WEBVTT Kind: captions Language: en 00:00:00.960 --> 00:00:03.189 align:start position:0% okay<00:00:01.360> so<00:00:01.599> if<00:00:01.680> you<00:00:01.760> could<00:00:01.920> just<00:00:02.159> uh<00:00:02.879> where<00:00:03.040> you 00:00:03.189 --> 00:00:03.199 align:start position:0% okay so if you could just uh where you 00:00:03.199 --> 00:00:05.269 align:start position:0% okay so if you could just uh where you were<00:00:03.360> born<00:00:03.679> and<00:00:03.760> where<00:00:03.919> you<00:00:04.080> grew<00:00:04.319> up 00:00:05.269 --> 00:00:05.279 align:start position:0% were born and where you grew up 00:00:05.279 --> 00:00:07.749 align:start position:0% were born and where you grew up so<00:00:05.520> my<00:00:05.680> name's<00:00:06.160> ron<00:00:06.399> daniel<00:00:07.120> i<00:00:07.279> was<00:00:07.440> born<00:00:07.680> in 00:00:07.749 --> 00:00:07.759 align:start position:0% so my name's ron daniel i was born in 00:00:07.759 --> 00:00:08.870 align:start position:0% so my name's ron daniel i was born in maidstone<00:00:08.400> kent 00:00:08.870 --> 00:00:08.880 align:start position:0% maidstone kent 00:00:08.880 --> 00:00:13.270 align:start position:0% maidstone kent england<00:00:09.760> and<00:00:10.000> that's<00:00:10.400> where<00:00:10.639> i<00:00:10.800> grew<00:00:11.120> up 00:00:13.270 --> 00:00:13.280 align:start position:0% england and that's where i grew up 00:00:13.280 --> 00:00:15.350 align:start position:0% england and that's where i grew up where<00:00:13.440> did<00:00:13.599> you<00:00:13.679> go<00:00:13.840> to<00:00:14.000> school<00:00:15.040> i<00:00:15.120> went<00:00:15.280> to 00:00:15.350 --> 00:00:15.360 align:start position:0% where did you go to school i went to 00:00:15.360 --> 00:00:16.550 align:start position:0% where did you go to school i went to school<00:00:15.519> in<00:00:15.679> matestone 00:00:16.550 --> 00:00:16.560 align:start position:0% school in matestone 00:00:16.560 --> 00:00:19.269 align:start position:0% school in matestone what<00:00:16.720> was<00:00:17.039> then<00:00:17.359> called<00:00:17.840> the<00:00:18.720> mainstream 00:00:19.269 --> 00:00:19.279 align:start position:0% what was then called the mainstream 00:00:19.279 --> 00:00:22.550 align:start position:0% what was then called the mainstream technical<00:00:19.760> high<00:00:19.920> school<00:00:20.160> for<00:00:20.400> boys 00:00:22.550 --> 00:00:22.560 align:start position:0% technical high school for boys 00:00:22.560 --> 00:00:24.390 align:start position:0% technical high school for boys technical<00:00:23.039> did<00:00:23.199> you<00:00:23.359> learn<00:00:23.600> any<00:00:23.840> uh 00:00:24.390 --> 00:00:24.400 align:start position:0% technical did you learn any uh 00:00:24.400 --> 00:00:25.830 align:start position:0% technical did you learn any uh engineering<00:00:24.880> while<00:00:25.039> you<00:00:25.199> were<00:00:25.279> there 00:00:25.830 --> 00:00:25.840 align:start position:0% engineering while you were there 00:00:25.840 --> 00:00:28.790 align:start position:0% engineering while you were there well<00:00:26.080> yes<00:00:26.400> it<00:00:26.560> was<00:00:27.279> an<00:00:27.599> unusual<00:00:28.240> set<00:00:28.480> of 00:00:28.790 --> 00:00:28.800 align:start position:0% well yes it was an unusual set of 00:00:28.800 --> 00:00:29.349 align:start position:0% well yes it was an unusual set of schools 00:00:29.349 --> 00:00:29.359 align:start position:0% schools 00:00:29.359 --> 00:00:33.030 align:start position:0% schools that<00:00:30.400> only<00:00:30.640> really<00:00:30.880> existed<00:00:31.279> inside<00:00:31.840> kent 00:00:33.030 --> 00:00:33.040 align:start position:0% that only really existed inside kent 00:00:33.040 --> 00:00:35.670 align:start position:0% that only really existed inside kent which<00:00:33.280> were<00:00:33.840> schools<00:00:34.160> which<00:00:34.399> offered<00:00:34.719> people 00:00:35.670 --> 00:00:35.680 align:start position:0% which were schools which offered people 00:00:35.680 --> 00:00:37.430 align:start position:0% which were schools which offered people engineering<00:00:36.239> education<00:00:36.719> as<00:00:36.880> well<00:00:37.040> as 00:00:37.430 --> 00:00:37.440 align:start position:0% engineering education as well as 00:00:37.440 --> 00:00:39.990 align:start position:0% engineering education as well as the<00:00:37.600> more<00:00:37.840> traditional<00:00:39.120> education<00:00:39.520> available 00:00:39.990 --> 00:00:40.000 align:start position:0% the more traditional education available 00:00:40.000 --> 00:00:42.869 align:start position:0% the more traditional education available in<00:00:40.079> grammar<00:00:40.480> schools 00:00:42.869 --> 00:00:42.879 align:start position:0% 00:00:42.879 --> 00:00:45.110 align:start position:0% i<00:00:43.040> wanted<00:00:43.360> to<00:00:43.440> go<00:00:43.520> to<00:00:43.680> university<00:00:44.640> i<00:00:44.800> went<00:00:44.960> to 00:00:45.110 --> 00:00:45.120 align:start position:0% i wanted to go to university i went to 00:00:45.120 --> 00:00:48.150 align:start position:0% i wanted to go to university i went to university<00:00:45.520> at<00:00:45.600> brunell<00:00:46.079> university 00:00:48.150 --> 00:00:48.160 align:start position:0% university at brunell university 00:00:48.160 --> 00:00:50.389 align:start position:0% university at brunell university which<00:00:48.399> is<00:00:48.559> in<00:00:48.719> london<00:00:49.520> yeah<00:00:49.840> did<00:00:50.000> you<00:00:50.160> study 00:00:50.389 --> 00:00:50.399 align:start position:0% which is in london yeah did you study 00:00:50.399 --> 00:00:51.910 align:start position:0% which is in london yeah did you study engineering<00:00:51.039> i<00:00:51.199> studied<00:00:51.440> the<00:00:51.520> electrical 00:00:51.910 --> 00:00:51.920 align:start position:0% engineering i studied the electrical 00:00:51.920 --> 00:00:53.910 align:start position:0% engineering i studied the electrical engineering<00:00:52.399> there 00:00:53.910 --> 00:00:53.920 align:start position:0% engineering there 00:00:53.920 --> 00:00:55.510 align:start position:0% engineering there and<00:00:54.000> then<00:00:54.239> you<00:00:54.320> went<00:00:54.559> on<00:00:54.719> for<00:00:54.879> your<00:00:55.039> graduate 00:00:55.510 --> 00:00:55.520 align:start position:0% and then you went on for your graduate 00:00:55.520 --> 00:00:57.830 align:start position:0% and then you went on for your graduate work<00:00:56.239> my<00:00:56.399> graduate<00:00:56.800> work<00:00:56.960> was<00:00:57.120> at<00:00:57.280> cambridge 00:00:57.830 --> 00:00:57.840 align:start position:0% work my graduate work was at cambridge 00:00:57.840 --> 00:00:58.790 align:start position:0% work my graduate work was at cambridge king's<00:00:58.160> college 00:00:58.790 --> 00:00:58.800 align:start position:0% king's college 00:00:58.800 --> 00:01:00.549 align:start position:0% king's college with<00:00:59.039> professor<00:00:59.440> mcfarlane<00:01:00.000> on<00:01:00.160> control 00:01:00.549 --> 00:01:00.559 align:start position:0% with professor mcfarlane on control 00:01:00.559 --> 00:01:02.549 align:start position:0% with professor mcfarlane on control theory 00:01:02.549 --> 00:01:02.559 align:start position:0% theory 00:01:02.559 --> 00:01:04.310 align:start position:0% theory what<00:01:02.800> made<00:01:02.960> you<00:01:03.120> decide<00:01:03.440> to<00:01:03.520> go<00:01:03.680> into<00:01:03.840> control 00:01:04.310 --> 00:01:04.320 align:start position:0% what made you decide to go into control 00:01:04.320 --> 00:01:05.590 align:start position:0% what made you decide to go into control theory 00:01:05.590 --> 00:01:05.600 align:start position:0% theory 00:01:05.600 --> 00:01:07.030 align:start position:0% theory it's<00:01:05.920> part<00:01:06.159> of<00:01:06.240> the<00:01:06.320> course<00:01:06.560> that<00:01:06.640> interested 00:01:07.030 --> 00:01:07.040 align:start position:0% it's part of the course that interested 00:01:07.040 --> 00:01:08.630 align:start position:0% it's part of the course that interested me<00:01:07.200> the<00:01:07.360> most<00:01:07.760> i<00:01:08.000> tend<00:01:08.159> to<00:01:08.240> have 00:01:08.630 --> 00:01:08.640 align:start position:0% me the most i tend to have 00:01:08.640 --> 00:01:10.230 align:start position:0% me the most i tend to have a<00:01:08.720> mathematical<00:01:09.280> background<00:01:09.840> and<00:01:09.920> i<00:01:10.000> tend<00:01:10.159> to 00:01:10.230 --> 00:01:10.240 align:start position:0% a mathematical background and i tend to 00:01:10.240 --> 00:01:12.310 align:start position:0% a mathematical background and i tend to have<00:01:10.320> a<00:01:10.400> mathematical<00:01:10.880> approach<00:01:11.200> to<00:01:11.360> things 00:01:12.310 --> 00:01:12.320 align:start position:0% have a mathematical approach to things 00:01:12.320 --> 00:01:14.070 align:start position:0% have a mathematical approach to things so<00:01:12.560> that's<00:01:12.799> what<00:01:13.040> appealed<00:01:13.360> to<00:01:13.520> me<00:01:13.680> more<00:01:13.920> than 00:01:14.070 --> 00:01:14.080 align:start position:0% so that's what appealed to me more than 00:01:14.080 --> 00:01:17.109 align:start position:0% so that's what appealed to me more than the<00:01:14.159> other<00:01:14.320> parts<00:01:14.640> of<00:01:14.799> the<00:01:14.880> course 00:01:17.109 --> 00:01:17.119 align:start position:0% the other parts of the course 00:01:17.119 --> 00:01:22.310 align:start position:0% the other parts of the course and<00:01:17.840> what<00:01:18.000> got<00:01:18.159> you<00:01:18.400> interested<00:01:18.799> in<00:01:18.880> robotics 00:01:22.310 --> 00:01:22.320 align:start position:0% 00:01:22.320 --> 00:01:25.749 align:start position:0% oh<00:01:22.960> a<00:01:23.119> long<00:01:23.280> history<00:01:23.680> of<00:01:23.840> interest<00:01:24.320> in<00:01:25.040> robots 00:01:25.749 --> 00:01:25.759 align:start position:0% oh a long history of interest in robots 00:01:25.759 --> 00:01:30.149 align:start position:0% oh a long history of interest in robots and<00:01:26.000> mechanisms 00:01:30.149 --> 00:01:30.159 align:start position:0% 00:01:30.159 --> 00:01:32.550 align:start position:0% i<00:01:30.320> also<00:01:30.720> was<00:01:30.960> a<00:01:31.280> quite<00:01:31.439> a<00:01:31.520> science<00:01:31.920> fiction<00:01:32.320> fan 00:01:32.550 --> 00:01:32.560 align:start position:0% i also was a quite a science fiction fan 00:01:32.560 --> 00:01:33.670 align:start position:0% i also was a quite a science fiction fan as<00:01:32.720> a<00:01:33.119> as<00:01:33.280> a 00:01:33.670 --> 00:01:33.680 align:start position:0% as a as a 00:01:33.680 --> 00:01:37.030 align:start position:0% as a as a as<00:01:33.840> a<00:01:33.920> youngster<00:01:34.960> and<00:01:35.119> i'd<00:01:35.280> read<00:01:35.439> a<00:01:35.520> lot<00:01:35.759> of 00:01:37.030 --> 00:01:37.040 align:start position:0% as a youngster and i'd read a lot of 00:01:37.040 --> 00:01:40.870 align:start position:0% as a youngster and i'd read a lot of asimov<00:01:37.680> and<00:01:37.840> so<00:01:38.079> forth<00:01:38.320> irobot<00:01:39.200> and 00:01:40.870 --> 00:01:40.880 align:start position:0% asimov and so forth irobot and 00:01:40.880 --> 00:01:43.830 align:start position:0% asimov and so forth irobot and arthur<00:01:41.200> c<00:01:41.439> clarke<00:01:42.399> so<00:01:42.960> i<00:01:43.119> had<00:01:43.200> an<00:01:43.360> interest<00:01:43.680> in 00:01:43.830 --> 00:01:43.840 align:start position:0% arthur c clarke so i had an interest in 00:01:43.840 --> 00:01:44.950 align:start position:0% arthur c clarke so i had an interest in robots 00:01:44.950 --> 00:01:44.960 align:start position:0% robots 00:01:44.960 --> 00:01:47.190 align:start position:0% robots there's<00:01:45.280> also<00:01:46.079> my<00:01:46.320> name<00:01:46.640> which<00:01:46.880> i<00:01:46.960> found 00:01:47.190 --> 00:01:47.200 align:start position:0% there's also my name which i found 00:01:47.200 --> 00:01:48.310 align:start position:0% there's also my name which i found amusing 00:01:48.310 --> 00:01:48.320 align:start position:0% amusing 00:01:48.320 --> 00:01:51.030 align:start position:0% amusing given<00:01:49.200> one<00:01:49.360> of<00:01:49.439> the<00:01:49.520> main<00:01:49.759> characters<00:01:50.320> in<00:01:50.960> in 00:01:51.030 --> 00:01:51.040 align:start position:0% given one of the main characters in in 00:01:51.040 --> 00:01:52.830 align:start position:0% given one of the main characters in in the<00:01:51.200> novels<00:01:51.600> was<00:01:51.759> called<00:01:52.079> our 00:01:52.830 --> 00:01:52.840 align:start position:0% the novels was called our 00:01:52.840 --> 00:02:03.350 align:start position:0% the novels was called our daniel 00:02:03.350 --> 00:02:03.360 align:start position:0% 00:02:03.360 --> 00:02:06.830 align:start position:0% what<00:02:03.439> do<00:02:03.600> you<00:02:03.680> consider<00:02:04.159> your<00:02:04.320> first<00:02:04.560> robot<00:02:06.000> or 00:02:06.830 --> 00:02:06.840 align:start position:0% what do you consider your first robot or 00:02:06.840 --> 00:02:09.270 align:start position:0% what do you consider your first robot or robot 00:02:09.270 --> 00:02:09.280 align:start position:0% robot 00:02:09.280 --> 00:02:10.949 align:start position:0% robot well<00:02:09.520> that's<00:02:09.759> an<00:02:09.920> interesting<00:02:10.479> question 00:02:10.949 --> 00:02:10.959 align:start position:0% well that's an interesting question 00:02:10.959 --> 00:02:13.030 align:start position:0% well that's an interesting question because 00:02:13.030 --> 00:02:13.040 align:start position:0% because 00:02:13.040 --> 00:02:16.070 align:start position:0% because i<00:02:13.200> got<00:02:13.360> into<00:02:13.599> robots<00:02:14.160> via<00:02:14.400> teleoperation<00:02:15.280> not 00:02:16.070 --> 00:02:16.080 align:start position:0% i got into robots via teleoperation not 00:02:16.080 --> 00:02:19.350 align:start position:0% i got into robots via teleoperation not straight<00:02:16.560> robots<00:02:18.160> so<00:02:18.640> i<00:02:18.800> was<00:02:18.959> actually 00:02:19.350 --> 00:02:19.360 align:start position:0% straight robots so i was actually 00:02:19.360 --> 00:02:20.229 align:start position:0% straight robots so i was actually interested 00:02:20.229 --> 00:02:20.239 align:start position:0% interested 00:02:20.239 --> 00:02:23.910 align:start position:0% interested in<00:02:21.599> man<00:02:21.920> machine<00:02:22.319> interfaces<00:02:23.120> rather<00:02:23.520> than 00:02:23.910 --> 00:02:23.920 align:start position:0% in man machine interfaces rather than 00:02:23.920 --> 00:02:27.190 align:start position:0% in man machine interfaces rather than autonomous<00:02:24.480> systems<00:02:26.480> and 00:02:27.190 --> 00:02:27.200 align:start position:0% autonomous systems and 00:02:27.200 --> 00:02:30.949 align:start position:0% autonomous systems and so<00:02:28.400> after<00:02:28.640> i<00:02:28.720> finished<00:02:29.040> my<00:02:29.200> phd 00:02:30.949 --> 00:02:30.959 align:start position:0% so after i finished my phd 00:02:30.959 --> 00:02:35.990 align:start position:0% so after i finished my phd my<00:02:31.200> main<00:02:31.440> focus<00:02:31.840> my<00:02:32.000> phd<00:02:32.560> was<00:02:32.800> how<00:02:34.840> to 00:02:35.990 --> 00:02:36.000 align:start position:0% my main focus my phd was how to 00:02:36.000 --> 00:02:39.110 align:start position:0% my main focus my phd was how to enable<00:02:36.879> designers<00:02:37.519> design<00:02:38.000> control<00:02:38.560> systems 00:02:39.110 --> 00:02:39.120 align:start position:0% enable designers design control systems 00:02:39.120 --> 00:02:41.509 align:start position:0% enable designers design control systems and<00:02:39.440> i<00:02:39.599> was<00:02:39.680> doing<00:02:39.840> my<00:02:40.000> phd 00:02:41.509 --> 00:02:41.519 align:start position:0% and i was doing my phd 00:02:41.519 --> 00:02:43.830 align:start position:0% and i was doing my phd right<00:02:41.760> in<00:02:41.920> the<00:02:42.000> middle<00:02:42.480> of<00:02:43.440> a<00:02:43.519> lot<00:02:43.680> of 00:02:43.830 --> 00:02:43.840 align:start position:0% right in the middle of a lot of 00:02:43.840 --> 00:02:45.589 align:start position:0% right in the middle of a lot of excitement<00:02:44.400> going<00:02:44.640> on<00:02:44.800> in<00:02:44.879> the<00:02:44.959> subject 00:02:45.589 --> 00:02:45.599 align:start position:0% excitement going on in the subject 00:02:45.599 --> 00:02:48.070 align:start position:0% excitement going on in the subject about<00:02:45.920> a<00:02:46.000> new<00:02:46.160> subject<00:02:46.480> called<00:02:46.800> h<00:02:46.959> infinity 00:02:48.070 --> 00:02:48.080 align:start position:0% about a new subject called h infinity 00:02:48.080 --> 00:02:49.430 align:start position:0% about a new subject called h infinity which<00:02:48.319> was<00:02:48.480> about 00:02:49.430 --> 00:02:49.440 align:start position:0% which was about 00:02:49.440 --> 00:02:51.350 align:start position:0% which was about defining<00:02:50.080> control<00:02:50.480> systems<00:02:50.879> in<00:02:50.959> terms<00:02:51.280> of 00:02:51.350 --> 00:02:51.360 align:start position:0% defining control systems in terms of 00:02:51.360 --> 00:02:54.309 align:start position:0% defining control systems in terms of their<00:02:51.519> robustness<00:02:52.160> properties 00:02:54.309 --> 00:02:54.319 align:start position:0% their robustness properties 00:02:54.319 --> 00:02:55.589 align:start position:0% their robustness properties it<00:02:54.480> was<00:02:54.640> interesting<00:02:55.040> to<00:02:55.200> look<00:02:55.360> at<00:02:55.440> what 00:02:55.589 --> 00:02:55.599 align:start position:0% it was interesting to look at what 00:02:55.599 --> 00:02:57.270 align:start position:0% it was interesting to look at what people<00:02:55.840> were<00:02:55.920> trying<00:02:56.160> to<00:02:56.319> do<00:02:56.560> but<00:02:56.800> it<00:02:56.959> seemed 00:02:57.270 --> 00:02:57.280 align:start position:0% people were trying to do but it seemed 00:02:57.280 --> 00:02:58.390 align:start position:0% people were trying to do but it seemed to 00:02:58.390 --> 00:02:58.400 align:start position:0% to 00:02:58.400 --> 00:03:00.070 align:start position:0% to factor<00:02:58.879> out<00:02:59.040> the<00:02:59.200> human<00:02:59.519> being<00:02:59.760> from<00:02:59.920> the 00:03:00.070 --> 00:03:00.080 align:start position:0% factor out the human being from the 00:03:00.080 --> 00:03:01.589 align:start position:0% factor out the human being from the design<00:03:00.480> process 00:03:01.589 --> 00:03:01.599 align:start position:0% design process 00:03:01.599 --> 00:03:05.030 align:start position:0% design process and<00:03:01.840> my<00:03:02.080> phd<00:03:02.640> was<00:03:03.280> on<00:03:03.680> trying<00:03:04.159> to 00:03:05.030 --> 00:03:05.040 align:start position:0% and my phd was on trying to 00:03:05.040 --> 00:03:06.949 align:start position:0% and my phd was on trying to get<00:03:05.200> the<00:03:05.360> human<00:03:05.760> involved<00:03:06.159> with<00:03:06.239> the<00:03:06.400> computer 00:03:06.949 --> 00:03:06.959 align:start position:0% get the human involved with the computer 00:03:06.959 --> 00:03:08.309 align:start position:0% get the human involved with the computer much<00:03:07.200> more 00:03:08.309 --> 00:03:08.319 align:start position:0% much more 00:03:08.319 --> 00:03:10.149 align:start position:0% much more such<00:03:08.560> that<00:03:08.800> you<00:03:09.040> can<00:03:09.200> actually<00:03:09.519> use<00:03:09.840> the<00:03:09.920> two 00:03:10.149 --> 00:03:10.159 align:start position:0% such that you can actually use the two 00:03:10.159 --> 00:03:12.390 align:start position:0% such that you can actually use the two sets<00:03:10.400> of<00:03:10.560> skills 00:03:12.390 --> 00:03:12.400 align:start position:0% sets of skills 00:03:12.400 --> 00:03:15.830 align:start position:0% sets of skills from<00:03:12.720> there<00:03:13.599> i<00:03:13.920> looked<00:03:14.400> around<00:03:14.959> at<00:03:15.280> robotics 00:03:15.830 --> 00:03:15.840 align:start position:0% from there i looked around at robotics 00:03:15.840 --> 00:03:16.630 align:start position:0% from there i looked around at robotics projects 00:03:16.630 --> 00:03:16.640 align:start position:0% projects 00:03:16.640 --> 00:03:19.190 align:start position:0% projects and<00:03:16.800> the<00:03:16.959> main<00:03:17.440> one<00:03:17.680> that<00:03:18.000> i<00:03:18.560> found<00:03:18.959> that 00:03:19.190 --> 00:03:19.200 align:start position:0% and the main one that i found that 00:03:19.200 --> 00:03:20.869 align:start position:0% and the main one that i found that interested<00:03:19.680> me<00:03:19.920> was 00:03:20.869 --> 00:03:20.879 align:start position:0% interested me was 00:03:20.879 --> 00:03:22.470 align:start position:0% interested me was working<00:03:21.280> with<00:03:21.519> the<00:03:21.599> central<00:03:22.000> electricity 00:03:22.470 --> 00:03:22.480 align:start position:0% working with the central electricity 00:03:22.480 --> 00:03:24.630 align:start position:0% working with the central electricity generating<00:03:22.959> board 00:03:24.630 --> 00:03:24.640 align:start position:0% generating board 00:03:24.640 --> 00:03:26.869 align:start position:0% generating board on<00:03:24.799> the<00:03:25.200> main<00:03:25.840> remote<00:03:26.159> maintenance<00:03:26.640> of<00:03:26.720> their 00:03:26.869 --> 00:03:26.879 align:start position:0% on the main remote maintenance of their 00:03:26.879 --> 00:03:29.509 align:start position:0% on the main remote maintenance of their nuclear<00:03:27.280> power<00:03:27.519> stations 00:03:29.509 --> 00:03:29.519 align:start position:0% nuclear power stations 00:03:29.519 --> 00:03:32.869 align:start position:0% nuclear power stations so<00:03:30.720> the<00:03:30.879> uk<00:03:31.280> at<00:03:31.360> that<00:03:31.599> time<00:03:31.920> had 00:03:32.869 --> 00:03:32.879 align:start position:0% so the uk at that time had 00:03:32.879 --> 00:03:36.550 align:start position:0% so the uk at that time had two<00:03:33.120> types<00:03:33.360> of<00:03:33.519> power<00:03:34.159> power<00:03:34.400> station<00:03:35.519> we<00:03:35.680> had 00:03:36.550 --> 00:03:36.560 align:start position:0% two types of power power station we had 00:03:36.560 --> 00:03:38.470 align:start position:0% two types of power power station we had the<00:03:36.720> magnox<00:03:37.200> reactors<00:03:37.680> and<00:03:37.760> the<00:03:37.920> advanced<00:03:38.239> gas 00:03:38.470 --> 00:03:38.480 align:start position:0% the magnox reactors and the advanced gas 00:03:38.480 --> 00:03:39.670 align:start position:0% the magnox reactors and the advanced gas cooled<00:03:38.799> reactors 00:03:39.670 --> 00:03:39.680 align:start position:0% cooled reactors 00:03:39.680 --> 00:03:43.190 align:start position:0% cooled reactors magnox<00:03:40.239> was<00:03:40.560> getting<00:03:40.799> old<00:03:41.920> and<00:03:42.640> there<00:03:42.799> was 00:03:43.190 --> 00:03:43.200 align:start position:0% magnox was getting old and there was 00:03:43.200 --> 00:03:47.830 align:start position:0% magnox was getting old and there was a<00:03:45.360> pressure<00:03:46.000> to<00:03:46.159> extend<00:03:46.560> the<00:03:46.640> life<00:03:46.879> of<00:03:47.040> these 00:03:47.830 --> 00:03:47.840 align:start position:0% a pressure to extend the life of these 00:03:47.840 --> 00:03:50.630 align:start position:0% a pressure to extend the life of these reactors<00:03:48.480> and<00:03:48.640> so<00:03:49.760> one<00:03:50.000> of<00:03:50.080> the<00:03:50.159> issues<00:03:50.480> was 00:03:50.630 --> 00:03:50.640 align:start position:0% reactors and so one of the issues was 00:03:50.640 --> 00:03:52.070 align:start position:0% reactors and so one of the issues was how<00:03:50.799> to<00:03:50.879> do<00:03:51.120> remote 00:03:52.070 --> 00:03:52.080 align:start position:0% how to do remote 00:03:52.080 --> 00:03:53.509 align:start position:0% how to do remote maintenance<00:03:52.640> and<00:03:52.799> inspection<00:03:53.200> of<00:03:53.280> these 00:03:53.509 --> 00:03:53.519 align:start position:0% maintenance and inspection of these 00:03:53.519 --> 00:03:55.910 align:start position:0% maintenance and inspection of these devices<00:03:54.720> so<00:03:54.959> i 00:03:55.910 --> 00:03:55.920 align:start position:0% devices so i 00:03:55.920 --> 00:03:59.509 align:start position:0% devices so i came<00:03:56.159> to<00:03:56.319> oxford<00:03:56.720> to<00:03:56.959> join<00:03:57.519> a<00:03:58.000> research<00:03:58.480> team 00:03:59.509 --> 00:03:59.519 align:start position:0% came to oxford to join a research team 00:03:59.519 --> 00:04:01.670 align:start position:0% came to oxford to join a research team with<00:03:59.920> a<00:04:00.080> research<00:04:00.480> fellowship<00:04:01.200> working<00:04:01.519> with 00:04:01.670 --> 00:04:01.680 align:start position:0% with a research fellowship working with 00:04:01.680 --> 00:04:03.750 align:start position:0% with a research fellowship working with the<00:04:01.760> central<00:04:02.080> electricity<00:04:02.480> generating<00:04:03.040> board 00:04:03.750 --> 00:04:03.760 align:start position:0% the central electricity generating board 00:04:03.760 --> 00:04:06.630 align:start position:0% the central electricity generating board at<00:04:04.000> marchwood<00:04:05.040> which<00:04:05.280> is<00:04:05.360> a<00:04:05.680> lab<00:04:06.080> just<00:04:06.319> outside 00:04:06.630 --> 00:04:06.640 align:start position:0% at marchwood which is a lab just outside 00:04:06.640 --> 00:04:08.070 align:start position:0% at marchwood which is a lab just outside southampton 00:04:08.070 --> 00:04:08.080 align:start position:0% southampton 00:04:08.080 --> 00:04:09.670 align:start position:0% southampton where<00:04:08.480> they<00:04:08.640> did<00:04:08.799> most<00:04:09.040> of<00:04:09.120> their<00:04:09.200> development 00:04:09.670 --> 00:04:09.680 align:start position:0% where they did most of their development 00:04:09.680 --> 00:04:11.270 align:start position:0% where they did most of their development work<00:04:10.319> on 00:04:11.270 --> 00:04:11.280 align:start position:0% work on 00:04:11.280 --> 00:04:14.390 align:start position:0% work on the<00:04:11.439> design<00:04:12.159> of<00:04:12.480> remote<00:04:12.879> manipulators<00:04:14.239> and 00:04:14.390 --> 00:04:14.400 align:start position:0% the design of remote manipulators and 00:04:14.400 --> 00:04:15.750 align:start position:0% the design of remote manipulators and that's<00:04:14.560> how<00:04:14.720> i<00:04:14.879> got<00:04:15.120> interested 00:04:15.750 --> 00:04:15.760 align:start position:0% that's how i got interested 00:04:15.760 --> 00:04:18.469 align:start position:0% that's how i got interested in<00:04:16.639> man-machine<00:04:17.199> interfaces<00:04:18.079> how<00:04:18.320> you 00:04:18.469 --> 00:04:18.479 align:start position:0% in man-machine interfaces how you 00:04:18.479 --> 00:04:19.590 align:start position:0% in man-machine interfaces how you connect<00:04:18.959> up 00:04:19.590 --> 00:04:19.600 align:start position:0% connect up 00:04:19.600 --> 00:04:21.670 align:start position:0% connect up human<00:04:19.840> beings<00:04:20.239> to<00:04:20.400> machines<00:04:21.120> so<00:04:21.280> you<00:04:21.440> can<00:04:21.519> get 00:04:21.670 --> 00:04:21.680 align:start position:0% human beings to machines so you can get 00:04:21.680 --> 00:04:24.469 align:start position:0% human beings to machines so you can get them<00:04:21.759> to<00:04:21.840> cooperate 00:04:24.469 --> 00:04:24.479 align:start position:0% 00:04:24.479 --> 00:04:26.390 align:start position:0% and<00:04:24.639> did<00:04:24.800> this<00:04:25.040> lead<00:04:25.199> to<00:04:25.360> your<00:04:25.600> interest<00:04:25.919> in 00:04:26.390 --> 00:04:26.400 align:start position:0% and did this lead to your interest in 00:04:26.400 --> 00:04:28.070 align:start position:0% and did this lead to your interest in kinematics<00:04:27.280> and 00:04:28.070 --> 00:04:28.080 align:start position:0% kinematics and 00:04:28.080 --> 00:04:30.950 align:start position:0% kinematics and haptics<00:04:29.360> yes<00:04:29.680> it<00:04:29.919> is<00:04:30.160> i<00:04:30.320> i<00:04:30.560> was<00:04:30.720> quite 00:04:30.950 --> 00:04:30.960 align:start position:0% haptics yes it is i i was quite 00:04:30.960 --> 00:04:32.950 align:start position:0% haptics yes it is i i was quite interested<00:04:31.360> in<00:04:31.520> knowing 00:04:32.950 --> 00:04:32.960 align:start position:0% interested in knowing 00:04:32.960 --> 00:04:34.790 align:start position:0% interested in knowing or<00:04:33.199> trying<00:04:33.360> to<00:04:33.440> work<00:04:33.680> out<00:04:33.919> how<00:04:34.160> you<00:04:34.320> actually 00:04:34.790 --> 00:04:34.800 align:start position:0% or trying to work out how you actually 00:04:34.800 --> 00:04:35.990 align:start position:0% or trying to work out how you actually could 00:04:35.990 --> 00:04:36.000 align:start position:0% could 00:04:36.000 --> 00:04:39.749 align:start position:0% could match<00:04:36.639> a<00:04:36.800> human<00:04:37.199> being<00:04:38.240> to 00:04:39.749 --> 00:04:39.759 align:start position:0% match a human being to 00:04:39.759 --> 00:04:43.670 align:start position:0% match a human being to a<00:04:40.840> remote<00:04:42.320> manipulator<00:04:42.960> performing<00:04:43.440> a 00:04:43.670 --> 00:04:43.680 align:start position:0% a remote manipulator performing a 00:04:43.680 --> 00:04:45.430 align:start position:0% a remote manipulator performing a complex<00:04:44.240> task 00:04:45.430 --> 00:04:45.440 align:start position:0% complex task 00:04:45.440 --> 00:04:49.990 align:start position:0% complex task so<00:04:48.080> the<00:04:48.240> early<00:04:48.560> work<00:04:48.800> was<00:04:48.960> mostly<00:04:49.360> associated 00:04:49.990 --> 00:04:50.000 align:start position:0% so the early work was mostly associated 00:04:50.000 --> 00:04:50.469 align:start position:0% so the early work was mostly associated with<00:04:50.160> how 00:04:50.469 --> 00:04:50.479 align:start position:0% with how 00:04:50.479 --> 00:04:53.749 align:start position:0% with how how<00:04:50.720> on<00:04:50.880> earth<00:04:51.040> you<00:04:51.199> get 00:04:53.749 --> 00:04:53.759 align:start position:0% 00:04:53.759 --> 00:04:56.230 align:start position:0% a<00:04:53.840> manipulator<00:04:54.639> down<00:04:54.880> an<00:04:55.040> 8<00:04:55.280> inch<00:04:55.520> pipe 00:04:56.230 --> 00:04:56.240 align:start position:0% a manipulator down an 8 inch pipe 00:04:56.240 --> 00:04:58.230 align:start position:0% a manipulator down an 8 inch pipe through<00:04:56.479> 30<00:04:56.720> feet<00:04:56.960> of<00:04:57.120> concrete 00:04:58.230 --> 00:04:58.240 align:start position:0% through 30 feet of concrete 00:04:58.240 --> 00:05:01.670 align:start position:0% through 30 feet of concrete and<00:04:58.400> then<00:04:59.280> reach<00:04:59.600> around<00:05:00.000> and<00:05:00.160> perform 00:05:01.670 --> 00:05:01.680 align:start position:0% and then reach around and perform 00:05:01.680 --> 00:05:03.990 align:start position:0% and then reach around and perform useful<00:05:02.160> tasks<00:05:03.039> so<00:05:03.199> the<00:05:03.360> early<00:05:03.600> work<00:05:03.840> was 00:05:03.990 --> 00:05:04.000 align:start position:0% useful tasks so the early work was 00:05:04.000 --> 00:05:05.830 align:start position:0% useful tasks so the early work was mostly<00:05:04.320> about 00:05:05.830 --> 00:05:05.840 align:start position:0% mostly about 00:05:05.840 --> 00:05:09.510 align:start position:0% mostly about solving<00:05:06.479> the<00:05:06.639> kinematics<00:05:07.280> problems<00:05:08.320> quickly 00:05:09.510 --> 00:05:09.520 align:start position:0% solving the kinematics problems quickly 00:05:09.520 --> 00:05:11.189 align:start position:0% solving the kinematics problems quickly given<00:05:09.840> the<00:05:10.000> computing<00:05:10.479> resource<00:05:10.800> that<00:05:10.960> we<00:05:11.039> had 00:05:11.189 --> 00:05:11.199 align:start position:0% given the computing resource that we had 00:05:11.199 --> 00:05:13.270 align:start position:0% given the computing resource that we had available<00:05:11.680> at<00:05:11.840> that<00:05:12.080> time 00:05:13.270 --> 00:05:13.280 align:start position:0% available at that time 00:05:13.280 --> 00:05:15.270 align:start position:0% available at that time so<00:05:13.440> there's<00:05:13.759> a<00:05:13.840> lot<00:05:14.000> of<00:05:14.160> interest<00:05:14.720> in<00:05:14.960> dealing 00:05:15.270 --> 00:05:15.280 align:start position:0% so there's a lot of interest in dealing 00:05:15.280 --> 00:05:17.670 align:start position:0% so there's a lot of interest in dealing with<00:05:15.440> things<00:05:15.680> such<00:05:15.919> as<00:05:16.000> singularities 00:05:17.670 --> 00:05:17.680 align:start position:0% with things such as singularities 00:05:17.680 --> 00:05:19.909 align:start position:0% with things such as singularities representing<00:05:18.240> manipulability<00:05:19.440> how<00:05:19.600> you<00:05:19.759> go 00:05:19.909 --> 00:05:19.919 align:start position:0% representing manipulability how you go 00:05:19.919 --> 00:05:22.390 align:start position:0% representing manipulability how you go about<00:05:20.160> computing<00:05:20.720> inverse<00:05:21.039> kinematics 00:05:22.390 --> 00:05:22.400 align:start position:0% about computing inverse kinematics 00:05:22.400 --> 00:05:26.629 align:start position:0% about computing inverse kinematics quickly<00:05:22.960> and<00:05:23.199> in<00:05:23.360> real<00:05:23.680> time<00:05:24.880> um 00:05:26.629 --> 00:05:26.639 align:start position:0% quickly and in real time um 00:05:26.639 --> 00:05:28.390 align:start position:0% quickly and in real time um there's<00:05:26.960> also<00:05:27.280> the<00:05:27.440> issue<00:05:27.759> i<00:05:28.000> also<00:05:28.240> became 00:05:28.390 --> 00:05:28.400 align:start position:0% there's also the issue i also became 00:05:28.400 --> 00:05:30.550 align:start position:0% there's also the issue i also became interested<00:05:28.800> in<00:05:28.880> which<00:05:29.120> was<00:05:29.440> the 00:05:30.550 --> 00:05:30.560 align:start position:0% interested in which was the 00:05:30.560 --> 00:05:33.590 align:start position:0% interested in which was the that<00:05:30.880> of<00:05:31.120> how<00:05:31.360> do<00:05:31.440> you<00:05:31.520> perform<00:05:31.919> remote<00:05:32.320> tasks 00:05:33.590 --> 00:05:33.600 align:start position:0% that of how do you perform remote tasks 00:05:33.600 --> 00:05:36.790 align:start position:0% that of how do you perform remote tasks at<00:05:33.919> considerable<00:05:34.560> different<00:05:35.120> distances<00:05:36.240> from 00:05:36.790 --> 00:05:36.800 align:start position:0% at considerable different distances from 00:05:36.800 --> 00:05:41.189 align:start position:0% at considerable different distances from a<00:05:37.039> support<00:05:37.520> point<00:05:38.560> so<00:05:39.360> if<00:05:39.520> you<00:05:39.600> can<00:05:39.759> imagine 00:05:41.189 --> 00:05:41.199 align:start position:0% a support point so if you can imagine 00:05:41.199 --> 00:05:45.909 align:start position:0% a support point so if you can imagine you've<00:05:41.360> got<00:05:42.639> something<00:05:43.199> about<00:05:44.160> that<00:05:44.400> diameter 00:05:45.909 --> 00:05:45.919 align:start position:0% you've got something about that diameter 00:05:45.919 --> 00:05:49.110 align:start position:0% you've got something about that diameter which<00:05:46.080> has<00:05:46.240> gone<00:05:46.479> down<00:05:46.800> 30<00:05:47.199> feet<00:05:48.000> is<00:05:48.320> anchored 00:05:49.110 --> 00:05:49.120 align:start position:0% which has gone down 30 feet is anchored 00:05:49.120 --> 00:05:51.270 align:start position:0% which has gone down 30 feet is anchored either<00:05:49.600> to<00:05:49.759> the<00:05:49.919> floor<00:05:50.240> of<00:05:50.320> the<00:05:50.400> reactor<00:05:50.960> or<00:05:51.120> to 00:05:51.270 --> 00:05:51.280 align:start position:0% either to the floor of the reactor or to 00:05:51.280 --> 00:05:53.029 align:start position:0% either to the floor of the reactor or to the<00:05:51.360> ceiling<00:05:51.759> of<00:05:51.840> the<00:05:51.919> reactor 00:05:53.029 --> 00:05:53.039 align:start position:0% the ceiling of the reactor 00:05:53.039 --> 00:05:56.710 align:start position:0% the ceiling of the reactor and<00:05:53.120> then<00:05:53.360> it<00:05:53.440> has<00:05:53.600> to<00:05:53.759> reach<00:05:54.080> out<00:05:54.960> 10<00:05:55.280> 15<00:05:55.759> feet 00:05:56.710 --> 00:05:56.720 align:start position:0% and then it has to reach out 10 15 feet 00:05:56.720 --> 00:05:59.749 align:start position:0% and then it has to reach out 10 15 feet in<00:05:56.880> an<00:05:57.039> arm<00:05:57.280> which<00:05:57.440> has<00:05:57.600> to<00:05:58.240> unfold<00:05:58.800> itself 00:05:59.749 --> 00:05:59.759 align:start position:0% in an arm which has to unfold itself 00:05:59.759 --> 00:06:01.749 align:start position:0% in an arm which has to unfold itself and<00:05:59.840> then<00:06:00.080> perform<00:06:00.720> useful<00:06:01.120> tasks<00:06:01.600> and<00:06:01.680> the 00:06:01.749 --> 00:06:01.759 align:start position:0% and then perform useful tasks and the 00:06:01.759 --> 00:06:03.670 align:start position:0% and then perform useful tasks and the sort<00:06:01.919> of<00:06:02.000> useful<00:06:02.319> task<00:06:02.639> we<00:06:02.800> did<00:06:03.039> was 00:06:03.670 --> 00:06:03.680 align:start position:0% sort of useful task we did was 00:06:03.680 --> 00:06:07.510 align:start position:0% sort of useful task we did was remote<00:06:04.840> drilling<00:06:06.160> replacement<00:06:06.880> of<00:06:07.199> things 00:06:07.510 --> 00:06:07.520 align:start position:0% remote drilling replacement of things 00:06:07.520 --> 00:06:08.950 align:start position:0% remote drilling replacement of things called<00:06:07.680> top<00:06:08.000> hats 00:06:08.950 --> 00:06:08.960 align:start position:0% called top hats 00:06:08.960 --> 00:06:12.230 align:start position:0% called top hats thermocouples<00:06:10.639> uh<00:06:11.039> replacing<00:06:11.600> bolts<00:06:12.000> holding 00:06:12.230 --> 00:06:12.240 align:start position:0% thermocouples uh replacing bolts holding 00:06:12.240 --> 00:06:13.189 align:start position:0% thermocouples uh replacing bolts holding the<00:06:12.400> thermal<00:06:12.720> shield 00:06:13.189 --> 00:06:13.199 align:start position:0% the thermal shield 00:06:13.199 --> 00:06:16.550 align:start position:0% the thermal shield shielding<00:06:14.000> into<00:06:14.240> the<00:06:14.319> concrete 00:06:16.550 --> 00:06:16.560 align:start position:0% shielding into the concrete 00:06:16.560 --> 00:06:21.189 align:start position:0% shielding into the concrete pressure<00:06:16.880> vessel<00:06:19.280> so 00:06:21.189 --> 00:06:21.199 align:start position:0% pressure vessel so 00:06:21.199 --> 00:06:22.710 align:start position:0% pressure vessel so the<00:06:21.360> issue<00:06:21.680> was<00:06:21.840> how<00:06:22.000> do<00:06:22.080> you<00:06:22.160> go<00:06:22.319> about 00:06:22.710 --> 00:06:22.720 align:start position:0% the issue was how do you go about 00:06:22.720 --> 00:06:24.629 align:start position:0% the issue was how do you go about performing<00:06:23.199> these<00:06:23.520> tasks 00:06:24.629 --> 00:06:24.639 align:start position:0% performing these tasks 00:06:24.639 --> 00:06:26.309 align:start position:0% performing these tasks this<00:06:24.880> the<00:06:25.039> method<00:06:25.280> we<00:06:25.440> developed<00:06:25.759> was 00:06:26.309 --> 00:06:26.319 align:start position:0% this the method we developed was 00:06:26.319 --> 00:06:27.670 align:start position:0% this the method we developed was basically 00:06:27.670 --> 00:06:27.680 align:start position:0% basically 00:06:27.680 --> 00:06:31.270 align:start position:0% basically an<00:06:27.840> almost<00:06:28.240> self-contained<00:06:29.759> robot<00:06:30.160> in<00:06:30.319> itself 00:06:31.270 --> 00:06:31.280 align:start position:0% an almost self-contained robot in itself 00:06:31.280 --> 00:06:33.830 align:start position:0% an almost self-contained robot in itself which<00:06:31.600> had<00:06:31.840> a<00:06:31.919> number<00:06:32.160> of<00:06:32.240> machines<00:06:33.520> like 00:06:33.830 --> 00:06:33.840 align:start position:0% which had a number of machines like 00:06:33.840 --> 00:06:34.550 align:start position:0% which had a number of machines like drills 00:06:34.550 --> 00:06:34.560 align:start position:0% drills 00:06:34.560 --> 00:06:38.230 align:start position:0% drills nut<00:06:34.800> runners<00:06:36.800> all<00:06:37.120> encapsulated<00:06:37.840> inside 00:06:38.230 --> 00:06:38.240 align:start position:0% nut runners all encapsulated inside 00:06:38.240 --> 00:06:40.629 align:start position:0% nut runners all encapsulated inside something<00:06:38.560> about<00:06:38.800> this<00:06:39.039> by<00:06:39.199> about<00:06:39.440> this 00:06:40.629 --> 00:06:40.639 align:start position:0% something about this by about this 00:06:40.639 --> 00:06:43.029 align:start position:0% something about this by about this which<00:06:40.880> would<00:06:41.120> be<00:06:41.520> carried<00:06:41.919> at<00:06:42.080> the<00:06:42.240> end<00:06:42.720> of<00:06:42.880> the 00:06:43.029 --> 00:06:43.039 align:start position:0% which would be carried at the end of the 00:06:43.039 --> 00:06:44.870 align:start position:0% which would be carried at the end of the arm<00:06:43.440> thrust<00:06:43.759> up<00:06:43.919> against<00:06:44.319> the 00:06:44.870 --> 00:06:44.880 align:start position:0% arm thrust up against the 00:06:44.880 --> 00:06:47.590 align:start position:0% arm thrust up against the say<00:06:45.039> the<00:06:45.280> ceiling<00:06:46.800> the<00:06:46.880> operator<00:06:47.280> would<00:06:47.360> press 00:06:47.590 --> 00:06:47.600 align:start position:0% say the ceiling the operator would press 00:06:47.600 --> 00:06:48.870 align:start position:0% say the ceiling the operator would press a<00:06:47.680> go<00:06:47.919> switch 00:06:48.870 --> 00:06:48.880 align:start position:0% a go switch 00:06:48.880 --> 00:06:51.350 align:start position:0% a go switch and<00:06:49.280> the<00:06:50.479> machine<00:06:50.800> would<00:06:50.960> carry<00:06:51.280> out 00:06:51.350 --> 00:06:51.360 align:start position:0% and the machine would carry out 00:06:51.360 --> 00:06:52.790 align:start position:0% and the machine would carry out basically<00:06:51.680> like<00:06:51.759> a<00:06:51.840> machining<00:06:52.319> center 00:06:52.790 --> 00:06:52.800 align:start position:0% basically like a machining center 00:06:52.800 --> 00:06:55.749 align:start position:0% basically like a machining center drill<00:06:53.120> a<00:06:53.199> hole<00:06:54.160> insert<00:06:54.560> a<00:06:54.720> nut<00:06:55.120> run<00:06:55.280> a<00:06:55.360> nut<00:06:55.680> on 00:06:55.749 --> 00:06:55.759 align:start position:0% drill a hole insert a nut run a nut on 00:06:55.759 --> 00:06:57.430 align:start position:0% drill a hole insert a nut run a nut on it<00:06:56.000> and<00:06:56.080> so<00:06:56.319> forth 00:06:57.430 --> 00:06:57.440 align:start position:0% it and so forth 00:06:57.440 --> 00:07:00.469 align:start position:0% it and so forth um<00:06:59.199> so<00:06:59.360> i<00:06:59.440> became<00:06:59.759> interested<00:07:00.080> in<00:07:00.160> how<00:07:00.319> would 00:07:00.469 --> 00:07:00.479 align:start position:0% um so i became interested in how would 00:07:00.479 --> 00:07:02.790 align:start position:0% um so i became interested in how would you<00:07:00.560> go<00:07:00.720> about<00:07:00.960> performing<00:07:01.440> such 00:07:02.790 --> 00:07:02.800 align:start position:0% you go about performing such 00:07:02.800 --> 00:07:06.150 align:start position:0% you go about performing such tasks<00:07:03.280> at<00:07:03.440> a<00:07:03.520> remote<00:07:03.919> distance<00:07:05.680> so<00:07:05.840> there<00:07:06.000> were 00:07:06.150 --> 00:07:06.160 align:start position:0% tasks at a remote distance so there were 00:07:06.160 --> 00:07:08.150 align:start position:0% tasks at a remote distance so there were two<00:07:06.400> issues<00:07:06.720> that<00:07:06.880> were<00:07:07.360> interestingly<00:07:07.919> one 00:07:08.150 --> 00:07:08.160 align:start position:0% two issues that were interestingly one 00:07:08.160 --> 00:07:08.870 align:start position:0% two issues that were interestingly one was 00:07:08.870 --> 00:07:08.880 align:start position:0% was 00:07:08.880 --> 00:07:10.790 align:start position:0% was the<00:07:09.039> effect<00:07:09.360> of<00:07:09.680> of<00:07:09.919> the<00:07:10.000> robot<00:07:10.400> machine's 00:07:10.790 --> 00:07:10.800 align:start position:0% the effect of of the robot machine's 00:07:10.800 --> 00:07:13.110 align:start position:0% the effect of of the robot machine's compliance<00:07:11.759> on<00:07:12.000> the<00:07:12.160> behavior 00:07:13.110 --> 00:07:13.120 align:start position:0% compliance on the behavior 00:07:13.120 --> 00:07:15.670 align:start position:0% compliance on the behavior such<00:07:13.440> as<00:07:13.520> how<00:07:13.680> can<00:07:13.840> you<00:07:15.199> how<00:07:15.360> can<00:07:15.520> you 00:07:15.670 --> 00:07:15.680 align:start position:0% such as how can you how can you 00:07:15.680 --> 00:07:18.070 align:start position:0% such as how can you how can you accurately<00:07:16.319> position<00:07:16.800> a<00:07:16.960> robot 00:07:18.070 --> 00:07:18.080 align:start position:0% accurately position a robot 00:07:18.080 --> 00:07:19.670 align:start position:0% accurately position a robot if<00:07:18.240> it's<00:07:18.479> bouncing<00:07:18.960> around<00:07:19.280> carrying 00:07:19.670 --> 00:07:19.680 align:start position:0% if it's bouncing around carrying 00:07:19.680 --> 00:07:22.309 align:start position:0% if it's bouncing around carrying significant<00:07:20.240> loads<00:07:21.039> subject<00:07:21.520> to<00:07:21.759> machining 00:07:22.309 --> 00:07:22.319 align:start position:0% significant loads subject to machining 00:07:22.319 --> 00:07:23.589 align:start position:0% significant loads subject to machining forces<00:07:22.800> and<00:07:22.880> so<00:07:23.120> forth 00:07:23.589 --> 00:07:23.599 align:start position:0% forces and so forth 00:07:23.599 --> 00:07:25.430 align:start position:0% forces and so forth and<00:07:23.759> how<00:07:23.919> do<00:07:24.080> you<00:07:24.240> how<00:07:24.400> can<00:07:24.560> you<00:07:24.800> transmit<00:07:25.280> the 00:07:25.430 --> 00:07:25.440 align:start position:0% and how do you how can you transmit the 00:07:25.440 --> 00:07:27.909 align:start position:0% and how do you how can you transmit the information<00:07:25.919> to<00:07:26.080> the<00:07:26.240> human<00:07:26.560> operator 00:07:27.909 --> 00:07:27.919 align:start position:0% information to the human operator 00:07:27.919 --> 00:07:30.309 align:start position:0% information to the human operator such<00:07:28.240> that<00:07:28.479> the<00:07:28.720> human<00:07:29.520> gets<00:07:29.759> a<00:07:29.919> feel<00:07:30.160> for 00:07:30.309 --> 00:07:30.319 align:start position:0% such that the human gets a feel for 00:07:30.319 --> 00:07:31.189 align:start position:0% such that the human gets a feel for what's<00:07:30.560> going<00:07:30.880> on 00:07:31.189 --> 00:07:31.199 align:start position:0% what's going on 00:07:31.199 --> 00:07:33.830 align:start position:0% what's going on because<00:07:32.240> you<00:07:32.400> can't<00:07:32.720> really<00:07:32.960> afford<00:07:33.520> to<00:07:33.680> have 00:07:33.830 --> 00:07:33.840 align:start position:0% because you can't really afford to have 00:07:33.840 --> 00:07:35.830 align:start position:0% because you can't really afford to have such<00:07:34.160> machines<00:07:34.560> make<00:07:34.800> mistakes 00:07:35.830 --> 00:07:35.840 align:start position:0% such machines make mistakes 00:07:35.840 --> 00:07:38.230 align:start position:0% such machines make mistakes inside<00:07:36.319> a<00:07:36.400> nuclear<00:07:36.720> reactor<00:07:37.680> it's<00:07:37.840> rather 00:07:38.230 --> 00:07:38.240 align:start position:0% inside a nuclear reactor it's rather 00:07:38.240 --> 00:07:39.909 align:start position:0% inside a nuclear reactor it's rather expensive<00:07:38.800> if<00:07:38.960> you<00:07:39.039> break<00:07:39.360> something<00:07:39.680> down 00:07:39.909 --> 00:07:39.919 align:start position:0% expensive if you break something down 00:07:39.919 --> 00:07:40.790 align:start position:0% expensive if you break something down there 00:07:40.790 --> 00:07:40.800 align:start position:0% there 00:07:40.800 --> 00:07:43.350 align:start position:0% there so<00:07:41.199> there<00:07:41.360> are<00:07:41.520> issues<00:07:41.919> about<00:07:42.319> reliability 00:07:43.350 --> 00:07:43.360 align:start position:0% so there are issues about reliability 00:07:43.360 --> 00:07:44.230 align:start position:0% so there are issues about reliability and 00:07:44.230 --> 00:07:44.240 align:start position:0% and 00:07:44.240 --> 00:07:45.589 align:start position:0% and transmission<00:07:44.720> of<00:07:44.879> information<00:07:45.360> to<00:07:45.440> the 00:07:45.589 --> 00:07:45.599 align:start position:0% transmission of information to the 00:07:45.599 --> 00:07:47.990 align:start position:0% transmission of information to the operator<00:07:46.160> and<00:07:46.240> so<00:07:46.479> forth 00:07:47.990 --> 00:07:48.000 align:start position:0% operator and so forth 00:07:48.000 --> 00:07:51.110 align:start position:0% operator and so forth what<00:07:48.240> year<00:07:48.800> roughly<00:07:49.199> was<00:07:49.440> this<00:07:49.680> one<00:07:50.639> this<00:07:50.879> was 00:07:51.110 --> 00:07:51.120 align:start position:0% what year roughly was this one this was 00:07:51.120 --> 00:07:52.110 align:start position:0% what year roughly was this one this was between 00:07:52.110 --> 00:07:52.120 align:start position:0% between 00:07:52.120 --> 00:07:56.830 align:start position:0% between 1982<00:07:53.440> and<00:07:54.319> about 00:07:56.830 --> 00:07:56.840 align:start position:0% 00:07:56.840 --> 00:07:58.869 align:start position:0% 1985. 00:07:58.869 --> 00:07:58.879 align:start position:0% 1985. 00:07:58.879 --> 00:08:01.270 align:start position:0% 1985. and<00:07:59.120> so<00:07:59.360> what<00:07:59.520> kind<00:07:59.680> of<00:07:59.840> a<00:08:00.080> video<00:08:00.800> feedback 00:08:01.270 --> 00:08:01.280 align:start position:0% and so what kind of a video feedback 00:08:01.280 --> 00:08:03.270 align:start position:0% and so what kind of a video feedback were<00:08:01.520> you<00:08:01.599> using<00:08:01.919> are<00:08:02.000> we<00:08:02.240> mostly<00:08:02.639> focused<00:08:03.039> on 00:08:03.270 --> 00:08:03.280 align:start position:0% were you using are we mostly focused on 00:08:03.280 --> 00:08:03.909 align:start position:0% were you using are we mostly focused on the 00:08:03.909 --> 00:08:03.919 align:start position:0% the 00:08:03.919 --> 00:08:06.710 align:start position:0% the force<00:08:04.240> feedback<00:08:05.520> feedback<00:08:06.000> there<00:08:06.160> were 00:08:06.710 --> 00:08:06.720 align:start position:0% force feedback feedback there were 00:08:06.720 --> 00:08:07.430 align:start position:0% force feedback feedback there were cameras 00:08:07.430 --> 00:08:07.440 align:start position:0% cameras 00:08:07.440 --> 00:08:09.909 align:start position:0% cameras also<00:08:08.080> inside<00:08:08.400> the<00:08:08.720> nuclear<00:08:09.039> reactor<00:08:09.440> which 00:08:09.909 --> 00:08:09.919 align:start position:0% also inside the nuclear reactor which 00:08:09.919 --> 00:08:10.710 align:start position:0% also inside the nuclear reactor which fed 00:08:10.710 --> 00:08:10.720 align:start position:0% fed 00:08:10.720 --> 00:08:12.869 align:start position:0% fed information<00:08:11.360> back<00:08:11.919> but<00:08:12.240> it<00:08:12.319> was<00:08:12.560> not 00:08:12.869 --> 00:08:12.879 align:start position:0% information back but it was not 00:08:12.879 --> 00:08:15.430 align:start position:0% information back but it was not processed<00:08:13.360> in<00:08:13.520> any<00:08:13.680> way<00:08:13.919> it<00:08:14.000> was<00:08:14.160> just 00:08:15.430 --> 00:08:15.440 align:start position:0% processed in any way it was just 00:08:15.440 --> 00:08:17.670 align:start position:0% processed in any way it was just we<00:08:15.680> looked<00:08:16.000> at<00:08:16.160> using<00:08:16.560> stereo<00:08:17.120> systems<00:08:17.599> and 00:08:17.670 --> 00:08:17.680 align:start position:0% we looked at using stereo systems and 00:08:17.680 --> 00:08:19.589 align:start position:0% we looked at using stereo systems and for<00:08:17.759> example<00:08:18.080> to<00:08:18.160> get<00:08:18.240> a<00:08:18.319> sense<00:08:18.560> of<00:08:18.720> depth 00:08:19.589 --> 00:08:19.599 align:start position:0% for example to get a sense of depth 00:08:19.599 --> 00:08:22.070 align:start position:0% for example to get a sense of depth there<00:08:19.759> was<00:08:20.080> very<00:08:20.479> little<00:08:20.960> haptic<00:08:21.520> feedback 00:08:22.070 --> 00:08:22.080 align:start position:0% there was very little haptic feedback 00:08:22.080 --> 00:08:23.990 align:start position:0% there was very little haptic feedback from<00:08:22.240> the<00:08:22.319> device 00:08:23.990 --> 00:08:24.000 align:start position:0% from the device 00:08:24.000 --> 00:08:27.189 align:start position:0% from the device the<00:08:24.840> cgb<00:08:26.000> were<00:08:26.479> interested 00:08:27.189 --> 00:08:27.199 align:start position:0% the cgb were interested 00:08:27.199 --> 00:08:29.749 align:start position:0% the cgb were interested in<00:08:27.360> trying<00:08:27.599> to<00:08:27.680> build<00:08:27.919> haptic<00:08:28.319> devices<00:08:29.360> but 00:08:29.749 --> 00:08:29.759 align:start position:0% in trying to build haptic devices but 00:08:29.759 --> 00:08:31.749 align:start position:0% in trying to build haptic devices but the<00:08:29.919> concentration<00:08:30.720> on<00:08:30.879> how<00:08:31.199> people<00:08:31.520> built 00:08:31.749 --> 00:08:31.759 align:start position:0% the concentration on how people built 00:08:31.759 --> 00:08:32.630 align:start position:0% the concentration on how people built these<00:08:32.000> things<00:08:32.240> was 00:08:32.630 --> 00:08:32.640 align:start position:0% these things was 00:08:32.640 --> 00:08:35.269 align:start position:0% these things was basically<00:08:33.599> they<00:08:33.839> tried<00:08:34.000> to<00:08:34.080> build<00:08:34.399> midi<00:08:35.120> sort 00:08:35.269 --> 00:08:35.279 align:start position:0% basically they tried to build midi sort 00:08:35.279 --> 00:08:36.870 align:start position:0% basically they tried to build midi sort of<00:08:35.440> mini<00:08:35.680> robots 00:08:36.870 --> 00:08:36.880 align:start position:0% of mini robots 00:08:36.880 --> 00:08:40.149 align:start position:0% of mini robots and<00:08:37.120> these<00:08:37.360> robots<00:08:37.919> had<00:08:38.839> um 00:08:40.149 --> 00:08:40.159 align:start position:0% and these robots had um 00:08:40.159 --> 00:08:42.709 align:start position:0% and these robots had um gears<00:08:40.560> in<00:08:40.880> they<00:08:41.519> had<00:08:41.680> problems<00:08:42.000> with<00:08:42.320> stick 00:08:42.709 --> 00:08:42.719 align:start position:0% gears in they had problems with stick 00:08:42.719 --> 00:08:43.829 align:start position:0% gears in they had problems with stick slip 00:08:43.829 --> 00:08:43.839 align:start position:0% slip 00:08:43.839 --> 00:08:45.750 align:start position:0% slip and<00:08:44.080> all<00:08:44.240> sorts<00:08:44.480> of<00:08:44.560> problems<00:08:45.120> associated 00:08:45.750 --> 00:08:45.760 align:start position:0% and all sorts of problems associated 00:08:45.760 --> 00:08:47.829 align:start position:0% and all sorts of problems associated with<00:08:46.000> mechanisms<00:08:46.560> of<00:08:46.720> driving 00:08:47.829 --> 00:08:47.839 align:start position:0% with mechanisms of driving 00:08:47.839 --> 00:08:50.550 align:start position:0% with mechanisms of driving uh<00:08:48.399> something<00:08:48.720> which<00:08:49.600> moves<00:08:49.920> about<00:08:50.240> and 00:08:50.550 --> 00:08:50.560 align:start position:0% uh something which moves about and 00:08:50.560 --> 00:08:51.190 align:start position:0% uh something which moves about and transmits 00:08:51.190 --> 00:08:51.200 align:start position:0% transmits 00:08:51.200 --> 00:08:54.389 align:start position:0% transmits force<00:08:52.399> to<00:08:52.720> to<00:08:52.959> a<00:08:53.040> human<00:08:53.360> being<00:08:54.000> so<00:08:54.160> that<00:08:54.320> was 00:08:54.389 --> 00:08:54.399 align:start position:0% force to to a human being so that was 00:08:54.399 --> 00:08:57.509 align:start position:0% force to to a human being so that was the<00:08:54.560> start<00:08:54.880> of<00:08:54.959> when<00:08:55.120> i<00:08:55.279> became<00:08:55.519> interested<00:08:56.240> in 00:08:57.509 --> 00:08:57.519 align:start position:0% the start of when i became interested in 00:08:57.519 --> 00:09:00.630 align:start position:0% the start of when i became interested in firstly<00:08:57.920> how<00:08:58.080> would<00:08:58.240> you<00:08:58.320> design<00:08:58.720> a<00:08:58.880> mechanism 00:09:00.630 --> 00:09:00.640 align:start position:0% firstly how would you design a mechanism 00:09:00.640 --> 00:09:02.710 align:start position:0% firstly how would you design a mechanism such<00:09:01.040> that<00:09:01.200> you<00:09:01.360> can<00:09:01.519> transmit<00:09:02.080> forces<00:09:02.480> to<00:09:02.640> a 00:09:02.710 --> 00:09:02.720 align:start position:0% such that you can transmit forces to a 00:09:02.720 --> 00:09:04.150 align:start position:0% such that you can transmit forces to a human<00:09:03.040> being 00:09:04.150 --> 00:09:04.160 align:start position:0% human being 00:09:04.160 --> 00:09:06.310 align:start position:0% human being uh<00:09:04.560> such<00:09:04.800> that<00:09:04.880> the<00:09:05.040> mechanism<00:09:05.519> designed<00:09:06.080> to 00:09:06.310 --> 00:09:06.320 align:start position:0% uh such that the mechanism designed to 00:09:06.320 --> 00:09:09.509 align:start position:0% uh such that the mechanism designed to match<00:09:06.560> the<00:09:06.720> dynamics<00:09:07.200> of<00:09:07.360> the<00:09:07.440> human<00:09:07.839> hand 00:09:09.509 --> 00:09:09.519 align:start position:0% match the dynamics of the human hand 00:09:09.519 --> 00:09:13.430 align:start position:0% match the dynamics of the human hand so<00:09:10.080> the<00:09:11.120> device<00:09:11.519> that<00:09:11.760> i<00:09:11.920> came<00:09:12.160> up<00:09:12.320> with 00:09:13.430 --> 00:09:13.440 align:start position:0% so the device that i came up with 00:09:13.440 --> 00:09:17.030 align:start position:0% so the device that i came up with was<00:09:13.839> based<00:09:14.399> on<00:09:14.959> a<00:09:16.000> parallel<00:09:16.560> rather<00:09:16.800> than<00:09:16.959> a 00:09:17.030 --> 00:09:17.040 align:start position:0% was based on a parallel rather than a 00:09:17.040 --> 00:09:19.750 align:start position:0% was based on a parallel rather than a serial<00:09:17.519> mechanism<00:09:18.080> and<00:09:18.240> it<00:09:18.320> was<00:09:18.480> direct<00:09:18.800> drive 00:09:19.750 --> 00:09:19.760 align:start position:0% serial mechanism and it was direct drive 00:09:19.760 --> 00:09:23.350 align:start position:0% serial mechanism and it was direct drive rather<00:09:20.160> than<00:09:20.399> geared<00:09:21.600> and<00:09:22.080> that 00:09:23.350 --> 00:09:23.360 align:start position:0% rather than geared and that 00:09:23.360 --> 00:09:26.710 align:start position:0% rather than geared and that work<00:09:23.760> was<00:09:24.000> done<00:09:24.240> mostly<00:09:24.720> with<00:09:25.680> the<00:09:26.000> uk<00:09:26.320> atomic 00:09:26.710 --> 00:09:26.720 align:start position:0% work was done mostly with the uk atomic 00:09:26.720 --> 00:09:29.030 align:start position:0% work was done mostly with the uk atomic energy<00:09:27.040> authority<00:09:27.519> at<00:09:27.600> harwell 00:09:29.030 --> 00:09:29.040 align:start position:0% energy authority at harwell 00:09:29.040 --> 00:09:32.310 align:start position:0% energy authority at harwell and<00:09:29.519> uh<00:09:29.920> the<00:09:30.160> device<00:09:30.640> which<00:09:31.200> we<00:09:31.680> well<00:09:31.920> i 00:09:32.310 --> 00:09:32.320 align:start position:0% and uh the device which we well i 00:09:32.320 --> 00:09:34.389 align:start position:0% and uh the device which we well i came<00:09:32.560> up<00:09:32.640> with<00:09:33.279> we<00:09:33.440> called<00:09:33.680> the<00:09:33.760> bilateral 00:09:34.389 --> 00:09:34.399 align:start position:0% came up with we called the bilateral 00:09:34.399 --> 00:09:35.670 align:start position:0% came up with we called the bilateral stewart<00:09:34.880> platform 00:09:35.670 --> 00:09:35.680 align:start position:0% stewart platform 00:09:35.680 --> 00:09:39.110 align:start position:0% stewart platform or<00:09:35.920> bsp<00:09:37.279> which<00:09:37.600> was<00:09:38.000> a<00:09:38.240> six<00:09:38.480> degree<00:09:38.800> freedom 00:09:39.110 --> 00:09:39.120 align:start position:0% or bsp which was a six degree freedom 00:09:39.120 --> 00:09:39.750 align:start position:0% or bsp which was a six degree freedom parallel 00:09:39.750 --> 00:09:39.760 align:start position:0% parallel 00:09:39.760 --> 00:09:43.750 align:start position:0% parallel mechanism<00:09:41.200> uh<00:09:42.160> direct<00:09:42.480> driven 00:09:43.750 --> 00:09:43.760 align:start position:0% mechanism uh direct driven 00:09:43.760 --> 00:09:45.990 align:start position:0% mechanism uh direct driven very<00:09:44.000> very<00:09:44.240> high<00:09:44.480> mechanical<00:09:45.040> bandwidth<00:09:45.839> the 00:09:45.990 --> 00:09:46.000 align:start position:0% very very high mechanical bandwidth the 00:09:46.000 --> 00:09:47.990 align:start position:0% very very high mechanical bandwidth the order<00:09:46.320> of<00:09:46.720> you<00:09:46.800> know 00:09:47.990 --> 00:09:48.000 align:start position:0% order of you know 00:09:48.000 --> 00:09:51.030 align:start position:0% order of you know high<00:09:48.240> fit<00:09:48.560> for<00:09:48.800> small<00:09:49.120> motion<00:09:49.440> 100<00:09:49.839> hertz 00:09:51.030 --> 00:09:51.040 align:start position:0% high fit for small motion 100 hertz 00:09:51.040 --> 00:09:53.190 align:start position:0% high fit for small motion 100 hertz you<00:09:51.360> could<00:09:51.600> get<00:09:52.240> reasonably<00:09:52.560> large<00:09:52.800> motion<00:09:53.120> at 00:09:53.190 --> 00:09:53.200 align:start position:0% you could get reasonably large motion at 00:09:53.200 --> 00:09:54.949 align:start position:0% you could get reasonably large motion at 10<00:09:53.519> hertz 00:09:54.949 --> 00:09:54.959 align:start position:0% 10 hertz 00:09:54.959 --> 00:09:57.670 align:start position:0% 10 hertz there's<00:09:55.279> a<00:09:55.360> lot<00:09:55.519> of<00:09:55.680> power<00:09:56.000> inside<00:09:56.320> the<00:09:56.480> system 00:09:57.670 --> 00:09:57.680 align:start position:0% there's a lot of power inside the system 00:09:57.680 --> 00:09:59.350 align:start position:0% there's a lot of power inside the system and 00:09:59.350 --> 00:09:59.360 align:start position:0% and 00:09:59.360 --> 00:10:03.509 align:start position:0% and we<00:09:59.519> then<00:09:59.760> try<00:10:00.000> to<00:10:00.080> couple<00:10:00.480> that<00:10:00.880> to<00:10:01.760> a<00:10:01.920> puma<00:10:02.320> 560 00:10:03.509 --> 00:10:03.519 align:start position:0% we then try to couple that to a puma 560 00:10:03.519 --> 00:10:05.670 align:start position:0% we then try to couple that to a puma 560 which<00:10:03.760> we<00:10:03.920> were<00:10:04.079> modeling<00:10:04.560> as<00:10:04.800> our<00:10:05.440> as<00:10:05.600> our 00:10:05.670 --> 00:10:05.680 align:start position:0% which we were modeling as our as our 00:10:05.680 --> 00:10:07.910 align:start position:0% which we were modeling as our as our remote<00:10:06.000> manipulator<00:10:06.640> to<00:10:06.720> see 00:10:07.910 --> 00:10:07.920 align:start position:0% remote manipulator to see 00:10:07.920 --> 00:10:11.430 align:start position:0% remote manipulator to see how<00:10:08.240> well<00:10:09.040> that<00:10:09.200> would<00:10:09.360> perform<00:10:10.240> because 00:10:11.430 --> 00:10:11.440 align:start position:0% how well that would perform because 00:10:11.440 --> 00:10:13.590 align:start position:0% how well that would perform because that's<00:10:11.680> when<00:10:11.839> i<00:10:11.920> was<00:10:12.079> working<00:10:12.399> with<00:10:12.720> um<00:10:13.360> quite 00:10:13.590 --> 00:10:13.600 align:start position:0% that's when i was working with um quite 00:10:13.600 --> 00:10:15.430 align:start position:0% that's when i was working with um quite closely<00:10:14.000> with<00:10:14.320> aea 00:10:15.430 --> 00:10:15.440 align:start position:0% closely with aea 00:10:15.440 --> 00:10:19.269 align:start position:0% closely with aea that<00:10:15.680> was<00:10:16.480> i<00:10:16.640> would<00:10:16.720> say<00:10:16.959> late<00:10:17.200> 80s 00:10:19.269 --> 00:10:19.279 align:start position:0% that was i would say late 80s 00:10:19.279 --> 00:10:21.030 align:start position:0% that was i would say late 80s with<00:10:19.440> a<00:10:19.519> guy<00:10:19.760> called<00:10:19.920> patrick<00:10:20.399> fisher<00:10:20.800> who<00:10:20.959> is 00:10:21.030 --> 00:10:21.040 align:start position:0% with a guy called patrick fisher who is 00:10:21.040 --> 00:10:23.030 align:start position:0% with a guy called patrick fisher who is my<00:10:21.200> phd<00:10:21.760> student 00:10:23.030 --> 00:10:23.040 align:start position:0% my phd student 00:10:23.040 --> 00:10:26.949 align:start position:0% my phd student he<00:10:24.079> worked<00:10:24.399> with<00:10:24.560> aea<00:10:26.000> they<00:10:26.240> had<00:10:26.399> a<00:10:26.480> particular 00:10:26.949 --> 00:10:26.959 align:start position:0% he worked with aea they had a particular 00:10:26.959 --> 00:10:28.069 align:start position:0% he worked with aea they had a particular vision 00:10:28.069 --> 00:10:28.079 align:start position:0% vision 00:10:28.079 --> 00:10:31.350 align:start position:0% vision of<00:10:28.480> trying<00:10:28.800> to<00:10:28.959> productionize<00:10:30.079> the 00:10:31.350 --> 00:10:31.360 align:start position:0% of trying to productionize the 00:10:31.360 --> 00:10:34.949 align:start position:0% of trying to productionize the uh<00:10:33.760> the<00:10:34.000> remote 00:10:34.949 --> 00:10:34.959 align:start position:0% uh the remote 00:10:34.959 --> 00:10:37.990 align:start position:0% uh the remote decommissioning<00:10:35.920> of<00:10:36.399> various<00:10:37.600> nuclear 00:10:37.990 --> 00:10:38.000 align:start position:0% decommissioning of various nuclear 00:10:38.000 --> 00:10:39.269 align:start position:0% decommissioning of various nuclear contaminated 00:10:39.269 --> 00:10:39.279 align:start position:0% contaminated 00:10:39.279 --> 00:10:42.310 align:start position:0% contaminated artifacts<00:10:39.839> within<00:10:40.560> within<00:10:40.959> the<00:10:41.040> uk<00:10:41.920> mostly 00:10:42.310 --> 00:10:42.320 align:start position:0% artifacts within within the uk mostly 00:10:42.320 --> 00:10:43.430 align:start position:0% artifacts within within the uk mostly associated<00:10:43.040> with 00:10:43.430 --> 00:10:43.440 align:start position:0% associated with 00:10:43.440 --> 00:10:46.710 align:start position:0% associated with the<00:10:43.680> uk<00:10:44.640> atomic<00:10:45.120> energy<00:10:46.000> program<00:10:46.480> in<00:10:46.640> the 00:10:46.710 --> 00:10:46.720 align:start position:0% the uk atomic energy program in the 00:10:46.720 --> 00:10:48.949 align:start position:0% the uk atomic energy program in the 1940s<00:10:47.440> and<00:10:47.600> 1950s 00:10:48.949 --> 00:10:48.959 align:start position:0% 1940s and 1950s 00:10:48.959 --> 00:10:52.230 align:start position:0% 1940s and 1950s sort<00:10:49.120> of<00:10:49.279> things<00:10:49.519> like<00:10:50.240> early<00:10:51.200> early<00:10:51.920> bomb 00:10:52.230 --> 00:10:52.240 align:start position:0% sort of things like early early bomb 00:10:52.240 --> 00:10:54.069 align:start position:0% sort of things like early early bomb manufacture<00:10:52.959> and<00:10:53.120> so<00:10:53.360> forth 00:10:54.069 --> 00:10:54.079 align:start position:0% manufacture and so forth 00:10:54.079 --> 00:10:56.150 align:start position:0% manufacture and so forth so<00:10:54.240> this<00:10:54.480> left<00:10:54.720> a<00:10:54.800> number<00:10:55.120> of<00:10:55.600> legacy 00:10:56.150 --> 00:10:56.160 align:start position:0% so this left a number of legacy 00:10:56.160 --> 00:10:57.430 align:start position:0% so this left a number of legacy components<00:10:56.800> which 00:10:57.430 --> 00:10:57.440 align:start position:0% components which 00:10:57.440 --> 00:11:00.710 align:start position:0% components which have<00:10:57.600> similar<00:10:57.920> legacy<00:10:58.320> components<00:10:59.040> in<00:10:59.200> the<00:10:59.279> us 00:11:00.710 --> 00:11:00.720 align:start position:0% have similar legacy components in the us 00:11:00.720 --> 00:11:04.069 align:start position:0% have similar legacy components in the us where<00:11:01.519> you<00:11:01.680> have<00:11:02.640> poorly<00:11:02.959> defined 00:11:04.069 --> 00:11:04.079 align:start position:0% where you have poorly defined 00:11:04.079 --> 00:11:07.190 align:start position:0% where you have poorly defined geometry<00:11:05.279> you<00:11:05.440> have<00:11:06.399> stuff<00:11:06.720> inside 00:11:07.190 --> 00:11:07.200 align:start position:0% geometry you have stuff inside 00:11:07.200 --> 00:11:09.590 align:start position:0% geometry you have stuff inside ponds<00:11:08.240> you<00:11:08.399> have<00:11:08.560> machine<00:11:09.040> tools<00:11:09.360> that<00:11:09.519> you 00:11:09.590 --> 00:11:09.600 align:start position:0% ponds you have machine tools that you 00:11:09.600 --> 00:11:11.350 align:start position:0% ponds you have machine tools that you want<00:11:09.839> to<00:11:09.920> take<00:11:10.160> apart 00:11:11.350 --> 00:11:11.360 align:start position:0% want to take apart 00:11:11.360 --> 00:11:14.310 align:start position:0% want to take apart and<00:11:11.519> so<00:11:12.880> we<00:11:13.040> were<00:11:13.360> interested<00:11:13.839> in<00:11:14.000> trying<00:11:14.240> to 00:11:14.310 --> 00:11:14.320 align:start position:0% and so we were interested in trying to 00:11:14.320 --> 00:11:15.670 align:start position:0% and so we were interested in trying to work<00:11:14.560> out<00:11:14.640> whether<00:11:14.880> we<00:11:14.959> could<00:11:15.120> use 00:11:15.670 --> 00:11:15.680 align:start position:0% work out whether we could use 00:11:15.680 --> 00:11:19.350 align:start position:0% work out whether we could use a<00:11:16.399> nuclear<00:11:16.880> hardened<00:11:17.279> commercial<00:11:17.839> robot 00:11:19.350 --> 00:11:19.360 align:start position:0% a nuclear hardened commercial robot 00:11:19.360 --> 00:11:22.710 align:start position:0% a nuclear hardened commercial robot and<00:11:21.279> use<00:11:21.600> that<00:11:21.760> device 00:11:22.710 --> 00:11:22.720 align:start position:0% and use that device 00:11:22.720 --> 00:11:25.509 align:start position:0% and use that device as<00:11:23.040> a<00:11:23.120> remote<00:11:24.240> tele<00:11:24.560> operator<00:11:24.959> to<00:11:25.120> perform<00:11:25.440> the 00:11:25.509 --> 00:11:25.519 align:start position:0% as a remote tele operator to perform the 00:11:25.519 --> 00:11:26.710 align:start position:0% as a remote tele operator to perform the sort<00:11:25.760> of<00:11:25.839> tasks 00:11:26.710 --> 00:11:26.720 align:start position:0% sort of tasks 00:11:26.720 --> 00:11:28.150 align:start position:0% sort of tasks that<00:11:26.880> would<00:11:27.120> normally<00:11:27.440> be<00:11:27.600> performed<00:11:27.920> by<00:11:28.079> a 00:11:28.150 --> 00:11:28.160 align:start position:0% that would normally be performed by a 00:11:28.160 --> 00:11:30.150 align:start position:0% that would normally be performed by a human<00:11:28.399> being<00:11:28.720> wearing<00:11:29.279> a 00:11:30.150 --> 00:11:30.160 align:start position:0% human being wearing a 00:11:30.160 --> 00:11:32.470 align:start position:0% human being wearing a hazard<00:11:30.560> by<00:11:30.800> a<00:11:30.880> hazard<00:11:31.279> suit<00:11:32.000> so<00:11:32.160> if<00:11:32.320> you<00:11:32.399> can 00:11:32.470 --> 00:11:32.480 align:start position:0% hazard by a hazard suit so if you can 00:11:32.480 --> 00:11:34.470 align:start position:0% hazard by a hazard suit so if you can imagine<00:11:32.880> somebody<00:11:33.200> with<00:11:33.360> a<00:11:33.440> big<00:11:33.680> saw 00:11:34.470 --> 00:11:34.480 align:start position:0% imagine somebody with a big saw 00:11:34.480 --> 00:11:35.590 align:start position:0% imagine somebody with a big saw wearing<00:11:34.880> something<00:11:35.120> looking<00:11:35.360> like<00:11:35.519> a 00:11:35.590 --> 00:11:35.600 align:start position:0% wearing something looking like a 00:11:35.600 --> 00:11:37.910 align:start position:0% wearing something looking like a michelin<00:11:36.079> man<00:11:36.399> with<00:11:36.720> air<00:11:36.880> being<00:11:37.120> pumped<00:11:37.440> in 00:11:37.910 --> 00:11:37.920 align:start position:0% michelin man with air being pumped in 00:11:37.920 --> 00:11:39.670 align:start position:0% michelin man with air being pumped in they<00:11:38.160> would<00:11:38.240> be<00:11:38.399> in<00:11:38.560> a<00:11:38.880> radioactive 00:11:39.670 --> 00:11:39.680 align:start position:0% they would be in a radioactive 00:11:39.680 --> 00:11:41.910 align:start position:0% they would be in a radioactive environment<00:11:40.800> where<00:11:41.200> they<00:11:41.360> could<00:11:41.519> only<00:11:41.760> work 00:11:41.910 --> 00:11:41.920 align:start position:0% environment where they could only work 00:11:41.920 --> 00:11:43.509 align:start position:0% environment where they could only work for<00:11:42.079> say<00:11:42.240> one<00:11:42.399> or<00:11:42.560> two<00:11:42.800> hours 00:11:43.509 --> 00:11:43.519 align:start position:0% for say one or two hours 00:11:43.519 --> 00:11:45.110 align:start position:0% for say one or two hours trying<00:11:43.760> to<00:11:43.920> cut<00:11:44.160> these<00:11:44.320> things<00:11:44.640> up<00:11:44.800> and<00:11:44.959> put 00:11:45.110 --> 00:11:45.120 align:start position:0% trying to cut these things up and put 00:11:45.120 --> 00:11:47.750 align:start position:0% trying to cut these things up and put them<00:11:45.279> inside<00:11:46.160> stainless<00:11:46.560> steel<00:11:46.880> cans 00:11:47.750 --> 00:11:47.760 align:start position:0% them inside stainless steel cans 00:11:47.760 --> 00:11:50.629 align:start position:0% them inside stainless steel cans ready<00:11:48.000> for<00:11:48.160> long-term<00:11:48.720> storage<00:11:50.000> so<00:11:50.240> we<00:11:50.399> had<00:11:50.560> a 00:11:50.629 --> 00:11:50.639 align:start position:0% ready for long-term storage so we had a 00:11:50.639 --> 00:11:52.550 align:start position:0% ready for long-term storage so we had a vision<00:11:51.120> that<00:11:51.279> we<00:11:51.440> could<00:11:51.680> use 00:11:52.550 --> 00:11:52.560 align:start position:0% vision that we could use 00:11:52.560 --> 00:11:54.629 align:start position:0% vision that we could use nuclear<00:11:53.040> hardened<00:11:53.519> commercial<00:11:54.000> robots<00:11:54.399> such 00:11:54.629 --> 00:11:54.639 align:start position:0% nuclear hardened commercial robots such 00:11:54.639 --> 00:11:56.310 align:start position:0% nuclear hardened commercial robots such as<00:11:54.720> the<00:11:54.800> big<00:11:55.040> puma 00:11:56.310 --> 00:11:56.320 align:start position:0% as the big puma 00:11:56.320 --> 00:11:59.990 align:start position:0% as the big puma and<00:11:57.839> we<00:11:58.000> were<00:11:58.160> looking<00:11:58.480> at<00:11:59.040> using<00:11:59.440> things<00:11:59.680> such 00:11:59.990 --> 00:12:00.000 align:start position:0% and we were looking at using things such 00:12:00.000 --> 00:12:01.110 align:start position:0% and we were looking at using things such as 00:12:01.110 --> 00:12:01.120 align:start position:0% as 00:12:01.120 --> 00:12:06.949 align:start position:0% as huge<00:12:02.240> jigsaws<00:12:03.120> and<00:12:03.760> big<00:12:04.000> drills 00:12:06.949 --> 00:12:06.959 align:start position:0% 00:12:06.959 --> 00:12:08.470 align:start position:0% cutters<00:12:07.360> which<00:12:07.519> would<00:12:07.680> cut<00:12:07.920> through<00:12:08.240> plate 00:12:08.470 --> 00:12:08.480 align:start position:0% cutters which would cut through plate 00:12:08.480 --> 00:12:10.389 align:start position:0% cutters which would cut through plate steel<00:12:08.880> very<00:12:09.120> quickly 00:12:10.389 --> 00:12:10.399 align:start position:0% steel very quickly 00:12:10.399 --> 00:12:14.310 align:start position:0% steel very quickly so<00:12:12.160> they<00:12:12.399> wanted<00:12:12.800> to<00:12:12.959> be<00:12:13.120> at<00:12:13.279> well 00:12:14.310 --> 00:12:14.320 align:start position:0% so they wanted to be at well 00:12:14.320 --> 00:12:17.430 align:start position:0% so they wanted to be at well we<00:12:14.720> had<00:12:14.880> a<00:12:15.040> vision<00:12:16.160> that<00:12:16.560> we<00:12:16.720> could<00:12:16.959> couple<00:12:17.279> a 00:12:17.430 --> 00:12:17.440 align:start position:0% we had a vision that we could couple a 00:12:17.440 --> 00:12:18.550 align:start position:0% we had a vision that we could couple a human<00:12:17.680> being 00:12:18.550 --> 00:12:18.560 align:start position:0% human being 00:12:18.560 --> 00:12:21.990 align:start position:0% human being to<00:12:20.000> to<00:12:20.240> these<00:12:20.399> machines 00:12:21.990 --> 00:12:22.000 align:start position:0% to to these machines 00:12:22.000 --> 00:12:25.670 align:start position:0% to to these machines so<00:12:22.240> i<00:12:22.320> had<00:12:22.480> a<00:12:22.560> look<00:12:22.720> at<00:12:22.800> the<00:12:22.880> literature<00:12:23.519> on 00:12:25.670 --> 00:12:25.680 align:start position:0% so i had a look at the literature on 00:12:25.680 --> 00:12:28.389 align:start position:0% so i had a look at the literature on on<00:12:26.240> human<00:12:26.560> machine<00:12:26.959> interaction<00:12:28.079> and<00:12:28.320> i 00:12:28.389 --> 00:12:28.399 align:start position:0% on human machine interaction and i 00:12:28.399 --> 00:12:29.829 align:start position:0% on human machine interaction and i became<00:12:28.720> very<00:12:28.959> surprised 00:12:29.829 --> 00:12:29.839 align:start position:0% became very surprised 00:12:29.839 --> 00:12:32.870 align:start position:0% became very surprised at<00:12:30.880> the<00:12:31.040> nature<00:12:31.440> of<00:12:31.519> the<00:12:31.600> literature 00:12:32.870 --> 00:12:32.880 align:start position:0% at the nature of the literature 00:12:32.880 --> 00:12:34.710 align:start position:0% at the nature of the literature and<00:12:33.040> this<00:12:33.279> is<00:12:33.360> another<00:12:33.760> theme<00:12:34.000> which<00:12:34.240> i<00:12:34.480> came 00:12:34.710 --> 00:12:34.720 align:start position:0% and this is another theme which i came 00:12:34.720 --> 00:12:35.990 align:start position:0% and this is another theme which i came up<00:12:34.880> with 00:12:35.990 --> 00:12:36.000 align:start position:0% up with 00:12:36.000 --> 00:12:38.150 align:start position:0% up with um<00:12:36.480> there<00:12:36.639> are<00:12:36.720> a<00:12:36.800> number<00:12:37.040> of<00:12:37.120> people<00:12:37.279> that<00:12:37.920> i 00:12:38.150 --> 00:12:38.160 align:start position:0% um there are a number of people that i 00:12:38.160 --> 00:12:40.150 align:start position:0% um there are a number of people that i felt<00:12:38.800> thought<00:12:39.040> the<00:12:39.120> same 00:12:40.150 --> 00:12:40.160 align:start position:0% felt thought the same 00:12:40.160 --> 00:12:43.030 align:start position:0% felt thought the same in<00:12:40.399> that<00:12:41.519> what<00:12:41.680> people<00:12:42.000> tended<00:12:42.399> to<00:12:42.560> do<00:12:42.880> was 00:12:43.030 --> 00:12:43.040 align:start position:0% in that what people tended to do was 00:12:43.040 --> 00:12:45.350 align:start position:0% in that what people tended to do was they<00:12:43.200> tended<00:12:43.519> to<00:12:43.680> build<00:12:44.000> a<00:12:44.160> machine 00:12:45.350 --> 00:12:45.360 align:start position:0% they tended to build a machine 00:12:45.360 --> 00:12:47.829 align:start position:0% they tended to build a machine which<00:12:45.600> did<00:12:45.839> something<00:12:47.279> and<00:12:47.440> then<00:12:47.680> they 00:12:47.829 --> 00:12:47.839 align:start position:0% which did something and then they 00:12:47.839 --> 00:12:50.069 align:start position:0% which did something and then they reported<00:12:48.399> on<00:12:48.560> what<00:12:48.800> it<00:12:48.959> did 00:12:50.069 --> 00:12:50.079 align:start position:0% reported on what it did 00:12:50.079 --> 00:12:53.030 align:start position:0% reported on what it did so<00:12:50.320> it<00:12:50.480> was<00:12:51.200> the<00:12:51.440> the<00:12:51.440> the<00:12:52.399> the<00:12:52.560> literature<00:12:52.959> of 00:12:53.030 --> 00:12:53.040 align:start position:0% so it was the the the the literature of 00:12:53.040 --> 00:12:54.310 align:start position:0% so it was the the the the literature of the<00:12:53.120> time<00:12:53.440> seemed<00:12:53.680> to<00:12:53.760> be<00:12:53.920> full 00:12:54.310 --> 00:12:54.320 align:start position:0% the time seemed to be full 00:12:54.320 --> 00:12:58.790 align:start position:0% the time seemed to be full of<00:12:55.360> look<00:12:55.839> no<00:12:56.079> hands<00:12:56.480> tight<00:12:56.800> papers 00:12:58.790 --> 00:12:58.800 align:start position:0% of look no hands tight papers 00:12:58.800 --> 00:13:01.590 align:start position:0% of look no hands tight papers and<00:12:59.600> with<00:12:59.920> very<00:13:00.160> little<00:13:00.480> effort<00:13:00.959> going<00:13:01.200> into 00:13:01.590 --> 00:13:01.600 align:start position:0% and with very little effort going into 00:13:01.600 --> 00:13:03.750 align:start position:0% and with very little effort going into the<00:13:01.760> underlying<00:13:02.399> science 00:13:03.750 --> 00:13:03.760 align:start position:0% the underlying science 00:13:03.760 --> 00:13:06.949 align:start position:0% the underlying science behind<00:13:05.120> what<00:13:06.000> they<00:13:06.160> were<00:13:06.320> trying<00:13:06.480> to<00:13:06.639> do 00:13:06.949 --> 00:13:06.959 align:start position:0% behind what they were trying to do 00:13:06.959 --> 00:13:10.710 align:start position:0% behind what they were trying to do so<00:13:07.120> there<00:13:07.279> was<00:13:08.720> much<00:13:09.760> there<00:13:09.920> wasn't<00:13:10.240> much<00:13:10.560> in 00:13:10.710 --> 00:13:10.720 align:start position:0% so there was much there wasn't much in 00:13:10.720 --> 00:13:12.870 align:start position:0% so there was much there wasn't much in terms<00:13:11.120> of<00:13:11.360> trying<00:13:11.680> to 00:13:12.870 --> 00:13:12.880 align:start position:0% terms of trying to 00:13:12.880 --> 00:13:16.150 align:start position:0% terms of trying to develop<00:13:14.320> experiments<00:13:15.279> which<00:13:15.519> would 00:13:16.150 --> 00:13:16.160 align:start position:0% develop experiments which would 00:13:16.160 --> 00:13:19.430 align:start position:0% develop experiments which would determine<00:13:17.920> this<00:13:18.480> say<00:13:18.800> the<00:13:18.959> science<00:13:19.360> of 00:13:19.430 --> 00:13:19.440 align:start position:0% determine this say the science of 00:13:19.440 --> 00:13:20.470 align:start position:0% determine this say the science of manipulation 00:13:20.470 --> 00:13:20.480 align:start position:0% manipulation 00:13:20.480 --> 00:13:22.870 align:start position:0% manipulation it<00:13:20.639> was<00:13:20.800> mostly<00:13:21.200> about<00:13:21.839> building<00:13:22.480> something 00:13:22.870 --> 00:13:22.880 align:start position:0% it was mostly about building something 00:13:22.880 --> 00:13:23.829 align:start position:0% it was mostly about building something to<00:13:23.040> perform 00:13:23.829 --> 00:13:23.839 align:start position:0% to perform 00:13:23.839 --> 00:13:26.710 align:start position:0% to perform a<00:13:24.079> specific<00:13:24.720> task<00:13:25.600> and<00:13:25.680> then<00:13:25.920> you'd<00:13:26.160> report<00:13:26.560> on 00:13:26.710 --> 00:13:26.720 align:start position:0% a specific task and then you'd report on 00:13:26.720 --> 00:13:29.670 align:start position:0% a specific task and then you'd report on how<00:13:26.959> well<00:13:27.120> it<00:13:27.279> performed<00:13:27.680> that<00:13:28.000> task 00:13:29.670 --> 00:13:29.680 align:start position:0% how well it performed that task 00:13:29.680 --> 00:13:32.310 align:start position:0% how well it performed that task with<00:13:29.920> little<00:13:30.240> thought<00:13:30.560> about<00:13:31.120> well<00:13:31.920> can<00:13:32.079> you 00:13:32.310 --> 00:13:32.320 align:start position:0% with little thought about well can you 00:13:32.320 --> 00:13:33.509 align:start position:0% with little thought about well can you actually 00:13:33.509 --> 00:13:33.519 align:start position:0% actually 00:13:33.519 --> 00:13:35.110 align:start position:0% actually reduce<00:13:33.920> the<00:13:34.000> problem<00:13:34.320> to<00:13:34.480> a<00:13:34.560> much<00:13:34.800> simpler 00:13:35.110 --> 00:13:35.120 align:start position:0% reduce the problem to a much simpler 00:13:35.120 --> 00:13:37.590 align:start position:0% reduce the problem to a much simpler problem<00:13:35.440> and<00:13:35.760> ask<00:13:36.079> yourself<00:13:36.480> questions 00:13:37.590 --> 00:13:37.600 align:start position:0% problem and ask yourself questions 00:13:37.600 --> 00:13:41.269 align:start position:0% problem and ask yourself questions about<00:13:38.240> the<00:13:40.160> underlying<00:13:40.720> science<00:13:41.040> and<00:13:41.199> the 00:13:41.269 --> 00:13:41.279 align:start position:0% about the underlying science and the 00:13:41.279 --> 00:13:43.110 align:start position:0% about the underlying science and the physics<00:13:41.600> of<00:13:41.680> the<00:13:41.839> system 00:13:43.110 --> 00:13:43.120 align:start position:0% physics of the system 00:13:43.120 --> 00:13:45.590 align:start position:0% physics of the system so<00:13:43.279> that<00:13:43.440> got<00:13:43.680> me<00:13:43.839> interested<00:13:44.480> in<00:13:44.959> the<00:13:45.120> design 00:13:45.590 --> 00:13:45.600 align:start position:0% so that got me interested in the design 00:13:45.600 --> 00:13:48.310 align:start position:0% so that got me interested in the design of<00:13:45.839> remote<00:13:46.839> manipulators 00:13:48.310 --> 00:13:48.320 align:start position:0% of remote manipulators 00:13:48.320 --> 00:13:52.069 align:start position:0% of remote manipulators and<00:13:50.160> one<00:13:50.399> question<00:13:50.880> i<00:13:51.040> felt<00:13:51.360> had<00:13:51.519> not<00:13:51.839> been 00:13:52.069 --> 00:13:52.079 align:start position:0% and one question i felt had not been 00:13:52.079 --> 00:13:53.110 align:start position:0% and one question i felt had not been answered 00:13:53.110 --> 00:13:53.120 align:start position:0% answered 00:13:53.120 --> 00:13:55.110 align:start position:0% answered was<00:13:53.440> how<00:13:53.760> do<00:13:53.839> you<00:13:53.920> design<00:13:54.320> a<00:13:54.480> good<00:13:54.800> tele 00:13:55.110 --> 00:13:55.120 align:start position:0% was how do you design a good tele 00:13:55.120 --> 00:13:56.949 align:start position:0% was how do you design a good tele operator<00:13:55.600> and<00:13:55.760> what<00:13:56.000> limited 00:13:56.949 --> 00:13:56.959 align:start position:0% operator and what limited 00:13:56.959 --> 00:13:58.470 align:start position:0% operator and what limited the<00:13:57.120> performance<00:13:57.600> of<00:13:57.680> tele<00:13:58.000> operators<00:13:58.399> and 00:13:58.470 --> 00:13:58.480 align:start position:0% the performance of tele operators and 00:13:58.480 --> 00:13:59.750 align:start position:0% the performance of tele operators and that<00:13:58.560> people<00:13:58.800> have<00:13:58.880> been<00:13:59.040> designing<00:13:59.519> these 00:13:59.750 --> 00:13:59.760 align:start position:0% that people have been designing these 00:13:59.760 --> 00:14:01.030 align:start position:0% that people have been designing these things 00:14:01.030 --> 00:14:01.040 align:start position:0% things 00:14:01.040 --> 00:14:04.470 align:start position:0% things for<00:14:01.440> 50<00:14:01.839> years<00:14:03.519> they've<00:14:03.760> been<00:14:04.000> sort<00:14:04.160> of<00:14:04.240> trying 00:14:04.470 --> 00:14:04.480 align:start position:0% for 50 years they've been sort of trying 00:14:04.480 --> 00:14:06.629 align:start position:0% for 50 years they've been sort of trying to<00:14:04.639> build<00:14:04.959> these<00:14:05.199> devices 00:14:06.629 --> 00:14:06.639 align:start position:0% to build these devices 00:14:06.639 --> 00:14:09.590 align:start position:0% to build these devices and<00:14:06.959> so<00:14:07.120> i<00:14:07.360> asked<00:14:07.680> the<00:14:07.760> people<00:14:08.000> in<00:14:09.040> in<00:14:09.199> the 00:14:09.590 --> 00:14:09.600 align:start position:0% and so i asked the people in in the 00:14:09.600 --> 00:14:11.670 align:start position:0% and so i asked the people in in the industry<00:14:10.079> i<00:14:10.160> said<00:14:10.320> well<00:14:10.560> okay 00:14:11.670 --> 00:14:11.680 align:start position:0% industry i said well okay 00:14:11.680 --> 00:14:14.629 align:start position:0% industry i said well okay if<00:14:11.839> i<00:14:11.920> gave<00:14:12.079> you<00:14:12.240> two<00:14:12.399> manipulators<00:14:14.160> one 00:14:14.629 --> 00:14:14.639 align:start position:0% if i gave you two manipulators one 00:14:14.639 --> 00:14:17.110 align:start position:0% if i gave you two manipulators one design<00:14:15.040> like<00:14:15.199> this<00:14:15.360> one<00:14:15.600> design<00:14:15.920> like<00:14:16.160> that 00:14:17.110 --> 00:14:17.120 align:start position:0% design like this one design like that 00:14:17.120 --> 00:14:18.470 align:start position:0% design like this one design like that how<00:14:17.360> do<00:14:17.440> you<00:14:17.519> determine<00:14:18.000> which<00:14:18.160> one<00:14:18.320> was 00:14:18.470 --> 00:14:18.480 align:start position:0% how do you determine which one was 00:14:18.480 --> 00:14:21.030 align:start position:0% how do you determine which one was better<00:14:19.839> what<00:14:20.079> performance<00:14:20.560> measures<00:14:20.880> would 00:14:21.030 --> 00:14:21.040 align:start position:0% better what performance measures would 00:14:21.040 --> 00:14:21.829 align:start position:0% better what performance measures would you<00:14:21.199> use 00:14:21.829 --> 00:14:21.839 align:start position:0% you use 00:14:21.839 --> 00:14:24.629 align:start position:0% you use and<00:14:22.000> they<00:14:22.079> couldn't<00:14:22.399> answer<00:14:23.839> and<00:14:24.000> i<00:14:24.320> then<00:14:24.480> i 00:14:24.629 --> 00:14:24.639 align:start position:0% and they couldn't answer and i then i 00:14:24.639 --> 00:14:26.470 align:start position:0% and they couldn't answer and i then i asked<00:14:24.880> the<00:14:24.959> question 00:14:26.470 --> 00:14:26.480 align:start position:0% asked the question 00:14:26.480 --> 00:14:29.189 align:start position:0% asked the question if<00:14:26.639> i<00:14:26.800> wanted<00:14:27.040> to<00:14:27.199> design<00:14:28.399> a<00:14:28.560> manipulator<00:14:29.120> with 00:14:29.189 --> 00:14:29.199 align:start position:0% if i wanted to design a manipulator with 00:14:29.199 --> 00:14:31.430 align:start position:0% if i wanted to design a manipulator with a<00:14:29.279> particular<00:14:29.760> specification 00:14:31.430 --> 00:14:31.440 align:start position:0% a particular specification 00:14:31.440 --> 00:14:33.670 align:start position:0% a particular specification how<00:14:31.760> do<00:14:31.839> you<00:14:31.920> achieve<00:14:32.240> that<00:14:32.399> specification 00:14:33.670 --> 00:14:33.680 align:start position:0% how do you achieve that specification 00:14:33.680 --> 00:14:35.269 align:start position:0% how do you achieve that specification and<00:14:33.920> how<00:14:34.079> would<00:14:34.320> you<00:14:34.399> determine<00:14:34.800> whether<00:14:35.040> that 00:14:35.269 --> 00:14:35.279 align:start position:0% and how would you determine whether that 00:14:35.279 --> 00:14:37.430 align:start position:0% and how would you determine whether that specification<00:14:35.920> was<00:14:36.079> achievable 00:14:37.430 --> 00:14:37.440 align:start position:0% specification was achievable 00:14:37.440 --> 00:14:41.590 align:start position:0% specification was achievable again<00:14:37.920> that<00:14:38.079> could<00:14:38.240> not<00:14:38.399> be<00:14:38.560> answered<00:14:40.000> so 00:14:41.590 --> 00:14:41.600 align:start position:0% again that could not be answered so 00:14:41.600 --> 00:14:44.069 align:start position:0% again that could not be answered so i<00:14:41.760> developed<00:14:42.160> a<00:14:42.240> model<00:14:42.639> of<00:14:42.880> the<00:14:43.199> manipulation 00:14:44.069 --> 00:14:44.079 align:start position:0% i developed a model of the manipulation 00:14:44.079 --> 00:14:45.110 align:start position:0% i developed a model of the manipulation process 00:14:45.110 --> 00:14:45.120 align:start position:0% process 00:14:45.120 --> 00:14:47.590 align:start position:0% process in<00:14:45.279> which<00:14:45.600> i<00:14:45.680> removed<00:14:46.000> the<00:14:46.079> manipulator<00:14:47.440> and 00:14:47.590 --> 00:14:47.600 align:start position:0% in which i removed the manipulator and 00:14:47.600 --> 00:14:49.910 align:start position:0% in which i removed the manipulator and just<00:14:47.839> replaced<00:14:48.320> it<00:14:48.399> with<00:14:48.560> an<00:14:48.720> abstract 00:14:49.910 --> 00:14:49.920 align:start position:0% just replaced it with an abstract 00:14:49.920 --> 00:14:52.150 align:start position:0% just replaced it with an abstract object<00:14:50.320> performing<00:14:50.800> manipulation<00:14:51.920> then 00:14:52.150 --> 00:14:52.160 align:start position:0% object performing manipulation then 00:14:52.160 --> 00:14:53.430 align:start position:0% object performing manipulation then start<00:14:52.560> ask<00:14:52.880> questions 00:14:53.430 --> 00:14:53.440 align:start position:0% start ask questions 00:14:53.440 --> 00:14:55.910 align:start position:0% start ask questions of<00:14:53.680> that<00:14:53.920> model<00:14:54.639> regarding<00:14:55.440> what<00:14:55.600> would<00:14:55.760> be 00:14:55.910 --> 00:14:55.920 align:start position:0% of that model regarding what would be 00:14:55.920 --> 00:14:57.670 align:start position:0% of that model regarding what would be the<00:14:56.000> consequences 00:14:57.670 --> 00:14:57.680 align:start position:0% the consequences 00:14:57.680 --> 00:15:00.470 align:start position:0% the consequences of<00:14:58.399> achieving<00:14:58.959> the<00:14:59.120> design<00:14:59.519> aim<00:14:59.839> of<00:15:00.079> perfect 00:15:00.470 --> 00:15:00.480 align:start position:0% of achieving the design aim of perfect 00:15:00.480 --> 00:15:01.910 align:start position:0% of achieving the design aim of perfect transparency<00:15:01.199> for<00:15:01.440> this 00:15:01.910 --> 00:15:01.920 align:start position:0% transparency for this 00:15:01.920 --> 00:15:05.670 align:start position:0% transparency for this device<00:15:03.519> and<00:15:04.079> it<00:15:04.320> quickly<00:15:04.639> became<00:15:04.959> apparent 00:15:05.670 --> 00:15:05.680 align:start position:0% device and it quickly became apparent 00:15:05.680 --> 00:15:08.230 align:start position:0% device and it quickly became apparent simply<00:15:06.079> from<00:15:06.639> application<00:15:07.120> of<00:15:07.199> newton's<00:15:07.600> laws 00:15:08.230 --> 00:15:08.240 align:start position:0% simply from application of newton's laws 00:15:08.240 --> 00:15:11.030 align:start position:0% simply from application of newton's laws that<00:15:08.560> any<00:15:08.880> perfect<00:15:09.279> manipulator<00:15:10.000> would<00:15:10.240> be 00:15:11.030 --> 00:15:11.040 align:start position:0% that any perfect manipulator would be 00:15:11.040 --> 00:15:13.750 align:start position:0% that any perfect manipulator would be something<00:15:11.600> which<00:15:11.839> would<00:15:12.880> perfectly<00:15:13.360> reflect 00:15:13.750 --> 00:15:13.760 align:start position:0% something which would perfectly reflect 00:15:13.760 --> 00:15:14.949 align:start position:0% something which would perfectly reflect momentum 00:15:14.949 --> 00:15:14.959 align:start position:0% momentum 00:15:14.959 --> 00:15:17.430 align:start position:0% momentum and<00:15:15.120> if<00:15:15.279> you<00:15:15.360> perfectly<00:15:15.839> reflect<00:15:16.160> momentum 00:15:17.430 --> 00:15:17.440 align:start position:0% and if you perfectly reflect momentum 00:15:17.440 --> 00:15:19.509 align:start position:0% and if you perfectly reflect momentum from<00:15:17.760> a<00:15:17.839> large<00:15:18.079> manipulator<00:15:18.720> if<00:15:18.800> you've<00:15:18.880> got<00:15:19.040> a 00:15:19.509 --> 00:15:19.519 align:start position:0% from a large manipulator if you've got a 00:15:19.519 --> 00:15:21.509 align:start position:0% from a large manipulator if you've got a if<00:15:19.600> you<00:15:19.760> imagine<00:15:20.079> what<00:15:20.240> we<00:15:20.399> had<00:15:21.040> we<00:15:21.199> had<00:15:21.440> a 00:15:21.509 --> 00:15:21.519 align:start position:0% if you imagine what we had we had a 00:15:21.519 --> 00:15:23.030 align:start position:0% if you imagine what we had we had a manipulator<00:15:22.240> carrying 00:15:23.030 --> 00:15:23.040 align:start position:0% manipulator carrying 00:15:23.040 --> 00:15:25.829 align:start position:0% manipulator carrying a<00:15:23.199> 50<00:15:23.519> kilogram<00:15:24.160> saw<00:15:24.880> which<00:15:25.120> would<00:15:25.199> then<00:15:25.519> thump 00:15:25.829 --> 00:15:25.839 align:start position:0% a 50 kilogram saw which would then thump 00:15:25.839 --> 00:15:27.590 align:start position:0% a 50 kilogram saw which would then thump into<00:15:26.079> a<00:15:26.160> piece<00:15:26.399> of<00:15:26.560> steel 00:15:27.590 --> 00:15:27.600 align:start position:0% into a piece of steel 00:15:27.600 --> 00:15:29.990 align:start position:0% into a piece of steel now<00:15:27.839> the<00:15:28.000> sort<00:15:28.240> of<00:15:28.320> forces<00:15:28.800> involved<00:15:29.600> with<00:15:29.839> one 00:15:29.990 --> 00:15:30.000 align:start position:0% now the sort of forces involved with one 00:15:30.000 --> 00:15:31.110 align:start position:0% now the sort of forces involved with one of<00:15:30.079> these<00:15:30.320> very<00:15:30.560> large 00:15:31.110 --> 00:15:31.120 align:start position:0% of these very large 00:15:31.120 --> 00:15:34.069 align:start position:0% of these very large robots<00:15:31.680> driving<00:15:32.160> into<00:15:32.560> a<00:15:33.199> lump<00:15:33.440> of<00:15:33.519> steel<00:15:33.839> work 00:15:34.069 --> 00:15:34.079 align:start position:0% robots driving into a lump of steel work 00:15:34.079 --> 00:15:35.829 align:start position:0% robots driving into a lump of steel work extremely<00:15:34.720> large 00:15:35.829 --> 00:15:35.839 align:start position:0% extremely large 00:15:35.839 --> 00:15:37.590 align:start position:0% extremely large if<00:15:36.000> you've<00:15:36.079> got<00:15:36.240> perfect<00:15:36.720> force<00:15:37.360> force 00:15:37.590 --> 00:15:37.600 align:start position:0% if you've got perfect force force 00:15:37.600 --> 00:15:39.189 align:start position:0% if you've got perfect force force feedback<00:15:38.160> for<00:15:38.320> this<00:15:38.480> device 00:15:39.189 --> 00:15:39.199 align:start position:0% feedback for this device 00:15:39.199 --> 00:15:42.150 align:start position:0% feedback for this device and<00:15:39.279> you're<00:15:39.519> holding<00:15:39.920> onto<00:15:40.160> a<00:15:40.800> very<00:15:41.120> low<00:15:41.360> mass 00:15:42.150 --> 00:15:42.160 align:start position:0% and you're holding onto a very low mass 00:15:42.160 --> 00:15:44.389 align:start position:0% and you're holding onto a very low mass very<00:15:42.399> high<00:15:42.639> bandwidth<00:15:43.120> device 00:15:44.389 --> 00:15:44.399 align:start position:0% very high bandwidth device 00:15:44.399 --> 00:15:46.310 align:start position:0% very high bandwidth device and<00:15:44.560> it<00:15:44.720> hits<00:15:44.959> something<00:15:45.279> you<00:15:45.519> it<00:15:45.680> just<00:15:46.160> you 00:15:46.310 --> 00:15:46.320 align:start position:0% and it hits something you it just you 00:15:46.320 --> 00:15:47.509 align:start position:0% and it hits something you it just you just<00:15:46.480> fly<00:15:46.800> off 00:15:47.509 --> 00:15:47.519 align:start position:0% just fly off 00:15:47.519 --> 00:15:48.550 align:start position:0% just fly off then<00:15:47.759> if<00:15:47.839> you<00:15:47.920> imagine<00:15:48.160> you've<00:15:48.240> got<00:15:48.399> the 00:15:48.550 --> 00:15:48.560 align:start position:0% then if you imagine you've got the 00:15:48.560 --> 00:15:50.629 align:start position:0% then if you imagine you've got the forward<00:15:48.880> coupling 00:15:50.629 --> 00:15:50.639 align:start position:0% forward coupling 00:15:50.639 --> 00:15:52.790 align:start position:0% forward coupling in<00:15:50.800> which<00:15:51.199> the<00:15:51.519> the<00:15:51.839> robot<00:15:52.240> itself<00:15:52.560> is 00:15:52.790 --> 00:15:52.800 align:start position:0% in which the the robot itself is 00:15:52.800 --> 00:15:54.710 align:start position:0% in which the the robot itself is actually<00:15:53.279> following 00:15:54.710 --> 00:15:54.720 align:start position:0% actually following 00:15:54.720 --> 00:15:56.790 align:start position:0% actually following your<00:15:54.959> demands<00:15:55.600> the<00:15:55.839> robot<00:15:56.240> itself<00:15:56.560> would 00:15:56.790 --> 00:15:56.800 align:start position:0% your demands the robot itself would 00:15:56.800 --> 00:15:57.829 align:start position:0% your demands the robot itself would follow<00:15:57.120> your 00:15:57.829 --> 00:15:57.839 align:start position:0% follow your 00:15:57.839 --> 00:16:00.710 align:start position:0% follow your rebound<00:15:58.399> and<00:15:58.560> itself<00:15:58.959> would<00:15:59.199> rebound<00:16:00.320> and<00:16:00.480> so 00:16:00.710 --> 00:16:00.720 align:start position:0% rebound and itself would rebound and so 00:16:00.720 --> 00:16:03.430 align:start position:0% rebound and itself would rebound and so what<00:16:00.959> we<00:16:01.199> found<00:16:01.519> was<00:16:01.759> this<00:16:02.240> huge 00:16:03.430 --> 00:16:03.440 align:start position:0% what we found was this huge 00:16:03.440 --> 00:16:06.629 align:start position:0% what we found was this huge increase<00:16:04.720> in<00:16:05.120> kinetic<00:16:05.680> energy<00:16:06.000> by<00:16:06.160> virtue<00:16:06.560> of 00:16:06.629 --> 00:16:06.639 align:start position:0% increase in kinetic energy by virtue of 00:16:06.639 --> 00:16:07.509 align:start position:0% increase in kinetic energy by virtue of the<00:16:06.720> fact 00:16:07.509 --> 00:16:07.519 align:start position:0% the fact 00:16:07.519 --> 00:16:11.910 align:start position:0% the fact that<00:16:07.759> you<00:16:08.000> are<00:16:09.680> actually 00:16:11.910 --> 00:16:11.920 align:start position:0% that you are actually 00:16:11.920 --> 00:16:15.829 align:start position:0% that you are actually faithfully<00:16:12.480> reproducing<00:16:13.839> uh<00:16:14.560> the<00:16:14.720> momentum 00:16:15.829 --> 00:16:15.839 align:start position:0% faithfully reproducing uh the momentum 00:16:15.839 --> 00:16:17.749 align:start position:0% faithfully reproducing uh the momentum that<00:16:16.079> is<00:16:16.240> the<00:16:16.320> force<00:16:16.800> force<00:16:17.199> the<00:16:17.279> changes<00:16:17.680> in 00:16:17.749 --> 00:16:17.759 align:start position:0% that is the force force the changes in 00:16:17.759 --> 00:16:19.590 align:start position:0% that is the force force the changes in force<00:16:18.399> so<00:16:18.560> the<00:16:18.639> changes<00:16:18.959> of<00:16:19.040> momentum<00:16:19.440> that 00:16:19.590 --> 00:16:19.600 align:start position:0% force so the changes of momentum that 00:16:19.600 --> 00:16:22.150 align:start position:0% force so the changes of momentum that the<00:16:19.680> device<00:16:20.079> is<00:16:20.839> experiencing<00:16:21.839> so 00:16:22.150 --> 00:16:22.160 align:start position:0% the device is experiencing so 00:16:22.160 --> 00:16:24.230 align:start position:0% the device is experiencing so that<00:16:22.399> got<00:16:22.560> me<00:16:22.720> thinking<00:16:22.959> about<00:16:23.199> what<00:16:23.440> type<00:16:23.680> of 00:16:24.230 --> 00:16:24.240 align:start position:0% that got me thinking about what type of 00:16:24.240 --> 00:16:26.470 align:start position:0% that got me thinking about what type of information<00:16:25.120> that<00:16:25.360> the<00:16:25.519> human<00:16:25.839> being<00:16:26.079> needs 00:16:26.470 --> 00:16:26.480 align:start position:0% information that the human being needs 00:16:26.480 --> 00:16:28.550 align:start position:0% information that the human being needs in<00:16:26.560> order<00:16:26.800> to<00:16:26.880> perform<00:16:27.199> manipulation 00:16:28.550 --> 00:16:28.560 align:start position:0% in order to perform manipulation 00:16:28.560 --> 00:16:30.790 align:start position:0% in order to perform manipulation so<00:16:28.880> it<00:16:29.040> got<00:16:29.199> me<00:16:29.360> interested<00:16:29.920> in<00:16:30.079> the<00:16:30.240> structure 00:16:30.790 --> 00:16:30.800 align:start position:0% so it got me interested in the structure 00:16:30.800 --> 00:16:32.150 align:start position:0% so it got me interested in the structure of<00:16:30.959> how<00:16:31.199> people<00:16:31.519> feel 00:16:32.150 --> 00:16:32.160 align:start position:0% of how people feel 00:16:32.160 --> 00:16:34.790 align:start position:0% of how people feel for<00:16:32.320> us<00:16:33.040> and<00:16:33.279> we<00:16:33.360> came<00:16:33.600> up<00:16:33.680> with<00:16:33.839> the<00:16:34.000> notion<00:16:34.480> of 00:16:34.790 --> 00:16:34.800 align:start position:0% for us and we came up with the notion of 00:16:34.800 --> 00:16:37.670 align:start position:0% for us and we came up with the notion of trying<00:16:35.120> to 00:16:37.670 --> 00:16:37.680 align:start position:0% trying to 00:16:37.680 --> 00:16:39.829 align:start position:0% trying to excite<00:16:38.160> the<00:16:38.240> kinesthetic<00:16:38.959> feel<00:16:39.279> at<00:16:39.360> very<00:16:39.600> low 00:16:39.829 --> 00:16:39.839 align:start position:0% excite the kinesthetic feel at very low 00:16:39.839 --> 00:16:41.749 align:start position:0% excite the kinesthetic feel at very low frequencies<00:16:40.560> as<00:16:40.720> well<00:16:40.959> as 00:16:41.749 --> 00:16:41.759 align:start position:0% frequencies as well as 00:16:41.759 --> 00:16:45.189 align:start position:0% frequencies as well as exciting<00:16:42.639> the<00:16:43.759> sense<00:16:44.000> of<00:16:44.240> touch 00:16:45.189 --> 00:16:45.199 align:start position:0% exciting the sense of touch 00:16:45.199 --> 00:16:47.110 align:start position:0% exciting the sense of touch at<00:16:45.360> high<00:16:45.680> frequencies<00:16:46.399> and<00:16:46.560> cutting<00:16:46.880> out<00:16:47.040> the 00:16:47.110 --> 00:16:47.120 align:start position:0% at high frequencies and cutting out the 00:16:47.120 --> 00:16:48.470 align:start position:0% at high frequencies and cutting out the middle<00:16:47.360> frequencies 00:16:48.470 --> 00:16:48.480 align:start position:0% middle frequencies 00:16:48.480 --> 00:16:50.949 align:start position:0% middle frequencies and<00:16:48.639> we<00:16:48.880> chose<00:16:49.600> how<00:16:49.920> much<00:16:50.399> to<00:16:50.560> cut<00:16:50.800> out<00:16:50.880> the 00:16:50.949 --> 00:16:50.959 align:start position:0% and we chose how much to cut out the 00:16:50.959 --> 00:16:53.829 align:start position:0% and we chose how much to cut out the middle<00:16:51.279> frequencies 00:16:53.829 --> 00:16:53.839 align:start position:0% middle frequencies 00:16:53.839 --> 00:16:56.230 align:start position:0% middle frequencies and<00:16:54.000> the<00:16:54.160> bandwidth<00:16:54.880> of<00:16:55.360> of<00:16:55.519> that<00:16:55.839> of<00:16:55.920> that 00:16:56.230 --> 00:16:56.240 align:start position:0% and the bandwidth of of that of that 00:16:56.240 --> 00:16:57.189 align:start position:0% and the bandwidth of of that of that notch 00:16:57.189 --> 00:16:57.199 align:start position:0% notch 00:16:57.199 --> 00:17:00.150 align:start position:0% notch by<00:16:58.320> the<00:16:58.560> limits<00:16:58.959> based<00:16:59.279> by<00:16:59.440> the<00:16:59.519> momentum 00:17:00.150 --> 00:17:00.160 align:start position:0% by the limits based by the momentum 00:17:00.160 --> 00:17:02.310 align:start position:0% by the limits based by the momentum transfer<00:17:00.639> that<00:17:00.720> you<00:17:00.880> get<00:17:01.040> between<00:17:01.360> the<00:17:01.519> device 00:17:02.310 --> 00:17:02.320 align:start position:0% transfer that you get between the device 00:17:02.320 --> 00:17:04.549 align:start position:0% transfer that you get between the device and<00:17:02.480> the<00:17:02.560> human<00:17:02.959> being<00:17:03.759> such<00:17:04.000> that<00:17:04.160> you<00:17:04.319> keep 00:17:04.549 --> 00:17:04.559 align:start position:0% and the human being such that you keep 00:17:04.559 --> 00:17:06.949 align:start position:0% and the human being such that you keep the<00:17:04.640> momentum<00:17:05.280> transfer<00:17:05.760> such<00:17:06.079> that 00:17:06.949 --> 00:17:06.959 align:start position:0% the momentum transfer such that 00:17:06.959 --> 00:17:10.230 align:start position:0% the momentum transfer such that the<00:17:07.120> velocity<00:17:07.600> of<00:17:07.679> rebound<00:17:08.400> of<00:17:08.559> the<00:17:08.720> human 00:17:10.230 --> 00:17:10.240 align:start position:0% the velocity of rebound of the human 00:17:10.240 --> 00:17:12.309 align:start position:0% the velocity of rebound of the human is<00:17:10.480> going<00:17:10.640> to<00:17:10.720> be<00:17:10.880> the<00:17:11.039> same<00:17:11.439> as<00:17:11.679> the<00:17:12.000> as<00:17:12.240> it 00:17:12.309 --> 00:17:12.319 align:start position:0% is going to be the same as the as it 00:17:12.319 --> 00:17:14.230 align:start position:0% is going to be the same as the as it would<00:17:12.480> have<00:17:12.640> been<00:17:12.799> the<00:17:12.959> velocity<00:17:13.360> of<00:17:13.439> rebound 00:17:14.230 --> 00:17:14.240 align:start position:0% would have been the velocity of rebound 00:17:14.240 --> 00:17:17.189 align:start position:0% would have been the velocity of rebound of<00:17:14.400> the<00:17:14.559> device<00:17:15.919> so<00:17:16.160> that<00:17:16.319> you<00:17:16.480> don't<00:17:16.720> get<00:17:16.959> this 00:17:17.189 --> 00:17:17.199 align:start position:0% of the device so that you don't get this 00:17:17.199 --> 00:17:19.590 align:start position:0% of the device so that you don't get this increase<00:17:17.760> in<00:17:17.839> kinetic<00:17:18.319> energy<00:17:18.640> by<00:17:18.880> virtue 00:17:19.590 --> 00:17:19.600 align:start position:0% increase in kinetic energy by virtue 00:17:19.600 --> 00:17:21.829 align:start position:0% increase in kinetic energy by virtue of<00:17:19.760> the<00:17:19.919> perfect<00:17:20.400> forward<00:17:20.799> coupling<00:17:21.520> of<00:17:21.679> your 00:17:21.829 --> 00:17:21.839 align:start position:0% of the perfect forward coupling of your 00:17:21.839 --> 00:17:23.669 align:start position:0% of the perfect forward coupling of your position 00:17:23.669 --> 00:17:23.679 align:start position:0% position 00:17:23.679 --> 00:17:26.949 align:start position:0% position so<00:17:23.839> the<00:17:24.000> human<00:17:24.319> being<00:17:25.760> would<00:17:25.919> then<00:17:26.319> feel 00:17:26.949 --> 00:17:26.959 align:start position:0% so the human being would then feel 00:17:26.959 --> 00:17:30.310 align:start position:0% so the human being would then feel a<00:17:27.120> much<00:17:27.439> reduced<00:17:28.400> mid-band<00:17:29.360> force 00:17:30.310 --> 00:17:30.320 align:start position:0% a much reduced mid-band force 00:17:30.320 --> 00:17:33.029 align:start position:0% a much reduced mid-band force consequence<00:17:30.880> of<00:17:30.960> that<00:17:31.120> is<00:17:31.200> we<00:17:32.320> developed<00:17:32.720> this 00:17:33.029 --> 00:17:33.039 align:start position:0% consequence of that is we developed this 00:17:33.039 --> 00:17:34.310 align:start position:0% consequence of that is we developed this strategy 00:17:34.310 --> 00:17:34.320 align:start position:0% strategy 00:17:34.320 --> 00:17:38.070 align:start position:0% strategy and<00:17:34.799> my<00:17:35.120> my<00:17:35.440> ideal 00:17:38.070 --> 00:17:38.080 align:start position:0% 00:17:38.080 --> 00:17:40.710 align:start position:0% well<00:17:38.799> we<00:17:38.960> put<00:17:39.120> together<00:17:39.360> a<00:17:39.440> video<00:17:40.000> which<00:17:40.240> was 00:17:40.710 --> 00:17:40.720 align:start position:0% well we put together a video which was 00:17:40.720 --> 00:17:41.350 align:start position:0% well we put together a video which was designed 00:17:41.350 --> 00:17:41.360 align:start position:0% designed 00:17:41.360 --> 00:17:44.630 align:start position:0% designed to<00:17:42.720> put<00:17:42.880> the<00:17:43.039> noses<00:17:43.679> out<00:17:43.919> of<00:17:44.000> joint<00:17:44.240> of<00:17:44.320> certain 00:17:44.630 --> 00:17:44.640 align:start position:0% to put the noses out of joint of certain 00:17:44.640 --> 00:17:46.390 align:start position:0% to put the noses out of joint of certain people 00:17:46.390 --> 00:17:46.400 align:start position:0% people 00:17:46.400 --> 00:17:48.870 align:start position:0% people at<00:17:46.480> this<00:17:46.720> time<00:17:46.960> there<00:17:47.120> was<00:17:47.280> a<00:17:47.840> thing<00:17:48.080> going<00:17:48.320> on 00:17:48.870 --> 00:17:48.880 align:start position:0% at this time there was a thing going on 00:17:48.880 --> 00:17:49.750 align:start position:0% at this time there was a thing going on about 00:17:49.750 --> 00:17:49.760 align:start position:0% about 00:17:49.760 --> 00:17:52.950 align:start position:0% about uh<00:17:50.160> repair<00:17:50.799> of 00:17:52.950 --> 00:17:52.960 align:start position:0% uh repair of 00:17:52.960 --> 00:17:55.990 align:start position:0% uh repair of of<00:17:53.120> satellites<00:17:54.000> using<00:17:54.640> the<00:17:54.960> uh 00:17:55.990 --> 00:17:56.000 align:start position:0% of satellites using the uh 00:17:56.000 --> 00:17:58.230 align:start position:0% of satellites using the uh the<00:17:56.160> space<00:17:56.480> shuttle<00:17:56.799> and<00:17:56.880> they<00:17:56.960> were<00:17:57.120> training 00:17:58.230 --> 00:17:58.240 align:start position:0% the space shuttle and they were training 00:17:58.240 --> 00:17:59.110 align:start position:0% the space shuttle and they were training uh 00:17:59.110 --> 00:17:59.120 align:start position:0% uh 00:17:59.120 --> 00:18:01.430 align:start position:0% uh uh<00:17:59.360> astronauts<00:18:00.000> to<00:18:00.320> put<00:18:00.559> in<00:18:00.720> things<00:18:00.960> called<00:18:01.280> in 00:18:01.430 --> 00:18:01.440 align:start position:0% uh astronauts to put in things called in 00:18:01.440 --> 00:18:02.549 align:start position:0% uh astronauts to put in things called in orbit 00:18:02.549 --> 00:18:02.559 align:start position:0% orbit 00:18:02.559 --> 00:18:04.870 align:start position:0% orbit in<00:18:02.720> orbit<00:18:03.120> units<00:18:03.440> or<00:18:03.679> some<00:18:03.919> big<00:18:04.320> sort<00:18:04.480> of<00:18:04.559> boxes 00:18:04.870 --> 00:18:04.880 align:start position:0% in orbit units or some big sort of boxes 00:18:04.880 --> 00:18:06.070 align:start position:0% in orbit units or some big sort of boxes about<00:18:05.039> this<00:18:05.280> big 00:18:06.070 --> 00:18:06.080 align:start position:0% about this big 00:18:06.080 --> 00:18:09.110 align:start position:0% about this big and<00:18:06.320> i<00:18:06.400> went<00:18:06.640> and<00:18:06.720> visited<00:18:07.760> uh<00:18:08.320> jpl<00:18:08.880> in<00:18:08.960> which 00:18:09.110 --> 00:18:09.120 align:start position:0% and i went and visited uh jpl in which 00:18:09.120 --> 00:18:09.830 align:start position:0% and i went and visited uh jpl in which they<00:18:09.280> were 00:18:09.830 --> 00:18:09.840 align:start position:0% they were 00:18:09.840 --> 00:18:12.310 align:start position:0% they were developing<00:18:10.320> this<00:18:10.480> system<00:18:10.799> for<00:18:11.120> inserting 00:18:12.310 --> 00:18:12.320 align:start position:0% developing this system for inserting 00:18:12.320 --> 00:18:13.750 align:start position:0% developing this system for inserting these<00:18:12.559> boxes<00:18:12.960> and<00:18:13.039> they're<00:18:13.200> developing 00:18:13.750 --> 00:18:13.760 align:start position:0% these boxes and they're developing 00:18:13.760 --> 00:18:14.870 align:start position:0% these boxes and they're developing various 00:18:14.870 --> 00:18:14.880 align:start position:0% various 00:18:14.880 --> 00:18:17.590 align:start position:0% various haptic<00:18:15.280> feedback<00:18:15.760> devices<00:18:16.240> for<00:18:16.559> enabling 00:18:17.590 --> 00:18:17.600 align:start position:0% haptic feedback devices for enabling 00:18:17.600 --> 00:18:19.029 align:start position:0% haptic feedback devices for enabling astronauts 00:18:19.029 --> 00:18:19.039 align:start position:0% astronauts 00:18:19.039 --> 00:18:20.710 align:start position:0% astronauts to<00:18:19.280> perform<00:18:19.600> this<00:18:19.760> task<00:18:20.080> and<00:18:20.160> they<00:18:20.320> had<00:18:20.480> these 00:18:20.710 --> 00:18:20.720 align:start position:0% to perform this task and they had these 00:18:20.720 --> 00:18:22.310 align:start position:0% to perform this task and they had these boxes 00:18:22.310 --> 00:18:22.320 align:start position:0% boxes 00:18:22.320 --> 00:18:24.549 align:start position:0% boxes about<00:18:22.640> six<00:18:22.880> inches<00:18:23.120> on<00:18:23.280> the<00:18:23.360> side<00:18:24.160> which<00:18:24.400> they 00:18:24.549 --> 00:18:24.559 align:start position:0% about six inches on the side which they 00:18:24.559 --> 00:18:26.390 align:start position:0% about six inches on the side which they would<00:18:24.720> insert<00:18:25.280> or<00:18:25.440> try<00:18:25.679> to<00:18:25.840> insert<00:18:26.240> inside 00:18:26.390 --> 00:18:26.400 align:start position:0% would insert or try to insert inside 00:18:26.400 --> 00:18:28.070 align:start position:0% would insert or try to insert inside site 00:18:28.070 --> 00:18:28.080 align:start position:0% site 00:18:28.080 --> 00:18:30.390 align:start position:0% site satellites<00:18:28.880> and<00:18:29.039> they<00:18:29.200> were<00:18:29.600> had<00:18:29.840> this<00:18:30.080> ground 00:18:30.390 --> 00:18:30.400 align:start position:0% satellites and they were had this ground 00:18:30.400 --> 00:18:32.230 align:start position:0% satellites and they were had this ground facility<00:18:30.960> for<00:18:31.120> training<00:18:31.520> people<00:18:31.840> and 00:18:32.230 --> 00:18:32.240 align:start position:0% facility for training people and 00:18:32.240 --> 00:18:34.310 align:start position:0% facility for training people and testing<00:18:32.640> out<00:18:32.799> various<00:18:33.120> ways<00:18:33.360> of<00:18:33.520> doing<00:18:33.760> it<00:18:34.240> and 00:18:34.310 --> 00:18:34.320 align:start position:0% testing out various ways of doing it and 00:18:34.320 --> 00:18:36.150 align:start position:0% testing out various ways of doing it and they're<00:18:34.559> finding<00:18:34.880> it<00:18:34.960> quite<00:18:35.200> difficult 00:18:36.150 --> 00:18:36.160 align:start position:0% they're finding it quite difficult 00:18:36.160 --> 00:18:38.070 align:start position:0% they're finding it quite difficult so<00:18:36.320> when<00:18:36.480> i<00:18:36.559> go<00:18:36.640> back<00:18:36.799> to<00:18:36.960> oxford<00:18:37.440> i<00:18:37.600> try<00:18:37.760> to<00:18:37.840> set 00:18:38.070 --> 00:18:38.080 align:start position:0% so when i go back to oxford i try to set 00:18:38.080 --> 00:18:39.830 align:start position:0% so when i go back to oxford i try to set up<00:18:38.240> an<00:18:38.320> equivalent<00:18:38.880> task 00:18:39.830 --> 00:18:39.840 align:start position:0% up an equivalent task 00:18:39.840 --> 00:18:41.830 align:start position:0% up an equivalent task i<00:18:40.000> don't<00:18:40.160> know<00:18:40.240> if<00:18:40.320> you<00:18:40.400> know<00:18:40.559> about<00:18:40.840> lego 00:18:41.830 --> 00:18:41.840 align:start position:0% i don't know if you know about lego 00:18:41.840 --> 00:18:44.470 align:start position:0% i don't know if you know about lego which<00:18:42.080> is<00:18:42.240> a<00:18:42.799> these<00:18:43.039> are<00:18:43.200> tiny<00:18:43.520> little<00:18:43.840> blocks 00:18:44.470 --> 00:18:44.480 align:start position:0% which is a these are tiny little blocks 00:18:44.480 --> 00:18:46.870 align:start position:0% which is a these are tiny little blocks the<00:18:44.640> difficulty<00:18:45.280> of<00:18:45.600> remote<00:18:45.919> manipulation 00:18:46.870 --> 00:18:46.880 align:start position:0% the difficulty of remote manipulation 00:18:46.880 --> 00:18:48.789 align:start position:0% the difficulty of remote manipulation increases<00:18:47.520> as<00:18:47.679> you<00:18:47.760> reduce<00:18:48.160> the<00:18:48.320> size<00:18:48.559> of<00:18:48.640> the 00:18:48.789 --> 00:18:48.799 align:start position:0% increases as you reduce the size of the 00:18:48.799 --> 00:18:49.590 align:start position:0% increases as you reduce the size of the object 00:18:49.590 --> 00:18:49.600 align:start position:0% object 00:18:49.600 --> 00:18:53.110 align:start position:0% object and<00:18:49.760> the<00:18:50.000> fineness<00:18:50.559> of<00:18:50.799> how<00:18:51.520> you<00:18:51.760> want<00:18:52.000> to 00:18:53.110 --> 00:18:53.120 align:start position:0% and the fineness of how you want to 00:18:53.120 --> 00:18:55.110 align:start position:0% and the fineness of how you want to want<00:18:53.280> to<00:18:53.440> control<00:18:53.840> the<00:18:54.000> device<00:18:54.640> so<00:18:54.880> what<00:18:55.039> we 00:18:55.110 --> 00:18:55.120 align:start position:0% want to control the device so what we 00:18:55.120 --> 00:18:57.590 align:start position:0% want to control the device so what we did<00:18:55.360> was<00:18:55.520> he<00:18:55.679> set<00:18:55.840> up<00:18:56.000> a<00:18:56.080> little<00:18:56.240> lego<00:18:56.720> house 00:18:57.590 --> 00:18:57.600 align:start position:0% did was he set up a little lego house 00:18:57.600 --> 00:19:00.310 align:start position:0% did was he set up a little lego house remotely<00:18:58.960> and<00:18:59.120> then<00:18:59.440> instead<00:18:59.760> of<00:18:59.919> a<00:19:00.000> highly 00:19:00.310 --> 00:19:00.320 align:start position:0% remotely and then instead of a highly 00:19:00.320 --> 00:19:01.669 align:start position:0% remotely and then instead of a highly trained<00:19:00.640> astronaut 00:19:01.669 --> 00:19:01.679 align:start position:0% trained astronaut 00:19:01.679 --> 00:19:04.470 align:start position:0% trained astronaut we<00:19:01.840> got<00:19:02.160> the<00:19:02.480> son<00:19:02.799> of<00:19:02.960> one<00:19:03.120> of<00:19:03.200> the<00:19:03.360> academics 00:19:04.470 --> 00:19:04.480 align:start position:0% we got the son of one of the academics 00:19:04.480 --> 00:19:05.110 align:start position:0% we got the son of one of the academics who<00:19:04.640> was 00:19:05.110 --> 00:19:05.120 align:start position:0% who was 00:19:05.120 --> 00:19:08.549 align:start position:0% who was i<00:19:05.200> think<00:19:05.360> he<00:19:05.520> was<00:19:07.039> nine<00:19:07.520> at<00:19:07.679> the<00:19:07.760> time 00:19:08.549 --> 00:19:08.559 align:start position:0% i think he was nine at the time 00:19:08.559 --> 00:19:10.230 align:start position:0% i think he was nine at the time and<00:19:08.640> so<00:19:08.880> he<00:19:08.960> took<00:19:09.120> a<00:19:09.280> video<00:19:09.520> of<00:19:09.600> this<00:19:09.840> gut<00:19:10.080> this 00:19:10.230 --> 00:19:10.240 align:start position:0% and so he took a video of this gut this 00:19:10.240 --> 00:19:13.029 align:start position:0% and so he took a video of this gut this little<00:19:10.480> guy<00:19:11.280> standing<00:19:11.679> on<00:19:11.840> a<00:19:11.919> box<00:19:12.240> to<00:19:12.320> remove 00:19:13.029 --> 00:19:13.039 align:start position:0% little guy standing on a box to remove 00:19:13.039 --> 00:19:17.270 align:start position:0% little guy standing on a box to remove to<00:19:14.640> reach<00:19:14.960> the<00:19:15.760> haptic<00:19:16.160> interface<00:19:16.559> device 00:19:17.270 --> 00:19:17.280 align:start position:0% to reach the haptic interface device 00:19:17.280 --> 00:19:21.750 align:start position:0% to reach the haptic interface device and<00:19:17.520> he<00:19:17.760> built<00:19:19.120> a<00:19:19.840> small<00:19:20.160> lego<00:19:20.559> house<00:19:20.880> remotely 00:19:21.750 --> 00:19:21.760 align:start position:0% and he built a small lego house remotely 00:19:21.760 --> 00:19:25.029 align:start position:0% and he built a small lego house remotely using<00:19:22.080> force<00:19:22.840> feedback<00:19:23.840> on<00:19:24.080> a 00:19:25.029 --> 00:19:25.039 align:start position:0% using force feedback on a 00:19:25.039 --> 00:19:28.789 align:start position:0% using force feedback on a on<00:19:25.280> a<00:19:25.520> puma<00:19:25.840> 560<00:19:26.559> arm<00:19:27.200> and<00:19:27.360> he<00:19:27.440> did<00:19:27.679> it<00:19:27.840> stably 00:19:28.789 --> 00:19:28.799 align:start position:0% on a puma 560 arm and he did it stably 00:19:28.799 --> 00:19:30.230 align:start position:0% on a puma 560 arm and he did it stably and<00:19:28.880> the<00:19:29.039> amount<00:19:29.280> of<00:19:29.440> training<00:19:29.760> that<00:19:29.919> he<00:19:30.080> had 00:19:30.230 --> 00:19:30.240 align:start position:0% and the amount of training that he had 00:19:30.240 --> 00:19:32.230 align:start position:0% and the amount of training that he had was<00:19:30.400> about<00:19:30.799> 10<00:19:31.039> minutes 00:19:32.230 --> 00:19:32.240 align:start position:0% was about 10 minutes 00:19:32.240 --> 00:19:34.150 align:start position:0% was about 10 minutes so<00:19:32.400> we<00:19:32.480> managed<00:19:32.720> to<00:19:32.799> get<00:19:32.960> this<00:19:33.360> little<00:19:33.679> child 00:19:34.150 --> 00:19:34.160 align:start position:0% so we managed to get this little child 00:19:34.160 --> 00:19:36.150 align:start position:0% so we managed to get this little child to<00:19:34.320> perform<00:19:34.799> a<00:19:34.880> very<00:19:35.120> very<00:19:35.360> difficult<00:19:35.760> remote 00:19:36.150 --> 00:19:36.160 align:start position:0% to perform a very very difficult remote 00:19:36.160 --> 00:19:37.190 align:start position:0% to perform a very very difficult remote task 00:19:37.190 --> 00:19:37.200 align:start position:0% task 00:19:37.200 --> 00:19:39.430 align:start position:0% task which<00:19:37.440> others<00:19:37.760> were<00:19:37.919> trying<00:19:38.160> to<00:19:38.400> perform 00:19:39.430 --> 00:19:39.440 align:start position:0% which others were trying to perform 00:19:39.440 --> 00:19:40.950 align:start position:0% which others were trying to perform spending<00:19:39.840> much<00:19:40.080> more<00:19:40.320> money<00:19:40.559> than<00:19:40.720> we<00:19:40.799> were 00:19:40.950 --> 00:19:40.960 align:start position:0% spending much more money than we were 00:19:40.960 --> 00:19:41.669 align:start position:0% spending much more money than we were spending 00:19:41.669 --> 00:19:41.679 align:start position:0% spending 00:19:41.679 --> 00:19:43.750 align:start position:0% spending with<00:19:42.000> much<00:19:42.240> more<00:19:42.400> highly<00:19:42.720> trained<00:19:43.039> people<00:19:43.600> i 00:19:43.750 --> 00:19:43.760 align:start position:0% with much more highly trained people i 00:19:43.760 --> 00:19:45.110 align:start position:0% with much more highly trained people i thought<00:19:44.000> as<00:19:44.080> a<00:19:44.160> good<00:19:44.240> demonstrator<00:19:44.880> what<00:19:45.039> you 00:19:45.110 --> 00:19:45.120 align:start position:0% thought as a good demonstrator what you 00:19:45.120 --> 00:19:45.669 align:start position:0% thought as a good demonstrator what you could<00:19:45.360> do 00:19:45.669 --> 00:19:45.679 align:start position:0% could do 00:19:45.679 --> 00:19:48.310 align:start position:0% could do if<00:19:45.840> you<00:19:46.000> actually<00:19:46.400> matched<00:19:47.520> the<00:19:47.760> information 00:19:48.310 --> 00:19:48.320 align:start position:0% if you actually matched the information 00:19:48.320 --> 00:19:48.950 align:start position:0% if you actually matched the information flow 00:19:48.950 --> 00:19:48.960 align:start position:0% flow 00:19:48.960 --> 00:19:50.870 align:start position:0% flow that<00:19:49.200> you<00:19:49.360> required<00:19:49.919> to<00:19:50.160> the<00:19:50.240> dynamics<00:19:50.799> and 00:19:50.870 --> 00:19:50.880 align:start position:0% that you required to the dynamics and 00:19:50.880 --> 00:19:52.870 align:start position:0% that you required to the dynamics and the<00:19:51.360> information<00:19:51.840> requirements 00:19:52.870 --> 00:19:52.880 align:start position:0% the information requirements 00:19:52.880 --> 00:19:56.070 align:start position:0% the information requirements of<00:19:53.039> the<00:19:53.200> human<00:19:53.520> hand<00:19:54.400> so<00:19:54.720> that<00:19:55.039> got<00:19:55.280> us<00:19:55.840> got 00:19:56.070 --> 00:19:56.080 align:start position:0% of the human hand so that got us got 00:19:56.080 --> 00:19:57.510 align:start position:0% of the human hand so that got us got into<00:19:56.320> the<00:19:56.400> area<00:19:56.799> of 00:19:57.510 --> 00:19:57.520 align:start position:0% into the area of 00:19:57.520 --> 00:20:00.310 align:start position:0% into the area of basically<00:19:58.400> matching<00:19:58.799> information<00:19:59.440> flow<00:20:00.160> to 00:20:00.310 --> 00:20:00.320 align:start position:0% basically matching information flow to 00:20:00.320 --> 00:20:01.430 align:start position:0% basically matching information flow to the<00:20:00.480> human 00:20:01.430 --> 00:20:01.440 align:start position:0% the human 00:20:01.440 --> 00:20:04.149 align:start position:0% the human so<00:20:02.559> the<00:20:02.880> concept<00:20:03.200> such<00:20:03.440> as<00:20:03.600> impedance 00:20:04.149 --> 00:20:04.159 align:start position:0% so the concept such as impedance 00:20:04.159 --> 00:20:05.029 align:start position:0% so the concept such as impedance matching 00:20:05.029 --> 00:20:05.039 align:start position:0% matching 00:20:05.039 --> 00:20:06.470 align:start position:0% matching in<00:20:05.200> electrical<00:20:05.600> engineering<00:20:06.000> and<00:20:06.080> here<00:20:06.320> we're 00:20:06.470 --> 00:20:06.480 align:start position:0% in electrical engineering and here we're 00:20:06.480 --> 00:20:07.909 align:start position:0% in electrical engineering and here we're trying<00:20:06.640> to<00:20:06.880> basically<00:20:07.120> do<00:20:07.360> information 00:20:07.909 --> 00:20:07.919 align:start position:0% trying to basically do information 00:20:07.919 --> 00:20:08.549 align:start position:0% trying to basically do information matching 00:20:08.549 --> 00:20:08.559 align:start position:0% matching 00:20:08.559 --> 00:20:10.710 align:start position:0% matching by<00:20:08.799> making<00:20:09.200> sure<00:20:09.520> that<00:20:09.919> the<00:20:10.080> information<00:20:10.559> that 00:20:10.710 --> 00:20:10.720 align:start position:0% by making sure that the information that 00:20:10.720 --> 00:20:12.630 align:start position:0% by making sure that the information that was<00:20:10.880> encoded<00:20:11.360> in<00:20:11.440> the<00:20:11.520> momentum 00:20:12.630 --> 00:20:12.640 align:start position:0% was encoded in the momentum 00:20:12.640 --> 00:20:15.190 align:start position:0% was encoded in the momentum was<00:20:13.280> matched<00:20:13.679> to<00:20:13.840> the<00:20:14.000> dynamics<00:20:14.400> of<00:20:14.559> the<00:20:14.640> hand 00:20:15.190 --> 00:20:15.200 align:start position:0% was matched to the dynamics of the hand 00:20:15.200 --> 00:20:17.669 align:start position:0% was matched to the dynamics of the hand and<00:20:15.440> excited<00:20:16.000> the<00:20:16.080> right 00:20:17.669 --> 00:20:17.679 align:start position:0% and excited the right 00:20:17.679 --> 00:20:19.669 align:start position:0% and excited the right receptors<00:20:18.320> in<00:20:18.559> in<00:20:18.640> the<00:20:18.799> fingers<00:20:19.360> at<00:20:19.440> the<00:20:19.520> same 00:20:19.669 --> 00:20:19.679 align:start position:0% receptors in in the fingers at the same 00:20:19.679 --> 00:20:20.789 align:start position:0% receptors in in the fingers at the same time 00:20:20.789 --> 00:20:20.799 align:start position:0% time 00:20:20.799 --> 00:20:22.470 align:start position:0% time so<00:20:20.960> that<00:20:21.120> was<00:20:21.280> one<00:20:21.520> area<00:20:22.080> that<00:20:22.240> i<00:20:22.320> was 00:20:22.470 --> 00:20:22.480 align:start position:0% so that was one area that i was 00:20:22.480 --> 00:20:24.149 align:start position:0% so that was one area that i was interested<00:20:22.880> in<00:20:23.039> the<00:20:23.280> another<00:20:23.600> area<00:20:23.840> i<00:20:23.919> got 00:20:24.149 --> 00:20:24.159 align:start position:0% interested in the another area i got 00:20:24.159 --> 00:20:25.029 align:start position:0% interested in the another area i got interesting<00:20:24.640> was 00:20:25.029 --> 00:20:25.039 align:start position:0% interesting was 00:20:25.039 --> 00:20:27.190 align:start position:0% interesting was as<00:20:25.200> i<00:20:25.280> said<00:20:25.440> the<00:20:25.600> control<00:20:25.919> of<00:20:26.000> dynamic<00:20:26.559> of 00:20:27.190 --> 00:20:27.200 align:start position:0% as i said the control of dynamic of 00:20:27.200 --> 00:20:29.510 align:start position:0% as i said the control of dynamic of compliance<00:20:27.760> systems 00:20:29.510 --> 00:20:29.520 align:start position:0% compliance systems 00:20:29.520 --> 00:20:31.510 align:start position:0% compliance systems so<00:20:29.760> we<00:20:29.919> built<00:20:30.159> a<00:20:30.240> rather<00:20:30.640> large<00:20:30.960> compliant 00:20:31.510 --> 00:20:31.520 align:start position:0% so we built a rather large compliant 00:20:31.520 --> 00:20:35.110 align:start position:0% so we built a rather large compliant robot<00:20:32.840> to 00:20:35.110 --> 00:20:35.120 align:start position:0% robot to 00:20:35.120 --> 00:20:39.990 align:start position:0% robot to model<00:20:37.520> how<00:20:38.080> a<00:20:38.240> compliant<00:20:38.720> arm<00:20:38.960> would<00:20:39.120> work 00:20:39.990 --> 00:20:40.000 align:start position:0% model how a compliant arm would work 00:20:40.000 --> 00:20:42.070 align:start position:0% model how a compliant arm would work so<00:20:40.159> this<00:20:40.320> was<00:20:40.480> a<00:20:40.559> huge<00:20:40.960> direct<00:20:41.280> drive<00:20:41.600> robot 00:20:42.070 --> 00:20:42.080 align:start position:0% so this was a huge direct drive robot 00:20:42.080 --> 00:20:43.190 align:start position:0% so this was a huge direct drive robot which<00:20:42.559> was 00:20:43.190 --> 00:20:43.200 align:start position:0% which was 00:20:43.200 --> 00:20:45.190 align:start position:0% which was novel<00:20:43.919> at<00:20:44.080> the<00:20:44.159> time<00:20:44.480> that<00:20:44.559> there<00:20:44.720> were<00:20:44.880> very 00:20:45.190 --> 00:20:45.200 align:start position:0% novel at the time that there were very 00:20:45.200 --> 00:20:47.110 align:start position:0% novel at the time that there were very few<00:20:45.360> direct<00:20:45.679> drive<00:20:45.919> robots<00:20:46.320> around 00:20:47.110 --> 00:20:47.120 align:start position:0% few direct drive robots around 00:20:47.120 --> 00:20:48.950 align:start position:0% few direct drive robots around and<00:20:47.280> this<00:20:47.440> was<00:20:47.600> a<00:20:47.760> direct<00:20:48.000> drive<00:20:48.320> compliant 00:20:48.950 --> 00:20:48.960 align:start position:0% and this was a direct drive compliant 00:20:48.960 --> 00:20:50.470 align:start position:0% and this was a direct drive compliant arm 00:20:50.470 --> 00:20:50.480 align:start position:0% arm 00:20:50.480 --> 00:20:55.350 align:start position:0% arm that<00:20:51.520> carried<00:20:51.919> out<00:20:52.080> a<00:20:52.159> number<00:20:52.640> of<00:20:53.280> research 00:20:55.350 --> 00:20:55.360 align:start position:0% that carried out a number of research 00:20:55.360 --> 00:20:56.789 align:start position:0% that carried out a number of research i<00:20:55.520> asked<00:20:55.679> a<00:20:55.760> lot<00:20:55.840> of<00:20:55.919> research<00:20:56.320> questions<00:20:56.640> with 00:20:56.789 --> 00:20:56.799 align:start position:0% i asked a lot of research questions with 00:20:56.799 --> 00:20:58.789 align:start position:0% i asked a lot of research questions with this<00:20:56.960> device 00:20:58.789 --> 00:20:58.799 align:start position:0% this device 00:20:58.799 --> 00:21:01.830 align:start position:0% this device one<00:20:59.120> was<00:21:00.400> how<00:21:00.559> do<00:21:00.720> you<00:21:00.880> compensate<00:21:01.600> for 00:21:01.830 --> 00:21:01.840 align:start position:0% one was how do you compensate for 00:21:01.840 --> 00:21:03.909 align:start position:0% one was how do you compensate for compliance<00:21:02.320> to<00:21:02.400> get<00:21:02.640> accurate<00:21:02.960> positioning 00:21:03.909 --> 00:21:03.919 align:start position:0% compliance to get accurate positioning 00:21:03.919 --> 00:21:05.990 align:start position:0% compliance to get accurate positioning and<00:21:04.400> the<00:21:04.559> mechanism<00:21:05.039> we<00:21:05.200> use<00:21:05.440> was<00:21:05.600> to<00:21:05.679> use<00:21:05.840> an 00:21:05.990 --> 00:21:06.000 align:start position:0% and the mechanism we use was to use an 00:21:06.000 --> 00:21:08.390 align:start position:0% and the mechanism we use was to use an exoskeleton<00:21:06.799> around<00:21:07.120> the<00:21:07.200> compliant<00:21:07.760> arm 00:21:08.390 --> 00:21:08.400 align:start position:0% exoskeleton around the compliant arm 00:21:08.400 --> 00:21:10.870 align:start position:0% exoskeleton around the compliant arm to<00:21:08.559> pick<00:21:08.799> up<00:21:08.960> the<00:21:09.120> kinematic<00:21:10.320> you<00:21:10.480> know<00:21:10.640> have<00:21:10.799> a 00:21:10.870 --> 00:21:10.880 align:start position:0% to pick up the kinematic you know have a 00:21:10.880 --> 00:21:12.390 align:start position:0% to pick up the kinematic you know have a rigid<00:21:11.200> kinematics<00:21:11.760> input 00:21:12.390 --> 00:21:12.400 align:start position:0% rigid kinematics input 00:21:12.400 --> 00:21:13.669 align:start position:0% rigid kinematics input in<00:21:12.559> parallel<00:21:13.039> with<00:21:13.200> the<00:21:13.280> compliant 00:21:13.669 --> 00:21:13.679 align:start position:0% in parallel with the compliant 00:21:13.679 --> 00:21:15.590 align:start position:0% in parallel with the compliant kinematics<00:21:14.320> and<00:21:14.400> use<00:21:14.559> that<00:21:14.720> to<00:21:14.880> derive 00:21:15.590 --> 00:21:15.600 align:start position:0% kinematics and use that to derive 00:21:15.600 --> 00:21:18.789 align:start position:0% kinematics and use that to derive the<00:21:15.840> true<00:21:16.080> end<00:21:16.400> point<00:21:17.440> and<00:21:18.000> using<00:21:18.400> that<00:21:18.640> we 00:21:18.789 --> 00:21:18.799 align:start position:0% the true end point and using that we 00:21:18.799 --> 00:21:19.990 align:start position:0% the true end point and using that we were<00:21:18.960> able<00:21:19.120> to<00:21:19.200> demonstrate 00:21:19.990 --> 00:21:20.000 align:start position:0% were able to demonstrate 00:21:20.000 --> 00:21:22.789 align:start position:0% were able to demonstrate really<00:21:20.320> high<00:21:20.559> speed<00:21:22.240> control<00:21:22.640> of<00:21:22.720> this 00:21:22.789 --> 00:21:22.799 align:start position:0% really high speed control of this 00:21:22.799 --> 00:21:24.149 align:start position:0% really high speed control of this dynamic<00:21:23.360> arm<00:21:23.600> by 00:21:24.149 --> 00:21:24.159 align:start position:0% dynamic arm by 00:21:24.159 --> 00:21:26.870 align:start position:0% dynamic arm by incorporating<00:21:25.120> feedback<00:21:25.840> from<00:21:26.559> strain 00:21:26.870 --> 00:21:26.880 align:start position:0% incorporating feedback from strain 00:21:26.880 --> 00:21:29.669 align:start position:0% incorporating feedback from strain sensors<00:21:27.360> on<00:21:27.520> the<00:21:27.600> compliance<00:21:28.080> structure 00:21:29.669 --> 00:21:29.679 align:start position:0% sensors on the compliance structure 00:21:29.679 --> 00:21:31.590 align:start position:0% sensors on the compliance structure so<00:21:30.000> we<00:21:30.080> became<00:21:30.400> interested<00:21:30.880> in<00:21:31.200> how<00:21:31.360> do<00:21:31.440> you 00:21:31.590 --> 00:21:31.600 align:start position:0% so we became interested in how do you 00:21:31.600 --> 00:21:33.270 align:start position:0% so we became interested in how do you use<00:21:31.919> information 00:21:33.270 --> 00:21:33.280 align:start position:0% use information 00:21:33.280 --> 00:21:35.990 align:start position:0% use information ins<00:21:33.679> from<00:21:33.919> strange<00:21:34.320> senses<00:21:34.720> and<00:21:34.799> so<00:21:35.039> forth<00:21:35.679> for 00:21:35.990 --> 00:21:36.000 align:start position:0% ins from strange senses and so forth for 00:21:36.000 --> 00:21:38.390 align:start position:0% ins from strange senses and so forth for the<00:21:36.080> control<00:21:36.640> of<00:21:36.960> vibration 00:21:38.390 --> 00:21:38.400 align:start position:0% the control of vibration 00:21:38.400 --> 00:21:39.990 align:start position:0% the control of vibration at<00:21:38.559> the<00:21:38.640> same<00:21:38.960> time<00:21:39.360> there<00:21:39.520> was<00:21:39.600> also<00:21:39.840> an 00:21:39.990 --> 00:21:40.000 align:start position:0% at the same time there was also an 00:21:40.000 --> 00:21:41.350 align:start position:0% at the same time there was also an interest<00:21:40.400> in<00:21:40.559> how<00:21:40.720> do<00:21:40.799> you<00:21:40.880> go<00:21:41.039> about 00:21:41.350 --> 00:21:41.360 align:start position:0% interest in how do you go about 00:21:41.360 --> 00:21:42.149 align:start position:0% interest in how do you go about achieving 00:21:42.149 --> 00:21:42.159 align:start position:0% achieving 00:21:42.159 --> 00:21:44.630 align:start position:0% achieving high<00:21:42.400> speed<00:21:42.840> computation<00:21:44.080> so<00:21:44.320> you've<00:21:44.480> got<00:21:44.559> to 00:21:44.630 --> 00:21:44.640 align:start position:0% high speed computation so you've got to 00:21:44.640 --> 00:21:45.909 align:start position:0% high speed computation so you've got to remember<00:21:45.039> at<00:21:45.200> that<00:21:45.440> time 00:21:45.909 --> 00:21:45.919 align:start position:0% remember at that time 00:21:45.919 --> 00:21:50.390 align:start position:0% remember at that time a<00:21:46.080> really<00:21:46.400> fast<00:21:46.720> computer<00:21:47.280> was<00:21:48.480> 10<00:21:48.720> megahertz 00:21:50.390 --> 00:21:50.400 align:start position:0% a really fast computer was 10 megahertz 00:21:50.400 --> 00:21:53.029 align:start position:0% a really fast computer was 10 megahertz which<00:21:50.640> seems<00:21:50.960> ridiculous<00:21:51.520> now<00:21:51.760> but<00:21:52.080> um<00:21:52.799> then 00:21:53.029 --> 00:21:53.039 align:start position:0% which seems ridiculous now but um then 00:21:53.039 --> 00:21:55.270 align:start position:0% which seems ridiculous now but um then 10<00:21:53.280> megahertz<00:21:53.760> was<00:21:53.919> a<00:21:54.000> fast<00:21:54.240> computer 00:21:55.270 --> 00:21:55.280 align:start position:0% 10 megahertz was a fast computer 00:21:55.280 --> 00:21:58.630 align:start position:0% 10 megahertz was a fast computer and<00:21:55.520> so<00:21:56.320> we<00:21:56.559> had<00:21:56.720> a<00:21:56.799> very<00:21:57.120> early 00:21:58.630 --> 00:21:58.640 align:start position:0% and so we had a very early 00:21:58.640 --> 00:22:00.630 align:start position:0% and so we had a very early multi-processor<00:21:59.520> computer<00:22:00.159> based<00:22:00.480> on 00:22:00.630 --> 00:22:00.640 align:start position:0% multi-processor computer based on 00:22:00.640 --> 00:22:02.789 align:start position:0% multi-processor computer based on something<00:22:01.600> which<00:22:01.840> people<00:22:02.159> now<00:22:02.400> wouldn't<00:22:02.640> know 00:22:02.789 --> 00:22:02.799 align:start position:0% something which people now wouldn't know 00:22:02.799 --> 00:22:05.110 align:start position:0% something which people now wouldn't know what<00:22:02.960> it<00:22:03.120> is<00:22:03.280> is<00:22:03.360> it<00:22:03.520> called<00:22:03.760> a<00:22:03.840> transputer 00:22:05.110 --> 00:22:05.120 align:start position:0% what it is is it called a transputer 00:22:05.120 --> 00:22:08.390 align:start position:0% what it is is it called a transputer which<00:22:05.440> was<00:22:06.320> a<00:22:06.400> computer<00:22:07.760> chip 00:22:08.390 --> 00:22:08.400 align:start position:0% which was a computer chip 00:22:08.400 --> 00:22:10.710 align:start position:0% which was a computer chip with<00:22:08.799> integrated<00:22:09.520> communications<00:22:10.320> such<00:22:10.559> that 00:22:10.710 --> 00:22:10.720 align:start position:0% with integrated communications such that 00:22:10.720 --> 00:22:12.390 align:start position:0% with integrated communications such that it<00:22:10.880> facilitated 00:22:12.390 --> 00:22:12.400 align:start position:0% it facilitated 00:22:12.400 --> 00:22:15.669 align:start position:0% it facilitated uh<00:22:13.520> processes<00:22:14.240> process<00:22:14.640> of<00:22:14.720> communication 00:22:15.669 --> 00:22:15.679 align:start position:0% uh processes process of communication 00:22:15.679 --> 00:22:17.270 align:start position:0% uh processes process of communication and<00:22:15.840> so<00:22:16.000> we<00:22:16.080> became<00:22:16.400> interested<00:22:16.720> in<00:22:16.880> how<00:22:17.120> you 00:22:17.270 --> 00:22:17.280 align:start position:0% and so we became interested in how you 00:22:17.280 --> 00:22:18.789 align:start position:0% and so we became interested in how you go<00:22:17.440> about<00:22:17.679> using 00:22:18.789 --> 00:22:18.799 align:start position:0% go about using 00:22:18.799 --> 00:22:20.630 align:start position:0% go about using parallel<00:22:19.200> processing<00:22:19.840> to<00:22:20.080> compute<00:22:20.480> things 00:22:20.630 --> 00:22:20.640 align:start position:0% parallel processing to compute things 00:22:20.640 --> 00:22:22.310 align:start position:0% parallel processing to compute things such<00:22:20.880> as<00:22:21.039> inverse<00:22:21.360> kinematics 00:22:22.310 --> 00:22:22.320 align:start position:0% such as inverse kinematics 00:22:22.320 --> 00:22:24.789 align:start position:0% such as inverse kinematics inverse<00:22:22.720> dynamics<00:22:23.200> and<00:22:23.360> so<00:22:23.600> forth<00:22:24.480> so<00:22:24.640> that 00:22:24.789 --> 00:22:24.799 align:start position:0% inverse dynamics and so forth so that 00:22:24.799 --> 00:22:25.830 align:start position:0% inverse dynamics and so forth so that got<00:22:25.039> us<00:22:25.200> interested 00:22:25.830 --> 00:22:25.840 align:start position:0% got us interested 00:22:25.840 --> 00:22:28.950 align:start position:0% got us interested in<00:22:27.120> inverse<00:22:27.440> dynamics<00:22:28.240> and<00:22:28.400> so<00:22:28.559> i<00:22:28.720> had<00:22:28.880> a 00:22:28.950 --> 00:22:28.960 align:start position:0% in inverse dynamics and so i had a 00:22:28.960 --> 00:22:30.950 align:start position:0% in inverse dynamics and so i had a number<00:22:29.200> of<00:22:29.280> people<00:22:29.600> looking<00:22:30.000> at 00:22:30.950 --> 00:22:30.960 align:start position:0% number of people looking at 00:22:30.960 --> 00:22:33.590 align:start position:0% number of people looking at implementation<00:22:31.679> of<00:22:31.840> invest<00:22:32.080> dynamics<00:22:33.280> for 00:22:33.590 --> 00:22:33.600 align:start position:0% implementation of invest dynamics for 00:22:33.600 --> 00:22:36.390 align:start position:0% implementation of invest dynamics for vibrating<00:22:34.240> systems<00:22:34.640> compliance<00:22:35.200> systems 00:22:36.390 --> 00:22:36.400 align:start position:0% vibrating systems compliance systems 00:22:36.400 --> 00:22:38.149 align:start position:0% vibrating systems compliance systems so<00:22:36.559> we<00:22:36.720> managed<00:22:36.960> to<00:22:37.120> demonstrate<00:22:37.600> remote 00:22:38.149 --> 00:22:38.159 align:start position:0% so we managed to demonstrate remote 00:22:38.159 --> 00:22:41.830 align:start position:0% so we managed to demonstrate remote drilling<00:22:38.880> of<00:22:39.360> using<00:22:39.760> compliant<00:22:40.320> arms 00:22:41.830 --> 00:22:41.840 align:start position:0% drilling of using compliant arms 00:22:41.840 --> 00:22:44.789 align:start position:0% drilling of using compliant arms that<00:22:42.320> then<00:22:42.559> went<00:22:42.880> on<00:22:43.120> to<00:22:43.919> generate<00:22:44.320> interest 00:22:44.789 --> 00:22:44.799 align:start position:0% that then went on to generate interest 00:22:44.799 --> 00:22:45.909 align:start position:0% that then went on to generate interest in 00:22:45.909 --> 00:22:45.919 align:start position:0% in 00:22:45.919 --> 00:22:48.470 align:start position:0% in where<00:22:46.159> does<00:22:46.320> the<00:22:46.480> information<00:22:47.039> come<00:22:47.360> from 00:22:48.470 --> 00:22:48.480 align:start position:0% where does the information come from 00:22:48.480 --> 00:22:50.630 align:start position:0% where does the information come from when<00:22:48.720> you<00:22:48.960> perform 00:22:50.630 --> 00:22:50.640 align:start position:0% when you perform 00:22:50.640 --> 00:22:54.630 align:start position:0% when you perform remote<00:22:52.000> force<00:22:52.240> reflection<00:22:53.120> tasks 00:22:54.630 --> 00:22:54.640 align:start position:0% remote force reflection tasks 00:22:54.640 --> 00:22:57.909 align:start position:0% remote force reflection tasks and<00:22:55.360> it<00:22:55.520> turns<00:22:55.840> out<00:22:56.000> that<00:22:56.159> the<00:22:56.320> information 00:22:57.909 --> 00:22:57.919 align:start position:0% and it turns out that the information 00:22:57.919 --> 00:23:02.710 align:start position:0% and it turns out that the information flow<00:23:00.080> is<00:23:00.240> actually 00:23:02.710 --> 00:23:02.720 align:start position:0% flow is actually 00:23:02.720 --> 00:23:05.190 align:start position:0% flow is actually below<00:23:03.200> the<00:23:03.360> capacity<00:23:04.080> of<00:23:04.320> the<00:23:04.480> encoders<00:23:05.039> to 00:23:05.190 --> 00:23:05.200 align:start position:0% below the capacity of the encoders to 00:23:05.200 --> 00:23:06.789 align:start position:0% below the capacity of the encoders to send<00:23:05.440> the<00:23:05.520> information 00:23:06.789 --> 00:23:06.799 align:start position:0% send the information 00:23:06.799 --> 00:23:07.909 align:start position:0% send the information so<00:23:06.960> if<00:23:07.120> you<00:23:07.200> can<00:23:07.360> imagine<00:23:07.679> that<00:23:07.760> you're 00:23:07.909 --> 00:23:07.919 align:start position:0% so if you can imagine that you're 00:23:07.919 --> 00:23:11.029 align:start position:0% so if you can imagine that you're performing<00:23:08.559> a<00:23:09.120> rigid<00:23:09.520> contact<00:23:10.080> task 00:23:11.029 --> 00:23:11.039 align:start position:0% performing a rigid contact task 00:23:11.039 --> 00:23:14.549 align:start position:0% performing a rigid contact task and<00:23:11.200> you've<00:23:11.280> got<00:23:11.440> these<00:23:11.679> encoders<00:23:12.240> in<00:23:12.400> joints 00:23:14.549 --> 00:23:14.559 align:start position:0% and you've got these encoders in joints 00:23:14.559 --> 00:23:16.070 align:start position:0% and you've got these encoders in joints when<00:23:14.720> you're<00:23:14.960> in<00:23:15.039> contact<00:23:15.440> with<00:23:15.600> a<00:23:15.679> rigid 00:23:16.070 --> 00:23:16.080 align:start position:0% when you're in contact with a rigid 00:23:16.080 --> 00:23:19.350 align:start position:0% when you're in contact with a rigid surface<00:23:17.440> the<00:23:17.679> joints<00:23:18.080> themselves 00:23:19.350 --> 00:23:19.360 align:start position:0% surface the joints themselves 00:23:19.360 --> 00:23:21.590 align:start position:0% surface the joints themselves are<00:23:19.520> not<00:23:20.000> moving<00:23:20.400> sufficiently<00:23:21.039> to<00:23:21.200> excite 00:23:21.590 --> 00:23:21.600 align:start position:0% are not moving sufficiently to excite 00:23:21.600 --> 00:23:22.789 align:start position:0% are not moving sufficiently to excite the<00:23:21.760> encoders 00:23:22.789 --> 00:23:22.799 align:start position:0% the encoders 00:23:22.799 --> 00:23:25.590 align:start position:0% the encoders so<00:23:23.200> the<00:23:23.360> rate<00:23:23.760> of<00:23:23.919> information<00:23:24.640> flow<00:23:25.039> that<00:23:25.280> you 00:23:25.590 --> 00:23:25.600 align:start position:0% so the rate of information flow that you 00:23:25.600 --> 00:23:26.549 align:start position:0% so the rate of information flow that you you<00:23:25.840> get<00:23:26.080> from 00:23:26.549 --> 00:23:26.559 align:start position:0% you get from 00:23:26.559 --> 00:23:29.990 align:start position:0% you get from the<00:23:26.960> joints<00:23:28.480> is 00:23:29.990 --> 00:23:30.000 align:start position:0% the joints is 00:23:30.000 --> 00:23:32.149 align:start position:0% the joints is very<00:23:30.240> very<00:23:30.559> small<00:23:30.960> in<00:23:31.120> terms<00:23:31.440> of<00:23:31.679> bits<00:23:32.000> per 00:23:32.149 --> 00:23:32.159 align:start position:0% very very small in terms of bits per 00:23:32.159 --> 00:23:34.549 align:start position:0% very very small in terms of bits per second<00:23:32.960> so 00:23:34.549 --> 00:23:34.559 align:start position:0% second so 00:23:34.559 --> 00:23:37.510 align:start position:0% second so the<00:23:35.520> shannon's<00:23:36.000> theorem<00:23:36.880> theory<00:23:37.200> tells<00:23:37.440> us 00:23:37.510 --> 00:23:37.520 align:start position:0% the shannon's theorem theory tells us 00:23:37.520 --> 00:23:39.350 align:start position:0% the shannon's theorem theory tells us about<00:23:37.760> how<00:23:37.919> much<00:23:38.080> information<00:23:38.559> you<00:23:38.720> need 00:23:39.350 --> 00:23:39.360 align:start position:0% about how much information you need 00:23:39.360 --> 00:23:41.110 align:start position:0% about how much information you need in<00:23:39.520> order<00:23:39.679> to<00:23:39.760> perform<00:23:40.159> a<00:23:40.240> task<00:23:40.640> in<00:23:40.720> terms<00:23:41.039> of 00:23:41.110 --> 00:23:41.120 align:start position:0% in order to perform a task in terms of 00:23:41.120 --> 00:23:42.870 align:start position:0% in order to perform a task in terms of the<00:23:41.200> bandwidth<00:23:41.679> and<00:23:41.760> the<00:23:41.840> information<00:23:42.400> rate 00:23:42.870 --> 00:23:42.880 align:start position:0% the bandwidth and the information rate 00:23:42.880 --> 00:23:44.630 align:start position:0% the bandwidth and the information rate and<00:23:43.039> the<00:23:43.120> information<00:23:43.600> rate<00:23:43.919> going<00:23:44.159> on<00:23:44.320> inside 00:23:44.630 --> 00:23:44.640 align:start position:0% and the information rate going on inside 00:23:44.640 --> 00:23:46.230 align:start position:0% and the information rate going on inside these<00:23:44.799> joints<00:23:45.120> was<00:23:45.279> almost<00:23:45.679> zero 00:23:46.230 --> 00:23:46.240 align:start position:0% these joints was almost zero 00:23:46.240 --> 00:23:47.909 align:start position:0% these joints was almost zero because<00:23:46.480> you're<00:23:46.720> getting<00:23:47.120> the<00:23:47.360> occasional 00:23:47.909 --> 00:23:47.919 align:start position:0% because you're getting the occasional 00:23:47.919 --> 00:23:50.070 align:start position:0% because you're getting the occasional tick<00:23:48.640> from<00:23:48.799> the<00:23:48.960> encoders 00:23:50.070 --> 00:23:50.080 align:start position:0% tick from the encoders 00:23:50.080 --> 00:23:51.590 align:start position:0% tick from the encoders and<00:23:50.240> these<00:23:50.480> encoders<00:23:50.880> were<00:23:51.039> being<00:23:51.279> used<00:23:51.520> in 00:23:51.590 --> 00:23:51.600 align:start position:0% and these encoders were being used in 00:23:51.600 --> 00:23:53.669 align:start position:0% and these encoders were being used in velocity<00:23:52.000> feedback 00:23:53.669 --> 00:23:53.679 align:start position:0% velocity feedback 00:23:53.679 --> 00:23:55.029 align:start position:0% velocity feedback systems<00:23:54.000> so<00:23:54.159> you<00:23:54.240> think<00:23:54.480> how<00:23:54.640> on<00:23:54.799> earth<00:23:54.960> is 00:23:55.029 --> 00:23:55.039 align:start position:0% systems so you think how on earth is 00:23:55.039 --> 00:23:57.190 align:start position:0% systems so you think how on earth is this<00:23:55.200> working<00:23:56.320> so<00:23:56.559> we 00:23:57.190 --> 00:23:57.200 align:start position:0% this working so we 00:23:57.200 --> 00:23:59.909 align:start position:0% this working so we we<00:23:57.440> sort<00:23:57.600> of<00:23:58.400> did<00:23:58.559> some<00:23:58.799> analysis<00:23:59.440> of<00:23:59.520> this<00:23:59.760> and 00:23:59.909 --> 00:23:59.919 align:start position:0% we sort of did some analysis of this and 00:23:59.919 --> 00:24:01.430 align:start position:0% we sort of did some analysis of this and it<00:24:00.000> turns<00:24:00.320> out<00:24:00.559> that<00:24:00.720> it<00:24:00.799> was 00:24:01.430 --> 00:24:01.440 align:start position:0% it turns out that it was 00:24:01.440 --> 00:24:04.390 align:start position:0% it turns out that it was in<00:24:01.600> fact<00:24:01.760> the<00:24:01.919> nonlinear<00:24:02.840> friction<00:24:04.000> of<00:24:04.159> the 00:24:04.390 --> 00:24:04.400 align:start position:0% in fact the nonlinear friction of the 00:24:04.400 --> 00:24:05.350 align:start position:0% in fact the nonlinear friction of the internal<00:24:04.799> device 00:24:05.350 --> 00:24:05.360 align:start position:0% internal device 00:24:05.360 --> 00:24:07.669 align:start position:0% internal device of<00:24:05.520> the<00:24:05.679> drives<00:24:06.080> which<00:24:06.240> was<00:24:06.400> stabilizing 00:24:07.669 --> 00:24:07.679 align:start position:0% of the drives which was stabilizing 00:24:07.679 --> 00:24:09.350 align:start position:0% of the drives which was stabilizing these<00:24:08.240> these 00:24:09.350 --> 00:24:09.360 align:start position:0% these these 00:24:09.360 --> 00:24:10.789 align:start position:0% these these machines<00:24:09.840> when<00:24:10.000> they're<00:24:10.240> in<00:24:10.320> contact<00:24:10.640> with 00:24:10.789 --> 00:24:10.799 align:start position:0% machines when they're in contact with 00:24:10.799 --> 00:24:13.669 align:start position:0% machines when they're in contact with rigid<00:24:12.240> surfaces 00:24:13.669 --> 00:24:13.679 align:start position:0% rigid surfaces 00:24:13.679 --> 00:24:15.590 align:start position:0% rigid surfaces and<00:24:13.919> we<00:24:14.159> demonstrated<00:24:14.720> this<00:24:14.880> by<00:24:15.120> disabling 00:24:15.590 --> 00:24:15.600 align:start position:0% and we demonstrated this by disabling 00:24:15.600 --> 00:24:16.950 align:start position:0% and we demonstrated this by disabling the<00:24:15.679> velocity<00:24:16.080> feedback<00:24:16.480> and<00:24:16.559> the<00:24:16.640> thing<00:24:16.799> was 00:24:16.950 --> 00:24:16.960 align:start position:0% the velocity feedback and the thing was 00:24:16.960 --> 00:24:18.630 align:start position:0% the velocity feedback and the thing was still<00:24:17.200> stable 00:24:18.630 --> 00:24:18.640 align:start position:0% still stable 00:24:18.640 --> 00:24:20.710 align:start position:0% still stable and<00:24:18.720> it<00:24:18.880> turned<00:24:19.200> out<00:24:19.360> that<00:24:20.080> contrary<00:24:20.480> to<00:24:20.559> what 00:24:20.710 --> 00:24:20.720 align:start position:0% and it turned out that contrary to what 00:24:20.720 --> 00:24:22.070 align:start position:0% and it turned out that contrary to what it<00:24:20.880> was<00:24:20.960> said<00:24:21.120> in<00:24:21.279> the<00:24:21.360> literature 00:24:22.070 --> 00:24:22.080 align:start position:0% it was said in the literature 00:24:22.080 --> 00:24:26.390 align:start position:0% it was said in the literature the<00:24:22.159> literature<00:24:22.559> said<00:24:22.799> that<00:24:24.640> that 00:24:26.390 --> 00:24:26.400 align:start position:0% the literature said that that 00:24:26.400 --> 00:24:28.390 align:start position:0% the literature said that that stable<00:24:26.880> contact<00:24:27.279> with<00:24:27.440> rigid<00:24:27.760> surfaces<00:24:28.320> is 00:24:28.390 --> 00:24:28.400 align:start position:0% stable contact with rigid surfaces is 00:24:28.400 --> 00:24:29.830 align:start position:0% stable contact with rigid surfaces is very<00:24:28.720> difficult 00:24:29.830 --> 00:24:29.840 align:start position:0% very difficult 00:24:29.840 --> 00:24:31.990 align:start position:0% very difficult and<00:24:30.000> stable<00:24:30.400> contact<00:24:30.720> with<00:24:30.880> very<00:24:31.440> soft 00:24:31.990 --> 00:24:32.000 align:start position:0% and stable contact with very soft 00:24:32.000 --> 00:24:34.230 align:start position:0% and stable contact with very soft surfaces<00:24:32.559> is<00:24:32.720> very<00:24:33.039> easy 00:24:34.230 --> 00:24:34.240 align:start position:0% surfaces is very easy 00:24:34.240 --> 00:24:36.630 align:start position:0% surfaces is very easy what<00:24:34.480> we<00:24:34.720> found<00:24:35.039> was<00:24:35.760> stable<00:24:36.159> contact<00:24:36.480> with 00:24:36.630 --> 00:24:36.640 align:start position:0% what we found was stable contact with 00:24:36.640 --> 00:24:38.470 align:start position:0% what we found was stable contact with soft<00:24:36.880> surfaces<00:24:37.360> easy 00:24:38.470 --> 00:24:38.480 align:start position:0% soft surfaces easy 00:24:38.480 --> 00:24:40.310 align:start position:0% soft surfaces easy but<00:24:38.720> also<00:24:39.120> stable<00:24:39.520> contact<00:24:39.840> with<00:24:40.000> rigid 00:24:40.310 --> 00:24:40.320 align:start position:0% but also stable contact with rigid 00:24:40.320 --> 00:24:42.630 align:start position:0% but also stable contact with rigid surfaces<00:24:40.799> easy<00:24:41.360> what's<00:24:41.679> difficult 00:24:42.630 --> 00:24:42.640 align:start position:0% surfaces easy what's difficult 00:24:42.640 --> 00:24:44.630 align:start position:0% surfaces easy what's difficult are<00:24:42.799> intermediate<00:24:43.440> surfaces<00:24:44.240> where<00:24:44.480> the 00:24:44.630 --> 00:24:44.640 align:start position:0% are intermediate surfaces where the 00:24:44.640 --> 00:24:46.870 align:start position:0% are intermediate surfaces where the information<00:24:45.120> rate<00:24:45.360> is<00:24:45.520> insufficient 00:24:46.870 --> 00:24:46.880 align:start position:0% information rate is insufficient 00:24:46.880 --> 00:24:49.190 align:start position:0% information rate is insufficient to<00:24:47.039> stabilize<00:24:47.600> the<00:24:47.679> device<00:24:48.480> and<00:24:48.559> the<00:24:48.720> device 00:24:49.190 --> 00:24:49.200 align:start position:0% to stabilize the device and the device 00:24:49.200 --> 00:24:50.549 align:start position:0% to stabilize the device and the device is<00:24:49.279> not<00:24:49.520> going<00:24:49.760> so<00:24:50.000> slow 00:24:50.549 --> 00:24:50.559 align:start position:0% is not going so slow 00:24:50.559 --> 00:24:51.830 align:start position:0% is not going so slow such<00:24:50.799> that<00:24:50.960> the<00:24:51.039> non-linear<00:24:51.520> friction 00:24:51.830 --> 00:24:51.840 align:start position:0% such that the non-linear friction 00:24:51.840 --> 00:24:53.590 align:start position:0% such that the non-linear friction effects<00:24:52.240> are<00:24:52.320> not<00:24:52.480> stabilizing<00:24:53.120> the<00:24:53.200> feedback 00:24:53.590 --> 00:24:53.600 align:start position:0% effects are not stabilizing the feedback 00:24:53.600 --> 00:24:54.549 align:start position:0% effects are not stabilizing the feedback loops 00:24:54.549 --> 00:24:54.559 align:start position:0% loops 00:24:54.559 --> 00:24:56.950 align:start position:0% loops so<00:24:55.200> we<00:24:55.440> found<00:24:55.679> that<00:24:56.000> for<00:24:56.159> example<00:24:56.480> steel<00:24:56.880> on 00:24:56.950 --> 00:24:56.960 align:start position:0% so we found that for example steel on 00:24:56.960 --> 00:24:58.310 align:start position:0% so we found that for example steel on steel<00:24:57.279> was 00:24:58.310 --> 00:24:58.320 align:start position:0% steel was 00:24:58.320 --> 00:25:01.430 align:start position:0% steel was was<00:24:58.880> stable<00:25:00.159> steel<00:25:00.559> on<00:25:00.799> a 00:25:01.430 --> 00:25:01.440 align:start position:0% was stable steel on a 00:25:01.440 --> 00:25:03.430 align:start position:0% was stable steel on a robot<00:25:01.760> on<00:25:01.840> a<00:25:01.919> sponge<00:25:02.320> was<00:25:02.480> stable<00:25:03.039> if<00:25:03.120> you<00:25:03.200> got 00:25:03.430 --> 00:25:03.440 align:start position:0% robot on a sponge was stable if you got 00:25:03.440 --> 00:25:04.549 align:start position:0% robot on a sponge was stable if you got something<00:25:03.760> which<00:25:03.919> was<00:25:04.080> sort<00:25:04.240> of 00:25:04.549 --> 00:25:04.559 align:start position:0% something which was sort of 00:25:04.559 --> 00:25:08.310 align:start position:0% something which was sort of spring<00:25:05.279> it<00:25:05.360> was<00:25:05.600> unstable<00:25:06.799> so 00:25:08.310 --> 00:25:08.320 align:start position:0% spring it was unstable so 00:25:08.320 --> 00:25:10.230 align:start position:0% spring it was unstable so that<00:25:08.559> surprised<00:25:09.039> me<00:25:09.279> in<00:25:09.360> terms<00:25:09.679> it<00:25:09.840> was<00:25:10.000> very 00:25:10.230 --> 00:25:10.240 align:start position:0% that surprised me in terms it was very 00:25:10.240 --> 00:25:11.510 align:start position:0% that surprised me in terms it was very important<00:25:10.720> when<00:25:10.880> you're 00:25:11.510 --> 00:25:11.520 align:start position:0% important when you're 00:25:11.520 --> 00:25:14.310 align:start position:0% important when you're designing<00:25:12.559> feedback<00:25:13.440> systems<00:25:13.919> to<00:25:14.080> think 00:25:14.310 --> 00:25:14.320 align:start position:0% designing feedback systems to think 00:25:14.320 --> 00:25:15.590 align:start position:0% designing feedback systems to think about 00:25:15.590 --> 00:25:15.600 align:start position:0% about 00:25:15.600 --> 00:25:18.789 align:start position:0% about the<00:25:16.400> information<00:25:17.039> flow 00:25:18.789 --> 00:25:18.799 align:start position:0% the information flow 00:25:18.799 --> 00:25:22.390 align:start position:0% the information flow so<00:25:19.200> that<00:25:19.440> brought<00:25:19.679> me<00:25:19.840> on<00:25:20.000> to<00:25:20.880> the<00:25:21.039> dynamics<00:25:21.760> of 00:25:22.390 --> 00:25:22.400 align:start position:0% so that brought me on to the dynamics of 00:25:22.400 --> 00:25:25.430 align:start position:0% so that brought me on to the dynamics of force<00:25:22.640> reflection<00:25:24.240> force<00:25:24.559> control 00:25:25.430 --> 00:25:25.440 align:start position:0% force reflection force control 00:25:25.440 --> 00:25:27.350 align:start position:0% force reflection force control so<00:25:25.600> how<00:25:25.760> do<00:25:25.840> you<00:25:25.919> go<00:25:26.080> about<00:25:26.559> controlling<00:25:27.279> a 00:25:27.350 --> 00:25:27.360 align:start position:0% so how do you go about controlling a 00:25:27.360 --> 00:25:29.590 align:start position:0% so how do you go about controlling a manipulator<00:25:28.000> when<00:25:28.159> it's<00:25:28.240> performing 00:25:29.590 --> 00:25:29.600 align:start position:0% manipulator when it's performing 00:25:29.600 --> 00:25:34.230 align:start position:0% manipulator when it's performing a<00:25:29.760> contact<00:25:30.400> task<00:25:32.240> now<00:25:32.559> contact<00:25:33.120> task 00:25:34.230 --> 00:25:34.240 align:start position:0% a contact task now contact task 00:25:34.240 --> 00:25:35.590 align:start position:0% a contact task now contact task as<00:25:34.480> i<00:25:34.559> said<00:25:34.720> was<00:25:34.960> considered<00:25:35.200> to<00:25:35.279> be<00:25:35.440> very 00:25:35.590 --> 00:25:35.600 align:start position:0% as i said was considered to be very 00:25:35.600 --> 00:25:38.310 align:start position:0% as i said was considered to be very difficult<00:25:35.840> if<00:25:36.000> a<00:25:36.080> very<00:25:36.320> stiff<00:25:36.720> surface 00:25:38.310 --> 00:25:38.320 align:start position:0% difficult if a very stiff surface 00:25:38.320 --> 00:25:39.830 align:start position:0% difficult if a very stiff surface and<00:25:38.559> what<00:25:38.720> people<00:25:39.039> reported<00:25:39.600> in<00:25:39.760> the 00:25:39.830 --> 00:25:39.840 align:start position:0% and what people reported in the 00:25:39.840 --> 00:25:43.430 align:start position:0% and what people reported in the literature<00:25:41.279> was 00:25:43.430 --> 00:25:43.440 align:start position:0% literature was 00:25:43.440 --> 00:25:46.950 align:start position:0% literature was very<00:25:43.840> high<00:25:44.960> phase<00:25:45.279> lags<00:25:45.919> in 00:25:46.950 --> 00:25:46.960 align:start position:0% very high phase lags in 00:25:46.960 --> 00:25:49.110 align:start position:0% very high phase lags in force<00:25:47.279> controlled<00:25:47.760> servo<00:25:48.240> mechanism<00:25:48.720> so<00:25:48.960> if 00:25:49.110 --> 00:25:49.120 align:start position:0% force controlled servo mechanism so if 00:25:49.120 --> 00:25:50.390 align:start position:0% force controlled servo mechanism so if you 00:25:50.390 --> 00:25:50.400 align:start position:0% you 00:25:50.400 --> 00:25:53.510 align:start position:0% you identified<00:25:51.200> the<00:25:51.840> transfer<00:25:52.320> function<00:25:52.720> say 00:25:53.510 --> 00:25:53.520 align:start position:0% identified the transfer function say 00:25:53.520 --> 00:25:56.070 align:start position:0% identified the transfer function say of<00:25:53.840> a<00:25:54.000> robot<00:25:54.400> forming<00:25:54.720> a<00:25:54.880> rigid<00:25:55.200> task<00:25:55.679> rigid 00:25:56.070 --> 00:25:56.080 align:start position:0% of a robot forming a rigid task rigid 00:25:56.080 --> 00:25:57.590 align:start position:0% of a robot forming a rigid task rigid contact<00:25:56.480> task 00:25:57.590 --> 00:25:57.600 align:start position:0% contact task 00:25:57.600 --> 00:26:00.630 align:start position:0% contact task you<00:25:57.840> got<00:25:58.720> phase<00:25:59.039> lags<00:25:59.360> reported<00:26:00.000> of 00:26:00.630 --> 00:26:00.640 align:start position:0% you got phase lags reported of 00:26:00.640 --> 00:26:04.870 align:start position:0% you got phase lags reported of several<00:26:01.039> thousand<00:26:01.520> degrees<00:26:03.120> so<00:26:03.279> which<00:26:03.520> was 00:26:04.870 --> 00:26:04.880 align:start position:0% several thousand degrees so which was 00:26:04.880 --> 00:26:09.029 align:start position:0% several thousand degrees so which was humane<00:26:05.600> you<00:26:05.679> know<00:26:06.080> humongous 00:26:09.029 --> 00:26:09.039 align:start position:0% 00:26:09.039 --> 00:26:11.590 align:start position:0% phase<00:26:09.360> delays<00:26:09.840> in<00:26:09.919> these<00:26:10.480> in<00:26:10.640> these<00:26:11.120> feedback 00:26:11.590 --> 00:26:11.600 align:start position:0% phase delays in these in these feedback 00:26:11.600 --> 00:26:12.230 align:start position:0% phase delays in these in these feedback loops 00:26:12.230 --> 00:26:12.240 align:start position:0% loops 00:26:12.240 --> 00:26:13.350 align:start position:0% loops and<00:26:12.320> people<00:26:12.559> saying<00:26:12.720> well<00:26:12.880> this<00:26:12.960> is<00:26:13.039> terrible 00:26:13.350 --> 00:26:13.360 align:start position:0% and people saying well this is terrible 00:26:13.360 --> 00:26:16.230 align:start position:0% and people saying well this is terrible no<00:26:13.520> wonder<00:26:13.760> they're<00:26:14.000> unstable 00:26:16.230 --> 00:26:16.240 align:start position:0% no wonder they're unstable 00:26:16.240 --> 00:26:19.590 align:start position:0% no wonder they're unstable so<00:26:17.840> i<00:26:18.000> got<00:26:18.159> to<00:26:18.320> thinking<00:26:18.880> where<00:26:19.120> on<00:26:19.279> earth<00:26:19.520> are 00:26:19.590 --> 00:26:19.600 align:start position:0% so i got to thinking where on earth are 00:26:19.600 --> 00:26:22.549 align:start position:0% so i got to thinking where on earth are these<00:26:19.840> phase<00:26:20.159> delays<00:26:20.559> coming<00:26:20.880> from 00:26:22.549 --> 00:26:22.559 align:start position:0% these phase delays coming from 00:26:22.559 --> 00:26:25.350 align:start position:0% these phase delays coming from and<00:26:22.720> the<00:26:22.880> accepted<00:26:24.080> view<00:26:24.880> in<00:26:24.960> the<00:26:25.039> published 00:26:25.350 --> 00:26:25.360 align:start position:0% and the accepted view in the published 00:26:25.360 --> 00:26:26.870 align:start position:0% and the accepted view in the published literature<00:26:25.760> at<00:26:25.840> that<00:26:25.919> time<00:26:26.240> is<00:26:26.400> it's<00:26:26.559> coming 00:26:26.870 --> 00:26:26.880 align:start position:0% literature at that time is it's coming 00:26:26.880 --> 00:26:27.510 align:start position:0% literature at that time is it's coming from 00:26:27.510 --> 00:26:27.520 align:start position:0% from 00:26:27.520 --> 00:26:30.710 align:start position:0% from the<00:26:27.679> compliance<00:26:28.320> in<00:26:28.400> the<00:26:28.559> arm<00:26:30.080> so<00:26:30.320> i<00:26:30.400> did 00:26:30.710 --> 00:26:30.720 align:start position:0% the compliance in the arm so i did 00:26:30.720 --> 00:26:32.950 align:start position:0% the compliance in the arm so i did an<00:26:31.039> estimate<00:26:31.520> of<00:26:31.919> roughly<00:26:32.320> what<00:26:32.480> the<00:26:32.720> arm 00:26:32.950 --> 00:26:32.960 align:start position:0% an estimate of roughly what the arm 00:26:32.960 --> 00:26:34.470 align:start position:0% an estimate of roughly what the arm would<00:26:33.120> have<00:26:33.279> to<00:26:33.360> look<00:26:33.600> like<00:26:33.760> to<00:26:33.919> give<00:26:34.080> you 00:26:34.470 --> 00:26:34.480 align:start position:0% would have to look like to give you 00:26:34.480 --> 00:26:38.070 align:start position:0% would have to look like to give you this<00:26:34.960> level<00:26:35.840> of<00:26:36.240> time<00:26:36.480> delay<00:26:36.880> in<00:26:36.960> the<00:26:37.039> loop<00:26:37.919> it 00:26:38.070 --> 00:26:38.080 align:start position:0% this level of time delay in the loop it 00:26:38.080 --> 00:26:38.549 align:start position:0% this level of time delay in the loop it turned<00:26:38.320> out 00:26:38.549 --> 00:26:38.559 align:start position:0% turned out 00:26:38.559 --> 00:26:41.269 align:start position:0% turned out if<00:26:38.880> the<00:26:39.039> time<00:26:39.200> delay<00:26:39.520> was<00:26:39.760> due<00:26:40.080> to<00:26:41.120> the 00:26:41.269 --> 00:26:41.279 align:start position:0% if the time delay was due to the 00:26:41.279 --> 00:26:43.110 align:start position:0% if the time delay was due to the compliance<00:26:41.840> in<00:26:42.000> the<00:26:42.159> arm 00:26:43.110 --> 00:26:43.120 align:start position:0% compliance in the arm 00:26:43.120 --> 00:26:46.390 align:start position:0% compliance in the arm you<00:26:43.360> need<00:26:43.600> an<00:26:43.760> arm<00:26:44.080> which<00:26:44.240> was<00:26:44.400> roughly<00:26:45.760> say 00:26:46.390 --> 00:26:46.400 align:start position:0% you need an arm which was roughly say 00:26:46.400 --> 00:26:48.310 align:start position:0% you need an arm which was roughly say 100<00:26:46.880> meters<00:26:47.279> long<00:26:47.600> made<00:26:47.840> out<00:26:48.000> of<00:26:48.159> one 00:26:48.310 --> 00:26:48.320 align:start position:0% 100 meters long made out of one 00:26:48.320 --> 00:26:50.070 align:start position:0% 100 meters long made out of one millimeter 00:26:50.070 --> 00:26:50.080 align:start position:0% millimeter 00:26:50.080 --> 00:26:52.470 align:start position:0% millimeter steel<00:26:50.480> wire<00:26:50.880> where<00:26:51.039> you<00:26:51.600> basically<00:26:52.000> twisting 00:26:52.470 --> 00:26:52.480 align:start position:0% steel wire where you basically twisting 00:26:52.480 --> 00:26:53.350 align:start position:0% steel wire where you basically twisting this<00:26:52.640> worm 00:26:53.350 --> 00:26:53.360 align:start position:0% this worm 00:26:53.360 --> 00:26:56.070 align:start position:0% this worm watching<00:26:53.679> the<00:26:54.080> waves<00:26:54.400> propagate<00:26:55.600> and<00:26:55.840> these 00:26:56.070 --> 00:26:56.080 align:start position:0% watching the waves propagate and these 00:26:56.080 --> 00:26:57.669 align:start position:0% watching the waves propagate and these arms<00:26:56.320> were<00:26:56.480> actually<00:26:56.720> made<00:26:56.960> out<00:26:57.039> of<00:26:57.200> monocoque 00:26:57.669 --> 00:26:57.679 align:start position:0% arms were actually made out of monocoque 00:26:57.679 --> 00:26:58.470 align:start position:0% arms were actually made out of monocoque aluminium 00:26:58.470 --> 00:26:58.480 align:start position:0% aluminium 00:26:58.480 --> 00:27:00.549 align:start position:0% aluminium structure<00:26:59.360> and<00:26:59.520> they<00:26:59.679> were<00:27:00.159> you<00:27:00.240> know<00:27:00.400> as 00:27:00.549 --> 00:27:00.559 align:start position:0% structure and they were you know as 00:27:00.559 --> 00:27:02.310 align:start position:0% structure and they were you know as rigid<00:27:00.960> as<00:27:00.960> this<00:27:01.120> table<00:27:01.440> they<00:27:01.600> were<00:27:01.679> like<00:27:01.840> this 00:27:02.310 --> 00:27:02.320 align:start position:0% rigid as this table they were like this 00:27:02.320 --> 00:27:05.510 align:start position:0% rigid as this table they were like this there<00:27:02.480> was<00:27:02.640> no<00:27:02.799> way<00:27:03.039> these<00:27:03.360> this<00:27:04.240> this<00:27:04.559> arm<00:27:05.279> had 00:27:05.510 --> 00:27:05.520 align:start position:0% there was no way these this this arm had 00:27:05.520 --> 00:27:07.269 align:start position:0% there was no way these this this arm had this<00:27:05.679> type<00:27:05.840> of<00:27:06.000> time<00:27:06.240> delay<00:27:06.640> in<00:27:06.720> its<00:27:06.960> in<00:27:07.120> its 00:27:07.269 --> 00:27:07.279 align:start position:0% this type of time delay in its in its 00:27:07.279 --> 00:27:08.230 align:start position:0% this type of time delay in its in its mechanism 00:27:08.230 --> 00:27:08.240 align:start position:0% mechanism 00:27:08.240 --> 00:27:09.590 align:start position:0% mechanism so<00:27:08.400> that<00:27:08.559> got<00:27:08.720> us<00:27:08.880> interested<00:27:09.279> in<00:27:09.520> the 00:27:09.590 --> 00:27:09.600 align:start position:0% so that got us interested in the 00:27:09.600 --> 00:27:11.269 align:start position:0% so that got us interested in the mechanism<00:27:10.159> for 00:27:11.269 --> 00:27:11.279 align:start position:0% mechanism for 00:27:11.279 --> 00:27:13.750 align:start position:0% mechanism for of<00:27:11.600> where<00:27:11.760> these<00:27:12.000> time<00:27:12.159> delays<00:27:12.559> come<00:27:12.720> from<00:27:13.600> and 00:27:13.750 --> 00:27:13.760 align:start position:0% of where these time delays come from and 00:27:13.760 --> 00:27:15.029 align:start position:0% of where these time delays come from and what<00:27:13.919> we<00:27:14.159> found<00:27:14.480> was 00:27:15.029 --> 00:27:15.039 align:start position:0% what we found was 00:27:15.039 --> 00:27:17.110 align:start position:0% what we found was that<00:27:15.840> the<00:27:16.000> delay<00:27:16.480> was<00:27:16.640> coming<00:27:16.799> from<00:27:17.039> a 00:27:17.110 --> 00:27:17.120 align:start position:0% that the delay was coming from a 00:27:17.120 --> 00:27:18.950 align:start position:0% that the delay was coming from a non-minimum<00:27:17.679> phase<00:27:17.919> effect 00:27:18.950 --> 00:27:18.960 align:start position:0% non-minimum phase effect 00:27:18.960 --> 00:27:21.750 align:start position:0% non-minimum phase effect generated<00:27:19.600> through<00:27:19.919> parallel<00:27:20.480> paths<00:27:21.520> in<00:27:21.600> the 00:27:21.750 --> 00:27:21.760 align:start position:0% generated through parallel paths in the 00:27:21.760 --> 00:27:23.190 align:start position:0% generated through parallel paths in the transmission 00:27:23.190 --> 00:27:23.200 align:start position:0% transmission 00:27:23.200 --> 00:27:26.230 align:start position:0% transmission so<00:27:23.360> if<00:27:23.440> you<00:27:23.600> take<00:27:23.760> a<00:27:23.840> gearbox<00:27:25.840> and<00:27:26.000> you<00:27:26.080> think 00:27:26.230 --> 00:27:26.240 align:start position:0% so if you take a gearbox and you think 00:27:26.240 --> 00:27:27.830 align:start position:0% so if you take a gearbox and you think about<00:27:26.399> a<00:27:26.480> traditional<00:27:26.960> gearbox 00:27:27.830 --> 00:27:27.840 align:start position:0% about a traditional gearbox 00:27:27.840 --> 00:27:30.149 align:start position:0% about a traditional gearbox you<00:27:28.000> have<00:27:28.159> a<00:27:28.240> cog<00:27:28.480> which<00:27:29.039> rotates<00:27:29.600> another<00:27:29.919> cog 00:27:30.149 --> 00:27:30.159 align:start position:0% you have a cog which rotates another cog 00:27:30.159 --> 00:27:31.909 align:start position:0% you have a cog which rotates another cog which<00:27:30.320> rotates<00:27:30.720> against<00:27:31.120> it<00:27:31.200> you<00:27:31.440> transmit 00:27:31.909 --> 00:27:31.919 align:start position:0% which rotates against it you transmit 00:27:31.919 --> 00:27:33.430 align:start position:0% which rotates against it you transmit tall 00:27:33.430 --> 00:27:33.440 align:start position:0% tall 00:27:33.440 --> 00:27:35.669 align:start position:0% tall that<00:27:33.760> works<00:27:34.159> fine<00:27:34.640> when<00:27:35.039> the<00:27:35.200> gears<00:27:35.520> are 00:27:35.669 --> 00:27:35.679 align:start position:0% that works fine when the gears are 00:27:35.679 --> 00:27:37.190 align:start position:0% that works fine when the gears are moving 00:27:37.190 --> 00:27:37.200 align:start position:0% moving 00:27:37.200 --> 00:27:39.590 align:start position:0% moving so<00:27:37.360> on<00:27:37.520> and<00:27:37.600> so<00:27:37.840> forth<00:27:38.159> and<00:27:38.240> keep<00:27:38.399> moving<00:27:39.279> if 00:27:39.590 --> 00:27:39.600 align:start position:0% so on and so forth and keep moving if 00:27:39.600 --> 00:27:40.230 align:start position:0% so on and so forth and keep moving if the 00:27:40.230 --> 00:27:40.240 align:start position:0% the 00:27:40.240 --> 00:27:42.710 align:start position:0% the gears<00:27:40.559> are<00:27:40.720> essentially<00:27:41.440> stable<00:27:42.320> you<00:27:42.480> get 00:27:42.710 --> 00:27:42.720 align:start position:0% gears are essentially stable you get 00:27:42.720 --> 00:27:46.310 align:start position:0% gears are essentially stable you get stick<00:27:43.039> slip<00:27:43.279> motion<00:27:43.679> between<00:27:43.919> the<00:27:44.159> teeth 00:27:46.310 --> 00:27:46.320 align:start position:0% stick slip motion between the teeth 00:27:46.320 --> 00:27:48.789 align:start position:0% stick slip motion between the teeth during<00:27:46.559> this<00:27:46.799> stick<00:27:47.039> slip<00:27:47.360> motion<00:27:48.399> there<00:27:48.640> are 00:27:48.789 --> 00:27:48.799 align:start position:0% during this stick slip motion there are 00:27:48.799 --> 00:27:50.549 align:start position:0% during this stick slip motion there are now<00:27:49.120> two<00:27:49.279> mechanisms<00:27:49.760> for<00:27:49.919> transmitting 00:27:50.549 --> 00:27:50.559 align:start position:0% now two mechanisms for transmitting 00:27:50.559 --> 00:27:51.590 align:start position:0% now two mechanisms for transmitting torque 00:27:51.590 --> 00:27:51.600 align:start position:0% torque 00:27:51.600 --> 00:27:54.549 align:start position:0% torque firstly<00:27:52.559> there<00:27:52.799> is<00:27:53.440> the<00:27:53.679> motion<00:27:54.080> of<00:27:54.159> the<00:27:54.320> stick 00:27:54.549 --> 00:27:54.559 align:start position:0% firstly there is the motion of the stick 00:27:54.559 --> 00:27:55.990 align:start position:0% firstly there is the motion of the stick stick<00:27:54.880> between<00:27:55.120> the<00:27:55.279> teeth 00:27:55.990 --> 00:27:56.000 align:start position:0% stick between the teeth 00:27:56.000 --> 00:27:59.350 align:start position:0% stick between the teeth and<00:27:56.320> secondly<00:27:56.960> there<00:27:57.279> is<00:27:57.679> motion<00:27:58.080> by<00:27:58.320> virtue 00:27:59.350 --> 00:27:59.360 align:start position:0% and secondly there is motion by virtue 00:27:59.360 --> 00:28:03.830 align:start position:0% and secondly there is motion by virtue of<00:27:59.520> the<00:27:59.760> bearings<00:28:01.279> that<00:28:01.919> support 00:28:03.830 --> 00:28:03.840 align:start position:0% of the bearings that support 00:28:03.840 --> 00:28:06.230 align:start position:0% of the bearings that support the<00:28:04.000> gear<00:28:04.320> the<00:28:04.480> gear<00:28:04.799> the<00:28:04.880> gear<00:28:05.120> wheels<00:28:05.919> and<00:28:06.080> so 00:28:06.230 --> 00:28:06.240 align:start position:0% the gear the gear the gear wheels and so 00:28:06.240 --> 00:28:08.149 align:start position:0% the gear the gear the gear wheels and so what<00:28:06.480> we<00:28:06.720> we<00:28:06.960> postulated<00:28:07.679> was 00:28:08.149 --> 00:28:08.159 align:start position:0% what we we postulated was 00:28:08.159 --> 00:28:10.389 align:start position:0% what we we postulated was that<00:28:08.399> in<00:28:08.480> fact<00:28:08.720> we<00:28:08.880> had<00:28:09.039> two<00:28:09.279> parallel<00:28:09.760> paths 00:28:10.389 --> 00:28:10.399 align:start position:0% that in fact we had two parallel paths 00:28:10.399 --> 00:28:11.909 align:start position:0% that in fact we had two parallel paths of<00:28:10.640> transmitting<00:28:11.360> torque 00:28:11.909 --> 00:28:11.919 align:start position:0% of transmitting torque 00:28:11.919 --> 00:28:14.149 align:start position:0% of transmitting torque one<00:28:12.159> was<00:28:12.559> stick<00:28:12.880> slip<00:28:13.520> through<00:28:13.679> the<00:28:13.840> teeth<00:28:14.080> and 00:28:14.149 --> 00:28:14.159 align:start position:0% one was stick slip through the teeth and 00:28:14.159 --> 00:28:15.110 align:start position:0% one was stick slip through the teeth and the<00:28:14.320> other<00:28:14.480> was 00:28:15.110 --> 00:28:15.120 align:start position:0% the other was 00:28:15.120 --> 00:28:18.470 align:start position:0% the other was the<00:28:15.279> mechanisms<00:28:16.960> uh<00:28:17.120> the<00:28:17.520> basically<00:28:17.919> rocking 00:28:18.470 --> 00:28:18.480 align:start position:0% the mechanisms uh the basically rocking 00:28:18.480 --> 00:28:20.950 align:start position:0% the mechanisms uh the basically rocking walking<00:28:18.799> mechanisms<00:28:19.279> between<00:28:19.520> the<00:28:19.760> the<00:28:20.559> uh 00:28:20.950 --> 00:28:20.960 align:start position:0% walking mechanisms between the the uh 00:28:20.960 --> 00:28:21.510 align:start position:0% walking mechanisms between the the uh gear<00:28:21.200> t 00:28:21.510 --> 00:28:21.520 align:start position:0% gear t 00:28:21.520 --> 00:28:24.549 align:start position:0% gear t the<00:28:21.760> the<00:28:21.919> gear<00:28:22.320> gear<00:28:22.559> wheels<00:28:23.679> and<00:28:23.919> so<00:28:24.159> we<00:28:24.320> went 00:28:24.549 --> 00:28:24.559 align:start position:0% the the gear gear wheels and so we went 00:28:24.559 --> 00:28:27.190 align:start position:0% the the gear gear wheels and so we went back<00:28:24.880> to<00:28:25.039> our<00:28:25.360> identification<00:28:26.000> experiments 00:28:27.190 --> 00:28:27.200 align:start position:0% back to our identification experiments 00:28:27.200 --> 00:28:29.190 align:start position:0% back to our identification experiments and<00:28:27.360> we<00:28:27.520> actually<00:28:27.919> managed<00:28:28.159> for<00:28:28.399> puma<00:28:28.799> arm<00:28:29.039> to 00:28:29.190 --> 00:28:29.200 align:start position:0% and we actually managed for puma arm to 00:28:29.200 --> 00:28:31.029 align:start position:0% and we actually managed for puma arm to identify<00:28:29.919> where<00:28:30.159> these<00:28:30.399> phase<00:28:30.640> delays<00:28:30.960> were 00:28:31.029 --> 00:28:31.039 align:start position:0% identify where these phase delays were 00:28:31.039 --> 00:28:31.830 align:start position:0% identify where these phase delays were coming<00:28:31.279> from 00:28:31.830 --> 00:28:31.840 align:start position:0% coming from 00:28:31.840 --> 00:28:33.669 align:start position:0% coming from and<00:28:31.919> you<00:28:32.080> were<00:28:32.159> getting<00:28:32.399> these<00:28:32.640> sudden<00:28:33.120> three 00:28:33.669 --> 00:28:33.679 align:start position:0% and you were getting these sudden three 00:28:33.679 --> 00:28:35.590 align:start position:0% and you were getting these sudden three 180<00:28:34.159> degree<00:28:34.559> phase 00:28:35.590 --> 00:28:35.600 align:start position:0% 180 degree phase 00:28:35.600 --> 00:28:37.750 align:start position:0% 180 degree phase changes<00:28:36.159> in<00:28:36.240> the<00:28:36.399> vibe<00:28:36.799> in<00:28:36.880> the<00:28:37.120> in<00:28:37.279> the<00:28:37.520> high 00:28:37.750 --> 00:28:37.760 align:start position:0% changes in the vibe in the in the high 00:28:37.760 --> 00:28:39.590 align:start position:0% changes in the vibe in the in the high frequency<00:28:38.159> behavior<00:28:38.480> of<00:28:38.559> these<00:28:38.799> arms 00:28:39.590 --> 00:28:39.600 align:start position:0% frequency behavior of these arms 00:28:39.600 --> 00:28:41.510 align:start position:0% frequency behavior of these arms and<00:28:39.919> you<00:28:40.000> could<00:28:40.240> identify<00:28:40.799> which<00:28:41.039> particular 00:28:41.510 --> 00:28:41.520 align:start position:0% and you could identify which particular 00:28:41.520 --> 00:28:43.110 align:start position:0% and you could identify which particular gear<00:28:41.760> teeth<00:28:42.000> were<00:28:42.240> sticking 00:28:43.110 --> 00:28:43.120 align:start position:0% gear teeth were sticking 00:28:43.120 --> 00:28:44.630 align:start position:0% gear teeth were sticking and<00:28:43.360> say<00:28:43.520> oh<00:28:43.679> that<00:28:43.840> one's<00:28:44.000> coming<00:28:44.240> from<00:28:44.399> that 00:28:44.630 --> 00:28:44.640 align:start position:0% and say oh that one's coming from that 00:28:44.640 --> 00:28:46.870 align:start position:0% and say oh that one's coming from that gear<00:28:45.120> gear<00:28:45.360> tooth<00:28:45.679> sticking<00:28:46.000> on<00:28:46.080> that<00:28:46.320> one 00:28:46.870 --> 00:28:46.880 align:start position:0% gear gear tooth sticking on that one 00:28:46.880 --> 00:28:48.310 align:start position:0% gear gear tooth sticking on that one and<00:28:47.039> then<00:28:47.279> that<00:28:47.360> one<00:28:47.600> frees<00:28:47.840> up<00:28:47.919> and<00:28:48.080> this<00:28:48.159> one 00:28:48.310 --> 00:28:48.320 align:start position:0% and then that one frees up and this one 00:28:48.320 --> 00:28:50.149 align:start position:0% and then that one frees up and this one starts<00:28:48.559> vibrating<00:28:49.440> and<00:28:49.520> we<00:28:49.679> could<00:28:49.840> actually 00:28:50.149 --> 00:28:50.159 align:start position:0% starts vibrating and we could actually 00:28:50.159 --> 00:28:50.870 align:start position:0% starts vibrating and we could actually correlate 00:28:50.870 --> 00:28:50.880 align:start position:0% correlate 00:28:50.880 --> 00:28:52.630 align:start position:0% correlate all<00:28:51.039> of<00:28:51.120> the<00:28:51.279> phase<00:28:51.600> delays<00:28:52.320> with<00:28:52.559> the 00:28:52.630 --> 00:28:52.640 align:start position:0% all of the phase delays with the 00:28:52.640 --> 00:28:54.310 align:start position:0% all of the phase delays with the vibrational<00:28:53.279> modes<00:28:53.600> of<00:28:53.679> the<00:28:53.919> internal 00:28:54.310 --> 00:28:54.320 align:start position:0% vibrational modes of the internal 00:28:54.320 --> 00:28:55.190 align:start position:0% vibrational modes of the internal structure 00:28:55.190 --> 00:28:55.200 align:start position:0% structure 00:28:55.200 --> 00:28:57.750 align:start position:0% structure of<00:28:55.360> the<00:28:55.520> gearbox<00:28:56.240> or<00:28:56.399> the<00:28:56.480> gear<00:28:56.799> train<00:28:57.440> which 00:28:57.750 --> 00:28:57.760 align:start position:0% of the gearbox or the gear train which 00:28:57.760 --> 00:28:59.830 align:start position:0% of the gearbox or the gear train which transmitted<00:28:58.240> the<00:28:58.320> torque<00:28:58.559> inside<00:28:58.960> this<00:28:59.200> arm 00:28:59.830 --> 00:28:59.840 align:start position:0% transmitted the torque inside this arm 00:28:59.840 --> 00:29:02.070 align:start position:0% transmitted the torque inside this arm so<00:29:00.000> that<00:29:00.159> was<00:29:00.320> the<00:29:00.480> postulation<00:29:01.520> so<00:29:01.760> we<00:29:01.840> then 00:29:02.070 --> 00:29:02.080 align:start position:0% so that was the postulation so we then 00:29:02.080 --> 00:29:02.870 align:start position:0% so that was the postulation so we then built 00:29:02.870 --> 00:29:02.880 align:start position:0% built 00:29:02.880 --> 00:29:05.350 align:start position:0% built a<00:29:03.600> mechanism<00:29:04.080> to<00:29:04.159> try<00:29:04.320> and<00:29:04.480> demonstrate<00:29:05.039> it 00:29:05.350 --> 00:29:05.360 align:start position:0% a mechanism to try and demonstrate it 00:29:05.360 --> 00:29:06.710 align:start position:0% a mechanism to try and demonstrate it experimentally 00:29:06.710 --> 00:29:06.720 align:start position:0% experimentally 00:29:06.720 --> 00:29:10.789 align:start position:0% experimentally so<00:29:07.120> we<00:29:07.360> built<00:29:09.440> a<00:29:09.520> gear<00:29:09.840> drive<00:29:10.080> a<00:29:10.159> single<00:29:10.559> gear 00:29:10.789 --> 00:29:10.799 align:start position:0% so we built a gear drive a single gear 00:29:10.799 --> 00:29:13.590 align:start position:0% so we built a gear drive a single gear drive<00:29:11.039> with<00:29:11.279> a<00:29:11.840> with<00:29:12.080> a 00:29:13.590 --> 00:29:13.600 align:start position:0% drive with a with a 00:29:13.600 --> 00:29:16.710 align:start position:0% drive with a with a sort<00:29:13.760> of<00:29:13.840> tiny<00:29:14.240> arm<00:29:14.480> on<00:29:14.559> the<00:29:14.640> output 00:29:16.710 --> 00:29:16.720 align:start position:0% sort of tiny arm on the output 00:29:16.720 --> 00:29:18.389 align:start position:0% sort of tiny arm on the output and<00:29:16.880> so<00:29:17.039> we<00:29:17.440> drove<00:29:17.679> it<00:29:17.760> and<00:29:17.840> we<00:29:17.919> got<00:29:18.080> exactly 00:29:18.389 --> 00:29:18.399 align:start position:0% and so we drove it and we got exactly 00:29:18.399 --> 00:29:20.389 align:start position:0% and so we drove it and we got exactly the<00:29:18.480> same<00:29:18.640> behavior<00:29:19.120> we<00:29:19.279> got<00:29:19.360> this<00:29:19.600> very<00:29:19.840> large 00:29:20.389 --> 00:29:20.399 align:start position:0% the same behavior we got this very large 00:29:20.399 --> 00:29:23.669 align:start position:0% the same behavior we got this very large phase<00:29:20.640> delay<00:29:21.760> but<00:29:21.919> this<00:29:22.240> gear<00:29:22.640> device<00:29:23.360> was 00:29:23.669 --> 00:29:23.679 align:start position:0% phase delay but this gear device was 00:29:23.679 --> 00:29:24.230 align:start position:0% phase delay but this gear device was special 00:29:24.230 --> 00:29:24.240 align:start position:0% special 00:29:24.240 --> 00:29:26.789 align:start position:0% special in<00:29:24.399> that<00:29:24.559> we<00:29:24.720> actually<00:29:24.960> had<00:29:25.279> two<00:29:25.520> motors<00:29:26.480> and 00:29:26.789 --> 00:29:26.799 align:start position:0% in that we actually had two motors and 00:29:26.799 --> 00:29:28.470 align:start position:0% in that we actually had two motors and two<00:29:27.039> gearboxes 00:29:28.470 --> 00:29:28.480 align:start position:0% two gearboxes 00:29:28.480 --> 00:29:30.310 align:start position:0% two gearboxes such<00:29:28.720> that<00:29:28.960> we<00:29:29.120> could<00:29:29.279> drive<00:29:29.600> the<00:29:29.840> output 00:29:30.310 --> 00:29:30.320 align:start position:0% such that we could drive the output 00:29:30.320 --> 00:29:32.710 align:start position:0% such that we could drive the output differentially 00:29:32.710 --> 00:29:32.720 align:start position:0% differentially 00:29:32.720 --> 00:29:34.950 align:start position:0% differentially so<00:29:33.440> the<00:29:33.679> other<00:29:33.840> way<00:29:34.000> of<00:29:34.159> driving<00:29:34.399> this<00:29:34.640> instead 00:29:34.950 --> 00:29:34.960 align:start position:0% so the other way of driving this instead 00:29:34.960 --> 00:29:37.110 align:start position:0% so the other way of driving this instead of<00:29:35.360> the<00:29:35.520> drive<00:29:35.919> just<00:29:36.159> driving<00:29:36.480> the<00:29:36.720> the<00:29:36.880> iron 00:29:37.110 --> 00:29:37.120 align:start position:0% of the drive just driving the the iron 00:29:37.120 --> 00:29:38.389 align:start position:0% of the drive just driving the the iron back<00:29:37.279> and<00:29:37.440> forth<00:29:37.600> to<00:29:37.679> get<00:29:37.760> this<00:29:37.840> huge<00:29:38.159> time 00:29:38.389 --> 00:29:38.399 align:start position:0% back and forth to get this huge time 00:29:38.399 --> 00:29:39.190 align:start position:0% back and forth to get this huge time delay 00:29:39.190 --> 00:29:39.200 align:start position:0% delay 00:29:39.200 --> 00:29:40.630 align:start position:0% delay is<00:29:39.360> you<00:29:39.520> could<00:29:39.600> actually<00:29:39.840> drive<00:29:40.320> the<00:29:40.480> gear 00:29:40.630 --> 00:29:40.640 align:start position:0% is you could actually drive the gear 00:29:40.640 --> 00:29:42.789 align:start position:0% is you could actually drive the gear boxes<00:29:41.120> differentially 00:29:42.789 --> 00:29:42.799 align:start position:0% boxes differentially 00:29:42.799 --> 00:29:44.310 align:start position:0% boxes differentially so<00:29:42.960> one<00:29:43.200> moving<00:29:43.440> that<00:29:43.600> way<00:29:43.840> one<00:29:44.000> moving<00:29:44.240> the 00:29:44.310 --> 00:29:44.320 align:start position:0% so one moving that way one moving the 00:29:44.320 --> 00:29:46.389 align:start position:0% so one moving that way one moving the other<00:29:44.480> the<00:29:44.640> other<00:29:44.799> way<00:29:45.440> and<00:29:45.600> the<00:29:45.760> output<00:29:46.240> was 00:29:46.389 --> 00:29:46.399 align:start position:0% other the other way and the output was 00:29:46.399 --> 00:29:47.830 align:start position:0% other the other way and the output was the<00:29:46.480> difference<00:29:46.960> in<00:29:47.120> velocity<00:29:47.520> between<00:29:47.760> the 00:29:47.830 --> 00:29:47.840 align:start position:0% the difference in velocity between the 00:29:47.840 --> 00:29:48.310 align:start position:0% the difference in velocity between the two 00:29:48.310 --> 00:29:48.320 align:start position:0% two 00:29:48.320 --> 00:29:49.750 align:start position:0% two such<00:29:48.559> that<00:29:48.640> you<00:29:48.799> never<00:29:48.960> got<00:29:49.200> stick<00:29:49.440> stick<00:29:49.679> in 00:29:49.750 --> 00:29:49.760 align:start position:0% such that you never got stick stick in 00:29:49.760 --> 00:29:52.870 align:start position:0% such that you never got stick stick in the<00:29:49.840> gear<00:29:50.159> teeth<00:29:51.120> if<00:29:51.279> you<00:29:51.520> did<00:29:51.760> that 00:29:52.870 --> 00:29:52.880 align:start position:0% the gear teeth if you did that 00:29:52.880 --> 00:29:56.710 align:start position:0% the gear teeth if you did that and<00:29:53.039> then<00:29:53.760> drove<00:29:54.799> tried<00:29:55.039> to<00:29:55.120> drive 00:29:56.710 --> 00:29:56.720 align:start position:0% and then drove tried to drive 00:29:56.720 --> 00:29:58.470 align:start position:0% and then drove tried to drive the<00:29:56.880> little<00:29:57.200> little<00:29:57.440> lever<00:29:57.919> which<00:29:58.159> was<00:29:58.320> the 00:29:58.470 --> 00:29:58.480 align:start position:0% the little little lever which was the 00:29:58.480 --> 00:30:00.470 align:start position:0% the little little lever which was the pretend<00:29:59.120> robot<00:29:59.600> link 00:30:00.470 --> 00:30:00.480 align:start position:0% pretend robot link 00:30:00.480 --> 00:30:03.269 align:start position:0% pretend robot link it<00:30:01.039> became<00:30:01.440> almost<00:30:01.679> frictionless<00:30:02.960> if<00:30:03.120> you<00:30:03.200> get 00:30:03.269 --> 00:30:03.279 align:start position:0% it became almost frictionless if you get 00:30:03.279 --> 00:30:04.789 align:start position:0% it became almost frictionless if you get hold<00:30:03.520> of<00:30:03.679> it<00:30:03.760> and<00:30:03.919> you<00:30:04.000> could 00:30:04.789 --> 00:30:04.799 align:start position:0% hold of it and you could 00:30:04.799 --> 00:30:07.669 align:start position:0% hold of it and you could spin<00:30:05.039> it<00:30:05.200> and<00:30:06.000> just<00:30:06.159> keep<00:30:06.399> on<00:30:06.480> going<00:30:07.440> and<00:30:07.600> if 00:30:07.669 --> 00:30:07.679 align:start position:0% spin it and just keep on going and if 00:30:07.679 --> 00:30:07.990 align:start position:0% spin it and just keep on going and if you<00:30:07.760> did 00:30:07.990 --> 00:30:08.000 align:start position:0% you did 00:30:08.000 --> 00:30:10.149 align:start position:0% you did a<00:30:08.480> dynamic<00:30:08.960> experiment<00:30:09.520> all<00:30:09.679> of<00:30:09.760> the<00:30:09.919> phase 00:30:10.149 --> 00:30:10.159 align:start position:0% a dynamic experiment all of the phase 00:30:10.159 --> 00:30:12.310 align:start position:0% a dynamic experiment all of the phase delays<00:30:10.640> disappeared 00:30:12.310 --> 00:30:12.320 align:start position:0% delays disappeared 00:30:12.320 --> 00:30:13.990 align:start position:0% delays disappeared so<00:30:12.720> experimentally<00:30:13.360> you<00:30:13.440> were<00:30:13.600> able<00:30:13.760> to<00:30:13.840> show 00:30:13.990 --> 00:30:14.000 align:start position:0% so experimentally you were able to show 00:30:14.000 --> 00:30:15.750 align:start position:0% so experimentally you were able to show that<00:30:14.159> if<00:30:14.320> you<00:30:14.480> removed<00:30:15.039> the<00:30:15.200> stick<00:30:15.440> slip 00:30:15.750 --> 00:30:15.760 align:start position:0% that if you removed the stick slip 00:30:15.760 --> 00:30:16.470 align:start position:0% that if you removed the stick slip behavior 00:30:16.470 --> 00:30:16.480 align:start position:0% behavior 00:30:16.480 --> 00:30:18.630 align:start position:0% behavior such<00:30:16.720> that<00:30:16.880> you<00:30:16.960> removed<00:30:17.279> the<00:30:17.360> capacity<00:30:18.000> of 00:30:18.630 --> 00:30:18.640 align:start position:0% such that you removed the capacity of 00:30:18.640 --> 00:30:21.590 align:start position:0% such that you removed the capacity of the<00:30:18.799> gears<00:30:19.440> to<00:30:19.679> perform<00:30:20.159> these<00:30:20.480> multimodal 00:30:21.590 --> 00:30:21.600 align:start position:0% the gears to perform these multimodal 00:30:21.600 --> 00:30:24.230 align:start position:0% the gears to perform these multimodal vibrational<00:30:22.240> patterns<00:30:23.440> you<00:30:23.600> could<00:30:23.760> get<00:30:24.000> rid 00:30:24.230 --> 00:30:24.240 align:start position:0% vibrational patterns you could get rid 00:30:24.240 --> 00:30:24.710 align:start position:0% vibrational patterns you could get rid of 00:30:24.710 --> 00:30:24.720 align:start position:0% of 00:30:24.720 --> 00:30:27.510 align:start position:0% of all<00:30:24.880> of<00:30:24.960> the<00:30:25.039> phase<00:30:25.360> delay<00:30:26.320> and<00:30:26.640> so<00:30:26.960> we<00:30:27.200> looked 00:30:27.510 --> 00:30:27.520 align:start position:0% all of the phase delay and so we looked 00:30:27.520 --> 00:30:28.950 align:start position:0% all of the phase delay and so we looked at<00:30:27.840> whether<00:30:28.080> or<00:30:28.240> not 00:30:28.950 --> 00:30:28.960 align:start position:0% at whether or not 00:30:28.960 --> 00:30:31.990 align:start position:0% at whether or not the<00:30:29.120> appropriate<00:30:29.679> way<00:30:30.080> to<00:30:30.320> design<00:30:31.200> arms<00:30:31.679> which 00:30:31.990 --> 00:30:32.000 align:start position:0% the appropriate way to design arms which 00:30:32.000 --> 00:30:35.190 align:start position:0% the appropriate way to design arms which are<00:30:32.159> performing<00:30:33.440> force<00:30:33.679> reflection<00:30:34.240> tasks 00:30:35.190 --> 00:30:35.200 align:start position:0% are performing force reflection tasks 00:30:35.200 --> 00:30:37.029 align:start position:0% are performing force reflection tasks would<00:30:35.440> be<00:30:35.679> to<00:30:36.240> drive<00:30:36.559> the<00:30:36.720> arms 00:30:37.029 --> 00:30:37.039 align:start position:0% would be to drive the arms 00:30:37.039 --> 00:30:39.990 align:start position:0% would be to drive the arms differentially 00:30:39.990 --> 00:30:40.000 align:start position:0% 00:30:40.000 --> 00:30:43.350 align:start position:0% so<00:30:41.520> that<00:30:41.760> started<00:30:42.159> another<00:30:42.559> area<00:30:42.799> of<00:30:42.960> interest 00:30:43.350 --> 00:30:43.360 align:start position:0% so that started another area of interest 00:30:43.360 --> 00:30:45.909 align:start position:0% so that started another area of interest which<00:30:44.320> i<00:30:44.480> became<00:30:44.799> interested<00:30:45.279> in<00:30:45.440> working 00:30:45.909 --> 00:30:45.919 align:start position:0% which i became interested in working 00:30:45.919 --> 00:30:46.630 align:start position:0% which i became interested in working with 00:30:46.630 --> 00:30:46.640 align:start position:0% with 00:30:46.640 --> 00:30:49.830 align:start position:0% with the<00:30:47.039> joint<00:30:47.279> european<00:30:47.760> tourists<00:30:48.880> in<00:30:49.039> which<00:30:49.520> we 00:30:49.830 --> 00:30:49.840 align:start position:0% the joint european tourists in which we 00:30:49.840 --> 00:30:50.710 align:start position:0% the joint european tourists in which we were 00:30:50.710 --> 00:30:50.720 align:start position:0% were 00:30:50.720 --> 00:30:54.549 align:start position:0% were they<00:30:50.880> were<00:30:51.039> interested<00:30:51.600> in<00:30:52.480> having<00:30:52.799> this<00:30:53.039> arm 00:30:54.549 --> 00:30:54.559 align:start position:0% they were interested in having this arm 00:30:54.559 --> 00:30:56.870 align:start position:0% they were interested in having this arm which<00:30:54.799> could<00:30:54.960> go<00:30:55.279> in<00:30:55.760> and<00:30:56.000> do<00:30:56.240> maintenance 00:30:56.870 --> 00:30:56.880 align:start position:0% which could go in and do maintenance 00:30:56.880 --> 00:30:58.630 align:start position:0% which could go in and do maintenance once<00:30:57.120> they<00:30:57.440> injected<00:30:57.840> tritium<00:30:58.320> into<00:30:58.480> the 00:30:58.630 --> 00:30:58.640 align:start position:0% once they injected tritium into the 00:30:58.640 --> 00:30:59.269 align:start position:0% once they injected tritium into the device 00:30:59.269 --> 00:30:59.279 align:start position:0% device 00:30:59.279 --> 00:31:00.789 align:start position:0% device i<00:30:59.440> don't<00:30:59.600> know<00:30:59.679> if<00:30:59.760> you're<00:30:59.919> aware<00:31:00.159> of<00:31:00.240> the<00:31:00.480> what 00:31:00.789 --> 00:31:00.799 align:start position:0% i don't know if you're aware of the what 00:31:00.799 --> 00:31:03.590 align:start position:0% i don't know if you're aware of the what jet<00:31:01.039> is<00:31:01.279> it's<00:31:01.519> a<00:31:02.080> it's<00:31:02.320> the<00:31:02.399> european 00:31:03.590 --> 00:31:03.600 align:start position:0% jet is it's a it's the european 00:31:03.600 --> 00:31:05.509 align:start position:0% jet is it's a it's the european uh<00:31:03.840> fusion<00:31:04.559> research<00:31:04.960> reactor<00:31:05.279> which<00:31:05.440> is 00:31:05.509 --> 00:31:05.519 align:start position:0% uh fusion research reactor which is 00:31:05.519 --> 00:31:07.350 align:start position:0% uh fusion research reactor which is about<00:31:05.679> 10<00:31:05.919> miles<00:31:06.159> down<00:31:06.399> the<00:31:06.480> road<00:31:06.640> from<00:31:06.880> here 00:31:07.350 --> 00:31:07.360 align:start position:0% about 10 miles down the road from here 00:31:07.360 --> 00:31:09.509 align:start position:0% about 10 miles down the road from here which<00:31:07.600> is<00:31:07.679> probably<00:31:08.080> closed<00:31:08.320> down<00:31:08.640> by<00:31:08.799> now<00:31:09.279> but 00:31:09.509 --> 00:31:09.519 align:start position:0% which is probably closed down by now but 00:31:09.519 --> 00:31:11.029 align:start position:0% which is probably closed down by now but in<00:31:09.600> those<00:31:09.840> days<00:31:10.159> it<00:31:10.240> was 00:31:11.029 --> 00:31:11.039 align:start position:0% in those days it was 00:31:11.039 --> 00:31:14.630 align:start position:0% in those days it was being<00:31:11.279> prepared<00:31:11.679> to<00:31:11.760> be<00:31:12.399> fired<00:31:12.799> up<00:31:12.960> to<00:31:13.120> do 00:31:14.630 --> 00:31:14.640 align:start position:0% being prepared to be fired up to do 00:31:14.640 --> 00:31:18.149 align:start position:0% being prepared to be fired up to do fusion<00:31:14.960> research<00:31:15.600> using<00:31:15.919> a<00:31:16.000> tokamak<00:31:17.519> and<00:31:17.919> one 00:31:18.149 --> 00:31:18.159 align:start position:0% fusion research using a tokamak and one 00:31:18.159 --> 00:31:19.430 align:start position:0% fusion research using a tokamak and one of<00:31:18.240> the<00:31:18.320> issues<00:31:18.640> was<00:31:18.960> is<00:31:19.120> going<00:31:19.200> to<00:31:19.279> be 00:31:19.430 --> 00:31:19.440 align:start position:0% of the issues was is going to be 00:31:19.440 --> 00:31:20.470 align:start position:0% of the issues was is going to be ferociously 00:31:20.470 --> 00:31:20.480 align:start position:0% ferociously 00:31:20.480 --> 00:31:23.029 align:start position:0% ferociously radioactive<00:31:21.919> once<00:31:22.159> it<00:31:22.320> had<00:31:22.399> been<00:31:22.559> fired<00:31:22.880> up 00:31:23.029 --> 00:31:23.039 align:start position:0% radioactive once it had been fired up 00:31:23.039 --> 00:31:24.470 align:start position:0% radioactive once it had been fired up and<00:31:23.120> used<00:31:23.440> with<00:31:23.679> tritium 00:31:24.470 --> 00:31:24.480 align:start position:0% and used with tritium 00:31:24.480 --> 00:31:28.870 align:start position:0% and used with tritium so<00:31:24.720> they<00:31:24.880> were<00:31:25.519> devising<00:31:26.640> ways<00:31:27.279> of 00:31:28.870 --> 00:31:28.880 align:start position:0% so they were devising ways of 00:31:28.880 --> 00:31:31.190 align:start position:0% so they were devising ways of inputting<00:31:29.440> large<00:31:29.760> manipulators<00:31:30.720> with<00:31:30.960> force 00:31:31.190 --> 00:31:31.200 align:start position:0% inputting large manipulators with force 00:31:31.200 --> 00:31:32.230 align:start position:0% inputting large manipulators with force reflection 00:31:32.230 --> 00:31:32.240 align:start position:0% reflection 00:31:32.240 --> 00:31:35.110 align:start position:0% reflection so<00:31:32.480> the<00:31:32.720> same<00:31:33.039> problem<00:31:33.440> as<00:31:33.600> with<00:31:33.760> the<00:31:33.840> cegb<00:31:34.640> so 00:31:35.110 --> 00:31:35.120 align:start position:0% so the same problem as with the cegb so 00:31:35.120 --> 00:31:36.710 align:start position:0% so the same problem as with the cegb so same<00:31:35.440> pattern<00:31:35.760> again 00:31:36.710 --> 00:31:36.720 align:start position:0% same pattern again 00:31:36.720 --> 00:31:39.830 align:start position:0% same pattern again and<00:31:37.039> they<00:31:38.320> we<00:31:38.880> were<00:31:39.039> looking<00:31:39.360> at<00:31:39.519> ways<00:31:39.760> in 00:31:39.830 --> 00:31:39.840 align:start position:0% and they we were looking at ways in 00:31:39.840 --> 00:31:41.750 align:start position:0% and they we were looking at ways in which<00:31:40.080> you<00:31:40.159> could<00:31:40.320> actually 00:31:41.750 --> 00:31:41.760 align:start position:0% which you could actually 00:31:41.760 --> 00:31:43.909 align:start position:0% which you could actually use<00:31:42.159> drives<00:31:42.640> to<00:31:42.720> remove<00:31:43.200> the<00:31:43.360> friction<00:31:43.760> from 00:31:43.909 --> 00:31:43.919 align:start position:0% use drives to remove the friction from 00:31:43.919 --> 00:31:45.350 align:start position:0% use drives to remove the friction from the<00:31:44.000> drives<00:31:44.640> so<00:31:44.799> you<00:31:44.960> have 00:31:45.350 --> 00:31:45.360 align:start position:0% the drives so you have 00:31:45.360 --> 00:31:47.590 align:start position:0% the drives so you have two two<00:31:45.919> problems<00:31:46.320> one<00:31:46.480> is<00:31:46.640> the<00:31:46.720> phase<00:31:47.039> delay 00:31:47.590 --> 00:31:47.600 align:start position:0% two two problems one is the phase delay 00:31:47.600 --> 00:31:50.549 align:start position:0% two two problems one is the phase delay and<00:31:47.760> the<00:31:47.840> other<00:31:48.080> is<00:31:48.240> if<00:31:48.399> you're<00:31:48.559> trying<00:31:48.880> to 00:31:50.549 --> 00:31:50.559 align:start position:0% and the other is if you're trying to 00:31:50.559 --> 00:31:53.269 align:start position:0% and the other is if you're trying to use<00:31:51.279> force<00:31:51.519> reflection<00:31:51.919> to<00:31:52.080> a<00:31:52.159> human<00:31:53.120> you 00:31:53.269 --> 00:31:53.279 align:start position:0% use force reflection to a human you 00:31:53.279 --> 00:31:54.549 align:start position:0% use force reflection to a human you really<00:31:53.519> want<00:31:53.600> to<00:31:53.679> get<00:31:53.840> rid<00:31:53.919> of<00:31:54.080> the<00:31:54.159> friction 00:31:54.549 --> 00:31:54.559 align:start position:0% really want to get rid of the friction 00:31:54.559 --> 00:31:55.830 align:start position:0% really want to get rid of the friction in<00:31:54.640> the<00:31:54.720> drivetrain 00:31:55.830 --> 00:31:55.840 align:start position:0% in the drivetrain 00:31:55.840 --> 00:31:57.990 align:start position:0% in the drivetrain for<00:31:56.159> the<00:31:56.320> input<00:31:56.640> device<00:31:57.600> there<00:31:57.679> are<00:31:57.760> a<00:31:57.840> number 00:31:57.990 --> 00:31:58.000 align:start position:0% for the input device there are a number 00:31:58.000 --> 00:31:58.950 align:start position:0% for the input device there are a number of<00:31:58.080> ways<00:31:58.240> of<00:31:58.320> doing<00:31:58.640> that 00:31:58.950 --> 00:31:58.960 align:start position:0% of ways of doing that 00:31:58.960 --> 00:32:00.549 align:start position:0% of ways of doing that you<00:31:59.120> can<00:31:59.279> either<00:31:59.519> use<00:31:59.679> a<00:31:59.840> very<00:32:00.000> low<00:32:00.240> friction 00:32:00.549 --> 00:32:00.559 align:start position:0% you can either use a very low friction 00:32:00.559 --> 00:32:03.350 align:start position:0% you can either use a very low friction device<00:32:01.519> use<00:32:01.760> fancy<00:32:02.159> feedback 00:32:03.350 --> 00:32:03.360 align:start position:0% device use fancy feedback 00:32:03.360 --> 00:32:04.710 align:start position:0% device use fancy feedback the<00:32:03.519> third<00:32:03.760> way<00:32:03.919> of<00:32:04.000> doing<00:32:04.159> which<00:32:04.399> is<00:32:04.480> what<00:32:04.640> we 00:32:04.710 --> 00:32:04.720 align:start position:0% the third way of doing which is what we 00:32:04.720 --> 00:32:06.549 align:start position:0% the third way of doing which is what we were<00:32:04.880> looking<00:32:05.120> at<00:32:05.200> was<00:32:05.440> using<00:32:05.679> differential 00:32:06.549 --> 00:32:06.559 align:start position:0% were looking at was using differential 00:32:06.559 --> 00:32:08.310 align:start position:0% were looking at was using differential drives<00:32:07.279> such<00:32:07.600> as<00:32:07.600> you<00:32:07.840> get<00:32:08.000> rid<00:32:08.159> of<00:32:08.240> the 00:32:08.310 --> 00:32:08.320 align:start position:0% drives such as you get rid of the 00:32:08.320 --> 00:32:09.990 align:start position:0% drives such as you get rid of the friction<00:32:08.640> altogether 00:32:09.990 --> 00:32:10.000 align:start position:0% friction altogether 00:32:10.000 --> 00:32:12.070 align:start position:0% friction altogether so<00:32:10.159> the<00:32:10.320> friction<00:32:10.720> is<00:32:10.799> then<00:32:11.039> just<00:32:11.760> because 00:32:12.070 --> 00:32:12.080 align:start position:0% so the friction is then just because 00:32:12.080 --> 00:32:14.230 align:start position:0% so the friction is then just because you're<00:32:12.640> you're<00:32:12.880> driving<00:32:13.200> in<00:32:13.279> both<00:32:13.519> directions 00:32:14.230 --> 00:32:14.240 align:start position:0% you're you're driving in both directions 00:32:14.240 --> 00:32:16.149 align:start position:0% you're you're driving in both directions all<00:32:14.720> the<00:32:14.799> time<00:32:15.120> both<00:32:15.360> ways<00:32:15.760> there's<00:32:16.000> no 00:32:16.149 --> 00:32:16.159 align:start position:0% all the time both ways there's no 00:32:16.159 --> 00:32:18.630 align:start position:0% all the time both ways there's no columbic<00:32:16.640> friction<00:32:17.200> there's<00:32:17.519> only 00:32:18.630 --> 00:32:18.640 align:start position:0% columbic friction there's only 00:32:18.640 --> 00:32:20.870 align:start position:0% columbic friction there's only there's<00:32:18.960> only<00:32:19.200> the<00:32:19.440> viscous<00:32:19.840> friction<00:32:20.240> left 00:32:20.870 --> 00:32:20.880 align:start position:0% there's only the viscous friction left 00:32:20.880 --> 00:32:23.909 align:start position:0% there's only the viscous friction left so<00:32:21.279> it<00:32:21.440> becomes<00:32:21.760> a<00:32:21.840> very<00:32:22.000> linear<00:32:22.480> system 00:32:23.909 --> 00:32:23.919 align:start position:0% so it becomes a very linear system 00:32:23.919 --> 00:32:26.230 align:start position:0% so it becomes a very linear system so<00:32:24.399> we<00:32:24.559> looked<00:32:24.799> at<00:32:24.960> that<00:32:25.120> but<00:32:25.519> it<00:32:25.840> didn't<00:32:26.080> come 00:32:26.230 --> 00:32:26.240 align:start position:0% so we looked at that but it didn't come 00:32:26.240 --> 00:32:28.789 align:start position:0% so we looked at that but it didn't come too<00:32:26.399> much<00:32:26.640> because<00:32:26.960> it<00:32:27.120> turns<00:32:27.440> out<00:32:27.600> that 00:32:28.789 --> 00:32:28.799 align:start position:0% too much because it turns out that 00:32:28.799 --> 00:32:30.549 align:start position:0% too much because it turns out that if<00:32:28.960> you<00:32:29.039> have<00:32:29.200> differential<00:32:29.760> drives<00:32:30.159> you<00:32:30.320> need 00:32:30.549 --> 00:32:30.559 align:start position:0% if you have differential drives you need 00:32:30.559 --> 00:32:32.470 align:start position:0% if you have differential drives you need very<00:32:30.880> large<00:32:31.200> power<00:32:31.440> flows 00:32:32.470 --> 00:32:32.480 align:start position:0% very large power flows 00:32:32.480 --> 00:32:34.070 align:start position:0% very large power flows between<00:32:32.880> the<00:32:32.960> two<00:32:33.200> drives<00:32:33.519> in<00:32:33.679> order<00:32:33.919> to 00:32:34.070 --> 00:32:34.080 align:start position:0% between the two drives in order to 00:32:34.080 --> 00:32:36.070 align:start position:0% between the two drives in order to control<00:32:34.480> very<00:32:34.720> small<00:32:35.039> signals 00:32:36.070 --> 00:32:36.080 align:start position:0% control very small signals 00:32:36.080 --> 00:32:38.789 align:start position:0% control very small signals so<00:32:36.240> there's<00:32:36.559> an<00:32:36.640> issue<00:32:36.960> in<00:32:37.120> terms<00:32:37.600> of<00:32:38.399> control 00:32:38.789 --> 00:32:38.799 align:start position:0% so there's an issue in terms of control 00:32:38.799 --> 00:32:40.710 align:start position:0% so there's an issue in terms of control authority<00:32:39.440> of<00:32:39.600> differential<00:32:40.080> drives<00:32:40.480> which 00:32:40.710 --> 00:32:40.720 align:start position:0% authority of differential drives which 00:32:40.720 --> 00:32:42.710 align:start position:0% authority of differential drives which needs<00:32:40.960> further<00:32:41.279> investigation 00:32:42.710 --> 00:32:42.720 align:start position:0% needs further investigation 00:32:42.720 --> 00:32:45.190 align:start position:0% needs further investigation which<00:32:42.960> we<00:32:43.120> never<00:32:43.360> pursued<00:32:43.760> any<00:32:43.919> further<00:32:44.320> but 00:32:45.190 --> 00:32:45.200 align:start position:0% which we never pursued any further but 00:32:45.200 --> 00:32:46.950 align:start position:0% which we never pursued any further but that<00:32:45.360> was<00:32:45.519> the<00:32:45.679> main<00:32:46.000> practical<00:32:46.399> constraint 00:32:46.950 --> 00:32:46.960 align:start position:0% that was the main practical constraint 00:32:46.960 --> 00:32:47.269 align:start position:0% that was the main practical constraint on 00:32:47.269 --> 00:32:47.279 align:start position:0% on 00:32:47.279 --> 00:32:50.230 align:start position:0% on on<00:32:48.000> on<00:32:48.159> differential<00:32:48.799> drives<00:32:49.760> did<00:32:49.919> you<00:32:50.080> do 00:32:50.230 --> 00:32:50.240 align:start position:0% on on differential drives did you do 00:32:50.240 --> 00:32:52.710 align:start position:0% on on differential drives did you do much<00:32:50.480> investigation<00:32:51.279> into 00:32:52.710 --> 00:32:52.720 align:start position:0% much investigation into 00:32:52.720 --> 00:32:54.710 align:start position:0% much investigation into neurological<00:32:53.519> proprioception<00:32:54.480> when<00:32:54.640> you 00:32:54.710 --> 00:32:54.720 align:start position:0% neurological proprioception when you 00:32:54.720 --> 00:32:56.710 align:start position:0% neurological proprioception when you were<00:32:54.880> thinking<00:32:55.200> about<00:32:55.440> these<00:32:55.679> issues 00:32:56.710 --> 00:32:56.720 align:start position:0% were thinking about these issues 00:32:56.720 --> 00:32:59.990 align:start position:0% were thinking about these issues a<00:32:56.880> little<00:32:57.120> bit<00:32:57.600> i<00:32:58.640> worked<00:32:59.120> with 00:32:59.990 --> 00:33:00.000 align:start position:0% a little bit i worked with 00:33:00.000 --> 00:33:03.190 align:start position:0% a little bit i worked with what<00:33:00.320> what<00:33:01.120> a<00:33:01.200> local 00:33:03.190 --> 00:33:03.200 align:start position:0% what what a local 00:33:03.200 --> 00:33:06.310 align:start position:0% what what a local medical<00:33:04.559> neurological<00:33:05.919> group 00:33:06.310 --> 00:33:06.320 align:start position:0% medical neurological group 00:33:06.320 --> 00:33:12.310 align:start position:0% medical neurological group called<00:33:07.360> mary<00:33:07.679> marlborough<00:33:08.159> lodge<00:33:09.039> which 00:33:12.310 --> 00:33:12.320 align:start position:0% 00:33:12.320 --> 00:33:15.590 align:start position:0% looked<00:33:12.799> at 00:33:15.590 --> 00:33:15.600 align:start position:0% 00:33:15.600 --> 00:33:19.430 align:start position:0% mechanisms<00:33:16.799> for<00:33:18.559> helping 00:33:19.430 --> 00:33:19.440 align:start position:0% mechanisms for helping 00:33:19.440 --> 00:33:23.029 align:start position:0% mechanisms for helping or<00:33:19.679> assisting<00:33:20.919> particular<00:33:21.919> type<00:33:22.159> of 00:33:23.029 --> 00:33:23.039 align:start position:0% or assisting particular type of 00:33:23.039 --> 00:33:26.470 align:start position:0% or assisting particular type of of<00:33:23.279> disabled<00:33:23.760> people<00:33:24.960> and<00:33:25.440> one<00:33:25.760> area 00:33:26.470 --> 00:33:26.480 align:start position:0% of disabled people and one area 00:33:26.480 --> 00:33:31.430 align:start position:0% of disabled people and one area that<00:33:28.880> that<00:33:29.120> we<00:33:29.279> became<00:33:29.679> interested<00:33:30.240> in<00:33:30.399> was 00:33:31.430 --> 00:33:31.440 align:start position:0% that that we became interested in was 00:33:31.440 --> 00:33:34.470 align:start position:0% that that we became interested in was a<00:33:31.600> particular<00:33:32.320> type<00:33:32.559> of<00:33:32.720> disability<00:33:33.440> in<00:33:33.600> which 00:33:34.470 --> 00:33:34.480 align:start position:0% a particular type of disability in which 00:33:34.480 --> 00:33:39.110 align:start position:0% a particular type of disability in which people<00:33:34.799> tended<00:33:35.039> to<00:33:35.200> freeze<00:33:35.679> up<00:33:37.120> um 00:33:39.110 --> 00:33:39.120 align:start position:0% people tended to freeze up um 00:33:39.120 --> 00:33:42.470 align:start position:0% people tended to freeze up um so<00:33:41.440> i<00:33:41.600> had<00:33:41.760> a<00:33:41.840> phd 00:33:42.470 --> 00:33:42.480 align:start position:0% so i had a phd 00:33:42.480 --> 00:33:46.630 align:start position:0% so i had a phd student<00:33:44.799> who<00:33:45.039> looked<00:33:45.440> at 00:33:46.630 --> 00:33:46.640 align:start position:0% student who looked at 00:33:46.640 --> 00:33:48.710 align:start position:0% student who looked at ways<00:33:47.200> of<00:33:47.679> to<00:33:47.840> enable<00:33:48.159> these<00:33:48.320> people<00:33:48.559> to 00:33:48.710 --> 00:33:48.720 align:start position:0% ways of to enable these people to 00:33:48.720 --> 00:33:49.750 align:start position:0% ways of to enable these people to communicate 00:33:49.750 --> 00:33:49.760 align:start position:0% communicate 00:33:49.760 --> 00:33:53.909 align:start position:0% communicate with<00:33:50.000> a<00:33:50.080> computer<00:33:51.279> so<00:33:51.519> what<00:33:51.679> we<00:33:51.919> designed<00:33:52.480> was 00:33:53.909 --> 00:33:53.919 align:start position:0% with a computer so what we designed was 00:33:53.919 --> 00:33:57.190 align:start position:0% with a computer so what we designed was in<00:33:54.080> back<00:33:54.399> in<00:33:54.559> about<00:33:55.360> 1990 00:33:57.190 --> 00:33:57.200 align:start position:0% in back in about 1990 00:33:57.200 --> 00:33:59.830 align:start position:0% in back in about 1990 perhaps<00:33:57.519> a<00:33:57.600> bit<00:33:57.760> earlier<00:33:58.080> than<00:33:58.240> 1990<00:33:59.440> was<00:33:59.679> a 00:33:59.830 --> 00:33:59.840 align:start position:0% perhaps a bit earlier than 1990 was a 00:33:59.840 --> 00:34:01.990 align:start position:0% perhaps a bit earlier than 1990 was a wrist<00:34:00.080> with<00:34:00.240> a<00:34:00.320> set<00:34:00.559> of<00:34:00.640> accelerometers 00:34:01.990 --> 00:34:02.000 align:start position:0% wrist with a set of accelerometers 00:34:02.000 --> 00:34:03.909 align:start position:0% wrist with a set of accelerometers a<00:34:02.080> wristband<00:34:02.960> which<00:34:03.120> we<00:34:03.279> put<00:34:03.519> a<00:34:03.600> number<00:34:03.840> of 00:34:03.909 --> 00:34:03.919 align:start position:0% a wristband which we put a number of 00:34:03.919 --> 00:34:06.389 align:start position:0% a wristband which we put a number of accelerometers<00:34:04.640> in<00:34:04.720> the<00:34:04.840> wristband 00:34:06.389 --> 00:34:06.399 align:start position:0% accelerometers in the wristband 00:34:06.399 --> 00:34:09.270 align:start position:0% accelerometers in the wristband and<00:34:06.720> using<00:34:06.960> this<00:34:07.120> wristband<00:34:07.519> we<00:34:07.679> can<00:34:07.840> compute 00:34:09.270 --> 00:34:09.280 align:start position:0% and using this wristband we can compute 00:34:09.280 --> 00:34:10.710 align:start position:0% and using this wristband we can compute where<00:34:09.520> the<00:34:09.679> arm<00:34:09.919> was 00:34:10.710 --> 00:34:10.720 align:start position:0% where the arm was 00:34:10.720 --> 00:34:12.950 align:start position:0% where the arm was so<00:34:11.119> this<00:34:11.280> was<00:34:11.440> a<00:34:11.520> very<00:34:11.839> early<00:34:12.159> form<00:34:12.399> of<00:34:12.480> gesture 00:34:12.950 --> 00:34:12.960 align:start position:0% so this was a very early form of gesture 00:34:12.960 --> 00:34:14.869 align:start position:0% so this was a very early form of gesture control 00:34:14.869 --> 00:34:14.879 align:start position:0% control 00:34:14.879 --> 00:34:18.310 align:start position:0% control and<00:34:16.480> what<00:34:16.639> we<00:34:16.960> found<00:34:17.520> was 00:34:18.310 --> 00:34:18.320 align:start position:0% and what we found was 00:34:18.320 --> 00:34:21.349 align:start position:0% and what we found was that<00:34:19.040> these<00:34:19.280> kids<00:34:19.599> that<00:34:20.159> couldn't 00:34:21.349 --> 00:34:21.359 align:start position:0% that these kids that couldn't 00:34:21.359 --> 00:34:25.349 align:start position:0% that these kids that couldn't perform<00:34:23.200> tasks<00:34:23.760> like<00:34:24.079> touch<00:34:24.320> a<00:34:24.399> computer 00:34:25.349 --> 00:34:25.359 align:start position:0% perform tasks like touch a computer 00:34:25.359 --> 00:34:28.230 align:start position:0% perform tasks like touch a computer could<00:34:25.599> actually<00:34:25.839> perform<00:34:26.320> gestures<00:34:27.760> so<00:34:28.079> if 00:34:28.230 --> 00:34:28.240 align:start position:0% could actually perform gestures so if 00:34:28.240 --> 00:34:29.109 align:start position:0% could actually perform gestures so if you<00:34:28.399> said<00:34:28.639> to<00:34:28.800> the 00:34:29.109 --> 00:34:29.119 align:start position:0% you said to the 00:34:29.119 --> 00:34:30.790 align:start position:0% you said to the to<00:34:29.359> to<00:34:29.599> the<00:34:29.679> kids<00:34:29.839> so<00:34:30.159> you<00:34:30.240> had<00:34:30.399> a<00:34:30.399> lot<00:34:30.560> of 00:34:30.790 --> 00:34:30.800 align:start position:0% to to the kids so you had a lot of 00:34:30.800 --> 00:34:32.310 align:start position:0% to to the kids so you had a lot of 12-year-olds<00:34:31.520> they<00:34:31.919> really 00:34:32.310 --> 00:34:32.320 align:start position:0% 12-year-olds they really 00:34:32.320 --> 00:34:34.950 align:start position:0% 12-year-olds they really couldn't<00:34:32.720> use<00:34:32.960> things<00:34:33.119> like<00:34:33.359> a<00:34:33.440> computer<00:34:34.720> you 00:34:34.950 --> 00:34:34.960 align:start position:0% couldn't use things like a computer you 00:34:34.960 --> 00:34:35.990 align:start position:0% couldn't use things like a computer you say<00:34:35.119> to<00:34:35.280> them 00:34:35.990 --> 00:34:36.000 align:start position:0% say to them 00:34:36.000 --> 00:34:37.909 align:start position:0% say to them could<00:34:36.240> you<00:34:36.639> know<00:34:36.960> one<00:34:37.200> of<00:34:37.280> our<00:34:37.440> favorite<00:34:37.679> ones 00:34:37.909 --> 00:34:37.919 align:start position:0% could you know one of our favorite ones 00:34:37.919 --> 00:34:39.190 align:start position:0% could you know one of our favorite ones was<00:34:38.079> superman 00:34:39.190 --> 00:34:39.200 align:start position:0% was superman 00:34:39.200 --> 00:34:41.909 align:start position:0% was superman they'd<00:34:39.440> do<00:34:39.599> that<00:34:40.560> and<00:34:41.119> that<00:34:41.440> gesture<00:34:41.760> could 00:34:41.909 --> 00:34:41.919 align:start position:0% they'd do that and that gesture could 00:34:41.919 --> 00:34:43.829 align:start position:0% they'd do that and that gesture could then<00:34:42.079> be<00:34:42.240> used<00:34:42.480> to<00:34:42.639> control<00:34:43.040> things<00:34:43.440> and 00:34:43.829 --> 00:34:43.839 align:start position:0% then be used to control things and 00:34:43.839 --> 00:34:45.430 align:start position:0% then be used to control things and another<00:34:44.159> one<00:34:44.320> they<00:34:44.480> liked<00:34:44.720> was<00:34:44.879> stroking<00:34:45.359> a 00:34:45.430 --> 00:34:45.440 align:start position:0% another one they liked was stroking a 00:34:45.440 --> 00:34:48.389 align:start position:0% another one they liked was stroking a cat<00:34:46.159> they<00:34:46.320> could<00:34:46.480> stroke<00:34:46.800> a<00:34:46.960> cat 00:34:48.389 --> 00:34:48.399 align:start position:0% cat they could stroke a cat 00:34:48.399 --> 00:34:50.310 align:start position:0% cat they could stroke a cat and<00:34:48.560> do<00:34:48.800> superman<00:34:49.520> and<00:34:49.599> use<00:34:49.839> these<00:34:50.000> type<00:34:50.159> of 00:34:50.310 --> 00:34:50.320 align:start position:0% and do superman and use these type of 00:34:50.320 --> 00:34:52.869 align:start position:0% and do superman and use these type of gestures<00:34:50.720> or<00:34:50.800> hammering 00:34:52.869 --> 00:34:52.879 align:start position:0% gestures or hammering 00:34:52.879 --> 00:34:56.470 align:start position:0% gestures or hammering and<00:34:53.119> we<00:34:53.280> could<00:34:53.440> use<00:34:53.760> these<00:34:54.079> as<00:34:54.480> as<00:34:54.800> as<00:34:55.839> ways<00:34:56.240> of 00:34:56.470 --> 00:34:56.480 align:start position:0% and we could use these as as as ways of 00:34:56.480 --> 00:34:58.630 align:start position:0% and we could use these as as as ways of communicating<00:34:57.119> with<00:34:57.359> the<00:34:57.440> computer 00:34:58.630 --> 00:34:58.640 align:start position:0% communicating with the computer 00:34:58.640 --> 00:35:01.990 align:start position:0% communicating with the computer via<00:35:00.079> these<00:35:00.320> accelerometers<00:35:01.520> and<00:35:01.680> so<00:35:01.839> we 00:35:01.990 --> 00:35:02.000 align:start position:0% via these accelerometers and so we 00:35:02.000 --> 00:35:02.630 align:start position:0% via these accelerometers and so we developed 00:35:02.630 --> 00:35:02.640 align:start position:0% developed 00:35:02.640 --> 00:35:06.069 align:start position:0% developed a<00:35:03.440> a<00:35:04.000> filter<00:35:04.880> which<00:35:05.119> was<00:35:05.440> based<00:35:05.760> on 00:35:06.069 --> 00:35:06.079 align:start position:0% a a filter which was based on 00:35:06.079 --> 00:35:07.750 align:start position:0% a a filter which was based on some<00:35:06.320> predictive<00:35:06.800> control<00:35:07.200> work<00:35:07.440> that<00:35:07.599> other 00:35:07.750 --> 00:35:07.760 align:start position:0% some predictive control work that other 00:35:07.760 --> 00:35:09.829 align:start position:0% some predictive control work that other colleagues<00:35:08.160> were<00:35:08.320> doing<00:35:08.880> which<00:35:09.119> would 00:35:09.829 --> 00:35:09.839 align:start position:0% colleagues were doing which would 00:35:09.839 --> 00:35:13.589 align:start position:0% colleagues were doing which would from<00:35:10.000> the<00:35:10.160> accelerations<00:35:11.599> estimate<00:35:12.240> what<00:35:12.560> the 00:35:13.589 --> 00:35:13.599 align:start position:0% from the accelerations estimate what the 00:35:13.599 --> 00:35:16.150 align:start position:0% from the accelerations estimate what the excitations<00:35:14.400> were<00:35:14.640> in<00:35:14.720> the<00:35:14.880> muscles<00:35:15.760> driving 00:35:16.150 --> 00:35:16.160 align:start position:0% excitations were in the muscles driving 00:35:16.160 --> 00:35:17.430 align:start position:0% excitations were in the muscles driving the<00:35:16.320> accelerations 00:35:17.430 --> 00:35:17.440 align:start position:0% the accelerations 00:35:17.440 --> 00:35:19.349 align:start position:0% the accelerations so<00:35:17.680> we<00:35:17.839> would<00:35:18.000> back<00:35:18.240> compute<00:35:18.560> the<00:35:18.720> excitations 00:35:19.349 --> 00:35:19.359 align:start position:0% so we would back compute the excitations 00:35:19.359 --> 00:35:21.430 align:start position:0% so we would back compute the excitations in<00:35:19.440> the<00:35:19.599> muscles<00:35:20.400> from<00:35:20.560> the<00:35:20.720> accelerations 00:35:21.430 --> 00:35:21.440 align:start position:0% in the muscles from the accelerations 00:35:21.440 --> 00:35:22.950 align:start position:0% in the muscles from the accelerations that<00:35:21.520> we<00:35:21.680> measured 00:35:22.950 --> 00:35:22.960 align:start position:0% that we measured 00:35:22.960 --> 00:35:24.870 align:start position:0% that we measured to<00:35:23.200> compute<00:35:23.680> the<00:35:23.839> intentionality<00:35:24.640> of<00:35:24.720> what 00:35:24.870 --> 00:35:24.880 align:start position:0% to compute the intentionality of what 00:35:24.880 --> 00:35:27.109 align:start position:0% to compute the intentionality of what the<00:35:25.040> person<00:35:25.520> was<00:35:25.680> trying<00:35:25.920> to<00:35:26.000> communicate 00:35:27.109 --> 00:35:27.119 align:start position:0% the person was trying to communicate 00:35:27.119 --> 00:35:29.589 align:start position:0% the person was trying to communicate and<00:35:27.200> we<00:35:27.359> demonstrated<00:35:28.079> that<00:35:29.040> that<00:35:29.200> you<00:35:29.359> could 00:35:29.589 --> 00:35:29.599 align:start position:0% and we demonstrated that that you could 00:35:29.599 --> 00:35:30.470 align:start position:0% and we demonstrated that that you could actually 00:35:30.470 --> 00:35:30.480 align:start position:0% actually 00:35:30.480 --> 00:35:32.230 align:start position:0% actually analyze<00:35:31.119> and<00:35:31.359> and<00:35:31.599> communicate<00:35:32.000> with<00:35:32.160> the 00:35:32.230 --> 00:35:32.240 align:start position:0% analyze and and communicate with the 00:35:32.240 --> 00:35:34.230 align:start position:0% analyze and and communicate with the computer<00:35:32.640> using<00:35:32.880> these<00:35:33.040> gestures 00:35:34.230 --> 00:35:34.240 align:start position:0% computer using these gestures 00:35:34.240 --> 00:35:35.589 align:start position:0% computer using these gestures so<00:35:34.400> it's<00:35:34.560> slightly<00:35:34.880> different<00:35:35.200> to<00:35:35.359> the<00:35:35.440> more 00:35:35.589 --> 00:35:35.599 align:start position:0% so it's slightly different to the more 00:35:35.599 --> 00:35:36.870 align:start position:0% so it's slightly different to the more modern<00:35:35.920> stuff<00:35:36.160> in<00:35:36.240> which<00:35:36.400> you're<00:35:36.560> trying<00:35:36.720> to 00:35:36.870 --> 00:35:36.880 align:start position:0% modern stuff in which you're trying to 00:35:36.880 --> 00:35:38.390 align:start position:0% modern stuff in which you're trying to recognize<00:35:37.440> things<00:35:37.680> like 00:35:38.390 --> 00:35:38.400 align:start position:0% recognize things like 00:35:38.400 --> 00:35:41.910 align:start position:0% recognize things like hand<00:35:38.720> shapes<00:35:39.280> and<00:35:39.440> so<00:35:39.760> forth<00:35:41.280> this<00:35:41.520> was<00:35:41.680> more 00:35:41.910 --> 00:35:41.920 align:start position:0% hand shapes and so forth this was more 00:35:41.920 --> 00:35:44.069 align:start position:0% hand shapes and so forth this was more to<00:35:42.000> do<00:35:42.320> with<00:35:42.560> working<00:35:42.960> out<00:35:43.200> the 00:35:44.069 --> 00:35:44.079 align:start position:0% to do with working out the 00:35:44.079 --> 00:35:46.550 align:start position:0% to do with working out the muscle<00:35:44.720> groups<00:35:45.040> that<00:35:45.200> were<00:35:45.440> firing<00:35:46.160> in<00:35:46.320> order 00:35:46.550 --> 00:35:46.560 align:start position:0% muscle groups that were firing in order 00:35:46.560 --> 00:35:48.630 align:start position:0% muscle groups that were firing in order to<00:35:46.960> generate<00:35:47.280> the<00:35:47.440> acceleration 00:35:48.630 --> 00:35:48.640 align:start position:0% to generate the acceleration 00:35:48.640 --> 00:35:50.390 align:start position:0% to generate the acceleration such<00:35:48.880> that<00:35:49.040> we<00:35:49.200> could<00:35:49.359> then<00:35:49.599> predict<00:35:50.079> what<00:35:50.240> it 00:35:50.390 --> 00:35:50.400 align:start position:0% such that we could then predict what it 00:35:50.400 --> 00:35:52.390 align:start position:0% such that we could then predict what it was<00:35:50.560> that<00:35:50.720> the<00:35:50.800> person<00:35:51.119> was<00:35:51.280> trying<00:35:51.520> to<00:35:51.680> do 00:35:52.390 --> 00:35:52.400 align:start position:0% was that the person was trying to do 00:35:52.400 --> 00:35:54.470 align:start position:0% was that the person was trying to do and<00:35:52.640> use<00:35:52.880> that<00:35:53.119> as<00:35:53.520> a<00:35:53.599> signal<00:35:53.920> for<00:35:54.079> driving<00:35:54.400> a 00:35:54.470 --> 00:35:54.480 align:start position:0% and use that as a signal for driving a 00:35:54.480 --> 00:35:55.829 align:start position:0% and use that as a signal for driving a computer 00:35:55.829 --> 00:35:55.839 align:start position:0% computer 00:35:55.839 --> 00:35:57.829 align:start position:0% computer i<00:35:55.920> was<00:35:56.079> just<00:35:56.320> curious<00:35:56.800> if<00:35:57.280> if<00:35:57.520> you<00:35:57.680> knew 00:35:57.829 --> 00:35:57.839 align:start position:0% i was just curious if if you knew 00:35:57.839 --> 00:35:59.670 align:start position:0% i was just curious if if you knew whether<00:35:58.160> the<00:35:58.640> human<00:35:59.040> arm 00:35:59.670 --> 00:35:59.680 align:start position:0% whether the human arm 00:35:59.680 --> 00:36:01.349 align:start position:0% whether the human arm whether<00:36:00.000> you're<00:36:00.240> looking<00:36:00.560> at<00:36:00.720> velocities 00:36:01.349 --> 00:36:01.359 align:start position:0% whether you're looking at velocities 00:36:01.359 --> 00:36:03.510 align:start position:0% whether you're looking at velocities versus<00:36:01.760> momentums<00:36:02.400> a<00:36:02.480> little<00:36:02.640> bit<00:36:02.800> of<00:36:02.880> both 00:36:03.510 --> 00:36:03.520 align:start position:0% versus momentums a little bit of both 00:36:03.520 --> 00:36:05.829 align:start position:0% versus momentums a little bit of both or<00:36:04.079> in<00:36:04.160> terms<00:36:04.480> of<00:36:04.560> the<00:36:04.720> actual<00:36:05.280> neural 00:36:05.829 --> 00:36:05.839 align:start position:0% or in terms of the actual neural 00:36:05.839 --> 00:36:07.109 align:start position:0% or in terms of the actual neural neurological 00:36:07.109 --> 00:36:07.119 align:start position:0% neurological 00:36:07.119 --> 00:36:10.790 align:start position:0% neurological um<00:36:08.560> we<00:36:08.720> didn't<00:36:08.960> look<00:36:09.119> at<00:36:09.280> it<00:36:09.680> that<00:36:10.000> way 00:36:10.790 --> 00:36:10.800 align:start position:0% um we didn't look at it that way 00:36:10.800 --> 00:36:13.990 align:start position:0% um we didn't look at it that way we<00:36:11.200> were<00:36:11.680> in<00:36:11.839> terms<00:36:12.079> of<00:36:12.240> the<00:36:12.560> feedback 00:36:13.990 --> 00:36:14.000 align:start position:0% we were in terms of the feedback 00:36:14.000 --> 00:36:16.710 align:start position:0% we were in terms of the feedback control<00:36:14.400> that<00:36:14.560> i<00:36:14.640> did<00:36:15.760> in<00:36:15.920> terms<00:36:16.160> of<00:36:16.320> human 00:36:16.710 --> 00:36:16.720 align:start position:0% control that i did in terms of human 00:36:16.720 --> 00:36:18.150 align:start position:0% control that i did in terms of human human<00:36:16.960> machine<00:36:17.359> interaction 00:36:18.150 --> 00:36:18.160 align:start position:0% human machine interaction 00:36:18.160 --> 00:36:19.829 align:start position:0% human machine interaction i<00:36:18.320> was<00:36:18.400> more<00:36:18.640> interested<00:36:19.040> in<00:36:19.200> matching<00:36:19.599> the 00:36:19.829 --> 00:36:19.839 align:start position:0% i was more interested in matching the 00:36:19.839 --> 00:36:21.190 align:start position:0% i was more interested in matching the dynamics<00:36:20.880> so 00:36:21.190 --> 00:36:21.200 align:start position:0% dynamics so 00:36:21.200 --> 00:36:23.670 align:start position:0% dynamics so the<00:36:22.000> so<00:36:22.160> if<00:36:22.240> you<00:36:22.320> imagine<00:36:22.960> my<00:36:23.119> model<00:36:23.440> of<00:36:23.520> the 00:36:23.670 --> 00:36:23.680 align:start position:0% the so if you imagine my model of the 00:36:23.680 --> 00:36:24.390 align:start position:0% the so if you imagine my model of the human 00:36:24.390 --> 00:36:24.400 align:start position:0% human 00:36:24.400 --> 00:36:26.630 align:start position:0% human receptor<00:36:24.880> system<00:36:25.200> was<00:36:25.440> a<00:36:25.760> of<00:36:25.920> a<00:36:26.000> set<00:36:26.160> of<00:36:26.320> band 00:36:26.630 --> 00:36:26.640 align:start position:0% receptor system was a of a set of band 00:36:26.640 --> 00:36:27.589 align:start position:0% receptor system was a of a set of band pass<00:36:26.880> filters 00:36:27.589 --> 00:36:27.599 align:start position:0% pass filters 00:36:27.599 --> 00:36:28.950 align:start position:0% pass filters and<00:36:27.760> i<00:36:27.839> was<00:36:27.920> trying<00:36:28.079> to<00:36:28.160> work<00:36:28.480> out<00:36:28.640> where<00:36:28.800> the 00:36:28.950 --> 00:36:28.960 align:start position:0% and i was trying to work out where the 00:36:28.960 --> 00:36:31.270 align:start position:0% and i was trying to work out where the information<00:36:29.520> was<00:36:30.480> where<00:36:30.640> the<00:36:30.800> information 00:36:31.270 --> 00:36:31.280 align:start position:0% information was where the information 00:36:31.280 --> 00:36:32.790 align:start position:0% information was where the information was<00:36:31.440> most<00:36:31.760> important 00:36:32.790 --> 00:36:32.800 align:start position:0% was most important 00:36:32.800 --> 00:36:34.710 align:start position:0% was most important such<00:36:33.119> that<00:36:33.280> i<00:36:33.440> could<00:36:33.680> match<00:36:34.079> maximize<00:36:34.640> the 00:36:34.710 --> 00:36:34.720 align:start position:0% such that i could match maximize the 00:36:34.720 --> 00:36:35.910 align:start position:0% such that i could match maximize the information<00:36:35.200> flow 00:36:35.910 --> 00:36:35.920 align:start position:0% information flow 00:36:35.920 --> 00:36:39.750 align:start position:0% information flow whilst<00:36:36.480> matching<00:36:36.880> the<00:36:37.040> momentum<00:36:37.599> transfer<00:36:38.720> so 00:36:39.750 --> 00:36:39.760 align:start position:0% whilst matching the momentum transfer so 00:36:39.760 --> 00:36:42.069 align:start position:0% whilst matching the momentum transfer so in<00:36:40.000> theory<00:36:40.400> you'd<00:36:40.560> want<00:36:41.200> all<00:36:41.440> the<00:36:41.599> information 00:36:42.069 --> 00:36:42.079 align:start position:0% in theory you'd want all the information 00:36:42.079 --> 00:36:42.870 align:start position:0% in theory you'd want all the information available<00:36:42.560> for 00:36:42.870 --> 00:36:42.880 align:start position:0% available for 00:36:42.880 --> 00:36:46.630 align:start position:0% available for from<00:36:43.599> the<00:36:43.839> environment<00:36:44.560> to<00:36:45.680> be<00:36:45.920> transmitted 00:36:46.630 --> 00:36:46.640 align:start position:0% from the environment to be transmitted 00:36:46.640 --> 00:36:48.150 align:start position:0% from the environment to be transmitted to<00:36:46.800> the<00:36:46.960> human<00:36:47.280> being 00:36:48.150 --> 00:36:48.160 align:start position:0% to the human being 00:36:48.160 --> 00:36:51.030 align:start position:0% to the human being but<00:36:48.320> if<00:36:48.480> you've<00:36:48.640> got<00:36:49.200> a<00:36:49.359> mismatch<00:36:50.320> in<00:36:50.480> a<00:36:50.560> device 00:36:51.030 --> 00:36:51.040 align:start position:0% but if you've got a mismatch in a device 00:36:51.040 --> 00:36:53.109 align:start position:0% but if you've got a mismatch in a device where<00:36:51.200> you<00:36:51.359> have<00:36:51.440> a<00:36:51.520> very<00:36:51.839> large<00:36:52.160> device 00:36:53.109 --> 00:36:53.119 align:start position:0% where you have a very large device 00:36:53.119 --> 00:36:55.190 align:start position:0% where you have a very large device being<00:36:53.440> controlled<00:36:53.920> transparently<00:36:54.640> by<00:36:54.800> a<00:36:54.880> very 00:36:55.190 --> 00:36:55.200 align:start position:0% being controlled transparently by a very 00:36:55.200 --> 00:36:57.030 align:start position:0% being controlled transparently by a very small<00:36:55.760> hand 00:36:57.030 --> 00:36:57.040 align:start position:0% small hand 00:36:57.040 --> 00:36:58.630 align:start position:0% small hand you<00:36:57.200> can't<00:36:57.520> transfer<00:36:58.000> all<00:36:58.079> the<00:36:58.160> information 00:36:58.630 --> 00:36:58.640 align:start position:0% you can't transfer all the information 00:36:58.640 --> 00:37:00.230 align:start position:0% you can't transfer all the information because<00:36:58.800> if<00:36:58.960> you<00:36:59.040> did<00:36:59.680> you'd<00:36:59.920> get<00:37:00.079> this 00:37:00.230 --> 00:37:00.240 align:start position:0% because if you did you'd get this 00:37:00.240 --> 00:37:01.510 align:start position:0% because if you did you'd get this momentum<00:37:00.720> transfer<00:37:01.200> and<00:37:01.280> if<00:37:01.359> you<00:37:01.440> get 00:37:01.510 --> 00:37:01.520 align:start position:0% momentum transfer and if you get 00:37:01.520 --> 00:37:02.710 align:start position:0% momentum transfer and if you get momentum<00:37:02.000> transfer 00:37:02.710 --> 00:37:02.720 align:start position:0% momentum transfer 00:37:02.720 --> 00:37:04.790 align:start position:0% momentum transfer the<00:37:02.880> human<00:37:03.280> control<00:37:03.920> control<00:37:04.320> system<00:37:04.560> just 00:37:04.790 --> 00:37:04.800 align:start position:0% the human control control system just 00:37:04.800 --> 00:37:06.390 align:start position:0% the human control control system just can't<00:37:05.119> cope<00:37:05.359> with<00:37:05.520> this 00:37:06.390 --> 00:37:06.400 align:start position:0% can't cope with this 00:37:06.400 --> 00:37:09.270 align:start position:0% can't cope with this and<00:37:06.560> so<00:37:07.040> you<00:37:07.200> have<00:37:07.359> to<00:37:07.680> be<00:37:07.839> able<00:37:08.079> to<00:37:08.880> keep<00:37:09.119> the 00:37:09.270 --> 00:37:09.280 align:start position:0% and so you have to be able to keep the 00:37:09.280 --> 00:37:10.630 align:start position:0% and so you have to be able to keep the momentum<00:37:09.680> transfer<00:37:10.079> within 00:37:10.630 --> 00:37:10.640 align:start position:0% momentum transfer within 00:37:10.640 --> 00:37:13.670 align:start position:0% momentum transfer within within<00:37:12.079> within<00:37:12.640> manageable<00:37:13.200> bounds 00:37:13.670 --> 00:37:13.680 align:start position:0% within within manageable bounds 00:37:13.680 --> 00:37:16.069 align:start position:0% within within manageable bounds whilst<00:37:14.079> transmitting<00:37:15.119> as<00:37:15.280> much<00:37:15.599> information 00:37:16.069 --> 00:37:16.079 align:start position:0% whilst transmitting as much information 00:37:16.079 --> 00:37:17.030 align:start position:0% whilst transmitting as much information as<00:37:16.240> possible 00:37:17.030 --> 00:37:17.040 align:start position:0% as possible 00:37:17.040 --> 00:37:18.710 align:start position:0% as possible so<00:37:17.200> you<00:37:17.359> have<00:37:17.440> to<00:37:17.599> choose<00:37:18.000> where<00:37:18.400> where<00:37:18.640> the 00:37:18.710 --> 00:37:18.720 align:start position:0% so you have to choose where where the 00:37:18.720 --> 00:37:20.150 align:start position:0% so you have to choose where where the information<00:37:19.200> is<00:37:19.280> going<00:37:19.440> to<00:37:19.520> be 00:37:20.150 --> 00:37:20.160 align:start position:0% information is going to be 00:37:20.160 --> 00:37:22.550 align:start position:0% information is going to be to<00:37:20.320> be<00:37:20.480> flowing<00:37:21.520> whereas<00:37:22.000> the<00:37:22.079> work<00:37:22.320> we<00:37:22.400> did 00:37:22.550 --> 00:37:22.560 align:start position:0% to be flowing whereas the work we did 00:37:22.560 --> 00:37:24.710 align:start position:0% to be flowing whereas the work we did with<00:37:22.720> the<00:37:22.880> communications<00:37:23.760> was 00:37:24.710 --> 00:37:24.720 align:start position:0% with the communications was 00:37:24.720 --> 00:37:28.150 align:start position:0% with the communications was these<00:37:24.960> people<00:37:25.200> had<00:37:25.359> very<00:37:26.320> uh<00:37:27.440> very<00:37:27.760> very<00:37:28.000> large 00:37:28.150 --> 00:37:28.160 align:start position:0% these people had very uh very very large 00:37:28.160 --> 00:37:29.910 align:start position:0% these people had very uh very very large number<00:37:28.400> of<00:37:28.480> difficulties<00:37:28.960> in<00:37:29.119> moving 00:37:29.910 --> 00:37:29.920 align:start position:0% number of difficulties in moving 00:37:29.920 --> 00:37:33.270 align:start position:0% number of difficulties in moving but<00:37:30.079> they<00:37:31.119> we<00:37:31.359> postulated<00:37:32.079> that<00:37:32.800> they<00:37:33.040> could 00:37:33.270 --> 00:37:33.280 align:start position:0% but they we postulated that they could 00:37:33.280 --> 00:37:33.829 align:start position:0% but they we postulated that they could control 00:37:33.829 --> 00:37:33.839 align:start position:0% control 00:37:33.839 --> 00:37:36.950 align:start position:0% control muscle<00:37:34.240> groups<00:37:34.560> but<00:37:34.800> not<00:37:34.960> very<00:37:35.200> well<00:37:36.079> so<00:37:36.800> our 00:37:36.950 --> 00:37:36.960 align:start position:0% muscle groups but not very well so our 00:37:36.960 --> 00:37:38.230 align:start position:0% muscle groups but not very well so our postulate<00:37:37.440> was<00:37:37.599> that<00:37:37.760> there<00:37:37.920> was<00:37:38.000> some 00:37:38.230 --> 00:37:38.240 align:start position:0% postulate was that there was some 00:37:38.240 --> 00:37:40.310 align:start position:0% postulate was that there was some problem<00:37:38.560> with<00:37:38.720> their<00:37:38.880> feedback<00:37:39.280> mechanism 00:37:40.310 --> 00:37:40.320 align:start position:0% problem with their feedback mechanism 00:37:40.320 --> 00:37:41.829 align:start position:0% problem with their feedback mechanism but<00:37:40.480> their<00:37:40.720> feed<00:37:40.960> forward<00:37:41.200> mechanism<00:37:41.680> was 00:37:41.829 --> 00:37:41.839 align:start position:0% but their feed forward mechanism was 00:37:41.839 --> 00:37:44.069 align:start position:0% but their feed forward mechanism was still<00:37:42.079> intact<00:37:42.960> so<00:37:43.200> they<00:37:43.359> could<00:37:43.520> perform 00:37:44.069 --> 00:37:44.079 align:start position:0% still intact so they could perform 00:37:44.079 --> 00:37:46.710 align:start position:0% still intact so they could perform tasks<00:37:44.560> just<00:37:44.800> they<00:37:44.960> couldn't<00:37:45.200> correct<00:37:45.599> them<00:37:46.480> so 00:37:46.710 --> 00:37:46.720 align:start position:0% tasks just they couldn't correct them so 00:37:46.720 --> 00:37:48.230 align:start position:0% tasks just they couldn't correct them so what<00:37:46.880> would<00:37:47.040> happen<00:37:47.359> is 00:37:48.230 --> 00:37:48.240 align:start position:0% what would happen is 00:37:48.240 --> 00:37:51.190 align:start position:0% what would happen is they<00:37:48.839> would<00:37:50.160> become<00:37:50.480> very<00:37:50.720> rigid<00:37:51.040> when 00:37:51.190 --> 00:37:51.200 align:start position:0% they would become very rigid when 00:37:51.200 --> 00:37:51.829 align:start position:0% they would become very rigid when performing 00:37:51.829 --> 00:37:51.839 align:start position:0% performing 00:37:51.839 --> 00:37:54.950 align:start position:0% performing a<00:37:52.480> a<00:37:52.640> closed-loop<00:37:53.680> precise<00:37:54.240> task 00:37:54.950 --> 00:37:54.960 align:start position:0% a a closed-loop precise task 00:37:54.960 --> 00:37:57.510 align:start position:0% a a closed-loop precise task so<00:37:55.119> if<00:37:55.200> you<00:37:55.359> replace<00:37:55.920> a<00:37:56.000> very<00:37:56.320> precise<00:37:56.800> task 00:37:57.510 --> 00:37:57.520 align:start position:0% so if you replace a very precise task 00:37:57.520 --> 00:37:58.230 align:start position:0% so if you replace a very precise task with<00:37:57.760> a<00:37:57.839> very 00:37:58.230 --> 00:37:58.240 align:start position:0% with a very 00:37:58.240 --> 00:38:01.349 align:start position:0% with a very imprecise<00:37:58.800> task<00:37:59.200> where<00:37:59.599> the<00:37:59.760> motion<00:38:00.880> is 00:38:01.349 --> 00:38:01.359 align:start position:0% imprecise task where the motion is 00:38:01.359 --> 00:38:04.470 align:start position:0% imprecise task where the motion is very<00:38:01.680> much<00:38:02.720> open<00:38:03.040> loop<00:38:03.920> then<00:38:04.160> they<00:38:04.320> could 00:38:04.470 --> 00:38:04.480 align:start position:0% very much open loop then they could 00:38:04.480 --> 00:38:06.230 align:start position:0% very much open loop then they could perform<00:38:04.880> these<00:38:05.119> motions<00:38:05.520> and<00:38:05.599> then<00:38:05.760> we<00:38:05.839> could 00:38:06.230 --> 00:38:06.240 align:start position:0% perform these motions and then we could 00:38:06.240 --> 00:38:09.910 align:start position:0% perform these motions and then we could back<00:38:06.480> compute<00:38:06.880> what<00:38:07.040> the<00:38:07.119> muscle<00:38:08.079> firing 00:38:09.910 --> 00:38:09.920 align:start position:0% back compute what the muscle firing 00:38:09.920 --> 00:38:11.910 align:start position:0% back compute what the muscle firing firing<00:38:10.240> pattern<00:38:10.560> should<00:38:10.800> have<00:38:10.880> been<00:38:11.599> based 00:38:11.910 --> 00:38:11.920 align:start position:0% firing pattern should have been based 00:38:11.920 --> 00:38:13.589 align:start position:0% firing pattern should have been based upon<00:38:12.160> that<00:38:12.400> acceleration 00:38:13.589 --> 00:38:13.599 align:start position:0% upon that acceleration 00:38:13.599 --> 00:38:15.430 align:start position:0% upon that acceleration rather<00:38:13.920> than<00:38:14.000> trying<00:38:14.240> to<00:38:14.400> measure<00:38:14.720> the 00:38:15.430 --> 00:38:15.440 align:start position:0% rather than trying to measure the 00:38:15.440 --> 00:38:17.670 align:start position:0% rather than trying to measure the myoelectric<00:38:16.560> signals<00:38:16.960> directly<00:38:17.359> so<00:38:17.520> we're 00:38:17.670 --> 00:38:17.680 align:start position:0% myoelectric signals directly so we're 00:38:17.680 --> 00:38:18.790 align:start position:0% myoelectric signals directly so we're interested<00:38:18.000> in<00:38:18.079> knowing<00:38:18.240> whether<00:38:18.480> we<00:38:18.560> could 00:38:18.790 --> 00:38:18.800 align:start position:0% interested in knowing whether we could 00:38:18.800 --> 00:38:19.910 align:start position:0% interested in knowing whether we could back<00:38:18.960> compute 00:38:19.910 --> 00:38:19.920 align:start position:0% back compute 00:38:19.920 --> 00:38:22.150 align:start position:0% back compute these<00:38:20.160> gestures<00:38:20.720> from<00:38:21.040> from<00:38:21.520> from<00:38:21.760> from<00:38:21.920> the 00:38:22.150 --> 00:38:22.160 align:start position:0% these gestures from from from from the 00:38:22.160 --> 00:38:23.910 align:start position:0% these gestures from from from from the accelerations 00:38:23.910 --> 00:38:23.920 align:start position:0% accelerations 00:38:23.920 --> 00:38:26.790 align:start position:0% accelerations so<00:38:24.240> um<00:38:25.359> it<00:38:25.520> would<00:38:25.760> be<00:38:25.839> quite<00:38:26.079> interesting<00:38:26.480> to 00:38:26.790 --> 00:38:26.800 align:start position:0% so um it would be quite interesting to 00:38:26.800 --> 00:38:27.270 align:start position:0% so um it would be quite interesting to we<00:38:26.960> got 00:38:27.270 --> 00:38:27.280 align:start position:0% we got 00:38:27.280 --> 00:38:30.069 align:start position:0% we got got<00:38:27.440> some<00:38:27.680> way<00:38:27.839> of<00:38:28.000> doing<00:38:28.240> that<00:38:29.599> and<00:38:29.680> you<00:38:29.839> work 00:38:30.069 --> 00:38:30.079 align:start position:0% got some way of doing that and you work 00:38:30.079 --> 00:38:32.230 align:start position:0% got some way of doing that and you work on<00:38:30.160> the<00:38:30.839> atomic 00:38:32.230 --> 00:38:32.240 align:start position:0% on the atomic 00:38:32.240 --> 00:38:34.790 align:start position:0% on the atomic robot<00:38:32.640> manipulators<00:38:34.079> were<00:38:34.240> you<00:38:34.400> influenced 00:38:34.790 --> 00:38:34.800 align:start position:0% robot manipulators were you influenced 00:38:34.800 --> 00:38:36.550 align:start position:0% robot manipulators were you influenced or<00:38:34.880> not<00:38:35.040> by<00:38:35.200> red<00:38:35.440> whitaker's<00:38:36.000> work<00:38:36.240> and<00:38:36.400> i 00:38:36.550 --> 00:38:36.560 align:start position:0% or not by red whitaker's work and i 00:38:36.560 --> 00:38:38.550 align:start position:0% or not by red whitaker's work and i designed<00:38:37.040> the<00:38:37.200> systems<00:38:37.839> the<00:38:38.000> robots<00:38:38.400> that 00:38:38.550 --> 00:38:38.560 align:start position:0% designed the systems the robots that 00:38:38.560 --> 00:38:41.109 align:start position:0% designed the systems the robots that cleaned<00:38:38.800> up<00:38:38.960> through<00:38:39.119> mile<00:38:39.440> island 00:38:41.109 --> 00:38:41.119 align:start position:0% cleaned up through mile island 00:38:41.119 --> 00:38:43.190 align:start position:0% cleaned up through mile island not<00:38:41.359> really<00:38:41.680> that<00:38:41.839> was<00:38:42.000> a<00:38:42.320> that's<00:38:42.560> a<00:38:42.800> different 00:38:43.190 --> 00:38:43.200 align:start position:0% not really that was a that's a different 00:38:43.200 --> 00:38:45.510 align:start position:0% not really that was a that's a different type<00:38:43.440> of<00:38:43.680> problem<00:38:44.079> this<00:38:44.240> was<00:38:44.400> very<00:38:44.720> much 00:38:45.510 --> 00:38:45.520 align:start position:0% type of problem this was very much 00:38:45.520 --> 00:38:49.750 align:start position:0% type of problem this was very much driven<00:38:45.920> by<00:38:46.240> the<00:38:46.560> needs<00:38:47.839> of 00:38:49.750 --> 00:38:49.760 align:start position:0% driven by the needs of 00:38:49.760 --> 00:38:54.950 align:start position:0% driven by the needs of tightly<00:38:50.240> constrained 00:38:54.950 --> 00:38:54.960 align:start position:0% 00:38:54.960 --> 00:38:58.230 align:start position:0% static<00:38:55.440> devices<00:38:56.720> where<00:38:57.680> you're<00:38:57.839> not<00:38:58.000> trying 00:38:58.230 --> 00:38:58.240 align:start position:0% static devices where you're not trying 00:38:58.240 --> 00:38:59.589 align:start position:0% static devices where you're not trying to 00:38:59.589 --> 00:38:59.599 align:start position:0% to 00:38:59.599 --> 00:39:01.270 align:start position:0% to navigate<00:39:00.320> through<00:39:00.720> things<00:39:01.040> you're<00:39:01.119> not 00:39:01.270 --> 00:39:01.280 align:start position:0% navigate through things you're not 00:39:01.280 --> 00:39:03.589 align:start position:0% navigate through things you're not trying<00:39:01.440> to<00:39:01.599> find<00:39:01.760> your<00:39:01.920> way<00:39:02.079> through<00:39:02.400> things 00:39:03.589 --> 00:39:03.599 align:start position:0% trying to find your way through things 00:39:03.599 --> 00:39:06.790 align:start position:0% trying to find your way through things um<00:39:04.880> you<00:39:05.119> we<00:39:05.440> assume<00:39:05.839> that<00:39:06.079> most<00:39:06.320> of<00:39:06.480> the 00:39:06.790 --> 00:39:06.800 align:start position:0% um you we assume that most of the 00:39:06.800 --> 00:39:09.430 align:start position:0% um you we assume that most of the of<00:39:07.119> of<00:39:07.280> the<00:39:07.440> stuff<00:39:07.680> had<00:39:07.760> been<00:39:07.920> mapped<00:39:08.400> out<00:39:09.200> and 00:39:09.430 --> 00:39:09.440 align:start position:0% of of the stuff had been mapped out and 00:39:09.440 --> 00:39:10.790 align:start position:0% of of the stuff had been mapped out and we're<00:39:09.760> particularly<00:39:10.160> interested<00:39:10.560> in<00:39:10.720> the 00:39:10.790 --> 00:39:10.800 align:start position:0% we're particularly interested in the 00:39:10.800 --> 00:39:12.390 align:start position:0% we're particularly interested in the design<00:39:11.119> of<00:39:11.839> the 00:39:12.390 --> 00:39:12.400 align:start position:0% design of the 00:39:12.400 --> 00:39:15.030 align:start position:0% design of the machine<00:39:13.359> and<00:39:13.599> its<00:39:13.920> impact<00:39:14.320> upon<00:39:14.560> the<00:39:14.720> human 00:39:15.030 --> 00:39:15.040 align:start position:0% machine and its impact upon the human 00:39:15.040 --> 00:39:15.510 align:start position:0% machine and its impact upon the human being 00:39:15.510 --> 00:39:15.520 align:start position:0% being 00:39:15.520 --> 00:39:18.390 align:start position:0% being as<00:39:15.920> they<00:39:16.160> perform<00:39:17.280> perform<00:39:17.680> the<00:39:17.839> task<00:39:18.240> it's 00:39:18.390 --> 00:39:18.400 align:start position:0% as they perform perform the task it's 00:39:18.400 --> 00:39:20.069 align:start position:0% as they perform perform the task it's more<00:39:18.640> about<00:39:18.800> the<00:39:18.960> stability<00:39:19.520> of<00:39:19.680> the<00:39:19.839> human 00:39:20.069 --> 00:39:20.079 align:start position:0% more about the stability of the human 00:39:20.079 --> 00:39:21.510 align:start position:0% more about the stability of the human machine<00:39:20.480> interface 00:39:21.510 --> 00:39:21.520 align:start position:0% machine interface 00:39:21.520 --> 00:39:24.150 align:start position:0% machine interface rather<00:39:21.839> than<00:39:22.160> sort<00:39:22.320> of<00:39:22.480> ai<00:39:22.880> type<00:39:23.200> problems<00:39:23.599> of 00:39:24.150 --> 00:39:24.160 align:start position:0% rather than sort of ai type problems of 00:39:24.160 --> 00:39:24.950 align:start position:0% rather than sort of ai type problems of moving<00:39:24.480> around 00:39:24.950 --> 00:39:24.960 align:start position:0% moving around 00:39:24.960 --> 00:39:27.270 align:start position:0% moving around i've<00:39:25.119> never<00:39:25.359> really<00:39:25.680> worked<00:39:25.920> much<00:39:26.160> in<00:39:26.400> ai<00:39:27.040> it's 00:39:27.270 --> 00:39:27.280 align:start position:0% i've never really worked much in ai it's 00:39:27.280 --> 00:39:28.710 align:start position:0% i've never really worked much in ai it's mostly<00:39:27.680> dynamics 00:39:28.710 --> 00:39:28.720 align:start position:0% mostly dynamics 00:39:28.720 --> 00:39:31.430 align:start position:0% mostly dynamics mechanism<00:39:29.280> design<00:39:30.000> control<00:39:30.480> theory 00:39:31.430 --> 00:39:31.440 align:start position:0% mechanism design control theory 00:39:31.440 --> 00:39:32.950 align:start position:0% mechanism design control theory information<00:39:32.000> flow 00:39:32.950 --> 00:39:32.960 align:start position:0% information flow 00:39:32.960 --> 00:39:36.390 align:start position:0% information flow not<00:39:33.280> not<00:39:33.599> not<00:39:33.839> taking<00:39:34.160> the<00:39:34.320> data<00:39:35.520> and 00:39:36.390 --> 00:39:36.400 align:start position:0% not not not taking the data and 00:39:36.400 --> 00:39:38.790 align:start position:0% not not not taking the data and constructing<00:39:37.119> a<00:39:37.839> model<00:39:38.079> of<00:39:38.240> the<00:39:38.320> world<00:39:38.720> and 00:39:38.790 --> 00:39:38.800 align:start position:0% constructing a model of the world and 00:39:38.800 --> 00:39:41.270 align:start position:0% constructing a model of the world and then<00:39:39.040> moving<00:39:39.359> about<00:39:39.680> in<00:39:39.839> that<00:39:40.000> world 00:39:41.270 --> 00:39:41.280 align:start position:0% then moving about in that world 00:39:41.280 --> 00:39:44.230 align:start position:0% then moving about in that world so<00:39:41.520> who<00:39:42.000> who<00:39:42.880> in<00:39:43.040> terms<00:39:43.359> of<00:39:43.520> theory<00:39:43.920> or<00:39:44.079> other 00:39:44.230 --> 00:39:44.240 align:start position:0% so who who in terms of theory or other 00:39:44.240 --> 00:39:45.270 align:start position:0% so who who in terms of theory or other researchers 00:39:45.270 --> 00:39:45.280 align:start position:0% researchers 00:39:45.280 --> 00:39:47.910 align:start position:0% researchers have<00:39:45.440> been<00:39:45.599> influential<00:39:46.320> on<00:39:46.800> how<00:39:46.960> you<00:39:47.440> pursue 00:39:47.910 --> 00:39:47.920 align:start position:0% have been influential on how you pursue 00:39:47.920 --> 00:39:55.190 align:start position:0% have been influential on how you pursue problems 00:39:55.190 --> 00:39:55.200 align:start position:0% 00:39:55.200 --> 00:39:59.589 align:start position:0% it's<00:39:55.680> difficult<00:39:56.240> to<00:39:57.280> to<00:39:57.440> identify 00:39:59.589 --> 00:39:59.599 align:start position:0% it's difficult to to identify 00:39:59.599 --> 00:40:02.630 align:start position:0% it's difficult to to identify you<00:39:59.680> know<00:40:00.480> i<00:40:00.640> like<00:40:00.960> i<00:40:01.040> like<00:40:01.280> the<00:40:01.359> work 00:40:02.630 --> 00:40:02.640 align:start position:0% you know i like i like the work 00:40:02.640 --> 00:40:03.910 align:start position:0% you know i like i like the work the<00:40:02.720> main<00:40:02.880> people<00:40:03.119> that<00:40:03.200> influenced<00:40:03.599> what<00:40:03.839> i 00:40:03.910 --> 00:40:03.920 align:start position:0% the main people that influenced what i 00:40:03.920 --> 00:40:06.470 align:start position:0% the main people that influenced what i was<00:40:04.000> doing<00:40:04.240> people<00:40:04.400> like<00:40:04.640> shannon 00:40:06.470 --> 00:40:06.480 align:start position:0% was doing people like shannon 00:40:06.480 --> 00:40:11.190 align:start position:0% was doing people like shannon and<00:40:06.800> um<00:40:07.839> bowed<00:40:08.839> nyquist<00:40:09.920> so<00:40:10.160> i<00:40:10.319> come<00:40:10.480> from<00:40:10.720> a 00:40:11.190 --> 00:40:11.200 align:start position:0% and um bowed nyquist so i come from a 00:40:11.200 --> 00:40:13.030 align:start position:0% and um bowed nyquist so i come from a controlled<00:40:11.599> theoretic<00:40:12.079> background 00:40:13.030 --> 00:40:13.040 align:start position:0% controlled theoretic background 00:40:13.040 --> 00:40:16.950 align:start position:0% controlled theoretic background and<00:40:13.359> looking<00:40:13.680> at<00:40:14.000> how<00:40:14.160> you<00:40:15.920> how<00:40:16.079> do<00:40:16.240> you<00:40:16.400> incorp 00:40:16.950 --> 00:40:16.960 align:start position:0% and looking at how you how do you incorp 00:40:16.960 --> 00:40:19.190 align:start position:0% and looking at how you how do you incorp how<00:40:17.680> how<00:40:17.839> do<00:40:17.920> you<00:40:18.160> talk<00:40:18.400> about<00:40:18.640> information 00:40:19.190 --> 00:40:19.200 align:start position:0% how how do you talk about information 00:40:19.200 --> 00:40:22.230 align:start position:0% how how do you talk about information flow<00:40:19.520> within<00:40:19.760> a<00:40:19.839> control<00:40:20.240> context 00:40:22.230 --> 00:40:22.240 align:start position:0% flow within a control context 00:40:22.240 --> 00:40:26.390 align:start position:0% flow within a control context there's<00:40:23.680> it's<00:40:24.000> a<00:40:24.160> it's<00:40:24.319> a<00:40:24.400> big<00:40:24.640> gap<00:40:25.119> in<00:40:25.280> control 00:40:26.390 --> 00:40:26.400 align:start position:0% there's it's a it's a big gap in control 00:40:26.400 --> 00:40:28.309 align:start position:0% there's it's a it's a big gap in control in<00:40:26.560> that<00:40:26.800> people<00:40:27.200> talk<00:40:27.440> about<00:40:27.920> control 00:40:28.309 --> 00:40:28.319 align:start position:0% in that people talk about control 00:40:28.319 --> 00:40:30.790 align:start position:0% in that people talk about control systems<00:40:28.800> in<00:40:28.960> terms<00:40:29.359> of<00:40:29.599> dynamics 00:40:30.790 --> 00:40:30.800 align:start position:0% systems in terms of dynamics 00:40:30.800 --> 00:40:34.390 align:start position:0% systems in terms of dynamics they<00:40:31.119> rarely<00:40:31.599> talk<00:40:31.839> about<00:40:32.160> control<00:40:32.640> systems 00:40:34.390 --> 00:40:34.400 align:start position:0% they rarely talk about control systems 00:40:34.400 --> 00:40:36.470 align:start position:0% they rarely talk about control systems when<00:40:35.200> you're<00:40:35.440> really<00:40:35.760> talking<00:40:36.079> about 00:40:36.470 --> 00:40:36.480 align:start position:0% when you're really talking about 00:40:36.480 --> 00:40:38.870 align:start position:0% when you're really talking about information<00:40:37.200> flow 00:40:38.870 --> 00:40:38.880 align:start position:0% information flow 00:40:38.880 --> 00:40:43.030 align:start position:0% information flow so<00:40:39.800> a<00:40:40.880> simple<00:40:41.119> little<00:40:41.359> paper<00:40:41.760> i<00:40:41.839> produced 00:40:43.030 --> 00:40:43.040 align:start position:0% so a simple little paper i produced 00:40:43.040 --> 00:40:45.670 align:start position:0% so a simple little paper i produced many<00:40:43.359> many<00:40:43.680> years<00:40:43.920> ago<00:40:44.640> to<00:40:44.800> demonstrate<00:40:45.359> this 00:40:45.670 --> 00:40:45.680 align:start position:0% many many years ago to demonstrate this 00:40:45.680 --> 00:40:47.430 align:start position:0% many many years ago to demonstrate this was 00:40:47.430 --> 00:40:47.440 align:start position:0% was 00:40:47.440 --> 00:40:48.630 align:start position:0% was one<00:40:47.599> of<00:40:47.680> the<00:40:47.760> things<00:40:48.000> people<00:40:48.240> do<00:40:48.400> when<00:40:48.480> they 00:40:48.630 --> 00:40:48.640 align:start position:0% one of the things people do when they 00:40:48.640 --> 00:40:50.950 align:start position:0% one of the things people do when they design<00:40:48.880> a<00:40:48.960> robot<00:40:49.359> drive<00:40:49.599> system 00:40:50.950 --> 00:40:50.960 align:start position:0% design a robot drive system 00:40:50.960 --> 00:40:55.349 align:start position:0% design a robot drive system is<00:40:51.599> they<00:40:52.160> want<00:40:52.400> to<00:40:53.839> design<00:40:54.240> a<00:40:54.319> simple 00:40:55.349 --> 00:40:55.359 align:start position:0% is they want to design a simple 00:40:55.359 --> 00:40:57.270 align:start position:0% is they want to design a simple proportional<00:40:55.920> plus<00:40:56.160> derivative<00:40:56.800> feedback 00:40:57.270 --> 00:40:57.280 align:start position:0% proportional plus derivative feedback 00:40:57.280 --> 00:41:00.069 align:start position:0% proportional plus derivative feedback loop<00:40:57.760> around<00:40:58.160> some<00:40:58.400> motor 00:41:00.069 --> 00:41:00.079 align:start position:0% loop around some motor 00:41:00.079 --> 00:41:03.190 align:start position:0% loop around some motor and<00:41:00.400> classically<00:41:00.960> you<00:41:01.119> would<00:41:01.599> see<00:41:02.240> uh 00:41:03.190 --> 00:41:03.200 align:start position:0% and classically you would see uh 00:41:03.200 --> 00:41:06.550 align:start position:0% and classically you would see uh sort<00:41:03.440> of<00:41:04.960> folksy<00:41:05.440> ways<00:41:05.760> of<00:41:05.839> doing<00:41:06.160> this<00:41:06.400> in 00:41:06.550 --> 00:41:06.560 align:start position:0% sort of folksy ways of doing this in 00:41:06.560 --> 00:41:07.270 align:start position:0% sort of folksy ways of doing this in which 00:41:07.270 --> 00:41:07.280 align:start position:0% which 00:41:07.280 --> 00:41:11.750 align:start position:0% which you<00:41:07.520> turn<00:41:07.920> up<00:41:08.960> the<00:41:09.680> uh 00:41:11.750 --> 00:41:11.760 align:start position:0% you turn up the uh 00:41:11.760 --> 00:41:14.069 align:start position:0% you turn up the uh velocity<00:41:12.240> feedback<00:41:12.720> until<00:41:13.200> it<00:41:13.280> becomes<00:41:13.680> noisy 00:41:14.069 --> 00:41:14.079 align:start position:0% velocity feedback until it becomes noisy 00:41:14.079 --> 00:41:15.910 align:start position:0% velocity feedback until it becomes noisy then<00:41:14.240> you<00:41:14.400> turn<00:41:14.640> it<00:41:14.800> back<00:41:15.040> a<00:41:15.119> certain<00:41:15.359> amount 00:41:15.910 --> 00:41:15.920 align:start position:0% then you turn it back a certain amount 00:41:15.920 --> 00:41:17.510 align:start position:0% then you turn it back a certain amount and<00:41:16.000> then<00:41:16.160> you<00:41:16.319> wind<00:41:16.640> up<00:41:16.720> the<00:41:16.880> position<00:41:17.280> gain 00:41:17.510 --> 00:41:17.520 align:start position:0% and then you wind up the position gain 00:41:17.520 --> 00:41:19.430 align:start position:0% and then you wind up the position gain to<00:41:17.599> a<00:41:17.680> certain<00:41:17.920> amount<00:41:18.240> until<00:41:18.480> you<00:41:18.560> maximize 00:41:19.430 --> 00:41:19.440 align:start position:0% to a certain amount until you maximize 00:41:19.440 --> 00:41:21.190 align:start position:0% to a certain amount until you maximize the<00:41:19.599> performance<00:41:20.240> of<00:41:20.640> of<00:41:20.800> the<00:41:20.880> server 00:41:21.190 --> 00:41:21.200 align:start position:0% the performance of of the server 00:41:21.200 --> 00:41:23.349 align:start position:0% the performance of of the server mechanism<00:41:22.400> well 00:41:23.349 --> 00:41:23.359 align:start position:0% mechanism well 00:41:23.359 --> 00:41:26.710 align:start position:0% mechanism well this<00:41:24.560> was<00:41:25.040> nice<00:41:25.280> and<00:41:25.440> folksy<00:41:25.839> and<00:41:25.920> worked<00:41:26.240> well 00:41:26.710 --> 00:41:26.720 align:start position:0% this was nice and folksy and worked well 00:41:26.720 --> 00:41:30.470 align:start position:0% this was nice and folksy and worked well for<00:41:28.079> uh<00:41:28.480> devices<00:41:29.040> when<00:41:29.200> you<00:41:29.520> in<00:41:29.599> the<00:41:29.760> old 00:41:30.470 --> 00:41:30.480 align:start position:0% for uh devices when you in the old 00:41:30.480 --> 00:41:33.270 align:start position:0% for uh devices when you in the old in<00:41:30.640> the<00:41:30.920> 1960s<00:41:31.920> say<00:41:32.560> when<00:41:32.800> the<00:41:32.880> position 00:41:33.270 --> 00:41:33.280 align:start position:0% in the 1960s say when the position 00:41:33.280 --> 00:41:35.510 align:start position:0% in the 1960s say when the position devices<00:41:33.760> were<00:41:33.920> things<00:41:34.160> like<00:41:34.319> potentiometers 00:41:35.510 --> 00:41:35.520 align:start position:0% devices were things like potentiometers 00:41:35.520 --> 00:41:38.390 align:start position:0% devices were things like potentiometers but<00:41:35.680> you<00:41:35.839> still<00:41:36.000> got<00:41:36.240> the<00:41:36.400> same<00:41:37.520> behavior<00:41:38.240> when 00:41:38.390 --> 00:41:38.400 align:start position:0% but you still got the same behavior when 00:41:38.400 --> 00:41:40.230 align:start position:0% but you still got the same behavior when you<00:41:38.480> had<00:41:38.640> encoders 00:41:40.230 --> 00:41:40.240 align:start position:0% you had encoders 00:41:40.240 --> 00:41:43.910 align:start position:0% you had encoders so<00:41:40.800> a<00:41:41.040> question<00:41:41.359> that<00:41:41.520> i<00:41:41.680> posed<00:41:42.560> once<00:41:42.960> was 00:41:43.910 --> 00:41:43.920 align:start position:0% so a question that i posed once was 00:41:43.920 --> 00:41:46.829 align:start position:0% so a question that i posed once was where<00:41:44.079> does<00:41:44.240> the<00:41:44.400> noise<00:41:44.800> come<00:41:45.040> from<00:41:45.599> in<00:41:45.760> an 00:41:46.829 --> 00:41:46.839 align:start position:0% where does the noise come from in an 00:41:46.839 --> 00:41:49.510 align:start position:0% where does the noise come from in an encoder<00:41:47.839> and 00:41:49.510 --> 00:41:49.520 align:start position:0% encoder and 00:41:49.520 --> 00:41:51.670 align:start position:0% encoder and in<00:41:49.680> fact<00:41:50.000> it's<00:41:50.240> not<00:41:50.560> noise<00:41:51.040> that<00:41:51.200> you<00:41:51.280> get<00:41:51.520> in 00:41:51.670 --> 00:41:51.680 align:start position:0% in fact it's not noise that you get in 00:41:51.680 --> 00:41:53.109 align:start position:0% in fact it's not noise that you get in an<00:41:51.839> encoder 00:41:53.109 --> 00:41:53.119 align:start position:0% an encoder 00:41:53.119 --> 00:41:56.390 align:start position:0% an encoder what<00:41:53.280> happens<00:41:53.760> is<00:41:54.160> that<00:41:55.280> as<00:41:55.520> the<00:41:55.680> velocity<00:41:56.319> of 00:41:56.390 --> 00:41:56.400 align:start position:0% what happens is that as the velocity of 00:41:56.400 --> 00:41:58.470 align:start position:0% what happens is that as the velocity of an<00:41:56.560> encoder 00:41:58.470 --> 00:41:58.480 align:start position:0% an encoder 00:41:58.480 --> 00:42:01.030 align:start position:0% an encoder goes<00:41:58.800> to<00:41:58.960> a<00:41:59.119> certain<00:41:59.520> limiting<00:42:00.000> value<00:42:00.720> which 00:42:01.030 --> 00:42:01.040 align:start position:0% goes to a certain limiting value which 00:42:01.040 --> 00:42:02.309 align:start position:0% goes to a certain limiting value which depend<00:42:01.280> upon<00:42:01.520> the<00:42:01.599> amount<00:42:01.760> of<00:42:01.920> feedback 00:42:02.309 --> 00:42:02.319 align:start position:0% depend upon the amount of feedback 00:42:02.319 --> 00:42:04.309 align:start position:0% depend upon the amount of feedback you've<00:42:02.480> got<00:42:02.640> on<00:42:02.720> the<00:42:02.880> system 00:42:04.309 --> 00:42:04.319 align:start position:0% you've got on the system 00:42:04.319 --> 00:42:05.910 align:start position:0% you've got on the system you<00:42:04.480> actually<00:42:04.720> have<00:42:04.880> a<00:42:04.960> restriction<00:42:05.599> on<00:42:05.760> the 00:42:05.910 --> 00:42:05.920 align:start position:0% you actually have a restriction on the 00:42:05.920 --> 00:42:07.589 align:start position:0% you actually have a restriction on the rate<00:42:06.240> of<00:42:06.400> information<00:42:06.960> flow<00:42:07.280> from<00:42:07.440> the 00:42:07.589 --> 00:42:07.599 align:start position:0% rate of information flow from the 00:42:07.599 --> 00:42:08.390 align:start position:0% rate of information flow from the encoder 00:42:08.390 --> 00:42:08.400 align:start position:0% encoder 00:42:08.400 --> 00:42:09.829 align:start position:0% encoder because<00:42:08.720> you<00:42:08.880> only<00:42:09.040> get<00:42:09.200> information<00:42:09.680> by 00:42:09.829 --> 00:42:09.839 align:start position:0% because you only get information by 00:42:09.839 --> 00:42:11.670 align:start position:0% because you only get information by virtue<00:42:10.160> of<00:42:10.319> the<00:42:10.400> line<00:42:10.720> crossings 00:42:11.670 --> 00:42:11.680 align:start position:0% virtue of the line crossings 00:42:11.680 --> 00:42:13.910 align:start position:0% virtue of the line crossings so<00:42:11.920> if<00:42:12.000> you<00:42:12.160> then<00:42:12.400> look<00:42:12.640> at<00:42:12.960> the<00:42:13.200> shannon<00:42:13.520> limit 00:42:13.910 --> 00:42:13.920 align:start position:0% so if you then look at the shannon limit 00:42:13.920 --> 00:42:15.349 align:start position:0% so if you then look at the shannon limit on<00:42:14.000> what<00:42:14.160> you<00:42:14.240> can<00:42:14.480> achieve 00:42:15.349 --> 00:42:15.359 align:start position:0% on what you can achieve 00:42:15.359 --> 00:42:17.190 align:start position:0% on what you can achieve based<00:42:15.680> upon<00:42:15.920> the<00:42:16.160> information<00:42:16.640> flow<00:42:16.960> coming 00:42:17.190 --> 00:42:17.200 align:start position:0% based upon the information flow coming 00:42:17.200 --> 00:42:18.630 align:start position:0% based upon the information flow coming from<00:42:17.359> the<00:42:17.520> encoder 00:42:18.630 --> 00:42:18.640 align:start position:0% from the encoder 00:42:18.640 --> 00:42:21.030 align:start position:0% from the encoder you<00:42:18.800> find<00:42:19.119> that<00:42:19.280> a<00:42:19.359> lot<00:42:19.520> of<00:42:19.599> the<00:42:19.760> control 00:42:21.030 --> 00:42:21.040 align:start position:0% you find that a lot of the control 00:42:21.040 --> 00:42:22.470 align:start position:0% you find that a lot of the control predictions<00:42:21.520> of<00:42:21.680> what<00:42:21.760> you<00:42:21.920> can<00:42:22.079> achieve<00:42:22.400> on 00:42:22.470 --> 00:42:22.480 align:start position:0% predictions of what you can achieve on 00:42:22.480 --> 00:42:24.069 align:start position:0% predictions of what you can achieve on this<00:42:22.720> encoder<00:42:23.119> are<00:42:23.200> nonsense 00:42:24.069 --> 00:42:24.079 align:start position:0% this encoder are nonsense 00:42:24.079 --> 00:42:26.470 align:start position:0% this encoder are nonsense because<00:42:24.480> the<00:42:24.640> bandwidth<00:42:25.200> that<00:42:25.839> the<00:42:26.000> control 00:42:26.470 --> 00:42:26.480 align:start position:0% because the bandwidth that the control 00:42:26.480 --> 00:42:27.270 align:start position:0% because the bandwidth that the control mechanism<00:42:27.040> is 00:42:27.270 --> 00:42:27.280 align:start position:0% mechanism is 00:42:27.280 --> 00:42:30.150 align:start position:0% mechanism is is<00:42:27.440> predicting<00:42:28.640> is<00:42:28.800> way<00:42:29.040> beyond<00:42:29.680> the<00:42:29.839> rate 00:42:30.150 --> 00:42:30.160 align:start position:0% is predicting is way beyond the rate 00:42:30.160 --> 00:42:31.910 align:start position:0% is predicting is way beyond the rate that<00:42:30.400> the<00:42:30.640> information<00:42:31.200> flow<00:42:31.440> can<00:42:31.599> actually 00:42:31.910 --> 00:42:31.920 align:start position:0% that the information flow can actually 00:42:31.920 --> 00:42:33.030 align:start position:0% that the information flow can actually support 00:42:33.030 --> 00:42:33.040 align:start position:0% support 00:42:33.040 --> 00:42:34.790 align:start position:0% support and<00:42:33.200> what<00:42:33.359> happens<00:42:33.760> is<00:42:33.920> that<00:42:34.079> when<00:42:34.480> certain 00:42:34.790 --> 00:42:34.800 align:start position:0% and what happens is that when certain 00:42:34.800 --> 00:42:36.710 align:start position:0% and what happens is that when certain boundaries<00:42:35.280> are<00:42:35.359> passed 00:42:36.710 --> 00:42:36.720 align:start position:0% boundaries are passed 00:42:36.720 --> 00:42:39.589 align:start position:0% boundaries are passed the<00:42:37.520> encoder<00:42:38.319> and<00:42:38.560> the<00:42:38.800> control<00:42:39.200> system 00:42:39.589 --> 00:42:39.599 align:start position:0% the encoder and the control system 00:42:39.599 --> 00:42:41.750 align:start position:0% the encoder and the control system interact<00:42:40.079> the<00:42:40.240> dynamics<00:42:40.720> interact 00:42:41.750 --> 00:42:41.760 align:start position:0% interact the dynamics interact 00:42:41.760 --> 00:42:45.990 align:start position:0% interact the dynamics interact and<00:42:42.000> the<00:42:42.079> system<00:42:42.400> becomes<00:42:42.839> chaotic<00:42:44.079> so<00:42:44.400> if<00:42:44.640> you 00:42:45.990 --> 00:42:46.000 align:start position:0% and the system becomes chaotic so if you 00:42:46.000 --> 00:42:48.870 align:start position:0% and the system becomes chaotic so if you try<00:42:46.400> and<00:42:46.560> extract<00:42:47.119> more<00:42:47.440> information<00:42:48.640> out<00:42:48.800> of 00:42:48.870 --> 00:42:48.880 align:start position:0% try and extract more information out of 00:42:48.880 --> 00:42:50.069 align:start position:0% try and extract more information out of a<00:42:48.960> control<00:42:49.440> system 00:42:50.069 --> 00:42:50.079 align:start position:0% a control system 00:42:50.079 --> 00:42:52.230 align:start position:0% a control system then<00:42:50.319> is<00:42:50.400> available<00:42:50.880> from<00:42:51.040> the<00:42:51.200> sensors<00:42:52.079> there 00:42:52.230 --> 00:42:52.240 align:start position:0% then is available from the sensors there 00:42:52.240 --> 00:42:55.109 align:start position:0% then is available from the sensors there is<00:42:52.400> a<00:42:52.480> tendency<00:42:53.119> for<00:42:53.280> the<00:42:53.359> system<00:42:53.839> to 00:42:55.109 --> 00:42:55.119 align:start position:0% is a tendency for the system to 00:42:55.119 --> 00:43:02.630 align:start position:0% is a tendency for the system to inject<00:42:55.599> noise<00:42:55.920> in<00:42:56.000> the<00:42:56.079> form<00:42:56.319> of<00:42:56.839> chaos 00:43:02.630 --> 00:43:02.640 align:start position:0% 00:43:02.640 --> 00:43:03.910 align:start position:0% that's<00:43:02.960> that's<00:43:03.200> what<00:43:03.359> it<00:43:03.440> that's<00:43:03.680> what<00:43:03.839> the 00:43:03.910 --> 00:43:03.920 align:start position:0% that's that's what it that's what the 00:43:03.920 --> 00:43:05.910 align:start position:0% that's that's what it that's what the physical<00:43:04.319> system<00:43:04.720> does<00:43:04.960> and 00:43:05.910 --> 00:43:05.920 align:start position:0% physical system does and 00:43:05.920 --> 00:43:09.030 align:start position:0% physical system does and you<00:43:06.079> start<00:43:06.319> getting<00:43:06.560> these<00:43:06.800> strange<00:43:08.640> cyclic 00:43:09.030 --> 00:43:09.040 align:start position:0% you start getting these strange cyclic 00:43:09.040 --> 00:43:10.470 align:start position:0% you start getting these strange cyclic so<00:43:09.280> you<00:43:09.440> start<00:43:09.599> getting<00:43:09.839> this<00:43:10.000> frequency 00:43:10.470 --> 00:43:10.480 align:start position:0% so you start getting this frequency 00:43:10.480 --> 00:43:12.630 align:start position:0% so you start getting this frequency doubling<00:43:10.880> and<00:43:11.040> so<00:43:11.280> forth<00:43:11.839> as<00:43:12.079> the<00:43:12.240> device 00:43:12.630 --> 00:43:12.640 align:start position:0% doubling and so forth as the device 00:43:12.640 --> 00:43:14.710 align:start position:0% doubling and so forth as the device starts<00:43:12.960> limit<00:43:13.280> cycling<00:43:13.760> between<00:43:14.160> the<00:43:14.319> encoder 00:43:14.710 --> 00:43:14.720 align:start position:0% starts limit cycling between the encoder 00:43:14.720 --> 00:43:15.510 align:start position:0% starts limit cycling between the encoder lines 00:43:15.510 --> 00:43:15.520 align:start position:0% lines 00:43:15.520 --> 00:43:16.950 align:start position:0% lines if<00:43:15.680> you've<00:43:15.760> got<00:43:15.920> too<00:43:16.160> high<00:43:16.319> again<00:43:16.640> for<00:43:16.800> the 00:43:16.950 --> 00:43:16.960 align:start position:0% if you've got too high again for the 00:43:16.960 --> 00:43:17.829 align:start position:0% if you've got too high again for the speed<00:43:17.200> that<00:43:17.359> you're<00:43:17.440> going<00:43:17.680> for<00:43:17.760> the 00:43:17.829 --> 00:43:17.839 align:start position:0% speed that you're going for the 00:43:17.839 --> 00:43:19.510 align:start position:0% speed that you're going for the bandwidth<00:43:18.319> you've<00:43:18.400> got<00:43:18.560> available 00:43:19.510 --> 00:43:19.520 align:start position:0% bandwidth you've got available 00:43:19.520 --> 00:43:21.030 align:start position:0% bandwidth you've got available for<00:43:19.920> the<00:43:20.079> bitrate<00:43:20.480> you've<00:43:20.560> got<00:43:20.640> available 00:43:21.030 --> 00:43:21.040 align:start position:0% for the bitrate you've got available 00:43:21.040 --> 00:43:22.550 align:start position:0% for the bitrate you've got available from<00:43:21.200> the<00:43:21.359> encoder<00:43:21.760> then<00:43:21.920> you<00:43:22.079> start<00:43:22.319> getting 00:43:22.550 --> 00:43:22.560 align:start position:0% from the encoder then you start getting 00:43:22.560 --> 00:43:24.069 align:start position:0% from the encoder then you start getting all<00:43:22.720> sorts<00:43:22.960> of<00:43:23.040> strange<00:43:23.359> behavior<00:43:23.760> coming<00:43:24.000> out 00:43:24.069 --> 00:43:24.079 align:start position:0% all sorts of strange behavior coming out 00:43:24.079 --> 00:43:24.790 align:start position:0% all sorts of strange behavior coming out of<00:43:24.240> it 00:43:24.790 --> 00:43:24.800 align:start position:0% of it 00:43:24.800 --> 00:43:26.230 align:start position:0% of it and<00:43:24.960> it<00:43:25.040> wasn't<00:43:25.359> noise<00:43:25.680> that<00:43:25.760> the<00:43:25.920> people<00:43:26.079> were 00:43:26.230 --> 00:43:26.240 align:start position:0% and it wasn't noise that the people were 00:43:26.240 --> 00:43:28.790 align:start position:0% and it wasn't noise that the people were experiencing<00:43:26.800> they<00:43:26.960> just<00:43:27.680> had 00:43:28.790 --> 00:43:28.800 align:start position:0% experiencing they just had 00:43:28.800 --> 00:43:30.550 align:start position:0% experiencing they just had too<00:43:28.960> much<00:43:29.280> gain<00:43:29.599> for<00:43:29.760> the<00:43:29.839> bit<00:43:30.079> rates<00:43:30.400> that 00:43:30.550 --> 00:43:30.560 align:start position:0% too much gain for the bit rates that 00:43:30.560 --> 00:43:31.990 align:start position:0% too much gain for the bit rates that they<00:43:30.720> had<00:43:30.880> available<00:43:31.280> that<00:43:31.520> is 00:43:31.990 --> 00:43:32.000 align:start position:0% they had available that is 00:43:32.000 --> 00:43:33.510 align:start position:0% they had available that is they're<00:43:32.160> trying<00:43:32.400> to<00:43:32.560> exceed<00:43:32.960> the<00:43:33.280> channel 00:43:33.510 --> 00:43:33.520 align:start position:0% they're trying to exceed the channel 00:43:33.520 --> 00:43:35.589 align:start position:0% they're trying to exceed the channel capacity<00:43:34.079> of<00:43:34.480> the<00:43:34.560> control<00:43:34.960> system 00:43:35.589 --> 00:43:35.599 align:start position:0% capacity of the control system 00:43:35.599 --> 00:43:37.030 align:start position:0% capacity of the control system so<00:43:35.760> a<00:43:35.839> control<00:43:36.160> system<00:43:36.480> not<00:43:36.640> only<00:43:36.800> has<00:43:36.960> a 00:43:37.030 --> 00:43:37.040 align:start position:0% so a control system not only has a 00:43:37.040 --> 00:43:39.190 align:start position:0% so a control system not only has a bandwidth<00:43:37.839> if<00:43:37.920> it's<00:43:38.079> got<00:43:38.400> a<00:43:38.560> sensor<00:43:38.880> in<00:43:38.960> it<00:43:39.040> and 00:43:39.190 --> 00:43:39.200 align:start position:0% bandwidth if it's got a sensor in it and 00:43:39.200 --> 00:43:39.990 align:start position:0% bandwidth if it's got a sensor in it and it's<00:43:39.280> digital<00:43:39.680> in<00:43:39.760> any 00:43:39.990 --> 00:43:40.000 align:start position:0% it's digital in any 00:43:40.000 --> 00:43:43.270 align:start position:0% it's digital in any way<00:43:40.800> it's<00:43:40.960> got<00:43:41.119> a<00:43:41.200> channel<00:43:41.520> capacity<00:43:42.640> and<00:43:42.880> very 00:43:43.270 --> 00:43:43.280 align:start position:0% way it's got a channel capacity and very 00:43:43.280 --> 00:43:44.230 align:start position:0% way it's got a channel capacity and very few<00:43:43.599> people 00:43:44.230 --> 00:43:44.240 align:start position:0% few people 00:43:44.240 --> 00:43:45.750 align:start position:0% few people actually<00:43:44.560> consider<00:43:44.960> the<00:43:45.119> channel<00:43:45.359> capacity 00:43:45.750 --> 00:43:45.760 align:start position:0% actually consider the channel capacity 00:43:45.760 --> 00:43:47.750 align:start position:0% actually consider the channel capacity of<00:43:45.839> a<00:43:45.920> control<00:43:46.319> system<00:43:47.119> and<00:43:47.280> they 00:43:47.750 --> 00:43:47.760 align:start position:0% of a control system and they 00:43:47.760 --> 00:43:50.069 align:start position:0% of a control system and they that<00:43:48.000> that<00:43:48.240> puts<00:43:48.720> a<00:43:48.960> significant<00:43:49.520> constraint 00:43:50.069 --> 00:43:50.079 align:start position:0% that that puts a significant constraint 00:43:50.079 --> 00:43:51.430 align:start position:0% that that puts a significant constraint on<00:43:50.160> what's<00:43:50.400> achievable 00:43:51.430 --> 00:43:51.440 align:start position:0% on what's achievable 00:43:51.440 --> 00:43:52.790 align:start position:0% on what's achievable and<00:43:51.599> i've<00:43:51.760> come<00:43:51.920> across<00:43:52.240> that<00:43:52.400> with<00:43:52.560> many 00:43:52.790 --> 00:43:52.800 align:start position:0% and i've come across that with many 00:43:52.800 --> 00:43:53.990 align:start position:0% and i've come across that with many colleagues<00:43:53.200> that<00:43:53.359> have<00:43:53.440> tried<00:43:53.599> to<00:43:53.680> achieve 00:43:53.990 --> 00:43:54.000 align:start position:0% colleagues that have tried to achieve 00:43:54.000 --> 00:43:55.430 align:start position:0% colleagues that have tried to achieve impossible<00:43:54.560> things 00:43:55.430 --> 00:43:55.440 align:start position:0% impossible things 00:43:55.440 --> 00:43:58.230 align:start position:0% impossible things so<00:43:55.680> for<00:43:55.920> example<00:43:56.240> i<00:43:56.319> had<00:43:56.560> somebody<00:43:57.839> trying<00:43:58.079> to 00:43:58.230 --> 00:43:58.240 align:start position:0% so for example i had somebody trying to 00:43:58.240 --> 00:43:58.710 align:start position:0% so for example i had somebody trying to achieve 00:43:58.710 --> 00:43:58.720 align:start position:0% achieve 00:43:58.720 --> 00:44:01.990 align:start position:0% achieve velocity<00:43:59.599> control<00:44:00.160> of<00:44:00.480> a<00:44:00.560> turbine<00:44:01.119> set 00:44:01.990 --> 00:44:02.000 align:start position:0% velocity control of a turbine set 00:44:02.000 --> 00:44:03.270 align:start position:0% velocity control of a turbine set and<00:44:02.079> they<00:44:02.240> said<00:44:02.400> well<00:44:02.640> i<00:44:02.720> can't<00:44:02.960> get<00:44:03.119> this 00:44:03.270 --> 00:44:03.280 align:start position:0% and they said well i can't get this 00:44:03.280 --> 00:44:04.950 align:start position:0% and they said well i can't get this thing<00:44:03.440> to<00:44:03.599> work<00:44:03.839> and<00:44:04.000> i<00:44:04.079> said<00:44:04.480> it'll<00:44:04.720> never 00:44:04.950 --> 00:44:04.960 align:start position:0% thing to work and i said it'll never 00:44:04.960 --> 00:44:05.510 align:start position:0% thing to work and i said it'll never work 00:44:05.510 --> 00:44:05.520 align:start position:0% work 00:44:05.520 --> 00:44:07.510 align:start position:0% work if<00:44:05.680> you<00:44:05.760> don't<00:44:05.920> have<00:44:06.000> enough<00:44:06.319> bits<00:44:06.720> available 00:44:07.510 --> 00:44:07.520 align:start position:0% if you don't have enough bits available 00:44:07.520 --> 00:44:09.030 align:start position:0% if you don't have enough bits available your<00:44:07.760> number<00:44:08.000> of<00:44:08.079> lines<00:44:08.319> on<00:44:08.400> your<00:44:08.560> encoder<00:44:08.960> is 00:44:09.030 --> 00:44:09.040 align:start position:0% your number of lines on your encoder is 00:44:09.040 --> 00:44:09.990 align:start position:0% your number of lines on your encoder is too<00:44:09.200> small 00:44:09.990 --> 00:44:10.000 align:start position:0% too small 00:44:10.000 --> 00:44:11.510 align:start position:0% too small such<00:44:10.319> that<00:44:10.480> the<00:44:10.640> bit<00:44:10.880> rate<00:44:11.200> that<00:44:11.359> you're 00:44:11.510 --> 00:44:11.520 align:start position:0% such that the bit rate that you're 00:44:11.520 --> 00:44:13.030 align:start position:0% such that the bit rate that you're getting<00:44:11.839> from<00:44:12.000> your<00:44:12.160> encoder<00:44:12.800> in<00:44:12.880> your 00:44:13.030 --> 00:44:13.040 align:start position:0% getting from your encoder in your 00:44:13.040 --> 00:44:14.309 align:start position:0% getting from your encoder in your feedback<00:44:13.520> loop 00:44:14.309 --> 00:44:14.319 align:start position:0% feedback loop 00:44:14.319 --> 00:44:16.950 align:start position:0% feedback loop is<00:44:14.800> too<00:44:15.040> small<00:44:15.839> to<00:44:16.000> support<00:44:16.319> the<00:44:16.480> bandwidth 00:44:16.950 --> 00:44:16.960 align:start position:0% is too small to support the bandwidth 00:44:16.960 --> 00:44:18.230 align:start position:0% is too small to support the bandwidth that<00:44:17.040> you're<00:44:17.200> trying<00:44:17.440> to<00:44:17.599> achieve<00:44:18.000> in<00:44:18.079> terms 00:44:18.230 --> 00:44:18.240 align:start position:0% that you're trying to achieve in terms 00:44:18.240 --> 00:44:19.910 align:start position:0% that you're trying to achieve in terms of<00:44:18.319> your<00:44:18.480> disturbance<00:44:18.960> rejection 00:44:19.910 --> 00:44:19.920 align:start position:0% of your disturbance rejection 00:44:19.920 --> 00:44:21.349 align:start position:0% of your disturbance rejection so<00:44:20.079> if<00:44:20.160> you're<00:44:20.319> trying<00:44:20.560> to<00:44:20.720> get<00:44:21.040> more 00:44:21.349 --> 00:44:21.359 align:start position:0% so if you're trying to get more 00:44:21.359 --> 00:44:23.510 align:start position:0% so if you're trying to get more information<00:44:22.160> so<00:44:22.480> in<00:44:22.640> disturbance<00:44:23.119> rejection 00:44:23.510 --> 00:44:23.520 align:start position:0% information so in disturbance rejection 00:44:23.520 --> 00:44:25.510 align:start position:0% information so in disturbance rejection you're<00:44:23.680> basically<00:44:24.000> trying<00:44:24.160> to<00:44:24.319> reconstruct 00:44:25.510 --> 00:44:25.520 align:start position:0% you're basically trying to reconstruct 00:44:25.520 --> 00:44:27.270 align:start position:0% you're basically trying to reconstruct a<00:44:25.680> disturbance<00:44:26.240> using<00:44:26.400> a<00:44:26.480> control<00:44:26.880> system<00:44:27.200> and 00:44:27.270 --> 00:44:27.280 align:start position:0% a disturbance using a control system and 00:44:27.280 --> 00:44:28.630 align:start position:0% a disturbance using a control system and reject<00:44:27.760> it 00:44:28.630 --> 00:44:28.640 align:start position:0% reject it 00:44:28.640 --> 00:44:30.230 align:start position:0% reject it if<00:44:28.880> in<00:44:28.960> reconstructing<00:44:29.520> that<00:44:29.680> disturbance 00:44:30.230 --> 00:44:30.240 align:start position:0% if in reconstructing that disturbance 00:44:30.240 --> 00:44:31.430 align:start position:0% if in reconstructing that disturbance you<00:44:30.319> need<00:44:30.480> more<00:44:30.640> information<00:44:31.119> than<00:44:31.280> is 00:44:31.430 --> 00:44:31.440 align:start position:0% you need more information than is 00:44:31.440 --> 00:44:33.430 align:start position:0% you need more information than is available<00:44:31.760> from<00:44:31.920> your<00:44:32.480> sensor<00:44:32.800> system 00:44:33.430 --> 00:44:33.440 align:start position:0% available from your sensor system 00:44:33.440 --> 00:44:34.870 align:start position:0% available from your sensor system you're<00:44:33.680> never<00:44:33.839> going<00:44:34.000> to<00:44:34.079> reconstruct<00:44:34.640> it<00:44:34.720> no 00:44:34.870 --> 00:44:34.880 align:start position:0% you're never going to reconstruct it no 00:44:34.880 --> 00:44:37.109 align:start position:0% you're never going to reconstruct it no matter<00:44:35.119> what<00:44:35.359> fancy<00:44:35.760> control<00:44:36.079> system<00:44:36.400> you<00:44:36.560> use 00:44:37.109 --> 00:44:37.119 align:start position:0% matter what fancy control system you use 00:44:37.119 --> 00:44:38.550 align:start position:0% matter what fancy control system you use you<00:44:37.280> just<00:44:37.440> don't<00:44:37.599> have<00:44:37.760> the<00:44:37.839> information<00:44:38.400> rate 00:44:38.550 --> 00:44:38.560 align:start position:0% you just don't have the information rate 00:44:38.560 --> 00:44:40.630 align:start position:0% you just don't have the information rate to<00:44:38.720> support<00:44:39.119> that<00:44:39.359> that<00:44:39.599> task 00:44:40.630 --> 00:44:40.640 align:start position:0% to support that that task 00:44:40.640 --> 00:44:42.069 align:start position:0% to support that that task and<00:44:40.800> they<00:44:40.960> just<00:44:41.119> don't<00:44:41.280> consider<00:44:41.680> that<00:44:41.920> it's 00:44:42.069 --> 00:44:42.079 align:start position:0% and they just don't consider that it's 00:44:42.079 --> 00:44:43.910 align:start position:0% and they just don't consider that it's not<00:44:42.240> part<00:44:42.480> of<00:44:42.560> the<00:44:42.720> control 00:44:43.910 --> 00:44:43.920 align:start position:0% not part of the control 00:44:43.920 --> 00:44:46.069 align:start position:0% not part of the control control<00:44:44.400> theorist<00:44:44.960> lexicon<00:44:45.680> they<00:44:45.839> don't 00:44:46.069 --> 00:44:46.079 align:start position:0% control theorist lexicon they don't 00:44:46.079 --> 00:44:47.349 align:start position:0% control theorist lexicon they don't think<00:44:46.319> about 00:44:47.349 --> 00:44:47.359 align:start position:0% think about 00:44:47.359 --> 00:44:49.510 align:start position:0% think about the<00:44:47.680> channel<00:44:47.920> capacity<00:44:48.480> of<00:44:48.560> their<00:44:48.720> sensor<00:44:49.359> so 00:44:49.510 --> 00:44:49.520 align:start position:0% the channel capacity of their sensor so 00:44:49.520 --> 00:44:51.750 align:start position:0% the channel capacity of their sensor so any<00:44:49.839> sensor<00:44:50.240> has<00:44:50.400> a<00:44:50.480> channel<00:44:50.720> capacity 00:44:51.750 --> 00:44:51.760 align:start position:0% any sensor has a channel capacity 00:44:51.760 --> 00:44:53.829 align:start position:0% any sensor has a channel capacity and<00:44:52.000> you<00:44:52.160> cannot<00:44:52.480> perform<00:44:52.880> a<00:44:52.960> task<00:44:53.280> a<00:44:53.359> dynamic 00:44:53.829 --> 00:44:53.839 align:start position:0% and you cannot perform a task a dynamic 00:44:53.839 --> 00:44:55.349 align:start position:0% and you cannot perform a task a dynamic task 00:44:55.349 --> 00:44:55.359 align:start position:0% task 00:44:55.359 --> 00:44:57.589 align:start position:0% task which<00:44:55.680> requires<00:44:56.160> more<00:44:56.400> information<00:44:57.280> than<00:44:57.520> is 00:44:57.589 --> 00:44:57.599 align:start position:0% which requires more information than is 00:44:57.599 --> 00:44:59.670 align:start position:0% which requires more information than is available<00:44:58.000> from<00:44:58.160> your<00:44:58.400> sensor 00:44:59.670 --> 00:44:59.680 align:start position:0% available from your sensor 00:44:59.680 --> 00:45:01.030 align:start position:0% available from your sensor so<00:44:59.839> if<00:44:59.920> your<00:45:00.079> sensor<00:45:00.480> is<00:45:00.560> providing<00:45:00.960> a 00:45:01.030 --> 00:45:01.040 align:start position:0% so if your sensor is providing a 00:45:01.040 --> 00:45:02.710 align:start position:0% so if your sensor is providing a thousand<00:45:01.359> bits<00:45:01.599> per<00:45:01.760> second 00:45:02.710 --> 00:45:02.720 align:start position:0% thousand bits per second 00:45:02.720 --> 00:45:04.550 align:start position:0% thousand bits per second and<00:45:02.880> that's<00:45:03.200> it<00:45:03.920> that's<00:45:04.160> your<00:45:04.319> channel 00:45:04.550 --> 00:45:04.560 align:start position:0% and that's it that's your channel 00:45:04.560 --> 00:45:06.150 align:start position:0% and that's it that's your channel capacity<00:45:05.599> if<00:45:05.760> your 00:45:06.150 --> 00:45:06.160 align:start position:0% capacity if your 00:45:06.160 --> 00:45:09.190 align:start position:0% capacity if your task<00:45:06.560> requires<00:45:07.520> 10<00:45:07.839> 000<00:45:08.000> bits<00:45:08.240> per<00:45:08.400> second<00:45:09.119> it 00:45:09.190 --> 00:45:09.200 align:start position:0% task requires 10 000 bits per second it 00:45:09.200 --> 00:45:10.710 align:start position:0% task requires 10 000 bits per second it doesn't<00:45:09.440> matter<00:45:09.680> what<00:45:09.920> fancy<00:45:10.400> software 00:45:10.710 --> 00:45:10.720 align:start position:0% doesn't matter what fancy software 00:45:10.720 --> 00:45:11.990 align:start position:0% doesn't matter what fancy software you've<00:45:10.880> got<00:45:11.119> you'll<00:45:11.359> never<00:45:11.599> achieve<00:45:11.839> your 00:45:11.990 --> 00:45:12.000 align:start position:0% you've got you'll never achieve your 00:45:12.000 --> 00:45:12.550 align:start position:0% you've got you'll never achieve your task 00:45:12.550 --> 00:45:12.560 align:start position:0% task 00:45:12.560 --> 00:45:18.470 align:start position:0% task you<00:45:12.720> don't<00:45:12.960> have<00:45:13.119> the<00:45:13.200> channel<00:45:16.839> capacity 00:45:18.470 --> 00:45:18.480 align:start position:0% you don't have the channel capacity 00:45:18.480 --> 00:45:21.750 align:start position:0% you don't have the channel capacity so<00:45:19.200> um 00:45:21.750 --> 00:45:21.760 align:start position:0% 00:45:21.760 --> 00:45:23.589 align:start position:0% i<00:45:21.839> think<00:45:22.000> what<00:45:22.160> to<00:45:22.240> ask<00:45:22.480> that<00:45:23.119> who<00:45:23.280> have<00:45:23.359> been 00:45:23.589 --> 00:45:23.599 align:start position:0% i think what to ask that who have been 00:45:23.599 --> 00:45:24.950 align:start position:0% i think what to ask that who have been some<00:45:23.760> of<00:45:23.839> the<00:45:23.920> people<00:45:24.160> you've<00:45:24.400> collaborated 00:45:24.950 --> 00:45:24.960 align:start position:0% some of the people you've collaborated 00:45:24.960 --> 00:45:26.630 align:start position:0% some of the people you've collaborated with<00:45:25.200> over<00:45:25.520> the<00:45:25.599> years 00:45:26.630 --> 00:45:26.640 align:start position:0% with over the years 00:45:26.640 --> 00:45:29.829 align:start position:0% with over the years whoa<00:45:27.200> especially<00:45:27.760> in<00:45:27.839> the<00:45:27.920> robotics<00:45:28.560> area<00:45:29.200> oh 00:45:29.829 --> 00:45:29.839 align:start position:0% whoa especially in the robotics area oh 00:45:29.839 --> 00:45:31.750 align:start position:0% whoa especially in the robotics area oh you're<00:45:30.000> going<00:45:30.240> back<00:45:30.400> a<00:45:30.480> long<00:45:30.640> way<00:45:30.880> now<00:45:31.440> well 00:45:31.750 --> 00:45:31.760 align:start position:0% you're going back a long way now well 00:45:31.760 --> 00:45:33.670 align:start position:0% you're going back a long way now well cegb 00:45:33.670 --> 00:45:33.680 align:start position:0% cegb 00:45:33.680 --> 00:45:38.390 align:start position:0% cegb the<00:45:33.760> atomic<00:45:34.160> energy<00:45:34.560> authority<00:45:36.160> uk<00:45:36.560> robotics 00:45:38.390 --> 00:45:38.400 align:start position:0% the atomic energy authority uk robotics 00:45:38.400 --> 00:45:41.990 align:start position:0% the atomic energy authority uk robotics i<00:45:38.560> spent<00:45:38.880> some<00:45:39.119> time<00:45:39.760> developing<00:45:41.359> software 00:45:41.990 --> 00:45:42.000 align:start position:0% i spent some time developing software 00:45:42.000 --> 00:45:42.309 align:start position:0% i spent some time developing software for 00:45:42.309 --> 00:45:42.319 align:start position:0% for 00:45:42.319 --> 00:45:45.430 align:start position:0% for companies<00:45:42.800> selling 00:45:45.430 --> 00:45:45.440 align:start position:0% 00:45:45.440 --> 00:45:48.710 align:start position:0% machine<00:45:45.920> tools<00:45:46.880> using<00:45:47.119> some<00:45:47.280> robotics 00:45:48.710 --> 00:45:48.720 align:start position:0% machine tools using some robotics 00:45:48.720 --> 00:45:50.470 align:start position:0% machine tools using some robotics work<00:45:48.960> that<00:45:49.119> i<00:45:49.200> did<00:45:49.440> on<00:45:49.599> parallel<00:45:49.920> mechanism 00:45:50.470 --> 00:45:50.480 align:start position:0% work that i did on parallel mechanism 00:45:50.480 --> 00:45:52.630 align:start position:0% work that i did on parallel mechanism for<00:45:50.640> a<00:45:50.640> company<00:45:50.880> called<00:45:51.119> geodetics 00:45:52.630 --> 00:45:52.640 align:start position:0% for a company called geodetics 00:45:52.640 --> 00:45:55.829 align:start position:0% for a company called geodetics which<00:45:52.880> was<00:45:53.839> which<00:45:54.079> was<00:45:54.240> trying<00:45:54.480> to<00:45:54.560> develop 00:45:55.829 --> 00:45:55.839 align:start position:0% which was which was trying to develop 00:45:55.839 --> 00:45:58.710 align:start position:0% which was which was trying to develop a<00:45:56.000> parallel<00:45:56.480> mechanism<00:45:58.000> it's<00:45:58.240> basically<00:45:58.640> a 00:45:58.710 --> 00:45:58.720 align:start position:0% a parallel mechanism it's basically a 00:45:58.720 --> 00:46:00.870 align:start position:0% a parallel mechanism it's basically a robot<00:45:59.040> for<00:45:59.200> doing<00:45:59.359> machining 00:46:00.870 --> 00:46:00.880 align:start position:0% robot for doing machining 00:46:00.880 --> 00:46:04.550 align:start position:0% robot for doing machining um<00:46:02.000> so<00:46:02.480> they<00:46:02.640> were<00:46:02.800> interested<00:46:03.200> in<00:46:03.359> trying<00:46:03.680> to 00:46:04.550 --> 00:46:04.560 align:start position:0% um so they were interested in trying to 00:46:04.560 --> 00:46:06.790 align:start position:0% um so they were interested in trying to improve<00:46:04.880> the<00:46:04.960> accuracy<00:46:05.520> and<00:46:05.680> speed<00:46:06.240> and 00:46:06.790 --> 00:46:06.800 align:start position:0% improve the accuracy and speed and 00:46:06.800 --> 00:46:12.829 align:start position:0% improve the accuracy and speed and controllability<00:46:07.599> of<00:46:07.680> those<00:46:07.920> devices 00:46:12.829 --> 00:46:12.839 align:start position:0% 00:46:12.839 --> 00:46:15.990 align:start position:0% um<00:46:13.920> various<00:46:14.400> people<00:46:14.720> in<00:46:14.800> europe 00:46:15.990 --> 00:46:16.000 align:start position:0% um various people in europe 00:46:16.000 --> 00:46:19.109 align:start position:0% um various people in europe all<00:46:16.160> over<00:46:16.319> the<00:46:16.480> place<00:46:17.599> isis<00:46:18.560> trying<00:46:18.720> to<00:46:18.880> think 00:46:19.109 --> 00:46:19.119 align:start position:0% all over the place isis trying to think 00:46:19.119 --> 00:46:19.589 align:start position:0% all over the place isis trying to think through 00:46:19.589 --> 00:46:19.599 align:start position:0% through 00:46:19.599 --> 00:46:21.990 align:start position:0% through any<00:46:19.920> uh<00:46:20.240> any<00:46:20.560> roboticists<00:46:21.440> that<00:46:21.599> we<00:46:21.760> might 00:46:21.990 --> 00:46:22.000 align:start position:0% any uh any roboticists that we might 00:46:22.000 --> 00:46:23.190 align:start position:0% any uh any roboticists that we might recognize 00:46:23.190 --> 00:46:23.200 align:start position:0% recognize 00:46:23.200 --> 00:46:26.829 align:start position:0% recognize oh<00:46:26.160> well 00:46:26.829 --> 00:46:26.839 align:start position:0% oh well 00:46:26.839 --> 00:46:30.150 align:start position:0% oh well uh<00:46:28.640> i<00:46:28.720> spent<00:46:28.960> a<00:46:29.040> lot<00:46:29.200> of<00:46:29.280> time<00:46:29.520> working 00:46:30.150 --> 00:46:30.160 align:start position:0% uh i spent a lot of time working 00:46:30.160 --> 00:46:33.109 align:start position:0% uh i spent a lot of time working with<00:46:30.800> ross<00:46:31.119> mccarry<00:46:31.520> who's<00:46:31.680> now<00:46:31.920> in<00:46:32.000> the<00:46:32.079> us<00:46:32.640> in 00:46:33.109 --> 00:46:33.119 align:start position:0% with ross mccarry who's now in the us in 00:46:33.119 --> 00:46:34.230 align:start position:0% with ross mccarry who's now in the us in in<00:46:33.280> australia 00:46:34.230 --> 00:46:34.240 align:start position:0% in australia 00:46:34.240 --> 00:46:39.589 align:start position:0% in australia who<00:46:34.400> now<00:46:34.640> works<00:46:35.119> on<00:46:36.880> on<00:46:37.200> mining<00:46:37.520> machinery 00:46:39.589 --> 00:46:39.599 align:start position:0% who now works on on mining machinery 00:46:39.599 --> 00:46:41.510 align:start position:0% who now works on on mining machinery most<00:46:39.839> of<00:46:39.839> the<00:46:39.920> people<00:46:40.240> i<00:46:40.319> tended<00:46:40.640> to<00:46:40.720> talk<00:46:41.040> to 00:46:41.510 --> 00:46:41.520 align:start position:0% most of the people i tended to talk to 00:46:41.520 --> 00:46:43.430 align:start position:0% most of the people i tended to talk to were<00:46:41.760> within<00:46:42.079> oxford 00:46:43.430 --> 00:46:43.440 align:start position:0% were within oxford 00:46:43.440 --> 00:46:45.829 align:start position:0% were within oxford so<00:46:43.760> the<00:46:44.000> people<00:46:44.240> like<00:46:44.560> andrew<00:46:44.880> blake<00:46:45.280> hewdawn 00:46:45.829 --> 00:46:45.839 align:start position:0% so the people like andrew blake hewdawn 00:46:45.839 --> 00:46:47.510 align:start position:0% so the people like andrew blake hewdawn white 00:46:47.510 --> 00:46:47.520 align:start position:0% white 00:46:47.520 --> 00:46:52.390 align:start position:0% white john<00:46:48.000> john<00:46:48.240> leonard<00:46:50.319> day<00:46:50.480> forsyth 00:46:52.390 --> 00:46:52.400 align:start position:0% john john leonard day forsyth 00:46:52.400 --> 00:46:55.910 align:start position:0% john john leonard day forsyth margaret<00:46:53.040> fleck<00:46:54.800> mostly<00:46:55.200> mike<00:46:55.440> brady's 00:46:55.910 --> 00:46:55.920 align:start position:0% margaret fleck mostly mike brady's 00:46:55.920 --> 00:46:57.990 align:start position:0% margaret fleck mostly mike brady's students 00:46:57.990 --> 00:46:58.000 align:start position:0% students 00:46:58.000 --> 00:46:59.109 align:start position:0% students we<00:46:58.079> used<00:46:58.240> to<00:46:58.319> spend<00:46:58.560> quite<00:46:58.720> a<00:46:58.720> lot<00:46:58.880> of<00:46:58.960> time 00:46:59.109 --> 00:46:59.119 align:start position:0% we used to spend quite a lot of time 00:46:59.119 --> 00:47:01.349 align:start position:0% we used to spend quite a lot of time chatting<00:46:59.440> to<00:46:59.599> mike<00:47:00.079> um<00:47:00.960> and<00:47:01.119> to 00:47:01.349 --> 00:47:01.359 align:start position:0% chatting to mike um and to 00:47:01.359 --> 00:47:03.430 align:start position:0% chatting to mike um and to the<00:47:01.440> other<00:47:01.599> guys<00:47:01.839> that<00:47:02.000> came<00:47:02.240> into<00:47:02.400> the<00:47:02.480> lab 00:47:03.430 --> 00:47:03.440 align:start position:0% the other guys that came into the lab 00:47:03.440 --> 00:47:04.390 align:start position:0% the other guys that came into the lab quite<00:47:03.599> a<00:47:03.680> few 00:47:04.390 --> 00:47:04.400 align:start position:0% quite a few 00:47:04.400 --> 00:47:05.910 align:start position:0% quite a few people<00:47:04.960> have<00:47:05.119> been<00:47:05.280> through<00:47:05.440> oxford<00:47:05.839> and 00:47:05.910 --> 00:47:05.920 align:start position:0% people have been through oxford and 00:47:05.920 --> 00:47:08.470 align:start position:0% people have been through oxford and moved<00:47:06.240> on<00:47:07.280> they've<00:47:07.440> become<00:47:07.760> quite<00:47:08.000> well<00:47:08.240> known 00:47:08.470 --> 00:47:08.480 align:start position:0% moved on they've become quite well known 00:47:08.480 --> 00:47:11.430 align:start position:0% moved on they've become quite well known people<00:47:08.720> like<00:47:08.880> hugh<00:47:09.040> don't<00:47:09.280> white<00:47:09.520> for<00:47:09.599> example 00:47:11.430 --> 00:47:11.440 align:start position:0% people like hugh don't white for example 00:47:11.440 --> 00:47:13.670 align:start position:0% people like hugh don't white for example um<00:47:12.240> i've<00:47:12.400> got<00:47:12.480> some<00:47:12.720> of<00:47:12.800> my<00:47:12.960> students<00:47:13.280> now<00:47:13.520> come 00:47:13.670 --> 00:47:13.680 align:start position:0% um i've got some of my students now come 00:47:13.680 --> 00:47:15.109 align:start position:0% um i've got some of my students now come back<00:47:13.839> to<00:47:14.000> oxford 00:47:15.109 --> 00:47:15.119 align:start position:0% back to oxford 00:47:15.119 --> 00:47:18.950 align:start position:0% back to oxford like<00:47:15.440> paul<00:47:15.680> newman<00:47:17.280> so<00:47:17.760> i<00:47:17.839> remember<00:47:18.319> paul 00:47:18.950 --> 00:47:18.960 align:start position:0% like paul newman so i remember paul 00:47:18.960 --> 00:47:23.589 align:start position:0% like paul newman so i remember paul i<00:47:19.359> supervised<00:47:19.920> his<00:47:20.079> undergraduate<00:47:20.640> project 00:47:23.589 --> 00:47:23.599 align:start position:0% 00:47:23.599 --> 00:47:26.309 align:start position:0% so<00:47:23.920> uh<00:47:24.559> which<00:47:24.720> was<00:47:24.880> the<00:47:24.960> design<00:47:25.920> it<00:47:26.000> was<00:47:26.160> the 00:47:26.309 --> 00:47:26.319 align:start position:0% so uh which was the design it was the 00:47:26.319 --> 00:47:26.950 align:start position:0% so uh which was the design it was the design 00:47:26.950 --> 00:47:26.960 align:start position:0% design 00:47:26.960 --> 00:47:30.069 align:start position:0% design of<00:47:28.319> an<00:47:28.480> agv<00:47:29.280> believe<00:47:29.520> it<00:47:29.680> or<00:47:29.760> not 00:47:30.069 --> 00:47:30.079 align:start position:0% of an agv believe it or not 00:47:30.079 --> 00:47:33.190 align:start position:0% of an agv believe it or not autonomous<00:47:30.559> guided<00:47:30.880> vehicle<00:47:32.079> and<00:47:32.880> as<00:47:33.040> an 00:47:33.190 --> 00:47:33.200 align:start position:0% autonomous guided vehicle and as an 00:47:33.200 --> 00:47:34.790 align:start position:0% autonomous guided vehicle and as an undergraduate<00:47:33.680> project<00:47:34.000> what<00:47:34.160> i 00:47:34.790 --> 00:47:34.800 align:start position:0% undergraduate project what i 00:47:34.800 --> 00:47:37.270 align:start position:0% undergraduate project what i got<00:47:34.960> these<00:47:35.359> him<00:47:35.599> to<00:47:35.680> do<00:47:35.920> was<00:47:36.079> to<00:47:36.240> look<00:47:36.480> at 00:47:37.270 --> 00:47:37.280 align:start position:0% got these him to do was to look at 00:47:37.280 --> 00:47:39.750 align:start position:0% got these him to do was to look at whether<00:47:37.520> we<00:47:37.680> could<00:47:37.839> reverse<00:47:38.319> engineer 00:47:39.750 --> 00:47:39.760 align:start position:0% whether we could reverse engineer 00:47:39.760 --> 00:47:42.230 align:start position:0% whether we could reverse engineer these<00:47:40.000> electric<00:47:40.400> screwdrivers<00:47:41.839> to<00:47:42.000> make<00:47:42.160> a 00:47:42.230 --> 00:47:42.240 align:start position:0% these electric screwdrivers to make a 00:47:42.240 --> 00:47:43.510 align:start position:0% these electric screwdrivers to make a very<00:47:42.559> cheap 00:47:43.510 --> 00:47:43.520 align:start position:0% very cheap 00:47:43.520 --> 00:47:46.870 align:start position:0% very cheap uh<00:47:44.319> autonomous<00:47:44.960> vehicle<00:47:46.160> so 00:47:46.870 --> 00:47:46.880 align:start position:0% uh autonomous vehicle so 00:47:46.880 --> 00:47:50.309 align:start position:0% uh autonomous vehicle so just<00:47:47.200> as<00:47:47.359> a<00:47:47.520> as<00:47:47.680> a<00:47:48.319> platform 00:47:50.309 --> 00:47:50.319 align:start position:0% just as a as a platform 00:47:50.319 --> 00:47:53.910 align:start position:0% just as a as a platform he<00:47:51.440> had<00:47:51.599> one<00:47:51.839> or<00:47:51.920> two<00:47:52.960> of<00:47:53.119> his<00:47:53.280> own<00:47:53.520> ideas<00:47:53.839> and 00:47:53.910 --> 00:47:53.920 align:start position:0% he had one or two of his own ideas and 00:47:53.920 --> 00:47:55.349 align:start position:0% he had one or two of his own ideas and he<00:47:54.000> developed<00:47:54.400> that 00:47:55.349 --> 00:47:55.359 align:start position:0% he developed that 00:47:55.359 --> 00:47:59.750 align:start position:0% he developed that um<00:47:56.800> a<00:47:57.119> lot<00:47:57.280> of<00:47:57.440> students<00:47:57.839> come<00:47:58.000> through<00:47:58.319> though 00:47:59.750 --> 00:47:59.760 align:start position:0% um a lot of students come through though 00:47:59.760 --> 00:48:04.870 align:start position:0% um a lot of students come through though remember<00:48:00.160> dave<00:48:00.319> forsyth 00:48:04.870 --> 00:48:04.880 align:start position:0% 00:48:04.880 --> 00:48:07.030 align:start position:0% i<00:48:04.960> remember<00:48:05.200> john<00:48:05.440> leonard<00:48:05.760> working<00:48:06.079> on<00:48:06.160> agvs 00:48:07.030 --> 00:48:07.040 align:start position:0% i remember john leonard working on agvs 00:48:07.040 --> 00:48:08.150 align:start position:0% i remember john leonard working on agvs and<00:48:07.280> uh 00:48:08.150 --> 00:48:08.160 align:start position:0% and uh 00:48:08.160 --> 00:48:10.950 align:start position:0% and uh his<00:48:09.440> his<00:48:09.680> interaction<00:48:10.319> with<00:48:10.480> traction 00:48:10.950 --> 00:48:10.960 align:start position:0% his his interaction with traction 00:48:10.960 --> 00:48:14.069 align:start position:0% his his interaction with traction batteries 00:48:14.069 --> 00:48:14.079 align:start position:0% 00:48:14.079 --> 00:48:17.109 align:start position:0% concentration<00:48:15.760> the<00:48:15.920> batteries<00:48:16.319> in<00:48:16.400> an<00:48:16.559> agv 00:48:17.109 --> 00:48:17.119 align:start position:0% concentration the batteries in an agv 00:48:17.119 --> 00:48:20.870 align:start position:0% concentration the batteries in an agv these<00:48:17.359> are<00:48:17.440> big<00:48:17.680> batteries<00:48:18.960> and 00:48:20.870 --> 00:48:20.880 align:start position:0% these are big batteries and 00:48:20.880 --> 00:48:23.990 align:start position:0% these are big batteries and we<00:48:21.119> used<00:48:21.359> to<00:48:21.440> have<00:48:23.520> these 00:48:23.990 --> 00:48:24.000 align:start position:0% we used to have these 00:48:24.000 --> 00:48:26.630 align:start position:0% we used to have these these<00:48:24.559> autonomous<00:48:25.040> guided<00:48:25.359> vehicles<00:48:26.079> uh<00:48:26.480> in 00:48:26.630 --> 00:48:26.640 align:start position:0% these autonomous guided vehicles uh in 00:48:26.640 --> 00:48:28.230 align:start position:0% these autonomous guided vehicles uh in the<00:48:26.720> basement 00:48:28.230 --> 00:48:28.240 align:start position:0% the basement 00:48:28.240 --> 00:48:32.710 align:start position:0% the basement of<00:48:31.040> of<00:48:31.359> the<00:48:31.520> jenkin<00:48:32.000> building<00:48:32.319> which<00:48:32.480> is<00:48:32.640> an 00:48:32.710 --> 00:48:32.720 align:start position:0% of of the jenkin building which is an 00:48:32.720 --> 00:48:34.790 align:start position:0% of of the jenkin building which is an old<00:48:33.040> victorian<00:48:33.680> brick<00:48:33.920> building 00:48:34.790 --> 00:48:34.800 align:start position:0% old victorian brick building 00:48:34.800 --> 00:48:38.069 align:start position:0% old victorian brick building and<00:48:35.040> we<00:48:35.200> had<00:48:35.440> these<00:48:36.559> the<00:48:36.720> the<00:48:36.960> atv<00:48:37.599> lab<00:48:37.839> was<00:48:38.000> in 00:48:38.069 --> 00:48:38.079 align:start position:0% and we had these the the atv lab was in 00:48:38.079 --> 00:48:39.030 align:start position:0% and we had these the the atv lab was in the<00:48:38.160> basement<00:48:38.559> with 00:48:39.030 --> 00:48:39.040 align:start position:0% the basement with 00:48:39.040 --> 00:48:41.349 align:start position:0% the basement with these<00:48:39.440> huge<00:48:40.079> support<00:48:40.559> beams<00:48:40.880> so<00:48:40.960> you<00:48:41.119> had<00:48:41.200> to 00:48:41.349 --> 00:48:41.359 align:start position:0% these huge support beams so you had to 00:48:41.359 --> 00:48:42.950 align:start position:0% these huge support beams so you had to walk<00:48:41.520> along<00:48:41.760> the<00:48:41.920> duck<00:48:42.160> underneath<00:48:42.559> the<00:48:42.640> beams 00:48:42.950 --> 00:48:42.960 align:start position:0% walk along the duck underneath the beams 00:48:42.960 --> 00:48:44.309 align:start position:0% walk along the duck underneath the beams as<00:48:43.119> you<00:48:43.200> went<00:48:43.440> through 00:48:44.309 --> 00:48:44.319 align:start position:0% as you went through 00:48:44.319 --> 00:48:46.870 align:start position:0% as you went through and<00:48:44.400> they<00:48:44.559> had<00:48:44.720> these<00:48:45.040> little<00:48:46.160> vehicles<00:48:46.640> that 00:48:46.870 --> 00:48:46.880 align:start position:0% and they had these little vehicles that 00:48:46.880 --> 00:48:48.710 align:start position:0% and they had these little vehicles that trundled<00:48:47.359> around<00:48:47.839> with 00:48:48.710 --> 00:48:48.720 align:start position:0% trundled around with 00:48:48.720 --> 00:48:51.109 align:start position:0% trundled around with little<00:48:49.040> polaroid<00:48:49.599> sensors<00:48:50.480> you<00:48:50.640> you'd<00:48:50.880> walk 00:48:51.109 --> 00:48:51.119 align:start position:0% little polaroid sensors you you'd walk 00:48:51.119 --> 00:48:52.470 align:start position:0% little polaroid sensors you you'd walk in<00:48:51.200> there<00:48:51.359> and<00:48:51.440> these<00:48:51.599> things<00:48:51.920> will<00:48:52.079> be 00:48:52.470 --> 00:48:52.480 align:start position:0% in there and these things will be 00:48:52.480 --> 00:48:53.750 align:start position:0% in there and these things will be this<00:48:52.640> thing<00:48:52.800> would<00:48:52.880> be<00:48:53.119> sort<00:48:53.200> of<00:48:53.359> wobbling 00:48:53.750 --> 00:48:53.760 align:start position:0% this thing would be sort of wobbling 00:48:53.760 --> 00:48:56.549 align:start position:0% this thing would be sort of wobbling around<00:48:55.119> with<00:48:55.359> cameras<00:48:55.760> poking<00:48:56.160> out<00:48:56.319> in<00:48:56.400> all 00:48:56.549 --> 00:48:56.559 align:start position:0% around with cameras poking out in all 00:48:56.559 --> 00:48:57.510 align:start position:0% around with cameras poking out in all directions 00:48:57.510 --> 00:48:57.520 align:start position:0% directions 00:48:57.520 --> 00:48:59.349 align:start position:0% directions this<00:48:57.760> is<00:48:57.920> a<00:48:58.000> completely<00:48:58.400> alien<00:48:58.800> world<00:48:59.119> to<00:48:59.200> me 00:48:59.349 --> 00:48:59.359 align:start position:0% this is a completely alien world to me 00:48:59.359 --> 00:49:01.270 align:start position:0% this is a completely alien world to me because<00:48:59.520> i<00:48:59.680> remember<00:49:00.000> what<00:49:00.160> i<00:49:00.240> worked<00:49:00.559> on<00:49:00.720> was 00:49:01.270 --> 00:49:01.280 align:start position:0% because i remember what i worked on was 00:49:01.280 --> 00:49:03.829 align:start position:0% because i remember what i worked on was sort<00:49:01.520> of<00:49:02.319> big<00:49:02.559> chunky<00:49:02.960> manipulators<00:49:03.680> with 00:49:03.829 --> 00:49:03.839 align:start position:0% sort of big chunky manipulators with 00:49:03.839 --> 00:49:05.510 align:start position:0% sort of big chunky manipulators with people<00:49:04.160> hanging<00:49:04.480> on<00:49:04.640> to<00:49:04.800> them 00:49:05.510 --> 00:49:05.520 align:start position:0% people hanging on to them 00:49:05.520 --> 00:49:07.349 align:start position:0% people hanging on to them and<00:49:05.839> going<00:49:06.160> unstable<00:49:06.720> and<00:49:06.800> sort<00:49:06.960> of<00:49:07.040> hanging 00:49:07.349 --> 00:49:07.359 align:start position:0% and going unstable and sort of hanging 00:49:07.359 --> 00:49:09.349 align:start position:0% and going unstable and sort of hanging on<00:49:08.160> stirring<00:49:08.559> away<00:49:08.880> with 00:49:09.349 --> 00:49:09.359 align:start position:0% on stirring away with 00:49:09.359 --> 00:49:12.549 align:start position:0% on stirring away with while<00:49:09.599> trying<00:49:09.839> to<00:49:09.920> perform<00:49:10.240> a<00:49:11.440> drilling<00:49:11.920> task 00:49:12.549 --> 00:49:12.559 align:start position:0% while trying to perform a drilling task 00:49:12.559 --> 00:49:13.670 align:start position:0% while trying to perform a drilling task and<00:49:12.640> they<00:49:12.800> had<00:49:12.880> this<00:49:13.119> vehicle<00:49:13.440> sort<00:49:13.599> of 00:49:13.670 --> 00:49:13.680 align:start position:0% and they had this vehicle sort of 00:49:13.680 --> 00:49:15.270 align:start position:0% and they had this vehicle sort of troubling<00:49:14.160> about<00:49:14.400> the<00:49:14.559> basement<00:49:14.960> there's<00:49:15.119> all 00:49:15.270 --> 00:49:15.280 align:start position:0% troubling about the basement there's all 00:49:15.280 --> 00:49:15.990 align:start position:0% troubling about the basement there's all these<00:49:15.440> little<00:49:15.680> things 00:49:15.990 --> 00:49:16.000 align:start position:0% these little things 00:49:16.000 --> 00:49:18.710 align:start position:0% these little things going<00:49:16.319> like<00:49:16.480> this<00:49:17.520> so<00:49:18.000> lots<00:49:18.240> of<00:49:18.400> ticking 00:49:18.710 --> 00:49:18.720 align:start position:0% going like this so lots of ticking 00:49:18.720 --> 00:49:21.270 align:start position:0% going like this so lots of ticking noises<00:49:19.040> with<00:49:19.200> the<00:49:19.280> polaroids<00:49:19.839> going<00:49:20.160> off 00:49:21.270 --> 00:49:21.280 align:start position:0% noises with the polaroids going off 00:49:21.280 --> 00:49:22.870 align:start position:0% noises with the polaroids going off and<00:49:21.440> they<00:49:21.599> used<00:49:21.839> to<00:49:21.920> recharge<00:49:22.400> the<00:49:22.559> traction 00:49:22.870 --> 00:49:22.880 align:start position:0% and they used to recharge the traction 00:49:22.880 --> 00:49:24.230 align:start position:0% and they used to recharge the traction batteries<00:49:23.280> in<00:49:23.359> the<00:49:23.440> basement<00:49:23.920> which<00:49:24.079> i 00:49:24.230 --> 00:49:24.240 align:start position:0% batteries in the basement which i 00:49:24.240 --> 00:49:25.670 align:start position:0% batteries in the basement which i thought<00:49:24.400> was<00:49:24.480> a<00:49:24.559> bit<00:49:24.720> dodgy 00:49:25.670 --> 00:49:25.680 align:start position:0% thought was a bit dodgy 00:49:25.680 --> 00:49:28.150 align:start position:0% thought was a bit dodgy because<00:49:25.839> there's<00:49:26.079> lots<00:49:26.240> of<00:49:26.319> hydrogen<00:49:27.839> given 00:49:28.150 --> 00:49:28.160 align:start position:0% because there's lots of hydrogen given 00:49:28.160 --> 00:49:29.510 align:start position:0% because there's lots of hydrogen given off<00:49:28.319> of<00:49:28.400> these<00:49:28.640> big 00:49:29.510 --> 00:49:29.520 align:start position:0% off of these big 00:49:29.520 --> 00:49:31.349 align:start position:0% off of these big 48<00:49:30.000> volt<00:49:30.240> batteries<00:49:30.720> but<00:49:30.880> it's<00:49:30.960> stacks<00:49:31.280> of 00:49:31.349 --> 00:49:31.359 align:start position:0% 48 volt batteries but it's stacks of 00:49:31.359 --> 00:49:33.030 align:start position:0% 48 volt batteries but it's stacks of batteries<00:49:31.839> and<00:49:32.000> bubbling<00:49:32.400> away 00:49:33.030 --> 00:49:33.040 align:start position:0% batteries and bubbling away 00:49:33.040 --> 00:49:35.829 align:start position:0% batteries and bubbling away inside<00:49:33.440> the<00:49:33.520> basement's<00:49:33.920> not<00:49:34.079> a<00:49:34.160> good<00:49:34.319> idea<00:49:35.440> so 00:49:35.829 --> 00:49:35.839 align:start position:0% inside the basement's not a good idea so 00:49:35.839 --> 00:49:38.470 align:start position:0% inside the basement's not a good idea so we<00:49:36.000> used<00:49:36.240> to<00:49:36.319> have<00:49:36.559> a<00:49:36.640> little<00:49:36.960> safety 00:49:38.470 --> 00:49:38.480 align:start position:0% we used to have a little safety 00:49:38.480 --> 00:49:41.829 align:start position:0% we used to have a little safety safety<00:49:38.960> arguments<00:49:39.359> about<00:49:41.119> about<00:49:41.440> that 00:49:41.829 --> 00:49:41.839 align:start position:0% safety arguments about about that 00:49:41.839 --> 00:49:44.549 align:start position:0% safety arguments about about that and<00:49:43.280> yeah<00:49:43.680> and<00:49:43.839> how<00:49:44.000> do<00:49:44.079> you<00:49:44.160> go<00:49:44.319> about 00:49:44.549 --> 00:49:44.559 align:start position:0% and yeah and how do you go about 00:49:44.559 --> 00:49:47.109 align:start position:0% and yeah and how do you go about unbolting<00:49:45.119> attraction<00:49:45.599> 48<00:49:46.079> volt 00:49:47.109 --> 00:49:47.119 align:start position:0% unbolting attraction 48 volt 00:49:47.119 --> 00:49:50.069 align:start position:0% unbolting attraction 48 volt traction<00:49:47.520> battery<00:49:48.319> you<00:49:48.480> don't<00:49:48.720> use<00:49:49.040> a<00:49:49.920> you 00:49:50.069 --> 00:49:50.079 align:start position:0% traction battery you don't use a you 00:49:50.079 --> 00:49:50.790 align:start position:0% traction battery you don't use a you don't<00:49:50.400> use 00:49:50.790 --> 00:49:50.800 align:start position:0% don't use 00:49:50.800 --> 00:49:54.470 align:start position:0% don't use a<00:49:51.000> non-insulated<00:49:52.559> spanner<00:49:53.440> when<00:49:53.599> you<00:49:53.760> do<00:49:53.920> that 00:49:54.470 --> 00:49:54.480 align:start position:0% a non-insulated spanner when you do that 00:49:54.480 --> 00:49:57.910 align:start position:0% a non-insulated spanner when you do that you<00:49:54.559> have<00:49:54.720> to<00:49:54.800> ask<00:49:55.040> john<00:49:55.280> about<00:49:55.520> that<00:49:57.440> so<00:49:57.680> these 00:49:57.910 --> 00:49:57.920 align:start position:0% you have to ask john about that so these 00:49:57.920 --> 00:49:59.349 align:start position:0% you have to ask john about that so these were<00:49:58.079> students<00:49:58.480> these<00:49:58.720> are<00:49:58.800> these<00:49:59.040> are 00:49:59.349 --> 00:49:59.359 align:start position:0% were students these are these are 00:49:59.359 --> 00:50:02.309 align:start position:0% were students these are these are i<00:49:59.520> remember<00:49:59.839> those<00:50:00.079> those<00:50:00.319> days<00:50:01.520> and<00:50:02.000> uh<00:50:02.160> i 00:50:02.309 --> 00:50:02.319 align:start position:0% i remember those those days and uh i 00:50:02.319 --> 00:50:05.109 align:start position:0% i remember those those days and uh i remember<00:50:02.640> our<00:50:02.800> very<00:50:03.119> early<00:50:03.520> sun<00:50:03.760> network 00:50:05.109 --> 00:50:05.119 align:start position:0% remember our very early sun network 00:50:05.119 --> 00:50:09.190 align:start position:0% remember our very early sun network sun<00:50:05.359> workstations<00:50:06.160> we<00:50:06.319> had<00:50:06.480> these<00:50:08.000> uh 00:50:09.190 --> 00:50:09.200 align:start position:0% sun workstations we had these uh 00:50:09.200 --> 00:50:11.910 align:start position:0% sun workstations we had these uh these<00:50:09.680> well<00:50:10.319> they<00:50:10.480> were<00:50:10.559> based<00:50:10.880> on<00:50:11.040> 68<00:50:11.599> 000<00:50:11.839> and 00:50:11.910 --> 00:50:11.920 align:start position:0% these well they were based on 68 000 and 00:50:11.920 --> 00:50:13.109 align:start position:0% these well they were based on 68 000 and 10's<00:50:12.240> you<00:50:12.319> know 00:50:13.109 --> 00:50:13.119 align:start position:0% 10's you know 00:50:13.119 --> 00:50:15.510 align:start position:0% 10's you know those<00:50:13.359> were<00:50:13.520> the<00:50:13.680> spark<00:50:14.000> stations<00:50:15.040> good<00:50:15.280> god 00:50:15.510 --> 00:50:15.520 align:start position:0% those were the spark stations good god 00:50:15.520 --> 00:50:16.309 align:start position:0% those were the spark stations good god no<00:50:15.839> no<00:50:16.079> no 00:50:16.309 --> 00:50:16.319 align:start position:0% no no no 00:50:16.319 --> 00:50:20.549 align:start position:0% no no no no<00:50:16.640> no<00:50:16.880> no<00:50:17.200> no<00:50:18.319> way<00:50:18.880> back 00:50:20.549 --> 00:50:20.559 align:start position:0% no no no no way back 00:50:20.559 --> 00:50:23.349 align:start position:0% no no no no way back now<00:50:20.720> i<00:50:20.880> remember<00:50:21.200> we<00:50:21.359> put<00:50:21.520> in<00:50:21.680> the<00:50:21.760> very<00:50:22.079> first 00:50:23.349 --> 00:50:23.359 align:start position:0% now i remember we put in the very first 00:50:23.359 --> 00:50:24.829 align:start position:0% now i remember we put in the very first thick<00:50:23.599> wire 00:50:24.829 --> 00:50:24.839 align:start position:0% thick wire 00:50:24.839 --> 00:50:27.430 align:start position:0% thick wire ethernet<00:50:26.079> local<00:50:26.480> area<00:50:26.720> networking 00:50:27.430 --> 00:50:27.440 align:start position:0% ethernet local area networking 00:50:27.440 --> 00:50:29.510 align:start position:0% ethernet local area networking in<00:50:27.599> our<00:50:27.760> lab<00:50:28.400> that<00:50:28.559> used<00:50:28.800> people<00:50:29.040> used<00:50:29.200> to<00:50:29.359> come 00:50:29.510 --> 00:50:29.520 align:start position:0% in our lab that used people used to come 00:50:29.520 --> 00:50:30.710 align:start position:0% in our lab that used people used to come around<00:50:29.839> and<00:50:30.000> look 00:50:30.710 --> 00:50:30.720 align:start position:0% around and look 00:50:30.720 --> 00:50:33.750 align:start position:0% around and look at<00:50:30.960> this<00:50:32.079> coaxial<00:50:32.640> cable<00:50:32.960> big<00:50:33.200> thick<00:50:33.520> yellow 00:50:33.750 --> 00:50:33.760 align:start position:0% at this coaxial cable big thick yellow 00:50:33.760 --> 00:50:35.750 align:start position:0% at this coaxial cable big thick yellow coaxial<00:50:34.160> cable<00:50:34.559> that<00:50:34.720> diameter 00:50:35.750 --> 00:50:35.760 align:start position:0% coaxial cable that diameter 00:50:35.760 --> 00:50:39.030 align:start position:0% coaxial cable that diameter which<00:50:36.000> we<00:50:36.480> we<00:50:36.640> had<00:50:36.800> about<00:50:38.319> we<00:50:38.480> must<00:50:38.640> had<00:50:38.800> about 00:50:39.030 --> 00:50:39.040 align:start position:0% which we we had about we must had about 00:50:39.040 --> 00:50:39.990 align:start position:0% which we we had about we must had about four<00:50:39.280> computers<00:50:39.680> on<00:50:39.760> this 00:50:39.990 --> 00:50:40.000 align:start position:0% four computers on this 00:50:40.000 --> 00:50:43.670 align:start position:0% four computers on this network<00:50:41.280> which<00:50:41.520> was<00:50:42.319> that<00:50:42.559> was 00:50:43.670 --> 00:50:43.680 align:start position:0% network which was that was 00:50:43.680 --> 00:50:46.549 align:start position:0% network which was that was quite<00:50:43.920> something<00:50:45.200> and<00:50:45.359> we<00:50:45.520> had<00:50:45.680> these<00:50:45.920> sun<00:50:46.319> sun 00:50:46.549 --> 00:50:46.559 align:start position:0% quite something and we had these sun sun 00:50:46.559 --> 00:50:48.630 align:start position:0% quite something and we had these sun sun work<00:50:46.800> stations<00:50:47.280> with<00:50:47.440> 68<00:50:47.920> 000<00:50:48.160> and<00:50:48.240> 10's<00:50:48.559> in 00:50:48.630 --> 00:50:48.640 align:start position:0% work stations with 68 000 and 10's in 00:50:48.640 --> 00:50:50.069 align:start position:0% work stations with 68 000 and 10's in them 00:50:50.069 --> 00:50:50.079 align:start position:0% them 00:50:50.079 --> 00:50:54.950 align:start position:0% them that<00:50:50.240> was<00:50:51.280> 10<00:50:51.520> megahertz<00:50:52.640> powerful<00:50:53.040> machines 00:50:54.950 --> 00:50:54.960 align:start position:0% that was 10 megahertz powerful machines 00:50:54.960 --> 00:50:58.069 align:start position:0% that was 10 megahertz powerful machines and<00:50:55.119> we<00:50:55.280> had<00:50:55.440> a<00:50:55.520> server 00:50:58.069 --> 00:50:58.079 align:start position:0% 00:50:58.079 --> 00:51:01.430 align:start position:0% a<00:50:58.240> machine<00:50:58.559> with<00:50:58.720> a<00:50:58.800> server<00:50:59.920> a<00:51:00.079> net<00:51:00.640> a<00:51:00.800> network 00:51:01.430 --> 00:51:01.440 align:start position:0% a machine with a server a net a network 00:51:01.440 --> 00:51:04.230 align:start position:0% a machine with a server a net a network a<00:51:01.520> network<00:51:01.839> we<00:51:02.319> had<00:51:02.480> a<00:51:02.559> very<00:51:02.800> early<00:51:03.119> version<00:51:03.440> of 00:51:04.230 --> 00:51:04.240 align:start position:0% a network we had a very early version of 00:51:04.240 --> 00:51:08.630 align:start position:0% a network we had a very early version of a<00:51:04.400> network<00:51:04.800> system<00:51:05.200> with<00:51:05.359> a<00:51:06.839> server 00:51:08.630 --> 00:51:08.640 align:start position:0% a network system with a server 00:51:08.640 --> 00:51:11.990 align:start position:0% a network system with a server any<00:51:08.960> uh<00:51:09.200> any<00:51:09.440> funny<00:51:10.160> robot<00:51:10.720> stories 00:51:11.990 --> 00:51:12.000 align:start position:0% any uh any funny robot stories 00:51:12.000 --> 00:51:15.030 align:start position:0% any uh any funny robot stories uh<00:51:13.839> i<00:51:14.000> remember<00:51:14.240> when<00:51:14.400> paul<00:51:14.640> newman 00:51:15.030 --> 00:51:15.040 align:start position:0% uh i remember when paul newman 00:51:15.040 --> 00:51:18.230 align:start position:0% uh i remember when paul newman discovered<00:51:15.680> the<00:51:15.839> web 00:51:18.230 --> 00:51:18.240 align:start position:0% 00:51:18.240 --> 00:51:20.630 align:start position:0% yeah<00:51:18.559> i<00:51:18.720> remember<00:51:18.960> the<00:51:19.040> very<00:51:19.280> first<00:51:19.920> when<00:51:20.319> web 00:51:20.630 --> 00:51:20.640 align:start position:0% yeah i remember the very first when web 00:51:20.640 --> 00:51:22.790 align:start position:0% yeah i remember the very first when web the<00:51:20.720> web<00:51:20.960> became<00:51:21.200> available<00:51:21.680> he<00:51:21.839> came<00:51:22.079> in 00:51:22.790 --> 00:51:22.800 align:start position:0% the web became available he came in 00:51:22.800 --> 00:51:24.630 align:start position:0% the web became available he came in and<00:51:22.960> said<00:51:23.280> you<00:51:23.440> can<00:51:23.520> do<00:51:23.760> searches<00:51:24.240> and<00:51:24.400> find 00:51:24.630 --> 00:51:24.640 align:start position:0% and said you can do searches and find 00:51:24.640 --> 00:51:26.069 align:start position:0% and said you can do searches and find things<00:51:25.200> look<00:51:25.359> at<00:51:25.440> this 00:51:26.069 --> 00:51:26.079 align:start position:0% things look at this 00:51:26.079 --> 00:51:28.950 align:start position:0% things look at this and<00:51:26.240> he<00:51:26.400> was<00:51:26.800> he<00:51:26.960> was<00:51:27.119> absolutely<00:51:28.640> full<00:51:28.800> of 00:51:28.950 --> 00:51:28.960 align:start position:0% and he was he was absolutely full of 00:51:28.960 --> 00:51:29.510 align:start position:0% and he was he was absolutely full of that 00:51:29.510 --> 00:51:29.520 align:start position:0% that 00:51:29.520 --> 00:51:33.109 align:start position:0% that and<00:51:29.760> i<00:51:29.839> remember<00:51:30.160> the<00:51:31.119> arrival<00:51:31.680> of<00:51:32.480> email 00:51:33.109 --> 00:51:33.119 align:start position:0% and i remember the arrival of email 00:51:33.119 --> 00:51:36.390 align:start position:0% and i remember the arrival of email on<00:51:33.280> your<00:51:33.520> desk<00:51:35.200> because<00:51:35.520> before<00:51:35.839> we<00:51:36.000> had<00:51:36.160> to<00:51:36.240> go 00:51:36.390 --> 00:51:36.400 align:start position:0% on your desk because before we had to go 00:51:36.400 --> 00:51:37.829 align:start position:0% on your desk because before we had to go into<00:51:36.640> the<00:51:36.720> sort<00:51:36.880> of<00:51:37.040> in<00:51:37.200> order<00:51:37.359> to<00:51:37.520> use 00:51:37.829 --> 00:51:37.839 align:start position:0% into the sort of in order to use 00:51:37.839 --> 00:51:39.829 align:start position:0% into the sort of in order to use email<00:51:38.079> with<00:51:38.240> something<00:51:38.559> you<00:51:38.640> went<00:51:38.880> into<00:51:39.119> the 00:51:39.829 --> 00:51:39.839 align:start position:0% email with something you went into the 00:51:39.839 --> 00:51:41.750 align:start position:0% email with something you went into the central<00:51:40.240> vac<00:51:40.559> server<00:51:40.960> room<00:51:41.200> and 00:51:41.750 --> 00:51:41.760 align:start position:0% central vac server room and 00:51:41.760 --> 00:51:43.349 align:start position:0% central vac server room and logged<00:51:42.079> onto<00:51:42.319> a<00:51:42.400> terminal<00:51:42.960> and<00:51:43.040> then<00:51:43.200> you 00:51:43.349 --> 00:51:43.359 align:start position:0% logged onto a terminal and then you 00:51:43.359 --> 00:51:45.349 align:start position:0% logged onto a terminal and then you could<00:51:43.520> send<00:51:44.480> email 00:51:45.349 --> 00:51:45.359 align:start position:0% could send email 00:51:45.359 --> 00:51:50.150 align:start position:0% could send email via<00:51:45.760> text<00:51:48.319> well<00:51:48.559> before<00:51:48.880> pine<00:51:49.280> yeah 00:51:50.150 --> 00:51:50.160 align:start position:0% via text well before pine yeah 00:51:50.160 --> 00:51:54.549 align:start position:0% via text well before pine yeah yeah<00:51:51.680> pine<00:51:52.079> modern<00:51:52.960> yeah<00:51:53.200> i<00:51:53.359> know 00:51:54.549 --> 00:51:54.559 align:start position:0% yeah pine modern yeah i know 00:51:54.559 --> 00:51:58.390 align:start position:0% yeah pine modern yeah i know i'm<00:51:55.040> saying<00:51:55.680> you<00:51:55.839> know<00:51:56.000> early<00:51:56.319> 80s<00:51:57.200> early<00:51:57.520> 80s 00:51:58.390 --> 00:51:58.400 align:start position:0% i'm saying you know early 80s early 80s 00:51:58.400 --> 00:52:02.829 align:start position:0% i'm saying you know early 80s early 80s so<00:51:58.720> it<00:51:59.040> was<00:52:00.240> very<00:52:00.559> very<00:52:00.880> early<00:52:01.359> stuff 00:52:02.829 --> 00:52:02.839 align:start position:0% so it was very very early stuff 00:52:02.839 --> 00:52:05.750 align:start position:0% so it was very very early stuff um<00:52:03.839> i<00:52:04.000> remember<00:52:04.480> when<00:52:04.640> i<00:52:04.800> printed<00:52:05.119> my<00:52:05.280> phd 00:52:05.750 --> 00:52:05.760 align:start position:0% um i remember when i printed my phd 00:52:05.760 --> 00:52:06.870 align:start position:0% um i remember when i printed my phd thesis 00:52:06.870 --> 00:52:06.880 align:start position:0% thesis 00:52:06.880 --> 00:52:09.990 align:start position:0% thesis i<00:52:07.040> had<00:52:08.160> a<00:52:08.319> very<00:52:08.720> advanced<00:52:09.280> printer<00:52:09.680> because<00:52:09.920> i 00:52:09.990 --> 00:52:10.000 align:start position:0% i had a very advanced printer because i 00:52:10.000 --> 00:52:10.790 align:start position:0% i had a very advanced printer because i had<00:52:10.160> a 00:52:10.790 --> 00:52:10.800 align:start position:0% had a 00:52:10.800 --> 00:52:14.150 align:start position:0% had a double<00:52:11.440> daisy<00:52:11.839> wheel<00:52:13.200> which<00:52:13.440> meant<00:52:13.680> that 00:52:14.150 --> 00:52:14.160 align:start position:0% double daisy wheel which meant that 00:52:14.160 --> 00:52:17.750 align:start position:0% double daisy wheel which meant that not<00:52:14.400> only<00:52:14.640> could<00:52:14.880> i<00:52:15.760> type<00:52:16.800> roman<00:52:17.119> numerals<00:52:17.599> it 00:52:17.750 --> 00:52:17.760 align:start position:0% not only could i type roman numerals it 00:52:17.760 --> 00:52:18.309 align:start position:0% not only could i type roman numerals it could<00:52:17.920> do 00:52:18.309 --> 00:52:18.319 align:start position:0% could do 00:52:18.319 --> 00:52:21.670 align:start position:0% could do mathematical<00:52:19.119> symbols<00:52:20.480> so<00:52:20.960> i<00:52:21.359> think<00:52:21.520> i<00:52:21.599> was 00:52:21.670 --> 00:52:21.680 align:start position:0% mathematical symbols so i think i was 00:52:21.680 --> 00:52:24.470 align:start position:0% mathematical symbols so i think i was one<00:52:21.839> of<00:52:21.920> the<00:52:22.160> first<00:52:22.559> people<00:52:22.880> to<00:52:23.119> print 00:52:24.470 --> 00:52:24.480 align:start position:0% one of the first people to print 00:52:24.480 --> 00:52:27.589 align:start position:0% one of the first people to print my<00:52:24.720> phd<00:52:25.839> thesis<00:52:26.559> using 00:52:27.589 --> 00:52:27.599 align:start position:0% my phd thesis using 00:52:27.599 --> 00:52:29.510 align:start position:0% my phd thesis using a<00:52:27.760> printer<00:52:28.160> that<00:52:28.319> could<00:52:28.559> print<00:52:28.880> mathematical 00:52:29.510 --> 00:52:29.520 align:start position:0% a printer that could print mathematical 00:52:29.520 --> 00:52:31.430 align:start position:0% a printer that could print mathematical symbols<00:52:30.400> as<00:52:30.640> well<00:52:30.880> as 00:52:31.430 --> 00:52:31.440 align:start position:0% symbols as well as 00:52:31.440 --> 00:52:35.670 align:start position:0% symbols as well as other<00:52:33.839> as<00:52:34.319> other<00:52:34.640> sort<00:52:34.800> of<00:52:34.960> ordinary<00:52:35.359> letters 00:52:35.670 --> 00:52:35.680 align:start position:0% other as other sort of ordinary letters 00:52:35.680 --> 00:52:35.990 align:start position:0% other as other sort of ordinary letters like 00:52:35.990 --> 00:52:36.000 align:start position:0% like 00:52:36.000 --> 00:52:37.829 align:start position:0% like that<00:52:36.160> was<00:52:36.319> quite<00:52:36.640> a<00:52:37.280> that<00:52:37.440> was<00:52:37.599> quite 00:52:37.829 --> 00:52:37.839 align:start position:0% that was quite a that was quite 00:52:37.839 --> 00:52:40.950 align:start position:0% that was quite a that was quite something<00:52:38.880> when<00:52:39.119> we<00:52:39.200> did<00:52:39.440> that 00:52:40.950 --> 00:52:40.960 align:start position:0% something when we did that 00:52:40.960 --> 00:52:42.870 align:start position:0% something when we did that this<00:52:41.359> huge<00:52:41.520> things<00:52:41.839> are<00:52:42.079> flying<00:52:42.400> about<00:52:42.720> you 00:52:42.870 --> 00:52:42.880 align:start position:0% this huge things are flying about you 00:52:42.880 --> 00:52:44.230 align:start position:0% this huge things are flying about you know 00:52:44.230 --> 00:52:44.240 align:start position:0% know 00:52:44.240 --> 00:52:46.309 align:start position:0% know big<00:52:44.559> wires<00:52:44.880> in<00:52:45.040> it<00:52:45.200> moving<00:52:45.520> this<00:52:45.680> great<00:52:45.920> big 00:52:46.309 --> 00:52:46.319 align:start position:0% big wires in it moving this great big 00:52:46.319 --> 00:52:50.309 align:start position:0% big wires in it moving this great big double<00:52:46.640> daisy<00:52:46.960> wheel<00:52:47.200> around 00:52:50.309 --> 00:52:50.319 align:start position:0% 00:52:50.319 --> 00:52:52.870 align:start position:0% you've<00:52:50.480> also<00:52:50.720> done<00:52:50.960> some<00:52:51.119> work<00:52:51.440> in<00:52:51.760> a<00:52:52.480> startup 00:52:52.870 --> 00:52:52.880 align:start position:0% you've also done some work in a startup 00:52:52.880 --> 00:52:53.750 align:start position:0% you've also done some work in a startup company 00:52:53.750 --> 00:52:53.760 align:start position:0% company 00:52:53.760 --> 00:52:58.069 align:start position:0% company yeah<00:52:54.079> yeah<00:52:54.720> yeah<00:52:55.200> um 00:52:58.069 --> 00:52:58.079 align:start position:0% 00:52:58.079 --> 00:53:00.230 align:start position:0% one<00:52:58.319> of<00:52:58.400> the<00:52:58.480> things<00:52:59.200> that<00:52:59.440> we<00:52:59.920> we've<00:53:00.079> been 00:53:00.230 --> 00:53:00.240 align:start position:0% one of the things that we we've been 00:53:00.240 --> 00:53:01.589 align:start position:0% one of the things that we we've been through<00:53:00.480> some<00:53:00.640> developments<00:53:01.040> in<00:53:01.520> the 00:53:01.589 --> 00:53:01.599 align:start position:0% through some developments in the 00:53:01.599 --> 00:53:03.030 align:start position:0% through some developments in the department<00:53:02.079> so<00:53:02.319> my 00:53:03.030 --> 00:53:03.040 align:start position:0% department so my 00:53:03.040 --> 00:53:06.390 align:start position:0% department so my robot<00:53:03.440> lab<00:53:03.680> was<00:53:04.000> closed<00:53:04.319> down<00:53:05.280> and<00:53:05.680> dismantled 00:53:06.390 --> 00:53:06.400 align:start position:0% robot lab was closed down and dismantled 00:53:06.400 --> 00:53:08.710 align:start position:0% robot lab was closed down and dismantled while<00:53:06.559> we<00:53:06.960> built<00:53:07.200> the<00:53:07.359> building 00:53:08.710 --> 00:53:08.720 align:start position:0% while we built the building 00:53:08.720 --> 00:53:11.670 align:start position:0% while we built the building so<00:53:09.520> while<00:53:09.839> that<00:53:10.000> was<00:53:10.240> going<00:53:10.480> on<00:53:10.880> i<00:53:11.119> started<00:53:11.520> to 00:53:11.670 --> 00:53:11.680 align:start position:0% so while that was going on i started to 00:53:11.680 --> 00:53:12.309 align:start position:0% so while that was going on i started to look<00:53:11.920> at 00:53:12.309 --> 00:53:12.319 align:start position:0% look at 00:53:12.319 --> 00:53:13.750 align:start position:0% look at because<00:53:12.559> mike<00:53:12.800> brady<00:53:13.119> been<00:53:13.200> doing<00:53:13.359> it<00:53:13.440> for<00:53:13.520> so 00:53:13.750 --> 00:53:13.760 align:start position:0% because mike brady been doing it for so 00:53:13.760 --> 00:53:15.270 align:start position:0% because mike brady been doing it for so long<00:53:14.160> i<00:53:14.319> started<00:53:14.559> to<00:53:14.640> look<00:53:14.800> at<00:53:14.880> computer 00:53:15.270 --> 00:53:15.280 align:start position:0% long i started to look at computer 00:53:15.280 --> 00:53:16.230 align:start position:0% long i started to look at computer vision 00:53:16.230 --> 00:53:16.240 align:start position:0% vision 00:53:16.240 --> 00:53:21.109 align:start position:0% vision so<00:53:16.480> i<00:53:16.720> developed<00:53:18.559> my<00:53:18.800> own<00:53:19.119> stereo<00:53:19.680> code 00:53:21.109 --> 00:53:21.119 align:start position:0% so i developed my own stereo code 00:53:21.119 --> 00:53:24.390 align:start position:0% so i developed my own stereo code and<00:53:22.160> i<00:53:23.359> looked<00:53:23.680> at<00:53:23.920> ways 00:53:24.390 --> 00:53:24.400 align:start position:0% and i looked at ways 00:53:24.400 --> 00:53:27.430 align:start position:0% and i looked at ways of<00:53:25.440> taking<00:53:25.920> stereo 00:53:27.430 --> 00:53:27.440 align:start position:0% of taking stereo 00:53:27.440 --> 00:53:30.230 align:start position:0% of taking stereo and<00:53:27.920> merging<00:53:28.400> stereo<00:53:29.680> it's<00:53:29.920> ordinary 00:53:30.230 --> 00:53:30.240 align:start position:0% and merging stereo it's ordinary 00:53:30.240 --> 00:53:31.510 align:start position:0% and merging stereo it's ordinary geometric<00:53:30.800> stereo 00:53:31.510 --> 00:53:31.520 align:start position:0% geometric stereo 00:53:31.520 --> 00:53:33.670 align:start position:0% geometric stereo with<00:53:31.760> photometric<00:53:32.400> stereo<00:53:32.960> using<00:53:33.280> camel 00:53:33.670 --> 00:53:33.680 align:start position:0% with photometric stereo using camel 00:53:33.680 --> 00:53:35.990 align:start position:0% with photometric stereo using camel filter<00:53:34.079> in<00:53:34.160> fact<00:53:34.400> vena<00:53:34.720> felt 00:53:35.990 --> 00:53:36.000 align:start position:0% filter in fact vena felt 00:53:36.000 --> 00:53:40.069 align:start position:0% filter in fact vena felt so<00:53:36.960> we<00:53:37.119> developed<00:53:37.440> this<00:53:37.599> technology 00:53:40.069 --> 00:53:40.079 align:start position:0% so we developed this technology 00:53:40.079 --> 00:53:43.510 align:start position:0% so we developed this technology where<00:53:41.359> we<00:53:41.680> can<00:53:42.319> take 00:53:43.510 --> 00:53:43.520 align:start position:0% where we can take 00:53:43.520 --> 00:53:47.430 align:start position:0% where we can take a<00:53:44.880> fairly 00:53:47.430 --> 00:53:47.440 align:start position:0% 00:53:47.440 --> 00:53:51.190 align:start position:0% low<00:53:48.079> resolution<00:53:49.920> stereo<00:53:50.400> reconstruction<00:53:51.040> of 00:53:51.190 --> 00:53:51.200 align:start position:0% low resolution stereo reconstruction of 00:53:51.200 --> 00:53:51.829 align:start position:0% low resolution stereo reconstruction of an<00:53:51.359> object 00:53:51.829 --> 00:53:51.839 align:start position:0% an object 00:53:51.839 --> 00:53:54.829 align:start position:0% an object and<00:53:52.800> merge<00:53:53.200> that<00:53:53.520> with<00:53:53.680> a<00:53:53.760> very<00:53:54.000> high 00:53:54.829 --> 00:53:54.839 align:start position:0% and merge that with a very high 00:53:54.839 --> 00:53:56.069 align:start position:0% and merge that with a very high resolution 00:53:56.069 --> 00:53:56.079 align:start position:0% resolution 00:53:56.079 --> 00:53:59.270 align:start position:0% resolution normal<00:53:56.480> map<00:53:56.800> generated<00:53:57.280> by<00:53:57.520> photometry<00:53:59.040> and 00:53:59.270 --> 00:53:59.280 align:start position:0% normal map generated by photometry and 00:53:59.280 --> 00:54:01.190 align:start position:0% normal map generated by photometry and that<00:53:59.520> gives<00:53:59.839> us<00:54:00.000> a<00:54:00.160> quite<00:54:00.400> a<00:54:00.480> precise 00:54:01.190 --> 00:54:01.200 align:start position:0% that gives us a quite a precise 00:54:01.200 --> 00:54:03.990 align:start position:0% that gives us a quite a precise 3d<00:54:02.319> small<00:54:02.720> field<00:54:03.280> two<00:54:03.440> and<00:54:03.599> a<00:54:03.599> half<00:54:03.839> d 00:54:03.990 --> 00:54:04.000 align:start position:0% 3d small field two and a half d 00:54:04.000 --> 00:54:05.750 align:start position:0% 3d small field two and a half d reconstruction 00:54:05.750 --> 00:54:05.760 align:start position:0% reconstruction 00:54:05.760 --> 00:54:07.750 align:start position:0% reconstruction of<00:54:06.319> objects<00:54:06.800> with<00:54:07.040> very<00:54:07.280> very<00:54:07.599> high 00:54:07.750 --> 00:54:07.760 align:start position:0% of objects with very very high 00:54:07.760 --> 00:54:08.950 align:start position:0% of objects with very very high resolution 00:54:08.950 --> 00:54:08.960 align:start position:0% resolution 00:54:08.960 --> 00:54:12.870 align:start position:0% resolution sort<00:54:09.200> of<00:54:09.359> 100<00:54:09.760> micron<00:54:10.160> resolution<00:54:11.920> and 00:54:12.870 --> 00:54:12.880 align:start position:0% sort of 100 micron resolution and 00:54:12.880 --> 00:54:16.230 align:start position:0% sort of 100 micron resolution and i<00:54:13.040> used<00:54:13.440> that<00:54:14.319> to<00:54:14.800> the<00:54:15.040> idea<00:54:15.440> to<00:54:15.680> start<00:54:15.920> a<00:54:16.000> spin 00:54:16.230 --> 00:54:16.240 align:start position:0% i used that to the idea to start a spin 00:54:16.240 --> 00:54:17.349 align:start position:0% i used that to the idea to start a spin out<00:54:16.400> company 00:54:17.349 --> 00:54:17.359 align:start position:0% out company 00:54:17.359 --> 00:54:19.190 align:start position:0% out company and<00:54:17.520> we<00:54:17.680> now<00:54:18.079> i<00:54:18.160> now<00:54:18.319> have<00:54:18.480> a<00:54:18.559> spin<00:54:18.800> out<00:54:18.960> company 00:54:19.190 --> 00:54:19.200 align:start position:0% and we now i now have a spin out company 00:54:19.200 --> 00:54:20.470 align:start position:0% and we now i now have a spin out company which<00:54:19.440> measures 00:54:20.470 --> 00:54:20.480 align:start position:0% which measures 00:54:20.480 --> 00:54:24.230 align:start position:0% which measures uh<00:54:20.720> wound<00:54:21.040> volume<00:54:22.079> so<00:54:23.359> you<00:54:23.599> point<00:54:23.839> the<00:54:23.920> 3d 00:54:24.230 --> 00:54:24.240 align:start position:0% uh wound volume so you point the 3d 00:54:24.240 --> 00:54:25.670 align:start position:0% uh wound volume so you point the 3d camera<00:54:24.800> at<00:54:25.040> a 00:54:25.670 --> 00:54:25.680 align:start position:0% camera at a 00:54:25.680 --> 00:54:27.349 align:start position:0% camera at a i<00:54:25.839> don't<00:54:26.000> know<00:54:26.000> if<00:54:26.079> you<00:54:26.160> know<00:54:26.880> do<00:54:27.040> people<00:54:27.280> want 00:54:27.349 --> 00:54:27.359 align:start position:0% i don't know if you know do people want 00:54:27.359 --> 00:54:29.430 align:start position:0% i don't know if you know do people want to<00:54:27.440> know<00:54:27.599> about<00:54:27.760> the<00:54:27.839> gory<00:54:28.160> details<00:54:28.720> of 00:54:29.430 --> 00:54:29.440 align:start position:0% to know about the gory details of 00:54:29.440 --> 00:54:33.510 align:start position:0% to know about the gory details of diabetes<00:54:31.760> one<00:54:31.920> of<00:54:32.079> the<00:54:32.240> issues<00:54:32.559> of<00:54:32.640> diabetes 00:54:33.510 --> 00:54:33.520 align:start position:0% diabetes one of the issues of diabetes 00:54:33.520 --> 00:54:36.630 align:start position:0% diabetes one of the issues of diabetes is<00:54:34.079> that<00:54:34.400> you<00:54:34.720> lose 00:54:36.630 --> 00:54:36.640 align:start position:0% is that you lose 00:54:36.640 --> 00:54:38.470 align:start position:0% is that you lose two<00:54:36.880> things<00:54:37.119> two<00:54:37.280> problems<00:54:37.599> one<00:54:37.839> is<00:54:37.920> you<00:54:38.079> lose 00:54:38.470 --> 00:54:38.480 align:start position:0% two things two problems one is you lose 00:54:38.480 --> 00:54:40.069 align:start position:0% two things two problems one is you lose the<00:54:38.559> sense<00:54:38.799> of<00:54:38.960> touch 00:54:40.069 --> 00:54:40.079 align:start position:0% the sense of touch 00:54:40.079 --> 00:54:43.430 align:start position:0% the sense of touch and<00:54:40.319> secondly<00:54:41.040> you<00:54:42.160> have<00:54:42.559> a<00:54:42.640> restricted<00:54:43.200> blood 00:54:43.430 --> 00:54:43.440 align:start position:0% and secondly you have a restricted blood 00:54:43.440 --> 00:54:44.470 align:start position:0% and secondly you have a restricted blood flow 00:54:44.470 --> 00:54:44.480 align:start position:0% flow 00:54:44.480 --> 00:54:48.309 align:start position:0% flow so<00:54:46.079> a<00:54:46.400> very<00:54:46.720> common<00:54:47.119> experience 00:54:48.309 --> 00:54:48.319 align:start position:0% so a very common experience 00:54:48.319 --> 00:54:51.109 align:start position:0% so a very common experience of<00:54:48.480> people<00:54:48.640> with<00:54:48.880> diabetes<00:54:50.319> is<00:54:50.799> that<00:54:50.960> they 00:54:51.109 --> 00:54:51.119 align:start position:0% of people with diabetes is that they 00:54:51.119 --> 00:54:51.510 align:start position:0% of people with diabetes is that they might 00:54:51.510 --> 00:54:51.520 align:start position:0% might 00:54:51.520 --> 00:54:53.750 align:start position:0% might sort<00:54:51.680> of<00:54:52.160> put<00:54:52.400> that<00:54:52.640> stick<00:54:52.880> their<00:54:53.040> foot<00:54:53.280> on<00:54:53.599> on 00:54:53.750 --> 00:54:53.760 align:start position:0% sort of put that stick their foot on on 00:54:53.760 --> 00:54:55.030 align:start position:0% sort of put that stick their foot on on a<00:54:53.839> rose<00:54:54.160> thorn 00:54:55.030 --> 00:54:55.040 align:start position:0% a rose thorn 00:54:55.040 --> 00:54:58.470 align:start position:0% a rose thorn they<00:54:55.200> don't<00:54:55.440> feel<00:54:55.680> it<00:54:56.480> the<00:54:56.640> rose<00:54:57.040> thorn<00:54:57.760> goes 00:54:58.470 --> 00:54:58.480 align:start position:0% they don't feel it the rose thorn goes 00:54:58.480 --> 00:55:02.150 align:start position:0% they don't feel it the rose thorn goes bad<00:54:59.920> uh<00:55:01.200> they 00:55:02.150 --> 00:55:02.160 align:start position:0% bad uh they 00:55:02.160 --> 00:55:04.630 align:start position:0% bad uh they the<00:55:02.319> blood<00:55:02.880> flow<00:55:03.280> is<00:55:03.440> insufficient<00:55:04.079> for<00:55:04.240> it 00:55:04.630 --> 00:55:04.640 align:start position:0% the blood flow is insufficient for it 00:55:04.640 --> 00:55:05.510 align:start position:0% the blood flow is insufficient for it for<00:55:04.880> the 00:55:05.510 --> 00:55:05.520 align:start position:0% for the 00:55:05.520 --> 00:55:07.750 align:start position:0% for the room<00:55:05.760> to<00:55:05.920> heal<00:55:06.640> and<00:55:06.720> they<00:55:07.040> develop<00:55:07.520> quite<00:55:07.680> a 00:55:07.750 --> 00:55:07.760 align:start position:0% room to heal and they develop quite a 00:55:07.760 --> 00:55:08.950 align:start position:0% room to heal and they develop quite a nasty<00:55:08.160> ulcer 00:55:08.950 --> 00:55:08.960 align:start position:0% nasty ulcer 00:55:08.960 --> 00:55:11.510 align:start position:0% nasty ulcer which<00:55:09.200> can<00:55:09.359> be<00:55:09.760> you<00:55:09.920> know<00:55:10.079> quite<00:55:10.240> a<00:55:10.400> large<00:55:10.720> hole 00:55:11.510 --> 00:55:11.520 align:start position:0% which can be you know quite a large hole 00:55:11.520 --> 00:55:13.510 align:start position:0% which can be you know quite a large hole in<00:55:11.680> say<00:55:11.839> your<00:55:12.079> foot<00:55:12.319> or<00:55:12.480> your<00:55:12.720> leg 00:55:13.510 --> 00:55:13.520 align:start position:0% in say your foot or your leg 00:55:13.520 --> 00:55:16.150 align:start position:0% in say your foot or your leg so<00:55:14.240> it's<00:55:14.640> not<00:55:14.960> uncommon<00:55:15.520> for<00:55:15.680> people<00:55:16.000> to 00:55:16.150 --> 00:55:16.160 align:start position:0% so it's not uncommon for people to 00:55:16.160 --> 00:55:17.190 align:start position:0% so it's not uncommon for people to develop 00:55:17.190 --> 00:55:17.200 align:start position:0% develop 00:55:17.200 --> 00:55:19.750 align:start position:0% develop these<00:55:18.000> large<00:55:18.480> ulcers<00:55:18.960> on<00:55:19.040> their<00:55:19.280> legs<00:55:19.599> and 00:55:19.750 --> 00:55:19.760 align:start position:0% these large ulcers on their legs and 00:55:19.760 --> 00:55:20.789 align:start position:0% these large ulcers on their legs and feet 00:55:20.789 --> 00:55:20.799 align:start position:0% feet 00:55:20.799 --> 00:55:23.270 align:start position:0% feet and<00:55:21.040> an<00:55:21.200> issue<00:55:21.520> with<00:55:22.240> these<00:55:22.480> things<00:55:22.799> is<00:55:22.960> how<00:55:23.119> do 00:55:23.270 --> 00:55:23.280 align:start position:0% and an issue with these things is how do 00:55:23.280 --> 00:55:25.109 align:start position:0% and an issue with these things is how do you<00:55:23.520> choose 00:55:25.109 --> 00:55:25.119 align:start position:0% you choose 00:55:25.119 --> 00:55:28.390 align:start position:0% you choose the<00:55:25.280> dressing<00:55:25.680> regime<00:55:27.040> so<00:55:27.760> in<00:55:27.839> order 00:55:28.390 --> 00:55:28.400 align:start position:0% the dressing regime so in order 00:55:28.400 --> 00:55:29.750 align:start position:0% the dressing regime so in order to<00:55:28.559> know<00:55:28.799> whether<00:55:29.040> or<00:55:29.040> not<00:55:29.200> you<00:55:29.280> want<00:55:29.440> to<00:55:29.520> put 00:55:29.750 --> 00:55:29.760 align:start position:0% to know whether or not you want to put 00:55:29.760 --> 00:55:32.309 align:start position:0% to know whether or not you want to put an<00:55:29.920> expensive<00:55:31.119> dressing<00:55:31.599> on<00:55:31.760> these 00:55:32.309 --> 00:55:32.319 align:start position:0% an expensive dressing on these 00:55:32.319 --> 00:55:33.829 align:start position:0% an expensive dressing on these on<00:55:32.480> these<00:55:32.799> wounds<00:55:33.200> you<00:55:33.359> need<00:55:33.440> to<00:55:33.520> know<00:55:33.680> whether 00:55:33.829 --> 00:55:33.839 align:start position:0% on these wounds you need to know whether 00:55:33.839 --> 00:55:35.510 align:start position:0% on these wounds you need to know whether they're<00:55:33.920> healing<00:55:34.319> or<00:55:34.400> not<00:55:34.880> and<00:55:34.960> what<00:55:35.200> the<00:55:35.280> rate 00:55:35.510 --> 00:55:35.520 align:start position:0% they're healing or not and what the rate 00:55:35.520 --> 00:55:36.549 align:start position:0% they're healing or not and what the rate of<00:55:35.599> healing<00:55:36.000> is 00:55:36.549 --> 00:55:36.559 align:start position:0% of healing is 00:55:36.559 --> 00:55:37.990 align:start position:0% of healing is and<00:55:36.720> the<00:55:36.880> problem<00:55:37.119> is<00:55:37.280> that<00:55:37.440> it's<00:55:37.680> difficult 00:55:37.990 --> 00:55:38.000 align:start position:0% and the problem is that it's difficult 00:55:38.000 --> 00:55:39.349 align:start position:0% and the problem is that it's difficult to<00:55:38.079> tell<00:55:38.319> what<00:55:38.480> the<00:55:38.559> rate<00:55:38.799> of<00:55:38.880> healing<00:55:39.200> is 00:55:39.349 --> 00:55:39.359 align:start position:0% to tell what the rate of healing is 00:55:39.359 --> 00:55:40.870 align:start position:0% to tell what the rate of healing is using<00:55:39.680> an<00:55:39.839> area<00:55:40.240> measurement 00:55:40.870 --> 00:55:40.880 align:start position:0% using an area measurement 00:55:40.880 --> 00:55:42.150 align:start position:0% using an area measurement so<00:55:41.040> if<00:55:41.119> you<00:55:41.200> have<00:55:41.280> an<00:55:41.440> ordinary<00:55:41.839> camera<00:55:42.079> and 00:55:42.150 --> 00:55:42.160 align:start position:0% so if you have an ordinary camera and 00:55:42.160 --> 00:55:43.910 align:start position:0% so if you have an ordinary camera and you<00:55:42.319> photograph<00:55:42.799> the<00:55:42.880> wound<00:55:43.599> all<00:55:43.760> that<00:55:43.839> you 00:55:43.910 --> 00:55:43.920 align:start position:0% you photograph the wound all that you 00:55:43.920 --> 00:55:45.829 align:start position:0% you photograph the wound all that you can<00:55:44.079> really<00:55:44.319> measure<00:55:44.640> is<00:55:44.799> the<00:55:44.960> area 00:55:45.829 --> 00:55:45.839 align:start position:0% can really measure is the area 00:55:45.839 --> 00:55:48.870 align:start position:0% can really measure is the area of<00:55:45.920> the<00:55:46.079> wound<00:55:46.880> so<00:55:47.359> our<00:55:47.599> company<00:55:48.079> sells<00:55:48.400> a 00:55:48.870 --> 00:55:48.880 align:start position:0% of the wound so our company sells a 00:55:48.880 --> 00:55:50.470 align:start position:0% of the wound so our company sells a camera<00:55:49.359> 3d<00:55:49.680> camera 00:55:50.470 --> 00:55:50.480 align:start position:0% camera 3d camera 00:55:50.480 --> 00:55:52.789 align:start position:0% camera 3d camera you<00:55:50.640> just<00:55:50.720> basically<00:55:51.040> point<00:55:51.599> point<00:55:51.920> click<00:55:52.480> it 00:55:52.789 --> 00:55:52.799 align:start position:0% you just basically point point click it 00:55:52.799 --> 00:55:53.670 align:start position:0% you just basically point point click it processes<00:55:53.280> it 00:55:53.670 --> 00:55:53.680 align:start position:0% processes it 00:55:53.680 --> 00:55:55.670 align:start position:0% processes it you<00:55:53.839> get<00:55:54.000> a<00:55:54.079> 3d<00:55:54.400> model<00:55:54.640> which<00:55:54.799> you<00:55:54.880> can<00:55:55.040> then 00:55:55.670 --> 00:55:55.680 align:start position:0% you get a 3d model which you can then 00:55:55.680 --> 00:55:58.150 align:start position:0% you get a 3d model which you can then measure<00:55:56.000> things<00:55:56.240> like<00:55:56.400> wound<00:55:56.720> volume 00:55:58.150 --> 00:55:58.160 align:start position:0% measure things like wound volume 00:55:58.160 --> 00:56:00.309 align:start position:0% measure things like wound volume exact<00:55:58.559> area<00:55:58.880> of<00:55:58.960> the<00:55:59.040> wound<00:55:59.440> you<00:55:59.520> can<00:56:00.079> if<00:56:00.240> you 00:56:00.309 --> 00:56:00.319 align:start position:0% exact area of the wound you can if you 00:56:00.319 --> 00:56:01.990 align:start position:0% exact area of the wound you can if you want<00:56:00.480> you<00:56:00.559> can<00:56:00.720> fly<00:56:01.119> in<00:56:01.280> and 00:56:01.990 --> 00:56:02.000 align:start position:0% want you can fly in and 00:56:02.000 --> 00:56:03.349 align:start position:0% want you can fly in and inspect<00:56:02.559> things<00:56:02.720> because<00:56:02.960> it's<00:56:03.040> got<00:56:03.200> such 00:56:03.349 --> 00:56:03.359 align:start position:0% inspect things because it's got such 00:56:03.359 --> 00:56:05.910 align:start position:0% inspect things because it's got such high<00:56:03.520> resolution<00:56:04.960> and<00:56:05.280> from<00:56:05.520> that<00:56:05.680> you<00:56:05.839> can 00:56:05.910 --> 00:56:05.920 align:start position:0% high resolution and from that you can 00:56:05.920 --> 00:56:07.589 align:start position:0% high resolution and from that you can work<00:56:06.160> out<00:56:06.319> whether<00:56:06.559> or<00:56:06.640> not<00:56:06.880> the 00:56:07.589 --> 00:56:07.599 align:start position:0% work out whether or not the 00:56:07.599 --> 00:56:10.390 align:start position:0% work out whether or not the wound<00:56:07.920> is<00:56:08.079> healing<00:56:09.119> and<00:56:09.680> whether<00:56:09.920> or<00:56:09.920> not<00:56:10.079> you 00:56:10.390 --> 00:56:10.400 align:start position:0% wound is healing and whether or not you 00:56:10.400 --> 00:56:13.109 align:start position:0% wound is healing and whether or not you change<00:56:10.640> the<00:56:10.799> way<00:56:10.960> in<00:56:11.040> which<00:56:11.200> you're 00:56:13.109 --> 00:56:13.119 align:start position:0% change the way in which you're 00:56:13.119 --> 00:56:14.630 align:start position:0% change the way in which you're treating<00:56:13.520> the<00:56:13.599> wound<00:56:13.839> whether<00:56:14.079> to<00:56:14.319> make<00:56:14.559> it 00:56:14.630 --> 00:56:14.640 align:start position:0% treating the wound whether to make it 00:56:14.640 --> 00:56:16.950 align:start position:0% treating the wound whether to make it more<00:56:15.440> aggressive<00:56:15.920> more<00:56:16.079> expensive<00:56:16.559> treatment 00:56:16.950 --> 00:56:16.960 align:start position:0% more aggressive more expensive treatment 00:56:16.960 --> 00:56:19.109 align:start position:0% more aggressive more expensive treatment and<00:56:17.119> so<00:56:17.280> forth 00:56:19.109 --> 00:56:19.119 align:start position:0% and so forth 00:56:19.119 --> 00:56:20.470 align:start position:0% and so forth so<00:56:19.359> that<00:56:19.599> that's<00:56:19.839> what<00:56:20.000> that's<00:56:20.240> they're 00:56:20.470 --> 00:56:20.480 align:start position:0% so that that's what that's they're 00:56:20.480 --> 00:56:25.109 align:start position:0% so that that's what that's they're selling<00:56:21.200> also<00:56:21.520> it's<00:56:21.599> used<00:56:21.839> for<00:56:22.000> things<00:56:22.240> like 00:56:25.109 --> 00:56:25.119 align:start position:0% 00:56:25.119 --> 00:56:28.150 align:start position:0% measuring<00:56:25.680> scars<00:56:26.319> and<00:56:26.400> so<00:56:26.640> forth<00:56:27.440> so 00:56:28.150 --> 00:56:28.160 align:start position:0% measuring scars and so forth so 00:56:28.160 --> 00:56:30.950 align:start position:0% measuring scars and so forth so it<00:56:28.480> will<00:56:28.720> measure<00:56:29.040> the<00:56:29.280> shape<00:56:29.520> of<00:56:29.680> a<00:56:29.760> scar<00:56:30.720> or 00:56:30.950 --> 00:56:30.960 align:start position:0% it will measure the shape of a scar or 00:56:30.960 --> 00:56:34.309 align:start position:0% it will measure the shape of a scar or shape<00:56:31.200> of<00:56:31.359> a<00:56:31.440> wrinkle 00:56:34.309 --> 00:56:34.319 align:start position:0% 00:56:34.319 --> 00:56:38.069 align:start position:0% and<00:56:34.559> did<00:56:34.799> you<00:56:34.880> do<00:56:35.040> this<00:56:35.200> with<00:56:35.280> your<00:56:35.520> students<00:56:37.040> i 00:56:38.069 --> 00:56:38.079 align:start position:0% and did you do this with your students i 00:56:38.079 --> 00:56:40.150 align:start position:0% and did you do this with your students i did<00:56:38.240> that<00:56:38.480> on<00:56:38.559> my<00:56:38.720> own<00:56:38.960> basically<00:56:39.760> because<00:56:40.079> i 00:56:40.150 --> 00:56:40.160 align:start position:0% did that on my own basically because i 00:56:40.160 --> 00:56:41.670 align:start position:0% did that on my own basically because i had<00:56:40.319> sort<00:56:40.480> of<00:56:40.640> a<00:56:40.720> small 00:56:41.670 --> 00:56:41.680 align:start position:0% had sort of a small 00:56:41.680 --> 00:56:43.589 align:start position:0% had sort of a small a<00:56:41.839> small<00:56:42.160> office<00:56:42.720> on<00:56:42.799> the<00:56:43.040> seventh<00:56:43.359> floor<00:56:43.520> of 00:56:43.589 --> 00:56:43.599 align:start position:0% a small office on the seventh floor of 00:56:43.599 --> 00:56:45.030 align:start position:0% a small office on the seventh floor of the<00:56:43.680> lab<00:56:44.079> no<00:56:44.559> no 00:56:45.030 --> 00:56:45.040 align:start position:0% the lab no no 00:56:45.040 --> 00:56:47.109 align:start position:0% the lab no no seventh<00:56:45.359> floor<00:56:45.520> of<00:56:45.520> the<00:56:45.599> apartment<00:56:46.000> no<00:56:46.240> lab<00:56:46.960> so 00:56:47.109 --> 00:56:47.119 align:start position:0% seventh floor of the apartment no lab so 00:56:47.119 --> 00:56:48.950 align:start position:0% seventh floor of the apartment no lab so i<00:56:47.200> had<00:56:47.359> to<00:56:47.680> sort<00:56:47.839> of 00:56:48.950 --> 00:56:48.960 align:start position:0% i had to sort of 00:56:48.960 --> 00:56:51.589 align:start position:0% i had to sort of basically<00:56:49.680> use<00:56:50.480> paper-bound<00:56:51.200> research 00:56:51.589 --> 00:56:51.599 align:start position:0% basically use paper-bound research 00:56:51.599 --> 00:56:52.950 align:start position:0% basically use paper-bound research methods<00:56:52.000> for 00:56:52.950 --> 00:56:52.960 align:start position:0% methods for 00:56:52.960 --> 00:56:55.270 align:start position:0% methods for three<00:56:53.200> or<00:56:53.280> four<00:56:53.520> years<00:56:53.839> while<00:56:54.240> while<00:56:54.799> the<00:56:54.960> lab 00:56:55.270 --> 00:56:55.280 align:start position:0% three or four years while while the lab 00:56:55.280 --> 00:56:56.309 align:start position:0% three or four years while while the lab was 00:56:56.309 --> 00:56:56.319 align:start position:0% was 00:56:56.319 --> 00:56:59.510 align:start position:0% was being<00:56:56.640> rebuilt<00:56:57.760> when<00:56:57.920> was<00:56:58.079> that 00:56:59.510 --> 00:56:59.520 align:start position:0% being rebuilt when was that 00:56:59.520 --> 00:57:03.750 align:start position:0% being rebuilt when was that oh<00:56:59.839> this<00:57:00.000> was<00:57:01.119> late<00:57:01.359> 90s<00:57:02.000> early<00:57:02.319> 2000s 00:57:03.750 --> 00:57:03.760 align:start position:0% oh this was late 90s early 2000s 00:57:03.760 --> 00:57:05.670 align:start position:0% oh this was late 90s early 2000s we<00:57:03.920> now<00:57:04.079> have<00:57:04.240> a<00:57:04.319> brand<00:57:04.559> spanking<00:57:05.040> new<00:57:05.280> lab<00:57:05.520> up 00:57:05.670 --> 00:57:05.680 align:start position:0% we now have a brand spanking new lab up 00:57:05.680 --> 00:57:07.349 align:start position:0% we now have a brand spanking new lab up there 00:57:07.349 --> 00:57:07.359 align:start position:0% there 00:57:07.359 --> 00:57:10.549 align:start position:0% there and<00:57:07.520> when<00:57:07.760> i<00:57:07.839> came<00:57:08.079> to<00:57:09.280> move<00:57:09.599> my<00:57:09.760> stuff<00:57:10.079> into 00:57:10.549 --> 00:57:10.559 align:start position:0% and when i came to move my stuff into 00:57:10.559 --> 00:57:13.589 align:start position:0% and when i came to move my stuff into the<00:57:10.880> designated<00:57:11.599> space<00:57:12.000> for<00:57:13.040> in<00:57:13.119> the<00:57:13.200> basement 00:57:13.589 --> 00:57:13.599 align:start position:0% the designated space for in the basement 00:57:13.599 --> 00:57:14.710 align:start position:0% the designated space for in the basement i<00:57:13.680> found<00:57:14.000> that 00:57:14.710 --> 00:57:14.720 align:start position:0% i found that 00:57:14.720 --> 00:57:16.470 align:start position:0% i found that the<00:57:14.880> lift<00:57:15.119> was<00:57:15.280> too<00:57:15.520> small<00:57:15.839> to<00:57:15.920> get<00:57:16.079> the<00:57:16.160> stuff 00:57:16.470 --> 00:57:16.480 align:start position:0% the lift was too small to get the stuff 00:57:16.480 --> 00:57:18.789 align:start position:0% the lift was too small to get the stuff in<00:57:16.640> there<00:57:17.520> so 00:57:18.789 --> 00:57:18.799 align:start position:0% in there so 00:57:18.799 --> 00:57:21.510 align:start position:0% in there so so<00:57:19.280> at<00:57:19.520> that<00:57:19.760> time<00:57:20.000> i<00:57:20.079> was<00:57:20.240> then<00:57:20.480> working<00:57:21.200> with 00:57:21.510 --> 00:57:21.520 align:start position:0% so at that time i was then working with 00:57:21.520 --> 00:57:23.990 align:start position:0% so at that time i was then working with somebody<00:57:21.839> called<00:57:22.000> marco<00:57:22.400> baccik 00:57:23.990 --> 00:57:24.000 align:start position:0% somebody called marco baccik 00:57:24.000 --> 00:57:27.430 align:start position:0% somebody called marco baccik on<00:57:24.880> using<00:57:25.200> robots<00:57:25.680> within 00:57:27.430 --> 00:57:27.440 align:start position:0% on using robots within 00:57:27.440 --> 00:57:30.069 align:start position:0% on using robots within wind<00:57:27.680> tunnels<00:57:28.880> so<00:57:29.119> we<00:57:29.280> had<00:57:29.440> this<00:57:29.680> idea<00:57:30.000> of 00:57:30.069 --> 00:57:30.079 align:start position:0% wind tunnels so we had this idea of 00:57:30.079 --> 00:57:32.150 align:start position:0% wind tunnels so we had this idea of having<00:57:30.319> a<00:57:30.400> very<00:57:30.640> high<00:57:30.799> performance 00:57:32.150 --> 00:57:32.160 align:start position:0% having a very high performance 00:57:32.160 --> 00:57:35.270 align:start position:0% having a very high performance force<00:57:32.480> reflecting<00:57:32.960> robot<00:57:33.520> inside<00:57:34.720> a 00:57:35.270 --> 00:57:35.280 align:start position:0% force reflecting robot inside a 00:57:35.280 --> 00:57:37.990 align:start position:0% force reflecting robot inside a a<00:57:35.680> what's<00:57:35.920> called<00:57:36.079> a<00:57:36.160> free<00:57:36.400> flow<00:57:36.720> wind<00:57:36.880> turbine 00:57:37.990 --> 00:57:38.000 align:start position:0% a what's called a free flow wind turbine 00:57:38.000 --> 00:57:39.190 align:start position:0% a what's called a free flow wind turbine a<00:57:38.079> wind<00:57:38.240> wind<00:57:38.480> tunnel 00:57:39.190 --> 00:57:39.200 align:start position:0% a wind wind tunnel 00:57:39.200 --> 00:57:41.430 align:start position:0% a wind wind tunnel so<00:57:39.440> if<00:57:39.520> you<00:57:39.599> imagine<00:57:39.920> a<00:57:40.000> big<00:57:40.240> fan<00:57:40.880> which<00:57:41.119> blows 00:57:41.430 --> 00:57:41.440 align:start position:0% so if you imagine a big fan which blows 00:57:41.440 --> 00:57:42.630 align:start position:0% so if you imagine a big fan which blows a<00:57:41.520> jet<00:57:41.760> of<00:57:41.920> air 00:57:42.630 --> 00:57:42.640 align:start position:0% a jet of air 00:57:42.640 --> 00:57:44.470 align:start position:0% a jet of air into<00:57:42.880> free<00:57:43.119> space<00:57:43.599> you<00:57:43.760> stick<00:57:44.000> something<00:57:44.319> in 00:57:44.470 --> 00:57:44.480 align:start position:0% into free space you stick something in 00:57:44.480 --> 00:57:45.670 align:start position:0% into free space you stick something in it 00:57:45.670 --> 00:57:45.680 align:start position:0% it 00:57:45.680 --> 00:57:48.630 align:start position:0% it we<00:57:45.839> then<00:57:46.079> measure<00:57:46.400> the<00:57:46.559> forces<00:57:47.280> being<00:57:47.520> applied 00:57:48.630 --> 00:57:48.640 align:start position:0% we then measure the forces being applied 00:57:48.640 --> 00:57:49.349 align:start position:0% we then measure the forces being applied to 00:57:49.349 --> 00:57:49.359 align:start position:0% to 00:57:49.359 --> 00:57:53.270 align:start position:0% to the<00:57:51.040> model<00:57:51.359> under<00:57:51.599> test<00:57:52.319> and<00:57:52.480> then<00:57:52.640> would<00:57:52.960> move 00:57:53.270 --> 00:57:53.280 align:start position:0% the model under test and then would move 00:57:53.280 --> 00:57:54.630 align:start position:0% the model under test and then would move the<00:57:53.359> model<00:57:53.680> under<00:57:53.920> test 00:57:54.630 --> 00:57:54.640 align:start position:0% the model under test 00:57:54.640 --> 00:57:57.430 align:start position:0% the model under test such<00:57:54.880> that<00:57:55.119> we<00:57:55.280> could<00:57:55.599> simulate<00:57:56.960> what<00:57:57.280> the 00:57:57.430 --> 00:57:57.440 align:start position:0% such that we could simulate what the 00:57:57.440 --> 00:57:58.390 align:start position:0% such that we could simulate what the device<00:57:57.839> would<00:57:58.000> do 00:57:58.390 --> 00:57:58.400 align:start position:0% device would do 00:57:58.400 --> 00:58:01.510 align:start position:0% device would do if<00:57:58.640> it<00:57:58.799> was<00:57:59.119> flying<00:57:59.599> in<00:57:59.760> free<00:58:00.000> space 00:58:01.510 --> 00:58:01.520 align:start position:0% if it was flying in free space 00:58:01.520 --> 00:58:05.990 align:start position:0% if it was flying in free space so<00:58:01.920> we<00:58:02.240> could<00:58:02.559> actually<00:58:03.680> fly 00:58:05.990 --> 00:58:06.000 align:start position:0% so we could actually fly 00:58:06.000 --> 00:58:09.190 align:start position:0% so we could actually fly aircraft<00:58:06.400> models<00:58:07.040> or<00:58:07.599> airfoils 00:58:09.190 --> 00:58:09.200 align:start position:0% aircraft models or airfoils 00:58:09.200 --> 00:58:12.390 align:start position:0% aircraft models or airfoils inside<00:58:10.400> a<00:58:10.559> wind<00:58:10.799> tunnel<00:58:11.599> dynamically 00:58:12.390 --> 00:58:12.400 align:start position:0% inside a wind tunnel dynamically 00:58:12.400 --> 00:58:15.750 align:start position:0% inside a wind tunnel dynamically and<00:58:13.280> it<00:58:13.440> was<00:58:13.599> of<00:58:13.839> interest<00:58:14.400> to<00:58:15.119> people<00:58:15.440> that 00:58:15.750 --> 00:58:15.760 align:start position:0% and it was of interest to people that 00:58:15.760 --> 00:58:16.870 align:start position:0% and it was of interest to people that were 00:58:16.870 --> 00:58:16.880 align:start position:0% were 00:58:16.880 --> 00:58:20.230 align:start position:0% were interested<00:58:17.359> in<00:58:17.680> unstable 00:58:20.230 --> 00:58:20.240 align:start position:0% interested in unstable 00:58:20.240 --> 00:58:21.829 align:start position:0% interested in unstable flight<00:58:20.640> controlling<00:58:21.119> in<00:58:21.280> the<00:58:21.440> unstable 00:58:21.829 --> 00:58:21.839 align:start position:0% flight controlling in the unstable 00:58:21.839 --> 00:58:23.190 align:start position:0% flight controlling in the unstable regime<00:58:22.160> whether<00:58:22.400> your<00:58:22.480> control<00:58:22.880> system<00:58:23.119> is 00:58:23.190 --> 00:58:23.200 align:start position:0% regime whether your control system is 00:58:23.200 --> 00:58:24.230 align:start position:0% regime whether your control system is going<00:58:23.359> to<00:58:23.440> work 00:58:24.230 --> 00:58:24.240 align:start position:0% going to work 00:58:24.240 --> 00:58:26.870 align:start position:0% going to work and<00:58:24.400> that<00:58:24.559> got<00:58:24.720> onto<00:58:25.040> a<00:58:25.119> subject<00:58:25.760> called 00:58:26.870 --> 00:58:26.880 align:start position:0% and that got onto a subject called 00:58:26.880 --> 00:58:28.630 align:start position:0% and that got onto a subject called hardware<00:58:27.200> and<00:58:27.359> the<00:58:27.440> loop<00:58:27.760> control 00:58:28.630 --> 00:58:28.640 align:start position:0% hardware and the loop control 00:58:28.640 --> 00:58:30.549 align:start position:0% hardware and the loop control in<00:58:28.720> which<00:58:28.960> basically<00:58:29.520> you're<00:58:29.760> trying<00:58:30.160> to 00:58:30.549 --> 00:58:30.559 align:start position:0% in which basically you're trying to 00:58:30.559 --> 00:58:32.789 align:start position:0% in which basically you're trying to insert 00:58:32.789 --> 00:58:32.799 align:start position:0% insert 00:58:32.799 --> 00:58:36.950 align:start position:0% insert a<00:58:32.960> mechanism<00:58:34.839> inside 00:58:36.950 --> 00:58:36.960 align:start position:0% a mechanism inside 00:58:36.960 --> 00:58:40.230 align:start position:0% a mechanism inside a<00:58:37.119> control<00:58:37.599> loop<00:58:38.319> but<00:58:38.720> part<00:58:38.960> of<00:58:39.119> the<00:58:39.200> device 00:58:40.230 --> 00:58:40.240 align:start position:0% a control loop but part of the device 00:58:40.240 --> 00:58:42.309 align:start position:0% a control loop but part of the device that<00:58:40.400> you're<00:58:40.559> trying<00:58:40.880> to<00:58:41.920> perform 00:58:42.309 --> 00:58:42.319 align:start position:0% that you're trying to perform 00:58:42.319 --> 00:58:43.430 align:start position:0% that you're trying to perform experiments<00:58:42.880> on 00:58:43.430 --> 00:58:43.440 align:start position:0% experiments on 00:58:43.440 --> 00:58:46.870 align:start position:0% experiments on is<00:58:43.680> simulated<00:58:44.240> in<00:58:44.319> software<00:58:46.240> other<00:58:46.480> parts<00:58:46.799> of 00:58:46.870 --> 00:58:46.880 align:start position:0% is simulated in software other parts of 00:58:46.880 --> 00:58:48.309 align:start position:0% is simulated in software other parts of the<00:58:46.960> device 00:58:48.309 --> 00:58:48.319 align:start position:0% the device 00:58:48.319 --> 00:58:50.309 align:start position:0% the device are<00:58:48.559> actually<00:58:48.880> the<00:58:48.960> real<00:58:49.200> device<00:58:49.599> so 00:58:50.309 --> 00:58:50.319 align:start position:0% are actually the real device so 00:58:50.319 --> 00:58:51.670 align:start position:0% are actually the real device so typically 00:58:51.670 --> 00:58:51.680 align:start position:0% typically 00:58:51.680 --> 00:58:54.789 align:start position:0% typically you<00:58:51.920> would<00:58:52.079> be<00:58:52.240> interested<00:58:52.960> in 00:58:54.789 --> 00:58:54.799 align:start position:0% you would be interested in 00:58:54.799 --> 00:58:56.230 align:start position:0% you would be interested in looking<00:58:55.119> at<00:58:55.200> the<00:58:55.359> performance<00:58:55.920> of<00:58:56.000> some 00:58:56.230 --> 00:58:56.240 align:start position:0% looking at the performance of some 00:58:56.240 --> 00:58:58.309 align:start position:0% looking at the performance of some horribly<00:58:56.720> non-linear<00:58:57.359> component 00:58:58.309 --> 00:58:58.319 align:start position:0% horribly non-linear component 00:58:58.319 --> 00:59:00.789 align:start position:0% horribly non-linear component which<00:58:58.559> is<00:58:58.720> not<00:58:58.880> well<00:58:59.119> understood<00:59:00.400> which<00:59:00.640> would 00:59:00.789 --> 00:59:00.799 align:start position:0% which is not well understood which would 00:59:00.799 --> 00:59:02.390 align:start position:0% which is not well understood which would be<00:59:00.960> attached<00:59:01.440> to 00:59:02.390 --> 00:59:02.400 align:start position:0% be attached to 00:59:02.400 --> 00:59:04.950 align:start position:0% be attached to a<00:59:02.559> large<00:59:03.119> larger<00:59:03.520> object<00:59:04.079> for<00:59:04.319> whose<00:59:04.559> dynamics 00:59:04.950 --> 00:59:04.960 align:start position:0% a large larger object for whose dynamics 00:59:04.960 --> 00:59:06.230 align:start position:0% a large larger object for whose dynamics you<00:59:05.200> are<00:59:05.359> well<00:59:05.599> understood 00:59:06.230 --> 00:59:06.240 align:start position:0% you are well understood 00:59:06.240 --> 00:59:09.109 align:start position:0% you are well understood so<00:59:06.400> a<00:59:06.559> typical<00:59:06.880> example<00:59:07.200> would<00:59:07.359> be<00:59:07.680> say<00:59:08.880> an 00:59:09.109 --> 00:59:09.119 align:start position:0% so a typical example would be say an 00:59:09.119 --> 00:59:11.109 align:start position:0% so a typical example would be say an aileron<00:59:09.599> on<00:59:09.680> a<00:59:09.839> rip<00:59:10.079> on<00:59:10.160> a<00:59:10.319> wing 00:59:11.109 --> 00:59:11.119 align:start position:0% aileron on a rip on a wing 00:59:11.119 --> 00:59:12.789 align:start position:0% aileron on a rip on a wing where<00:59:11.520> you<00:59:11.599> want<00:59:11.839> to<00:59:12.000> look<00:59:12.160> at<00:59:12.240> the<00:59:12.319> dynamics 00:59:12.789 --> 00:59:12.799 align:start position:0% where you want to look at the dynamics 00:59:12.799 --> 00:59:14.549 align:start position:0% where you want to look at the dynamics of<00:59:12.880> the<00:59:12.960> aileron<00:59:13.760> but<00:59:13.920> you<00:59:14.000> don't<00:59:14.240> have<00:59:14.400> a 00:59:14.549 --> 00:59:14.559 align:start position:0% of the aileron but you don't have a 00:59:14.559 --> 00:59:15.910 align:start position:0% of the aileron but you don't have a whole<00:59:14.799> aircraft 00:59:15.910 --> 00:59:15.920 align:start position:0% whole aircraft 00:59:15.920 --> 00:59:17.589 align:start position:0% whole aircraft so<00:59:16.160> you<00:59:16.480> simulate<00:59:16.960> the<00:59:17.119> mass<00:59:17.359> and<00:59:17.440> the 00:59:17.589 --> 00:59:17.599 align:start position:0% so you simulate the mass and the 00:59:17.599 --> 00:59:19.349 align:start position:0% so you simulate the mass and the dynamics<00:59:18.079> of<00:59:18.160> the<00:59:18.319> aircraft 00:59:19.349 --> 00:59:19.359 align:start position:0% dynamics of the aircraft 00:59:19.359 --> 00:59:21.510 align:start position:0% dynamics of the aircraft and<00:59:19.599> you<00:59:19.760> actually<00:59:20.079> put<00:59:20.400> the<00:59:20.559> small<00:59:20.880> component 00:59:21.510 --> 00:59:21.520 align:start position:0% and you actually put the small component 00:59:21.520 --> 00:59:22.950 align:start position:0% and you actually put the small component in<00:59:21.599> the<00:59:21.839> in<00:59:21.920> the<00:59:22.079> wind<00:59:22.319> tunnel 00:59:22.950 --> 00:59:22.960 align:start position:0% in the in the wind tunnel 00:59:22.960 --> 00:59:24.870 align:start position:0% in the in the wind tunnel and<00:59:23.119> you<00:59:23.280> couple<00:59:23.599> it<00:59:23.680> up<00:59:23.839> via<00:59:24.160> actuators<00:59:24.720> and 00:59:24.870 --> 00:59:24.880 align:start position:0% and you couple it up via actuators and 00:59:24.880 --> 00:59:27.190 align:start position:0% and you couple it up via actuators and sensors<00:59:25.680> to<00:59:25.920> your<00:59:26.079> software<00:59:26.559> system<00:59:26.960> which 00:59:27.190 --> 00:59:27.200 align:start position:0% sensors to your software system which 00:59:27.200 --> 00:59:28.789 align:start position:0% sensors to your software system which simulates<00:59:27.680> the<00:59:27.839> large<00:59:28.160> object<00:59:28.480> which<00:59:28.720> you 00:59:28.789 --> 00:59:28.799 align:start position:0% simulates the large object which you 00:59:28.799 --> 00:59:29.430 align:start position:0% simulates the large object which you want<00:59:28.960> to 00:59:29.430 --> 00:59:29.440 align:start position:0% want to 00:59:29.440 --> 00:59:30.950 align:start position:0% want to put<00:59:29.680> in<00:59:29.760> the<00:59:29.839> loop<00:59:30.000> so<00:59:30.240> interested<00:59:30.559> in<00:59:30.640> how<00:59:30.799> you 00:59:30.950 --> 00:59:30.960 align:start position:0% put in the loop so interested in how you 00:59:30.960 --> 00:59:32.549 align:start position:0% put in the loop so interested in how you go<00:59:31.119> about 00:59:32.549 --> 00:59:32.559 align:start position:0% go about 00:59:32.559 --> 00:59:34.150 align:start position:0% go about performing<00:59:33.040> such<00:59:33.359> tasks<00:59:33.760> and<00:59:33.839> getting 00:59:34.150 --> 00:59:34.160 align:start position:0% performing such tasks and getting 00:59:34.160 --> 00:59:35.670 align:start position:0% performing such tasks and getting reliable<00:59:34.880> predictions<00:59:35.359> from 00:59:35.670 --> 00:59:35.680 align:start position:0% reliable predictions from 00:59:35.680 --> 00:59:39.030 align:start position:0% reliable predictions from it<00:59:36.240> so<00:59:36.480> i<00:59:36.640> did<00:59:36.799> that<00:59:36.960> for<00:59:37.119> a<00:59:37.200> number<00:59:37.359> of<00:59:37.520> years 00:59:39.030 --> 00:59:39.040 align:start position:0% it so i did that for a number of years 00:59:39.040 --> 00:59:41.270 align:start position:0% it so i did that for a number of years so<00:59:39.280> i'm<00:59:39.440> slowly<00:59:39.839> moving<00:59:40.160> away<00:59:40.400> from<00:59:40.640> robotics 00:59:41.270 --> 00:59:41.280 align:start position:0% so i'm slowly moving away from robotics 00:59:41.280 --> 00:59:43.430 align:start position:0% so i'm slowly moving away from robotics and<00:59:41.920> more<00:59:42.160> towards 00:59:43.430 --> 00:59:43.440 align:start position:0% and more towards 00:59:43.440 --> 00:59:46.470 align:start position:0% and more towards control<00:59:44.000> systems<00:59:44.640> and<00:59:45.200> devices 00:59:46.470 --> 00:59:46.480 align:start position:0% control systems and devices 00:59:46.480 --> 00:59:49.190 align:start position:0% control systems and devices is<00:59:46.640> that<00:59:46.799> one<00:59:46.960> of<00:59:47.040> your<00:59:47.200> main<00:59:47.440> projects<00:59:47.920> today 00:59:49.190 --> 00:59:49.200 align:start position:0% is that one of your main projects today 00:59:49.200 --> 00:59:50.309 align:start position:0% is that one of your main projects today what<00:59:49.440> i'm<00:59:49.520> working<00:59:49.920> on 00:59:50.309 --> 00:59:50.319 align:start position:0% what i'm working on 00:59:50.319 --> 00:59:52.549 align:start position:0% what i'm working on today<00:59:50.960> is<00:59:51.200> what<00:59:51.359> i've<00:59:51.520> got<00:59:51.680> the<00:59:52.319> i'm 00:59:52.549 --> 00:59:52.559 align:start position:0% today is what i've got the i'm 00:59:52.559 --> 00:59:54.630 align:start position:0% today is what i've got the i'm continuing<00:59:53.040> with<00:59:53.200> my<00:59:53.280> research<00:59:53.760> on 00:59:54.630 --> 00:59:54.640 align:start position:0% continuing with my research on 00:59:54.640 --> 00:59:56.950 align:start position:0% continuing with my research on on<00:59:55.040> stereo<00:59:55.599> and<00:59:55.760> what<00:59:55.839> i'm<00:59:56.000> interested<00:59:56.480> in<00:59:56.799> in 00:59:56.950 --> 00:59:56.960 align:start position:0% on stereo and what i'm interested in in 00:59:56.960 --> 00:59:58.309 align:start position:0% on stereo and what i'm interested in in stereo 00:59:58.309 --> 00:59:58.319 align:start position:0% stereo 00:59:58.319 --> 01:00:00.150 align:start position:0% stereo is<00:59:58.559> similar<00:59:58.880> to<00:59:58.960> what<00:59:59.119> i'm<00:59:59.359> interested<00:59:59.839> in<01:00:00.079> in 01:00:00.150 --> 01:00:00.160 align:start position:0% is similar to what i'm interested in in 01:00:00.160 --> 01:00:03.030 align:start position:0% is similar to what i'm interested in in robotics<01:00:01.119> that<01:00:01.359> is 01:00:03.030 --> 01:00:03.040 align:start position:0% robotics that is 01:00:03.040 --> 01:00:05.030 align:start position:0% robotics that is what<01:00:03.280> determines<01:00:03.920> the<01:00:04.079> ultimate<01:00:04.480> performance 01:00:05.030 --> 01:00:05.040 align:start position:0% what determines the ultimate performance 01:00:05.040 --> 01:00:07.270 align:start position:0% what determines the ultimate performance of<01:00:05.200> a<01:00:05.280> stereo<01:00:05.839> system 01:00:07.270 --> 01:00:07.280 align:start position:0% of a stereo system 01:00:07.280 --> 01:00:11.030 align:start position:0% of a stereo system and<01:00:08.319> the<01:00:08.640> sort<01:00:08.880> of<01:00:08.960> stuff<01:00:09.440> that<01:00:09.680> i<01:00:09.920> do 01:00:11.030 --> 01:00:11.040 align:start position:0% and the sort of stuff that i do 01:00:11.040 --> 01:00:14.789 align:start position:0% and the sort of stuff that i do is<01:00:12.000> basically<01:00:12.799> highly<01:00:13.119> calibrated 01:00:14.789 --> 01:00:14.799 align:start position:0% is basically highly calibrated 01:00:14.799 --> 01:00:18.150 align:start position:0% is basically highly calibrated um<01:00:15.839> very<01:00:16.079> accurately<01:00:16.480> calibrated<01:00:17.040> stereo 01:00:18.150 --> 01:00:18.160 align:start position:0% um very accurately calibrated stereo 01:00:18.160 --> 01:00:20.789 align:start position:0% um very accurately calibrated stereo systems<01:00:18.640> so<01:00:18.720> i'm<01:00:18.880> interested<01:00:19.280> in<01:00:19.440> knowing 01:00:20.789 --> 01:00:20.799 align:start position:0% systems so i'm interested in knowing 01:00:20.799 --> 01:00:21.270 align:start position:0% systems so i'm interested in knowing what 01:00:21.270 --> 01:00:21.280 align:start position:0% what 01:00:21.280 --> 01:00:24.309 align:start position:0% what statistical<01:00:22.960> tests<01:00:23.359> you<01:00:23.520> can<01:00:23.680> perform<01:00:24.079> on 01:00:24.309 --> 01:00:24.319 align:start position:0% statistical tests you can perform on 01:00:24.319 --> 01:00:25.190 align:start position:0% statistical tests you can perform on algorithms 01:00:25.190 --> 01:00:25.200 align:start position:0% algorithms 01:00:25.200 --> 01:00:27.589 align:start position:0% algorithms such<01:00:25.520> that<01:00:25.680> you<01:00:25.760> can<01:00:25.920> reliably<01:00:26.400> predict<01:00:27.040> what 01:00:27.589 --> 01:00:27.599 align:start position:0% such that you can reliably predict what 01:00:27.599 --> 01:00:29.430 align:start position:0% such that you can reliably predict what the<01:00:27.839> stereo<01:00:28.319> system<01:00:28.640> is<01:00:28.799> going<01:00:28.960> to<01:00:29.040> do<01:00:29.200> in<01:00:29.280> the 01:00:29.430 --> 01:00:29.440 align:start position:0% the stereo system is going to do in the 01:00:29.440 --> 01:00:30.549 align:start position:0% the stereo system is going to do in the field 01:00:30.549 --> 01:00:30.559 align:start position:0% field 01:00:30.559 --> 01:00:34.710 align:start position:0% field so<01:00:31.119> on<01:00:31.359> real<01:00:31.599> images<01:00:32.160> rather<01:00:32.559> than 01:00:34.710 --> 01:00:34.720 align:start position:0% so on real images rather than 01:00:34.720 --> 01:00:36.630 align:start position:0% so on real images rather than the<01:00:34.960> test<01:00:35.359> sets<01:00:35.760> that<01:00:36.000> people<01:00:36.319> tend<01:00:36.559> to 01:00:36.630 --> 01:00:36.640 align:start position:0% the test sets that people tend to 01:00:36.640 --> 01:00:39.190 align:start position:0% the test sets that people tend to produce<01:00:37.520> there<01:00:37.760> are<01:00:37.920> a<01:00:38.000> number<01:00:38.319> of<01:00:38.640> test<01:00:38.960> sets 01:00:39.190 --> 01:00:39.200 align:start position:0% produce there are a number of test sets 01:00:39.200 --> 01:00:39.510 align:start position:0% produce there are a number of test sets for 01:00:39.510 --> 01:00:39.520 align:start position:0% for 01:00:39.520 --> 01:00:42.470 align:start position:0% for testing<01:00:39.839> stereo<01:00:40.319> algorithms<01:00:41.440> most<01:00:41.680> of<01:00:42.160> the 01:00:42.470 --> 01:00:42.480 align:start position:0% testing stereo algorithms most of the 01:00:42.480 --> 01:00:43.510 align:start position:0% testing stereo algorithms most of the test<01:00:42.880> images 01:00:43.510 --> 01:00:43.520 align:start position:0% test images 01:00:43.520 --> 01:00:46.870 align:start position:0% test images are<01:00:45.440> not<01:00:45.839> i<01:00:46.000> would<01:00:46.319> say<01:00:46.480> they're 01:00:46.870 --> 01:00:46.880 align:start position:0% are not i would say they're 01:00:46.880 --> 01:00:48.630 align:start position:0% are not i would say they're not<01:00:47.119> particularly<01:00:47.599> typical<01:00:48.079> of<01:00:48.240> the<01:00:48.319> sort<01:00:48.559> of 01:00:48.630 --> 01:00:48.640 align:start position:0% not particularly typical of the sort of 01:00:48.640 --> 01:00:50.309 align:start position:0% not particularly typical of the sort of images<01:00:48.960> that<01:00:49.119> i<01:00:49.280> would<01:00:49.440> see 01:00:50.309 --> 01:00:50.319 align:start position:0% images that i would see 01:00:50.319 --> 01:00:52.390 align:start position:0% images that i would see and<01:00:50.640> they<01:00:50.799> would<01:00:50.960> not<01:00:51.200> be<01:00:51.359> typical<01:00:51.839> of<01:00:52.000> natural 01:00:52.390 --> 01:00:52.400 align:start position:0% and they would not be typical of natural 01:00:52.400 --> 01:00:53.589 align:start position:0% and they would not be typical of natural images<01:00:52.880> and<01:00:53.040> they<01:00:53.200> have 01:00:53.589 --> 01:00:53.599 align:start position:0% images and they have 01:00:53.599 --> 01:00:56.710 align:start position:0% images and they have different<01:00:53.920> statistics<01:00:55.680> so 01:00:56.710 --> 01:00:56.720 align:start position:0% different statistics so 01:00:56.720 --> 01:00:58.470 align:start position:0% different statistics so for<01:00:56.960> example<01:00:57.359> supposing<01:00:57.839> you're<01:00:58.000> interested 01:00:58.470 --> 01:00:58.480 align:start position:0% for example supposing you're interested 01:00:58.480 --> 01:01:01.589 align:start position:0% for example supposing you're interested in<01:00:58.640> doing 01:01:01.589 --> 01:01:01.599 align:start position:0% 01:01:01.599 --> 01:01:03.109 align:start position:0% navigation<01:01:02.240> say<01:01:02.480> the<01:01:02.559> stuff<01:01:02.799> that<01:01:02.880> paul 01:01:03.109 --> 01:01:03.119 align:start position:0% navigation say the stuff that paul 01:01:03.119 --> 01:01:05.190 align:start position:0% navigation say the stuff that paul newman<01:01:03.359> does<01:01:03.599> using<01:01:03.839> stereo 01:01:05.190 --> 01:01:05.200 align:start position:0% newman does using stereo 01:01:05.200 --> 01:01:07.190 align:start position:0% newman does using stereo then<01:01:05.599> testing<01:01:05.920> a<01:01:06.079> stereo<01:01:06.480> algorithm<01:01:06.880> based 01:01:07.190 --> 01:01:07.200 align:start position:0% then testing a stereo algorithm based 01:01:07.200 --> 01:01:09.109 align:start position:0% then testing a stereo algorithm based upon<01:01:07.680> many<01:01:08.079> of<01:01:08.319> the 01:01:09.109 --> 01:01:09.119 align:start position:0% upon many of the 01:01:09.119 --> 01:01:11.270 align:start position:0% upon many of the standard<01:01:09.680> image<01:01:10.079> test<01:01:10.400> sets<01:01:10.799> would<01:01:10.960> not<01:01:11.119> tell 01:01:11.270 --> 01:01:11.280 align:start position:0% standard image test sets would not tell 01:01:11.280 --> 01:01:12.789 align:start position:0% standard image test sets would not tell you<01:01:11.440> much<01:01:11.680> about<01:01:11.920> how<01:01:12.160> your 01:01:12.789 --> 01:01:12.799 align:start position:0% you much about how your 01:01:12.799 --> 01:01:15.270 align:start position:0% you much about how your stereo<01:01:13.280> algorithm<01:01:13.599> would<01:01:13.839> work<01:01:14.160> in<01:01:14.240> the<01:01:14.400> wild 01:01:15.270 --> 01:01:15.280 align:start position:0% stereo algorithm would work in the wild 01:01:15.280 --> 01:01:17.030 align:start position:0% stereo algorithm would work in the wild because<01:01:15.599> the 01:01:17.030 --> 01:01:17.040 align:start position:0% because the 01:01:17.040 --> 01:01:19.349 align:start position:0% because the images<01:01:17.440> from<01:01:17.599> the<01:01:17.760> wild<01:01:18.160> have<01:01:18.319> many 01:01:19.349 --> 01:01:19.359 align:start position:0% images from the wild have many 01:01:19.359 --> 01:01:20.630 align:start position:0% images from the wild have many challenging<01:01:19.839> features<01:01:20.240> that<01:01:20.400> are<01:01:20.480> not 01:01:20.630 --> 01:01:20.640 align:start position:0% challenging features that are not 01:01:20.640 --> 01:01:22.549 align:start position:0% challenging features that are not present<01:01:21.040> in<01:01:21.200> many<01:01:21.440> of<01:01:21.599> the 01:01:22.549 --> 01:01:22.559 align:start position:0% present in many of the 01:01:22.559 --> 01:01:24.470 align:start position:0% present in many of the of<01:01:22.720> the<01:01:22.880> test<01:01:23.119> set<01:01:23.359> so<01:01:23.440> i've<01:01:23.839> got<01:01:24.000> a<01:01:24.079> phd 01:01:24.470 --> 01:01:24.480 align:start position:0% of the test set so i've got a phd 01:01:24.480 --> 01:01:26.630 align:start position:0% of the test set so i've got a phd student<01:01:24.720> at<01:01:24.799> the<01:01:24.880> moment<01:01:25.119> looking<01:01:25.520> at 01:01:26.630 --> 01:01:26.640 align:start position:0% student at the moment looking at 01:01:26.640 --> 01:01:29.349 align:start position:0% student at the moment looking at how<01:01:26.799> do<01:01:26.960> you<01:01:27.040> generate<01:01:27.839> synthetic<01:01:28.400> images 01:01:29.349 --> 01:01:29.359 align:start position:0% how do you generate synthetic images 01:01:29.359 --> 01:01:31.030 align:start position:0% how do you generate synthetic images which<01:01:29.680> have<01:01:29.839> the<01:01:30.000> character<01:01:30.400> statistical 01:01:31.030 --> 01:01:31.040 align:start position:0% which have the character statistical 01:01:31.040 --> 01:01:32.230 align:start position:0% which have the character statistical characteristics 01:01:32.230 --> 01:01:32.240 align:start position:0% characteristics 01:01:32.240 --> 01:01:35.349 align:start position:0% characteristics that<01:01:32.559> you<01:01:32.720> would<01:01:32.960> wish<01:01:34.000> to<01:01:34.240> test<01:01:35.040> your 01:01:35.349 --> 01:01:35.359 align:start position:0% that you would wish to test your 01:01:35.359 --> 01:01:36.309 align:start position:0% that you would wish to test your algorithm 01:01:36.309 --> 01:01:36.319 align:start position:0% algorithm 01:01:36.319 --> 01:01:39.349 align:start position:0% algorithm so<01:01:36.480> you<01:01:36.640> can<01:01:36.880> match<01:01:37.599> your<01:01:37.839> test<01:01:38.160> images<01:01:39.040> to<01:01:39.200> the 01:01:39.349 --> 01:01:39.359 align:start position:0% so you can match your test images to the 01:01:39.359 --> 01:01:41.589 align:start position:0% so you can match your test images to the specific<01:01:39.920> task<01:01:40.240> that<01:01:40.400> you<01:01:40.559> want<01:01:40.799> your 01:01:41.589 --> 01:01:41.599 align:start position:0% specific task that you want your 01:01:41.599 --> 01:01:43.750 align:start position:0% specific task that you want your stereo<01:01:42.079> images<01:01:42.480> to<01:01:42.559> perform<01:01:43.359> because<01:01:43.599> there's 01:01:43.750 --> 01:01:43.760 align:start position:0% stereo images to perform because there's 01:01:43.760 --> 01:01:45.270 align:start position:0% stereo images to perform because there's no<01:01:43.920> such<01:01:44.160> thing<01:01:44.319> as<01:01:44.480> the<01:01:44.640> sort<01:01:44.799> of<01:01:44.960> general 01:01:45.270 --> 01:01:45.280 align:start position:0% no such thing as the sort of general 01:01:45.280 --> 01:01:46.390 align:start position:0% no such thing as the sort of general image 01:01:46.390 --> 01:01:46.400 align:start position:0% image 01:01:46.400 --> 01:01:49.829 align:start position:0% image so<01:01:47.520> and<01:01:47.680> many<01:01:48.000> of<01:01:48.240> many<01:01:48.480> of<01:01:48.559> the<01:01:49.040> stereo<01:01:49.359> images 01:01:49.829 --> 01:01:49.839 align:start position:0% so and many of many of the stereo images 01:01:49.839 --> 01:01:50.829 align:start position:0% so and many of many of the stereo images are 01:01:50.829 --> 01:01:50.839 align:start position:0% are 01:01:50.839 --> 01:01:53.750 align:start position:0% are absolutely<01:01:52.079> crazy<01:01:52.480> for<01:01:52.640> my<01:01:52.799> application<01:01:53.520> so 01:01:53.750 --> 01:01:53.760 align:start position:0% absolutely crazy for my application so 01:01:53.760 --> 01:01:55.829 align:start position:0% absolutely crazy for my application so typical<01:01:54.240> stereo<01:01:54.799> image<01:01:55.039> would<01:01:55.200> have 01:01:55.829 --> 01:01:55.839 align:start position:0% typical stereo image would have 01:01:55.839 --> 01:01:58.309 align:start position:0% typical stereo image would have a<01:01:56.000> bright<01:01:56.400> orange<01:01:56.880> teddy<01:01:57.200> bear<01:01:57.599> against<01:01:58.240> a 01:01:58.309 --> 01:01:58.319 align:start position:0% a bright orange teddy bear against a 01:01:58.319 --> 01:02:00.230 align:start position:0% a bright orange teddy bear against a bright<01:01:58.720> green<01:01:59.119> background 01:02:00.230 --> 01:02:00.240 align:start position:0% bright green background 01:02:00.240 --> 01:02:02.470 align:start position:0% bright green background against<01:02:00.960> a<01:02:01.119> bright<01:02:01.520> blue<01:02:01.839> something<01:02:02.160> other 01:02:02.470 --> 01:02:02.480 align:start position:0% against a bright blue something other 01:02:02.480 --> 01:02:04.390 align:start position:0% against a bright blue something other with<01:02:02.720> very<01:02:03.200> clear 01:02:04.390 --> 01:02:04.400 align:start position:0% with very clear 01:02:04.400 --> 01:02:07.430 align:start position:0% with very clear surfaces<01:02:05.760> no<01:02:06.079> fuzzy<01:02:06.480> stuff<01:02:06.960> whereas<01:02:07.359> if 01:02:07.430 --> 01:02:07.440 align:start position:0% surfaces no fuzzy stuff whereas if 01:02:07.440 --> 01:02:08.950 align:start position:0% surfaces no fuzzy stuff whereas if you're<01:02:07.599> looking<01:02:07.920> at<01:02:08.000> a<01:02:08.079> real<01:02:08.319> image<01:02:08.640> it<01:02:08.720> tends 01:02:08.950 --> 01:02:08.960 align:start position:0% you're looking at a real image it tends 01:02:08.960 --> 01:02:10.230 align:start position:0% you're looking at a real image it tends to<01:02:09.119> be 01:02:10.230 --> 01:02:10.240 align:start position:0% to be 01:02:10.240 --> 01:02:13.910 align:start position:0% to be various<01:02:10.799> shades<01:02:11.119> of<01:02:11.359> grey<01:02:12.559> lighting<01:02:13.039> is 01:02:13.910 --> 01:02:13.920 align:start position:0% various shades of grey lighting is 01:02:13.920 --> 01:02:15.510 align:start position:0% various shades of grey lighting is tends<01:02:14.240> not<01:02:14.480> to<01:02:14.559> be<01:02:14.720> too<01:02:14.960> good<01:02:15.200> you<01:02:15.359> have 01:02:15.510 --> 01:02:15.520 align:start position:0% tends not to be too good you have 01:02:15.520 --> 01:02:18.150 align:start position:0% tends not to be too good you have problems<01:02:16.240> in 01:02:18.150 --> 01:02:18.160 align:start position:0% problems in 01:02:18.160 --> 01:02:20.230 align:start position:0% problems in things<01:02:18.319> like<01:02:18.480> repeating<01:02:19.039> texture<01:02:19.839> and<01:02:20.079> all 01:02:20.230 --> 01:02:20.240 align:start position:0% things like repeating texture and all 01:02:20.240 --> 01:02:21.910 align:start position:0% things like repeating texture and all sorts<01:02:20.559> of<01:02:20.720> issues<01:02:21.039> that 01:02:21.910 --> 01:02:21.920 align:start position:0% sorts of issues that 01:02:21.920 --> 01:02:24.309 align:start position:0% sorts of issues that that<01:02:22.240> these<01:02:22.720> these<01:02:23.280> test<01:02:23.599> images<01:02:23.920> tend<01:02:24.160> to 01:02:24.309 --> 01:02:24.319 align:start position:0% that these these test images tend to 01:02:24.319 --> 01:02:24.950 align:start position:0% that these these test images tend to avoid 01:02:24.950 --> 01:02:24.960 align:start position:0% avoid 01:02:24.960 --> 01:02:28.710 align:start position:0% avoid could<01:02:25.119> you<01:02:25.280> tell<01:02:25.440> us<01:02:25.599> how<01:02:26.240> robotics<01:02:26.799> started 01:02:28.710 --> 01:02:28.720 align:start position:0% could you tell us how robotics started 01:02:28.720 --> 01:02:31.750 align:start position:0% could you tell us how robotics started well<01:02:29.359> if<01:02:29.520> you<01:02:30.319> go<01:02:30.559> back<01:02:30.799> into<01:02:31.039> ancient<01:02:31.440> history 01:02:31.750 --> 01:02:31.760 align:start position:0% well if you go back into ancient history 01:02:31.760 --> 01:02:33.430 align:start position:0% well if you go back into ancient history and<01:02:31.839> robotics<01:02:32.319> in<01:02:32.400> the<01:02:32.559> uk 01:02:33.430 --> 01:02:33.440 align:start position:0% and robotics in the uk 01:02:33.440 --> 01:02:36.950 align:start position:0% and robotics in the uk there<01:02:33.839> was<01:02:35.760> something<01:02:36.079> called<01:02:36.319> the<01:02:36.400> robotics 01:02:36.950 --> 01:02:36.960 align:start position:0% there was something called the robotics 01:02:36.960 --> 01:02:37.750 align:start position:0% there was something called the robotics initiative 01:02:37.750 --> 01:02:37.760 align:start position:0% initiative 01:02:37.760 --> 01:02:41.270 align:start position:0% initiative which<01:02:38.079> was<01:02:40.000> run<01:02:40.240> by<01:02:40.480> somebody<01:02:40.720> called<01:02:40.960> peter 01:02:41.270 --> 01:02:41.280 align:start position:0% which was run by somebody called peter 01:02:41.280 --> 01:02:43.430 align:start position:0% which was run by somebody called peter davey 01:02:43.430 --> 01:02:43.440 align:start position:0% davey 01:02:43.440 --> 01:02:47.190 align:start position:0% davey via<01:02:43.920> the<01:02:44.720> what<01:02:44.960> was<01:02:45.039> then<01:02:46.000> the 01:02:47.190 --> 01:02:47.200 align:start position:0% via the what was then the 01:02:47.200 --> 01:02:50.309 align:start position:0% via the what was then the what<01:02:47.440> is<01:02:47.520> now<01:02:47.760> called<01:02:47.920> the<01:02:48.079> epsrc<01:02:49.200> but<01:02:49.520> um<01:02:50.079> that 01:02:50.309 --> 01:02:50.319 align:start position:0% what is now called the epsrc but um that 01:02:50.319 --> 01:02:51.829 align:start position:0% what is now called the epsrc but um that is<01:02:50.400> the<01:02:50.480> government<01:02:50.799> funding<01:02:51.200> agency<01:02:51.599> for 01:02:51.829 --> 01:02:51.839 align:start position:0% is the government funding agency for 01:02:51.839 --> 01:02:53.510 align:start position:0% is the government funding agency for research<01:02:52.240> within<01:02:52.559> the<01:02:52.640> uk 01:02:53.510 --> 01:02:53.520 align:start position:0% research within the uk 01:02:53.520 --> 01:02:57.029 align:start position:0% research within the uk for<01:02:53.920> for<01:02:54.160> robotics<01:02:54.640> type<01:02:54.880> research 01:02:57.029 --> 01:02:57.039 align:start position:0% for for robotics type research 01:02:57.039 --> 01:03:00.069 align:start position:0% for for robotics type research this<01:02:57.280> was 01:03:00.069 --> 01:03:00.079 align:start position:0% 01:03:00.079 --> 01:03:02.870 align:start position:0% a<01:03:00.240> program<01:03:00.880> where<01:03:01.839> academics<01:03:02.400> were<01:03:02.559> supposed 01:03:02.870 --> 01:03:02.880 align:start position:0% a program where academics were supposed 01:03:02.880 --> 01:03:04.549 align:start position:0% a program where academics were supposed to<01:03:02.960> work<01:03:03.200> with<01:03:03.440> industry 01:03:04.549 --> 01:03:04.559 align:start position:0% to work with industry 01:03:04.559 --> 01:03:07.750 align:start position:0% to work with industry to<01:03:04.880> develop<01:03:05.920> robotics<01:03:06.480> applications<01:03:07.520> of 01:03:07.750 --> 01:03:07.760 align:start position:0% to develop robotics applications of 01:03:07.760 --> 01:03:09.829 align:start position:0% to develop robotics applications of interest<01:03:08.160> to<01:03:08.400> industry 01:03:09.829 --> 01:03:09.839 align:start position:0% interest to industry 01:03:09.839 --> 01:03:12.870 align:start position:0% interest to industry and<01:03:10.240> pete<01:03:10.559> davey<01:03:11.039> was<01:03:11.440> in<01:03:12.079> oxford<01:03:12.480> and<01:03:12.640> he<01:03:12.720> had 01:03:12.870 --> 01:03:12.880 align:start position:0% and pete davey was in oxford and he had 01:03:12.880 --> 01:03:14.390 align:start position:0% and pete davey was in oxford and he had a<01:03:13.039> project 01:03:14.390 --> 01:03:14.400 align:start position:0% a project 01:03:14.400 --> 01:03:17.910 align:start position:0% a project which<01:03:14.640> was<01:03:15.200> robotic<01:03:16.880> vision-guided 01:03:17.910 --> 01:03:17.920 align:start position:0% which was robotic vision-guided 01:03:17.920 --> 01:03:22.150 align:start position:0% which was robotic vision-guided arc<01:03:18.319> welding<01:03:20.799> um 01:03:22.150 --> 01:03:22.160 align:start position:0% arc welding um 01:03:22.160 --> 01:03:25.750 align:start position:0% arc welding um so<01:03:22.640> with<01:03:22.880> a<01:03:24.720> very<01:03:24.960> early 01:03:25.750 --> 01:03:25.760 align:start position:0% so with a very early 01:03:25.760 --> 01:03:31.109 align:start position:0% so with a very early uh<01:03:27.200> i<01:03:27.359> think<01:03:27.520> it<01:03:27.520> was<01:03:27.599> an<01:03:27.760> acer<01:03:28.839> robot 01:03:31.109 --> 01:03:31.119 align:start position:0% uh i think it was an acer robot 01:03:31.119 --> 01:03:34.230 align:start position:0% uh i think it was an acer robot run<01:03:31.440> by<01:03:31.680> a<01:03:33.119> uh<01:03:33.440> i<01:03:33.520> think<01:03:33.680> it<01:03:33.680> was<01:03:33.760> an<01:03:33.920> argent 01:03:34.230 --> 01:03:34.240 align:start position:0% run by a uh i think it was an argent 01:03:34.240 --> 01:03:35.270 align:start position:0% run by a uh i think it was an argent well 01:03:35.270 --> 01:03:35.280 align:start position:0% well 01:03:35.280 --> 01:03:38.630 align:start position:0% well he<01:03:35.440> wasn't<01:03:36.799> some<01:03:36.960> sort<01:03:37.200> of<01:03:37.440> small<01:03:37.839> vax 01:03:38.630 --> 01:03:38.640 align:start position:0% he wasn't some sort of small vax 01:03:38.640 --> 01:03:40.150 align:start position:0% he wasn't some sort of small vax driving<01:03:38.960> this<01:03:39.119> thing<01:03:39.520> basically<01:03:39.920> was<01:03:40.079> a 01:03:40.150 --> 01:03:40.160 align:start position:0% driving this thing basically was a 01:03:40.160 --> 01:03:41.910 align:start position:0% driving this thing basically was a computer<01:03:40.559> about<01:03:40.720> this<01:03:41.039> big 01:03:41.910 --> 01:03:41.920 align:start position:0% computer about this big 01:03:41.920 --> 01:03:44.150 align:start position:0% computer about this big with<01:03:42.319> a<01:03:42.799> disk<01:03:43.119> drive<01:03:43.359> in<01:03:43.520> it<01:03:43.599> which<01:03:43.760> was<01:03:43.920> one<01:03:44.079> of 01:03:44.150 --> 01:03:44.160 align:start position:0% with a disk drive in it which was one of 01:03:44.160 --> 01:03:45.910 align:start position:0% with a disk drive in it which was one of these<01:03:44.400> big<01:03:44.640> sort<01:03:44.799> of 01:03:45.910 --> 01:03:45.920 align:start position:0% these big sort of 01:03:45.920 --> 01:03:47.910 align:start position:0% these big sort of uh<01:03:46.240> like<01:03:46.400> a<01:03:46.480> sort<01:03:46.640> of<01:03:46.880> saucepan<01:03:47.359> upside<01:03:47.680> down 01:03:47.910 --> 01:03:47.920 align:start position:0% uh like a sort of saucepan upside down 01:03:47.920 --> 01:03:49.270 align:start position:0% uh like a sort of saucepan upside down saucepan<01:03:48.400> disk<01:03:48.720> drives 01:03:49.270 --> 01:03:49.280 align:start position:0% saucepan disk drives 01:03:49.280 --> 01:03:51.589 align:start position:0% saucepan disk drives which<01:03:49.520> you<01:03:49.599> had<01:03:49.680> to<01:03:49.920> clunk<01:03:50.240> like<01:03:50.480> that<01:03:51.119> and<01:03:51.359> and 01:03:51.589 --> 01:03:51.599 align:start position:0% which you had to clunk like that and and 01:03:51.599 --> 01:03:53.190 align:start position:0% which you had to clunk like that and and could<01:03:51.839> store<01:03:52.079> something<01:03:52.400> like<01:03:52.559> 10<01:03:52.799> megs<01:03:53.039> on 01:03:53.190 --> 01:03:53.200 align:start position:0% could store something like 10 megs on 01:03:53.200 --> 01:03:54.870 align:start position:0% could store something like 10 megs on one<01:03:53.359> of<01:03:53.359> these<01:03:53.599> disk<01:03:53.839> drives 01:03:54.870 --> 01:03:54.880 align:start position:0% one of these disk drives 01:03:54.880 --> 01:03:57.349 align:start position:0% one of these disk drives so<01:03:55.119> a<01:03:55.200> big<01:03:55.359> disk<01:03:55.599> drive<01:03:55.760> for<01:03:55.920> those<01:03:56.240> days<01:03:56.880> and 01:03:57.349 --> 01:03:57.359 align:start position:0% so a big disk drive for those days and 01:03:57.359 --> 01:03:59.029 align:start position:0% so a big disk drive for those days and this<01:03:57.680> uh<01:03:57.920> this<01:03:58.160> was<01:03:58.319> running<01:03:58.559> real-time 01:03:59.029 --> 01:03:59.039 align:start position:0% this uh this was running real-time 01:03:59.039 --> 01:04:00.150 align:start position:0% this uh this was running real-time control 01:04:00.150 --> 01:04:00.160 align:start position:0% control 01:04:00.160 --> 01:04:03.829 align:start position:0% control of<01:04:00.640> um<01:04:02.079> basically<01:04:02.799> uh 01:04:03.829 --> 01:04:03.839 align:start position:0% of um basically uh 01:04:03.839 --> 01:04:07.270 align:start position:0% of um basically uh an<01:04:04.079> old<01:04:04.400> ccd<01:04:04.960> camera<01:04:06.319> um 01:04:07.270 --> 01:04:07.280 align:start position:0% an old ccd camera um 01:04:07.280 --> 01:04:10.549 align:start position:0% an old ccd camera um very<01:04:07.599> old<01:04:07.920> nowadays<01:04:09.200> which<01:04:09.839> performed<01:04:10.319> all<01:04:10.480> of 01:04:10.549 --> 01:04:10.559 align:start position:0% very old nowadays which performed all of 01:04:10.559 --> 01:04:14.069 align:start position:0% very old nowadays which performed all of the<01:04:10.640> visual<01:04:10.960> processing<01:04:11.599> in<01:04:11.839> a<01:04:11.920> delay<01:04:12.240> line 01:04:14.069 --> 01:04:14.079 align:start position:0% the visual processing in a delay line 01:04:14.079 --> 01:04:15.750 align:start position:0% the visual processing in a delay line so<01:04:14.240> you<01:04:14.400> ran<01:04:14.559> the<01:04:14.799> the<01:04:15.039> image<01:04:15.280> stream<01:04:15.599> through 01:04:15.750 --> 01:04:15.760 align:start position:0% so you ran the the image stream through 01:04:15.760 --> 01:04:17.430 align:start position:0% so you ran the the image stream through a<01:04:15.839> delay<01:04:16.160> line<01:04:16.400> tap<01:04:16.640> delay<01:04:16.880> line<01:04:17.200> and<01:04:17.280> you 01:04:17.430 --> 01:04:17.440 align:start position:0% a delay line tap delay line and you 01:04:17.440 --> 01:04:18.309 align:start position:0% a delay line tap delay line and you performed 01:04:18.309 --> 01:04:18.319 align:start position:0% performed 01:04:18.319 --> 01:04:19.910 align:start position:0% performed convolution<01:04:18.960> using<01:04:19.119> a<01:04:19.200> tap<01:04:19.440> delay<01:04:19.760> line 01:04:19.910 --> 01:04:19.920 align:start position:0% convolution using a tap delay line 01:04:19.920 --> 01:04:21.750 align:start position:0% convolution using a tap delay line because<01:04:20.160> the<01:04:20.240> computers<01:04:20.960> just<01:04:21.200> weren't<01:04:21.520> fast 01:04:21.750 --> 01:04:21.760 align:start position:0% because the computers just weren't fast 01:04:21.760 --> 01:04:23.589 align:start position:0% because the computers just weren't fast enough<01:04:22.000> to<01:04:22.079> do<01:04:22.240> convolution 01:04:23.589 --> 01:04:23.599 align:start position:0% enough to do convolution 01:04:23.599 --> 01:04:25.430 align:start position:0% enough to do convolution so<01:04:23.920> we<01:04:24.079> had<01:04:24.319> to<01:04:24.559> work<01:04:24.799> out<01:04:24.960> ways<01:04:25.119> of<01:04:25.200> doing 01:04:25.430 --> 01:04:25.440 align:start position:0% so we had to work out ways of doing 01:04:25.440 --> 01:04:26.789 align:start position:0% so we had to work out ways of doing convolution<01:04:26.000> so<01:04:26.160> that<01:04:26.319> was<01:04:26.480> done<01:04:26.640> using 01:04:26.789 --> 01:04:26.799 align:start position:0% convolution so that was done using 01:04:26.799 --> 01:04:27.910 align:start position:0% convolution so that was done using attack<01:04:27.039> delay<01:04:27.359> that 01:04:27.910 --> 01:04:27.920 align:start position:0% attack delay that 01:04:27.920 --> 01:04:29.589 align:start position:0% attack delay that so<01:04:28.079> they<01:04:28.240> were<01:04:28.319> in<01:04:28.480> a<01:04:28.640> research<01:04:29.119> group<01:04:29.359> doing 01:04:29.589 --> 01:04:29.599 align:start position:0% so they were in a research group doing 01:04:29.599 --> 01:04:31.190 align:start position:0% so they were in a research group doing this<01:04:29.760> art<01:04:30.000> welding 01:04:31.190 --> 01:04:31.200 align:start position:0% this art welding 01:04:31.200 --> 01:04:35.589 align:start position:0% this art welding which<01:04:31.520> started<01:04:31.920> in<01:04:32.160> around<01:04:32.400> about<01:04:32.640> 1980<01:04:33.520> 1981 01:04:35.589 --> 01:04:35.599 align:start position:0% which started in around about 1980 1981 01:04:35.599 --> 01:04:39.990 align:start position:0% which started in around about 1980 1981 i<01:04:35.760> came<01:04:36.160> to<01:04:36.799> join<01:04:38.839> uh 01:04:39.990 --> 01:04:40.000 align:start position:0% i came to join uh 01:04:40.000 --> 01:04:42.470 align:start position:0% i came to join uh basically<01:04:40.400> with<01:04:40.880> with<01:04:41.599> that<01:04:41.760> research<01:04:42.240> group 01:04:42.470 --> 01:04:42.480 align:start position:0% basically with with that research group 01:04:42.480 --> 01:04:45.270 align:start position:0% basically with with that research group but<01:04:42.720> working<01:04:43.039> with<01:04:43.280> the<01:04:43.359> cgb<01:04:44.000> on<01:04:44.240> in<01:04:44.400> reactor 01:04:45.270 --> 01:04:45.280 align:start position:0% but working with the cgb on in reactor 01:04:45.280 --> 01:04:48.470 align:start position:0% but working with the cgb on in reactor telemanipulators<01:04:46.240> in<01:04:46.359> 1982<01:04:47.760> fact<01:04:48.240> uh 01:04:48.470 --> 01:04:48.480 align:start position:0% telemanipulators in 1982 fact uh 01:04:48.480 --> 01:04:49.349 align:start position:0% telemanipulators in 1982 fact uh february<01:04:48.880> the<01:04:48.960> 1st 01:04:49.349 --> 01:04:49.359 align:start position:0% february the 1st 01:04:49.359 --> 01:04:52.390 align:start position:0% february the 1st 1982<01:04:50.960> i<01:04:51.119> came<01:04:51.359> to<01:04:51.520> oxford<01:04:51.839> as<01:04:52.000> a<01:04:52.000> research 01:04:52.390 --> 01:04:52.400 align:start position:0% 1982 i came to oxford as a research 01:04:52.400 --> 01:04:53.109 align:start position:0% 1982 i came to oxford as a research fellow<01:04:52.799> at 01:04:53.109 --> 01:04:53.119 align:start position:0% fellow at 01:04:53.119 --> 01:04:55.990 align:start position:0% fellow at edmond<01:04:53.359> hall<01:04:54.400> working<01:04:54.640> with<01:04:54.799> the<01:04:54.880> cegb<01:04:55.839> and 01:04:55.990 --> 01:04:56.000 align:start position:0% edmond hall working with the cegb and 01:04:56.000 --> 01:04:58.549 align:start position:0% edmond hall working with the cegb and peter<01:04:56.319> davey<01:04:56.640> was<01:04:56.720> running<01:04:56.960> a<01:04:57.039> research<01:04:57.520> group 01:04:58.549 --> 01:04:58.559 align:start position:0% peter davey was running a research group 01:04:58.559 --> 01:05:01.510 align:start position:0% peter davey was running a research group in<01:05:00.240> in<01:05:00.319> the<01:05:00.480> department<01:05:00.880> of<01:05:01.039> engineering 01:05:01.510 --> 01:05:01.520 align:start position:0% in in the department of engineering 01:05:01.520 --> 01:05:04.230 align:start position:0% in in the department of engineering science 01:05:04.230 --> 01:05:04.240 align:start position:0% 01:05:04.240 --> 01:05:06.549 align:start position:0% on<01:05:04.559> art<01:05:04.799> welding<01:05:05.599> he<01:05:05.839> spun<01:05:06.079> out<01:05:06.240> a<01:05:06.319> company 01:05:06.549 --> 01:05:06.559 align:start position:0% on art welding he spun out a company 01:05:06.559 --> 01:05:08.470 align:start position:0% on art welding he spun out a company called<01:05:06.799> meta<01:05:07.039> machines<01:05:07.440> which<01:05:07.680> then 01:05:08.470 --> 01:05:08.480 align:start position:0% called meta machines which then 01:05:08.480 --> 01:05:10.870 align:start position:0% called meta machines which then went<01:05:08.720> on<01:05:08.880> to<01:05:09.039> sell<01:05:09.839> these<01:05:10.079> art<01:05:10.319> welding 01:05:10.870 --> 01:05:10.880 align:start position:0% went on to sell these art welding 01:05:10.880 --> 01:05:11.829 align:start position:0% went on to sell these art welding machines 01:05:11.829 --> 01:05:11.839 align:start position:0% machines 01:05:11.839 --> 01:05:15.589 align:start position:0% machines to<01:05:12.000> the<01:05:12.160> automotive<01:05:12.799> industry<01:05:14.319> and 01:05:15.589 --> 01:05:15.599 align:start position:0% to the automotive industry and 01:05:15.599 --> 01:05:18.950 align:start position:0% to the automotive industry and before<01:05:16.079> they<01:05:16.240> did<01:05:16.400> that<01:05:17.280> i<01:05:18.400> sat<01:05:18.640> down<01:05:18.799> with 01:05:18.950 --> 01:05:18.960 align:start position:0% before they did that i sat down with 01:05:18.960 --> 01:05:20.230 align:start position:0% before they did that i sat down with peter<01:05:19.200> dave<01:05:19.520> and<01:05:19.599> talked<01:05:19.839> about 01:05:20.230 --> 01:05:20.240 align:start position:0% peter dave and talked about 01:05:20.240 --> 01:05:22.470 align:start position:0% peter dave and talked about the<01:05:21.200> the<01:05:21.359> future<01:05:21.680> of<01:05:21.920> information 01:05:22.470 --> 01:05:22.480 align:start position:0% the the future of information 01:05:22.480 --> 01:05:23.670 align:start position:0% the the future of information engineering 01:05:23.670 --> 01:05:23.680 align:start position:0% engineering 01:05:23.680 --> 01:05:25.349 align:start position:0% engineering and<01:05:24.319> software<01:05:24.640> engineering<01:05:25.119> as<01:05:25.280> an 01:05:25.349 --> 01:05:25.359 align:start position:0% and software engineering as an 01:05:25.359 --> 01:05:27.109 align:start position:0% and software engineering as an engineering<01:05:25.920> subject 01:05:27.109 --> 01:05:27.119 align:start position:0% engineering subject 01:05:27.119 --> 01:05:30.390 align:start position:0% engineering subject inside<01:05:27.599> oxford<01:05:28.880> and 01:05:30.390 --> 01:05:30.400 align:start position:0% inside oxford and 01:05:30.400 --> 01:05:33.109 align:start position:0% inside oxford and we<01:05:30.720> sat<01:05:30.880> down<01:05:31.119> and<01:05:31.280> spoke<01:05:32.079> and<01:05:32.480> a<01:05:32.640> strategy 01:05:33.109 --> 01:05:33.119 align:start position:0% we sat down and spoke and a strategy 01:05:33.119 --> 01:05:34.309 align:start position:0% we sat down and spoke and a strategy came<01:05:33.440> up 01:05:34.309 --> 01:05:34.319 align:start position:0% came up 01:05:34.319 --> 01:05:37.510 align:start position:0% came up to<01:05:34.559> try<01:05:34.960> and<01:05:36.640> get<01:05:36.880> a<01:05:37.039> chair 01:05:37.510 --> 01:05:37.520 align:start position:0% to try and get a chair 01:05:37.520 --> 01:05:40.630 align:start position:0% to try and get a chair in<01:05:37.680> information<01:05:38.240> engineering<01:05:39.119> at<01:05:39.280> oxford 01:05:40.630 --> 01:05:40.640 align:start position:0% in information engineering at oxford 01:05:40.640 --> 01:05:45.029 align:start position:0% in information engineering at oxford and<01:05:41.200> i<01:05:41.520> was<01:05:42.240> sent<01:05:42.480> off<01:05:43.119> to 01:05:45.029 --> 01:05:45.039 align:start position:0% and i was sent off to 01:05:45.039 --> 01:05:47.510 align:start position:0% and i was sent off to on<01:05:45.200> one<01:05:45.440> of<01:05:45.520> my<01:05:46.079> conference<01:05:46.559> trips<01:05:47.039> to<01:05:47.280> visit 01:05:47.510 --> 01:05:47.520 align:start position:0% on one of my conference trips to visit 01:05:47.520 --> 01:05:49.510 align:start position:0% on one of my conference trips to visit somebody<01:05:47.839> called<01:05:48.079> mike<01:05:48.319> brady 01:05:49.510 --> 01:05:49.520 align:start position:0% somebody called mike brady 01:05:49.520 --> 01:05:52.789 align:start position:0% somebody called mike brady at<01:05:50.079> mit<01:05:51.760> to<01:05:51.920> discuss<01:05:52.240> with<01:05:52.480> him<01:05:52.559> whether<01:05:52.720> or 01:05:52.789 --> 01:05:52.799 align:start position:0% at mit to discuss with him whether or 01:05:52.799 --> 01:05:54.150 align:start position:0% at mit to discuss with him whether or not<01:05:52.960> he'd<01:05:53.039> be<01:05:53.200> interested<01:05:53.680> in<01:05:53.760> coming<01:05:54.000> to 01:05:54.150 --> 01:05:54.160 align:start position:0% not he'd be interested in coming to 01:05:54.160 --> 01:05:55.270 align:start position:0% not he'd be interested in coming to oxford 01:05:55.270 --> 01:05:55.280 align:start position:0% oxford 01:05:55.280 --> 01:05:56.950 align:start position:0% oxford and<01:05:55.440> that<01:05:55.760> you<01:05:55.839> know<01:05:56.319> this<01:05:56.480> had<01:05:56.640> a<01:05:56.720> lot<01:05:56.880> of 01:05:56.950 --> 01:05:56.960 align:start position:0% and that you know this had a lot of 01:05:56.960 --> 01:05:59.029 align:start position:0% and that you know this had a lot of support<01:05:57.359> from<01:05:57.520> the<01:05:57.680> vice<01:05:58.000> chancellors 01:05:59.029 --> 01:05:59.039 align:start position:0% support from the vice chancellors 01:05:59.039 --> 01:06:02.390 align:start position:0% support from the vice chancellors and<01:05:59.200> so<01:05:59.440> forth<01:05:59.839> so<01:06:01.520> he<01:06:01.680> was<01:06:01.839> approached<01:06:02.240> and 01:06:02.390 --> 01:06:02.400 align:start position:0% and so forth so he was approached and 01:06:02.400 --> 01:06:03.990 align:start position:0% and so forth so he was approached and head-hunted<01:06:02.960> for 01:06:03.990 --> 01:06:04.000 align:start position:0% head-hunted for 01:06:04.000 --> 01:06:07.109 align:start position:0% head-hunted for the<01:06:04.400> the<01:06:04.640> chair<01:06:04.960> of<01:06:05.119> information<01:06:05.599> engineering 01:06:07.109 --> 01:06:07.119 align:start position:0% the the chair of information engineering 01:06:07.119 --> 01:06:10.630 align:start position:0% the the chair of information engineering and<01:06:08.079> from<01:06:08.319> that<01:06:08.559> nucleus<01:06:09.520> we<01:06:10.079> started<01:06:10.480> the 01:06:10.630 --> 01:06:10.640 align:start position:0% and from that nucleus we started the 01:06:10.640 --> 01:06:11.990 align:start position:0% and from that nucleus we started the research<01:06:11.119> group 01:06:11.990 --> 01:06:12.000 align:start position:0% research group 01:06:12.000 --> 01:06:14.710 align:start position:0% research group in<01:06:12.160> robotics<01:06:12.720> so<01:06:12.960> initially<01:06:13.359> it<01:06:13.440> was<01:06:14.240> myself 01:06:14.710 --> 01:06:14.720 align:start position:0% in robotics so initially it was myself 01:06:14.720 --> 01:06:16.069 align:start position:0% in robotics so initially it was myself and<01:06:14.880> mike<01:06:15.119> brady 01:06:16.069 --> 01:06:16.079 align:start position:0% and mike brady 01:06:16.079 --> 01:06:19.990 align:start position:0% and mike brady and<01:06:16.480> they<01:06:16.839> forsythe<01:06:18.240> as<01:06:18.480> his<01:06:18.640> phd<01:06:19.119> student 01:06:19.990 --> 01:06:20.000 align:start position:0% and they forsythe as his phd student 01:06:20.000 --> 01:06:22.789 align:start position:0% and they forsythe as his phd student and<01:06:20.240> two<01:06:20.480> sun<01:06:20.720> workstations<01:06:22.160> so<01:06:22.319> that<01:06:22.480> was<01:06:22.640> the 01:06:22.789 --> 01:06:22.799 align:start position:0% and two sun workstations so that was the 01:06:22.799 --> 01:06:23.430 align:start position:0% and two sun workstations so that was the initial 01:06:23.430 --> 01:06:23.440 align:start position:0% initial 01:06:23.440 --> 01:06:26.470 align:start position:0% initial robotics<01:06:24.000> research<01:06:24.400> group 01:06:26.470 --> 01:06:26.480 align:start position:0% robotics research group 01:06:26.480 --> 01:06:27.990 align:start position:0% robotics research group but<01:06:26.640> it<01:06:26.720> wasn't<01:06:26.960> called<01:06:27.119> a<01:06:27.200> robotics<01:06:27.599> research 01:06:27.990 --> 01:06:28.000 align:start position:0% but it wasn't called a robotics research 01:06:28.000 --> 01:06:29.670 align:start position:0% but it wasn't called a robotics research group<01:06:28.240> because<01:06:28.720> we<01:06:28.880> didn't<01:06:29.119> have<01:06:29.280> research 01:06:29.670 --> 01:06:29.680 align:start position:0% group because we didn't have research 01:06:29.680 --> 01:06:30.150 align:start position:0% group because we didn't have research groups 01:06:30.150 --> 01:06:30.160 align:start position:0% groups 01:06:30.160 --> 01:06:33.990 align:start position:0% groups in<01:06:31.359> in<01:06:31.520> oxford<01:06:32.880> and<01:06:33.200> that<01:06:33.359> was<01:06:33.440> much 01:06:33.990 --> 01:06:34.000 align:start position:0% in in oxford and that was much 01:06:34.000 --> 01:06:37.670 align:start position:0% in in oxford and that was much that<01:06:34.160> was<01:06:34.480> not<01:06:34.720> a<01:06:34.799> term<01:06:35.119> used<01:06:35.920> and<01:06:36.079> i<01:06:36.240> had<01:06:36.480> a<01:06:36.880> phd 01:06:37.670 --> 01:06:37.680 align:start position:0% that was not a term used and i had a phd 01:06:37.680 --> 01:06:39.430 align:start position:0% that was not a term used and i had a phd student<01:06:38.000> at<01:06:38.079> the<01:06:38.160> time 01:06:39.430 --> 01:06:39.440 align:start position:0% student at the time 01:06:39.440 --> 01:06:42.549 align:start position:0% student at the time that<01:06:39.680> joined<01:06:40.160> in<01:06:40.359> 1982<01:06:42.000> called 01:06:42.549 --> 01:06:42.559 align:start position:0% that joined in 1982 called 01:06:42.559 --> 01:06:45.349 align:start position:0% that joined in 1982 called vaughan<01:06:42.880> mitchell<01:06:43.920> and<01:06:44.079> he<01:06:44.319> said<01:06:44.640> to<01:06:44.799> me<01:06:45.200> why 01:06:45.349 --> 01:06:45.359 align:start position:0% vaughan mitchell and he said to me why 01:06:45.359 --> 01:06:47.109 align:start position:0% vaughan mitchell and he said to me why don't<01:06:45.520> we<01:06:45.839> call<01:06:46.079> ourselves 01:06:47.109 --> 01:06:47.119 align:start position:0% don't we call ourselves 01:06:47.119 --> 01:06:49.430 align:start position:0% don't we call ourselves the<01:06:47.280> robotics<01:06:47.839> research<01:06:48.400> group<01:06:49.280> there 01:06:49.430 --> 01:06:49.440 align:start position:0% the robotics research group there 01:06:49.440 --> 01:06:50.950 align:start position:0% the robotics research group there weren't<01:06:49.680> any<01:06:49.920> research<01:06:50.319> groups<01:06:50.720> in<01:06:50.880> the 01:06:50.950 --> 01:06:50.960 align:start position:0% weren't any research groups in the 01:06:50.960 --> 01:06:52.549 align:start position:0% weren't any research groups in the department<01:06:51.440> so<01:06:51.680> we 01:06:52.549 --> 01:06:52.559 align:start position:0% department so we 01:06:52.559 --> 01:06:55.510 align:start position:0% department so we we<01:06:52.880> sat<01:06:53.119> down<01:06:54.079> and<01:06:54.319> we<01:06:54.480> designed<01:06:55.119> a<01:06:55.200> little 01:06:55.510 --> 01:06:55.520 align:start position:0% we sat down and we designed a little 01:06:55.520 --> 01:06:57.349 align:start position:0% we sat down and we designed a little sort<01:06:55.680> of 01:06:57.349 --> 01:06:57.359 align:start position:0% sort of 01:06:57.359 --> 01:07:00.390 align:start position:0% sort of letterhead<01:06:58.400> which<01:06:58.640> we<01:06:58.799> could<01:06:59.359> reproduce 01:07:00.390 --> 01:07:00.400 align:start position:0% letterhead which we could reproduce 01:07:00.400 --> 01:07:03.109 align:start position:0% letterhead which we could reproduce in<01:07:00.960> in<01:07:01.680> a<01:07:01.839> laser<01:07:02.240> printer<01:07:02.559> because<01:07:02.720> by<01:07:02.880> then<01:07:03.039> we 01:07:03.109 --> 01:07:03.119 align:start position:0% in in a laser printer because by then we 01:07:03.119 --> 01:07:04.710 align:start position:0% in in a laser printer because by then we had<01:07:03.280> a<01:07:03.359> laser<01:07:03.680> printer 01:07:04.710 --> 01:07:04.720 align:start position:0% had a laser printer 01:07:04.720 --> 01:07:09.029 align:start position:0% had a laser printer uh<01:07:05.359> one<01:07:05.599> of<01:07:05.680> the<01:07:05.839> earliest<01:07:06.400> laser<01:07:06.720> printers 01:07:09.029 --> 01:07:09.039 align:start position:0% uh one of the earliest laser printers 01:07:09.039 --> 01:07:11.109 align:start position:0% uh one of the earliest laser printers that<01:07:09.200> i<01:07:09.359> saw<01:07:10.079> so<01:07:10.240> this<01:07:10.480> is<01:07:10.559> this<01:07:10.720> novel<01:07:10.960> that 01:07:11.109 --> 01:07:11.119 align:start position:0% that i saw so this is this novel that 01:07:11.119 --> 01:07:12.309 align:start position:0% that i saw so this is this novel that you<01:07:11.200> could<01:07:11.280> actually<01:07:11.440> have<01:07:11.599> a<01:07:11.680> letterhead 01:07:12.309 --> 01:07:12.319 align:start position:0% you could actually have a letterhead 01:07:12.319 --> 01:07:14.230 align:start position:0% you could actually have a letterhead so<01:07:12.480> we<01:07:12.559> do<01:07:12.720> this<01:07:12.880> little<01:07:13.119> drawing<01:07:13.520> of<01:07:13.520> of<01:07:14.160> a 01:07:14.230 --> 01:07:14.240 align:start position:0% so we do this little drawing of of a 01:07:14.240 --> 01:07:15.430 align:start position:0% so we do this little drawing of of a little<01:07:14.480> robot 01:07:15.430 --> 01:07:15.440 align:start position:0% little robot 01:07:15.440 --> 01:07:18.950 align:start position:0% little robot drawing<01:07:16.000> out<01:07:17.280> the<01:07:17.440> oxford<01:07:17.920> skyline 01:07:18.950 --> 01:07:18.960 align:start position:0% drawing out the oxford skyline 01:07:18.960 --> 01:07:20.950 align:start position:0% drawing out the oxford skyline and<01:07:19.280> we<01:07:19.520> called<01:07:19.839> this<01:07:20.240> called<01:07:20.480> ourselves<01:07:20.799> the 01:07:20.950 --> 01:07:20.960 align:start position:0% and we called this called ourselves the 01:07:20.960 --> 01:07:23.349 align:start position:0% and we called this called ourselves the robotics<01:07:21.359> research<01:07:21.839> group 01:07:23.349 --> 01:07:23.359 align:start position:0% robotics research group 01:07:23.359 --> 01:07:25.990 align:start position:0% robotics research group the<01:07:23.599> the<01:07:23.839> the<01:07:24.000> three<01:07:24.240> of<01:07:24.400> us<01:07:24.720> so<01:07:24.960> um<01:07:25.760> and<01:07:25.839> that 01:07:25.990 --> 01:07:26.000 align:start position:0% the the the three of us so um and that 01:07:26.000 --> 01:07:27.349 align:start position:0% the the the three of us so um and that was<01:07:26.240> very<01:07:26.400> much<01:07:26.559> frowned<01:07:26.880> upon<01:07:27.200> in<01:07:27.280> the 01:07:27.349 --> 01:07:27.359 align:start position:0% was very much frowned upon in the 01:07:27.359 --> 01:07:28.470 align:start position:0% was very much frowned upon in the department<01:07:27.760> because<01:07:27.920> there<01:07:28.000> weren't<01:07:28.240> any 01:07:28.470 --> 01:07:28.480 align:start position:0% department because there weren't any 01:07:28.480 --> 01:07:29.750 align:start position:0% department because there weren't any research<01:07:28.880> groups<01:07:29.200> people<01:07:29.440> didn't<01:07:29.599> call 01:07:29.750 --> 01:07:29.760 align:start position:0% research groups people didn't call 01:07:29.760 --> 01:07:31.029 align:start position:0% research groups people didn't call themselves<01:07:30.079> research<01:07:30.480> groups 01:07:31.029 --> 01:07:31.039 align:start position:0% themselves research groups 01:07:31.039 --> 01:07:32.470 align:start position:0% themselves research groups very<01:07:31.359> modern<01:07:31.760> the<01:07:31.920> idea<01:07:32.160> of<01:07:32.240> having<01:07:32.400> a 01:07:32.470 --> 01:07:32.480 align:start position:0% very modern the idea of having a 01:07:32.480 --> 01:07:34.069 align:start position:0% very modern the idea of having a research<01:07:32.799> group<01:07:33.280> now<01:07:33.520> everybody<01:07:33.839> has 01:07:34.069 --> 01:07:34.079 align:start position:0% research group now everybody has 01:07:34.079 --> 01:07:35.510 align:start position:0% research group now everybody has research<01:07:34.480> groups<01:07:34.720> so<01:07:34.880> everybody's<01:07:35.280> in<01:07:35.440> a 01:07:35.510 --> 01:07:35.520 align:start position:0% research groups so everybody's in a 01:07:35.520 --> 01:07:36.630 align:start position:0% research groups so everybody's in a research<01:07:35.920> group 01:07:36.630 --> 01:07:36.640 align:start position:0% research group 01:07:36.640 --> 01:07:38.950 align:start position:0% research group so<01:07:36.799> we<01:07:36.960> were<01:07:37.119> the<01:07:37.200> very<01:07:37.440> first<01:07:38.480> people<01:07:38.799> to 01:07:38.950 --> 01:07:38.960 align:start position:0% so we were the very first people to 01:07:38.960 --> 01:07:40.549 align:start position:0% so we were the very first people to actually<01:07:39.280> call<01:07:39.520> ourselves<01:07:39.839> a<01:07:40.000> research<01:07:40.319> group 01:07:40.549 --> 01:07:40.559 align:start position:0% actually call ourselves a research group 01:07:40.559 --> 01:07:41.109 align:start position:0% actually call ourselves a research group so<01:07:40.720> mike 01:07:41.109 --> 01:07:41.119 align:start position:0% so mike 01:07:41.119 --> 01:07:44.390 align:start position:0% so mike joined<01:07:41.520> the<01:07:42.079> robotics<01:07:42.640> research<01:07:43.119> group<01:07:43.839> and 01:07:44.390 --> 01:07:44.400 align:start position:0% joined the robotics research group and 01:07:44.400 --> 01:07:47.510 align:start position:0% joined the robotics research group and and<01:07:45.039> created<01:07:45.680> the<01:07:45.920> the<01:07:46.079> nucleus<01:07:46.640> so 01:07:47.510 --> 01:07:47.520 align:start position:0% and created the the nucleus so 01:07:47.520 --> 01:07:49.270 align:start position:0% and created the the nucleus so he<01:07:47.680> approached<01:07:48.000> number<01:07:48.319> people<01:07:48.559> like<01:07:48.960> andrew 01:07:49.270 --> 01:07:49.280 align:start position:0% he approached number people like andrew 01:07:49.280 --> 01:07:51.109 align:start position:0% he approached number people like andrew blake<01:07:49.680> who<01:07:49.760> came<01:07:50.000> and<01:07:50.079> joined<01:07:50.400> us 01:07:51.109 --> 01:07:51.119 align:start position:0% blake who came and joined us 01:07:51.119 --> 01:07:55.349 align:start position:0% blake who came and joined us dave<01:07:51.440> murray<01:07:53.039> hugh<01:07:53.280> dark<01:07:53.599> white 01:07:55.349 --> 01:07:55.359 align:start position:0% dave murray hugh dark white 01:07:55.359 --> 01:07:57.270 align:start position:0% dave murray hugh dark white uh<01:07:56.240> trying<01:07:56.400> to<01:07:56.480> remember<01:07:56.720> the<01:07:56.799> names<01:07:57.039> of<01:07:57.119> all 01:07:57.270 --> 01:07:57.280 align:start position:0% uh trying to remember the names of all 01:07:57.280 --> 01:08:00.150 align:start position:0% uh trying to remember the names of all the<01:07:57.359> people<01:07:57.599> that<01:07:58.319> come<01:07:58.640> through 01:08:00.150 --> 01:08:00.160 align:start position:0% the people that come through 01:08:00.160 --> 01:08:05.109 align:start position:0% the people that come through uh<01:08:00.480> guy<01:08:00.799> scott<01:08:01.359> came<01:08:01.680> through<01:08:03.039> uh 01:08:05.109 --> 01:08:05.119 align:start position:0% uh guy scott came through uh 01:08:05.119 --> 01:08:08.309 align:start position:0% uh guy scott came through uh oh<01:08:05.680> dear<01:08:06.000> me<01:08:06.960> a<01:08:07.119> long<01:08:07.359> time<01:08:07.599> ago<01:08:07.920> now 01:08:08.309 --> 01:08:08.319 align:start position:0% oh dear me a long time ago now 01:08:08.319 --> 01:08:14.309 align:start position:0% oh dear me a long time ago now um<01:08:09.839> that's<01:08:10.160> it<01:08:10.240> this<01:08:10.400> would<01:08:10.480> be<01:08:11.400> 1986<01:08:12.400> or<01:08:12.559> 85 01:08:14.309 --> 01:08:14.319 align:start position:0% um that's it this would be 1986 or 85 01:08:14.319 --> 01:08:18.870 align:start position:0% um that's it this would be 1986 or 85 18<01:08:14.799> 1985<01:08:15.839> i<01:08:15.920> think<01:08:17.040> when<01:08:17.359> mike<01:08:17.679> arrived 01:08:18.870 --> 01:08:18.880 align:start position:0% 18 1985 i think when mike arrived 01:08:18.880 --> 01:08:21.910 align:start position:0% 18 1985 i think when mike arrived so<01:08:19.359> i've<01:08:19.600> been<01:08:19.759> running<01:08:20.960> the<01:08:21.120> group 01:08:21.910 --> 01:08:21.920 align:start position:0% so i've been running the group 01:08:21.920 --> 01:08:23.669 align:start position:0% so i've been running the group by<01:08:22.159> then<01:08:22.319> i've<01:08:22.480> been<01:08:22.719> successful<01:08:23.199> in<01:08:23.279> getting 01:08:23.669 --> 01:08:23.679 align:start position:0% by then i've been successful in getting 01:08:23.679 --> 01:08:27.189 align:start position:0% by then i've been successful in getting grant<01:08:24.080> income<01:08:24.880> so<01:08:25.040> it<01:08:25.120> was<01:08:25.279> a<01:08:25.440> bit 01:08:27.189 --> 01:08:27.199 align:start position:0% grant income so it was a bit 01:08:27.199 --> 01:08:29.990 align:start position:0% grant income so it was a bit embarrassing<01:08:27.679> so<01:08:27.839> what<01:08:28.000> i<01:08:28.080> did<01:08:28.239> was<01:08:28.400> i<01:08:28.480> went<01:08:28.719> to 01:08:29.990 --> 01:08:30.000 align:start position:0% embarrassing so what i did was i went to 01:08:30.000 --> 01:08:33.349 align:start position:0% embarrassing so what i did was i went to see<01:08:30.239> the<01:08:30.400> epsrc<01:08:31.359> and<01:08:31.440> say<01:08:31.600> well<01:08:31.759> can<01:08:31.920> i<01:08:32.080> use<01:08:32.319> my 01:08:33.349 --> 01:08:33.359 align:start position:0% see the epsrc and say well can i use my 01:08:33.359 --> 01:08:35.590 align:start position:0% see the epsrc and say well can i use my my<01:08:33.759> then<01:08:34.000> to<01:08:34.159> be<01:08:34.239> awarded<01:08:34.719> research<01:08:35.120> grant<01:08:35.440> to 01:08:35.590 --> 01:08:35.600 align:start position:0% my then to be awarded research grant to 01:08:35.600 --> 01:08:38.390 align:start position:0% my then to be awarded research grant to do<01:08:36.000> the<01:08:36.080> control<01:08:36.480> of<01:08:36.560> compliant<01:08:36.960> manipulators 01:08:38.390 --> 01:08:38.400 align:start position:0% do the control of compliant manipulators 01:08:38.400 --> 01:08:43.189 align:start position:0% do the control of compliant manipulators to<01:08:38.560> put<01:08:38.799> some<01:08:39.120> equipment<01:08:39.920> onto 01:08:43.189 --> 01:08:43.199 align:start position:0% 01:08:43.199 --> 01:08:46.550 align:start position:0% for<01:08:43.359> the<01:08:43.520> lab<01:08:44.480> and<01:08:44.640> so<01:08:45.920> we 01:08:46.550 --> 01:08:46.560 align:start position:0% for the lab and so we 01:08:46.560 --> 01:08:50.709 align:start position:0% for the lab and so we they<01:08:46.719> agreed<01:08:47.520> and<01:08:47.839> so<01:08:48.880> i<01:08:49.040> managed<01:08:49.359> to<01:08:49.520> purchase 01:08:50.709 --> 01:08:50.719 align:start position:0% they agreed and so i managed to purchase 01:08:50.719 --> 01:08:52.950 align:start position:0% they agreed and so i managed to purchase something<01:08:50.960> called<01:08:51.199> a<01:08:51.279> data<01:08:51.600> cube<01:08:52.640> that<01:08:52.799> if<01:08:52.880> you 01:08:52.950 --> 01:08:52.960 align:start position:0% something called a data cube that if you 01:08:52.960 --> 01:08:55.110 align:start position:0% something called a data cube that if you know<01:08:53.040> what<01:08:53.199> a<01:08:53.279> data<01:08:53.600> cube<01:08:53.839> was 01:08:55.110 --> 01:08:55.120 align:start position:0% know what a data cube was 01:08:55.120 --> 01:08:58.630 align:start position:0% know what a data cube was again<01:08:56.719> very<01:08:57.040> early<01:08:57.600> computing<01:08:58.080> device<01:08:58.480> that 01:08:58.630 --> 01:08:58.640 align:start position:0% again very early computing device that 01:08:58.640 --> 01:09:00.390 align:start position:0% again very early computing device that could<01:08:58.799> do 01:09:00.390 --> 01:09:00.400 align:start position:0% could do 01:09:00.400 --> 01:09:03.430 align:start position:0% could do 64<01:09:00.960> multipliers<01:09:01.520> at<01:09:01.600> once 01:09:03.430 --> 01:09:03.440 align:start position:0% 64 multipliers at once 01:09:03.440 --> 01:09:05.189 align:start position:0% 64 multipliers at once could<01:09:03.600> do<01:09:03.759> convolutions<01:09:04.560> and<01:09:04.640> this<01:09:04.799> thing<01:09:04.960> was 01:09:05.189 --> 01:09:05.199 align:start position:0% could do convolutions and this thing was 01:09:05.199 --> 01:09:06.709 align:start position:0% could do convolutions and this thing was for<01:09:05.359> doing 01:09:06.709 --> 01:09:06.719 align:start position:0% for doing 01:09:06.719 --> 01:09:10.149 align:start position:0% for doing semi-real-time<01:09:08.239> image<01:09:08.560> processing<01:09:09.600> and<01:09:09.920> data 01:09:10.149 --> 01:09:10.159 align:start position:0% semi-real-time image processing and data 01:09:10.159 --> 01:09:12.070 align:start position:0% semi-real-time image processing and data cube<01:09:10.400> was<01:09:10.560> having<01:09:10.799> a<01:09:10.880> data<01:09:11.120> cube<01:09:11.359> was<01:09:11.520> a<01:09:11.600> big 01:09:12.070 --> 01:09:12.080 align:start position:0% cube was having a data cube was a big 01:09:12.080 --> 01:09:13.110 align:start position:0% cube was having a data cube was a big deal 01:09:13.110 --> 01:09:13.120 align:start position:0% deal 01:09:13.120 --> 01:09:15.910 align:start position:0% deal so<01:09:13.440> i<01:09:13.600> bought<01:09:13.839> a<01:09:13.920> data<01:09:14.239> cube<01:09:14.799> on<01:09:15.120> my<01:09:15.359> project<01:09:15.759> to 01:09:15.910 --> 01:09:15.920 align:start position:0% so i bought a data cube on my project to 01:09:15.920 --> 01:09:16.470 align:start position:0% so i bought a data cube on my project to look<01:09:16.080> at 01:09:16.470 --> 01:09:16.480 align:start position:0% look at 01:09:16.480 --> 01:09:19.510 align:start position:0% look at control<01:09:16.880> of<01:09:16.960> compliant<01:09:17.600> arms<01:09:18.480> so 01:09:19.510 --> 01:09:19.520 align:start position:0% control of compliant arms so 01:09:19.520 --> 01:09:22.070 align:start position:0% control of compliant arms so this<01:09:20.000> was<01:09:20.400> the<01:09:20.560> early<01:09:20.880> work<01:09:21.199> you<01:09:21.440> early<01:09:21.759> stuff 01:09:22.070 --> 01:09:22.080 align:start position:0% this was the early work you early stuff 01:09:22.080 --> 01:09:22.950 align:start position:0% this was the early work you early stuff used<01:09:22.239> by<01:09:22.480> mike 01:09:22.950 --> 01:09:22.960 align:start position:0% used by mike 01:09:22.960 --> 01:09:25.749 align:start position:0% used by mike uh<01:09:23.199> dave<01:09:23.520> scythe<01:09:23.839> and<01:09:23.920> so<01:09:24.159> forth<01:09:25.120> whose<01:09:25.520> early 01:09:25.749 --> 01:09:25.759 align:start position:0% uh dave scythe and so forth whose early 01:09:25.759 --> 01:09:26.470 align:start position:0% uh dave scythe and so forth whose early work<01:09:26.000> was<01:09:26.159> on 01:09:26.470 --> 01:09:26.480 align:start position:0% work was on 01:09:26.480 --> 01:09:27.990 align:start position:0% work was on i<01:09:26.560> think<01:09:26.719> it<01:09:26.719> was<01:09:26.880> color<01:09:27.199> constancy<01:09:27.839> or 01:09:27.990 --> 01:09:28.000 align:start position:0% i think it was color constancy or 01:09:28.000 --> 01:09:30.630 align:start position:0% i think it was color constancy or something<01:09:29.199> so<01:09:29.359> he<01:09:29.440> was<01:09:29.520> doing<01:09:29.759> this<01:09:29.920> research 01:09:30.630 --> 01:09:30.640 align:start position:0% something so he was doing this research 01:09:30.640 --> 01:09:33.030 align:start position:0% something so he was doing this research and<01:09:31.359> had<01:09:31.520> a<01:09:31.600> number<01:09:31.759> of<01:09:31.920> phd<01:09:32.400> students<01:09:32.719> coming 01:09:33.030 --> 01:09:33.040 align:start position:0% and had a number of phd students coming 01:09:33.040 --> 01:09:34.390 align:start position:0% and had a number of phd students coming through<01:09:33.920> then 01:09:34.390 --> 01:09:34.400 align:start position:0% through then 01:09:34.400 --> 01:09:36.390 align:start position:0% through then the<01:09:34.719> the<01:09:34.799> research<01:09:35.199> group<01:09:35.520> just<01:09:35.839> just 01:09:36.390 --> 01:09:36.400 align:start position:0% the the research group just just 01:09:36.400 --> 01:09:37.990 align:start position:0% the the research group just just exploded 01:09:37.990 --> 01:09:38.000 align:start position:0% exploded 01:09:38.000 --> 01:09:40.870 align:start position:0% exploded and<01:09:38.239> we<01:09:38.400> got<01:09:38.799> the<01:09:38.880> money<01:09:39.279> for<01:09:39.679> doing<01:09:40.080> um 01:09:40.870 --> 01:09:40.880 align:start position:0% and we got the money for doing um 01:09:40.880 --> 01:09:44.149 align:start position:0% and we got the money for doing um autonomous<01:09:41.359> guided<01:09:41.679> vehicle<01:09:42.000> control 01:09:44.149 --> 01:09:44.159 align:start position:0% autonomous guided vehicle control 01:09:44.159 --> 01:09:45.590 align:start position:0% autonomous guided vehicle control do<01:09:44.239> i<01:09:44.400> know<01:09:44.560> the<01:09:44.719> names<01:09:44.960> of<01:09:45.040> everybody<01:09:45.440> that 01:09:45.590 --> 01:09:45.600 align:start position:0% do i know the names of everybody that 01:09:45.600 --> 01:09:47.349 align:start position:0% do i know the names of everybody that came<01:09:45.920> through 01:09:47.349 --> 01:09:47.359 align:start position:0% came through 01:09:47.359 --> 01:09:51.510 align:start position:0% came through uh<01:09:50.000> who<01:09:50.319> else<01:09:50.560> was<01:09:50.799> there 01:09:51.510 --> 01:09:51.520 align:start position:0% uh who else was there 01:09:51.520 --> 01:09:55.910 align:start position:0% uh who else was there jim<01:09:51.839> allen<01:09:53.359> he<01:09:53.520> was<01:09:53.600> a<01:09:53.679> research<01:09:54.159> fellow 01:09:55.910 --> 01:09:55.920 align:start position:0% jim allen he was a research fellow 01:09:55.920 --> 01:10:00.870 align:start position:0% jim allen he was a research fellow um<01:09:58.800> oh 01:10:00.870 --> 01:10:00.880 align:start position:0% um oh 01:10:00.880 --> 01:10:03.189 align:start position:0% um oh too<01:10:01.120> many<01:10:02.000> we<01:10:02.159> had<01:10:02.400> quite<01:10:02.560> a<01:10:02.560> lot<01:10:02.719> of<01:10:02.800> visitors 01:10:03.189 --> 01:10:03.199 align:start position:0% too many we had quite a lot of visitors 01:10:03.199 --> 01:10:05.189 align:start position:0% too many we had quite a lot of visitors come<01:10:03.440> through 01:10:05.189 --> 01:10:05.199 align:start position:0% come through 01:10:05.199 --> 01:10:08.470 align:start position:0% come through um 01:10:08.470 --> 01:10:08.480 align:start position:0% 01:10:08.480 --> 01:10:10.149 align:start position:0% quite<01:10:08.800> quite<01:10:08.960> a<01:10:09.040> few<01:10:09.199> come<01:10:09.520> through<01:10:09.840> we<01:10:09.920> saw 01:10:10.149 --> 01:10:10.159 align:start position:0% quite quite a few come through we saw 01:10:10.159 --> 01:10:11.510 align:start position:0% quite quite a few come through we saw most<01:10:10.400> of<01:10:10.480> the<01:10:10.560> most<01:10:10.880> most 01:10:11.510 --> 01:10:11.520 align:start position:0% most of the most most 01:10:11.520 --> 01:10:13.270 align:start position:0% most of the most most most<01:10:11.840> international<01:10:12.320> researchers<01:10:13.040> came 01:10:13.270 --> 01:10:13.280 align:start position:0% most international researchers came 01:10:13.280 --> 01:10:15.750 align:start position:0% most international researchers came through<01:10:14.480> then<01:10:14.719> andrew<01:10:15.040> sissman 01:10:15.750 --> 01:10:15.760 align:start position:0% through then andrew sissman 01:10:15.760 --> 01:10:19.189 align:start position:0% through then andrew sissman came<01:10:17.280> um<01:10:18.560> so 01:10:19.189 --> 01:10:19.199 align:start position:0% came um so 01:10:19.199 --> 01:10:22.870 align:start position:0% came um so he<01:10:19.520> he's<01:10:20.800> more<01:10:20.960> from<01:10:21.199> the<01:10:21.360> light 01:10:22.870 --> 01:10:22.880 align:start position:0% he he's more from the light 01:10:22.880 --> 01:10:25.110 align:start position:0% he he's more from the light uh<01:10:23.199> mostly<01:10:23.600> visitors<01:10:24.080> came<01:10:24.320> through<01:10:24.800> so<01:10:24.960> they 01:10:25.110 --> 01:10:25.120 align:start position:0% uh mostly visitors came through so they 01:10:25.120 --> 01:10:26.229 align:start position:0% uh mostly visitors came through so they didn't<01:10:25.280> come<01:10:25.840> no 01:10:26.229 --> 01:10:26.239 align:start position:0% didn't come no 01:10:26.239 --> 01:10:30.870 align:start position:0% didn't come no not<01:10:26.400> more<01:10:26.560> from<01:10:26.719> mit<01:10:27.280> as<01:10:27.600> faculty<01:10:28.840> members 01:10:30.870 --> 01:10:30.880 align:start position:0% not more from mit as faculty members 01:10:30.880 --> 01:10:33.510 align:start position:0% not more from mit as faculty members uh<01:10:31.440> don't<01:10:31.760> recall<01:10:32.239> any<01:10:32.480> from<01:10:32.640> mit<01:10:33.280> coming 01:10:33.510 --> 01:10:33.520 align:start position:0% uh don't recall any from mit coming 01:10:33.520 --> 01:10:34.070 align:start position:0% uh don't recall any from mit coming through 01:10:34.070 --> 01:10:34.080 align:start position:0% through 01:10:34.080 --> 01:10:36.390 align:start position:0% through there's<01:10:34.400> there's<01:10:34.960> a<01:10:35.040> few<01:10:35.199> went<01:10:35.440> off<01:10:35.840> to<01:10:36.080> join 01:10:36.390 --> 01:10:36.400 align:start position:0% there's there's a few went off to join 01:10:36.400 --> 01:10:37.669 align:start position:0% there's there's a few went off to join like<01:10:36.560> john<01:10:36.880> leonard 01:10:37.669 --> 01:10:37.679 align:start position:0% like john leonard 01:10:37.679 --> 01:10:40.390 align:start position:0% like john leonard i<01:10:37.840> remember<01:10:38.159> john<01:10:38.400> leonard<01:10:38.719> turning<01:10:39.120> up<01:10:39.440> and 01:10:40.390 --> 01:10:40.400 align:start position:0% i remember john leonard turning up and 01:10:40.400 --> 01:10:41.510 align:start position:0% i remember john leonard turning up and his<01:10:40.640> early<01:10:40.960> work 01:10:41.510 --> 01:10:41.520 align:start position:0% his early work 01:10:41.520 --> 01:10:45.830 align:start position:0% his early work on<01:10:41.840> something<01:10:42.159> that<01:10:42.400> became<01:10:42.719> known<01:10:43.040> as<01:10:44.000> slam 01:10:45.830 --> 01:10:45.840 align:start position:0% on something that became known as slam 01:10:45.840 --> 01:10:48.310 align:start position:0% on something that became known as slam so<01:10:46.400> this<01:10:46.640> is<01:10:46.800> this<01:10:47.120> this<01:10:47.360> simultaneous 01:10:48.310 --> 01:10:48.320 align:start position:0% so this is this this simultaneous 01:10:48.320 --> 01:10:51.270 align:start position:0% so this is this this simultaneous navigation<01:10:49.120> and 01:10:51.270 --> 01:10:51.280 align:start position:0% navigation and 01:10:51.280 --> 01:10:53.430 align:start position:0% navigation and so<01:10:51.440> there's<01:10:52.000> sort<01:10:52.239> of<01:10:52.320> he<01:10:52.480> worked<01:10:52.719> with<01:10:52.880> hudan 01:10:53.430 --> 01:10:53.440 align:start position:0% so there's sort of he worked with hudan 01:10:53.440 --> 01:10:56.310 align:start position:0% so there's sort of he worked with hudan white<01:10:53.760> on<01:10:53.840> this<01:10:54.080> stuff<01:10:54.400> called<01:10:54.719> slam 01:10:56.310 --> 01:10:56.320 align:start position:0% white on this stuff called slam 01:10:56.320 --> 01:10:58.709 align:start position:0% white on this stuff called slam so<01:10:57.040> so<01:10:57.280> they<01:10:57.440> had<01:10:57.520> these<01:10:57.679> little<01:10:57.920> agvs<01:10:58.560> that 01:10:58.709 --> 01:10:58.719 align:start position:0% so so they had these little agvs that 01:10:58.719 --> 01:10:59.510 align:start position:0% so so they had these little agvs that would<01:10:59.120> build 01:10:59.510 --> 01:10:59.520 align:start position:0% would build 01:10:59.520 --> 01:11:02.709 align:start position:0% would build maps<01:10:59.840> and<01:11:00.000> navigate<01:11:00.480> around<01:11:02.080> i<01:11:02.159> used<01:11:02.320> to<01:11:02.400> have 01:11:02.709 --> 01:11:02.719 align:start position:0% maps and navigate around i used to have 01:11:02.719 --> 01:11:04.550 align:start position:0% maps and navigate around i used to have a<01:11:02.800> little<01:11:02.960> bit<01:11:03.120> of<01:11:03.280> fun<01:11:03.520> at<01:11:03.679> times<01:11:04.239> trying<01:11:04.400> to 01:11:04.550 --> 01:11:04.560 align:start position:0% a little bit of fun at times trying to 01:11:04.560 --> 01:11:07.669 align:start position:0% a little bit of fun at times trying to compete<01:11:04.800> with<01:11:04.960> them<01:11:05.120> with<01:11:05.280> undergraduates<01:11:06.000> so 01:11:07.669 --> 01:11:07.679 align:start position:0% compete with them with undergraduates so 01:11:07.679 --> 01:11:09.510 align:start position:0% compete with them with undergraduates so for<01:11:07.920> a<01:11:08.000> joke<01:11:08.320> one<01:11:08.480> year<01:11:08.640> i<01:11:08.719> put<01:11:08.880> a<01:11:08.960> little<01:11:09.360> we 01:11:09.510 --> 01:11:09.520 align:start position:0% for a joke one year i put a little we 01:11:09.520 --> 01:11:11.030 align:start position:0% for a joke one year i put a little we have<01:11:09.679> these<01:11:10.640> final 01:11:11.030 --> 01:11:11.040 align:start position:0% have these final 01:11:11.040 --> 01:11:12.630 align:start position:0% have these final a<01:11:11.199> project<01:11:11.600> that<01:11:11.679> one<01:11:11.920> undergraduate 01:11:12.630 --> 01:11:12.640 align:start position:0% a project that one undergraduate 01:11:12.640 --> 01:11:14.149 align:start position:0% a project that one undergraduate performs<01:11:13.840> so 01:11:14.149 --> 01:11:14.159 align:start position:0% performs so 01:11:14.159 --> 01:11:21.510 align:start position:0% performs so for<01:11:14.480> amusement<01:11:15.120> i<01:11:15.440> got<01:11:15.600> one<01:11:15.840> undergraduate<01:11:16.560> to 01:11:21.510 --> 01:11:21.520 align:start position:0% 01:11:21.520 --> 01:11:26.709 align:start position:0% build<01:11:22.080> a<01:11:23.199> an<01:11:23.360> agv<01:11:24.080> based<01:11:24.320> on<01:11:24.480> a<01:11:24.560> penman<01:11:25.040> plotter 01:11:26.709 --> 01:11:26.719 align:start position:0% build a an agv based on a penman plotter 01:11:26.719 --> 01:11:27.910 align:start position:0% build a an agv based on a penman plotter i<01:11:26.880> don't<01:11:26.960> know<01:11:27.040> if<01:11:27.120> you<01:11:27.199> know<01:11:27.280> what<01:11:27.440> a<01:11:27.520> penman 01:11:27.910 --> 01:11:27.920 align:start position:0% i don't know if you know what a penman 01:11:27.920 --> 01:11:29.830 align:start position:0% i don't know if you know what a penman plotter<01:11:28.320> is 01:11:29.830 --> 01:11:29.840 align:start position:0% plotter is 01:11:29.840 --> 01:11:31.430 align:start position:0% plotter is yeah<01:11:30.159> it's<01:11:30.400> a<01:11:30.480> little<01:11:30.719> it's<01:11:30.880> like<01:11:31.040> a<01:11:31.040> little<01:11:31.360> it 01:11:31.430 --> 01:11:31.440 align:start position:0% yeah it's a little it's like a little it 01:11:31.440 --> 01:11:32.870 align:start position:0% yeah it's a little it's like a little it was<01:11:31.600> a<01:11:31.679> little<01:11:31.920> turtle<01:11:32.400> that<01:11:32.560> could<01:11:32.719> be 01:11:32.870 --> 01:11:32.880 align:start position:0% was a little turtle that could be 01:11:32.880 --> 01:11:34.070 align:start position:0% was a little turtle that could be programmed<01:11:33.280> using 01:11:34.070 --> 01:11:34.080 align:start position:0% programmed using 01:11:34.080 --> 01:11:36.310 align:start position:0% programmed using turtle<01:11:34.480> programming<01:11:35.040> which<01:11:35.280> would<01:11:36.000> move 01:11:36.310 --> 01:11:36.320 align:start position:0% turtle programming which would move 01:11:36.320 --> 01:11:37.430 align:start position:0% turtle programming which would move around 01:11:37.430 --> 01:11:37.440 align:start position:0% around 01:11:37.440 --> 01:11:39.110 align:start position:0% around like<01:11:37.600> a<01:11:37.679> little<01:11:38.000> robot<01:11:38.480> and<01:11:38.560> then<01:11:38.640> you<01:11:38.719> could 01:11:39.110 --> 01:11:39.120 align:start position:0% like a little robot and then you could 01:11:39.120 --> 01:11:40.630 align:start position:0% like a little robot and then you could put<01:11:39.360> a<01:11:40.000> it<01:11:40.159> would 01:11:40.630 --> 01:11:40.640 align:start position:0% put a it would 01:11:40.640 --> 01:11:42.390 align:start position:0% put a it would be<01:11:40.719> able<01:11:40.880> to<01:11:41.199> put<01:11:41.360> a<01:11:41.440> pen<01:11:41.760> on<01:11:41.840> the<01:11:41.920> paper<01:11:42.239> and 01:11:42.390 --> 01:11:42.400 align:start position:0% be able to put a pen on the paper and 01:11:42.400 --> 01:11:44.709 align:start position:0% be able to put a pen on the paper and draw<01:11:43.120> so<01:11:43.280> with<01:11:43.440> this<01:11:43.600> penryn<01:11:43.920> plotter 01:11:44.709 --> 01:11:44.719 align:start position:0% draw so with this penryn plotter 01:11:44.719 --> 01:11:46.709 align:start position:0% draw so with this penryn plotter and<01:11:44.800> we<01:11:44.960> had<01:11:45.040> a<01:11:45.120> visitor<01:11:45.520> from<01:11:45.679> japan<01:11:46.400> called 01:11:46.709 --> 01:11:46.719 align:start position:0% and we had a visitor from japan called 01:11:46.719 --> 01:11:49.189 align:start position:0% and we had a visitor from japan called masayuka<01:11:47.360> inaba 01:11:49.189 --> 01:11:49.199 align:start position:0% masayuka inaba 01:11:49.199 --> 01:11:50.630 align:start position:0% masayuka inaba who<01:11:49.440> brought<01:11:49.760> something<01:11:50.159> called<01:11:50.560> a 01:11:50.630 --> 01:11:50.640 align:start position:0% who brought something called a 01:11:50.640 --> 01:11:52.790 align:start position:0% who brought something called a multi-window<01:11:51.360> vision<01:11:51.679> system<01:11:51.920> with<01:11:52.159> him 01:11:52.790 --> 01:11:52.800 align:start position:0% multi-window vision system with him 01:11:52.800 --> 01:11:57.350 align:start position:0% multi-window vision system with him which<01:11:53.040> was<01:11:54.800> a<01:11:55.199> video<01:11:55.520> system<01:11:55.920> which<01:11:56.239> could 01:11:57.350 --> 01:11:57.360 align:start position:0% which was a video system which could 01:11:57.360 --> 01:12:01.030 align:start position:0% which was a video system which could extract<01:11:58.560> a<01:11:58.719> small<01:11:59.040> window<01:12:00.320> a<01:12:00.480> number<01:12:00.719> of<01:12:00.800> small 01:12:01.030 --> 01:12:01.040 align:start position:0% extract a small window a number of small 01:12:01.040 --> 01:12:02.310 align:start position:0% extract a small window a number of small windows<01:12:01.440> and<01:12:01.520> perform 01:12:02.310 --> 01:12:02.320 align:start position:0% windows and perform 01:12:02.320 --> 01:12:04.550 align:start position:0% windows and perform computationally<01:12:02.880> intensive<01:12:03.440> processes<01:12:04.320> on<01:12:04.480> a 01:12:04.550 --> 01:12:04.560 align:start position:0% computationally intensive processes on a 01:12:04.560 --> 01:12:06.950 align:start position:0% computationally intensive processes on a very 01:12:06.950 --> 01:12:06.960 align:start position:0% 01:12:06.960 --> 01:12:09.910 align:start position:0% focus<01:12:07.360> component<01:12:08.000> of<01:12:08.320> of<01:12:08.400> the<01:12:08.560> image<01:12:09.199> and<01:12:09.440> so<01:12:09.840> i 01:12:09.910 --> 01:12:09.920 align:start position:0% focus component of of the image and so i 01:12:09.920 --> 01:12:11.110 align:start position:0% focus component of of the image and so i got<01:12:10.080> this<01:12:10.239> undergraduate<01:12:10.719> using<01:12:10.960> this 01:12:11.110 --> 01:12:11.120 align:start position:0% got this undergraduate using this 01:12:11.120 --> 01:12:12.630 align:start position:0% got this undergraduate using this multi-window<01:12:11.679> vision<01:12:11.920> system 01:12:12.630 --> 01:12:12.640 align:start position:0% multi-window vision system 01:12:12.640 --> 01:12:14.310 align:start position:0% multi-window vision system with<01:12:12.800> a<01:12:12.880> little<01:12:13.120> cheap<01:12:13.440> camera<01:12:13.840> sitting<01:12:14.239> on 01:12:14.310 --> 01:12:14.320 align:start position:0% with a little cheap camera sitting on 01:12:14.320 --> 01:12:16.229 align:start position:0% with a little cheap camera sitting on top<01:12:14.480> of<01:12:14.560> this<01:12:14.719> pen<01:12:14.960> and<01:12:15.040> plotter 01:12:16.229 --> 01:12:16.239 align:start position:0% top of this pen and plotter 01:12:16.239 --> 01:12:18.070 align:start position:0% top of this pen and plotter and<01:12:16.400> i<01:12:16.560> had<01:12:16.880> a<01:12:17.040> tabletop<01:12:17.600> model<01:12:17.840> of<01:12:18.000> the 01:12:18.070 --> 01:12:18.080 align:start position:0% and i had a tabletop model of the 01:12:18.080 --> 01:12:19.830 align:start position:0% and i had a tabletop model of the factory<01:12:18.880> with<01:12:19.120> little 01:12:19.830 --> 01:12:19.840 align:start position:0% factory with little 01:12:19.840 --> 01:12:22.149 align:start position:0% factory with little cardboard<01:12:20.400> models<01:12:20.719> of<01:12:20.880> machine<01:12:21.199> tools<01:12:21.840> we<01:12:22.000> had 01:12:22.149 --> 01:12:22.159 align:start position:0% cardboard models of machine tools we had 01:12:22.159 --> 01:12:24.709 align:start position:0% cardboard models of machine tools we had this<01:12:22.320> penman<01:12:22.719> plotter<01:12:23.199> navigating<01:12:23.840> its<01:12:24.000> way 01:12:24.709 --> 01:12:24.719 align:start position:0% this penman plotter navigating its way 01:12:24.719 --> 01:12:27.430 align:start position:0% this penman plotter navigating its way and<01:12:24.960> doing<01:12:25.280> slam<01:12:26.719> using<01:12:26.960> this<01:12:27.199> this 01:12:27.430 --> 01:12:27.440 align:start position:0% and doing slam using this this 01:12:27.440 --> 01:12:28.870 align:start position:0% and doing slam using this this multi-window<01:12:28.000> vision<01:12:28.320> system<01:12:28.640> as<01:12:28.800> an 01:12:28.870 --> 01:12:28.880 align:start position:0% multi-window vision system as an 01:12:28.880 --> 01:12:30.709 align:start position:0% multi-window vision system as an undergraduate<01:12:29.600> project 01:12:30.709 --> 01:12:30.719 align:start position:0% undergraduate project 01:12:30.719 --> 01:12:33.669 align:start position:0% undergraduate project which<01:12:32.320> was<01:12:32.640> quite<01:12:32.880> it's<01:12:33.040> quite<01:12:33.199> good<01:12:33.440> fun<01:12:33.600> to 01:12:33.669 --> 01:12:33.679 align:start position:0% which was quite it's quite good fun to 01:12:33.679 --> 01:12:35.110 align:start position:0% which was quite it's quite good fun to demonstrate 01:12:35.110 --> 01:12:35.120 align:start position:0% demonstrate 01:12:35.120 --> 01:12:37.750 align:start position:0% demonstrate somebody<01:12:35.520> doing<01:12:35.760> that<01:12:36.080> so<01:12:36.239> we<01:12:36.320> have<01:12:36.560> we<01:12:37.040> we<01:12:37.679> a 01:12:37.750 --> 01:12:37.760 align:start position:0% somebody doing that so we have we we a 01:12:37.760 --> 01:12:39.990 align:start position:0% somebody doing that so we have we we a lot<01:12:37.920> of<01:12:38.000> our<01:12:38.159> fun<01:12:38.400> projects<01:12:38.800> we<01:12:38.960> tend 01:12:39.990 --> 01:12:40.000 align:start position:0% lot of our fun projects we tend 01:12:40.000 --> 01:12:43.270 align:start position:0% lot of our fun projects we tend tend<01:12:40.320> to<01:12:40.480> do<01:12:40.960> with<01:12:41.440> undergraduates<01:12:42.239> so<01:12:42.480> i<01:12:42.560> had 01:12:43.270 --> 01:12:43.280 align:start position:0% tend to do with undergraduates so i had 01:12:43.280 --> 01:12:44.870 align:start position:0% tend to do with undergraduates so i had i<01:12:43.360> had<01:12:43.520> a<01:12:43.600> couple<01:12:43.840> of<01:12:44.080> students<01:12:44.320> come<01:12:44.560> across 01:12:44.870 --> 01:12:44.880 align:start position:0% i had a couple of students come across 01:12:44.880 --> 01:12:46.950 align:start position:0% i had a couple of students come across from<01:12:45.040> princeton<01:12:45.679> as<01:12:45.920> undergraduate<01:12:46.560> exchange 01:12:46.950 --> 01:12:46.960 align:start position:0% from princeton as undergraduate exchange 01:12:46.960 --> 01:12:47.990 align:start position:0% from princeton as undergraduate exchange students 01:12:47.990 --> 01:12:48.000 align:start position:0% students 01:12:48.000 --> 01:12:50.870 align:start position:0% students and<01:12:48.159> i<01:12:48.239> got<01:12:48.400> them<01:12:48.640> to<01:12:48.800> build<01:12:49.440> um<01:12:50.480> a<01:12:50.560> little 01:12:50.870 --> 01:12:50.880 align:start position:0% and i got them to build um a little 01:12:50.880 --> 01:12:51.910 align:start position:0% and i got them to build um a little walking<01:12:51.360> insect 01:12:51.910 --> 01:12:51.920 align:start position:0% walking insect 01:12:51.920 --> 01:12:53.510 align:start position:0% walking insect similar<01:12:52.320> to<01:12:52.640> ones<01:12:52.880> that<01:12:52.960> are<01:12:53.040> built<01:12:53.280> in<01:12:53.440> the 01:12:53.510 --> 01:12:53.520 align:start position:0% similar to ones that are built in the 01:12:53.520 --> 01:12:55.590 align:start position:0% similar to ones that are built in the states<01:12:54.320> based<01:12:54.640> upon 01:12:55.590 --> 01:12:55.600 align:start position:0% states based upon 01:12:55.600 --> 01:12:59.110 align:start position:0% states based upon um<01:12:57.440> radio<01:12:57.840> control<01:12:58.239> servos 01:12:59.110 --> 01:12:59.120 align:start position:0% um radio control servos 01:12:59.120 --> 01:13:01.990 align:start position:0% um radio control servos but<01:12:59.280> the<01:12:59.440> interesting<01:12:59.760> thing<01:13:00.000> they<01:13:00.239> did<01:13:00.880> was 01:13:01.990 --> 01:13:02.000 align:start position:0% but the interesting thing they did was 01:13:02.000 --> 01:13:03.270 align:start position:0% but the interesting thing they did was we<01:13:02.239> got 01:13:03.270 --> 01:13:03.280 align:start position:0% we got 01:13:03.280 --> 01:13:08.870 align:start position:0% we got a<01:13:03.440> line<01:13:03.840> camera<01:13:06.000> and<01:13:06.400> we<01:13:06.560> managed<01:13:07.040> to 01:13:08.870 --> 01:13:08.880 align:start position:0% a line camera and we managed to 01:13:08.880 --> 01:13:10.709 align:start position:0% a line camera and we managed to using<01:13:09.440> etching<01:13:10.000> techniques<01:13:10.480> from<01:13:10.640> the 01:13:10.709 --> 01:13:10.719 align:start position:0% using etching techniques from the 01:13:10.719 --> 01:13:11.910 align:start position:0% using etching techniques from the physics<01:13:11.040> department 01:13:11.910 --> 01:13:11.920 align:start position:0% physics department 01:13:11.920 --> 01:13:16.149 align:start position:0% physics department to<01:13:12.159> attach<01:13:13.600> um 01:13:16.149 --> 01:13:16.159 align:start position:0% 01:13:16.159 --> 01:13:19.189 align:start position:0% fiber<01:13:16.560> optics<01:13:17.360> to<01:13:17.520> this<01:13:17.679> lip<01:13:17.920> to<01:13:18.159> each 01:13:19.189 --> 01:13:19.199 align:start position:0% fiber optics to this lip to each 01:13:19.199 --> 01:13:21.510 align:start position:0% fiber optics to this lip to each single<01:13:19.520> element<01:13:19.920> of<01:13:20.000> this<01:13:20.239> line<01:13:20.480> camera<01:13:21.440> and 01:13:21.510 --> 01:13:21.520 align:start position:0% single element of this line camera and 01:13:21.520 --> 01:13:22.870 align:start position:0% single element of this line camera and these<01:13:21.760> fiber<01:13:22.080> optics<01:13:22.320> were<01:13:22.480> taken<01:13:22.640> off<01:13:22.800> from 01:13:22.870 --> 01:13:22.880 align:start position:0% these fiber optics were taken off from 01:13:22.880 --> 01:13:24.149 align:start position:0% these fiber optics were taken off from the<01:13:22.960> line<01:13:23.280> camera 01:13:24.149 --> 01:13:24.159 align:start position:0% the line camera 01:13:24.159 --> 01:13:26.870 align:start position:0% the line camera and<01:13:24.400> poked<01:13:24.800> into<01:13:25.040> small<01:13:25.360> holes<01:13:25.679> drilled<01:13:26.239> into 01:13:26.870 --> 01:13:26.880 align:start position:0% and poked into small holes drilled into 01:13:26.880 --> 01:13:29.669 align:start position:0% and poked into small holes drilled into a<01:13:27.040> ping<01:13:27.280> pong<01:13:27.600> ball 01:13:29.669 --> 01:13:29.679 align:start position:0% a ping pong ball 01:13:29.679 --> 01:13:32.229 align:start position:0% a ping pong ball so<01:13:29.840> we<01:13:30.000> had<01:13:30.159> a<01:13:30.320> ping<01:13:30.560> pong<01:13:30.800> ball<01:13:31.360> which<01:13:32.000> with 01:13:32.229 --> 01:13:32.239 align:start position:0% so we had a ping pong ball which with 01:13:32.239 --> 01:13:33.990 align:start position:0% so we had a ping pong ball which with about 01:13:33.990 --> 01:13:34.000 align:start position:0% about 01:13:34.000 --> 01:13:37.110 align:start position:0% about 30<01:13:34.400> receptors<01:13:35.040> receptive<01:13:35.600> fields<01:13:36.000> on<01:13:36.159> it 01:13:37.110 --> 01:13:37.120 align:start position:0% 30 receptors receptive fields on it 01:13:37.120 --> 01:13:40.229 align:start position:0% 30 receptors receptive fields on it which<01:13:37.520> acted<01:13:37.920> like<01:13:38.080> a<01:13:38.159> compound<01:13:38.719> eye<01:13:39.760> so 01:13:40.229 --> 01:13:40.239 align:start position:0% which acted like a compound eye so 01:13:40.239 --> 01:13:42.630 align:start position:0% which acted like a compound eye so these<01:13:40.480> students<01:13:40.880> built<01:13:41.040> this<01:13:41.199> compound<01:13:41.760> eye 01:13:42.630 --> 01:13:42.640 align:start position:0% these students built this compound eye 01:13:42.640 --> 01:13:47.110 align:start position:0% these students built this compound eye stuck<01:13:43.040> it<01:13:43.199> on<01:13:43.440> top<01:13:43.600> of<01:13:43.760> this<01:13:44.080> little<01:13:44.880> um 01:13:47.110 --> 01:13:47.120 align:start position:0% stuck it on top of this little um 01:13:47.120 --> 01:13:50.149 align:start position:0% stuck it on top of this little um little<01:13:47.440> insect<01:13:48.560> and<01:13:49.360> we<01:13:49.600> built<01:13:49.760> a<01:13:49.840> little 01:13:50.149 --> 01:13:50.159 align:start position:0% little insect and we built a little 01:13:50.159 --> 01:13:50.870 align:start position:0% little insect and we built a little micro 01:13:50.870 --> 01:13:50.880 align:start position:0% micro 01:13:50.880 --> 01:13:52.950 align:start position:0% micro controller<01:13:51.360> which<01:13:51.600> would<01:13:52.239> look<01:13:52.560> look<01:13:52.719> at<01:13:52.800> this 01:13:52.950 --> 01:13:52.960 align:start position:0% controller which would look look at this 01:13:52.960 --> 01:13:53.990 align:start position:0% controller which would look look at this compound<01:13:53.520> eye 01:13:53.990 --> 01:13:54.000 align:start position:0% compound eye 01:13:54.000 --> 01:13:58.229 align:start position:0% compound eye and<01:13:54.159> make<01:13:54.400> decisions<01:13:54.880> about<01:13:55.440> whether<01:13:55.760> or<01:13:56.000> not 01:13:58.229 --> 01:13:58.239 align:start position:0% and make decisions about whether or not 01:13:58.239 --> 01:14:00.310 align:start position:0% and make decisions about whether or not it<01:13:58.320> was<01:13:58.560> safe<01:13:59.440> and<01:13:59.600> this<01:13:59.760> thing<01:13:59.920> was<01:14:00.080> sort<01:14:00.239> of 01:14:00.310 --> 01:14:00.320 align:start position:0% it was safe and this thing was sort of 01:14:00.320 --> 01:14:02.550 align:start position:0% it was safe and this thing was sort of navigating<01:14:00.880> around<01:14:01.199> the<01:14:01.280> world 01:14:02.550 --> 01:14:02.560 align:start position:0% navigating around the world 01:14:02.560 --> 01:14:05.430 align:start position:0% navigating around the world uh<01:14:04.000> built<01:14:04.400> completely<01:14:04.800> built<01:14:05.040> by<01:14:05.199> two 01:14:05.430 --> 01:14:05.440 align:start position:0% uh built completely built by two 01:14:05.440 --> 01:14:06.550 align:start position:0% uh built completely built by two undergraduates 01:14:06.550 --> 01:14:06.560 align:start position:0% undergraduates 01:14:06.560 --> 01:14:08.790 align:start position:0% undergraduates very<01:14:06.800> little<01:14:07.040> help<01:14:07.280> from<01:14:07.440> me<01:14:08.159> quite<01:14:08.400> amazing 01:14:08.790 --> 01:14:08.800 align:start position:0% very little help from me quite amazing 01:14:08.800 --> 01:14:09.990 align:start position:0% very little help from me quite amazing what<01:14:08.880> they<01:14:09.120> achieved 01:14:09.990 --> 01:14:10.000 align:start position:0% what they achieved 01:14:10.000 --> 01:14:11.830 align:start position:0% what they achieved and<01:14:10.159> we<01:14:10.320> had<01:14:10.560> ways<01:14:10.800> of<01:14:10.880> communicating<01:14:11.520> with<01:14:11.679> it 01:14:11.830 --> 01:14:11.840 align:start position:0% and we had ways of communicating with it 01:14:11.840 --> 01:14:13.590 align:start position:0% and we had ways of communicating with it so<01:14:12.000> you'd<01:14:12.320> send<01:14:12.560> it<01:14:12.880> a<01:14:12.960> signal 01:14:13.590 --> 01:14:13.600 align:start position:0% so you'd send it a signal 01:14:13.600 --> 01:14:15.430 align:start position:0% so you'd send it a signal and<01:14:13.679> the<01:14:13.840> way<01:14:14.000> it<01:14:14.239> sent<01:14:14.480> back<01:14:14.719> it<01:14:15.040> what<01:14:15.280> it 01:14:15.430 --> 01:14:15.440 align:start position:0% and the way it sent back it what it 01:14:15.440 --> 01:14:18.709 align:start position:0% and the way it sent back it what it found<01:14:16.480> was<01:14:16.880> by<01:14:17.040> using<01:14:17.360> b<01:14:17.520> dances 01:14:18.709 --> 01:14:18.719 align:start position:0% found was by using b dances 01:14:18.719 --> 01:14:20.550 align:start position:0% found was by using b dances so<01:14:18.960> what<01:14:19.120> we<01:14:19.199> got<01:14:19.360> the<01:14:19.679> insect<01:14:20.000> to<01:14:20.080> do<01:14:20.239> was<01:14:20.400> to 01:14:20.550 --> 01:14:20.560 align:start position:0% so what we got the insect to do was to 01:14:20.560 --> 01:14:22.870 align:start position:0% so what we got the insect to do was to do<01:14:20.640> the<01:14:20.719> bee<01:14:20.960> dance<01:14:21.440> so<01:14:21.679> we<01:14:21.840> had<01:14:22.159> various 01:14:22.870 --> 01:14:22.880 align:start position:0% do the bee dance so we had various 01:14:22.880 --> 01:14:25.350 align:start position:0% do the bee dance so we had various wiggles<01:14:23.440> and<01:14:24.080> hopping<01:14:24.400> up<01:14:24.480> and<01:14:24.640> down<01:14:24.960> and 01:14:25.350 --> 01:14:25.360 align:start position:0% wiggles and hopping up and down and 01:14:25.360 --> 01:14:26.950 align:start position:0% wiggles and hopping up and down and laser<01:14:25.760> raising<01:14:26.080> a<01:14:26.159> leg<01:14:26.400> which<01:14:26.560> would<01:14:26.719> mean 01:14:26.950 --> 01:14:26.960 align:start position:0% laser raising a leg which would mean 01:14:26.960 --> 01:14:27.750 align:start position:0% laser raising a leg which would mean certain<01:14:27.199> things 01:14:27.750 --> 01:14:27.760 align:start position:0% certain things 01:14:27.760 --> 01:14:29.990 align:start position:0% certain things so<01:14:27.840> we<01:14:28.080> developed<01:14:28.400> a<01:14:28.480> little<01:14:28.800> vocabulary<01:14:29.840> for 01:14:29.990 --> 01:14:30.000 align:start position:0% so we developed a little vocabulary for 01:14:30.000 --> 01:14:31.669 align:start position:0% so we developed a little vocabulary for this<01:14:30.159> little<01:14:30.400> walking<01:14:30.800> insect 01:14:31.669 --> 01:14:31.679 align:start position:0% this little walking insect 01:14:31.679 --> 01:14:33.189 align:start position:0% this little walking insect which<01:14:31.840> was<01:14:32.000> similar<01:14:32.320> to<01:14:32.480> what<01:14:32.640> a<01:14:32.800> bee<01:14:32.960> would 01:14:33.189 --> 01:14:33.199 align:start position:0% which was similar to what a bee would 01:14:33.199 --> 01:14:34.709 align:start position:0% which was similar to what a bee would use<01:14:33.360> because<01:14:33.520> i'm<01:14:33.679> a<01:14:33.760> beekeeper 01:14:34.709 --> 01:14:34.719 align:start position:0% use because i'm a beekeeper 01:14:34.719 --> 01:14:37.430 align:start position:0% use because i'm a beekeeper so<01:14:35.440> i<01:14:35.679> i<01:14:36.080> have<01:14:36.159> an<01:14:36.320> interest<01:14:36.640> in<01:14:36.800> b<01:14:37.040> so<01:14:37.199> we<01:14:37.280> had 01:14:37.430 --> 01:14:37.440 align:start position:0% so i i have an interest in b so we had 01:14:37.440 --> 01:14:39.270 align:start position:0% so i i have an interest in b so we had this<01:14:37.520> thing<01:14:37.760> doing<01:14:37.920> b<01:14:38.159> dances 01:14:39.270 --> 01:14:39.280 align:start position:0% this thing doing b dances 01:14:39.280 --> 01:14:41.350 align:start position:0% this thing doing b dances and<01:14:39.440> so<01:14:39.679> it<01:14:39.840> would<01:14:40.320> if<01:14:40.480> you<01:14:40.640> sort<01:14:40.800> of<01:14:40.880> got<01:14:41.120> near 01:14:41.350 --> 01:14:41.360 align:start position:0% and so it would if you sort of got near 01:14:41.360 --> 01:14:43.189 align:start position:0% and so it would if you sort of got near it<01:14:41.520> it<01:14:41.600> would<01:14:41.679> be<01:14:41.920> frightened<01:14:42.480> and 01:14:43.189 --> 01:14:43.199 align:start position:0% it it would be frightened and 01:14:43.199 --> 01:14:44.950 align:start position:0% it it would be frightened and say<01:14:43.440> i'm<01:14:43.600> frightened<01:14:44.080> and<01:14:44.239> scuttle<01:14:44.640> away<01:14:44.880> and 01:14:44.950 --> 01:14:44.960 align:start position:0% say i'm frightened and scuttle away and 01:14:44.960 --> 01:14:47.510 align:start position:0% say i'm frightened and scuttle away and try<01:14:45.120> and<01:14:45.280> find<01:14:45.600> a<01:14:45.920> dark<01:14:46.239> hole<01:14:46.480> to<01:14:46.640> hide<01:14:46.880> in 01:14:47.510 --> 01:14:47.520 align:start position:0% try and find a dark hole to hide in 01:14:47.520 --> 01:14:49.590 align:start position:0% try and find a dark hole to hide in it<01:14:47.679> had<01:14:47.840> all<01:14:48.000> these<01:14:48.159> various<01:14:49.360> these 01:14:49.590 --> 01:14:49.600 align:start position:0% it had all these various these 01:14:49.600 --> 01:14:52.310 align:start position:0% it had all these various these performances<01:14:50.320> based<01:14:50.560> upon 01:14:52.310 --> 01:14:52.320 align:start position:0% performances based upon 01:14:52.320 --> 01:14:54.709 align:start position:0% performances based upon what<01:14:52.480> was<01:14:52.560> called<01:14:52.800> subsumption<01:14:53.440> architecture 01:14:54.709 --> 01:14:54.719 align:start position:0% what was called subsumption architecture 01:14:54.719 --> 01:14:56.070 align:start position:0% what was called subsumption architecture so<01:14:55.199> we 01:14:56.070 --> 01:14:56.080 align:start position:0% so we 01:14:56.080 --> 01:14:57.830 align:start position:0% so we they<01:14:56.239> had<01:14:56.400> a<01:14:56.560> very<01:14:56.800> very<01:14:57.040> very<01:14:57.360> elementary 01:14:57.830 --> 01:14:57.840 align:start position:0% they had a very very very elementary 01:14:57.840 --> 01:15:00.950 align:start position:0% they had a very very very elementary version<01:14:58.159> of<01:14:58.239> the<01:14:58.320> subsumption<01:14:58.960> architecture 01:15:00.950 --> 01:15:00.960 align:start position:0% version of the subsumption architecture 01:15:00.960 --> 01:15:03.669 align:start position:0% version of the subsumption architecture linked<01:15:01.360> into<01:15:01.679> this<01:15:01.920> little<01:15:02.159> segmented<01:15:02.800> eye<01:15:03.520> in 01:15:03.669 --> 01:15:03.679 align:start position:0% linked into this little segmented eye in 01:15:03.679 --> 01:15:06.149 align:start position:0% linked into this little segmented eye in which<01:15:03.920> this<01:15:04.239> insect<01:15:04.800> could 01:15:06.149 --> 01:15:06.159 align:start position:0% which this insect could 01:15:06.159 --> 01:15:07.910 align:start position:0% which this insect could act<01:15:06.400> autonomously<01:15:07.120> in<01:15:07.199> the<01:15:07.280> world<01:15:07.520> and<01:15:07.600> sort 01:15:07.910 --> 01:15:07.920 align:start position:0% act autonomously in the world and sort 01:15:07.920 --> 01:15:09.350 align:start position:0% act autonomously in the world and sort of<01:15:08.000> tunnel<01:15:08.320> its<01:15:08.400> way<01:15:08.560> around 01:15:09.350 --> 01:15:09.360 align:start position:0% of tunnel its way around 01:15:09.360 --> 01:15:11.110 align:start position:0% of tunnel its way around so<01:15:09.520> that<01:15:09.840> little<01:15:10.080> insect<01:15:10.400> went<01:15:10.640> back<01:15:10.800> off<01:15:10.960> to 01:15:11.110 --> 01:15:11.120 align:start position:0% so that little insect went back off to 01:15:11.120 --> 01:15:12.229 align:start position:0% so that little insect went back off to princeton<01:15:11.520> when<01:15:11.679> they<01:15:11.760> returned<01:15:12.080> to 01:15:12.229 --> 01:15:12.239 align:start position:0% princeton when they returned to 01:15:12.239 --> 01:15:13.270 align:start position:0% princeton when they returned to princeton 01:15:13.270 --> 01:15:13.280 align:start position:0% princeton 01:15:13.280 --> 01:15:15.669 align:start position:0% princeton as<01:15:13.520> as<01:15:13.760> final<01:15:14.080> year<01:15:14.320> students<01:15:14.719> so<01:15:14.880> that<01:15:15.520> that 01:15:15.669 --> 01:15:15.679 align:start position:0% as as final year students so that that 01:15:15.679 --> 01:15:16.390 align:start position:0% as as final year students so that that was<01:15:15.840> that<01:15:16.080> was 01:15:16.390 --> 01:15:16.400 align:start position:0% was that was 01:15:16.400 --> 01:15:18.470 align:start position:0% was that was quite<01:15:16.640> quite<01:15:16.800> good<01:15:17.040> fun<01:15:17.679> so<01:15:17.840> a<01:15:17.920> lot<01:15:18.080> of<01:15:18.159> what<01:15:18.320> we 01:15:18.470 --> 01:15:18.480 align:start position:0% quite quite good fun so a lot of what we 01:15:18.480 --> 01:15:20.950 align:start position:0% quite quite good fun so a lot of what we do<01:15:18.800> is<01:15:19.040> is<01:15:19.199> basically<01:15:19.600> fun<01:15:19.840> with<01:15:20.080> students 01:15:20.950 --> 01:15:20.960 align:start position:0% do is is basically fun with students 01:15:20.960 --> 01:15:22.830 align:start position:0% do is is basically fun with students so<01:15:21.360> they<01:15:21.520> love<01:15:21.760> building<01:15:22.000> little<01:15:22.239> robot 01:15:22.830 --> 01:15:22.840 align:start position:0% so they love building little robot 01:15:22.840 --> 01:15:24.550 align:start position:0% so they love building little robot systems 01:15:24.550 --> 01:15:24.560 align:start position:0% systems 01:15:24.560 --> 01:15:26.470 align:start position:0% systems you<01:15:24.719> mentioned<01:15:25.120> a<01:15:25.199> visitor<01:15:25.520> from<01:15:25.840> japan<01:15:26.320> were 01:15:26.470 --> 01:15:26.480 align:start position:0% you mentioned a visitor from japan were 01:15:26.480 --> 01:15:28.229 align:start position:0% you mentioned a visitor from japan were there<01:15:26.640> other<01:15:26.800> visitors<01:15:27.199> from<01:15:27.440> japan 01:15:28.229 --> 01:15:28.239 align:start position:0% there other visitors from japan 01:15:28.239 --> 01:15:29.910 align:start position:0% there other visitors from japan oh<01:15:28.480> we<01:15:28.560> had<01:15:28.719> many<01:15:29.040> people<01:15:29.280> come<01:15:29.440> through<01:15:29.760> all 01:15:29.910 --> 01:15:29.920 align:start position:0% oh we had many people come through all 01:15:29.920 --> 01:15:31.590 align:start position:0% oh we had many people come through all the<01:15:30.080> time<01:15:30.560> but<01:15:30.800> we<01:15:30.960> didn't<01:15:31.120> have<01:15:31.199> very<01:15:31.360> many 01:15:31.590 --> 01:15:31.600 align:start position:0% the time but we didn't have very many 01:15:31.600 --> 01:15:33.350 align:start position:0% the time but we didn't have very many states<01:15:31.840> masayuka<01:15:32.400> inaudible 01:15:33.350 --> 01:15:33.360 align:start position:0% states masayuka inaudible 01:15:33.360 --> 01:15:35.270 align:start position:0% states masayuka inaudible was<01:15:33.520> somebody<01:15:33.920> that<01:15:34.480> stayed<01:15:34.719> for<01:15:34.880> about<01:15:35.120> three 01:15:35.270 --> 01:15:35.280 align:start position:0% was somebody that stayed for about three 01:15:35.280 --> 01:15:37.510 align:start position:0% was somebody that stayed for about three months<01:15:35.760> we 01:15:37.510 --> 01:15:37.520 align:start position:0% months we 01:15:37.520 --> 01:15:43.030 align:start position:0% months we got<01:15:37.679> the<01:15:37.760> funds<01:15:38.080> for<01:15:38.239> doing<01:15:38.480> that<01:15:39.840> so 01:15:43.030 --> 01:15:43.040 align:start position:0% 01:15:43.040 --> 01:15:46.149 align:start position:0% and<01:15:43.199> at<01:15:43.280> the<01:15:43.440> time<01:15:43.760> that<01:15:44.159> um<01:15:45.120> the<01:15:45.360> robotics 01:15:46.149 --> 01:15:46.159 align:start position:0% and at the time that um the robotics 01:15:46.159 --> 01:15:48.470 align:start position:0% and at the time that um the robotics research<01:15:46.640> group<01:15:46.880> was<01:15:47.120> starting<01:15:47.440> up<01:15:47.600> here<01:15:47.920> what 01:15:48.470 --> 01:15:48.480 align:start position:0% research group was starting up here what 01:15:48.480 --> 01:15:50.470 align:start position:0% research group was starting up here what what<01:15:48.880> else<01:15:49.040> was<01:15:49.199> going<01:15:49.440> on 01:15:50.470 --> 01:15:50.480 align:start position:0% what else was going on 01:15:50.480 --> 01:15:52.149 align:start position:0% what else was going on going<01:15:50.719> on<01:15:50.880> around<01:15:51.120> the<01:15:51.199> united<01:15:51.600> kingdom<01:15:52.000> in 01:15:52.149 --> 01:15:52.159 align:start position:0% going on around the united kingdom in 01:15:52.159 --> 01:15:54.550 align:start position:0% going on around the united kingdom in terms<01:15:52.400> of<01:15:52.480> robotics 01:15:54.550 --> 01:15:54.560 align:start position:0% terms of robotics 01:15:54.560 --> 01:15:58.709 align:start position:0% terms of robotics ah<01:15:55.440> yes<01:15:56.480> that<01:15:56.719> was<01:15:56.880> interesting 01:15:58.709 --> 01:15:58.719 align:start position:0% ah yes that was interesting 01:15:58.719 --> 01:16:01.830 align:start position:0% ah yes that was interesting yes<01:16:00.000> i<01:16:00.159> remember<01:16:00.719> something<01:16:01.199> called<01:16:01.600> there 01:16:01.830 --> 01:16:01.840 align:start position:0% yes i remember something called there 01:16:01.840 --> 01:16:02.390 align:start position:0% yes i remember something called there was<01:16:01.920> a 01:16:02.390 --> 01:16:02.400 align:start position:0% was a 01:16:02.400 --> 01:16:03.750 align:start position:0% was a thing<01:16:02.560> that<01:16:02.719> mike<01:16:02.880> brady<01:16:03.199> was<01:16:03.280> involved<01:16:03.600> in 01:16:03.750 --> 01:16:03.760 align:start position:0% thing that mike brady was involved in 01:16:03.760 --> 01:16:06.550 align:start position:0% thing that mike brady was involved in called<01:16:04.080> the 01:16:06.550 --> 01:16:06.560 align:start position:0% 01:16:06.560 --> 01:16:11.030 align:start position:0% the<01:16:07.840> the<01:16:08.000> uk<01:16:08.560> robotics<01:16:09.120> research<01:16:09.600> center 01:16:11.030 --> 01:16:11.040 align:start position:0% the the uk robotics research center 01:16:11.040 --> 01:16:14.790 align:start position:0% the the uk robotics research center in<01:16:11.280> which<01:16:11.679> the<01:16:12.080> the<01:16:12.320> large<01:16:12.960> the<01:16:13.120> larger 01:16:14.790 --> 01:16:14.800 align:start position:0% in which the the large the larger 01:16:14.800 --> 01:16:17.830 align:start position:0% in which the the large the larger research<01:16:15.360> groups 01:16:17.830 --> 01:16:17.840 align:start position:0% 01:16:17.840 --> 01:16:20.149 align:start position:0% wrote<01:16:18.239> research<01:16:18.640> proposals<01:16:19.760> to<01:16:20.000> be 01:16:20.149 --> 01:16:20.159 align:start position:0% wrote research proposals to be 01:16:20.159 --> 01:16:21.669 align:start position:0% wrote research proposals to be considered 01:16:21.669 --> 01:16:21.679 align:start position:0% considered 01:16:21.679 --> 01:16:24.709 align:start position:0% considered as<01:16:22.320> for<01:16:22.640> as<01:16:23.199> a<01:16:23.280> research<01:16:24.320> center<01:16:24.640> of 01:16:24.709 --> 01:16:24.719 align:start position:0% as for as a research center of 01:16:24.719 --> 01:16:26.390 align:start position:0% as for as a research center of excellence<01:16:25.120> in<01:16:25.280> robotics<01:16:25.760> research 01:16:26.390 --> 01:16:26.400 align:start position:0% excellence in robotics research 01:16:26.400 --> 01:16:27.990 align:start position:0% excellence in robotics research so<01:16:26.640> i<01:16:26.719> remember<01:16:26.960> edinburgh<01:16:27.440> university 01:16:27.990 --> 01:16:28.000 align:start position:0% so i remember edinburgh university 01:16:28.000 --> 01:16:31.270 align:start position:0% so i remember edinburgh university writing<01:16:28.400> one<01:16:29.280> oxford<01:16:29.760> wrote<01:16:30.080> one<01:16:30.400> with 01:16:31.270 --> 01:16:31.280 align:start position:0% writing one oxford wrote one with 01:16:31.280 --> 01:16:35.270 align:start position:0% writing one oxford wrote one with with<01:16:31.760> aa<01:16:33.760> and<01:16:33.840> then<01:16:34.080> we<01:16:34.239> all<01:16:34.400> sat<01:16:34.719> back 01:16:35.270 --> 01:16:35.280 align:start position:0% with aa and then we all sat back 01:16:35.280 --> 01:16:37.189 align:start position:0% with aa and then we all sat back with<01:16:35.520> baited<01:16:35.920> breath<01:16:36.159> waiting<01:16:36.640> for<01:16:37.040> the 01:16:37.189 --> 01:16:37.199 align:start position:0% with baited breath waiting for the 01:16:37.199 --> 01:16:39.590 align:start position:0% with baited breath waiting for the announcement<01:16:37.760> who'd<01:16:38.000> won<01:16:38.159> this<01:16:38.320> competition 01:16:39.590 --> 01:16:39.600 align:start position:0% announcement who'd won this competition 01:16:39.600 --> 01:16:41.830 align:start position:0% announcement who'd won this competition and<01:16:40.080> it<01:16:40.320> turned<01:16:40.800> out<01:16:41.040> to<01:16:41.120> be<01:16:41.360> salford 01:16:41.830 --> 01:16:41.840 align:start position:0% and it turned out to be salford 01:16:41.840 --> 01:16:44.149 align:start position:0% and it turned out to be salford university 01:16:44.149 --> 01:16:44.159 align:start position:0% university 01:16:44.159 --> 01:16:49.189 align:start position:0% university which<01:16:44.560> was<01:16:45.120> surprising<01:16:47.120> so 01:16:49.189 --> 01:16:49.199 align:start position:0% which was surprising so 01:16:49.199 --> 01:16:52.470 align:start position:0% which was surprising so so<01:16:49.920> so<01:16:50.320> the<01:16:51.199> the<01:16:52.000> uk 01:16:52.470 --> 01:16:52.480 align:start position:0% so so the the uk 01:16:52.480 --> 01:16:54.550 align:start position:0% so so the the uk center<01:16:52.880> for<01:16:53.040> robotics<01:16:53.600> research<01:16:54.000> was<01:16:54.239> placed 01:16:54.550 --> 01:16:54.560 align:start position:0% center for robotics research was placed 01:16:54.560 --> 01:16:56.229 align:start position:0% center for robotics research was placed at<01:16:54.719> salford<01:16:55.199> university 01:16:56.229 --> 01:16:56.239 align:start position:0% at salford university 01:16:56.239 --> 01:16:59.189 align:start position:0% at salford university in<01:16:57.040> in<01:16:57.760> in<01:16:57.920> a<01:16:58.000> sort<01:16:58.159> of<01:16:58.320> business<01:16:58.719> park<01:16:59.040> in 01:16:59.189 --> 01:16:59.199 align:start position:0% in in in a sort of business park in 01:16:59.199 --> 01:17:00.950 align:start position:0% in in in a sort of business park in salford 01:17:00.950 --> 01:17:00.960 align:start position:0% salford 01:17:00.960 --> 01:17:04.070 align:start position:0% salford so<01:17:02.719> we<01:17:02.880> had 01:17:04.070 --> 01:17:04.080 align:start position:0% so we had 01:17:04.080 --> 01:17:05.270 align:start position:0% so we had we<01:17:04.320> have<01:17:04.400> we<01:17:04.560> must<01:17:04.800> have<01:17:04.880> had<01:17:04.960> one<01:17:05.120> of<01:17:05.199> the 01:17:05.270 --> 01:17:05.280 align:start position:0% we have we must have had one of the 01:17:05.280 --> 01:17:07.350 align:start position:0% we have we must have had one of the biggest<01:17:05.600> research<01:17:06.080> groups<01:17:06.560> in<01:17:06.800> europe<01:17:07.199> in 01:17:07.350 --> 01:17:07.360 align:start position:0% biggest research groups in europe in 01:17:07.360 --> 01:17:08.470 align:start position:0% biggest research groups in europe in oxford 01:17:08.470 --> 01:17:08.480 align:start position:0% oxford 01:17:08.480 --> 01:17:11.270 align:start position:0% oxford you<01:17:08.560> know<01:17:08.800> a<01:17:08.960> huge<01:17:09.360> huge<01:17:10.480> depth<01:17:10.800> and<01:17:10.960> strength 01:17:11.270 --> 01:17:11.280 align:start position:0% you know a huge huge depth and strength 01:17:11.280 --> 01:17:12.950 align:start position:0% you know a huge huge depth and strength in<01:17:11.360> computer<01:17:11.840> vision 01:17:12.950 --> 01:17:12.960 align:start position:0% in computer vision 01:17:12.960 --> 01:17:14.950 align:start position:0% in computer vision we<01:17:13.120> had<01:17:13.440> huda<01:17:13.920> white<01:17:14.159> doing<01:17:14.400> autonomous 01:17:14.950 --> 01:17:14.960 align:start position:0% we had huda white doing autonomous 01:17:14.960 --> 01:17:16.229 align:start position:0% we had huda white doing autonomous navigation 01:17:16.229 --> 01:17:16.239 align:start position:0% navigation 01:17:16.239 --> 01:17:19.030 align:start position:0% navigation mike<01:17:16.480> was<01:17:16.640> doing<01:17:16.880> his<01:17:17.120> agv<01:17:17.760> stuff<01:17:18.480> i<01:17:18.640> was<01:17:18.800> doing 01:17:19.030 --> 01:17:19.040 align:start position:0% mike was doing his agv stuff i was doing 01:17:19.040 --> 01:17:21.189 align:start position:0% mike was doing his agv stuff i was doing stuff<01:17:19.280> with<01:17:19.600> teddy<01:17:19.920> operation 01:17:21.189 --> 01:17:21.199 align:start position:0% stuff with teddy operation 01:17:21.199 --> 01:17:22.870 align:start position:0% stuff with teddy operation andrew<01:17:21.520> blake<01:17:21.760> doing<01:17:22.000> computer<01:17:22.400> vision<01:17:22.719> and 01:17:22.870 --> 01:17:22.880 align:start position:0% andrew blake doing computer vision and 01:17:22.880 --> 01:17:25.270 align:start position:0% andrew blake doing computer vision and resistance 01:17:25.270 --> 01:17:25.280 align:start position:0% resistance 01:17:25.280 --> 01:17:27.030 align:start position:0% resistance we<01:17:25.360> had<01:17:25.679> many<01:17:25.920> many<01:17:26.239> people<01:17:26.480> here<01:17:26.640> doing<01:17:26.880> all 01:17:27.030 --> 01:17:27.040 align:start position:0% we had many many people here doing all 01:17:27.040 --> 01:17:28.830 align:start position:0% we had many many people here doing all sorts<01:17:27.280> of<01:17:27.360> things 01:17:28.830 --> 01:17:28.840 align:start position:0% sorts of things 01:17:28.840 --> 01:17:31.669 align:start position:0% sorts of things so<01:17:30.640> then 01:17:31.669 --> 01:17:31.679 align:start position:0% so then 01:17:31.679 --> 01:17:34.630 align:start position:0% so then mike<01:17:31.920> moved<01:17:32.239> off<01:17:32.560> into<01:17:32.960> computer<01:17:33.360> vision<01:17:34.400> and 01:17:34.630 --> 01:17:34.640 align:start position:0% mike moved off into computer vision and 01:17:34.640 --> 01:17:35.350 align:start position:0% mike moved off into computer vision and uh<01:17:34.880> medical 01:17:35.350 --> 01:17:35.360 align:start position:0% uh medical 01:17:35.360 --> 01:17:38.390 align:start position:0% uh medical medical<01:17:35.760> imaging<01:17:36.400> later<01:17:36.880> after<01:17:37.040> that<01:17:37.360> so<01:17:38.239> he 01:17:38.390 --> 01:17:38.400 align:start position:0% medical imaging later after that so he 01:17:38.400 --> 01:17:40.310 align:start position:0% medical imaging later after that so he sort<01:17:38.560> of<01:17:38.719> left<01:17:38.960> the<01:17:39.040> robotics<01:17:39.520> field<01:17:39.840> and 01:17:40.310 --> 01:17:40.320 align:start position:0% sort of left the robotics field and 01:17:40.320 --> 01:17:41.590 align:start position:0% sort of left the robotics field and became<01:17:40.560> more<01:17:40.719> interested<01:17:41.120> in<01:17:41.280> medical 01:17:41.590 --> 01:17:41.600 align:start position:0% became more interested in medical 01:17:41.600 --> 01:17:43.910 align:start position:0% became more interested in medical imaging<01:17:43.040> that's<01:17:43.280> after<01:17:43.520> you've<01:17:43.679> sort<01:17:43.840> of 01:17:43.910 --> 01:17:43.920 align:start position:0% imaging that's after you've sort of 01:17:43.920 --> 01:17:45.669 align:start position:0% imaging that's after you've sort of visited<01:17:44.239> france 01:17:45.669 --> 01:17:45.679 align:start position:0% visited france 01:17:45.679 --> 01:17:51.189 align:start position:0% visited france for<01:17:45.920> a<01:17:46.000> while 01:17:51.189 --> 01:17:51.199 align:start position:0% 01:17:51.199 --> 01:17:53.350 align:start position:0% and<01:17:51.440> in<01:17:51.520> terms<01:17:51.840> of<01:17:51.920> the<01:17:52.000> relationship<01:17:52.640> between 01:17:53.350 --> 01:17:53.360 align:start position:0% and in terms of the relationship between 01:17:53.360 --> 01:17:54.550 align:start position:0% and in terms of the relationship between british<01:17:53.760> robotics 01:17:54.550 --> 01:17:54.560 align:start position:0% british robotics 01:17:54.560 --> 01:17:58.070 align:start position:0% british robotics and<01:17:56.719> greater<01:17:57.040> european<01:17:57.600> and<01:17:57.760> american 01:17:58.070 --> 01:17:58.080 align:start position:0% and greater european and american 01:17:58.080 --> 01:17:59.430 align:start position:0% and greater european and american robotics<01:17:58.560> would<01:17:58.719> you<01:17:58.800> say<01:17:58.960> there<01:17:59.040> was<01:17:59.199> more 01:17:59.430 --> 01:17:59.440 align:start position:0% robotics would you say there was more 01:17:59.440 --> 01:18:00.870 align:start position:0% robotics would you say there was more influence<01:18:00.000> from 01:18:00.870 --> 01:18:00.880 align:start position:0% influence from 01:18:00.880 --> 01:18:03.750 align:start position:0% influence from um<01:18:02.159> continental<01:18:02.640> europe<01:18:02.960> or<01:18:03.199> in<01:18:03.360> the<01:18:03.440> united 01:18:03.750 --> 01:18:03.760 align:start position:0% um continental europe or in the united 01:18:03.760 --> 01:18:05.030 align:start position:0% um continental europe or in the united states 01:18:05.030 --> 01:18:05.040 align:start position:0% states 01:18:05.040 --> 01:18:06.790 align:start position:0% states i<01:18:05.120> think<01:18:05.280> most<01:18:05.520> of<01:18:05.679> the<01:18:05.920> influence<01:18:06.320> in<01:18:06.480> oxford 01:18:06.790 --> 01:18:06.800 align:start position:0% i think most of the influence in oxford 01:18:06.800 --> 01:18:09.030 align:start position:0% i think most of the influence in oxford came<01:18:07.280> came<01:18:07.679> came<01:18:08.000> from 01:18:09.030 --> 01:18:09.040 align:start position:0% came came came from 01:18:09.040 --> 01:18:11.189 align:start position:0% came came came from the<01:18:09.199> us<01:18:09.840> i<01:18:10.000> think<01:18:10.159> the<01:18:10.320> us<01:18:10.560> are<01:18:10.640> the<01:18:10.719> strongest 01:18:11.189 --> 01:18:11.199 align:start position:0% the us i think the us are the strongest 01:18:11.199 --> 01:18:12.709 align:start position:0% the us i think the us are the strongest influence<01:18:11.679> there's<01:18:11.920> a<01:18:12.000> lot<01:18:12.239> going<01:18:12.480> on<01:18:12.640> in 01:18:12.709 --> 01:18:12.719 align:start position:0% influence there's a lot going on in 01:18:12.719 --> 01:18:14.149 align:start position:0% influence there's a lot going on in europe 01:18:14.149 --> 01:18:14.159 align:start position:0% europe 01:18:14.159 --> 01:18:15.510 align:start position:0% europe there's<01:18:14.400> a<01:18:14.480> lot<01:18:14.640> there's<01:18:14.800> a<01:18:14.880> lot<01:18:15.040> of<01:18:15.120> influence 01:18:15.510 --> 01:18:15.520 align:start position:0% there's a lot there's a lot of influence 01:18:15.520 --> 01:18:17.750 align:start position:0% there's a lot there's a lot of influence on<01:18:15.600> the<01:18:15.679> vision<01:18:16.080> side<01:18:16.320> in<01:18:16.400> europe 01:18:17.750 --> 01:18:17.760 align:start position:0% on the vision side in europe 01:18:17.760 --> 01:18:21.030 align:start position:0% on the vision side in europe but<01:18:18.000> most<01:18:18.320> most<01:18:18.640> of<01:18:18.800> the<01:18:19.840> robotics 01:18:21.030 --> 01:18:21.040 align:start position:0% but most most of the robotics 01:18:21.040 --> 01:18:22.870 align:start position:0% but most most of the robotics pure<01:18:21.360> sort<01:18:21.520> of<01:18:21.840> stuff<01:18:22.080> that<01:18:22.239> influenced<01:18:22.719> me 01:18:22.870 --> 01:18:22.880 align:start position:0% pure sort of stuff that influenced me 01:18:22.880 --> 01:18:26.149 align:start position:0% pure sort of stuff that influenced me was<01:18:23.120> mostly<01:18:24.000> japan<01:18:24.400> and<01:18:24.480> the<01:18:24.840> usa 01:18:26.149 --> 01:18:26.159 align:start position:0% was mostly japan and the usa 01:18:26.159 --> 01:18:28.149 align:start position:0% was mostly japan and the usa it<01:18:26.239> wasn't<01:18:26.560> europe<01:18:27.520> there<01:18:27.679> was<01:18:27.920> there<01:18:28.000> was<01:18:28.080> a 01:18:28.149 --> 01:18:28.159 align:start position:0% it wasn't europe there was there was a 01:18:28.159 --> 01:18:30.390 align:start position:0% it wasn't europe there was there was a small<01:18:28.400> amount<01:18:28.640> of<01:18:28.719> work<01:18:29.120> in<01:18:29.280> the<01:18:29.440> netherlands 01:18:30.390 --> 01:18:30.400 align:start position:0% small amount of work in the netherlands 01:18:30.400 --> 01:18:33.590 align:start position:0% small amount of work in the netherlands which<01:18:30.640> was<01:18:30.800> good<01:18:31.760> but<01:18:32.159> there<01:18:32.320> was<01:18:32.960> most<01:18:33.280> most 01:18:33.590 --> 01:18:33.600 align:start position:0% which was good but there was most most 01:18:33.600 --> 01:18:35.430 align:start position:0% which was good but there was most most of<01:18:33.679> the<01:18:33.760> really<01:18:34.000> good<01:18:34.239> stuff<01:18:34.480> was<01:18:34.719> in 01:18:35.430 --> 01:18:35.440 align:start position:0% of the really good stuff was in 01:18:35.440 --> 01:18:38.790 align:start position:0% of the really good stuff was in was<01:18:35.679> in<01:18:35.760> the<01:18:35.920> states<01:18:36.320> in<01:18:36.400> japan<01:18:37.280> in<01:18:37.440> robotics 01:18:38.790 --> 01:18:38.800 align:start position:0% was in the states in japan in robotics 01:18:38.800 --> 01:18:41.110 align:start position:0% was in the states in japan in robotics the<01:18:38.960> computer<01:18:39.280> vision<01:18:39.600> is<01:18:39.760> different<01:18:40.159> that's 01:18:41.110 --> 01:18:41.120 align:start position:0% the computer vision is different that's 01:18:41.120 --> 01:18:42.550 align:start position:0% the computer vision is different that's there's<01:18:41.360> a<01:18:41.440> lot<01:18:41.600> of<01:18:41.760> highly<01:18:42.080> mathematical 01:18:42.550 --> 01:18:42.560 align:start position:0% there's a lot of highly mathematical 01:18:42.560 --> 01:18:43.990 align:start position:0% there's a lot of highly mathematical computer<01:18:42.960> vision<01:18:43.280> stuff<01:18:43.440> that's<01:18:43.600> come<01:18:43.760> out<01:18:43.920> of 01:18:43.990 --> 01:18:44.000 align:start position:0% computer vision stuff that's come out of 01:18:44.000 --> 01:18:45.669 align:start position:0% computer vision stuff that's come out of france<01:18:44.400> and<01:18:44.560> so<01:18:44.719> forth 01:18:45.669 --> 01:18:45.679 align:start position:0% france and so forth 01:18:45.679 --> 01:18:50.709 align:start position:0% france and so forth various<01:18:46.000> research<01:18:46.320> like<01:18:46.560> in<01:18:46.640> rio 01:18:50.709 --> 01:18:50.719 align:start position:0% 01:18:50.719 --> 01:18:54.470 align:start position:0% which<01:18:50.960> was<01:18:51.199> the<01:18:51.840> netherlands<01:18:52.840> group 01:18:54.470 --> 01:18:54.480 align:start position:0% which was the netherlands group 01:18:54.480 --> 01:18:57.669 align:start position:0% which was the netherlands group uh<01:18:55.120> delft<01:18:55.520> university<01:18:56.400> um<01:18:57.360> trying<01:18:57.600> to 01:18:57.669 --> 01:18:57.679 align:start position:0% uh delft university um trying to 01:18:57.679 --> 01:18:59.750 align:start position:0% uh delft university um trying to remember<01:18:58.000> the<01:18:58.080> names<01:18:58.400> of<01:18:58.480> people 01:18:59.750 --> 01:18:59.760 align:start position:0% remember the names of people 01:18:59.760 --> 01:19:02.870 align:start position:0% remember the names of people so<01:19:00.000> long<01:19:00.239> ago<01:19:00.560> now<01:19:02.239> like<01:19:02.480> i 01:19:02.870 --> 01:19:02.880 align:start position:0% so long ago now like i 01:19:02.880 --> 01:19:04.950 align:start position:0% so long ago now like i i<01:19:03.280> names<01:19:03.600> the<01:19:03.679> tip<01:19:03.840> of<01:19:03.920> my<01:19:04.080> tongue<01:19:04.320> i<01:19:04.480> can't<01:19:04.800> i 01:19:04.950 --> 01:19:04.960 align:start position:0% i names the tip of my tongue i can't i 01:19:04.960 --> 01:19:06.149 align:start position:0% i names the tip of my tongue i can't i can't<01:19:05.120> bring<01:19:05.360> it 01:19:06.149 --> 01:19:06.159 align:start position:0% can't bring it 01:19:06.159 --> 01:19:09.030 align:start position:0% can't bring it to<01:19:06.320> the<01:19:06.400> front<01:19:06.719> at<01:19:06.800> the<01:19:06.880> moment<01:19:08.080> but<01:19:08.800> you<01:19:08.880> know 01:19:09.030 --> 01:19:09.040 align:start position:0% to the front at the moment but you know 01:19:09.040 --> 01:19:10.149 align:start position:0% to the front at the moment but you know what<01:19:09.120> it's<01:19:09.199> like<01:19:09.360> i'm<01:19:09.440> getting<01:19:09.679> old 01:19:10.149 --> 01:19:10.159 align:start position:0% what it's like i'm getting old 01:19:10.159 --> 01:19:13.270 align:start position:0% what it's like i'm getting old yeah<01:19:12.000> but<01:19:12.159> it's<01:19:12.800> it<01:19:12.880> was 01:19:13.270 --> 01:19:13.280 align:start position:0% yeah but it's it was 01:19:13.280 --> 01:19:16.390 align:start position:0% yeah but it's it was um 01:19:16.390 --> 01:19:16.400 align:start position:0% 01:19:16.400 --> 01:19:20.470 align:start position:0% leuven<01:19:17.520> university<01:19:17.920> of<01:19:18.080> nirvan 01:19:20.470 --> 01:19:20.480 align:start position:0% leuven university of nirvan 01:19:20.480 --> 01:19:34.830 align:start position:0% leuven university of nirvan university 01:19:34.830 --> 01:19:34.840 align:start position:0% 01:19:34.840 --> 01:19:38.229 align:start position:0% ah 01:19:38.229 --> 01:19:38.239 align:start position:0% 01:19:38.239 --> 01:19:40.950 align:start position:0% they<01:19:38.480> were<01:19:38.719> particularly<01:19:39.199> interested<01:19:39.600> in 01:19:40.950 --> 01:19:40.960 align:start position:0% they were particularly interested in 01:19:40.960 --> 01:19:43.590 align:start position:0% they were particularly interested in describing<01:19:41.679> force<01:19:41.920> control<01:19:42.320> processes<01:19:42.960> so 01:19:43.590 --> 01:19:43.600 align:start position:0% describing force control processes so 01:19:43.600 --> 01:19:48.390 align:start position:0% describing force control processes so languages<01:19:44.000> for<01:19:44.159> describing<01:19:45.440> uh<01:19:45.920> assembly 01:19:48.390 --> 01:19:48.400 align:start position:0% languages for describing uh assembly 01:19:48.400 --> 01:19:51.270 align:start position:0% languages for describing uh assembly processes<01:19:49.120> and<01:19:49.840> describing<01:19:50.640> force<01:19:50.880> control 01:19:51.270 --> 01:19:51.280 align:start position:0% processes and describing force control 01:19:51.280 --> 01:19:52.550 align:start position:0% processes and describing force control algorithms 01:19:52.550 --> 01:19:52.560 align:start position:0% algorithms 01:19:52.560 --> 01:19:56.630 align:start position:0% algorithms so<01:19:55.440> no 01:19:56.630 --> 01:19:56.640 align:start position:0% so no 01:19:56.640 --> 01:19:59.910 align:start position:0% so no no<01:19:56.880> no<01:19:58.239> the<01:19:58.320> name's<01:19:58.640> gone 01:19:59.910 --> 01:19:59.920 align:start position:0% no no the name's gone 01:19:59.920 --> 01:20:01.910 align:start position:0% no no the name's gone i<01:20:00.000> knew<01:20:00.320> i<01:20:00.400> know<01:20:00.719> very<01:20:00.880> well<01:20:01.280> cincinnati 01:20:01.910 --> 01:20:01.920 align:start position:0% i knew i know very well cincinnati 01:20:01.920 --> 01:20:04.709 align:start position:0% i knew i know very well cincinnati micron<01:20:02.840> machine 01:20:04.709 --> 01:20:04.719 align:start position:0% micron machine 01:20:04.719 --> 01:20:08.950 align:start position:0% micron machine all<01:20:04.960> right<01:20:05.600> yeah<01:20:06.719> but<01:20:07.040> uh 01:20:08.950 --> 01:20:08.960 align:start position:0% all right yeah but uh 01:20:08.960 --> 01:20:10.470 align:start position:0% all right yeah but uh they<01:20:09.120> were<01:20:09.280> mostly<01:20:09.600> influenced<01:20:10.000> by<01:20:10.159> the<01:20:10.239> work 01:20:10.470 --> 01:20:10.480 align:start position:0% they were mostly influenced by the work 01:20:10.480 --> 01:20:12.390 align:start position:0% they were mostly influenced by the work by<01:20:10.639> matt<01:20:10.880> mason<01:20:11.440> i<01:20:11.600> think 01:20:12.390 --> 01:20:12.400 align:start position:0% by matt mason i think 01:20:12.400 --> 01:20:16.629 align:start position:0% by matt mason i think so<01:20:13.280> matt<01:20:13.520> mason<01:20:13.840> wrote<01:20:14.239> a<01:20:14.880> very<01:20:15.120> influential 01:20:16.629 --> 01:20:16.639 align:start position:0% so matt mason wrote a very influential 01:20:16.639 --> 01:20:19.510 align:start position:0% so matt mason wrote a very influential thesis<01:20:17.120> called<01:20:17.360> pushing<01:20:17.679> and<01:20:17.840> shoving<01:20:19.199> which 01:20:19.510 --> 01:20:19.520 align:start position:0% thesis called pushing and shoving which 01:20:19.520 --> 01:20:19.910 align:start position:0% thesis called pushing and shoving which was 01:20:19.910 --> 01:20:19.920 align:start position:0% was 01:20:19.920 --> 01:20:22.310 align:start position:0% was about<01:20:20.400> moving<01:20:20.719> objects<01:20:21.120> around<01:20:21.920> that<01:20:22.159> that 01:20:22.310 --> 01:20:22.320 align:start position:0% about moving objects around that that 01:20:22.320 --> 01:20:24.070 align:start position:0% about moving objects around that that was<01:20:22.480> extremely<01:20:22.960> influential 01:20:24.070 --> 01:20:24.080 align:start position:0% was extremely influential 01:20:24.080 --> 01:20:28.550 align:start position:0% was extremely influential on<01:20:25.120> the<01:20:25.280> force<01:20:26.000> force<01:20:26.320> control 01:20:28.550 --> 01:20:28.560 align:start position:0% on the force force control 01:20:28.560 --> 01:20:31.510 align:start position:0% on the force force control community<01:20:30.080> so<01:20:30.480> that's<01:20:30.719> why<01:20:31.120> people<01:20:31.280> became 01:20:31.510 --> 01:20:31.520 align:start position:0% community so that's why people became 01:20:31.520 --> 01:20:32.790 align:start position:0% community so that's why people became very<01:20:31.840> interested<01:20:32.239> in 01:20:32.790 --> 01:20:32.800 align:start position:0% very interested in 01:20:32.800 --> 01:20:36.310 align:start position:0% very interested in force<01:20:33.120> servoing<01:20:35.360> and<01:20:35.440> there<01:20:35.600> was<01:20:35.760> another<01:20:36.159> guy 01:20:36.310 --> 01:20:36.320 align:start position:0% force servoing and there was another guy 01:20:36.320 --> 01:20:36.629 align:start position:0% force servoing and there was another guy that 01:20:36.629 --> 01:20:36.639 align:start position:0% that 01:20:36.639 --> 01:20:39.830 align:start position:0% that wrote<01:20:36.880> a<01:20:37.199> really<01:20:37.520> good<01:20:37.920> book<01:20:38.320> called<01:20:39.280> control 01:20:39.830 --> 01:20:39.840 align:start position:0% wrote a really good book called control 01:20:39.840 --> 01:20:42.149 align:start position:0% wrote a really good book called control of<01:20:39.920> machines<01:20:40.320> with<01:20:40.560> friction 01:20:42.149 --> 01:20:42.159 align:start position:0% of machines with friction 01:20:42.159 --> 01:20:44.709 align:start position:0% of machines with friction who<01:20:43.360> who<01:20:43.520> went<01:20:43.760> and<01:20:43.920> started<01:20:44.239> to<01:20:44.320> spin<01:20:44.560> out 01:20:44.709 --> 01:20:44.719 align:start position:0% who who went and started to spin out 01:20:44.719 --> 01:20:46.070 align:start position:0% who who went and started to spin out company<01:20:45.199> and 01:20:46.070 --> 01:20:46.080 align:start position:0% company and 01:20:46.080 --> 01:20:48.790 align:start position:0% company and disappeared<01:20:46.880> from<01:20:47.679> it<01:20:47.840> was<01:20:47.920> called<01:20:48.239> armstrong 01:20:48.790 --> 01:20:48.800 align:start position:0% disappeared from it was called armstrong 01:20:48.800 --> 01:20:50.470 align:start position:0% disappeared from it was called armstrong i<01:20:48.880> think<01:20:48.960> his<01:20:49.120> name<01:20:49.280> was 01:20:50.470 --> 01:20:50.480 align:start position:0% i think his name was 01:20:50.480 --> 01:20:53.510 align:start position:0% i think his name was wrote<01:20:50.719> a<01:20:51.760> really<01:20:52.080> really<01:20:52.400> good 01:20:53.510 --> 01:20:53.520 align:start position:0% wrote a really really good 01:20:53.520 --> 01:20:57.669 align:start position:0% wrote a really really good thesis<01:20:54.080> on<01:20:55.360> on<01:20:55.600> machines<01:20:56.080> with<01:20:56.480> with<01:20:56.719> friction 01:20:57.669 --> 01:20:57.679 align:start position:0% thesis on on machines with with friction 01:20:57.679 --> 01:21:00.550 align:start position:0% thesis on on machines with with friction which<01:20:58.000> also<01:20:58.320> was<01:20:58.560> very<01:20:58.840> influential<01:21:00.320> but 01:21:00.550 --> 01:21:00.560 align:start position:0% which also was very influential but 01:21:00.560 --> 01:21:02.310 align:start position:0% which also was very influential but again<01:21:00.800> that's<01:21:01.040> the<01:21:01.199> states<01:21:01.520> so<01:21:01.679> matt<01:21:01.920> mason 01:21:02.310 --> 01:21:02.320 align:start position:0% again that's the states so matt mason 01:21:02.320 --> 01:21:04.390 align:start position:0% again that's the states so matt mason and<01:21:02.480> armstrong 01:21:04.390 --> 01:21:04.400 align:start position:0% and armstrong 01:21:04.400 --> 01:21:07.430 align:start position:0% and armstrong there's<01:21:04.639> a<01:21:04.719> super<01:21:05.040> cutie<01:21:06.639> another<01:21:07.040> influence 01:21:07.430 --> 01:21:07.440 align:start position:0% there's a super cutie another influence 01:21:07.440 --> 01:21:09.750 align:start position:0% there's a super cutie another influence there's<01:21:07.679> lots<01:21:07.920> of<01:21:08.000> people 01:21:09.750 --> 01:21:09.760 align:start position:0% there's lots of people 01:21:09.760 --> 01:21:13.030 align:start position:0% there's lots of people in<01:21:09.920> the<01:21:10.159> grasping<01:21:10.719> area<01:21:11.440> ken<01:21:11.760> salisbury 01:21:13.030 --> 01:21:13.040 align:start position:0% in the grasping area ken salisbury 01:21:13.040 --> 01:21:16.070 align:start position:0% in the grasping area ken salisbury yeah<01:21:13.280> i<01:21:13.360> did<01:21:13.600> very<01:21:13.840> little<01:21:14.080> work<01:21:14.320> on<01:21:14.480> grasping 01:21:16.070 --> 01:21:16.080 align:start position:0% yeah i did very little work on grasping 01:21:16.080 --> 01:21:19.910 align:start position:0% yeah i did very little work on grasping yeah<01:21:16.560> this<01:21:16.880> there's<01:21:17.120> a<01:21:17.199> solitary<01:21:17.760> hand<01:21:19.040> um 01:21:19.910 --> 01:21:19.920 align:start position:0% yeah this there's a solitary hand um 01:21:19.920 --> 01:21:22.149 align:start position:0% yeah this there's a solitary hand um i<01:21:20.080> looked<01:21:20.320> at<01:21:20.719> some<01:21:20.880> of<01:21:20.960> the<01:21:21.360> kinematics<01:21:22.000> of 01:21:22.149 --> 01:21:22.159 align:start position:0% i looked at some of the kinematics of 01:21:22.159 --> 01:21:23.669 align:start position:0% i looked at some of the kinematics of grasping 01:21:23.669 --> 01:21:23.679 align:start position:0% grasping 01:21:23.679 --> 01:21:26.790 align:start position:0% grasping um<01:21:25.040> i<01:21:25.120> had<01:21:25.280> somebody<01:21:25.600> work<01:21:25.760> with<01:21:25.920> me<01:21:26.080> that<01:21:26.560> did 01:21:26.790 --> 01:21:26.800 align:start position:0% um i had somebody work with me that did 01:21:26.800 --> 01:21:28.390 align:start position:0% um i had somebody work with me that did work<01:21:27.040> in<01:21:27.199> that<01:21:27.360> area<01:21:27.679> but<01:21:27.840> i<01:21:27.920> think 01:21:28.390 --> 01:21:28.400 align:start position:0% work in that area but i think 01:21:28.400 --> 01:21:30.790 align:start position:0% work in that area but i think i<01:21:28.560> moved<01:21:28.800> away<01:21:29.040> from<01:21:29.840> i<01:21:30.000> didn't<01:21:30.159> work<01:21:30.400> on<01:21:30.639> on 01:21:30.790 --> 01:21:30.800 align:start position:0% i moved away from i didn't work on on 01:21:30.800 --> 01:21:34.550 align:start position:0% i moved away from i didn't work on on the<01:21:30.880> control<01:21:31.280> of<01:21:31.440> hands 01:21:34.550 --> 01:21:34.560 align:start position:0% 01:21:34.560 --> 01:21:36.629 align:start position:0% the<01:21:34.719> only<01:21:34.880> work<01:21:35.120> i<01:21:35.199> did<01:21:35.360> on<01:21:35.520> hands<01:21:35.840> was<01:21:36.080> i<01:21:36.320> i<01:21:36.480> did 01:21:36.629 --> 01:21:36.639 align:start position:0% the only work i did on hands was i i did 01:21:36.639 --> 01:21:38.229 align:start position:0% the only work i did on hands was i i did some<01:21:36.880> work<01:21:37.199> with 01:21:38.229 --> 01:21:38.239 align:start position:0% some work with 01:21:38.239 --> 01:21:41.910 align:start position:0% some work with a<01:21:38.400> guy<01:21:38.639> from<01:21:38.880> southampton<01:21:40.719> which<01:21:41.199> which<01:21:41.440> was<01:21:41.600> a 01:21:41.910 --> 01:21:41.920 align:start position:0% a guy from southampton which which was a 01:21:41.920 --> 01:21:44.629 align:start position:0% a guy from southampton which which was a hand<01:21:42.239> called<01:21:42.480> the<01:21:42.560> nightingale<01:21:43.360> hand 01:21:44.629 --> 01:21:44.639 align:start position:0% hand called the nightingale hand 01:21:44.639 --> 01:21:49.110 align:start position:0% hand called the nightingale hand and<01:21:45.120> uh 01:21:49.110 --> 01:21:49.120 align:start position:0% 01:21:49.120 --> 01:21:51.910 align:start position:0% peter<01:21:49.440> kyburd<01:21:50.159> then<01:21:50.480> moved<01:21:50.800> off<01:21:51.120> to<01:21:51.360> canada<01:21:51.840> i 01:21:51.910 --> 01:21:51.920 align:start position:0% peter kyburd then moved off to canada i 01:21:51.920 --> 01:21:53.030 align:start position:0% peter kyburd then moved off to canada i think 01:21:53.030 --> 01:21:53.040 align:start position:0% think 01:21:53.040 --> 01:21:55.830 align:start position:0% think so<01:21:53.520> he<01:21:53.760> worked<01:21:54.000> with<01:21:54.159> me<01:21:54.400> on<01:21:55.040> the<01:21:55.199> design<01:21:55.679> of 01:21:55.830 --> 01:21:55.840 align:start position:0% so he worked with me on the design of 01:21:55.840 --> 01:21:57.430 align:start position:0% so he worked with me on the design of intelligent<01:21:56.400> hands 01:21:57.430 --> 01:21:57.440 align:start position:0% intelligent hands 01:21:57.440 --> 01:22:01.110 align:start position:0% intelligent hands so<01:21:57.679> we<01:21:57.840> looked<01:21:58.239> at<01:21:59.520> ways<01:22:00.159> of 01:22:01.110 --> 01:22:01.120 align:start position:0% so we looked at ways of 01:22:01.120 --> 01:22:04.550 align:start position:0% so we looked at ways of linking<01:22:02.560> senses<01:22:03.120> the<01:22:03.280> sense<01:22:03.520> of<01:22:03.600> touch 01:22:04.550 --> 01:22:04.560 align:start position:0% linking senses the sense of touch 01:22:04.560 --> 01:22:07.990 align:start position:0% linking senses the sense of touch to<01:22:05.199> strategies<01:22:05.840> for<01:22:06.000> grasp<01:22:06.800> so<01:22:07.120> you<01:22:07.280> would 01:22:07.990 --> 01:22:08.000 align:start position:0% to strategies for grasp so you would 01:22:08.000 --> 01:22:09.830 align:start position:0% to strategies for grasp so you would so<01:22:08.239> the<01:22:08.320> hand<01:22:08.560> would<01:22:08.800> automatically<01:22:09.440> grasp 01:22:09.830 --> 01:22:09.840 align:start position:0% so the hand would automatically grasp 01:22:09.840 --> 01:22:12.629 align:start position:0% so the hand would automatically grasp things<01:22:10.400> if<01:22:10.560> it<01:22:10.719> sensed<01:22:11.120> they<01:22:11.280> were 01:22:12.629 --> 01:22:12.639 align:start position:0% things if it sensed they were 01:22:12.639 --> 01:22:16.310 align:start position:0% things if it sensed they were stipping<01:22:13.120> so<01:22:13.280> that<01:22:13.440> was<01:22:14.080> late<01:22:14.400> 90s<01:22:14.800> such<01:22:15.040> thing 01:22:16.310 --> 01:22:16.320 align:start position:0% stipping so that was late 90s such thing 01:22:16.320 --> 01:22:19.510 align:start position:0% stipping so that was late 90s such thing so<01:22:17.840> but<01:22:18.320> i<01:22:18.400> didn't<01:22:18.560> do<01:22:18.719> much<01:22:18.960> work<01:22:19.199> in<01:22:19.280> that 01:22:19.510 --> 01:22:19.520 align:start position:0% so but i didn't do much work in that 01:22:19.520 --> 01:22:20.950 align:start position:0% so but i didn't do much work in that area 01:22:20.950 --> 01:22:20.960 align:start position:0% area 01:22:20.960 --> 01:22:23.270 align:start position:0% area what<01:22:21.120> do<01:22:21.199> you<01:22:21.280> see<01:22:21.520> as<01:22:21.679> the<01:22:21.760> biggest<01:22:22.840> problems 01:22:23.270 --> 01:22:23.280 align:start position:0% what do you see as the biggest problems 01:22:23.280 --> 01:22:24.070 align:start position:0% what do you see as the biggest problems that 01:22:24.070 --> 01:22:24.080 align:start position:0% that 01:22:24.080 --> 01:22:26.550 align:start position:0% that robotics<01:22:24.719> is<01:22:24.880> facing<01:22:25.440> or<01:22:25.600> the<01:22:25.760> most<01:22:26.000> difficult 01:22:26.550 --> 01:22:26.560 align:start position:0% robotics is facing or the most difficult 01:22:26.560 --> 01:22:29.270 align:start position:0% robotics is facing or the most difficult challenges 01:22:29.270 --> 01:22:29.280 align:start position:0% 01:22:29.280 --> 01:22:30.950 align:start position:0% it's<01:22:29.440> difficult<01:22:29.760> for<01:22:29.920> me<01:22:30.000> to<01:22:30.159> say<01:22:30.400> because<01:22:30.800> i 01:22:30.950 --> 01:22:30.960 align:start position:0% it's difficult for me to say because i 01:22:30.960 --> 01:22:33.750 align:start position:0% it's difficult for me to say because i mostly<01:22:31.360> worked<01:22:31.679> in<01:22:31.840> tele<01:22:32.159> operation 01:22:33.750 --> 01:22:33.760 align:start position:0% mostly worked in tele operation 01:22:33.760 --> 01:22:37.189 align:start position:0% mostly worked in tele operation and<01:22:33.920> then<01:22:35.679> moved<01:22:36.080> across<01:22:36.560> and<01:22:36.719> i'm<01:22:36.880> now 01:22:37.189 --> 01:22:37.199 align:start position:0% and then moved across and i'm now 01:22:37.199 --> 01:22:38.790 align:start position:0% and then moved across and i'm now tending<01:22:37.520> to<01:22:37.679> working<01:22:38.080> harder<01:22:38.400> in<01:22:38.480> the<01:22:38.560> loop 01:22:38.790 --> 01:22:38.800 align:start position:0% tending to working harder in the loop 01:22:38.800 --> 01:22:40.629 align:start position:0% tending to working harder in the loop simulation<01:22:40.159> and 01:22:40.629 --> 01:22:40.639 align:start position:0% simulation and 01:22:40.639 --> 01:22:44.070 align:start position:0% simulation and i'm<01:22:40.800> now<01:22:41.040> working<01:22:41.520> on<01:22:42.800> on 01:22:44.070 --> 01:22:44.080 align:start position:0% i'm now working on on 01:22:44.080 --> 01:22:46.550 align:start position:0% i'm now working on on applying<01:22:44.480> these<01:22:44.639> type<01:22:44.800> of<01:22:44.960> techniques<01:22:45.440> into 01:22:46.550 --> 01:22:46.560 align:start position:0% applying these type of techniques into 01:22:46.560 --> 01:22:49.189 align:start position:0% applying these type of techniques into mechanisms<01:22:47.120> for<01:22:47.280> use<01:22:47.520> inside<01:22:47.840> jet<01:22:48.080> engines 01:22:49.189 --> 01:22:49.199 align:start position:0% mechanisms for use inside jet engines 01:22:49.199 --> 01:22:52.070 align:start position:0% mechanisms for use inside jet engines so<01:22:50.480> i've<01:22:50.639> moved<01:22:50.960> away<01:22:51.199> from<01:22:51.440> robotics<01:22:52.000> and 01:22:52.070 --> 01:22:52.080 align:start position:0% so i've moved away from robotics and 01:22:52.080 --> 01:22:54.229 align:start position:0% so i've moved away from robotics and tended<01:22:52.400> not<01:22:52.560> to<01:22:52.719> work<01:22:52.880> in<01:22:53.040> that<01:22:53.280> area 01:22:54.229 --> 01:22:54.239 align:start position:0% tended not to work in that area 01:22:54.239 --> 01:22:56.870 align:start position:0% tended not to work in that area for<01:22:54.480> a<01:22:54.560> long<01:22:54.800> long<01:22:55.040> time<01:22:56.159> the<01:22:56.239> sort<01:22:56.480> of<01:22:56.560> things 01:22:56.870 --> 01:22:56.880 align:start position:0% for a long long time the sort of things 01:22:56.880 --> 01:22:57.990 align:start position:0% for a long long time the sort of things that<01:22:57.040> i<01:22:57.199> found 01:22:57.990 --> 01:22:58.000 align:start position:0% that i found 01:22:58.000 --> 01:23:00.870 align:start position:0% that i found frustrating<01:22:58.639> about<01:22:58.880> robotics<01:23:00.159> was<01:23:00.400> the<01:23:00.639> lack 01:23:00.870 --> 01:23:00.880 align:start position:0% frustrating about robotics was the lack 01:23:00.880 --> 01:23:02.629 align:start position:0% frustrating about robotics was the lack of<01:23:01.120> self-discipline<01:23:01.920> regarding 01:23:02.629 --> 01:23:02.639 align:start position:0% of self-discipline regarding 01:23:02.639 --> 01:23:05.910 align:start position:0% of self-discipline regarding experimental<01:23:03.360> design<01:23:04.480> that<01:23:04.719> is<01:23:04.960> you<01:23:05.120> couldn't 01:23:05.910 --> 01:23:05.920 align:start position:0% experimental design that is you couldn't 01:23:05.920 --> 01:23:09.110 align:start position:0% experimental design that is you couldn't easily 01:23:09.110 --> 01:23:09.120 align:start position:0% 01:23:09.120 --> 01:23:11.189 align:start position:0% utilize<01:23:10.000> the<01:23:10.159> results<01:23:10.639> that<01:23:10.800> were<01:23:10.960> being 01:23:11.189 --> 01:23:11.199 align:start position:0% utilize the results that were being 01:23:11.199 --> 01:23:13.270 align:start position:0% utilize the results that were being published<01:23:11.760> because 01:23:13.270 --> 01:23:13.280 align:start position:0% published because 01:23:13.280 --> 01:23:14.709 align:start position:0% published because many<01:23:13.600> of<01:23:13.679> the<01:23:13.840> experiments<01:23:14.560> were 01:23:14.709 --> 01:23:14.719 align:start position:0% many of the experiments were 01:23:14.719 --> 01:23:19.030 align:start position:0% many of the experiments were irreproducible<01:23:15.840> so 01:23:19.030 --> 01:23:19.040 align:start position:0% 01:23:19.040 --> 01:23:21.030 align:start position:0% what<01:23:19.199> was<01:23:19.360> frustrating<01:23:19.920> was<01:23:20.080> somebody<01:23:20.400> said<01:23:20.800> i 01:23:21.030 --> 01:23:21.040 align:start position:0% what was frustrating was somebody said i 01:23:21.040 --> 01:23:22.550 align:start position:0% what was frustrating was somebody said i built<01:23:21.199> this<01:23:21.440> machine<01:23:21.840> and<01:23:21.920> here's<01:23:22.159> its<01:23:22.320> step 01:23:22.550 --> 01:23:22.560 align:start position:0% built this machine and here's its step 01:23:22.560 --> 01:23:25.030 align:start position:0% built this machine and here's its step response 01:23:25.030 --> 01:23:25.040 align:start position:0% response 01:23:25.040 --> 01:23:29.669 align:start position:0% response you<01:23:25.120> know<01:23:25.600> what<01:23:25.840> what<01:23:26.080> what<01:23:26.239> can<01:23:26.480> one<01:23:26.719> tell<01:23:27.679> um 01:23:29.669 --> 01:23:29.679 align:start position:0% you know what what what can one tell um 01:23:29.679 --> 01:23:31.189 align:start position:0% you know what what what can one tell um part<01:23:29.920> of<01:23:30.000> the<01:23:30.080> reaction<01:23:30.400> was<01:23:30.639> that<01:23:30.719> i<01:23:31.040> was 01:23:31.189 --> 01:23:31.199 align:start position:0% part of the reaction was that i was 01:23:31.199 --> 01:23:33.590 align:start position:0% part of the reaction was that i was involved<01:23:31.760> in 01:23:33.590 --> 01:23:33.600 align:start position:0% involved in 01:23:33.600 --> 01:23:35.510 align:start position:0% involved in early<01:23:34.080> moves<01:23:34.480> for<01:23:34.880> something<01:23:35.199> called 01:23:35.510 --> 01:23:35.520 align:start position:0% early moves for something called 01:23:35.520 --> 01:23:37.110 align:start position:0% early moves for something called experimental<01:23:36.159> robotics 01:23:37.110 --> 01:23:37.120 align:start position:0% experimental robotics 01:23:37.120 --> 01:23:40.070 align:start position:0% experimental robotics which<01:23:37.360> was<01:23:37.679> a<01:23:38.080> series<01:23:38.480> of<01:23:38.639> conferences<01:23:39.920> in 01:23:40.070 --> 01:23:40.080 align:start position:0% which was a series of conferences in 01:23:40.080 --> 01:23:40.709 align:start position:0% which was a series of conferences in which 01:23:40.709 --> 01:23:40.719 align:start position:0% which 01:23:40.719 --> 01:23:43.910 align:start position:0% which you<01:23:40.880> try<01:23:41.040> to<01:23:41.199> concentrate<01:23:41.679> on<01:23:41.920> experiment<01:23:43.600> so 01:23:43.910 --> 01:23:43.920 align:start position:0% you try to concentrate on experiment so 01:23:43.920 --> 01:23:46.950 align:start position:0% you try to concentrate on experiment so i<01:23:44.080> think<01:23:44.239> experimental<01:23:44.880> design<01:23:46.000> for<01:23:46.480> art 01:23:46.950 --> 01:23:46.960 align:start position:0% i think experimental design for art 01:23:46.960 --> 01:23:49.030 align:start position:0% i think experimental design for art for<01:23:47.280> developing<01:23:47.679> the<01:23:47.920> science<01:23:48.239> of<01:23:48.320> robotics<01:23:48.880> i 01:23:49.030 --> 01:23:49.040 align:start position:0% for developing the science of robotics i 01:23:49.040 --> 01:23:49.990 align:start position:0% for developing the science of robotics i think 01:23:49.990 --> 01:23:50.000 align:start position:0% think 01:23:50.000 --> 01:23:52.790 align:start position:0% think is<01:23:50.159> a<01:23:50.320> key<01:23:50.639> challenge<01:23:51.679> what<01:23:51.920> experiments<01:23:52.639> do 01:23:52.790 --> 01:23:52.800 align:start position:0% is a key challenge what experiments do 01:23:52.800 --> 01:23:54.149 align:start position:0% is a key challenge what experiments do you<01:23:52.880> need<01:23:53.040> to<01:23:53.199> perform 01:23:54.149 --> 01:23:54.159 align:start position:0% you need to perform 01:23:54.159 --> 01:23:56.470 align:start position:0% you need to perform how<01:23:54.400> do<01:23:54.480> you<01:23:54.560> design<01:23:54.880> an<01:23:55.040> experiment<01:23:56.000> and<01:23:56.239> how 01:23:56.470 --> 01:23:56.480 align:start position:0% how do you design an experiment and how 01:23:56.480 --> 01:23:58.070 align:start position:0% how do you design an experiment and how do<01:23:56.560> you<01:23:56.719> ask 01:23:58.070 --> 01:23:58.080 align:start position:0% do you ask 01:23:58.080 --> 01:23:59.669 align:start position:0% do you ask questions<01:23:58.560> which<01:23:58.800> are<01:23:58.960> well<01:23:59.280> posed 01:23:59.669 --> 01:23:59.679 align:start position:0% questions which are well posed 01:23:59.679 --> 01:24:01.270 align:start position:0% questions which are well posed scientifically 01:24:01.270 --> 01:24:01.280 align:start position:0% scientifically 01:24:01.280 --> 01:24:04.550 align:start position:0% scientifically rather<01:24:01.600> than<01:24:03.040> rather<01:24:03.360> than<01:24:03.679> being<01:24:04.000> involved 01:24:04.550 --> 01:24:04.560 align:start position:0% rather than rather than being involved 01:24:04.560 --> 01:24:05.189 align:start position:0% rather than rather than being involved in 01:24:05.189 --> 01:24:05.199 align:start position:0% in 01:24:05.199 --> 01:24:07.189 align:start position:0% in what<01:24:05.440> i<01:24:05.600> described<01:24:06.000> as<01:24:06.159> phenomenological 01:24:07.189 --> 01:24:07.199 align:start position:0% what i described as phenomenological 01:24:07.199 --> 01:24:09.270 align:start position:0% what i described as phenomenological research<01:24:07.920> in<01:24:08.080> which 01:24:09.270 --> 01:24:09.280 align:start position:0% research in which 01:24:09.280 --> 01:24:14.310 align:start position:0% research in which you<01:24:09.679> report<01:24:10.239> on<01:24:10.400> what<01:24:10.719> some<01:24:10.960> mechanism<01:24:11.520> did 01:24:14.310 --> 01:24:14.320 align:start position:0% 01:24:14.320 --> 01:24:17.110 align:start position:0% it<01:24:14.880> i<01:24:14.960> think<01:24:15.199> it<01:24:15.280> requires<01:24:15.760> more<01:24:16.560> thinking 01:24:17.110 --> 01:24:17.120 align:start position:0% it i think it requires more thinking 01:24:17.120 --> 01:24:20.149 align:start position:0% it i think it requires more thinking about 01:24:20.149 --> 01:24:20.159 align:start position:0% 01:24:20.159 --> 01:24:21.990 align:start position:0% what<01:24:20.400> ex<01:24:20.719> what<01:24:20.960> experiments<01:24:21.600> do<01:24:21.679> you<01:24:21.760> need 01:24:21.990 --> 01:24:22.000 align:start position:0% what ex what experiments do you need 01:24:22.000 --> 01:24:23.430 align:start position:0% what ex what experiments do you need before<01:24:22.480> let's<01:24:22.719> take<01:24:22.880> what<01:24:23.040> i'm<01:24:23.199> doing<01:24:23.360> at<01:24:23.440> the 01:24:23.430 --> 01:24:23.440 align:start position:0% before let's take what i'm doing at the 01:24:23.440 --> 01:24:26.310 align:start position:0% before let's take what i'm doing at the moment<01:24:23.679> with<01:24:23.840> stereo 01:24:26.310 --> 01:24:26.320 align:start position:0% moment with stereo 01:24:26.320 --> 01:24:29.669 align:start position:0% moment with stereo a<01:24:26.480> typical<01:24:27.120> stereo<01:24:28.400> paper 01:24:29.669 --> 01:24:29.679 align:start position:0% a typical stereo paper 01:24:29.679 --> 01:24:32.629 align:start position:0% a typical stereo paper will<01:24:30.000> consist<01:24:30.639> of<01:24:31.600> i've<01:24:32.000> developed<01:24:32.400> this 01:24:32.629 --> 01:24:32.639 align:start position:0% will consist of i've developed this 01:24:32.639 --> 01:24:34.390 align:start position:0% will consist of i've developed this algorithm 01:24:34.390 --> 01:24:34.400 align:start position:0% algorithm 01:24:34.400 --> 01:24:37.669 align:start position:0% algorithm i've<01:24:34.639> tested<01:24:35.120> it<01:24:35.280> on<01:24:35.440> this<01:24:35.840> test<01:24:36.239> set 01:24:37.669 --> 01:24:37.679 align:start position:0% i've tested it on this test set 01:24:37.679 --> 01:24:42.070 align:start position:0% i've tested it on this test set gee<01:24:38.320> it<01:24:38.560> works<01:24:38.880> well<01:24:39.520> isn't<01:24:39.840> that<01:24:40.080> neat 01:24:42.070 --> 01:24:42.080 align:start position:0% gee it works well isn't that neat 01:24:42.080 --> 01:24:44.310 align:start position:0% gee it works well isn't that neat whereas<01:24:43.199> if<01:24:43.360> you<01:24:43.520> were<01:24:43.600> to<01:24:43.760> say<01:24:44.000> to<01:24:44.080> look<01:24:44.239> at 01:24:44.310 --> 01:24:44.320 align:start position:0% whereas if you were to say to look at 01:24:44.320 --> 01:24:47.189 align:start position:0% whereas if you were to say to look at the<01:24:44.480> physics<01:24:44.800> literature 01:24:47.189 --> 01:24:47.199 align:start position:0% the physics literature 01:24:47.199 --> 01:24:48.790 align:start position:0% the physics literature they<01:24:47.440> don't<01:24:47.679> do<01:24:47.840> that<01:24:48.000> what<01:24:48.159> they<01:24:48.320> would<01:24:48.480> do<01:24:48.639> is 01:24:48.790 --> 01:24:48.800 align:start position:0% they don't do that what they would do is 01:24:48.800 --> 01:24:52.070 align:start position:0% they don't do that what they would do is they<01:24:48.960> would<01:24:49.120> describe<01:24:49.840> very<01:24:50.159> carefully 01:24:52.070 --> 01:24:52.080 align:start position:0% they would describe very carefully 01:24:52.080 --> 01:24:55.350 align:start position:0% they would describe very carefully how<01:24:52.400> they<01:24:52.560> would<01:24:52.800> design<01:24:53.360> an<01:24:53.600> experiment<01:24:55.040> to 01:24:55.350 --> 01:24:55.360 align:start position:0% how they would design an experiment to 01:24:55.360 --> 01:24:58.550 align:start position:0% how they would design an experiment to isolate<01:24:56.880> the<01:24:57.199> issues<01:24:57.600> that<01:24:57.760> they're<01:24:58.000> trying 01:24:58.550 --> 01:24:58.560 align:start position:0% isolate the issues that they're trying 01:24:58.560 --> 01:25:02.870 align:start position:0% isolate the issues that they're trying to<01:24:58.960> investigate<01:25:00.480> so 01:25:02.870 --> 01:25:02.880 align:start position:0% 01:25:02.880 --> 01:25:05.750 align:start position:0% for<01:25:03.040> example<01:25:03.360> in<01:25:03.520> stereo<01:25:04.000> you<01:25:04.159> might<01:25:04.400> say<01:25:05.520> i'm 01:25:05.750 --> 01:25:05.760 align:start position:0% for example in stereo you might say i'm 01:25:05.760 --> 01:25:06.390 align:start position:0% for example in stereo you might say i'm interested 01:25:06.390 --> 01:25:06.400 align:start position:0% interested 01:25:06.400 --> 01:25:09.910 align:start position:0% interested in<01:25:07.520> designing<01:25:08.000> an<01:25:08.080> experiment<01:25:09.199> to<01:25:09.360> test<01:25:09.679> the 01:25:09.910 --> 01:25:09.920 align:start position:0% in designing an experiment to test the 01:25:09.920 --> 01:25:12.310 align:start position:0% in designing an experiment to test the impact<01:25:10.320> of<01:25:10.480> noise<01:25:10.880> on<01:25:11.040> algorithms 01:25:12.310 --> 01:25:12.320 align:start position:0% impact of noise on algorithms 01:25:12.320 --> 01:25:14.950 align:start position:0% impact of noise on algorithms how<01:25:12.480> do<01:25:12.639> you<01:25:12.719> describe<01:25:13.280> this<01:25:14.719> what 01:25:14.950 --> 01:25:14.960 align:start position:0% how do you describe this what 01:25:14.960 --> 01:25:16.950 align:start position:0% how do you describe this what experiments<01:25:15.440> do<01:25:15.600> i<01:25:15.679> need<01:25:15.840> to<01:25:15.920> perform 01:25:16.950 --> 01:25:16.960 align:start position:0% experiments do i need to perform 01:25:16.960 --> 01:25:19.510 align:start position:0% experiments do i need to perform what<01:25:17.199> are<01:25:17.280> my<01:25:17.440> controls<01:25:18.560> what<01:25:18.880> conclusions 01:25:19.510 --> 01:25:19.520 align:start position:0% what are my controls what conclusions 01:25:19.520 --> 01:25:20.790 align:start position:0% what are my controls what conclusions can<01:25:19.679> i<01:25:19.840> draw 01:25:20.790 --> 01:25:20.800 align:start position:0% can i draw 01:25:20.800 --> 01:25:25.510 align:start position:0% can i draw in<01:25:20.960> what<01:25:21.280> way<01:25:21.600> is<01:25:21.760> this<01:25:22.159> applicable<01:25:23.520> to 01:25:25.510 --> 01:25:25.520 align:start position:0% in what way is this applicable to 01:25:25.520 --> 01:25:28.629 align:start position:0% in what way is this applicable to other<01:25:26.000> how<01:25:26.560> how<01:25:26.800> extensible<01:25:27.520> is<01:25:27.679> this 01:25:28.629 --> 01:25:28.639 align:start position:0% other how how extensible is this 01:25:28.639 --> 01:25:30.550 align:start position:0% other how how extensible is this how<01:25:28.800> can<01:25:29.040> i<01:25:29.120> extract<01:25:29.600> the<01:25:29.760> maximum<01:25:30.159> amount<01:25:30.400> of 01:25:30.550 --> 01:25:30.560 align:start position:0% how can i extract the maximum amount of 01:25:30.560 --> 01:25:31.990 align:start position:0% how can i extract the maximum amount of information<01:25:31.199> about 01:25:31.990 --> 01:25:32.000 align:start position:0% information about 01:25:32.000 --> 01:25:34.310 align:start position:0% information about the<01:25:32.159> problem<01:25:32.560> that<01:25:32.719> i'm<01:25:32.960> trying<01:25:33.199> to<01:25:33.360> solve<01:25:34.159> so 01:25:34.310 --> 01:25:34.320 align:start position:0% the problem that i'm trying to solve so 01:25:34.320 --> 01:25:35.510 align:start position:0% the problem that i'm trying to solve so i<01:25:34.480> think<01:25:34.639> that<01:25:34.800> a<01:25:34.960> major 01:25:35.510 --> 01:25:35.520 align:start position:0% i think that a major 01:25:35.520 --> 01:25:38.550 align:start position:0% i think that a major challenge<01:25:36.159> to<01:25:38.239> to 01:25:38.550 --> 01:25:38.560 align:start position:0% challenge to to 01:25:38.560 --> 01:25:42.470 align:start position:0% challenge to to um<01:25:39.040> to<01:25:39.199> roboticism<01:25:40.480> experimental<01:25:41.199> design 01:25:42.470 --> 01:25:42.480 align:start position:0% um to roboticism experimental design 01:25:42.480 --> 01:25:45.030 align:start position:0% um to roboticism experimental design so<01:25:43.679> i've<01:25:44.080> noticed<01:25:44.480> it<01:25:44.560> with<01:25:44.639> things<01:25:44.800> like 01:25:45.030 --> 01:25:45.040 align:start position:0% so i've noticed it with things like 01:25:45.040 --> 01:25:47.830 align:start position:0% so i've noticed it with things like autonomous<01:25:45.600> guided<01:25:45.920> vehicles 01:25:47.830 --> 01:25:47.840 align:start position:0% autonomous guided vehicles 01:25:47.840 --> 01:25:49.510 align:start position:0% autonomous guided vehicles you<01:25:48.000> know<01:25:48.159> it's<01:25:48.400> it's<01:25:48.560> very<01:25:48.800> entertaining<01:25:49.360> in 01:25:49.510 --> 01:25:49.520 align:start position:0% you know it's it's very entertaining in 01:25:49.520 --> 01:25:50.950 align:start position:0% you know it's it's very entertaining in public<01:25:49.920> you<01:25:50.080> know<01:25:50.320> public<01:25:50.560> may<01:25:50.719> be<01:25:50.800> very 01:25:50.950 --> 01:25:50.960 align:start position:0% public you know public may be very 01:25:50.960 --> 01:25:52.310 align:start position:0% public you know public may be very interested<01:25:51.440> in<01:25:51.600> seeing 01:25:52.310 --> 01:25:52.320 align:start position:0% interested in seeing 01:25:52.320 --> 01:25:54.950 align:start position:0% interested in seeing say<01:25:52.560> a<01:25:52.639> video<01:25:53.120> of<01:25:53.280> a<01:25:53.360> vehicle<01:25:54.480> trundling 01:25:54.950 --> 01:25:54.960 align:start position:0% say a video of a vehicle trundling 01:25:54.960 --> 01:25:57.590 align:start position:0% say a video of a vehicle trundling around 01:25:57.590 --> 01:25:57.600 align:start position:0% 01:25:57.600 --> 01:26:00.709 align:start position:0% some<01:25:58.080> environment<01:25:59.360> but 01:26:00.709 --> 01:26:00.719 align:start position:0% some environment but 01:26:00.719 --> 01:26:02.310 align:start position:0% some environment but how<01:26:00.880> much<01:26:01.120> effort's<01:26:01.440> gone<01:26:01.600> into<01:26:01.840> the<01:26:01.920> design 01:26:02.310 --> 01:26:02.320 align:start position:0% how much effort's gone into the design 01:26:02.320 --> 01:26:03.990 align:start position:0% how much effort's gone into the design of<01:26:02.400> the<01:26:02.560> experiments 01:26:03.990 --> 01:26:04.000 align:start position:0% of the experiments 01:26:04.000 --> 01:26:07.350 align:start position:0% of the experiments to<01:26:04.560> test<01:26:04.880> that<01:26:05.199> system<01:26:06.080> and 01:26:07.350 --> 01:26:07.360 align:start position:0% to test that system and 01:26:07.360 --> 01:26:11.110 align:start position:0% to test that system and how<01:26:08.800> how<01:26:08.960> does<01:26:09.120> that<01:26:09.360> stack<01:26:09.760> up<01:26:09.920> against<01:26:10.400> say 01:26:11.110 --> 01:26:11.120 align:start position:0% how how does that stack up against say 01:26:11.120 --> 01:26:14.229 align:start position:0% how how does that stack up against say what<01:26:11.360> someone<01:26:11.760> would<01:26:11.920> do<01:26:12.159> to<01:26:12.320> design<01:26:12.800> say 01:26:14.229 --> 01:26:14.239 align:start position:0% what someone would do to design say 01:26:14.239 --> 01:26:16.870 align:start position:0% what someone would do to design say the<01:26:14.480> experiments<01:26:15.120> at<01:26:15.280> cern<01:26:16.239> so<01:26:16.560> looking<01:26:16.719> for 01:26:16.870 --> 01:26:16.880 align:start position:0% the experiments at cern so looking for 01:26:16.880 --> 01:26:18.390 align:start position:0% the experiments at cern so looking for the<01:26:17.040> higgs<01:26:17.280> boson 01:26:18.390 --> 01:26:18.400 align:start position:0% the higgs boson 01:26:18.400 --> 01:26:19.910 align:start position:0% the higgs boson they<01:26:18.560> didn't<01:26:18.719> just<01:26:18.880> sort<01:26:19.040> of<01:26:19.280> glue<01:26:19.600> together 01:26:19.910 --> 01:26:19.920 align:start position:0% they didn't just sort of glue together 01:26:19.920 --> 01:26:21.990 align:start position:0% they didn't just sort of glue together some<01:26:20.159> accelerator<01:26:20.960> turn<01:26:21.199> it<01:26:21.280> on<01:26:21.440> and<01:26:21.520> say<01:26:21.840> what 01:26:21.990 --> 01:26:22.000 align:start position:0% some accelerator turn it on and say what 01:26:22.000 --> 01:26:22.870 align:start position:0% some accelerator turn it on and say what happened 01:26:22.870 --> 01:26:22.880 align:start position:0% happened 01:26:22.880 --> 01:26:24.390 align:start position:0% happened they<01:26:23.120> spent<01:26:23.520> years<01:26:23.760> thinking<01:26:24.080> about<01:26:24.239> the 01:26:24.390 --> 01:26:24.400 align:start position:0% they spent years thinking about the 01:26:24.400 --> 01:26:26.629 align:start position:0% they spent years thinking about the design<01:26:24.639> of<01:26:24.719> the<01:26:24.800> experiment<01:26:25.360> any<01:26:25.600> physicist 01:26:26.629 --> 01:26:26.639 align:start position:0% design of the experiment any physicist 01:26:26.639 --> 01:26:29.750 align:start position:0% design of the experiment any physicist will<01:26:26.800> spend<01:26:28.480> a<01:26:28.639> lot<01:26:28.800> of<01:26:28.960> effort 01:26:29.750 --> 01:26:29.760 align:start position:0% will spend a lot of effort 01:26:29.760 --> 01:26:31.590 align:start position:0% will spend a lot of effort designing<01:26:30.320> the<01:26:30.400> experiment<01:26:31.199> what's<01:26:31.440> the 01:26:31.590 --> 01:26:31.600 align:start position:0% designing the experiment what's the 01:26:31.600 --> 01:26:32.790 align:start position:0% designing the experiment what's the experimental<01:26:32.080> design 01:26:32.790 --> 01:26:32.800 align:start position:0% experimental design 01:26:32.800 --> 01:26:34.629 align:start position:0% experimental design even<01:26:33.120> in<01:26:33.360> the<01:26:33.440> softer<01:26:33.840> sciences<01:26:34.239> such<01:26:34.480> as 01:26:34.629 --> 01:26:34.639 align:start position:0% even in the softer sciences such as 01:26:34.639 --> 01:26:36.870 align:start position:0% even in the softer sciences such as psychology<01:26:35.679> experimental<01:26:36.320> design<01:26:36.719> is 01:26:36.870 --> 01:26:36.880 align:start position:0% psychology experimental design is 01:26:36.880 --> 01:26:42.470 align:start position:0% psychology experimental design is crucial 01:26:42.470 --> 01:26:42.480 align:start position:0% 01:26:42.480 --> 01:26:45.669 align:start position:0% so<01:26:44.000> that's<01:26:44.400> i<01:26:44.480> don't<01:26:44.639> know<01:26:44.719> if<01:26:45.120> you<01:26:45.280> agree<01:26:45.520> with 01:26:45.669 --> 01:26:45.679 align:start position:0% so that's i don't know if you agree with 01:26:45.679 --> 01:26:47.030 align:start position:0% so that's i don't know if you agree with me<01:26:45.840> at<01:26:46.000> all<01:26:46.080> on<01:26:46.239> that 01:26:47.030 --> 01:26:47.040 align:start position:0% me at all on that 01:26:47.040 --> 01:26:50.629 align:start position:0% me at all on that absolutely<01:26:48.320> so<01:26:49.120> so<01:26:49.920> to<01:26:50.080> me 01:26:50.629 --> 01:26:50.639 align:start position:0% absolutely so so to me 01:26:50.639 --> 01:26:51.990 align:start position:0% absolutely so so to me i<01:26:50.800> think<01:26:51.199> that's<01:26:51.360> the<01:26:51.440> big<01:26:51.679> challenge<01:26:51.920> for 01:26:51.990 --> 01:26:52.000 align:start position:0% i think that's the big challenge for 01:26:52.000 --> 01:26:54.149 align:start position:0% i think that's the big challenge for robotics<01:26:52.480> the<01:26:52.560> roddick's<01:26:52.960> community<01:26:53.360> used<01:26:53.520> to 01:26:54.149 --> 01:26:54.159 align:start position:0% robotics the roddick's community used to 01:26:54.159 --> 01:26:57.830 align:start position:0% robotics the roddick's community used to is<01:26:54.320> to<01:26:54.480> come<01:26:54.639> up<01:26:54.719> with<01:26:54.880> a<01:26:55.040> science<01:26:55.600> of<01:26:55.760> robotics 01:26:57.830 --> 01:26:57.840 align:start position:0% is to come up with a science of robotics 01:26:57.840 --> 01:27:00.149 align:start position:0% is to come up with a science of robotics so<01:26:58.560> just<01:26:58.800> my<01:26:58.960> little<01:26:59.280> the<01:26:59.440> little<01:26:59.679> thing<01:26:59.920> i<01:27:00.000> did 01:27:00.149 --> 01:27:00.159 align:start position:0% so just my little the little thing i did 01:27:00.159 --> 01:27:02.390 align:start position:0% so just my little the little thing i did on<01:27:00.320> teleoperation<01:27:01.199> which<01:27:01.440> was 01:27:02.390 --> 01:27:02.400 align:start position:0% on teleoperation which was 01:27:02.400 --> 01:27:05.030 align:start position:0% on teleoperation which was to<01:27:02.639> look<01:27:02.880> at<01:27:03.679> well<01:27:04.080> okay<01:27:04.320> well<01:27:04.480> let's<01:27:04.719> have<01:27:04.880> an 01:27:05.030 --> 01:27:05.040 align:start position:0% to look at well okay well let's have an 01:27:05.040 --> 01:27:07.110 align:start position:0% to look at well okay well let's have an abstract<01:27:05.520> turkey<01:27:05.760> operator 01:27:07.110 --> 01:27:07.120 align:start position:0% abstract turkey operator 01:27:07.120 --> 01:27:09.590 align:start position:0% abstract turkey operator what<01:27:07.360> does<01:27:07.600> that<01:27:07.840> tell<01:27:08.080> us<01:27:08.400> about<01:27:09.120> the<01:27:09.280> tele 01:27:09.590 --> 01:27:09.600 align:start position:0% what does that tell us about the tele 01:27:09.600 --> 01:27:11.030 align:start position:0% what does that tell us about the tele operation<01:27:10.080> system 01:27:11.030 --> 01:27:11.040 align:start position:0% operation system 01:27:11.040 --> 01:27:13.510 align:start position:0% operation system and<01:27:11.440> that<01:27:11.679> very<01:27:12.000> simple<01:27:12.400> thought<01:27:12.719> experiment 01:27:13.510 --> 01:27:13.520 align:start position:0% and that very simple thought experiment 01:27:13.520 --> 01:27:15.350 align:start position:0% and that very simple thought experiment just<01:27:13.760> came<01:27:14.000> up<01:27:14.080> with<01:27:14.239> the<01:27:14.400> idea<01:27:14.719> of 01:27:15.350 --> 01:27:15.360 align:start position:0% just came up with the idea of 01:27:15.360 --> 01:27:17.430 align:start position:0% just came up with the idea of momentum<01:27:15.920> transfer<01:27:16.880> and<01:27:16.960> once<01:27:17.199> you've<01:27:17.360> got 01:27:17.430 --> 01:27:17.440 align:start position:0% momentum transfer and once you've got 01:27:17.440 --> 01:27:18.709 align:start position:0% momentum transfer and once you've got that<01:27:17.600> you<01:27:17.679> can<01:27:17.760> do<01:27:17.920> some<01:27:18.080> experiments 01:27:18.709 --> 01:27:18.719 align:start position:0% that you can do some experiments 01:27:18.719 --> 01:27:21.430 align:start position:0% that you can do some experiments to<01:27:18.960> illustrate<01:27:19.520> this<01:27:20.000> all<01:27:20.159> the<01:27:20.239> work<01:27:20.480> i<01:27:20.639> did<01:27:20.880> on 01:27:21.430 --> 01:27:21.440 align:start position:0% to illustrate this all the work i did on 01:27:21.440 --> 01:27:23.350 align:start position:0% to illustrate this all the work i did on on<01:27:21.760> phase<01:27:22.000> delays 01:27:23.350 --> 01:27:23.360 align:start position:0% on phase delays 01:27:23.360 --> 01:27:25.510 align:start position:0% on phase delays postulate<01:27:23.920> a<01:27:24.159> mechanism<01:27:24.719> a<01:27:24.800> mechanism<01:27:25.280> that's 01:27:25.510 --> 01:27:25.520 align:start position:0% postulate a mechanism a mechanism that's 01:27:25.520 --> 01:27:26.790 align:start position:0% postulate a mechanism a mechanism that's causing<01:27:25.920> this 01:27:26.790 --> 01:27:26.800 align:start position:0% causing this 01:27:26.800 --> 01:27:28.870 align:start position:0% causing this build<01:27:27.120> a<01:27:27.199> piece<01:27:27.360> of<01:27:27.920> experimental<01:27:28.480> equipment 01:27:28.870 --> 01:27:28.880 align:start position:0% build a piece of experimental equipment 01:27:28.880 --> 01:27:30.870 align:start position:0% build a piece of experimental equipment which<01:27:29.199> illustrate<01:27:29.679> this<01:27:29.920> thing 01:27:30.870 --> 01:27:30.880 align:start position:0% which illustrate this thing 01:27:30.880 --> 01:27:33.510 align:start position:0% which illustrate this thing have<01:27:31.120> a<01:27:31.199> hypothesis<01:27:32.159> make<01:27:32.400> some<01:27:32.560> predictions 01:27:33.510 --> 01:27:33.520 align:start position:0% have a hypothesis make some predictions 01:27:33.520 --> 01:27:36.390 align:start position:0% have a hypothesis make some predictions do<01:27:33.679> an<01:27:33.920> experiment<01:27:34.400> does<01:27:34.639> your<01:27:34.800> experiments 01:27:36.390 --> 01:27:36.400 align:start position:0% do an experiment does your experiments 01:27:36.400 --> 01:27:40.390 align:start position:0% do an experiment does your experiments justif<01:27:37.040> just<01:27:37.360> is<01:27:37.520> your<01:27:37.679> hypothesis<01:27:39.199> supported 01:27:40.390 --> 01:27:40.400 align:start position:0% justif just is your hypothesis supported 01:27:40.400 --> 01:27:43.030 align:start position:0% justif just is your hypothesis supported what<01:27:40.800> what<01:27:41.600> what<01:27:41.840> statistical<01:27:42.560> bounds<01:27:42.880> can 01:27:43.030 --> 01:27:43.040 align:start position:0% what what what statistical bounds can 01:27:43.040 --> 01:27:43.750 align:start position:0% what what what statistical bounds can you<01:27:43.199> put<01:27:43.360> on 01:27:43.750 --> 01:27:43.760 align:start position:0% you put on 01:27:43.760 --> 01:27:44.950 align:start position:0% you put on on<01:27:43.920> the<01:27:44.000> parameters<01:27:44.480> that<01:27:44.639> you're<01:27:44.719> going<01:27:44.880> to 01:27:44.950 --> 01:27:44.960 align:start position:0% on the parameters that you're going to 01:27:44.960 --> 01:27:47.830 align:start position:0% on the parameters that you're going to put<01:27:45.199> in 01:27:47.830 --> 01:27:47.840 align:start position:0% put in 01:27:47.840 --> 01:27:49.830 align:start position:0% put in shannon's<01:27:48.800> shan's<01:27:49.199> theory<01:27:49.440> what<01:27:49.600> does<01:27:49.679> that 01:27:49.830 --> 01:27:49.840 align:start position:0% shannon's shan's theory what does that 01:27:49.840 --> 01:27:51.430 align:start position:0% shannon's shan's theory what does that tell<01:27:50.000> us<01:27:50.159> about<01:27:50.320> control<01:27:50.719> systems 01:27:51.430 --> 01:27:51.440 align:start position:0% tell us about control systems 01:27:51.440 --> 01:27:52.950 align:start position:0% tell us about control systems what<01:27:51.600> do<01:27:51.679> you<01:27:51.840> predict<01:27:52.239> will<01:27:52.400> happen<01:27:52.719> if<01:27:52.880> you 01:27:52.950 --> 01:27:52.960 align:start position:0% what do you predict will happen if you 01:27:52.960 --> 01:27:55.030 align:start position:0% what do you predict will happen if you try<01:27:53.120> and<01:27:53.760> exceed<01:27:54.320> the<01:27:54.480> bounds 01:27:55.030 --> 01:27:55.040 align:start position:0% try and exceed the bounds 01:27:55.040 --> 01:27:59.510 align:start position:0% try and exceed the bounds on<01:27:55.199> the<01:27:55.360> channel<01:27:55.600> capacity<01:27:56.080> of<01:27:56.159> this<01:27:56.320> sensor 01:27:59.510 --> 01:27:59.520 align:start position:0% 01:27:59.520 --> 01:28:00.950 align:start position:0% now<01:27:59.679> how<01:27:59.840> would<01:28:00.000> you<01:28:00.080> perform<01:28:00.400> an<01:28:00.480> experiment 01:28:00.950 --> 01:28:00.960 align:start position:0% now how would you perform an experiment 01:28:00.960 --> 01:28:06.390 align:start position:0% now how would you perform an experiment to<01:28:01.120> try<01:28:01.280> that<01:28:01.520> out 01:28:06.390 --> 01:28:06.400 align:start position:0% 01:28:06.400 --> 01:28:07.990 align:start position:0% what's<01:28:06.639> your<01:28:06.800> advice<01:28:07.120> to<01:28:07.280> young<01:28:07.600> people<01:28:07.840> who 01:28:07.990 --> 01:28:08.000 align:start position:0% what's your advice to young people who 01:28:08.000 --> 01:28:09.430 align:start position:0% what's your advice to young people who are<01:28:08.159> interested<01:28:08.639> in<01:28:08.800> a 01:28:09.430 --> 01:28:09.440 align:start position:0% are interested in a 01:28:09.440 --> 01:28:14.950 align:start position:0% are interested in a career<01:28:09.840> in<01:28:12.840> robotics 01:28:14.950 --> 01:28:14.960 align:start position:0% career in robotics 01:28:14.960 --> 01:28:18.629 align:start position:0% career in robotics um<01:28:16.239> be<01:28:16.480> prepared<01:28:17.120> to<01:28:17.360> go<01:28:17.760> and<01:28:17.920> visit<01:28:18.320> a<01:28:18.400> number 01:28:18.629 --> 01:28:18.639 align:start position:0% um be prepared to go and visit a number 01:28:18.639 --> 01:28:19.910 align:start position:0% um be prepared to go and visit a number of<01:28:18.800> places 01:28:19.910 --> 01:28:19.920 align:start position:0% of places 01:28:19.920 --> 01:28:21.750 align:start position:0% of places and<01:28:20.159> be<01:28:20.320> prepared<01:28:20.800> to<01:28:20.960> work<01:28:21.199> in<01:28:21.280> a<01:28:21.440> number<01:28:21.600> of 01:28:21.750 --> 01:28:21.760 align:start position:0% and be prepared to work in a number of 01:28:21.760 --> 01:28:23.830 align:start position:0% and be prepared to work in a number of labs<01:28:22.080> i<01:28:22.159> think<01:28:22.880> one<01:28:23.040> of<01:28:23.120> the<01:28:23.199> mistakes<01:28:23.520> i<01:28:23.679> made 01:28:23.830 --> 01:28:23.840 align:start position:0% labs i think one of the mistakes i made 01:28:23.840 --> 01:28:26.070 align:start position:0% labs i think one of the mistakes i made was<01:28:24.080> i<01:28:24.159> stayed<01:28:24.400> in<01:28:24.560> oxford<01:28:24.960> for<01:28:25.120> too<01:28:25.360> long 01:28:26.070 --> 01:28:26.080 align:start position:0% was i stayed in oxford for too long 01:28:26.080 --> 01:28:29.030 align:start position:0% was i stayed in oxford for too long i<01:28:26.239> think<01:28:26.880> didn't<01:28:27.120> get<01:28:27.360> enough<01:28:28.320> experience<01:28:28.880> of 01:28:29.030 --> 01:28:29.040 align:start position:0% i think didn't get enough experience of 01:28:29.040 --> 01:28:30.470 align:start position:0% i think didn't get enough experience of other<01:28:29.199> people's<01:28:29.679> working<01:28:30.000> other<01:28:30.159> people's 01:28:30.470 --> 01:28:30.480 align:start position:0% other people's working other people's 01:28:30.480 --> 01:28:31.590 align:start position:0% other people's working other people's labs 01:28:31.590 --> 01:28:31.600 align:start position:0% labs 01:28:31.600 --> 01:28:36.070 align:start position:0% labs so<01:28:34.400> if<01:28:34.480> you're<01:28:34.719> interested<01:28:35.120> in<01:28:35.199> robots 01:28:36.070 --> 01:28:36.080 align:start position:0% so if you're interested in robots 01:28:36.080 --> 01:28:39.510 align:start position:0% so if you're interested in robots go<01:28:36.400> go<01:28:36.639> find<01:28:36.880> some<01:28:37.040> really<01:28:38.800> neat<01:28:39.120> projects 01:28:39.510 --> 01:28:39.520 align:start position:0% go go find some really neat projects 01:28:39.520 --> 01:28:41.350 align:start position:0% go go find some really neat projects going<01:28:39.760> on<01:28:39.920> and<01:28:40.000> be<01:28:40.159> prepared<01:28:40.560> to<01:28:40.639> move<01:28:40.960> to<01:28:41.120> go 01:28:41.350 --> 01:28:41.360 align:start position:0% going on and be prepared to move to go 01:28:41.360 --> 01:28:41.669 align:start position:0% going on and be prepared to move to go and 01:28:41.669 --> 01:28:41.679 align:start position:0% and 01:28:41.679 --> 01:28:44.310 align:start position:0% and work<01:28:42.000> in<01:28:42.080> those<01:28:42.320> projects<01:28:42.719> i<01:28:42.880> think<01:28:43.760> so<01:28:43.920> don't 01:28:44.310 --> 01:28:44.320 align:start position:0% work in those projects i think so don't 01:28:44.320 --> 01:28:44.950 align:start position:0% work in those projects i think so don't don't<01:28:44.560> sort<01:28:44.719> of 01:28:44.950 --> 01:28:44.960 align:start position:0% don't sort of 01:28:44.960 --> 01:28:48.149 align:start position:0% don't sort of sit<01:28:45.199> at<01:28:45.280> home<01:28:45.600> and<01:28:46.400> so<01:28:47.280> it's<01:28:47.520> quite<01:28:47.679> easy<01:28:48.000> to 01:28:48.149 --> 01:28:48.159 align:start position:0% sit at home and so it's quite easy to 01:28:48.159 --> 01:28:48.629 align:start position:0% sit at home and so it's quite easy to stay 01:28:48.629 --> 01:28:48.639 align:start position:0% stay 01:28:48.639 --> 01:28:51.189 align:start position:0% stay stay<01:28:49.120> safe<01:28:49.360> exactly<01:28:49.760> in<01:28:49.840> the<01:28:49.920> uk<01:28:50.800> so<01:28:50.960> if<01:28:51.040> you're 01:28:51.189 --> 01:28:51.199 align:start position:0% stay safe exactly in the uk so if you're 01:28:51.199 --> 01:28:51.750 align:start position:0% stay safe exactly in the uk so if you're a<01:28:51.280> uk 01:28:51.750 --> 01:28:51.760 align:start position:0% a uk 01:28:51.760 --> 01:28:53.030 align:start position:0% a uk student<01:28:52.000> you're<01:28:52.080> interested<01:28:52.320> in<01:28:52.400> robotics<01:28:52.880> be 01:28:53.030 --> 01:28:53.040 align:start position:0% student you're interested in robotics be 01:28:53.040 --> 01:28:54.790 align:start position:0% student you're interested in robotics be prepared<01:28:53.280> to<01:28:53.360> go<01:28:53.520> to<01:28:53.600> the<01:28:53.760> states<01:28:54.480> study<01:28:54.719> in 01:28:54.790 --> 01:28:54.800 align:start position:0% prepared to go to the states study in 01:28:54.800 --> 01:28:55.750 align:start position:0% prepared to go to the states study in the<01:28:54.960> states 01:28:55.750 --> 01:28:55.760 align:start position:0% the states 01:28:55.760 --> 01:28:57.110 align:start position:0% the states go<01:28:55.920> and<01:28:56.000> find<01:28:56.239> where<01:28:56.400> the<01:28:56.719> where<01:28:56.880> the<01:28:56.960> good 01:28:57.110 --> 01:28:57.120 align:start position:0% go and find where the where the good 01:28:57.120 --> 01:29:01.750 align:start position:0% go and find where the where the good people<01:28:57.520> are 01:29:01.750 --> 01:29:01.760 align:start position:0% 01:29:01.760 --> 01:29:03.270 align:start position:0% great<01:29:02.080> is<01:29:02.239> there<01:29:02.400> anything<01:29:02.719> you'd<01:29:02.880> like<01:29:03.120> to 01:29:03.270 --> 01:29:03.280 align:start position:0% great is there anything you'd like to 01:29:03.280 --> 01:29:05.110 align:start position:0% great is there anything you'd like to add<01:29:04.400> not<01:29:04.560> really 01:29:05.110 --> 01:29:05.120 align:start position:0% add not really 01:29:05.120 --> 01:29:08.750 align:start position:0% add not really i<01:29:05.280> think<01:29:05.440> i've<01:29:05.600> said<01:29:05.840> my<01:29:06.000> bit<01:29:08.000> thank<01:29:08.159> you<01:29:08.320> very 01:29:08.750 --> 01:29:08.760 align:start position:0% i think i've said my bit thank you very 01:29:08.760 --> 01:29:11.760 align:start position:0% i think i've said my bit thank you very much