It's called a quadrotor because it has four propellars that spin & generate thrust

它之所以叫四旋翼，是因為它有四個螺旋槳，可以旋轉&amp；產生推力。

This is the pilot controlling a vehicle with a radio transmitter

這就是飛行員用無線電發射器控制車輛。

That's pretty neat.But if we take a short trip across the street

那是相當整潔的，但如果我們走一小段路到街對面去的話

Of course looking both ways before we cross

當然是先看兩邊再過

We come to this place for this quadrotor can fly by itself

我們來這裡是為了這個四旋翼飛行器能自己飛起來

without any human help at all

徒手

We don't even need a pilot

我們甚至不需要一個飛行員。

This flying robot can operate with extreme precision

這款飛行機器人的操作精度極高

in tight indoor spaces

在狹窄的室內空間

It can do some other pretty neat stuff as well

它還可以做一些其他漂亮的東西。

So if you're wondering how to make robots fly

所以如果你想知道如何讓機器人飛起來的話

You've come to the right place

你來對地方了。

Indoor Flying Robots!

室內飛行機器人!

A crash course

速成班

Maybe crash course isn't the right term

也許速成班並不是正確的術語。

Indoor Flying Robots!

室內飛行機器人!

An expedited learning experience

快速的學習體驗

To figure how to make robots fly

要想知道如何讓機器人飛起來

we'll need to understand the basic physics of quadrotors

我們需要了解四旋翼飛行器的基本物理原理。

How humans pilot them

人類如何駕駛它們

How we can use a computer to achieve the same task

我們如何使用計算機來完成同樣的任務？

And why the resulting flying robots can do more complex things

以及為什麼由此產生的飛行機器人可以做更復雜的事情。

First let's take a quick look at the physics behind

首先，讓我們快速看看背後的物理學原理

how the quadrotors fly

四旋翼飛行器如何飛行

When the propellers spin they push downward on the air around

當螺旋槳旋轉時，它們會向下推動周圍的空氣。

Newton's third law tells us that the air applies in an equal & opposite

牛頓'第三定律告訴我們，空氣的適用範圍是相等&相反的。

reaction force on the propeller.When this lifting force

當這個提升力作用在螺旋槳上時，螺旋槳就會受到反作用力。

equals that of gravity the quadrotor achieves hoverfly

等於重力的四旋翼飛行器實現了懸停飛行

In order to bank one propeller spins slightly faster

為了使一個螺旋槳旋轉得更快，一個螺旋槳旋轉得更快。

than the opposite one

反之

This introduces a horizontal force in addition to the one opposing gravity

這就引入了一個與重力相反的水準力。

And the vehicle moves sideways

車子也會橫向移動

That's great, but it didn't tell us how the quadrotor

這很好，但它沒有告訴我們四旋翼飛行器是怎樣的

can rotate about it's vertical axis

可以圍繞它的垂直軸旋轉。

It turns out that newton's third law also applies to rotational force

原來，牛頓第三定律也適用於旋轉力

called 'Torque'

稱為'Torque&#39。

When this two propellers spin they apply a torque to the air

當這兩個螺旋槳旋轉時，它們會對空氣施加一個扭矩。

in the clockwise direction. The air applies in equal and opposite reaction torque

順時針方向。空氣中的反作用力矩相等且相反。

pushing the vehicle in a counterclock direction meanwhile the other two

將車輛向逆時針方向推進，同時另外兩個

motors spin in the other direction plus the reaction torque

電機向另一方向旋轉，加上反作用力矩。

pushes the vehicle clockwise

順時針推送車輛

When all four motors are turned on the rotational force

當四臺電機全部開啟時，旋轉力為

remember they are called 'Torque' s -balance each other

請記住，他們被稱為'扭矩's-相互平衡。

In flight the vehicle turns by spinning two motors even so

在飛行中，飛行器通過旋轉兩個電機來轉動，即使如此。

slightly faster than the other two

比其他兩個稍快

That went on the basic physics of how quadrotor flies

那是四旋翼飛行器飛行的基本物理原理

But before we can fly it robotically we need to know

但在我們能用機器人飛行之前，我們需要知道：

how to control it. First let's figure out how a human would do that

如何控制它。首先讓我們來看看人類是如何做到這一點的吧

The task can be broken down into four keysteps

該任務可分解為四個關鍵步驟

First, the pilot uses his eyes to observe the vehicle

首先，飛行員用眼睛觀察車輛的情況

and figure out where it is and in which direction it's pointing

並找出它的位置和它的指向方向

In this example let's say the pilot see is the quadrotor is sinking

在這個例子中，讓我們說飛行員看到的是四旋翼飛行器正在下沉。

Next, the pilot has to decide what control commands to give the vehicle

接下來，飛行員要決定給車輛下達什麼控制指令。

In this case, the pilot has to stop the vehicle from sinking

在這種情況下，飛行員必須阻止車輛下沉。

And thus decides to increase the speed of all four propellars

是以決定提高四個推進器的速度。

To tell the quadrotor what is decided on the pilot uses a radio transmitter

為了告訴四旋翼飛行器什麼是決定的，飛行員使用無線電發射器

which is basically a fancy remote control

基本上是一個花哨的遙控器

Finally the quadrotor listens for the radio commands

最後，四旋翼飛行器聽從無線電指令。

and adjust the speed of each motor accordingly.

並相應調整各電機的轉速。

Now let's see how each of these forces have to change in order to

現在讓我們來看看這些力量中的每一個都要如何改變才能

fly the quadrotor robotically

四旋翼飛行器

In the first step, we use specialized cameras for vision

第一步，我們使用專門的相機進行視覺處理。

and set up the pilot's eyes. The camera shine infrared light

並設置了飛行員'的眼睛。攝影機用紅外線照射

which bounces off of more reflective markers on the vehicle

它從車輛上更多的反光標記上反射出來。

and go back to the camera

並返回到相機

A camera from the side point of view can tell how far the marker is

從側面的角度看，攝影機可以知道標記的距離。

in the vertical direction and one horizontal direction

在垂直方向和一個水準方向

And a camera from the top point of view can tell how far the marker is in both

而從俯視角度看，攝像頭可以判斷出標記在兩個方面的距離。

horizontal directions. Using some slightly more complicated mathematcs

水準方向。使用一些稍微複雜的數學

we can use the points of view from 12 different cameras

我們可以使用12個不同的攝像頭的視角。

To determine the exact three dimensional position of the markers

為了確定標記的準確三維位置。

This process is executed many times for second to track the position

這個過程被多次執行，以秒為組織、部門跟蹤位置。

of the markers and pass the quadrotor in real time

的標記，並實時傳遞給四旋翼飛行器。

In step two, we use a computer to handle the control commands

第二步，我們用計算機來處理控制命令

in stead of the pilots brain. The computer program consists of a

以代替飛行員的大腦。計算機程序由一個

couple hundred lines of C++ code written by grad students

幾百行研究所學生寫的C++代碼。

who really don't get out much. It does essentially the same thing

誰真的不怎麼出去。它基本上做同樣的事情

as the pilot using the observed position of the quadrotor to evaluate

作為飛行員，利用觀察到的四旋翼的位置來評估。

control commands. Only it does so in a much faster and less dramatic fshion

控制命令。只不過它的速度更快，也不那麼戲劇化。

In step three, the system uses a similar radio transmitter except a smaller one

第三步，系統使用類似的無線電發射器，只是發射器較小。

without any switches or control sticks.

沒有任何開關或控制桿。

Step four is exactly as the same as before. The quadrotor listens for

第四步和之前完全一樣。四旋翼飛行器監聽

radio commands and adjust the speed of each motor accordingly.

無線電指令，並相應調整各電機的速度。

So we've updated all four steps in order to make the quadrotor

所以我們更新了所有四個步驟，以使四旋翼飛行器

fly entirely by itself. Now all we need is for our grad students

完全是自己飛。現在我們需要的是我們的研究所學生

to press the go button and voila. One of the reasons the robot

按一下 "開始 "按鈕，就可以了。機器人的原因之一

fly more precisely than the human pilot is because this loop of information

比人類飛行員飛得更精確，就是因為這個資訊循環。

called a 'Feedback Control Loop' can be executed much more quickly by computers

稱為'反饋控制環路'，可由計算機更快速地執行。

In this case 200 times per second. This allows the researchers

在這種情況下，每秒200次。這使得研究人員

to do cool things with these indoor flying robots. For instance,

用這些室內飛行機器人來做很酷的事情。例如：

fly six of them at once but why not ten

一飛沖天

They can teach the vehicles how to switch out their old batteries

他們可以教車輛如何更換舊電池。

for new ones automically or stop propeller for swing

自動更換新的或停止螺旋槳的擺動

They can even do flips like this one or this one or this one

他們甚至可以做這樣的翻轉，這個，這個，或者這個

And the fun doesn't stop with quadrotors. The same technology

而樂趣並不止於四旋翼飛行器。同樣的技術

can be applied to rig the shape into three wing aircraft. One more

可以應用到三翼飛機的操縱形狀中。還有一個

conventional fixed wing vehicles like this one, this one and this one

傳統的固定翼飛行器，如這個，這個和這個。

that can even fly in loops. Well hopefully you've learn the basics of how to make

甚至可以循環飛行。好吧，希望你'已經學會了如何使的基礎知識。

robots fly. This concludes the crash course--I, I mean the expedited learning experience

機器人飛。速成課程到此結束，我是說快速學習的經驗。