五次方函数
angular:adj.[生物]有角的;生硬的,笨拙的;瘦削的; scales:n.规模范围; v.攀登; (scale的第三人称单数和复数)
So the smaller you make R, the more dramatically the inertia reduces. 当半径变得越来越小时 惯性越来越快地减小
dramatically:adv.戏剧地;引人注目地;adv.显著地,剧烈地;
So as a result , the angular acceleration , denoted by Greek letter alpha here, goes as one over R. 另一个结果是角速度的加速度 也就是这里的希腊字母alpha 等于一除以半径
as a result:结果; acceleration:n.加速,促进;[物]加速度; denoted:表示,指示(denote的过去式和过去分词); alpha:n.希腊字母表的第1个字母;
It's inversely proportional to R. 也就是半径的倒数
inversely:adv.相反地;倒转地; proportional to:与…相称,与…成比例;
The smaller you make it the more quickly you can turn. 当半径越小时飞行器能转弯越快
So this should be clear in these videos. 这个视频清楚地显示
At the bottom right you see a robot performing a 360 degree flip in less than half a second. 大家看右下角的飞行器 正在做一个三百六十度翻转 只需要不到半秒
performing:adj.表演的;演奏的;v.做;执行;演出;运转(perform的现在分词) flip:n.浏览;空翻;轻抛;捻掷;v.迅速翻动;按(开关);按(按钮);开(或关)(机器等);
Multiple flips , a little more time. 连续翻转,稍微时间长一点
flips:n.菲力普类(酒的一种);vt.掷;弹;轻击(flip的第三人称单数);
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. 这里飞行器上用的处理器 能够从飞行器上的加速度计 和陀螺仪得到反馈信息 然后算出,就像我刚才讲的 一秒钟六百个指令 来稳定控制这个飞行器
processes:n.过程; v.处理(process的第三人称单数形式); feedback:n.反馈;反馈意见;回授;[电子]反馈; accelerometers:n.[航][物]加速计(accelerometer的复数);加速器;感应器; gyros:n.沙威玛(希腊食品);陀螺仪; stabilize:vt.使稳固,使安定;vi.稳定,安定;
So on the left, you see Daniel throwing this robot up into the air. 在左边你能看到丹尼尔把飞行器抛到空中
And it shows you how robust the control is. 你能看到飞行器的控制有多快
robust:adj.强健的;健康的;粗野的;粗鲁的;
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
So why build robots like this? 为什么我们要设计这种飞行器呢？
Well robots like this have many applications. 因为这样的飞行器有很多用处
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
responders:n.响应器;回答者;(responder的复数) intruders:n.入侵者;闯入者(intruder的复数形式);爱管闲事的人; biochemical:adj.生物化学的; leaks:n.泄漏; v.漏水; (leak的第三人称单数) gaseous:adj.气态的,气体的;无实质的;
You can also use them for applications like construction . 你还能用它们 建摩天大楼呢
construction:n.建设;建筑物;解释;造句;
So here are robots carrying beams , columns and assembling cube-like structures . 这里是飞行器在搬梁运柱 架构一个立方体的建筑
beams:[建]梁; columns:n.柱:(通常为)圆形石柱:(书,报纸印刷页上的)栏(column的复数) assembling:v.聚集;集合;收集;装配;组装;(assemble的现在分词) structures:n.结构; v.建造(structure的第三人称单数形式);
I'll tell you a little bit more about this. 这里我想和大家介绍一下
The robots can be used for transporting cargo . 这些机器人能被用来运货
transporting:v.运输,运送,输送;传播;(transport的现在分词) cargo:n.(船或飞机装载的)货物;
So one of the problems with these small robots is their payload carrying capacity . 当然一个问题是这些小飞行器 担不了多少重量
payload:n.(导弹,火箭等的)有效载荷,有效负荷; (工厂,企业等)工资负担; capacity:n.能力;容量;资格,地位;生产力;
So you might want to have multiple robots carry payloads . 你可能需要很多飞行器 来搬运重物
payloads:n.(导弹,火箭等的)有效载荷,有效负荷; (工厂,企业等)工资负担;
This is a picture of a recent experiment we did -- actually not so recent anymore -- in Sendai shortly after the earthquake. 我们新做了个实验—— 其实不那么新了—— 在日本仙台,地震后不久
So robots like this could be sent into collapsed buildings to assess the damage after natural disasters , or sent into reactive buildings to map radiation levels. 我们能把这些飞行器 送进倒塌的楼房 或者核反应堆大楼 来探测放射性强度
collapsed:v.倒塌,坍塌;倒下,昏倒;坐下;(collapse的过去分词和过去式) assess:vt.评定;估价;对…征税; disasters:n.灾难(disaster的复数); reactive:adj.反应的;电抗的;反动的; radiation:n.辐射;放射线;放射疗法;
So one fundamental problem that the robots have to solve if they're to be autonomous is essentially figuring out how to get from point A to point B. 一个根本的问题 是当这些飞行器需要自控飞行, 它们自己得弄明白 怎么从一个地点到另一个地点
fundamental:n.基础; adj.十分重大的;
So this gets a little challenging because the dynamics of this robot are quite complicated . 这就变得有点难度了 因为这些飞行器的动力学是很复杂的
dynamics:n.动力学,力学; complicated:adj.复杂的;难懂的;v.使复杂化;(complicate的过去分词和过去式)
In fact, they live in a 12-dimensional space. 事实上它们总在对付十二维的空间
So we use a little trick. 这里我们用了一点小技巧
We take this curved 12-dimensional space and transform it into a flat four-dimensional space. 我们拿这个十二位的空间 把它们转换成 平的四维空间
curved:adj.呈弯曲状的; v.(使)沿曲线运动; transform:v.使改变;使改观;使转换;n.[数]变换式;[化]反式; four-dimensional:adj.四维的;四次元的;
And that four-dimensional space consists of X, Y, Z and then the yaw angle. 这个四维空间 包括了横轴,纵轴和竖轴,还有旋转轴
consists:v.由…构成;由…组成(consist的三单形式);
And so what the robot does is it plans what we call a minimum snap trajectory . 这些飞行器只需要 计划一件事,我们管它叫最小化加加加速度轨道
minimum:n.最低限度;最小值;最少量;极小量;adj.最低的;最小的;最低限度的; snap:v.断裂;移到某位置;厉声说;n.啪嗒声;(尤指抢拍的)照片;adj.仓促的; trajectory:n.[物]轨道,轨线;[航][军]弹道;
So to remind you of physics, you have position, derivative , velocity , then acceleration, and then comes jerk and then comes snap. 提醒大家一点点物理学 这里我们有位置向量,导数,速度 和加速度 还有加加速度 还有加加加速度
remind:v.提醒;使想起; derivative:n.[化学]衍生物,派生物;导数;adj.派生的;引出的; velocity:n.[物]速度; jerk:v.猛拉;n.混蛋;突然而剧烈的动作;adj.卤的;
So this robot minimizes snap. 这个飞行器把加加加速度最小化
minimizes:vt.使减到最少;小看,极度轻视;vi.最小化;
So what that effectively does is produces a smooth and graceful motion. 基本上它的工作是 创造一个光滑优雅的运动曲线
graceful:adj.优雅的;优美的;
And it does that avoiding obstacles . 这样来绕开障碍物
obstacles:n.障碍;障碍物;阻碍;(obstacle的复数形式)
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 . 所以这个四维平面中,这个飞行器使用 最小化加加加速度轨道, 然后转换回到 复杂的十二维空间 飞行器必须这样做来 获得控制和执行动作
trajectories:n.轨迹;轨道线(trajectory的复数形式); transformed:v.使改变形态;使改变外观(或性质);(transform的过去分词和过去式) execution:n.执行,实行;完成;死刑;
So let me show you some examples of what these minimum snap trajectories look like. 让我给大家看几个例子 这些最小化加加加速度轨道是什么样的
And in the first video, you'll see the robot going from point A to point B through an intermediate point. 这是第一个视频 这个飞行器从一个地点飞到另一个地点 中间停一站
intermediate:adj.中间的; v.起调解作用; n.中级学生;
So the robot is obviously capable of executing any curve trajectory. 显然这个飞行器能 飞出一个曲线轨道
capable:adj.能干的,能胜任的;有才华的; executing:v.(尤指依法)处决,处死;实行;执行;实施;(execute的现在分词)
So these are circular trajectories where the robot pulls about two G's. 还有这样的打圈的轨道 这里飞行器对抗两倍的重力
circular:adj.圆形的; n.(同时送达很多人的)印刷信函(或通知、广告);
Here you have overhead motion capture cameras on the top that tell the robot where it is 100 times a second. 它们上方还有一个动感监控摄像机,每秒一百幅画面 来告诉这些飞行器它们的位置
overhead:n.开销;经常费用;经常开支;adj.头上方的;地面以上的;adv.在头上方;在空中 capture:v.俘虏;捕获;攻占;夺得;刻画,描述;n.(被)捕获;(被)俘获
It also tells the robot where these obstacles are. 也能告诉这些飞行器障碍物在哪里
And the obstacles can be moving. 障碍物移动都不要紧
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. 当丹尼尔把套圈扔到空中 飞行器就开始计算套圈的位置 试图预测怎么才能最有效地钻过去
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. 作为一个科研人员 我们总在试图钻出重重圈套,拿到更多经费 甚至训练了我们的飞行器也来做这个
academic:adj.学术的;理论的;学院的;n.大学生,大学教师;学者; jump through hoops:百依百顺; funding:n.基金;资金;提供资金;v.为…提供资金;拨款给;(fund的现在分词) labs:n.实验室;实验大楼;(lab的复数)
(Applause) （掌声）
So another thing the robot can do is it remembers pieces of trajectory that it learns or is pre-programmed . 另一个飞行器能做的事情 是当我们预先编入一些轨迹 或者它自己学着走过的,它能够记住
pre-programmed:adj.预定程序的;
So here you see the robot combining a motion that builds up momentum and then changes its orientation and then recovers. 这里大家能看到 飞行器能够（在预设轨迹上）加上一个动作 积聚动量 改变它的定向,再回到预设轨迹上来
momentum:n.势头;[物]动量;动力;冲力; orientation:n.方向;定向;适应;情况介绍;向东方;
So it has to do this because this gap in the window is only slightly larger than the width of the robot. 它必须这样做因为这个窗上的缝隙 只比它的宽度大一点点
gap:n.差距;间隙;缺口;间隔;v.使豁裂;豁开; slightly:adv.些微地,轻微地;纤细地; width:n.宽度;广度;某一宽度的材料;(游泳池两长边之间的)池宽;
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. 所以就像是一个跳水运动员 从跳板上起跳,聚集动量, 做个旋转,两圈半 然后优雅地回到平衡 这个飞行器是自主这样做的
diver:n.潜水者;跳水的选手;潜鸟; springboard:n.跳板;出发点;vi.利用跳板跃进; pirouette:vi.(芭蕾舞)以脚尖旋转;n.(芭蕾舞)脚尖旋转; somersault:vi.翻筋斗;n.筋斗;(意见,观点,态度等)180度的转变; gracefully:adv.优雅地;温文地;
So it knows how to combine little bits and pieces of trajectories to do these fairly difficult tasks. 它知道怎么把小段的轨迹组合起来 来做这些高难度的技巧
bits and pieces:零星小玩意;零碎;零碎东西;星星点点; fairly:adv.相当地;公平地;简直;
So I want change gears . 现在我想换个话题谈谈这些小型飞行器
gears:n.[机]齿轮,[机]传动装置(gear的复数形式); v.以齿轮连起,安排(gear的三单形式);
So one of the disadvantages of these small robots is its size. 的不足之处,就是体积小
disadvantages:n.不利因素;障碍;不便之处;(disadvantage的复数)
And I told you earlier that we may want to employ lots and lots of robots to overcome the limitations of size. 我已经提过 我们需要使用很多飞行器 来克服体积小的不便
employ:vt.使用,采用;雇用;使忙于,使从事于;n.使用;雇用; overcome:vt.克服;胜过;vi.克服;得胜; limitations:n.局限性;(限制)因素;边界(limitation的复数形式);
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？
coordinate:n.坐标; v.协调; adj.同等的;
And so here we looked to nature. 我们在大自然中寻找答案
So I want to show you a clip of Aphaenogaster desert ants in Professor Stephen Pratt's lab carrying an object. 我想给大家看一个视频 是关于Aphaenogaster沙漠蚁的 在史狄文·普热特教授的实验室里,这些蚂蚁一起搬运重物
clip:v.剪辑;修剪;削减;固定;n.夹;夹子;速度;钳;
So this is actually a piece of fig . 这是一个无花果
fig:n.无花果
Actually you take any object coated with fig juice and the ants will carry them back to the nest. 事实上无论什么东西,只要蘸上无花果汁 这些蚂蚁都会把它们带回巢去
So these ants don't have any central coordinator. 这些蚂蚁没有任何中央调控
They sense their neighbors. 它们是靠感应邻近的蚂蚁
There's no explicit communication. 它们也没有明确的交流
explicit:adj.明确的;清楚的;直率的;详述的;
But because they sense the neighbors and because they sense the object, they have implicit coordination across the group. 但是因为它们能够感应邻近的蚂蚁 也能感应抬着的重物 整群的蚂蚁有默契
implicit:adj.含蓄的;暗示的;盲从的; coordination:n.协调,调和;对等,同等;
So this is the kind of coordination we want our robots to have. 这样的协调 正是飞行器需要的
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 . 当一个飞行器 被其他飞行器环绕时—— 让我们注意 I 和 J 这两个—— 当它们成群飞行时 我们希望这两个飞行器 能够监控它们之间的距离
separation:n.分离;分开;分割;隔离; formation:n.形成;编队;组成;队形;
And then you want to make sure that this separation is within acceptable levels. 我们需要确定 这个距离是在可接受的范围里的
acceptable:adj.认同的;可接受的;令人满意的;
So again the robots monitor this error and calculate the control commands 100 times a second, which then translates to the motor commands 600 times a second. 飞行器要检测这个变化 在控制指令中计算进去 也是每秒一百次 这个控制指令每秒会被送到马达六百次
So this also has to be done in a decentralized way. 所以这个程序 是分散化执行的
decentralized:adj.分散的; vt.使分散;
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. 再有,如果你有很多很多飞行器 要完成集体飞行任务,能足够快地集中协调所有这些信息 是几乎不可能的
centrally:adv.在中心; accomplish:v.完成;实现;达到;
Plus the robots have to base their actions only on local information, what they sense from their neighbors. 加上这些飞行器只能 依靠局部的信息来决定做什么动作 也就是要靠感应邻近的飞行器
And then finally, we insist that the robots be agnostic to who their neighbors are. 最后 我们希望这些机器人 不知道它们的邻居是谁
agnostic:n.不可知论者;adj.不可知论的;
So this is what we call anonymity . 也就是匿名飞行
anonymity:n.匿名;匿名者;无名之辈;
So what I want to show you next is a video of 20 of these little robots flying in formation. 下一个我想给大家展示的 是这段视频 二十个这些小型飞行器 成群飞行
They're monitoring their neighbors' position. 它们在监测邻居的位置
They're maintaining formation. 维持群队
maintaining:n.维护;保养;v.维持;保养;(maintain的现在分词)
The formations can change. 群队的形状还能变
formations:n.形成(formation的复数形式);形态;队形;
They can be planar formations, they can be three-dimensional formations. 它们可以在一个平面上飞 也可以上中下地飞
planar:adj.平面的;二维的;平坦的; three-dimensional:adj.三维的;立体的;真实的;
As you can see here, they collapse from a three-dimensional formation into planar formation. 大家可以看到 它们能从上中下的群队变成平面的
And to fly through obstacles they can adapt the formations on the fly . 在飞越障碍物的时候 它们能边飞边变换队形
adapt:vt.使适应;改编;vi.适应; on the fly:n.邻近备用设备;即时烧录;真时;
So again, these robots come really close together. 我想强调,这些飞行器距离都很近
As you can see in this figure-eight flight, they come within inches of each other. 比如这个群队,八架飞行器 相互距离不过几英寸
And despite the aerodynamic interactions of these propeller blades , they're able to maintain stable flight. 尽管在空气动力学上 这些螺旋桨相互干扰 它们还是能够维持平稳飞行
despite:prep.尽管,不管;n.轻视;憎恨;侮辱; aerodynamic:adj.空气动力学的,[航]航空动力学的; interactions:n.[计]交互,相互作用;相互交流;干扰;(interaction复数) propeller:n.[航][船]螺旋桨;推进器; blades:n.刀身;刀片;刀刃;叶片;桨叶;桨身;(blade的复数) stable:n.马厩;牛棚;adj.稳定的;牢固的;坚定的;vi.被关在马厩;赶入马房;
(Applause) （掌声）
So once you know how to fly in formation, you can actually pick up objects cooperatively . 现在它们会成团飞了 它们就可以合作抬重物
cooperatively:adv.合作地;
So this just shows that we can double, triple , quadruple the robot strength by just getting them to team with neighbors, as you can see here. 这里展示的是 我们能够把飞行器的能力 翻倍,加两倍,三倍 仅仅通过让它们和邻居合作,大家可以看到
triple:adj.三部分的; n.三倍的数[量]; v.成为三倍; quadruple:v.(使)变为四倍;adj.四方面的;四倍的;n.四倍
One of the disadvantages of doing that is, as you scale things up -- so if you have lots of robots carrying the same thing, you're essentially effectively increasing the inertia, and therefore you pay a price; they're not as agile. 这样做的一个不便之处 就是当你加大数量—— 比如使用很多飞行器来抬一个物体 你其实是加大了惯性 这样你就不够灵活了,这是一个代价
But you do gain in terms of payload carrying capacity. 但是你可以得到载荷
Another application I want to show you -- again, this is in our lab. 另一个我想给大家展示的用处是—— 这是在我们实验室
application:n.应用;申请;应用程序;敷用;
This is work done by Quentin Lindsey who's a graduate student. 这是研究生昆汀 林夕的工作
So his algorithm essentially tells these robots how to autonomously build cubic structures from truss-like elements . 他的程序告诉这些飞行器 怎么使用桁架结构 自动建造 一个立方体
autonomously:adv.自治地;独立自主地; cubic:adj.立方体的,立方的; elements:n.要素;基本部分;少量;一群;(element的复数)
So his algorithm tells the robot what part to pick up, when and where to place it. 他的程序告诉这些机器人 该用哪一块 什么时候用,用在哪里
So in this video you see -- and it's sped up 10, 14 times -- you see three different structures being built by these robots. 从这个视频我们可以看到—— 这个视频是十倍或者十四倍速度播放的—— 大家可以看到飞行器在搭建很不一样的构架
And again, everything is autonomous, and all Quentin has to do is to get them a blueprint of the design that he wants to build. 并且,所有的运动都是自主的 昆汀仅仅是 给它们一个蓝图 也就是他想建的设计
blueprint:vt.计划;制成蓝图;n.蓝图,设计图;计划;
So all these experiments you've seen thus far, all these demonstrations , have been done with the help of motion capture systems. 所有这里展示的实验 所有这些演习 都是靠着它们自己的动感检测摄像机完成的
demonstrations:n.示范,展示(demonstration复数);
So what happens when you leave your lab and you go outside into the real world? 那么,当它们离开实验室 来到真实世界的时候,又怎么样呢？
And what if there's no GPS? 没有卫星导航会怎么样？
what if:如果…怎么办?
So this robot is actually equipped with a camera and a laser H finder , laser scanner . 这个飞行器 其实装有一个摄像机 和一个激光测距仪,一个激光扫描仪
finder:n.发现者;寻得者; scanner:n.[计]扫描仪;扫描器;光电子扫描装置;
And it uses these sensors to build a map of the environment. 它可以使用这些探测装置 来描绘周围的环境的地图
What that map consists of are features -- like doorways , windows, people, furniture -- and it then figures out where its position is with respect to the features. 这个地图包括很多细节—— 玄关,窗户 人,家具—— 还能弄清楚相对于这些东西 它自己在哪里
doorways:n.门廊;正门(doorway的复数形式); furniture:n.家具;设备;储藏物; with respect:怀有敬意;
So there is no global coordinate system. 所以这里没有整体的协调系统
global:adj.全球的;总体的;球形的;
The coordinate system is defined based on the robot, where it is and what it's looking at. 这个协调系统是靠飞行器自己来完成的 它自己在哪里,前面有什么
defined:adj.有定义的,确定的; v.使明确;
And it navigates with respect to those features. 还能使用周围环境自己找到出路
navigates:导航;找到正确的行进方向;航行;绕过;
So I want to show you a clip of algorithms developed by Frank Shen and Professor Nathan Michael that shows this robot entering a building for the very first time and creating this map on the fly. 这里我想给大家再看一段视频 这个程序是法兰克 沈 和南希 麦克教授编的 当这个飞行器第一次飞入一个建筑 它是怎么边飞边画地图的
Frank:adj.坦白的,直率的;老实的;n.免费邮寄特权;v.免费邮寄;
So the robot then figures out what the features are. 这个飞行器弄明白了这些细节
It builds the map. 开始画地图
It figures out where it is with respect to the features and then estimates its position 100 times a second allowing us to use the control algorithms that I described to you earlier. 弄明白了相对这些细节,自己在哪里, 然后自我定位 全以每秒一百次的速度发生 这就给我们一个机会来控制这些算法 像我之前讲过的
estimates:n.估计;估价;估计的成本;v.估价;估算(estimate的第三人称单数和复数) described:v.描述;形容;把…称为;做…运动;(describe的过去分词和过去式)
So this robot is actually being commanded remotely by Frank. 所以这个机器人其实是 被法兰克遥控的
remotely:adv.遥远地;偏僻地;(程度)极微地,极轻地;
But the robot can also figure out where to go on its own. 但是它自己也可以弄明白 怎么飞
So suppose I were to send this into a building and I had no idea what this building looked like, 假设我想放一个这样的飞行器进一幢楼 我并不知道里面是什么样的
suppose:v.推断:假定:假设:设想:
I can ask this robot to go in, create a map and then come back and tell me what the building looks like. 我可以让它飞进去 创造一个地图 然后飞回来告诉我里面是什么样的
So here, the robot is not only solving the problem, how to go from point A to point B in this map, but it's figuring out what the best point B is at every time. 所以,这个飞行器不仅仅解决了 怎么从一点到另一点的问题 还能够随时知道 最好的目标在哪里
So essentially it knows where to go to look for places that have the least information. 基本上,它知道该去搜索哪里 因为那里的信息是最“未知”的
And that's how it populates this map. 这就是它怎么填充这个地图
populates:居住于;
So I want to leave you with one last application. 这里我想展示给大家 最后一个用途
And there are many applications of this technology. 当然这个技术有很多很多用途
I'm a professor, and we're passionate about education. 我是个教授,我们很关心教育
passionate:adj.热情的;热烈的,激昂的;易怒的;
Robots like this can really change the way we do K through 12 education. 这样的飞行器其实可以改变 我们的小学和中学教育
But we're in Southern California, close to Los Angeles, so I have to conclude with something focused on entertainment. 我们在南加州 离洛杉矶很近 所以我不得不 放进点娱乐元素进去
conclude:v.断定:得出结论:终止:达成:缔结(协定)
I want to conclude with a music video. 我想给大家看一个音乐电影
I want to introduce the creators, Alex and Daniel, who created this video. 我想向你们介绍艾利克斯和丹尼尔, 他们是导演兼制作
(Applause) （掌声）
So before I play this video, 在我播放这个视频前
I want to tell you that they created it in the last three days after getting a call from Chris. 我想告诉大家这是他们在过去三天做出来的 因为主持人克瑞斯给我打了个电话
And the robots that play the video are completely autonomous. 在这个视频中表演的飞行器 全是靠自控表演的
You will see nine robots play six different instruments . 你能看到九个机器人,演奏六种乐器
instruments:n.器械;仪器;器具;手段(instrument的复数)
And of course, it's made exclusively for TED 2012. 当然了,这是为了今年的TED特别制作的
exclusively:adv.唯一地;专有地;排外地;
Let's watch. 请欣赏
(Music) （音乐）
(Applause) （掌声）