TED2016
Raffaello D'Andrea: Meet the dazzling flying machines of the future
拉斐尔·德安德里亚: 未来飞行器的耀眼之光
Filmed:
Readability: 5
8,053,974 views
当你听到“无人机”这个词，你可能想到的是一个很有用或者很可怕的东西。但是它们可以有美学上的价值吗？自动化系统专家拉斐尔·德安德里亚开发了许多飞行器，他最新的项目是延伸自动化飞行器的边界——从一个可以盘旋也可以从干扰中恢复的飞行翼，到一个八个螺旋桨的全向飞行器，再到一群协作的微型四轴飞行器。当它们像萤火虫一样在TED舞台上飞舞，准备好为这个梦幻的、盘旋的飞行器列阵目眩神迷吧。
Raffaello D'Andrea - Autonomous systems pioneer
Raffaello D'Andrea explores the possibilities of autonomous technology by collaborating with artists, engineers and entrepreneurs. Full bio
Raffaello D'Andrea explores the possibilities of autonomous technology by collaborating with artists, engineers and entrepreneurs. Full bio
Double-click the English transcript below to play the video.
00:12
What started as a platform for hobbyists
0
920
1976
我们从一个爱好者的平台开始，
逐渐发展成数十亿美元的产业。
00:14
is poised to become
a multibillion-dollar industry.
a multibillion-dollar industry.
1
2920
2936
侦查、环境监控、摄影、电影，
还有新闻业：
还有新闻业：
00:17
Inspection, environmental monitoring,
photography and film and journalism:
photography and film and journalism:
2
5880
4056
这些是无人机商业化的一些潜在应用，
00:21
these are some of the potential
applications for commercial drones,
applications for commercial drones,
3
9960
3176
它们的推动力来自
世界各地的研究机构
世界各地的研究机构
00:25
and their enablers
are the capabilities being developed
are the capabilities being developed
4
13160
2616
正在开发的各种功能。
00:27
at research facilities around the world.
5
15800
1936
举个例子，
在航空包裹递送
在航空包裹递送
00:29
For example, before aerial
package delivery
package delivery
6
17760
2616
进入我们的社会认知之前，
00:32
entered our social consciousness,
7
20400
1816
一个自动化的飞行器小队
就曾在法国的FRAC中心，
就曾在法国的FRAC中心，
00:34
an autonomous fleet of flying machines
built a six-meter-tall tower
built a six-meter-tall tower
8
22240
3976
在现场观众面前，
00:38
composed of 1,500 bricks
9
26240
1936
用1500块砖块建了6米高的塔，
00:40
in front of a live audience
at the FRAC Centre in France,
at the FRAC Centre in France,
10
28200
2936
几年前它们开始带着绳索飞行。
00:43
and several years ago,
they started to fly with ropes.
they started to fly with ropes.
11
31160
2576
用绳子系住这些飞行器，
00:45
By tethering flying machines,
12
33760
1416
可以让它们在极窄的空间里
实现极快的速度和加速。
实现极快的速度和加速。
00:47
they can achieve high speeds
and accelerations in very tight spaces.
and accelerations in very tight spaces.
13
35200
3776
它们还可以自动地建构
可伸长的结构。
可伸长的结构。
00:51
They can also autonomously build
tensile structures.
tensile structures.
14
39000
3096
它们学会到如何装载，
00:54
Skills learned include how to carry loads,
15
42120
2416
如何应对障碍物，
00:56
how to cope with disturbances,
16
44560
1456
以及概括地说，如何与
这个物理世界相互作用等等的技巧。
这个物理世界相互作用等等的技巧。
00:58
and in general, how to interact
with the physical world.
with the physical world.
17
46040
3096
今天我想展示几个
我们正在进行的新项目。
我们正在进行的新项目。
01:01
Today we want to show you some
new projects that we've been working on.
new projects that we've been working on.
18
49160
3336
它们的目标是尽所能地扩展
01:04
Their aim is to push the boundary
of what can be achieved
of what can be achieved
19
52520
2936
自动化飞行领域的应用范围。
01:07
with autonomous flight.
20
55480
1536
现在，
对于一个拥有自动化功能的系统，
对于一个拥有自动化功能的系统，
01:09
Now, for a system to function
autonomously,
autonomously,
21
57040
2456
它必须全面地了解
它的移动物体在空间中的位置。
它的移动物体在空间中的位置。
01:11
it must collectively know the location
of its mobile objects in space.
of its mobile objects in space.
22
59520
4456
回到我们在苏黎世联邦理工学院
（ETH Zurich）的实验室，
（ETH Zurich）的实验室，
01:16
Back at our lab at ETH Zurich,
23
64000
1896
01:17
we often use external cameras
to locate objects,
to locate objects,
24
65920
2856
我们经常用外部的摄像头去定位目标，
它可以让我们将精力专注于
01:20
which then allows us to focus our efforts
25
68800
1976
高动态任务的快速开发上。
01:22
on the rapid development
of highly dynamic tasks.
of highly dynamic tasks.
26
70800
2656
但对于你们今天要看到的演示来说，
01:25
For the demos you will see today, however,
27
73480
2056
我们打算采用由“真实工作室”开发的
新的定位技术，
新的定位技术，
01:27
we will use new localization technology
developed by Verity Studios,
developed by Verity Studios,
28
75560
3296
它是我们实验室的一个分支机构。
01:30
a spin-off from our lab.
29
78880
1616
它们外面没有摄像头，
01:32
There are no external cameras.
30
80520
1616
每个飞行器用机载传感器来确定
它在空间当中的位置，
它在空间当中的位置，
01:34
Each flying machine uses onboard sensors
to determine its location in space
to determine its location in space
31
82160
5056
并通过机载计算来决定它
需要进行的行动。
需要进行的行动。
01:39
and onboard computation
to determine what its actions should be.
to determine what its actions should be.
32
87240
3440
01:43
The only external commands
are high-level ones
are high-level ones
33
91280
2176
唯一的外部命令都是高级命令，
比如“起飞”或者“着陆”。
01:45
such as "take off" and "land."
34
93480
1520
02:10
This is a so-called tail-sitter.
35
118560
1896
这就是所谓的立式垂直起落机。
它就好像是一个
什么都想实现的飞机器。
什么都想实现的飞机器。
02:12
It's an aircraft that tries
to have its cake and eat it.
to have its cake and eat it.
36
120480
3456
和其他固定机翼的飞行器一样，
它向前飞行的效率更高，
它向前飞行的效率更高，
02:15
Like other fixed-wing aircraft,
it is efficient in forward flight,
it is efficient in forward flight,
37
123960
3256
要比直升飞机和其变种强得多，
02:19
much more so than helicopters
and variations thereof.
and variations thereof.
38
127240
3215
但又不像其他固定机翼的飞行器，
02:22
Unlike most other
fixed-wing aircraft, however,
fixed-wing aircraft, however,
39
130479
2417
它能够悬停，
02:24
it is capable of hovering,
40
132920
1496
这让它在起飞、着陆和常见的动作上
02:26
which has huge advantages
for takeoff, landing
for takeoff, landing
41
134440
3136
拥有巨大的优势。
02:29
and general versatility.
42
137600
1240
02:31
There is no free lunch, unfortunately.
43
139480
2096
可惜世界上没有免费的午餐。
一个限制因素就是
02:33
One of the limitations with tail-sitters
44
141600
1936
它们容易受到干扰，比如风吹。
02:35
is that they're susceptible
to disturbances such as wind gusts.
to disturbances such as wind gusts.
45
143560
2976
我们正在开发新的控制架构和算法
02:38
We're developing new control
architectures and algorithms
architectures and algorithms
46
146560
2696
来打破这个限制。
02:41
that address this limitation.
47
149280
1400
02:50
The idea is for the aircraft to recover
48
158560
2256
我们的想法是让飞行器无论如何
都能恢复初始状态，
02:52
no matter what state it finds itself in,
49
160840
2640
03:03
and through practice,
improve its performance over time.
improve its performance over time.
50
171400
2920
并且通过练习，还能逐渐提升性能。
03:15
(Applause)
51
183600
4400
（鼓掌）
03:22
OK.
52
190000
1200
好的。
03:33
When doing research,
53
201480
1216
在做研究的时候，
我们会问自己一些基本的抽象问题，
03:34
we often ask ourselves
fundamental abstract questions
fundamental abstract questions
54
202720
2976
试图了解问题的关键。
03:37
that try to get at the heart of a matter.
55
205720
2560
03:41
For example, one such question would be,
56
209240
2216
举个例子，一个问题可能是，
受控飞行
所需的最小组件数量是多少？
所需的最小组件数量是多少？
03:43
what is the minimum number of moving parts
needed for controlled flight?
needed for controlled flight?
57
211480
4016
现在也有一些现实的原因
03:47
Now, there are practical reasons
58
215520
1576
让你想知道这类问题的答案。
03:49
why you may want to know
the answer to such a question.
the answer to such a question.
59
217120
2616
举个例子，直升机，
03:51
Helicopters, for example,
60
219760
1256
人们根深蒂固地认为
它有数千个零部件组成，
它有数千个零部件组成，
03:53
are affectionately known
as machines with a thousand moving parts
as machines with a thousand moving parts
61
221040
3856
这些部件都“处心积虑地”
想要对你的身体造成伤害。
想要对你的身体造成伤害。
03:56
all conspiring to do you bodily harm.
62
224920
2680
04:00
It turns out that decades ago,
63
228640
1856
事实证明数十年以前，
有经验的飞行员就已经可以
操控遥控飞机了，
操控遥控飞机了，
04:02
skilled pilots were able to fly
remote-controlled aircraft
remote-controlled aircraft
64
230520
3176
这些飞机只有两个活动部件：
04:05
that had only two moving parts:
65
233720
1896
螺旋桨和尾翼。
04:07
a propeller and a tail rudder.
66
235640
1840
04:10
We recently discovered
that it could be done with just one.
that it could be done with just one.
67
238000
3120
我们最近发现活动部件
只要一个就够了。
只要一个就够了。
04:13
This is the monospinner,
68
241600
1256
这就是单螺旋机，
世界上机械结构最简单的
可控飞行器，
可控飞行器，
04:14
the world's mechanically simplest
controllable flying machine,
controllable flying machine,
69
242880
3256
几个月前才被发明出来。
04:18
invented just a few months ago.
70
246160
1776
它只有一个活动部件，即螺旋桨。
04:19
It has only one moving part, a propeller.
71
247960
3136
它没有襟翼、铰链和副翼，
04:23
It has no flaps, no hinges, no ailerons,
72
251120
3576
没有其他的制动器和控制面板，
04:26
no other actuators,
no other control surfaces,
no other control surfaces,
73
254720
2535
只有一个简单的螺旋桨。
04:29
just a simple propeller.
74
257279
1281
04:31
Even though it's mechanically simple,
75
259320
2055
即使机械结构很简单，
它里面的微电脑却在不断
04:33
there's a lot going on
in its little electronic brain
in its little electronic brain
76
261399
2497
让它能稳定飞行，
并到达任何想去的地方。
并到达任何想去的地方。
04:35
to allow it to fly in a stable fashion
and to move anywhere it wants in space.
and to move anywhere it wants in space.
77
263920
4216
即便如此 ，它还没有
04:40
Even so, it doesn't yet have
78
268160
1456
立式起落机的复杂算法，
04:41
the sophisticated algorithms
of the tail-sitter,
of the tail-sitter,
79
269640
2336
也就是说要让它飞的话，
04:44
which means that in order
to get it to fly,
to get it to fly,
80
272000
2000
我要用正确的方式把它扔出去。
04:46
I have to throw it just right.
81
274024
1720
04:48
And because the probability
of me throwing it just right is very low,
of me throwing it just right is very low,
82
276800
4016
考虑到我正确扔出的概率非常低，
毕竟大家都在看我，
04:52
given everybody watching me,
83
280840
1896
所以我们就展示一下
04:54
what we're going to do instead
84
282760
1456
我们昨天晚上拍摄的视频吧。
04:56
is show you a video
that we shot last night.
that we shot last night.
85
284240
2176
（笑）
04:58
(Laughter)
86
286440
1560
05:10
(Applause)
87
298320
3320
（鼓掌）
05:23
If the monospinner
is an exercise in frugality,
is an exercise in frugality,
88
311080
3736
如果说单螺旋机只是在做简单的运动，
那么这个机器，
带有八个螺旋桨的全向直升机，
带有八个螺旋桨的全向直升机，
05:26
this machine here, the omnicopter,
with its eight propellers,
with its eight propellers,
89
314840
3456
肯定是在做超量的运动了。
05:30
is an exercise in excess.
90
318320
2080
05:32
What can you do with all this surplus?
91
320920
2136
你可以用这些额外的功能做什么呢？
要注意它是高度对称的。
05:35
The thing to notice
is that it is highly symmetric.
is that it is highly symmetric.
92
323080
2381
05:37
As a result, it is ambivalent
to orientation.
to orientation.
93
325920
2856
因此，它完全不具有方向性。
这给了它一个不同寻常的能力。
05:40
This gives it an extraordinary capability.
94
328800
2696
它可以在空中随意移动
05:43
It can move anywhere it wants in space
95
331520
2216
而不用考虑它面对的方向，
05:45
irrespective of where it is facing
96
333760
2736
甚至不用考虑如何旋转。
05:48
and even of how it is rotating.
97
336520
1800
05:51
It has its own complexities,
98
339040
1376
它有它的复杂性，
主要问题都和它的8个螺旋桨
05:52
mainly having to do
with the interacting flows
with the interacting flows
99
340440
2656
所产生的交互气流有关。
05:55
from its eight propellers.
100
343120
1240
05:56
Some of this can be modeled,
while the rest can be learned on the fly.
while the rest can be learned on the fly.
101
344680
3856
有些问题可以通过建模解决，
而剩下的可以在飞行中学习。
而剩下的可以在飞行中学习。
我们来看一下。
06:00
Let's take a look.
102
348560
1200
06:44
(Applause)
103
392760
3760
（鼓掌）
06:52
If flying machines are going
to enter part of our daily lives,
to enter part of our daily lives,
104
400720
2905
如果飞行器要进入到我们的
日常生活当中，
日常生活当中，
它们就需要变得非常安全可靠。
06:55
they will need to become
extremely safe and reliable.
extremely safe and reliable.
105
403649
2477
06:58
This machine over here
106
406760
1376
我手中的这个机器实际上
是两个独立的双螺旋桨飞行器。
07:00
is actually two separate
two-propeller flying machines.
two-propeller flying machines.
107
408160
3136
这一个想要顺时针旋转。
07:03
This one wants to spin clockwise.
108
411320
1736
另一个想要逆时针旋转。
07:05
This other one wants
to spin counterclockwise.
to spin counterclockwise.
109
413080
2496
当你把它们放在一起，
07:07
When you put them together,
110
415600
1336
它们运行起来
就像一架高性能的四轴无人机。
就像一架高性能的四轴无人机。
07:08
they behave like one
high-performance quadrocopter.
high-performance quadrocopter.
111
416960
2600
07:23
If anything goes wrong, however --
112
431640
1656
可是如果发生了意外，
电机故障，螺旋桨故障，
电子组件，甚至电池组故障，
电子组件，甚至电池组故障，
07:25
a motor fails, a propeller fails,
electronics, even a battery pack --
electronics, even a battery pack --
113
433320
4456
这个机器依然能飞，
尽管性能会有所下降。
尽管性能会有所下降。
07:29
the machine can still fly,
albeit in a degraded fashion.
albeit in a degraded fashion.
114
437800
3336
现在我们将展示一下
其中一半被禁用的情况。
其中一半被禁用的情况。
07:33
We're going to demonstrate this to you now
by disabling one of its halves.
by disabling one of its halves.
115
441160
3520
07:56
(Applause)
116
464240
3160
（鼓掌）
08:03
This last demonstration
117
471320
1336
最后这个演示
是关于协作机群的探索。
08:04
is an exploration of synthetic swarms.
118
472680
2440
08:07
The large number of autonomous,
coordinated entities
coordinated entities
119
475560
2976
大量自动化的协作实体机
为美学表达提供了一个全新的
器械平台。
器械平台。
08:10
offers a new palette
for aesthetic expression.
for aesthetic expression.
120
478560
2736
我们已经将微四轴飞行器
运用到商业中，
运用到商业中，
08:13
We've taken commercially available
micro quadcopters,
micro quadcopters,
121
481320
2976
顺便说下，每个都比
一片面包还要轻，
一片面包还要轻，
08:16
each weighing less
than a slice of bread, by the way,
than a slice of bread, by the way,
122
484320
2496
并且装备上了我们的定位技术
08:18
and outfitted them
with our localization technology
with our localization technology
123
486840
2416
和自定义算法。
08:21
and custom algorithms.
124
489280
1576
因为每个单元都知道
自己在空间中所处的位置
自己在空间中所处的位置
08:22
Because each unit
knows where it is in space
knows where it is in space
125
490880
2096
并能自我控制，
08:25
and is self-controlled,
126
493000
1376
所以无论多少个（同时运作）都可以。
08:26
there is really no limit to their number.
127
494400
2200
08:55
(Applause)
128
523840
3440
（鼓掌）
09:19
(Applause)
129
547360
4480
（鼓掌）
10:18
(Applause)
130
606040
3640
（鼓掌）
10:35
Hopefully, these demonstrations
will motivate you to dream up
will motivate you to dream up
131
623960
3096
希望这些展示能够启发你们想象出
飞行器更多革命性的功能。
10:39
new revolutionary roles
for flying machines.
for flying machines.
132
627080
2400
10:42
That ultrasafe one over there for example
133
630560
2096
我们以那个极其安全的飞行器为例，
它渴望成为百老汇的一个飞行灯罩。
10:44
has aspirations to become
a flying lampshade on Broadway.
a flying lampshade on Broadway.
134
632680
3016
（笑）
10:47
(Laughter)
135
635720
2056
实际上我们很难预测
10:49
The reality is that it is
difficult to predict
difficult to predict
136
637800
2176
这些新兴技术带给我们的影响。
10:52
the impact of nascent technology.
137
640000
1640
10:54
And for folks like us, the real reward
is the journey and the act of creation.
is the journey and the act of creation.
138
642120
4856
对于我们这样的人来说，
真正的回报在于创造性的旅程和行动。
真正的回报在于创造性的旅程和行动。
它不断提醒我们，
10:59
It's a continual reminder
139
647000
1416
我们生活的这个宇宙是多么精彩和神奇，
11:00
of how wonderful and magical
the universe we live in is,
the universe we live in is,
140
648440
2920
11:03
that it allows creative, clever creatures
141
651840
2936
允许这些富有创造力的、聪明的生物
用这样壮观的方式塑造它。
11:06
to sculpt it in such spectacular ways.
142
654800
2520
11:09
The fact that this technology
143
657800
1776
事实上，这个技术
巨大的商业和经济潜能不过是一种
11:11
has such huge commercial
and economic potential
and economic potential
144
659600
3416
锦上添花而已。
11:15
is just icing on the cake.
145
663040
1416
谢谢。
11:16
Thank you.
146
664480
1216
（鼓掌）
11:17
(Applause)
147
665720
3240
ABOUT THE SPEAKER
Raffaello D'Andrea - Autonomous systems pioneerRaffaello D'Andrea explores the possibilities of autonomous technology by collaborating with artists, engineers and entrepreneurs.
Why you should listen
Raffaello D'Andrea combines academics, business, and the arts to explore the capabilities of autonomous systems. As part of his research as professor of dynamic systems and control at the Swiss Federal Institute of Technology (ETH Zürich), he and his collaborators enchant viewers with works like the self-destructing, self-assembling Robotic Chair, or the Balancing Cube that can perch itself on its corners.
D’Andrea and his team created the Flying Machine Arena to test the gravity-defying abilities of their athletic flying robots. Building on research in the Flying Machine Arena, ETH Zürich partnered with its spin-off company Verity Studios and with Cirque du Soleil to create “Sparked,” a short film showcasing the unexpected airborne dexterity of quadcopters. D’Andrea is the co-founder of Kiva Systems, a robotics company that develops intelligent automated warehouse systems and that was acquired by Amazon in 2012.
Raffaello D'Andrea | Speaker | TED.com