WEBVTT Kind: captions Language: en 00:00:00.080 --> 00:00:01.270 align:start position:0% yeah<00:00:00.240> if<00:00:00.320> you<00:00:00.399> could<00:00:00.480> just<00:00:00.640> start<00:00:00.880> by<00:00:00.960> telling 00:00:01.270 --> 00:00:01.280 align:start position:0% yeah if you could just start by telling 00:00:01.280 --> 00:00:03.510 align:start position:0% yeah if you could just start by telling us<00:00:01.680> where<00:00:01.839> you<00:00:01.920> were<00:00:02.080> born<00:00:02.560> where<00:00:02.800> you<00:00:02.879> grew<00:00:03.120> up 00:00:03.510 --> 00:00:03.520 align:start position:0% us where you were born where you grew up 00:00:03.520 --> 00:00:05.269 align:start position:0% us where you were born where you grew up sure<00:00:04.080> i'm<00:00:04.240> richard<00:00:04.480> murray<00:00:04.720> i<00:00:04.880> grew<00:00:04.960> up<00:00:05.040> in<00:00:05.200> el 00:00:05.269 --> 00:00:05.279 align:start position:0% sure i'm richard murray i grew up in el 00:00:05.279 --> 00:00:07.909 align:start position:0% sure i'm richard murray i grew up in el paso<00:00:05.600> texas<00:00:06.319> uh 00:00:07.909 --> 00:00:07.919 align:start position:0% paso texas uh 00:00:07.919 --> 00:00:09.830 align:start position:0% paso texas uh all<00:00:08.080> through<00:00:08.320> high<00:00:08.480> school<00:00:08.720> went<00:00:09.280> to<00:00:09.519> schools 00:00:09.830 --> 00:00:09.840 align:start position:0% all through high school went to schools 00:00:09.840 --> 00:00:11.110 align:start position:0% all through high school went to schools in<00:00:09.920> el<00:00:10.000> paso<00:00:10.320> texas<00:00:10.639> and<00:00:10.719> then 00:00:11.110 --> 00:00:11.120 align:start position:0% in el paso texas and then 00:00:11.120 --> 00:00:12.950 align:start position:0% in el paso texas and then came<00:00:11.280> to<00:00:11.360> caltech<00:00:11.679> as<00:00:11.759> an<00:00:11.920> undergraduate<00:00:12.480> in 00:00:12.950 --> 00:00:12.960 align:start position:0% came to caltech as an undergraduate in 00:00:12.960 --> 00:00:14.950 align:start position:0% came to caltech as an undergraduate in uh<00:00:13.840> 1981 00:00:14.950 --> 00:00:14.960 align:start position:0% uh 1981 00:00:14.960 --> 00:00:16.870 align:start position:0% uh 1981 i<00:00:15.200> was<00:00:15.280> here<00:00:15.440> until<00:00:15.599> 1985<00:00:16.240> then<00:00:16.400> went<00:00:16.560> to 00:00:16.870 --> 00:00:16.880 align:start position:0% i was here until 1985 then went to 00:00:16.880 --> 00:00:18.310 align:start position:0% i was here until 1985 then went to berkeley<00:00:17.199> as<00:00:17.279> a<00:00:17.359> graduate<00:00:17.760> student 00:00:18.310 --> 00:00:18.320 align:start position:0% berkeley as a graduate student 00:00:18.320 --> 00:00:22.310 align:start position:0% berkeley as a graduate student and<00:00:18.560> came<00:00:18.720> back<00:00:18.880> to<00:00:18.960> caltech<00:00:19.439> in<00:00:20.760> 1991 00:00:22.310 --> 00:00:22.320 align:start position:0% and came back to caltech in 1991 00:00:22.320 --> 00:00:24.070 align:start position:0% and came back to caltech in 1991 so<00:00:22.480> what<00:00:22.640> were<00:00:22.800> you<00:00:22.960> studying<00:00:23.359> in<00:00:23.519> caltech<00:00:23.920> as 00:00:24.070 --> 00:00:24.080 align:start position:0% so what were you studying in caltech as 00:00:24.080 --> 00:00:25.429 align:start position:0% so what were you studying in caltech as an<00:00:24.160> undergrad<00:00:24.720> i<00:00:24.800> was<00:00:24.880> in<00:00:25.039> electrical 00:00:25.429 --> 00:00:25.439 align:start position:0% an undergrad i was in electrical 00:00:25.439 --> 00:00:26.150 align:start position:0% an undergrad i was in electrical engineering 00:00:26.150 --> 00:00:26.160 align:start position:0% engineering 00:00:26.160 --> 00:00:28.790 align:start position:0% engineering as<00:00:26.320> an<00:00:26.480> undergraduate<00:00:27.279> more<00:00:27.439> or<00:00:27.599> less<00:00:28.320> getting 00:00:28.790 --> 00:00:28.800 align:start position:0% as an undergraduate more or less getting 00:00:28.800 --> 00:00:29.990 align:start position:0% as an undergraduate more or less getting slightly<00:00:29.199> interested<00:00:29.599> in<00:00:29.679> control 00:00:29.990 --> 00:00:30.000 align:start position:0% slightly interested in control 00:00:30.000 --> 00:00:31.509 align:start position:0% slightly interested in control systems<00:00:30.400> not<00:00:30.560> doing<00:00:30.720> anything<00:00:31.039> in<00:00:31.119> robotics 00:00:31.509 --> 00:00:31.519 align:start position:0% systems not doing anything in robotics 00:00:31.519 --> 00:00:33.830 align:start position:0% systems not doing anything in robotics at<00:00:31.599> the<00:00:31.760> time<00:00:32.960> and<00:00:33.120> when<00:00:33.280> i<00:00:33.360> went<00:00:33.520> up<00:00:33.600> to 00:00:33.830 --> 00:00:33.840 align:start position:0% at the time and when i went up to 00:00:33.840 --> 00:00:34.630 align:start position:0% at the time and when i went up to berkeley 00:00:34.630 --> 00:00:34.640 align:start position:0% berkeley 00:00:34.640 --> 00:00:36.470 align:start position:0% berkeley uh<00:00:35.040> started<00:00:35.280> to<00:00:35.360> get<00:00:35.520> involved<00:00:35.840> in<00:00:35.920> robotics 00:00:36.470 --> 00:00:36.480 align:start position:0% uh started to get involved in robotics 00:00:36.480 --> 00:00:38.310 align:start position:0% uh started to get involved in robotics and<00:00:36.719> grasping<00:00:37.280> which<00:00:37.440> was<00:00:37.680> at<00:00:37.760> the<00:00:37.920> time<00:00:38.160> and 00:00:38.310 --> 00:00:38.320 align:start position:0% and grasping which was at the time and 00:00:38.320 --> 00:00:39.190 align:start position:0% and grasping which was at the time and now<00:00:38.559> again 00:00:39.190 --> 00:00:39.200 align:start position:0% now again 00:00:39.200 --> 00:00:41.350 align:start position:0% now again something<00:00:39.520> was<00:00:39.600> kind<00:00:39.760> of<00:00:39.840> interesting<00:00:41.200> and 00:00:41.350 --> 00:00:41.360 align:start position:0% something was kind of interesting and 00:00:41.360 --> 00:00:42.229 align:start position:0% something was kind of interesting and then 00:00:42.229 --> 00:00:42.239 align:start position:0% then 00:00:42.239 --> 00:00:44.709 align:start position:0% then still<00:00:42.480> was<00:00:42.640> doing<00:00:43.120> the<00:00:43.280> control<00:00:44.000> system<00:00:44.480> side 00:00:44.709 --> 00:00:44.719 align:start position:0% still was doing the control system side 00:00:44.719 --> 00:00:45.590 align:start position:0% still was doing the control system side of<00:00:44.800> robotics 00:00:45.590 --> 00:00:45.600 align:start position:0% of robotics 00:00:45.600 --> 00:00:47.350 align:start position:0% of robotics for<00:00:45.760> my<00:00:45.920> graduate<00:00:46.239> work<00:00:46.879> and<00:00:47.039> then<00:00:47.120> when<00:00:47.280> i 00:00:47.350 --> 00:00:47.360 align:start position:0% for my graduate work and then when i 00:00:47.360 --> 00:00:49.029 align:start position:0% for my graduate work and then when i came<00:00:47.520> back<00:00:47.760> down<00:00:47.920> here<00:00:48.399> actually<00:00:48.719> switched 00:00:49.029 --> 00:00:49.039 align:start position:0% came back down here actually switched 00:00:49.039 --> 00:00:50.630 align:start position:0% came back down here actually switched departments<00:00:49.440> to<00:00:49.600> mechanical<00:00:50.000> engineering 00:00:50.630 --> 00:00:50.640 align:start position:0% departments to mechanical engineering 00:00:50.640 --> 00:00:53.350 align:start position:0% departments to mechanical engineering uh<00:00:50.879> at<00:00:51.039> caltech<00:00:52.239> and<00:00:52.320> then<00:00:52.719> since<00:00:52.960> then<00:00:53.199> have 00:00:53.350 --> 00:00:53.360 align:start position:0% uh at caltech and then since then have 00:00:53.360 --> 00:00:54.389 align:start position:0% uh at caltech and then since then have done 00:00:54.389 --> 00:00:54.399 align:start position:0% done 00:00:54.399 --> 00:00:55.830 align:start position:0% done robotics<00:00:54.879> things<00:00:55.280> and<00:00:55.360> other<00:00:55.520> things<00:00:55.680> don't 00:00:55.830 --> 00:00:55.840 align:start position:0% robotics things and other things don't 00:00:55.840 --> 00:00:57.990 align:start position:0% robotics things and other things don't have<00:00:55.920> anything<00:00:56.160> to<00:00:56.239> do<00:00:56.320> with<00:00:56.480> robotics<00:00:56.960> so<00:00:57.840> in 00:00:57.990 --> 00:00:58.000 align:start position:0% have anything to do with robotics so in 00:00:58.000 --> 00:00:59.590 align:start position:0% have anything to do with robotics so in berkeley<00:00:58.320> how<00:00:58.480> did<00:00:58.640> you<00:00:58.719> get<00:00:58.960> involved<00:00:59.359> with 00:00:59.590 --> 00:00:59.600 align:start position:0% berkeley how did you get involved with 00:00:59.600 --> 00:01:01.029 align:start position:0% berkeley how did you get involved with robotics 00:01:01.029 --> 00:01:01.039 align:start position:0% robotics 00:01:01.039 --> 00:01:02.150 align:start position:0% robotics um<00:01:01.199> i<00:01:01.359> don't<00:01:01.440> remember<00:01:01.680> my<00:01:01.760> advisor<00:01:02.079> was 00:01:02.150 --> 00:01:02.160 align:start position:0% um i don't remember my advisor was 00:01:02.160 --> 00:01:04.390 align:start position:0% um i don't remember my advisor was shankar<00:01:02.559> sastry<00:01:03.120> and<00:01:03.600> i<00:01:03.760> think<00:01:03.920> he<00:01:04.159> was 00:01:04.390 --> 00:01:04.400 align:start position:0% shankar sastry and i think he was 00:01:04.400 --> 00:01:06.550 align:start position:0% shankar sastry and i think he was interested<00:01:04.799> in<00:01:04.879> robotics<00:01:05.360> or<00:01:05.519> various 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and<00:01:11.760> grasping<00:01:12.320> was<00:01:12.479> something<00:01:12.880> new<00:01:13.200> that 00:01:13.350 --> 00:01:13.360 align:start position:0% and grasping was something new that 00:01:13.360 --> 00:01:14.710 align:start position:0% and grasping was something new that people<00:01:13.600> weren't<00:01:14.000> you<00:01:14.080> know 00:01:14.710 --> 00:01:14.720 align:start position:0% people weren't you know 00:01:14.720 --> 00:01:18.070 align:start position:0% people weren't you know i<00:01:14.799> think<00:01:15.040> the<00:01:15.759> you<00:01:15.840> know<00:01:16.159> the 00:01:18.070 --> 00:01:18.080 align:start position:0% i think the you know the 00:01:18.080 --> 00:01:20.310 align:start position:0% i think the you know the utah<00:01:18.400> mit<00:01:18.880> hand<00:01:19.119> or<00:01:19.200> the<00:01:19.360> salisbury<00:01:19.840> hand<00:01:20.080> sort 00:01:20.310 --> 00:01:20.320 align:start position:0% utah mit hand or the salisbury hand sort 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some<00:01:35.520> interesting<00:01:35.920> aspects<00:01:36.240> to<00:01:36.320> it 00:01:36.469 --> 00:01:36.479 align:start position:0% and had some interesting aspects to it 00:01:36.479 --> 00:01:37.590 align:start position:0% and had some interesting aspects to it so<00:01:36.560> i<00:01:36.640> think<00:01:36.720> that<00:01:36.880> was<00:01:36.960> sort<00:01:37.119> of<00:01:37.200> how<00:01:37.360> we<00:01:37.439> got 00:01:37.590 --> 00:01:37.600 align:start position:0% so i think that was sort of how we got 00:01:37.600 --> 00:01:38.149 align:start position:0% so i think that was sort of how we got started 00:01:38.149 --> 00:01:38.159 align:start position:0% started 00:01:38.159 --> 00:01:39.590 align:start position:0% started i<00:01:38.320> went<00:01:38.479> to<00:01:38.640> robotics<00:01:39.040> conferences<00:01:39.439> things 00:01:39.590 --> 00:01:39.600 align:start position:0% i went to robotics conferences things 00:01:39.600 --> 00:01:41.670 align:start position:0% i went to robotics conferences things like<00:01:39.759> that<00:01:40.400> so<00:01:40.560> you<00:01:41.040> actually<00:01:41.280> wanted<00:01:41.600> to 00:01:41.670 --> 00:01:41.680 align:start position:0% like that so you actually wanted to 00:01:41.680 --> 00:01:43.990 align:start position:0% like that so you actually wanted to build<00:01:41.920> your<00:01:42.079> own<00:01:42.320> hand<00:01:42.640> or<00:01:42.880> were<00:01:43.040> you<00:01:43.200> using 00:01:43.990 --> 00:01:44.000 align:start position:0% build your own hand or were you using 00:01:44.000 --> 00:01:45.749 align:start position:0% build your own hand or were you using we<00:01:44.159> did<00:01:44.399> no<00:01:44.560> we<00:01:44.720> built<00:01:45.200> it<00:01:45.280> was<00:01:45.439> a<00:01:45.520> little 00:01:45.749 --> 00:01:45.759 align:start position:0% we did no we built it was a little 00:01:45.759 --> 00:01:47.510 align:start position:0% we did no we built it was a little planar<00:01:46.479> manipulator 00:01:47.510 --> 00:01:47.520 align:start position:0% planar manipulator 00:01:47.520 --> 00:01:49.510 align:start position:0% planar manipulator that<00:01:47.680> we<00:01:47.759> called<00:01:48.079> sticks<00:01:49.119> that<00:01:49.280> there's<00:01:49.439> a 00:01:49.510 --> 00:01:49.520 align:start position:0% that we called sticks that there's a 00:01:49.520 --> 00:01:50.630 align:start position:0% that we called sticks that there's a picture<00:01:49.920> of<00:01:50.159> in 00:01:50.630 --> 00:01:50.640 align:start position:0% picture of in 00:01:50.640 --> 00:01:52.149 align:start position:0% picture of in the<00:01:50.720> robotics<00:01:51.119> book<00:01:51.280> that<00:01:51.360> i<00:01:51.439> co-authored<00:01:52.000> and 00:01:52.149 --> 00:01:52.159 align:start position:0% the robotics book that i co-authored and 00:01:52.159 --> 00:01:53.990 align:start position:0% the robotics book that i co-authored and uh<00:01:52.640> you<00:01:52.720> know<00:01:52.880> just<00:01:53.040> to<00:01:53.200> have<00:01:53.360> it<00:01:53.520> in<00:01:53.680> there 00:01:53.990 --> 00:01:54.000 align:start position:0% uh you know just to have it in there 00:01:54.000 --> 00:01:55.830 align:start position:0% uh you know just to have it in there because<00:01:54.560> pretty<00:01:54.799> much<00:01:54.960> it<00:01:55.119> did<00:01:55.280> nothing<00:01:55.680> else 00:01:55.830 --> 00:01:55.840 align:start position:0% because pretty much it did nothing else 00:01:55.840 --> 00:01:57.350 align:start position:0% because pretty much it did nothing else i<00:01:55.920> don't<00:01:56.159> i<00:01:56.240> don't<00:01:56.399> even<00:01:56.479> know<00:01:56.719> that<00:01:56.799> we<00:01:56.880> ever 00:01:57.350 --> 00:01:57.360 align:start position:0% i don't i don't even know that we ever 00:01:57.360 --> 00:01:59.670 align:start position:0% i don't i don't even know that we ever wrote<00:01:57.520> any<00:01:58.000> papers<00:01:58.320> that<00:01:58.479> used<00:01:58.719> it<00:01:58.799> but<00:01:59.280> um 00:01:59.670 --> 00:01:59.680 align:start position:0% wrote any papers that used it but um 00:01:59.680 --> 00:02:00.469 align:start position:0% wrote any papers that used it but um anyway<00:02:00.079> we 00:02:00.469 --> 00:02:00.479 align:start position:0% anyway we 00:02:00.479 --> 00:02:01.990 align:start position:0% anyway we uh<00:02:00.640> built<00:02:00.880> one<00:02:01.119> i<00:02:01.200> think<00:02:01.360> because<00:02:01.600> we<00:02:01.759> wanted 00:02:01.990 --> 00:02:02.000 align:start position:0% uh built one i think because we wanted 00:02:02.000 --> 00:02:03.590 align:start position:0% uh built one i think because we wanted to<00:02:02.079> kind<00:02:02.240> of<00:02:02.320> control<00:02:02.719> directly<00:02:03.119> the<00:02:03.280> forces 00:02:03.590 --> 00:02:03.600 align:start position:0% to kind of control directly the forces 00:02:03.600 --> 00:02:04.389 align:start position:0% to kind of control directly the forces and<00:02:03.759> other<00:02:03.920> things 00:02:04.389 --> 00:02:04.399 align:start position:0% and other things 00:02:04.399 --> 00:02:05.670 align:start position:0% and other things and<00:02:04.560> i<00:02:04.640> think<00:02:04.799> we<00:02:04.960> also<00:02:05.119> didn't<00:02:05.280> have<00:02:05.439> a<00:02:05.439> lot<00:02:05.600> of 00:02:05.670 --> 00:02:05.680 align:start position:0% and i think we also didn't have a lot of 00:02:05.680 --> 00:02:07.190 align:start position:0% and i think we also didn't have a lot of money<00:02:06.000> and<00:02:06.159> so<00:02:06.560> uh<00:02:06.799> it<00:02:06.799> was<00:02:06.960> sort<00:02:07.040> of 00:02:07.190 --> 00:02:07.200 align:start position:0% money and so uh it was sort of 00:02:07.200 --> 00:02:08.710 align:start position:0% money and so uh it was sort of interesting<00:02:07.840> got<00:02:08.000> to<00:02:08.080> learn<00:02:08.239> how<00:02:08.399> to<00:02:08.560> use<00:02:08.640> a 00:02:08.710 --> 00:02:08.720 align:start position:0% interesting got to learn how to use a 00:02:08.720 --> 00:02:10.469 align:start position:0% interesting got to learn how to use a machine<00:02:09.039> shop<00:02:09.280> all<00:02:09.360> that<00:02:09.520> good<00:02:09.679> stuff 00:02:10.469 --> 00:02:10.479 align:start position:0% machine shop all that good stuff 00:02:10.479 --> 00:02:12.309 align:start position:0% machine shop all that good stuff so<00:02:10.720> who<00:02:10.879> was<00:02:11.360> working<00:02:11.680> with<00:02:11.840> you<00:02:12.000> on<00:02:12.080> this 00:02:12.309 --> 00:02:12.319 align:start position:0% so who was working with you on this 00:02:12.319 --> 00:02:13.510 align:start position:0% so who was working with you on this project<00:02:12.800> um 00:02:13.510 --> 00:02:13.520 align:start position:0% project um 00:02:13.520 --> 00:02:15.110 align:start position:0% project um chris<00:02:13.760> peaster<00:02:14.080> helped<00:02:14.239> build<00:02:14.560> it<00:02:14.720> so<00:02:14.879> chris 00:02:15.110 --> 00:02:15.120 align:start position:0% chris peaster helped build it so chris 00:02:15.120 --> 00:02:16.550 align:start position:0% chris peaster helped build it so chris is<00:02:15.200> now<00:02:15.360> a<00:02:15.520> faculty<00:02:15.840> member<00:02:16.160> up<00:02:16.239> at 00:02:16.550 --> 00:02:16.560 align:start position:0% is now a faculty member up at 00:02:16.560 --> 00:02:18.309 align:start position:0% is now a faculty member up at uc<00:02:16.800> berkeley<00:02:17.120> works<00:02:17.360> in<00:02:17.440> mems<00:02:17.840> now<00:02:18.000> doesn't 00:02:18.309 --> 00:02:18.319 align:start position:0% uc berkeley works in mems now doesn't 00:02:18.319 --> 00:02:20.390 align:start position:0% uc berkeley works in mems now doesn't really<00:02:18.959> do<00:02:19.200> so<00:02:19.360> much<00:02:19.520> in<00:02:19.599> robotics<00:02:20.080> although<00:02:20.319> i 00:02:20.390 --> 00:02:20.400 align:start position:0% really do so much in robotics although i 00:02:20.400 --> 00:02:22.150 align:start position:0% really do so much in robotics although i guess<00:02:20.560> the<00:02:20.640> micro<00:02:20.959> scale<00:02:21.520> um 00:02:22.150 --> 00:02:22.160 align:start position:0% guess the micro scale um 00:02:22.160 --> 00:02:23.430 align:start position:0% guess the micro scale um and<00:02:22.319> it<00:02:22.400> was<00:02:22.560> the<00:02:22.640> two<00:02:22.800> of<00:02:22.959> us<00:02:23.040> who<00:02:23.200> built 00:02:23.430 --> 00:02:23.440 align:start position:0% and it was the two of us who built 00:02:23.440 --> 00:02:24.710 align:start position:0% and it was the two of us who built sticks<00:02:23.760> and<00:02:23.840> were<00:02:24.000> doing<00:02:24.239> things<00:02:24.480> and<00:02:24.560> then 00:02:24.710 --> 00:02:24.720 align:start position:0% sticks and were doing things and then 00:02:24.720 --> 00:02:27.030 align:start position:0% sticks and were doing things and then zeishing<00:02:25.200> lee<00:02:25.440> was<00:02:25.599> a<00:02:25.680> more<00:02:25.840> senior<00:02:26.239> student 00:02:27.030 --> 00:02:27.040 align:start position:0% zeishing lee was a more senior student 00:02:27.040 --> 00:02:30.949 align:start position:0% zeishing lee was a more senior student he's<00:02:27.280> now<00:02:27.520> at<00:02:27.840> hkust<00:02:29.840> and 00:02:30.949 --> 00:02:30.959 align:start position:0% he's now at hkust and 00:02:30.959 --> 00:02:34.229 align:start position:0% he's now at hkust and was<00:02:31.840> sort<00:02:32.000> of<00:02:32.640> working<00:02:32.959> on<00:02:33.120> some<00:02:33.280> of<00:02:33.519> the<00:02:33.920> types 00:02:34.229 --> 00:02:34.239 align:start position:0% was sort of working on some of the types 00:02:34.239 --> 00:02:34.470 align:start position:0% was sort of working on some of the types of 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moved<00:02:42.480> actually 00:02:43.910 --> 00:02:43.920 align:start position:0% although he might have moved actually 00:02:43.920 --> 00:02:45.670 align:start position:0% although he might have moved actually and<00:02:44.560> that<00:02:44.720> was<00:02:44.879> kind<00:02:45.040> of<00:02:45.200> i<00:02:45.280> think<00:02:45.360> the<00:02:45.519> group 00:02:45.670 --> 00:02:45.680 align:start position:0% and that was kind of i think the group 00:02:45.680 --> 00:02:47.190 align:start position:0% and that was kind of i think the group of<00:02:45.840> us<00:02:45.920> that<00:02:46.080> we're<00:02:46.160> working<00:02:46.480> brad<00:02:46.720> payton<00:02:47.040> was 00:02:47.190 --> 00:02:47.200 align:start position:0% of us that we're working brad payton was 00:02:47.200 --> 00:02:49.990 align:start position:0% of us that we're working brad payton was around<00:02:47.440> he's<00:02:47.680> up<00:02:47.840> at<00:02:47.920> uc<00:02:48.160> santa<00:02:48.400> barbara<00:02:48.720> now 00:02:49.990 --> 00:02:50.000 align:start position:0% around he's up at uc santa barbara now 00:02:50.000 --> 00:02:51.910 align:start position:0% around he's up at uc santa barbara now and<00:02:50.239> was<00:02:50.480> doing<00:02:50.720> some<00:02:50.879> things<00:02:51.120> on<00:02:51.280> kinematics 00:02:51.910 --> 00:02:51.920 align:start position:0% and was doing some things on kinematics 00:02:51.920 --> 00:02:53.190 align:start position:0% and was doing some things on kinematics and<00:02:52.080> different<00:02:52.239> types<00:02:52.480> of<00:02:52.640> representations 00:02:53.190 --> 00:02:53.200 align:start position:0% and different types of representations 00:02:53.200 --> 00:02:54.790 align:start position:0% and different types of representations so<00:02:53.280> it<00:02:53.360> was<00:02:53.519> a<00:02:53.599> small<00:02:53.840> group<00:02:54.160> but<00:02:54.319> chris<00:02:54.560> and<00:02:54.720> i 00:02:54.790 --> 00:02:54.800 align:start position:0% so it was a small group but chris and i 00:02:54.800 --> 00:02:56.150 align:start position:0% so it was a small group but chris and i were<00:02:54.959> sort<00:02:55.040> of<00:02:55.120> building<00:02:55.519> up<00:02:55.599> the<00:02:55.760> robot 00:02:56.150 --> 00:02:56.160 align:start position:0% were sort of building up the robot 00:02:56.160 --> 00:02:57.350 align:start position:0% were sort of building up the robot trying<00:02:56.319> to<00:02:56.400> get<00:02:56.560> it<00:02:56.640> to<00:02:56.720> work 00:02:57.350 --> 00:02:57.360 align:start position:0% trying to get it to work 00:02:57.360 --> 00:02:58.869 align:start position:0% trying to get it to work and<00:02:57.519> what<00:02:57.760> kinds<00:02:58.000> of<00:02:58.080> things<00:02:58.319> did<00:02:58.480> you<00:02:58.560> do<00:02:58.800> with 00:02:58.869 --> 00:02:58.879 align:start position:0% and what kinds of things did you do with 00:02:58.879 --> 00:03:01.190 align:start position:0% and what kinds of things did you do with the<00:02:59.040> robot<00:03:00.159> at<00:03:00.319> that<00:03:00.480> time<00:03:00.800> we<00:03:00.879> were<00:03:01.040> just 00:03:01.190 --> 00:03:01.200 align:start position:0% the robot at that time we were just 00:03:01.200 --> 00:03:02.869 align:start position:0% the robot at that time we were just trying<00:03:01.360> to<00:03:01.440> understand<00:03:01.920> how<00:03:02.159> you<00:03:02.319> might 00:03:02.869 --> 00:03:02.879 align:start position:0% trying to understand how you might 00:03:02.879 --> 00:03:04.390 align:start position:0% trying to understand how you might grasp<00:03:03.360> something<00:03:03.680> and<00:03:03.840> move<00:03:04.000> it<00:03:04.080> around 00:03:04.390 --> 00:03:04.400 align:start position:0% grasp something and move it around 00:03:04.400 --> 00:03:06.470 align:start position:0% grasp something and move it around manipulate<00:03:05.040> the<00:03:05.120> forces<00:03:05.599> measure<00:03:05.840> the<00:03:06.000> forces 00:03:06.470 --> 00:03:06.480 align:start position:0% manipulate the forces measure the forces 00:03:06.480 --> 00:03:07.830 align:start position:0% manipulate the forces measure the forces maintain<00:03:06.879> the<00:03:07.040> forces 00:03:07.830 --> 00:03:07.840 align:start position:0% maintain the forces 00:03:07.840 --> 00:03:09.110 align:start position:0% maintain the forces so<00:03:08.000> that<00:03:08.159> you<00:03:08.239> could<00:03:08.400> keep<00:03:08.560> a<00:03:08.640> grip<00:03:08.959> on 00:03:09.110 --> 00:03:09.120 align:start position:0% so that you could keep a grip on 00:03:09.120 --> 00:03:11.430 align:start position:0% so that you could keep a grip on something<00:03:10.480> we<00:03:10.640> were 00:03:11.430 --> 00:03:11.440 align:start position:0% something we were 00:03:11.440 --> 00:03:13.110 align:start position:0% something we were interested<00:03:12.000> in<00:03:12.080> things<00:03:12.400> like<00:03:12.720> rolling 00:03:13.110 --> 00:03:13.120 align:start position:0% interested in things like rolling 00:03:13.120 --> 00:03:14.710 align:start position:0% interested in things like rolling fingertips<00:03:13.680> and<00:03:13.760> other<00:03:14.000> things<00:03:14.319> but 00:03:14.710 --> 00:03:14.720 align:start position:0% fingertips and other things but 00:03:14.720 --> 00:03:17.110 align:start position:0% fingertips and other things but at<00:03:14.879> least<00:03:15.200> in<00:03:15.280> the<00:03:15.360> work<00:03:15.599> that<00:03:15.760> we<00:03:15.920> did<00:03:16.720> on<00:03:16.879> this 00:03:17.110 --> 00:03:17.120 align:start position:0% at least in the work that we did on this 00:03:17.120 --> 00:03:18.070 align:start position:0% at least in the work that we did on this little<00:03:17.360> planer<00:03:17.680> robot 00:03:18.070 --> 00:03:18.080 align:start position:0% little planer robot 00:03:18.080 --> 00:03:19.990 align:start position:0% little planer robot never<00:03:18.319> really<00:03:19.120> explored<00:03:19.519> that<00:03:19.680> it<00:03:19.760> was<00:03:19.840> sort 00:03:19.990 --> 00:03:20.000 align:start position:0% never really explored that it was sort 00:03:20.000 --> 00:03:21.750 align:start position:0% never really explored that it was sort of<00:03:20.080> much<00:03:20.239> simpler<00:03:20.640> than<00:03:20.720> that 00:03:21.750 --> 00:03:21.760 align:start position:0% of much simpler than that 00:03:21.760 --> 00:03:22.630 align:start position:0% of much simpler than that so<00:03:21.920> i<00:03:22.000> think<00:03:22.080> we're<00:03:22.239> just<00:03:22.319> trying<00:03:22.560> to 00:03:22.630 --> 00:03:22.640 align:start position:0% so i think we're just trying to 00:03:22.640 --> 00:03:24.630 align:start position:0% so i think we're just trying to understand<00:03:23.280> you<00:03:23.360> know<00:03:23.680> what<00:03:23.840> are<00:03:24.000> some<00:03:24.159> of<00:03:24.239> the 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align:start position:0% the mechanics of what was going on in 00:03:29.680 --> 00:03:31.110 align:start position:0% the mechanics of what was going on in the<00:03:29.760> kinematics<00:03:30.239> of<00:03:30.319> what<00:03:30.480> was<00:03:30.640> going<00:03:30.799> on 00:03:31.110 --> 00:03:31.120 align:start position:0% the kinematics of what was going on 00:03:31.120 --> 00:03:32.470 align:start position:0% the kinematics of what was going on so<00:03:31.280> not<00:03:31.440> just<00:03:31.599> sort<00:03:31.760> of<00:03:31.840> grabbing<00:03:32.159> something 00:03:32.470 --> 00:03:32.480 align:start position:0% so not just sort of grabbing something 00:03:32.480 --> 00:03:33.830 align:start position:0% so not just sort of grabbing something and<00:03:32.560> holding<00:03:32.799> it<00:03:32.879> but<00:03:33.040> manipulating<00:03:33.680> it 00:03:33.830 --> 00:03:33.840 align:start position:0% and holding it but manipulating it 00:03:33.840 --> 00:03:34.949 align:start position:0% and holding it but manipulating it inside<00:03:34.080> the<00:03:34.159> finger<00:03:34.480> grasp 00:03:34.949 --> 00:03:34.959 align:start position:0% inside the finger grasp 00:03:34.959 --> 00:03:37.509 align:start position:0% inside the finger grasp things<00:03:35.200> like<00:03:35.360> that<00:03:35.920> and<00:03:36.159> is<00:03:36.400> this<00:03:36.640> what<00:03:37.120> um 00:03:37.509 --> 00:03:37.519 align:start position:0% things like that and is this what um 00:03:37.519 --> 00:03:39.589 align:start position:0% things like that and is this what um went<00:03:37.760> on<00:03:37.840> to<00:03:38.000> be<00:03:38.159> your<00:03:38.400> thesis 00:03:39.589 --> 00:03:39.599 align:start position:0% went on to be your thesis 00:03:39.599 --> 00:03:41.990 align:start position:0% went on to be your thesis my<00:03:39.760> thesis<00:03:40.080> had<00:03:40.159> two<00:03:40.400> parts<00:03:40.640> so<00:03:40.799> one<00:03:40.959> part<00:03:41.200> was 00:03:41.990 --> 00:03:42.000 align:start position:0% my thesis had two parts so one part was 00:03:42.000 --> 00:03:43.509 align:start position:0% my thesis had two parts so one part was that<00:03:42.480> which<00:03:42.720> was 00:03:43.509 --> 00:03:43.519 align:start position:0% that which was 00:03:43.519 --> 00:03:44.869 align:start position:0% that which was kind<00:03:43.599> of<00:03:43.760> grasping<00:03:44.159> and<00:03:44.239> manipulation<00:03:44.799> and 00:03:44.869 --> 00:03:44.879 align:start position:0% kind of grasping and manipulation and 00:03:44.879 --> 00:03:46.869 align:start position:0% kind of grasping and manipulation and the<00:03:45.040> other<00:03:45.120> part<00:03:45.360> had<00:03:45.519> to<00:03:45.599> do<00:03:45.680> with<00:03:46.159> non-whole 00:03:46.869 --> 00:03:46.879 align:start position:0% the other part had to do with non-whole 00:03:46.879 --> 00:03:48.869 align:start position:0% the other part had to do with non-whole motion<00:03:47.200> planning<00:03:47.599> which<00:03:48.239> had<00:03:48.560> some 00:03:48.869 --> 00:03:48.879 align:start position:0% motion planning which had some 00:03:48.879 --> 00:03:50.630 align:start position:0% motion planning which had some relationship<00:03:49.519> to<00:03:49.680> rolling<00:03:50.000> fingertips<00:03:50.560> and 00:03:50.630 --> 00:03:50.640 align:start position:0% relationship to rolling fingertips and 00:03:50.640 --> 00:03:51.509 align:start position:0% relationship to rolling fingertips and other<00:03:50.799> things<00:03:51.120> but 00:03:51.509 --> 00:03:51.519 align:start position:0% other things but 00:03:51.519 --> 00:03:52.949 align:start position:0% other things but was<00:03:51.680> a<00:03:51.760> little<00:03:51.920> bit<00:03:52.080> more<00:03:52.239> associated<00:03:52.799> with 00:03:52.949 --> 00:03:52.959 align:start position:0% was a little bit more associated with 00:03:52.959 --> 00:03:54.710 align:start position:0% was a little bit more associated with mobile<00:03:53.280> robots<00:03:53.760> and<00:03:53.840> some<00:03:54.000> of<00:03:54.080> the<00:03:54.159> kinematics 00:03:54.710 --> 00:03:54.720 align:start position:0% mobile robots and some of the kinematics 00:03:54.720 --> 00:03:56.070 align:start position:0% mobile robots and some of the kinematics of<00:03:54.799> mobile<00:03:55.040> robots<00:03:55.439> and<00:03:55.519> some<00:03:55.680> of<00:03:55.760> the<00:03:55.840> special 00:03:56.070 --> 00:03:56.080 align:start position:0% of mobile robots and some of the special 00:03:56.080 --> 00:03:57.670 align:start position:0% of mobile robots and some of the special things<00:03:56.319> that<00:03:56.400> happened<00:03:56.720> there 00:03:57.670 --> 00:03:57.680 align:start position:0% things that happened there 00:03:57.680 --> 00:04:00.470 align:start position:0% things that happened there and<00:03:57.920> how<00:03:58.159> is<00:03:58.319> it<00:03:58.400> working<00:03:58.799> with<00:03:58.959> professor<00:04:00.319> i 00:04:00.470 --> 00:04:00.480 align:start position:0% and how is it working with professor i 00:04:00.480 --> 00:04:01.270 align:start position:0% and how is it working with professor i was<00:04:00.640> interesting 00:04:01.270 --> 00:04:01.280 align:start position:0% was interesting 00:04:01.280 --> 00:04:03.990 align:start position:0% was interesting uh<00:04:01.599> he's<00:04:01.760> a<00:04:01.840> very<00:04:02.000> high<00:04:02.159> energy<00:04:02.560> guy<00:04:03.599> had<00:04:03.760> a<00:04:03.840> big 00:04:03.990 --> 00:04:04.000 align:start position:0% uh he's a very high energy guy had a big 00:04:04.000 --> 00:04:04.789 align:start position:0% uh he's a very high energy guy had a big group<00:04:04.239> at<00:04:04.319> the<00:04:04.400> time 00:04:04.789 --> 00:04:04.799 align:start position:0% group at the time 00:04:04.799 --> 00:04:06.229 align:start position:0% group at the time and<00:04:04.879> so<00:04:05.040> we<00:04:05.200> were<00:04:05.360> all<00:04:05.680> you<00:04:05.760> know<00:04:05.920> sort<00:04:06.080> of 00:04:06.229 --> 00:04:06.239 align:start position:0% and so we were all you know sort of 00:04:06.239 --> 00:04:08.149 align:start position:0% and so we were all you know sort of working<00:04:06.560> on<00:04:06.640> lots<00:04:06.879> of<00:04:06.959> different<00:04:07.280> things 00:04:08.149 --> 00:04:08.159 align:start position:0% working on lots of different things 00:04:08.159 --> 00:04:10.630 align:start position:0% working on lots of different things so<00:04:08.480> it<00:04:08.640> was<00:04:09.040> quite<00:04:09.200> interesting<00:04:09.599> as<00:04:09.680> before<00:04:10.480> he 00:04:10.630 --> 00:04:10.640 align:start position:0% so it was quite interesting as before he 00:04:10.640 --> 00:04:11.429 align:start position:0% so it was quite interesting as before he had 00:04:11.429 --> 00:04:11.439 align:start position:0% had 00:04:11.439 --> 00:04:12.949 align:start position:0% had started<00:04:11.840> taking<00:04:12.159> on<00:04:12.239> various<00:04:12.560> leadership 00:04:12.949 --> 00:04:12.959 align:start position:0% started taking on various leadership 00:04:12.959 --> 00:04:15.190 align:start position:0% started taking on various leadership positions<00:04:13.840> that<00:04:14.000> he<00:04:14.080> did<00:04:14.319> later 00:04:15.190 --> 00:04:15.200 align:start position:0% positions that he did later 00:04:15.200 --> 00:04:17.189 align:start position:0% positions that he did later and<00:04:15.280> so<00:04:15.439> he<00:04:15.599> was<00:04:15.680> around<00:04:16.000> a<00:04:16.079> lot<00:04:16.320> and<00:04:16.959> you<00:04:17.040> know 00:04:17.189 --> 00:04:17.199 align:start position:0% and so he was around a lot and you know 00:04:17.199 --> 00:04:18.469 align:start position:0% and so he was around a lot and you know sort<00:04:17.359> of<00:04:17.440> running<00:04:17.759> a<00:04:17.840> lab 00:04:18.469 --> 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--> 00:04:25.749 align:start position:0% all in kind of one laboratory together which<00:04:24.240> was<00:04:24.320> a<00:04:24.400> lot<00:04:24.479> of<00:04:24.560> fun<00:04:25.199> and<00:04:25.280> what<00:04:25.440> were 00:04:25.749 --> 00:04:25.759 align:start position:0% which was a lot of fun and what were 00:04:25.759 --> 00:04:27.350 align:start position:0% which was a lot of fun and what were some<00:04:25.919> of<00:04:26.000> the<00:04:26.160> other<00:04:26.479> kinds<00:04:26.720> of<00:04:26.880> projects<00:04:27.280> that 00:04:27.350 --> 00:04:27.360 align:start position:0% some of the other kinds of projects that 00:04:27.360 --> 00:04:28.550 align:start position:0% some of the other kinds of projects that were<00:04:27.600> happening<00:04:27.919> around 00:04:28.550 --> 00:04:28.560 align:start position:0% were happening around 00:04:28.560 --> 00:04:31.749 align:start position:0% were happening around um<00:04:29.199> there<00:04:30.080> it's<00:04:30.320> been<00:04:30.479> a<00:04:30.560> while<00:04:30.880> um<00:04:31.360> i<00:04:31.520> remember 00:04:31.749 --> 00:04:31.759 align:start position:0% um there it's been a while um i remember 00:04:31.759 --> 00:04:33.189 align:start position:0% um there it's been a while um i remember there<00:04:31.919> was<00:04:32.160> we<00:04:32.320> had<00:04:32.560> this<00:04:32.800> thing<00:04:32.960> that<00:04:33.120> i 00:04:33.189 --> 00:04:33.199 align:start position:0% there was we had this thing that i 00:04:33.199 --> 00:04:34.070 align:start position:0% there was we had this thing that i actually<00:04:33.440> spent<00:04:33.600> a<00:04:33.680> little<00:04:33.759> bit<00:04:33.840> of<00:04:33.919> time 00:04:34.070 --> 00:04:34.080 align:start position:0% actually spent a little bit of time 00:04:34.080 --> 00:04:35.749 align:start position:0% actually spent a little bit of time working<00:04:34.320> on<00:04:34.479> also<00:04:34.720> that<00:04:34.880> was<00:04:35.040> called 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then<00:04:52.479> they<00:04:52.639> could<00:04:52.800> sort<00:04:52.960> of<00:04:53.280> dip<00:04:53.520> down<00:04:53.680> and 00:04:53.749 --> 00:04:53.759 align:start position:0% but then they could sort of dip down and 00:04:53.759 --> 00:04:55.189 align:start position:0% but then they could sort of dip down and pick<00:04:54.000> things<00:04:54.240> up<00:04:54.479> so<00:04:54.639> it<00:04:54.720> was<00:04:54.800> used<00:04:55.040> for 00:04:55.189 --> 00:04:55.199 align:start position:0% pick things up so it was used for 00:04:55.199 --> 00:04:56.550 align:start position:0% pick things up so it was used for assembly<00:04:55.600> and<00:04:55.680> manufacturing<00:04:56.320> and<00:04:56.400> things 00:04:56.550 --> 00:04:56.560 align:start position:0% assembly and manufacturing and things 00:04:56.560 --> 00:04:57.670 align:start position:0% assembly and manufacturing and things like<00:04:56.720> that 00:04:57.670 --> 00:04:57.680 align:start position:0% like that 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position:0% something on a bar 00:05:10.479 --> 00:05:12.390 align:start position:0% something on a bar there<00:05:10.639> were<00:05:11.120> you<00:05:11.199> know<00:05:11.360> there<00:05:11.440> was<00:05:11.600> an<00:05:11.759> adept 00:05:12.390 --> 00:05:12.400 align:start position:0% there were you know there was an adept 00:05:12.400 --> 00:05:13.670 align:start position:0% there were you know there was an adept arm<00:05:12.800> that<00:05:12.960> was<00:05:13.199> there 00:05:13.670 --> 00:05:13.680 align:start position:0% arm that was there 00:05:13.680 --> 00:05:15.110 align:start position:0% arm that was there that<00:05:14.080> wasn't<00:05:14.320> really<00:05:14.560> getting<00:05:14.720> used<00:05:14.960> for 00:05:15.110 --> 00:05:15.120 align:start position:0% that wasn't really getting used for 00:05:15.120 --> 00:05:16.469 align:start position:0% that wasn't really getting used for anything<00:05:15.600> i'm<00:05:15.759> sure<00:05:15.919> somebody<00:05:16.320> had<00:05:16.400> been 00:05:16.469 --> 00:05:16.479 align:start position:0% anything i'm sure somebody had been 00:05:16.479 --> 00:05:17.510 align:start position:0% anything i'm sure somebody had been using<00:05:16.720> it<00:05:16.880> at<00:05:16.960> some<00:05:17.120> point 00:05:17.510 --> 00:05:17.520 align:start position:0% using it at some point 00:05:17.520 --> 00:05:19.110 align:start position:0% using it at some point there<00:05:17.680> was<00:05:17.840> work<00:05:18.080> going<00:05:18.240> on<00:05:18.400> in<00:05:18.639> adaptive 00:05:19.110 --> 00:05:19.120 align:start position:0% there was work going on in adaptive 00:05:19.120 --> 00:05:20.790 align:start position:0% there was work going on in adaptive control<00:05:19.520> at<00:05:19.600> that<00:05:19.840> time 00:05:20.790 --> 00:05:20.800 align:start position:0% control at that time 00:05:20.800 --> 00:05:23.430 align:start position:0% control at that time but<00:05:21.039> i<00:05:21.199> think<00:05:21.919> more<00:05:22.160> theoretical<00:05:22.720> stuff<00:05:22.960> that 00:05:23.430 --> 00:05:23.440 align:start position:0% but i think more theoretical stuff that 00:05:23.440 --> 00:05:23.990 align:start position:0% but i think more theoretical stuff that there<00:05:23.600> had<00:05:23.680> been 00:05:23.990 --> 00:05:24.000 align:start position:0% there had been 00:05:24.000 --> 00:05:25.990 align:start position:0% there had been some<00:05:24.320> experimental<00:05:24.880> work<00:05:25.120> i<00:05:25.199> think<00:05:25.600> around 00:05:25.990 --> 00:05:26.000 align:start position:0% some experimental work i think around 00:05:26.000 --> 00:05:27.990 align:start position:0% some experimental work i think around the<00:05:26.080> time<00:05:26.320> i<00:05:26.479> was<00:05:26.639> there<00:05:26.880> was<00:05:27.039> when<00:05:27.280> the 00:05:27.990 --> 00:05:28.000 align:start position:0% the time i was there was when the 00:05:28.000 --> 00:05:29.749 align:start position:0% the time i was there was when the robotics<00:05:28.479> lab<00:05:28.720> at<00:05:28.880> berkeley<00:05:29.199> at<00:05:29.280> the<00:05:29.360> time<00:05:29.600> was 00:05:29.749 --> 00:05:29.759 align:start position:0% robotics lab at berkeley at the time was 00:05:29.759 --> 00:05:31.830 align:start position:0% robotics lab at berkeley at the time was kind<00:05:29.840> of<00:05:29.919> getting<00:05:30.160> built<00:05:30.479> up<00:05:30.639> and<00:05:30.800> so 00:05:31.830 --> 00:05:31.840 align:start position:0% kind of getting built up and so 00:05:31.840 --> 00:05:33.749 align:start position:0% kind of getting built up and so you<00:05:32.000> know<00:05:32.080> there<00:05:32.160> weren't<00:05:32.479> a<00:05:32.560> lot<00:05:32.800> of<00:05:33.360> robots 00:05:33.749 --> 00:05:33.759 align:start position:0% you know there weren't a lot of robots 00:05:33.759 --> 00:05:35.430 align:start position:0% you know there weren't a lot of robots that<00:05:33.919> were<00:05:34.400> getting<00:05:34.800> used 00:05:35.430 --> 00:05:35.440 align:start position:0% that were getting used 00:05:35.440 --> 00:05:37.590 align:start position:0% that were getting used prior<00:05:35.680> to<00:05:35.759> that<00:05:35.919> that<00:05:36.080> i<00:05:36.160> remember<00:05:37.199> but<00:05:37.360> by<00:05:37.520> the 00:05:37.590 --> 00:05:37.600 align:start position:0% prior to that that i remember but by the 00:05:37.600 --> 00:05:38.870 align:start position:0% prior to that that i remember but by the time<00:05:37.840> we<00:05:38.000> left<00:05:38.240> there<00:05:38.320> were<00:05:38.479> several<00:05:38.720> that 00:05:38.870 --> 00:05:38.880 align:start position:0% time we left there were several that 00:05:38.880 --> 00:05:40.390 align:start position:0% time we left there were several that were<00:05:38.960> around<00:05:39.199> robot<00:05:39.520> world<00:05:39.840> and<00:05:39.919> the<00:05:40.000> adept 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00:05:48.320 align:start position:0% did you at all overlap with russian uh 00:05:48.320 --> 00:05:50.550 align:start position:0% did you at all overlap with russian uh spicy<00:05:48.720> no<00:05:48.960> she<00:05:49.120> came<00:05:49.759> quite<00:05:49.919> a<00:05:50.000> while<00:05:50.240> after<00:05:50.400> i 00:05:50.550 --> 00:05:50.560 align:start position:0% spicy no she came quite a while after i 00:05:50.560 --> 00:05:52.950 align:start position:0% spicy no she came quite a while after i left<00:05:51.120> so 00:05:52.950 --> 00:05:52.960 align:start position:0% left so 00:05:52.960 --> 00:05:54.629 align:start position:0% left so um<00:05:53.199> and<00:05:53.360> you<00:05:53.520> mentioned<00:05:53.840> that<00:05:54.000> you<00:05:54.160> went<00:05:54.400> to<00:05:54.560> a 00:05:54.629 --> 00:05:54.639 align:start position:0% um and you mentioned that you went to a 00:05:54.639 --> 00:05:56.230 align:start position:0% um and you mentioned that you went to a number<00:05:54.880> of<00:05:54.960> robotics<00:05:55.440> conferences<00:05:55.919> then<00:05:56.080> what 00:05:56.230 --> 00:05:56.240 align:start position:0% number of robotics conferences then what 00:05:56.240 --> 00:05:57.350 align:start position:0% number of robotics conferences then what were<00:05:56.400> some<00:05:56.560> of<00:05:56.639> the 00:05:57.350 --> 00:05:57.360 align:start position:0% were some of the 00:05:57.360 --> 00:06:00.230 align:start position:0% were some of the big<00:05:57.520> conferences<00:05:58.080> at<00:05:58.160> the<00:05:58.400> time<00:05:59.120> well<00:05:59.440> so<00:05:59.919> uh 00:06:00.230 --> 00:06:00.240 align:start position:0% big conferences at the time well so uh 00:06:00.240 --> 00:06:01.270 align:start position:0% big conferences at the time well so uh icra 00:06:01.270 --> 00:06:01.280 align:start position:0% icra 00:06:01.280 --> 00:06:02.390 align:start position:0% icra international<00:06:01.680> conference<00:06:01.919> of<00:06:02.000> roblox 00:06:02.390 --> 00:06:02.400 align:start position:0% international conference of roblox 00:06:02.400 --> 00:06:04.309 align:start position:0% international conference of roblox animation<00:06:02.960> was<00:06:03.120> the<00:06:03.280> one<00:06:03.520> that<00:06:03.840> was<00:06:04.000> sort<00:06:04.160> of 00:06:04.309 --> 00:06:04.319 align:start position:0% animation was the one that was sort of 00:06:04.319 --> 00:06:06.230 align:start position:0% animation was the one that was sort of the<00:06:04.479> conference<00:06:04.880> that<00:06:05.039> we<00:06:05.120> went<00:06:05.280> to<00:06:05.919> as 00:06:06.230 --> 00:06:06.240 align:start position:0% the conference that we went to as 00:06:06.240 --> 00:06:08.550 align:start position:0% the conference that we went to as students<00:06:07.280> and<00:06:07.440> i<00:06:07.520> remember<00:06:07.759> going<00:06:07.919> to<00:06:08.080> one<00:06:08.240> in 00:06:08.550 --> 00:06:08.560 align:start position:0% students and i remember going to one in 00:06:08.560 --> 00:06:10.950 align:start position:0% students and i remember going to one in his<00:06:08.800> arizona<00:06:09.360> new<00:06:09.440> mexico<00:06:09.919> some<00:06:10.080> place 00:06:10.950 --> 00:06:10.960 align:start position:0% his arizona new mexico some place 00:06:10.960 --> 00:06:12.950 align:start position:0% his arizona new mexico some place that<00:06:11.680> was<00:06:11.919> quite<00:06:12.080> stimulating<00:06:12.639> it<00:06:12.720> was<00:06:12.800> right 00:06:12.950 --> 00:06:12.960 align:start position:0% that was quite stimulating it was right 00:06:12.960 --> 00:06:14.070 align:start position:0% that was quite stimulating it was right when<00:06:13.120> i<00:06:13.199> was<00:06:13.280> just<00:06:13.440> starting<00:06:13.680> i<00:06:13.759> think<00:06:13.919> chris 00:06:14.070 --> 00:06:14.080 align:start position:0% when i was just starting i think chris 00:06:14.080 --> 00:06:15.189 align:start position:0% when i was just starting i think chris bister<00:06:14.400> and<00:06:14.479> i<00:06:14.560> were<00:06:14.639> there<00:06:14.800> together 00:06:15.189 --> 00:06:15.199 align:start position:0% bister and i were there together 00:06:15.199 --> 00:06:16.550 align:start position:0% bister and i were there together actually 00:06:16.550 --> 00:06:16.560 align:start position:0% actually 00:06:16.560 --> 00:06:17.909 align:start position:0% actually so<00:06:16.720> we<00:06:16.800> went<00:06:16.960> to<00:06:17.120> that<00:06:17.280> of<00:06:17.360> course<00:06:17.600> went<00:06:17.759> to<00:06:17.840> the 00:06:17.909 --> 00:06:17.919 align:start position:0% so we went to that of course went to the 00:06:17.919 --> 00:06:19.590 align:start position:0% so we went to that of course went to the controls<00:06:18.319> conferences<00:06:18.800> which<00:06:19.199> had<00:06:19.440> quite<00:06:19.600> a 00:06:19.590 --> 00:06:19.600 align:start position:0% controls conferences which had quite a 00:06:19.600 --> 00:06:21.350 align:start position:0% controls conferences which had quite a bit<00:06:19.759> of<00:06:19.840> robotics<00:06:20.240> content<00:06:20.560> going<00:06:20.880> on 00:06:21.350 --> 00:06:21.360 align:start position:0% bit of robotics content going on 00:06:21.360 --> 00:06:22.629 align:start position:0% bit of robotics content going on i<00:06:21.520> remember<00:06:21.759> it<00:06:21.840> must<00:06:22.000> have<00:06:22.080> been<00:06:22.240> later 00:06:22.629 --> 00:06:22.639 align:start position:0% i remember it must have been later 00:06:22.639 --> 00:06:23.990 align:start position:0% i remember it must have been later because<00:06:22.880> it<00:06:22.960> would<00:06:23.120> have<00:06:23.199> been<00:06:23.759> probably 00:06:23.990 --> 00:06:24.000 align:start position:0% because it would have been probably 00:06:24.000 --> 00:06:25.350 align:start position:0% because it would have been probably while<00:06:24.160> i<00:06:24.160> was<00:06:24.319> faculty<00:06:24.720> but<00:06:24.880> i<00:06:24.880> remember<00:06:25.199> going 00:06:25.350 --> 00:06:25.360 align:start position:0% while i was faculty but i remember going 00:06:25.360 --> 00:06:27.110 align:start position:0% while i was faculty but i remember going to<00:06:25.440> one<00:06:25.600> of<00:06:25.680> the<00:06:25.759> early<00:06:26.000> wafers 00:06:27.110 --> 00:06:27.120 align:start position:0% to one of the early wafers 00:06:27.120 --> 00:06:29.189 align:start position:0% to one of the early wafers which<00:06:27.280> was<00:06:27.600> uh<00:06:27.919> interesting<00:06:28.479> workshop<00:06:28.960> on 00:06:29.189 --> 00:06:29.199 align:start position:0% which was uh interesting workshop on 00:06:29.199 --> 00:06:31.350 align:start position:0% which was uh interesting workshop on algorithmic<00:06:29.600> foundations<00:06:30.080> of<00:06:30.160> robotics 00:06:31.350 --> 00:06:31.360 align:start position:0% algorithmic foundations of robotics 00:06:31.360 --> 00:06:32.469 align:start position:0% algorithmic foundations of robotics but<00:06:31.520> those<00:06:31.759> are<00:06:31.840> the<00:06:31.919> ones<00:06:32.080> i<00:06:32.160> remember<00:06:32.400> i 00:06:32.469 --> 00:06:32.479 align:start position:0% but those are the ones i remember i 00:06:32.479 --> 00:06:35.029 align:start position:0% but those are the ones i remember i never<00:06:32.639> went<00:06:32.800> to<00:06:32.880> iros<00:06:34.319> you<00:06:34.400> know 00:06:35.029 --> 00:06:35.039 align:start position:0% never went to iros you know 00:06:35.039 --> 00:06:36.469 align:start position:0% never went to iros you know i<00:06:35.120> think<00:06:35.360> at<00:06:35.440> that<00:06:35.600> time<00:06:35.759> icker<00:06:36.080> was<00:06:36.240> sort<00:06:36.400> of 00:06:36.469 --> 00:06:36.479 align:start position:0% i think at that time icker was sort of 00:06:36.479 --> 00:06:37.830 align:start position:0% i think at that time icker was sort of the<00:06:36.720> place<00:06:36.960> that<00:06:37.120> everybody<00:06:37.360> went<00:06:37.600> it<00:06:37.680> was<00:06:37.759> the 00:06:37.830 --> 00:06:37.840 align:start position:0% the place that everybody went it was the 00:06:37.840 --> 00:06:40.390 align:start position:0% the place that everybody went it was the annual<00:06:38.160> conference<00:06:38.479> that<00:06:38.560> everybody<00:06:38.800> went<00:06:38.960> to 00:06:40.390 --> 00:06:40.400 align:start position:0% annual conference that everybody went to 00:06:40.400 --> 00:06:42.469 align:start position:0% annual conference that everybody went to um<00:06:40.720> and<00:06:40.960> so<00:06:41.120> how<00:06:41.280> did<00:06:41.440> you<00:06:41.759> come<00:06:41.919> back<00:06:42.080> to 00:06:42.469 --> 00:06:42.479 align:start position:0% um and so how did you come back to 00:06:42.479 --> 00:06:44.309 align:start position:0% um and so how did you come back to caltech<00:06:42.960> after<00:06:43.199> your<00:06:43.360> phd 00:06:44.309 --> 00:06:44.319 align:start position:0% caltech after your phd 00:06:44.319 --> 00:06:48.870 align:start position:0% caltech after your phd um<00:06:45.680> finished<00:06:46.080> was<00:06:46.160> finishing<00:06:46.479> up<00:06:46.560> my<00:06:46.840> phd 00:06:48.870 --> 00:06:48.880 align:start position:0% um finished was finishing up my phd 00:06:48.880 --> 00:06:50.710 align:start position:0% um finished was finishing up my phd sort<00:06:49.039> of<00:06:49.199> took<00:06:49.520> six<00:06:49.759> months<00:06:50.080> as<00:06:50.160> an<00:06:50.319> instructor 00:06:50.710 --> 00:06:50.720 align:start position:0% sort of took six months as an instructor 00:06:50.720 --> 00:06:53.670 align:start position:0% sort of took six months as an instructor at<00:06:50.880> berkeley<00:06:51.280> after<00:06:51.440> my<00:06:51.599> phd<00:06:52.080> was<00:06:52.240> looking<00:06:52.560> for 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here in 00:07:00.479 --> 00:07:01.990 align:start position:0% decided to come here so i came here in mechanical<00:07:00.960> engineering<00:07:01.360> joel<00:07:01.599> burdick 00:07:01.990 --> 00:07:02.000 align:start position:0% mechanical engineering joel burdick 00:07:02.000 --> 00:07:04.550 align:start position:0% mechanical engineering joel burdick is<00:07:02.160> here<00:07:02.880> he<00:07:03.039> was<00:07:03.440> doing<00:07:03.680> robotics<00:07:04.240> and<00:07:04.400> was 00:07:04.550 --> 00:07:04.560 align:start position:0% is here he was doing robotics and was 00:07:04.560 --> 00:07:06.309 align:start position:0% is here he was doing robotics and was also<00:07:04.800> interested<00:07:05.280> in<00:07:05.360> things<00:07:05.599> related<00:07:05.919> to 00:07:06.309 --> 00:07:06.319 align:start position:0% also interested in things related to 00:07:06.319 --> 00:07:08.390 align:start position:0% also interested in things related to grasping<00:07:06.800> manipulation<00:07:07.599> locomotion<00:07:08.319> and 00:07:08.390 --> 00:07:08.400 align:start position:0% grasping manipulation locomotion and 00:07:08.400 --> 00:07:10.469 align:start position:0% grasping manipulation locomotion and things<00:07:08.560> like<00:07:08.720> that<00:07:08.880> so<00:07:09.039> it's<00:07:09.120> a<00:07:09.199> good<00:07:09.360> fit 00:07:10.469 --> 00:07:10.479 align:start position:0% things like that so it's a good fit 00:07:10.479 --> 00:07:13.589 align:start position:0% things like that so it's a good fit and<00:07:10.639> so<00:07:10.880> what<00:07:11.039> did<00:07:11.440> what<00:07:11.599> did<00:07:11.759> the<00:07:12.080> robotics 00:07:13.589 --> 00:07:13.599 align:start position:0% and so what did what did the robotics 00:07:13.599 --> 00:07:15.909 align:start position:0% and so what did what did the robotics area<00:07:13.919> look<00:07:14.080> like<00:07:14.319> in<00:07:14.400> caltech<00:07:14.880> at<00:07:14.960> the<00:07:15.039> time 00:07:15.909 --> 00:07:15.919 align:start position:0% area look like in caltech at the time 00:07:15.919 --> 00:07:17.189 align:start position:0% area look like in caltech at the time there<00:07:16.080> wasn't<00:07:16.400> a<00:07:16.479> whole<00:07:16.639> lot<00:07:16.880> so 00:07:17.189 --> 00:07:17.199 align:start position:0% there wasn't a whole lot so 00:07:17.199 --> 00:07:21.670 align:start position:0% there wasn't a whole lot so joel<00:07:17.520> was<00:07:17.680> here<00:07:18.960> he<00:07:19.599> was<00:07:20.080> uh 00:07:21.670 --> 00:07:21.680 align:start position:0% joel was here he was uh 00:07:21.680 --> 00:07:23.670 align:start position:0% joel was here he was uh he<00:07:21.840> had<00:07:22.080> also<00:07:22.319> an<00:07:22.400> adept<00:07:22.800> robot<00:07:23.199> sitting<00:07:23.440> down 00:07:23.670 --> 00:07:23.680 align:start position:0% he had also an adept robot sitting down 00:07:23.680 --> 00:07:24.710 align:start position:0% he had also an adept robot sitting down in<00:07:23.840> his<00:07:24.000> lab 00:07:24.710 --> 00:07:24.720 align:start position:0% in his lab 00:07:24.720 --> 00:07:27.350 align:start position:0% in his lab but<00:07:24.880> was<00:07:25.039> a<00:07:25.120> little<00:07:25.280> bit<00:07:25.440> more<00:07:25.680> interested<00:07:26.240> in 00:07:27.350 --> 00:07:27.360 align:start position:0% but was a little bit more interested in 00:07:27.360 --> 00:07:29.350 align:start position:0% but was a little bit more interested in hyper-redundant<00:07:28.160> robots<00:07:28.720> so 00:07:29.350 --> 00:07:29.360 align:start position:0% hyper-redundant robots so 00:07:29.360 --> 00:07:31.350 align:start position:0% hyper-redundant robots so robots<00:07:29.759> with<00:07:29.919> lots<00:07:30.240> and<00:07:30.319> lots<00:07:30.560> of<00:07:30.800> articulated 00:07:31.350 --> 00:07:31.360 align:start position:0% robots with lots and lots of articulated 00:07:31.360 --> 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got here i<00:07:39.039> continued<00:07:39.599> a<00:07:39.680> little<00:07:39.840> bit<00:07:39.919> of<00:07:40.080> interest<00:07:40.400> in 00:07:40.550 --> 00:07:40.560 align:start position:0% i continued a little bit of interest in 00:07:40.560 --> 00:07:41.990 align:start position:0% i continued a little bit of interest in grasping<00:07:40.960> but<00:07:41.120> that<00:07:41.280> died<00:07:41.520> away<00:07:41.680> fairly 00:07:41.990 --> 00:07:42.000 align:start position:0% grasping but that died away fairly 00:07:42.000 --> 00:07:43.110 align:start position:0% grasping but that died away fairly quickly<00:07:42.400> started<00:07:42.639> looking<00:07:42.800> more<00:07:42.960> at 00:07:43.110 --> 00:07:43.120 align:start position:0% quickly started looking more at 00:07:43.120 --> 00:07:44.790 align:start position:0% quickly started looking more at locomotion<00:07:43.599> robotics 00:07:44.790 --> 00:07:44.800 align:start position:0% locomotion robotics 00:07:44.800 --> 00:07:47.430 align:start position:0% locomotion robotics and<00:07:46.160> built<00:07:46.400> some<00:07:46.560> things<00:07:46.800> that<00:07:46.960> were 00:07:47.430 --> 00:07:47.440 align:start position:0% and built some things that were 00:07:47.440 --> 00:07:49.270 align:start position:0% and built some things that were non-holonomic<00:07:48.240> robots<00:07:48.639> that<00:07:48.800> were<00:07:48.960> driving 00:07:49.270 --> 00:07:49.280 align:start position:0% non-holonomic robots that were driving 00:07:49.280 --> 00:07:50.309 align:start position:0% non-holonomic robots that were driving around 00:07:50.309 --> 00:07:50.319 align:start position:0% around 00:07:50.319 --> 00:07:52.950 align:start position:0% around just<00:07:50.479> sort<00:07:50.639> of<00:07:50.960> wheeled<00:07:51.360> robots<00:07:52.400> but<00:07:52.560> we<00:07:52.720> also 00:07:52.950 --> 00:07:52.960 align:start position:0% just sort of wheeled robots but we also 00:07:52.960 --> 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what locomotion systems 00:07:59.440 --> 00:08:00.230 align:start position:0% point of view what locomotion systems would<00:07:59.599> look<00:07:59.680> like<00:07:59.919> and<00:08:00.000> what's<00:08:00.160> the 00:08:00.230 --> 00:08:00.240 align:start position:0% would look like and what's the 00:08:00.240 --> 00:08:02.150 align:start position:0% would look like and what's the mathematics<00:08:00.720> to<00:08:00.879> describe<00:08:01.199> that 00:08:02.150 --> 00:08:02.160 align:start position:0% mathematics to describe that 00:08:02.160 --> 00:08:03.990 align:start position:0% mathematics to describe that and<00:08:02.319> so<00:08:02.479> that<00:08:02.639> was<00:08:03.039> very<00:08:03.199> much<00:08:03.360> done<00:08:03.599> jointly 00:08:03.990 --> 00:08:04.000 align:start position:0% and so that was very much done jointly 00:08:04.000 --> 00:08:06.150 align:start position:0% and so that was very much done jointly with<00:08:04.160> joel<00:08:04.879> and<00:08:05.039> some<00:08:05.199> of<00:08:05.280> his<00:08:05.520> students 00:08:06.150 --> 00:08:06.160 align:start position:0% with joel and some of his students 00:08:06.160 --> 00:08:07.589 align:start position:0% with joel and some of his students jerry<00:08:06.479> marston<00:08:06.800> who<00:08:06.960> was<00:08:07.039> at<00:08:07.120> berkeley<00:08:07.520> and 00:08:07.589 --> 00:08:07.599 align:start position:0% jerry marston who was at berkeley and 00:08:07.599 --> 00:08:09.749 align:start position:0% jerry marston who was at berkeley and then<00:08:07.759> came<00:08:08.000> down<00:08:08.639> to<00:08:08.800> caltech 00:08:09.749 --> 00:08:09.759 align:start position:0% then came down to caltech 00:08:09.759 --> 00:08:11.990 align:start position:0% then came down to caltech some<00:08:09.919> number<00:08:10.160> of<00:08:10.240> years<00:08:10.479> later<00:08:11.360> i<00:08:11.599> was<00:08:11.759> also 00:08:11.990 --> 00:08:12.000 align:start position:0% some number of years later i was also 00:08:12.000 --> 00:08:13.110 align:start position:0% some number of years later i was also involved<00:08:12.240> in<00:08:12.400> that<00:08:12.479> work 00:08:13.110 --> 00:08:13.120 align:start position:0% involved in that work 00:08:13.120 --> 00:08:14.550 align:start position:0% involved in that work so<00:08:13.280> there<00:08:13.360> was<00:08:13.520> a<00:08:13.759> group<00:08:14.000> of<00:08:14.080> us<00:08:14.240> thinking 00:08:14.550 --> 00:08:14.560 align:start position:0% so there was a group of us thinking 00:08:14.560 --> 00:08:17.430 align:start position:0% so there was a group of us thinking about<00:08:15.919> how<00:08:16.080> do<00:08:16.160> you<00:08:16.319> how<00:08:16.479> do<00:08:16.720> robots<00:08:17.199> move 00:08:17.430 --> 00:08:17.440 align:start position:0% about how do you how do robots move 00:08:17.440 --> 00:08:18.629 align:start position:0% about how do you how do robots move through<00:08:17.599> their<00:08:17.840> environment<00:08:18.319> what<00:08:18.479> are<00:08:18.560> the 00:08:18.629 --> 00:08:18.639 align:start position:0% through their environment what are the 00:08:18.639 --> 00:08:20.629 align:start position:0% through their environment what are the mathematics<00:08:19.280> associated<00:08:19.759> with<00:08:19.919> that 00:08:20.629 --> 00:08:20.639 align:start position:0% mathematics associated with that 00:08:20.639 --> 00:08:23.749 align:start position:0% mathematics associated with that i<00:08:20.720> also<00:08:21.199> started<00:08:21.599> working<00:08:21.840> on<00:08:22.479> things<00:08:22.720> that 00:08:23.749 --> 00:08:23.759 align:start position:0% i also started working on things that 00:08:23.759 --> 00:08:25.510 align:start position:0% i also started working on things that are<00:08:23.919> robots<00:08:24.319> but<00:08:24.479> they<00:08:24.560> often<00:08:24.800> get<00:08:24.960> handled 00:08:25.510 --> 00:08:25.520 align:start position:0% are robots but they often get handled 00:08:25.520 --> 00:08:26.629 align:start position:0% are robots but they often get handled sort<00:08:25.680> of<00:08:25.759> outside<00:08:26.000> the<00:08:26.080> robotics<00:08:26.400> community 00:08:26.629 --> 00:08:26.639 align:start position:0% sort of outside the robotics community 00:08:26.639 --> 00:08:27.670 align:start position:0% sort of outside the robotics community per<00:08:26.800> se<00:08:27.039> which<00:08:27.199> were 00:08:27.670 --> 00:08:27.680 align:start position:0% per se which were 00:08:27.680 --> 00:08:30.950 align:start position:0% per se which were uavs<00:08:29.840> uninhabited<00:08:30.479> unmanned 00:08:30.950 --> 00:08:30.960 align:start position:0% uavs uninhabited unmanned 00:08:30.960 --> 00:08:33.269 align:start position:0% uavs uninhabited unmanned aerial<00:08:31.280> vehicles<00:08:32.479> doing<00:08:32.719> work<00:08:32.959> with<00:08:33.039> the<00:08:33.120> air 00:08:33.269 --> 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less<00:08:39.200> of<00:08:39.360> the 00:08:39.990 --> 00:08:40.000 align:start position:0% less of the 00:08:40.000 --> 00:08:43.509 align:start position:0% less of the decision<00:08:40.640> making<00:08:41.200> and<00:08:41.360> other<00:08:42.320> parts<00:08:42.640> and 00:08:43.509 --> 00:08:43.519 align:start position:0% decision making and other parts and 00:08:43.519 --> 00:08:45.509 align:start position:0% decision making and other parts and sensory<00:08:43.919> perception<00:08:44.480> aspects<00:08:44.959> and<00:08:45.120> more<00:08:45.360> the 00:08:45.509 --> 00:08:45.519 align:start position:0% sensory perception aspects and more the 00:08:45.519 --> 00:08:47.269 align:start position:0% sensory perception aspects and more the just<00:08:45.839> detailed<00:08:46.320> dynamics<00:08:46.880> of 00:08:47.269 --> 00:08:47.279 align:start position:0% just detailed dynamics of 00:08:47.279 --> 00:08:49.110 align:start position:0% just detailed dynamics of uh<00:08:47.519> those<00:08:47.760> systems<00:08:48.560> what<00:08:48.720> are<00:08:48.880> some<00:08:48.959> of<00:08:49.040> the 00:08:49.110 --> 00:08:49.120 align:start position:0% uh those systems what are some of the 00:08:49.120 --> 00:08:52.949 align:start position:0% uh those systems what are some of the big<00:08:49.360> challenges<00:08:49.839> for<00:08:50.000> locomotion<00:08:50.720> and 00:08:52.949 --> 00:08:52.959 align:start position:0% 00:08:52.959 --> 00:08:54.949 align:start position:0% yeah<00:08:53.200> i<00:08:53.279> mean<00:08:53.360> i<00:08:53.440> think<00:08:53.600> at<00:08:53.760> the<00:08:53.920> time<00:08:54.640> we<00:08:54.800> were 00:08:54.949 --> 00:08:54.959 align:start position:0% yeah i mean i think at the time we were 00:08:54.959 --> 00:08:56.470 align:start position:0% yeah i mean i think at the time we were just<00:08:55.120> trying<00:08:55.360> to<00:08:55.440> figure<00:08:55.760> out<00:08:55.920> what<00:08:56.080> was<00:08:56.320> the 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do<00:09:00.720> so<00:09:00.800> if<00:09:00.880> you<00:09:00.959> looked<00:09:01.120> at 00:09:01.269 --> 00:09:01.279 align:start position:0% things you could do so if you looked at 00:09:01.279 --> 00:09:02.870 align:start position:0% things you could do so if you looked at parallel<00:09:01.680> parking<00:09:02.000> cars<00:09:02.320> and<00:09:02.480> other<00:09:02.640> things 00:09:02.870 --> 00:09:02.880 align:start position:0% parallel parking cars and other things 00:09:02.880 --> 00:09:03.990 align:start position:0% parallel parking cars and other things and<00:09:02.959> tried<00:09:03.200> to<00:09:03.279> ask<00:09:03.440> well 00:09:03.990 --> 00:09:04.000 align:start position:0% and tried to ask well 00:09:04.000 --> 00:09:05.190 align:start position:0% and tried to ask well what<00:09:04.160> are<00:09:04.320> the<00:09:04.480> algorithms<00:09:04.959> that<00:09:05.040> are<00:09:05.120> going 00:09:05.190 --> 00:09:05.200 align:start position:0% what are the algorithms that are going 00:09:05.200 --> 00:09:07.269 align:start position:0% what are the algorithms that are going to<00:09:05.279> do<00:09:05.440> that<00:09:05.680> it<00:09:05.760> turned<00:09:06.080> out<00:09:06.240> that<00:09:06.880> many<00:09:07.200> of 00:09:07.269 --> 00:09:07.279 align:start position:0% to do that it turned out that many of 00:09:07.279 --> 00:09:09.590 align:start position:0% to do that it turned out that many of the<00:09:07.519> sort<00:09:07.680> of<00:09:07.839> normal<00:09:08.320> assumptions<00:09:08.959> broke 00:09:09.590 --> 00:09:09.600 align:start position:0% the sort of normal assumptions broke 00:09:09.600 --> 00:09:13.110 align:start position:0% the sort of normal assumptions broke um<00:09:10.080> and<00:09:10.560> so<00:09:11.040> engines<00:09:11.600> that<00:09:11.760> had<00:09:12.399> fewer<00:09:12.720> degrees 00:09:13.110 --> 00:09:13.120 align:start position:0% um and so engines that had fewer degrees 00:09:13.120 --> 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can<00:09:18.000> turn<00:09:18.160> the<00:09:18.320> steering<00:09:18.640> wheel<00:09:18.959> and<00:09:19.040> you 00:09:19.110 --> 00:09:19.120 align:start position:0% you can turn the steering wheel and you 00:09:19.120 --> 00:09:19.750 align:start position:0% you can turn the steering wheel and you can<00:09:19.279> sort<00:09:19.440> of 00:09:19.750 --> 00:09:19.760 align:start position:0% can sort of 00:09:19.760 --> 00:09:21.829 align:start position:0% can sort of drive<00:09:20.080> forward<00:09:20.399> and<00:09:20.480> backward<00:09:21.519> but<00:09:21.680> you're 00:09:21.829 --> 00:09:21.839 align:start position:0% drive forward and backward but you're 00:09:21.839 --> 00:09:23.590 align:start position:0% drive forward and backward but you're more<00:09:22.080> or<00:09:22.160> less<00:09:22.720> able<00:09:22.880> to<00:09:22.959> control<00:09:23.360> three 00:09:23.590 --> 00:09:23.600 align:start position:0% more or less able to control three 00:09:23.600 --> 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--> 00:09:30.949 align:start position:0% complicated at the time it wasn't something<00:09:29.920> that<00:09:30.080> the<00:09:30.240> algorithms<00:09:30.720> that<00:09:30.800> were 00:09:30.949 --> 00:09:30.959 align:start position:0% something that the algorithms that were 00:09:30.959 --> 00:09:32.870 align:start position:0% something that the algorithms that were out<00:09:31.040> there<00:09:31.279> quite<00:09:31.519> dealt<00:09:31.760> with<00:09:32.000> and<00:09:32.160> so 00:09:32.870 --> 00:09:32.880 align:start position:0% out there quite dealt with and so 00:09:32.880 --> 00:09:34.710 align:start position:0% out there quite dealt with and so we<00:09:33.440> sort<00:09:33.600> of<00:09:33.680> found<00:09:33.920> it<00:09:34.000> very<00:09:34.160> interesting<00:09:34.640> to 00:09:34.710 --> 00:09:34.720 align:start position:0% we sort of found it very interesting to 00:09:34.720 --> 00:09:36.389 align:start position:0% we sort of found it very interesting to think<00:09:34.959> about<00:09:35.120> that<00:09:35.360> more<00:09:35.680> generally 00:09:36.389 --> 00:09:36.399 align:start position:0% think about that more generally 00:09:36.399 --> 00:09:38.070 align:start position:0% think about that more generally what<00:09:36.560> happens<00:09:36.880> when<00:09:37.040> you<00:09:37.120> have<00:09:37.279> underactuated 00:09:38.070 --> 00:09:38.080 align:start position:0% what happens when you have underactuated 00:09:38.080 --> 00:09:40.150 align:start position:0% what happens when you have underactuated robots<00:09:38.560> and<00:09:38.640> you<00:09:38.800> have<00:09:38.880> to<00:09:39.040> use 00:09:40.150 --> 00:09:40.160 align:start position:0% robots and you have to use 00:09:40.160 --> 00:09:43.750 align:start position:0% robots and you have to use some<00:09:40.399> sort<00:09:40.560> of<00:09:41.279> notion<00:09:41.920> of<00:09:42.640> geometric<00:09:43.279> phase 00:09:43.750 --> 00:09:43.760 align:start position:0% some sort of notion of geometric phase 00:09:43.760 --> 00:09:45.350 align:start position:0% some sort of notion of geometric phase or<00:09:43.920> other<00:09:44.080> types<00:09:44.320> of<00:09:44.399> ideas<00:09:44.800> where<00:09:45.040> you 00:09:45.350 --> 00:09:45.360 align:start position:0% or other types of ideas where you 00:09:45.360 --> 00:09:47.350 align:start position:0% or other types of ideas where you produce<00:09:46.080> cyclic<00:09:46.480> motion<00:09:46.880> in<00:09:46.959> some<00:09:47.120> set<00:09:47.279> of 00:09:47.350 --> 00:09:47.360 align:start position:0% produce cyclic motion in some set of 00:09:47.360 --> 00:09:48.710 align:start position:0% produce cyclic motion in some set of variables<00:09:47.680> so<00:09:47.839> you<00:09:47.920> might<00:09:48.080> drive<00:09:48.399> back<00:09:48.640> and 00:09:48.710 --> 00:09:48.720 align:start position:0% variables so you might drive back and 00:09:48.720 --> 00:09:50.150 align:start position:0% variables so you might drive back and forth<00:09:48.959> and<00:09:49.040> turn<00:09:49.279> your<00:09:49.440> steering<00:09:49.760> wheel<00:09:49.920> left 00:09:50.150 --> 00:09:50.160 align:start position:0% forth and turn your steering wheel left 00:09:50.160 --> 00:09:50.710 align:start position:0% forth and turn your steering wheel left and<00:09:50.320> right 00:09:50.710 --> 00:09:50.720 align:start position:0% and right 00:09:50.720 --> 00:09:51.990 align:start position:0% and right but<00:09:50.880> if<00:09:50.959> you<00:09:51.040> do<00:09:51.200> that<00:09:51.360> in<00:09:51.519> the<00:09:51.600> right<00:09:51.760> way<00:09:51.920> you 00:09:51.990 --> 00:09:52.000 align:start position:0% but if you do that in the right way you 00:09:52.000 --> 00:09:53.190 align:start position:0% but if you do that in the right way you don't<00:09:52.160> come<00:09:52.320> back<00:09:52.480> to<00:09:52.560> where<00:09:52.720> you<00:09:52.800> started<00:09:53.120> you 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back and forth once 00:09:57.519 --> 00:09:58.949 align:start position:0% you sort of drive back and forth once while<00:09:57.680> you<00:09:57.839> turn<00:09:58.080> your<00:09:58.240> steering<00:09:58.560> wheel<00:09:58.800> back 00:09:58.949 --> 00:09:58.959 align:start position:0% while you turn your steering wheel back 00:09:58.959 --> 00:09:59.829 align:start position:0% while you turn your steering wheel back and<00:09:59.040> forth<00:09:59.279> twice 00:09:59.829 --> 00:09:59.839 align:start position:0% and forth twice 00:09:59.839 --> 00:10:01.269 align:start position:0% and forth twice and<00:10:00.080> that<00:10:00.240> turns<00:10:00.560> out<00:10:00.800> to<00:10:00.880> generate<00:10:01.200> a 00:10:01.269 --> 00:10:01.279 align:start position:0% and that turns out to generate a 00:10:01.279 --> 00:10:02.870 align:start position:0% and that turns out to generate a sideways<00:10:01.680> motion<00:10:01.920> so<00:10:02.079> we're<00:10:02.240> very<00:10:02.480> interested 00:10:02.870 --> 00:10:02.880 align:start position:0% sideways motion so we're very interested 00:10:02.880 --> 00:10:04.389 align:start position:0% sideways motion so we're very interested in<00:10:02.959> these<00:10:03.120> sorts<00:10:03.360> of<00:10:03.760> non-holonomic 00:10:04.389 --> 00:10:04.399 align:start position:0% in these sorts of non-holonomic 00:10:04.399 --> 00:10:05.829 align:start position:0% in these sorts of non-holonomic maneuvers<00:10:04.959> and<00:10:05.040> what<00:10:05.200> could<00:10:05.360> be<00:10:05.440> done<00:10:05.680> with 00:10:05.829 --> 00:10:05.839 align:start position:0% maneuvers and what could be done with 00:10:05.839 --> 00:10:06.870 align:start position:0% maneuvers and what could be done with them 00:10:06.870 --> 00:10:06.880 align:start position:0% them 00:10:06.880 --> 00:10:08.470 align:start position:0% them and<00:10:07.120> at<00:10:07.200> the<00:10:07.360> time<00:10:07.680> that<00:10:07.839> really<00:10:08.079> wasn't<00:10:08.320> well 00:10:08.470 --> 00:10:08.480 align:start position:0% and at the time that really wasn't well 00:10:08.480 --> 00:10:10.389 align:start position:0% and at the time that really wasn't well understood<00:10:09.519> and<00:10:09.680> it<00:10:09.760> turned<00:10:10.000> out<00:10:10.160> that<00:10:10.240> there 00:10:10.389 --> 00:10:10.399 align:start position:0% understood and it turned out that there 00:10:10.399 --> 00:10:12.550 align:start position:0% understood and it turned out that there were<00:10:10.560> some<00:10:10.800> aspects<00:10:11.200> of<00:10:11.360> that<00:10:11.600> that 00:10:12.550 --> 00:10:12.560 align:start position:0% were some aspects of that that 00:10:12.560 --> 00:10:14.949 align:start position:0% were some aspects of that that if<00:10:12.640> you<00:10:12.800> wanted<00:10:13.120> to<00:10:13.519> stabilize<00:10:14.160> an<00:10:14.320> unholmack 00:10:14.949 --> 00:10:14.959 align:start position:0% if you wanted to stabilize an unholmack 00:10:14.959 --> 00:10:16.550 align:start position:0% if you wanted to stabilize an unholmack robot<00:10:15.360> around<00:10:15.600> an<00:10:15.760> equilibrium<00:10:16.160> point<00:10:16.399> around 00:10:16.550 --> 00:10:16.560 align:start position:0% robot around an equilibrium point around 00:10:16.560 --> 00:10:17.750 align:start position:0% robot around an equilibrium point around some<00:10:16.800> position 00:10:17.750 --> 00:10:17.760 align:start position:0% some position 00:10:17.760 --> 00:10:19.990 align:start position:0% some position it<00:10:17.920> turned<00:10:18.240> out<00:10:18.399> that<00:10:19.279> all<00:10:19.440> of<00:10:19.519> the<00:10:19.680> theory 00:10:19.990 --> 00:10:20.000 align:start position:0% it turned out that all of the theory 00:10:20.000 --> 00:10:21.910 align:start position:0% it turned out that all of the theory that<00:10:20.160> existed<00:10:20.480> for<00:10:20.640> how<00:10:20.720> to<00:10:20.800> do<00:10:20.959> that<00:10:21.200> broke 00:10:21.910 --> 00:10:21.920 align:start position:0% that existed for how to do that broke 00:10:21.920 --> 00:10:23.269 align:start position:0% that existed for how to do that broke and<00:10:22.000> so<00:10:22.160> we<00:10:22.240> had<00:10:22.399> to<00:10:22.480> really<00:10:22.720> develop<00:10:23.120> new 00:10:23.269 --> 00:10:23.279 align:start position:0% and so we had to really develop new 00:10:23.279 --> 00:10:24.550 align:start position:0% and so we had to really develop new theory<00:10:23.600> and<00:10:23.680> a<00:10:23.760> number<00:10:23.920> of<00:10:24.079> people<00:10:24.240> around<00:10:24.480> the 00:10:24.550 --> 00:10:24.560 align:start position:0% theory and a number of people around the 00:10:24.560 --> 00:10:26.150 align:start position:0% theory and a number of people around the world<00:10:24.800> were<00:10:24.959> kind<00:10:25.120> of<00:10:25.200> interested<00:10:25.600> in<00:10:25.760> that 00:10:26.150 --> 00:10:26.160 align:start position:0% world were kind of interested in that 00:10:26.160 --> 00:10:27.590 align:start position:0% world were kind of interested in that um<00:10:26.320> so<00:10:26.480> it<00:10:26.560> was<00:10:26.640> kind<00:10:26.800> of<00:10:26.880> a<00:10:26.959> fun<00:10:27.120> time<00:10:27.279> to<00:10:27.440> sort 00:10:27.590 --> 00:10:27.600 align:start position:0% um so it was kind of a fun time to sort 00:10:27.600 --> 00:10:29.350 align:start position:0% um so it was kind of a fun time to sort of<00:10:27.680> think<00:10:27.760> about<00:10:28.320> you<00:10:28.399> know<00:10:28.880> uh 00:10:29.350 --> 00:10:29.360 align:start position:0% of think about you know uh 00:10:29.360 --> 00:10:31.190 align:start position:0% of think about you know uh holonomia<00:10:30.079> and<00:10:30.160> what<00:10:30.320> that<00:10:30.560> meant<00:10:30.880> and<00:10:31.040> what 00:10:31.190 --> 00:10:31.200 align:start position:0% holonomia and what that meant and what 00:10:31.200 --> 00:10:32.550 align:start position:0% holonomia and what that meant and what it<00:10:31.279> meant<00:10:31.440> for<00:10:31.600> robotics<00:10:32.079> and<00:10:32.240> other<00:10:32.320> things<00:10:32.480> i 00:10:32.550 --> 00:10:32.560 align:start position:0% it meant for robotics and other things i 00:10:32.560 --> 00:10:33.269 align:start position:0% it meant for robotics and other things i don't<00:10:32.720> know<00:10:32.800> that 00:10:33.269 --> 00:10:33.279 align:start position:0% don't know that 00:10:33.279 --> 00:10:34.470 align:start position:0% don't know that in<00:10:33.360> the<00:10:33.440> grand<00:10:33.680> scheme<00:10:33.920> of<00:10:34.000> things<00:10:34.160> mattered 00:10:34.470 --> 00:10:34.480 align:start position:0% in the grand scheme of things mattered 00:10:34.480 --> 00:10:35.829 align:start position:0% in the grand scheme of things mattered very<00:10:34.640> much<00:10:34.800> but<00:10:34.959> it<00:10:35.040> was<00:10:35.120> very<00:10:35.360> interesting<00:10:35.680> at 00:10:35.829 --> 00:10:35.839 align:start position:0% very much but it was very interesting at 00:10:35.839 --> 00:10:36.949 align:start position:0% very much but it was very interesting at the<00:10:35.920> time 00:10:36.949 --> 00:10:36.959 align:start position:0% the time 00:10:36.959 --> 00:10:38.470 align:start position:0% the time uh<00:10:37.200> were<00:10:37.360> there<00:10:37.519> others<00:10:37.920> people<00:10:38.160> that<00:10:38.320> you 00:10:38.470 --> 00:10:38.480 align:start position:0% uh were there others people that you 00:10:38.480 --> 00:10:40.069 align:start position:0% uh were there others people that you collaborated<00:10:39.040> with<00:10:39.279> around<00:10:39.600> the<00:10:39.760> country 00:10:40.069 --> 00:10:40.079 align:start position:0% collaborated with around the country 00:10:40.079 --> 00:10:40.949 align:start position:0% collaborated with around the country around<00:10:40.320> the<00:10:40.399> world 00:10:40.949 --> 00:10:40.959 align:start position:0% around the world 00:10:40.959 --> 00:10:44.150 align:start position:0% around the world yeah<00:10:41.200> there<00:10:41.279> were<00:10:41.920> so<00:10:42.320> in<00:10:42.800> in<00:10:42.959> the<00:10:43.680> area<00:10:44.000> of 00:10:44.150 --> 00:10:44.160 align:start position:0% yeah there were so in in the area of 00:10:44.160 --> 00:10:45.670 align:start position:0% yeah there were so in in the area of these<00:10:44.320> non-holonomic<00:10:44.959> robots<00:10:45.279> which<00:10:45.440> is<00:10:45.519> what 00:10:45.670 --> 00:10:45.680 align:start position:0% these non-holonomic robots which is what 00:10:45.680 --> 00:10:45.990 align:start position:0% these non-holonomic robots which is what i<00:10:45.760> worked 00:10:45.990 --> 00:10:46.000 align:start position:0% i worked 00:10:46.000 --> 00:10:48.230 align:start position:0% i worked on<00:10:46.320> uh<00:10:46.640> sort<00:10:46.800> of<00:10:46.959> in<00:10:47.040> the<00:10:47.120> first<00:10:47.839> five<00:10:48.000> years 00:10:48.230 --> 00:10:48.240 align:start position:0% on uh sort of in the first five years 00:10:48.240 --> 00:10:50.230 align:start position:0% on uh sort of in the first five years that<00:10:48.320> i<00:10:48.399> was<00:10:48.480> here<00:10:48.640> at<00:10:48.640> keltucker<00:10:49.200> so 00:10:50.230 --> 00:10:50.240 align:start position:0% that i was here at keltucker so 00:10:50.240 --> 00:10:51.110 align:start position:0% that i was here at keltucker so there<00:10:50.320> were<00:10:50.399> a<00:10:50.399> number<00:10:50.560> of<00:10:50.640> people<00:10:50.800> around<00:10:51.040> the 00:10:51.110 --> 00:10:51.120 align:start position:0% there were a number of people around the 00:10:51.120 --> 00:10:52.150 align:start position:0% there were a number of people around the country<00:10:51.360> who<00:10:51.440> were<00:10:51.519> doing<00:10:51.680> that<00:10:51.839> say<00:10:52.000> shang 00:10:52.150 --> 00:10:52.160 align:start position:0% country who were doing that say shang 00:10:52.160 --> 00:10:53.509 align:start position:0% country who were doing that say shang lee<00:10:52.399> was<00:10:52.480> still<00:10:52.720> interested<00:10:53.120> in<00:10:53.200> that 00:10:53.509 --> 00:10:53.519 align:start position:0% lee was still interested in that 00:10:53.519 --> 00:10:56.230 align:start position:0% lee was still interested in that he<00:10:53.680> was<00:10:53.920> at<00:10:54.000> qurant<00:10:54.560> at<00:10:54.640> the<00:10:54.720> time<00:10:55.760> before<00:10:56.079> he 00:10:56.230 --> 00:10:56.240 align:start position:0% he was at qurant at the time before he 00:10:56.240 --> 00:10:58.630 align:start position:0% he was at qurant at the time before he moved<00:10:56.480> to<00:10:56.720> hkust 00:10:58.630 --> 00:10:58.640 align:start position:0% moved to hkust 00:10:58.640 --> 00:11:01.269 align:start position:0% moved to hkust the<00:10:59.279> uh<00:10:59.519> there<00:10:59.680> was<00:10:59.760> a<00:10:59.920> group<00:11:00.240> in<00:11:00.720> france<00:11:01.200> that 00:11:01.269 --> 00:11:01.279 align:start position:0% the uh there was a group in france that 00:11:01.279 --> 00:11:02.230 align:start position:0% the uh there was a group in france that was<00:11:01.440> working<00:11:01.760> on<00:11:01.920> this 00:11:02.230 --> 00:11:02.240 align:start position:0% was working on this 00:11:02.240 --> 00:11:03.269 align:start position:0% was working on this using<00:11:02.480> some<00:11:02.640> techniques<00:11:03.040> called 00:11:03.269 --> 00:11:03.279 align:start position:0% using some techniques called 00:11:03.279 --> 00:11:05.030 align:start position:0% using some techniques called differential<00:11:03.680> flatness<00:11:04.399> uh<00:11:04.560> that<00:11:04.720> were<00:11:04.880> very 00:11:05.030 --> 00:11:05.040 align:start position:0% differential flatness uh that were very 00:11:05.040 --> 00:11:07.030 align:start position:0% differential flatness uh that were very interesting<00:11:05.519> to<00:11:05.680> us<00:11:05.760> so<00:11:05.920> michelle<00:11:06.320> fleece 00:11:07.030 --> 00:11:07.040 align:start position:0% interesting to us so michelle fleece 00:11:07.040 --> 00:11:10.230 align:start position:0% interesting to us so michelle fleece uh<00:11:07.440> was<00:11:07.680> one<00:11:08.320> uh<00:11:09.680> the 00:11:10.230 --> 00:11:10.240 align:start position:0% uh was one uh the 00:11:10.240 --> 00:11:14.310 align:start position:0% uh was one uh the uh<00:11:11.440> there<00:11:11.600> was<00:11:12.240> a<00:11:12.560> collection<00:11:13.200> of<00:11:13.760> uh<00:11:14.000> people 00:11:14.310 --> 00:11:14.320 align:start position:0% uh there was a collection of uh people 00:11:14.320 --> 00:11:15.350 align:start position:0% uh there was a collection of uh people who<00:11:14.399> were<00:11:14.560> thinking<00:11:14.880> about 00:11:15.350 --> 00:11:15.360 align:start position:0% who were thinking about 00:11:15.360 --> 00:11:17.590 align:start position:0% who were thinking about stabilization<00:11:16.320> and<00:11:16.480> control<00:11:16.959> theory<00:11:17.279> rudolph 00:11:17.590 --> 00:11:17.600 align:start position:0% stabilization and control theory rudolph 00:11:17.600 --> 00:11:19.509 align:start position:0% stabilization and control theory rudolph supporter<00:11:18.240> for<00:11:18.399> example<00:11:18.800> was<00:11:18.959> thinking<00:11:19.279> about 00:11:19.509 --> 00:11:19.519 align:start position:0% supporter for example was thinking about 00:11:19.519 --> 00:11:19.910 align:start position:0% supporter for example was thinking about this 00:11:19.910 --> 00:11:19.920 align:start position:0% this 00:11:19.920 --> 00:11:21.110 align:start position:0% this there's<00:11:20.160> kind<00:11:20.240> of<00:11:20.320> an<00:11:20.480> interesting<00:11:20.880> group 00:11:21.110 --> 00:11:21.120 align:start position:0% there's kind of an interesting group 00:11:21.120 --> 00:11:22.790 align:start position:0% there's kind of an interesting group around<00:11:21.360> the<00:11:21.440> world<00:11:21.680> a<00:11:21.839> lot<00:11:22.160> in<00:11:22.320> france<00:11:22.640> for 00:11:22.790 --> 00:11:22.800 align:start position:0% around the world a lot in france for 00:11:22.800 --> 00:11:24.150 align:start position:0% around the world a lot in france for some<00:11:22.959> reason<00:11:23.279> i<00:11:23.360> think<00:11:23.519> that 00:11:24.150 --> 00:11:24.160 align:start position:0% some reason i think that 00:11:24.160 --> 00:11:25.670 align:start position:0% some reason i think that michelle<00:11:24.640> and<00:11:24.720> the<00:11:24.800> group<00:11:24.959> of<00:11:25.040> people<00:11:25.279> around 00:11:25.670 --> 00:11:25.680 align:start position:0% michelle and the group of people around 00:11:25.680 --> 00:11:28.310 align:start position:0% michelle and the group of people around him<00:11:26.240> um<00:11:26.720> you<00:11:26.800> know<00:11:26.959> kind<00:11:27.120> of 00:11:28.310 --> 00:11:28.320 align:start position:0% him um you know kind of 00:11:28.320 --> 00:11:33.030 align:start position:0% him um you know kind of got<00:11:28.560> interested<00:11:29.040> in<00:11:29.120> the<00:11:29.200> problem 00:11:33.030 --> 00:11:33.040 align:start position:0% 00:11:33.040 --> 00:11:34.470 align:start position:0% and<00:11:33.200> what<00:11:33.360> did<00:11:33.440> you<00:11:33.600> start<00:11:33.760> working<00:11:34.079> on<00:11:34.240> after 00:11:34.470 --> 00:11:34.480 align:start position:0% and what did you start working on after 00:11:34.480 --> 00:11:36.949 align:start position:0% and what did you start working on after that<00:11:35.200> um<00:11:35.839> it<00:11:36.160> moved<00:11:36.399> from 00:11:36.949 --> 00:11:36.959 align:start position:0% that um it moved from 00:11:36.959 --> 00:11:38.150 align:start position:0% that um it moved from thinking<00:11:37.200> about<00:11:37.360> these<00:11:37.519> non-holonomic 00:11:38.150 --> 00:11:38.160 align:start position:0% thinking about these non-holonomic 00:11:38.160 --> 00:11:39.990 align:start position:0% thinking about these non-holonomic robots<00:11:38.560> to<00:11:38.640> moving<00:11:38.959> into<00:11:39.279> unmanned<00:11:39.760> aerial 00:11:39.990 --> 00:11:40.000 align:start position:0% robots to moving into unmanned aerial 00:11:40.000 --> 00:11:41.829 align:start position:0% robots to moving into unmanned aerial vehicles<00:11:40.480> and<00:11:40.640> unmanned<00:11:41.040> autonomous<00:11:41.440> systems 00:11:41.829 --> 00:11:41.839 align:start position:0% vehicles and unmanned autonomous systems 00:11:41.839 --> 00:11:43.269 align:start position:0% vehicles and unmanned autonomous systems of<00:11:41.920> various<00:11:42.240> sorts 00:11:43.269 --> 00:11:43.279 align:start position:0% of various sorts 00:11:43.279 --> 00:11:45.190 align:start position:0% of various sorts focusing<00:11:43.680> a<00:11:43.760> little<00:11:43.920> bit<00:11:44.079> more<00:11:44.240> on<00:11:44.480> trajectory 00:11:45.190 --> 00:11:45.200 align:start position:0% focusing a little bit more on trajectory 00:11:45.200 --> 00:11:46.310 align:start position:0% focusing a little bit more on trajectory generation 00:11:46.310 --> 00:11:46.320 align:start position:0% generation 00:11:46.320 --> 00:11:47.590 align:start position:0% generation for<00:11:46.480> vehicles<00:11:46.880> that<00:11:46.959> have<00:11:47.120> complicated 00:11:47.590 --> 00:11:47.600 align:start position:0% for vehicles that have complicated 00:11:47.600 --> 00:11:49.269 align:start position:0% for vehicles that have complicated dynamics<00:11:48.079> i<00:11:48.160> think<00:11:48.320> that<00:11:48.399> was<00:11:48.560> what<00:11:48.720> we<00:11:48.880> were 00:11:49.269 --> 00:11:49.279 align:start position:0% dynamics i think that was what we were 00:11:49.279 --> 00:11:49.990 align:start position:0% dynamics i think that was what we were sort<00:11:49.440> of<00:11:49.519> thinking 00:11:49.990 --> 00:11:50.000 align:start position:0% sort of thinking 00:11:50.000 --> 00:11:52.150 align:start position:0% sort of thinking the<00:11:50.160> non-holonomic<00:11:50.880> work<00:11:51.120> became<00:11:51.839> a<00:11:51.920> lot 00:11:52.150 --> 00:11:52.160 align:start position:0% the non-holonomic work became a lot 00:11:52.160 --> 00:11:53.269 align:start position:0% the non-holonomic work became a lot about<00:11:52.320> well<00:11:52.480> how<00:11:52.639> do<00:11:52.720> you<00:11:52.880> generate<00:11:53.200> a 00:11:53.269 --> 00:11:53.279 align:start position:0% about well how do you generate a 00:11:53.279 --> 00:11:54.310 align:start position:0% about well how do you generate a trajectory<00:11:53.760> to<00:11:53.839> move<00:11:54.000> from<00:11:54.160> one 00:11:54.310 --> 00:11:54.320 align:start position:0% trajectory to move from one 00:11:54.320 --> 00:11:55.829 align:start position:0% trajectory to move from one configuration<00:11:54.880> to<00:11:54.959> another<00:11:55.200> configuration 00:11:55.829 --> 00:11:55.839 align:start position:0% configuration to another configuration 00:11:55.839 --> 00:11:56.230 align:start position:0% configuration to another configuration and<00:11:55.920> we 00:11:56.230 --> 00:11:56.240 align:start position:0% and we 00:11:56.240 --> 00:11:57.509 align:start position:0% and we sort<00:11:56.399> of<00:11:56.560> took<00:11:56.720> some<00:11:56.880> of<00:11:56.959> those<00:11:57.120> ideas<00:11:57.440> and 00:11:57.509 --> 00:11:57.519 align:start position:0% sort of took some of those ideas and 00:11:57.519 --> 00:11:59.509 align:start position:0% sort of took some of those ideas and differential<00:11:58.000> flatness<00:11:58.399> was<00:11:58.560> one<00:11:58.720> of<00:11:58.800> them 00:11:59.509 --> 00:11:59.519 align:start position:0% differential flatness was one of them 00:11:59.519 --> 00:12:01.670 align:start position:0% differential flatness was one of them and<00:11:59.760> said<00:12:00.720> all<00:12:00.800> right<00:12:00.959> well<00:12:01.040> how<00:12:01.200> would<00:12:01.360> we<00:12:01.519> do 00:12:01.670 --> 00:12:01.680 align:start position:0% and said all right well how would we do 00:12:01.680 --> 00:12:02.550 align:start position:0% and said all right well how would we do this<00:12:01.839> on 00:12:02.550 --> 00:12:02.560 align:start position:0% this on 00:12:02.560 --> 00:12:04.949 align:start position:0% this on things<00:12:02.800> that<00:12:02.959> are<00:12:03.760> more<00:12:04.079> dynamic<00:12:04.560> so<00:12:04.720> the 00:12:04.949 --> 00:12:04.959 align:start position:0% things that are more dynamic so the 00:12:04.959 --> 00:12:06.389 align:start position:0% things that are more dynamic so the difference<00:12:05.360> in<00:12:05.440> some<00:12:05.600> sense<00:12:05.920> between 00:12:06.389 --> 00:12:06.399 align:start position:0% difference in some sense between 00:12:06.399 --> 00:12:07.910 align:start position:0% difference in some sense between an<00:12:06.639> aircraft<00:12:07.120> and<00:12:07.200> something<00:12:07.440> sitting<00:12:07.680> on<00:12:07.839> the 00:12:07.910 --> 00:12:07.920 align:start position:0% an aircraft and something sitting on the 00:12:07.920 --> 00:12:09.590 align:start position:0% an aircraft and something sitting on the ground<00:12:08.160> is<00:12:08.320> that<00:12:08.639> a<00:12:08.720> mobile<00:12:09.040> robot<00:12:09.279> sitting<00:12:09.519> on 00:12:09.590 --> 00:12:09.600 align:start position:0% ground is that a mobile robot sitting on 00:12:09.600 --> 00:12:10.470 align:start position:0% ground is that a mobile robot sitting on the<00:12:09.680> ground<00:12:09.920> you<00:12:10.000> can<00:12:10.079> always 00:12:10.470 --> 00:12:10.480 align:start position:0% the ground you can always 00:12:10.480 --> 00:12:12.710 align:start position:0% the ground you can always stop<00:12:10.880> and<00:12:11.040> wait<00:12:11.360> and<00:12:11.600> just<00:12:11.839> decide<00:12:12.240> what<00:12:12.399> to<00:12:12.480> do 00:12:12.710 --> 00:12:12.720 align:start position:0% stop and wait and just decide what to do 00:12:12.720 --> 00:12:14.230 align:start position:0% stop and wait and just decide what to do and<00:12:12.800> then<00:12:12.959> do<00:12:13.120> it<00:12:13.200> and<00:12:13.360> stop<00:12:13.600> in<00:12:13.680> the<00:12:13.760> middle<00:12:14.079> or 00:12:14.230 --> 00:12:14.240 align:start position:0% and then do it and stop in the middle or 00:12:14.240 --> 00:12:15.430 align:start position:0% and then do it and stop in the middle or slow<00:12:14.480> down 00:12:15.430 --> 00:12:15.440 align:start position:0% slow down 00:12:15.440 --> 00:12:16.949 align:start position:0% slow down with<00:12:15.600> an<00:12:15.760> aircraft<00:12:16.160> the<00:12:16.240> dynamics<00:12:16.639> are<00:12:16.720> such 00:12:16.949 --> 00:12:16.959 align:start position:0% with an aircraft the dynamics are such 00:12:16.959 --> 00:12:18.870 align:start position:0% with an aircraft the dynamics are such of<00:12:17.040> course<00:12:17.200> you<00:12:17.279> can't<00:12:17.440> just<00:12:17.760> stop 00:12:18.870 --> 00:12:18.880 align:start position:0% of course you can't just stop 00:12:18.880 --> 00:12:20.870 align:start position:0% of course you can't just stop you're<00:12:19.200> you<00:12:19.279> know<00:12:19.680> you<00:12:19.920> have<00:12:20.160> to<00:12:20.320> keep<00:12:20.480> flying 00:12:20.870 --> 00:12:20.880 align:start position:0% you're you know you have to keep flying 00:12:20.880 --> 00:12:22.470 align:start position:0% you're you know you have to keep flying forward<00:12:21.200> you<00:12:21.360> have<00:12:21.440> to<00:12:21.519> keep<00:12:21.760> moving 00:12:22.470 --> 00:12:22.480 align:start position:0% forward you have to keep moving 00:12:22.480 --> 00:12:25.590 align:start position:0% forward you have to keep moving the<00:12:22.720> dynamics<00:12:23.200> can<00:12:23.360> be<00:12:23.519> extremely<00:12:24.000> non-linear 00:12:25.590 --> 00:12:25.600 align:start position:0% the dynamics can be extremely non-linear 00:12:25.600 --> 00:12:27.750 align:start position:0% the dynamics can be extremely non-linear and<00:12:25.760> so<00:12:26.240> we<00:12:26.399> started<00:12:26.720> thinking<00:12:27.040> about<00:12:27.360> how<00:12:27.519> to 00:12:27.750 --> 00:12:27.760 align:start position:0% and so we started thinking about how to 00:12:27.760 --> 00:12:29.590 align:start position:0% and so we started thinking about how to generate<00:12:28.160> very<00:12:28.480> aggressive<00:12:28.880> trajectories 00:12:29.590 --> 00:12:29.600 align:start position:0% generate very aggressive trajectories 00:12:29.600 --> 00:12:30.550 align:start position:0% generate very aggressive trajectories that<00:12:29.760> really<00:12:30.000> pushed<00:12:30.320> up 00:12:30.550 --> 00:12:30.560 align:start position:0% that really pushed up 00:12:30.560 --> 00:12:32.870 align:start position:0% that really pushed up against<00:12:30.880> the<00:12:31.040> envelope<00:12:31.440> of<00:12:31.600> what<00:12:32.480> the 00:12:32.870 --> 00:12:32.880 align:start position:0% against the envelope of what the 00:12:32.880 --> 00:12:33.670 align:start position:0% against the envelope of what the actuation 00:12:33.670 --> 00:12:33.680 align:start position:0% actuation 00:12:33.680 --> 00:12:35.350 align:start position:0% actuation could<00:12:33.920> do<00:12:34.240> and<00:12:34.320> what<00:12:34.480> the<00:12:34.560> non-linearities 00:12:35.350 --> 00:12:35.360 align:start position:0% could do and what the non-linearities 00:12:35.360 --> 00:12:37.670 align:start position:0% could do and what the non-linearities were<00:12:35.519> in<00:12:35.600> the<00:12:35.680> system<00:12:36.480> and<00:12:36.639> looking<00:12:36.880> at<00:12:37.040> how<00:12:37.279> to 00:12:37.670 --> 00:12:37.680 align:start position:0% were in the system and looking at how to 00:12:37.680 --> 00:12:39.910 align:start position:0% were in the system and looking at how to generate<00:12:38.000> trajectories<00:12:38.560> very<00:12:38.800> quickly<00:12:39.519> um 00:12:39.910 --> 00:12:39.920 align:start position:0% generate trajectories very quickly um 00:12:39.920 --> 00:12:41.509 align:start position:0% generate trajectories very quickly um and<00:12:40.000> so<00:12:40.240> these<00:12:40.480> ideas<00:12:40.880> that<00:12:41.040> were<00:12:41.200> coming<00:12:41.360> from 00:12:41.509 --> 00:12:41.519 align:start position:0% and so these ideas that were coming from 00:12:41.519 --> 00:12:42.790 align:start position:0% and so these ideas that were coming from differential<00:12:42.000> flatness<00:12:42.320> and<00:12:42.399> trajectory 00:12:42.790 --> 00:12:42.800 align:start position:0% differential flatness and trajectory 00:12:42.800 --> 00:12:43.829 align:start position:0% differential flatness and trajectory generation<00:12:43.440> and 00:12:43.829 --> 00:12:43.839 align:start position:0% generation and 00:12:43.839 --> 00:12:45.670 align:start position:0% generation and combining<00:12:44.320> those<00:12:44.560> into<00:12:44.880> control<00:12:45.279> algorithms 00:12:45.670 --> 00:12:45.680 align:start position:0% combining those into control algorithms 00:12:45.680 --> 00:12:47.030 align:start position:0% combining those into control algorithms for<00:12:45.839> receding<00:12:46.160> rise<00:12:46.399> and<00:12:46.480> control<00:12:46.800> were<00:12:46.959> kind 00:12:47.030 --> 00:12:47.040 align:start position:0% for receding rise and control were kind 00:12:47.040 --> 00:12:48.069 align:start position:0% for receding rise and control were kind of<00:12:47.200> the<00:12:47.279> next 00:12:48.069 --> 00:12:48.079 align:start position:0% of the next 00:12:48.079 --> 00:12:49.910 align:start position:0% of the next batch<00:12:48.320> of<00:12:48.399> things<00:12:48.639> that<00:12:48.720> we<00:12:48.880> worked<00:12:49.200> on<00:12:49.760> in 00:12:49.910 --> 00:12:49.920 align:start position:0% batch of things that we worked on in 00:12:49.920 --> 00:12:51.269 align:start position:0% batch of things that we worked on in parallel<00:12:50.320> with<00:12:50.480> that<00:12:50.639> completely<00:12:51.040> out<00:12:51.200> of 00:12:51.269 --> 00:12:51.279 align:start position:0% parallel with that completely out of 00:12:51.279 --> 00:12:52.629 align:start position:0% parallel with that completely out of robotics<00:12:51.680> we<00:12:51.760> started<00:12:52.000> looking<00:12:52.160> at<00:12:52.240> control 00:12:52.629 --> 00:12:52.639 align:start position:0% robotics we started looking at control 00:12:52.639 --> 00:12:55.509 align:start position:0% robotics we started looking at control of<00:12:52.720> jet<00:12:52.959> engines<00:12:53.360> and<00:12:53.519> aircraft<00:12:54.000> engines 00:12:55.509 --> 00:12:55.519 align:start position:0% of jet engines and aircraft engines 00:12:55.519 --> 00:12:57.509 align:start position:0% of jet engines and aircraft engines just<00:12:55.920> i<00:12:56.079> think<00:12:56.240> because<00:12:56.560> some<00:12:56.720> of<00:12:56.880> the<00:12:56.959> dynamic 00:12:57.509 --> 00:12:57.519 align:start position:0% just i think because some of the dynamic 00:12:57.519 --> 00:12:58.870 align:start position:0% just i think because some of the dynamic issues<00:12:57.760> were<00:12:57.920> the<00:12:58.000> same<00:12:58.240> very<00:12:58.399> complex 00:12:58.870 --> 00:12:58.880 align:start position:0% issues were the same very complex 00:12:58.880 --> 00:13:00.310 align:start position:0% issues were the same very complex dynamics<00:12:59.360> and<00:12:59.440> how<00:12:59.600> do<00:12:59.600> you<00:12:59.680> control<00:13:00.000> those<00:13:00.160> in 00:13:00.310 --> 00:13:00.320 align:start position:0% dynamics and how do you control those in 00:13:00.320 --> 00:13:01.990 align:start position:0% dynamics and how do you control those in an<00:13:00.480> interesting<00:13:00.880> way 00:13:01.990 --> 00:13:02.000 align:start position:0% an interesting way 00:13:02.000 --> 00:13:04.389 align:start position:0% an interesting way did<00:13:02.240> these<00:13:02.560> interests<00:13:02.959> come<00:13:03.200> from<00:13:04.000> wanting<00:13:04.320> to 00:13:04.389 --> 00:13:04.399 align:start position:0% did these interests come from wanting to 00:13:04.399 --> 00:13:06.710 align:start position:0% did these interests come from wanting to work<00:13:04.639> on<00:13:04.880> uavs<00:13:05.440> or<00:13:05.680> starting<00:13:05.920> to<00:13:06.000> work<00:13:06.240> on<00:13:06.320> uavs 00:13:06.710 --> 00:13:06.720 align:start position:0% work on uavs or starting to work on uavs 00:13:06.720 --> 00:13:08.230 align:start position:0% work on uavs or starting to work on uavs or<00:13:06.880> did<00:13:07.040> the<00:13:07.200> work<00:13:07.440> with<00:13:07.519> you<00:13:07.680> if<00:13:07.839> you<00:13:08.000> come 00:13:08.230 --> 00:13:08.240 align:start position:0% or did the work with you if you come 00:13:08.240 --> 00:13:09.910 align:start position:0% or did the work with you if you come from<00:13:08.480> the 00:13:09.910 --> 00:13:09.920 align:start position:0% from the 00:13:09.920 --> 00:13:13.509 align:start position:0% from the more<00:13:10.639> kind<00:13:10.800> of<00:13:10.959> scientific<00:13:11.760> interests<00:13:12.720> um 00:13:13.509 --> 00:13:13.519 align:start position:0% more kind of scientific interests um 00:13:13.519 --> 00:13:15.990 align:start position:0% more kind of scientific interests um well<00:13:13.839> i<00:13:13.920> think<00:13:14.079> that<00:13:14.160> what<00:13:14.399> happened<00:13:14.720> was<00:13:14.959> that 00:13:15.990 --> 00:13:16.000 align:start position:0% well i think that what happened was that 00:13:16.000 --> 00:13:17.829 align:start position:0% well i think that what happened was that i mean<00:13:16.240> this<00:13:16.399> was<00:13:16.560> back<00:13:16.880> in<00:13:17.040> a<00:13:17.120> time 00:13:17.829 --> 00:13:17.839 align:start position:0% i mean this was back in a time 00:13:17.839 --> 00:13:21.910 align:start position:0% i mean this was back in a time when<00:13:18.480> uh<00:13:19.600> uavs<00:13:20.399> didn't<00:13:20.639> really<00:13:20.959> exist 00:13:21.910 --> 00:13:21.920 align:start position:0% when uh uavs didn't really exist 00:13:21.920 --> 00:13:24.470 align:start position:0% when uh uavs didn't really exist so<00:13:22.160> i<00:13:22.320> mean<00:13:23.040> drones<00:13:23.600> existed<00:13:24.000> and<00:13:24.079> things<00:13:24.320> like 00:13:24.470 --> 00:13:24.480 align:start position:0% so i mean drones existed and things like 00:13:24.480 --> 00:13:25.030 align:start position:0% so i mean drones existed and things like that<00:13:24.639> but 00:13:25.030 --> 00:13:25.040 align:start position:0% that but 00:13:25.040 --> 00:13:26.710 align:start position:0% that but uavs<00:13:25.600> like<00:13:25.680> we<00:13:25.760> think<00:13:25.920> of<00:13:26.000> the<00:13:26.160> today<00:13:26.480> you<00:13:26.560> know 00:13:26.710 --> 00:13:26.720 align:start position:0% uavs like we think of the today you know 00:13:26.720 --> 00:13:28.550 align:start position:0% uavs like we think of the today you know sort<00:13:26.880> of<00:13:27.360> global<00:13:27.760> hawk<00:13:28.000> and<00:13:28.079> predator<00:13:28.399> and<00:13:28.480> the 00:13:28.550 --> 00:13:28.560 align:start position:0% sort of global hawk and predator and the 00:13:28.560 --> 00:13:29.590 align:start position:0% sort of global hawk and predator and the things<00:13:28.720> that<00:13:28.800> people<00:13:29.040> use<00:13:29.200> for<00:13:29.360> border 00:13:29.590 --> 00:13:29.600 align:start position:0% things that people use for border 00:13:29.600 --> 00:13:31.030 align:start position:0% things that people use for border control<00:13:30.000> and<00:13:30.160> things<00:13:30.320> like<00:13:30.480> that 00:13:31.030 --> 00:13:31.040 align:start position:0% control and things like that 00:13:31.040 --> 00:13:32.470 align:start position:0% control and things like that weren't<00:13:31.360> really<00:13:31.600> something<00:13:31.920> that<00:13:32.000> were 00:13:32.470 --> 00:13:32.480 align:start position:0% weren't really something that were 00:13:32.480 --> 00:13:34.710 align:start position:0% weren't really something that were common<00:13:33.680> and<00:13:33.920> so 00:13:34.710 --> 00:13:34.720 align:start position:0% common and so 00:13:34.720 --> 00:13:37.829 align:start position:0% common and so uh<00:13:36.240> a<00:13:36.399> number<00:13:36.720> of<00:13:36.880> us<00:13:37.040> were 00:13:37.829 --> 00:13:37.839 align:start position:0% uh a number of us were 00:13:37.839 --> 00:13:40.069 align:start position:0% uh a number of us were convinced<00:13:38.399> that<00:13:38.959> that<00:13:39.199> was<00:13:39.440> part<00:13:39.680> of<00:13:39.839> the 00:13:40.069 --> 00:13:40.079 align:start position:0% convinced that that was part of the 00:13:40.079 --> 00:13:41.350 align:start position:0% convinced that that was part of the future<00:13:40.399> of<00:13:40.560> where<00:13:40.720> things<00:13:40.959> would<00:13:41.040> go<00:13:41.199> that 00:13:41.350 --> 00:13:41.360 align:start position:0% future of where things would go that 00:13:41.360 --> 00:13:42.629 align:start position:0% future of where things would go that there<00:13:41.440> was<00:13:41.600> no<00:13:41.760> reason<00:13:42.000> to<00:13:42.079> have<00:13:42.160> a<00:13:42.240> pilot<00:13:42.560> in 00:13:42.629 --> 00:13:42.639 align:start position:0% there was no reason to have a pilot in 00:13:42.639 --> 00:13:43.590 align:start position:0% there was no reason to have a pilot in an<00:13:42.800> aircraft<00:13:43.279> and 00:13:43.590 --> 00:13:43.600 align:start position:0% an aircraft and 00:13:43.600 --> 00:13:46.389 align:start position:0% an aircraft and what<00:13:43.760> could<00:13:43.920> be<00:13:44.079> done<00:13:45.360> in<00:13:45.440> terms<00:13:45.839> of<00:13:46.320> the 00:13:46.389 --> 00:13:46.399 align:start position:0% what could be done in terms of the 00:13:46.399 --> 00:13:48.069 align:start position:0% what could be done in terms of the things<00:13:46.639> that<00:13:46.720> a<00:13:46.800> pilot<00:13:47.120> would<00:13:47.279> normally<00:13:47.600> do 00:13:48.069 --> 00:13:48.079 align:start position:0% things that a pilot would normally do 00:13:48.079 --> 00:13:49.910 align:start position:0% things that a pilot would normally do and<00:13:48.240> so<00:13:48.320> i<00:13:48.399> think<00:13:48.560> we<00:13:48.720> just<00:13:48.880> sort<00:13:49.040> of<00:13:49.120> saw<00:13:49.360> it<00:13:49.519> as 00:13:49.910 --> 00:13:49.920 align:start position:0% and so i think we just sort of saw it as 00:13:49.920 --> 00:13:51.990 align:start position:0% and so i think we just sort of saw it as because<00:13:50.240> we<00:13:50.399> were<00:13:50.880> involved<00:13:51.519> with 00:13:51.990 --> 00:13:52.000 align:start position:0% because we were involved with 00:13:52.000 --> 00:13:53.670 align:start position:0% because we were involved with looking<00:13:52.240> at<00:13:52.399> dynamics<00:13:52.959> and<00:13:53.040> trajectories<00:13:53.600> and 00:13:53.670 --> 00:13:53.680 align:start position:0% looking at dynamics and trajectories and 00:13:53.680 --> 00:13:55.110 align:start position:0% looking at dynamics and trajectories and control<00:13:54.079> aspects<00:13:54.480> and<00:13:54.560> we're<00:13:54.720> looking<00:13:54.959> for 00:13:55.110 --> 00:13:55.120 align:start position:0% control aspects and we're looking for 00:13:55.120 --> 00:13:55.590 align:start position:0% control aspects and we're looking for well 00:13:55.590 --> 00:13:55.600 align:start position:0% well 00:13:55.600 --> 00:13:57.189 align:start position:0% well where<00:13:55.839> the<00:13:56.000> next<00:13:56.240> set<00:13:56.480> of<00:13:56.560> problems<00:13:56.959> going<00:13:57.120> to 00:13:57.189 --> 00:13:57.199 align:start position:0% where the next set of problems going to 00:13:57.199 --> 00:13:59.030 align:start position:0% where the next set of problems going to come<00:13:57.360> from<00:13:57.839> we<00:13:58.000> were<00:13:58.079> also<00:13:58.320> very<00:13:58.560> interested 00:13:59.030 --> 00:13:59.040 align:start position:0% come from we were also very interested 00:13:59.040 --> 00:13:59.670 align:start position:0% come from we were also very interested in 00:13:59.670 --> 00:13:59.680 align:start position:0% in 00:13:59.680 --> 00:14:02.150 align:start position:0% in sort<00:13:59.920> of<00:14:00.399> mechanical<00:14:01.120> system<00:14:01.600> systems<00:14:02.000> that 00:14:02.150 --> 00:14:02.160 align:start position:0% sort of mechanical system systems that 00:14:02.160 --> 00:14:02.710 align:start position:0% sort of mechanical system systems that had 00:14:02.710 --> 00:14:02.720 align:start position:0% had 00:14:02.720 --> 00:14:05.269 align:start position:0% had energy<00:14:03.199> constraints<00:14:03.760> and<00:14:03.920> other<00:14:04.079> things<00:14:05.120> that 00:14:05.269 --> 00:14:05.279 align:start position:0% energy constraints and other things that 00:14:05.279 --> 00:14:06.230 align:start position:0% energy constraints and other things that had<00:14:05.440> interesting 00:14:06.230 --> 00:14:06.240 align:start position:0% had interesting 00:14:06.240 --> 00:14:08.949 align:start position:0% had interesting kinematics<00:14:06.800> or<00:14:06.880> dynamics<00:14:07.440> that<00:14:07.680> came<00:14:08.079> from 00:14:08.949 --> 00:14:08.959 align:start position:0% kinematics or dynamics that came from 00:14:08.959 --> 00:14:10.550 align:start position:0% kinematics or dynamics that came from mechanical<00:14:09.440> principles<00:14:10.000> and<00:14:10.160> so 00:14:10.550 --> 00:14:10.560 align:start position:0% mechanical principles and so 00:14:10.560 --> 00:14:12.710 align:start position:0% mechanical principles and so aircraft<00:14:10.959> was<00:14:11.120> sort<00:14:11.279> of<00:14:11.360> a<00:14:11.440> natural<00:14:12.399> sort<00:14:12.639> of 00:14:12.710 --> 00:14:12.720 align:start position:0% aircraft was sort of a natural sort of 00:14:12.720 --> 00:14:13.910 align:start position:0% aircraft was sort of a natural sort of progression 00:14:13.910 --> 00:14:13.920 align:start position:0% progression 00:14:13.920 --> 00:14:15.110 align:start position:0% progression to<00:14:14.079> look<00:14:14.240> at<00:14:14.480> and<00:14:14.560> they<00:14:14.720> were<00:14:14.880> very 00:14:15.110 --> 00:14:15.120 align:start position:0% to look at and they were very 00:14:15.120 --> 00:14:16.949 align:start position:0% to look at and they were very interesting<00:14:15.519> problems<00:14:15.920> i<00:14:16.000> think<00:14:16.160> that<00:14:16.639> at<00:14:16.800> the 00:14:16.949 --> 00:14:16.959 align:start position:0% interesting problems i think that at the 00:14:16.959 --> 00:14:18.230 align:start position:0% interesting problems i think that at the time<00:14:17.279> the 00:14:18.230 --> 00:14:18.240 align:start position:0% time the 00:14:18.240 --> 00:14:20.949 align:start position:0% time the air<00:14:18.480> force<00:14:19.440> was<00:14:19.760> intrigued<00:14:20.480> but<00:14:20.639> it<00:14:20.720> was<00:14:20.800> sort 00:14:20.949 --> 00:14:20.959 align:start position:0% air force was intrigued but it was sort 00:14:20.959 --> 00:14:21.990 align:start position:0% air force was intrigued but it was sort of<00:14:21.120> you<00:14:21.199> know 00:14:21.990 --> 00:14:22.000 align:start position:0% of you know 00:14:22.000 --> 00:14:24.389 align:start position:0% of you know not<00:14:22.240> something<00:14:22.800> where<00:14:23.519> uh<00:14:23.839> it<00:14:24.160> at<00:14:24.240> least 00:14:24.389 --> 00:14:24.399 align:start position:0% not something where uh it at least 00:14:24.399 --> 00:14:25.829 align:start position:0% not something where uh it at least didn't<00:14:24.639> feel<00:14:24.880> like<00:14:25.040> from<00:14:25.199> the<00:14:25.279> research<00:14:25.600> point 00:14:25.829 --> 00:14:25.839 align:start position:0% didn't feel like from the research point 00:14:25.839 --> 00:14:26.470 align:start position:0% didn't feel like from the research point of<00:14:25.920> view<00:14:26.160> that 00:14:26.470 --> 00:14:26.480 align:start position:0% of view that 00:14:26.480 --> 00:14:27.590 align:start position:0% of view that everybody<00:14:26.800> in<00:14:26.880> the<00:14:26.959> airport<00:14:27.199> said<00:14:27.360> oh<00:14:27.519> of 00:14:27.590 --> 00:14:27.600 align:start position:0% everybody in the airport said oh of 00:14:27.600 --> 00:14:28.550 align:start position:0% everybody in the airport said oh of course<00:14:27.839> we're<00:14:28.000> going<00:14:28.079> to<00:14:28.160> have<00:14:28.320> you<00:14:28.399> know 00:14:28.550 --> 00:14:28.560 align:start position:0% course we're going to have you know 00:14:28.560 --> 00:14:29.750 align:start position:0% course we're going to have you know unmanned<00:14:28.959> vehicles<00:14:29.360> and<00:14:29.440> they're<00:14:29.600> going<00:14:29.680> to 00:14:29.750 --> 00:14:29.760 align:start position:0% unmanned vehicles and they're going to 00:14:29.760 --> 00:14:30.310 align:start position:0% unmanned vehicles and they're going to have<00:14:29.920> to<00:14:30.000> be 00:14:30.310 --> 00:14:30.320 align:start position:0% have to be 00:14:30.320 --> 00:14:31.670 align:start position:0% have to be you<00:14:30.480> know<00:14:30.720> generating<00:14:31.120> trajectories<00:14:31.600> and 00:14:31.670 --> 00:14:31.680 align:start position:0% you know generating trajectories and 00:14:31.680 --> 00:14:32.629 align:start position:0% you know generating trajectories and doing<00:14:31.839> all<00:14:31.920> these<00:14:32.000> things<00:14:32.160> on<00:14:32.240> their<00:14:32.399> own<00:14:32.560> i 00:14:32.629 --> 00:14:32.639 align:start position:0% doing all these things on their own i 00:14:32.639 --> 00:14:33.910 align:start position:0% doing all these things on their own i think<00:14:32.720> at<00:14:32.800> the<00:14:32.880> time<00:14:33.120> was<00:14:33.199> like<00:14:33.360> well<00:14:33.680> we'll 00:14:33.910 --> 00:14:33.920 align:start position:0% think at the time was like well we'll 00:14:33.920 --> 00:14:35.350 align:start position:0% think at the time was like well we'll always<00:14:34.079> have<00:14:34.240> a<00:14:34.320> pilot<00:14:34.639> that's<00:14:34.800> the<00:14:34.880> pilot's 00:14:35.350 --> 00:14:35.360 align:start position:0% always have a pilot that's the pilot's 00:14:35.360 --> 00:14:35.750 align:start position:0% always have a pilot that's the pilot's job 00:14:35.750 --> 00:14:35.760 align:start position:0% job 00:14:35.760 --> 00:14:37.590 align:start position:0% job focus<00:14:36.160> on<00:14:36.240> the<00:14:36.399> part<00:14:36.639> of<00:14:36.720> the<00:14:36.880> control<00:14:37.279> system 00:14:37.590 --> 00:14:37.600 align:start position:0% focus on the part of the control system 00:14:37.600 --> 00:14:38.870 align:start position:0% focus on the part of the control system that<00:14:37.680> goes<00:14:37.839> around<00:14:38.000> the<00:14:38.079> pilot<00:14:38.480> and<00:14:38.639> we<00:14:38.720> were 00:14:38.870 --> 00:14:38.880 align:start position:0% that goes around the pilot and we were 00:14:38.880 --> 00:14:39.750 align:start position:0% that goes around the pilot and we were sort<00:14:39.040> of<00:14:39.120> interested<00:14:39.440> in<00:14:39.519> looking<00:14:39.680> at 00:14:39.750 --> 00:14:39.760 align:start position:0% sort of interested in looking at 00:14:39.760 --> 00:14:40.870 align:start position:0% sort of interested in looking at something<00:14:40.000> beyond<00:14:40.320> that<00:14:40.480> now 00:14:40.870 --> 00:14:40.880 align:start position:0% something beyond that now 00:14:40.880 --> 00:14:43.269 align:start position:0% something beyond that now of<00:14:40.959> course<00:14:42.000> lots<00:14:42.240> and<00:14:42.320> lots<00:14:42.560> of<00:14:42.639> aircraft<00:14:43.120> and 00:14:43.269 --> 00:14:43.279 align:start position:0% of course lots and lots of aircraft and 00:14:43.279 --> 00:14:44.389 align:start position:0% of course lots and lots of aircraft and other<00:14:43.440> things<00:14:43.680> that<00:14:43.760> don't<00:14:43.920> have 00:14:44.389 --> 00:14:44.399 align:start position:0% other things that don't have 00:14:44.399 --> 00:14:47.910 align:start position:0% other things that don't have people<00:14:44.639> in<00:14:44.800> them<00:14:44.959> so<00:14:45.760> what<00:14:46.000> year<00:14:46.240> was<00:14:46.720> those 00:14:47.910 --> 00:14:47.920 align:start position:0% people in them so what year was those 00:14:47.920 --> 00:14:49.350 align:start position:0% people in them so what year was those yeah<00:14:48.160> my<00:14:48.320> recollection<00:14:48.880> was<00:14:49.120> that<00:14:49.199> that 00:14:49.350 --> 00:14:49.360 align:start position:0% yeah my recollection was that that 00:14:49.360 --> 00:14:50.470 align:start position:0% yeah my recollection was that that probably<00:14:49.600> would<00:14:49.760> have<00:14:49.839> been<00:14:50.000> in<00:14:50.160> kind<00:14:50.320> of<00:14:50.399> the 00:14:50.470 --> 00:14:50.480 align:start position:0% probably would have been in kind of the 00:14:50.480 --> 00:14:52.069 align:start position:0% probably would have been in kind of the mid<00:14:50.639> 90s<00:14:51.040> that<00:14:51.199> we<00:14:51.360> were<00:14:51.519> working<00:14:51.760> on<00:14:51.920> those 00:14:52.069 --> 00:14:52.079 align:start position:0% mid 90s that we were working on those 00:14:52.079 --> 00:14:53.590 align:start position:0% mid 90s that we were working on those sorts<00:14:52.320> of<00:14:52.399> things 00:14:53.590 --> 00:14:53.600 align:start position:0% sorts of things 00:14:53.600 --> 00:14:54.949 align:start position:0% sorts of things and<00:14:53.839> you<00:14:53.920> know<00:14:54.000> i'm<00:14:54.079> sure<00:14:54.320> some<00:14:54.480> of<00:14:54.560> it<00:14:54.639> started 00:14:54.949 --> 00:14:54.959 align:start position:0% and you know i'm sure some of it started 00:14:54.959 --> 00:14:56.710 align:start position:0% and you know i'm sure some of it started earlier<00:14:55.440> by 00:14:56.710 --> 00:14:56.720 align:start position:0% earlier by 00:14:56.720 --> 00:14:59.910 align:start position:0% earlier by 2000<00:14:57.519> or<00:14:57.680> so<00:14:58.399> uh<00:14:58.880> i<00:14:58.959> think<00:14:59.120> we<00:14:59.360> had 00:14:59.910 --> 00:14:59.920 align:start position:0% 2000 or so uh i think we had 00:14:59.920 --> 00:15:02.150 align:start position:0% 2000 or so uh i think we had done<00:15:00.240> a<00:15:00.320> lot<00:15:00.480> of<00:15:00.639> the<00:15:00.720> work<00:15:00.959> that<00:15:01.360> you<00:15:01.440> know<00:15:01.600> was 00:15:02.150 --> 00:15:02.160 align:start position:0% done a lot of the work that you know was 00:15:02.160 --> 00:15:03.350 align:start position:0% done a lot of the work that you know was what<00:15:02.320> we<00:15:02.480> were<00:15:02.639> going<00:15:02.720> to<00:15:02.800> do<00:15:03.040> and<00:15:03.120> kind<00:15:03.279> of 00:15:03.350 --> 00:15:03.360 align:start position:0% what we were going to do and kind of 00:15:03.360 --> 00:15:04.790 align:start position:0% what we were going to do and kind of moved<00:15:03.680> on<00:15:03.760> to<00:15:03.839> the<00:15:03.920> next<00:15:04.160> set<00:15:04.320> of<00:15:04.480> problems 00:15:04.790 --> 00:15:04.800 align:start position:0% moved on to the next set of problems 00:15:04.800 --> 00:15:05.430 align:start position:0% moved on to the next set of problems which 00:15:05.430 --> 00:15:05.440 align:start position:0% which 00:15:05.440 --> 00:15:07.829 align:start position:0% which involved<00:15:05.760> more<00:15:06.079> collections<00:15:06.959> of<00:15:07.279> vehicles<00:15:07.680> so 00:15:07.829 --> 00:15:07.839 align:start position:0% involved more collections of vehicles so 00:15:07.839 --> 00:15:09.350 align:start position:0% involved more collections of vehicles so multiple<00:15:08.320> vehicles<00:15:08.639> that<00:15:08.800> were<00:15:08.959> interacting 00:15:09.350 --> 00:15:09.360 align:start position:0% multiple vehicles that were interacting 00:15:09.360 --> 00:15:10.470 align:start position:0% multiple vehicles that were interacting in<00:15:09.440> some<00:15:09.600> way<00:15:09.839> so<00:15:10.000> i<00:15:10.079> think 00:15:10.470 --> 00:15:10.480 align:start position:0% in some way so i think 00:15:10.480 --> 00:15:12.230 align:start position:0% in some way so i think as<00:15:10.639> the<00:15:10.720> early<00:15:10.959> 2000s<00:15:11.440> came<00:15:11.600> along<00:15:11.920> we<00:15:12.000> sort<00:15:12.160> of 00:15:12.230 --> 00:15:12.240 align:start position:0% as the early 2000s came along we sort of 00:15:12.240 --> 00:15:14.550 align:start position:0% as the early 2000s came along we sort of said<00:15:12.399> well<00:15:12.800> the<00:15:13.040> single<00:15:13.440> vehicle<00:15:13.760> problem<00:15:14.160> is 00:15:14.550 --> 00:15:14.560 align:start position:0% said well the single vehicle problem is 00:15:14.560 --> 00:15:15.990 align:start position:0% said well the single vehicle problem is sort<00:15:14.720> of<00:15:14.880> done<00:15:15.120> we<00:15:15.279> know<00:15:15.440> how<00:15:15.519> to<00:15:15.600> control<00:15:15.920> a 00:15:15.990 --> 00:15:16.000 align:start position:0% sort of done we know how to control a 00:15:16.000 --> 00:15:17.750 align:start position:0% sort of done we know how to control a single<00:15:16.320> vehicle<00:15:17.040> at<00:15:17.120> least<00:15:17.360> from<00:15:17.519> the<00:15:17.600> point 00:15:17.750 --> 00:15:17.760 align:start position:0% single vehicle at least from the point 00:15:17.760 --> 00:15:18.790 align:start position:0% single vehicle at least from the point of<00:15:17.839> view<00:15:18.000> of<00:15:18.079> the<00:15:18.160> type<00:15:18.320> of<00:15:18.399> research<00:15:18.720> you 00:15:18.790 --> 00:15:18.800 align:start position:0% of view of the type of research you 00:15:18.800 --> 00:15:20.389 align:start position:0% of view of the type of research you might<00:15:18.959> do<00:15:19.040> in<00:15:19.120> a<00:15:19.199> university<00:15:19.760> and<00:15:19.920> so 00:15:20.389 --> 00:15:20.399 align:start position:0% might do in a university and so 00:15:20.399 --> 00:15:23.269 align:start position:0% might do in a university and so really<00:15:20.639> started<00:15:20.959> to<00:15:21.040> look<00:15:21.199> at<00:15:22.959> what<00:15:23.120> would 00:15:23.269 --> 00:15:23.279 align:start position:0% really started to look at what would 00:15:23.279 --> 00:15:24.470 align:start position:0% really started to look at what would happen<00:15:23.440> if<00:15:23.600> you<00:15:23.680> had<00:15:23.760> a<00:15:23.839> bunch<00:15:24.000> of<00:15:24.079> vehicles 00:15:24.470 --> 00:15:24.480 align:start position:0% happen if you had a bunch of vehicles 00:15:24.480 --> 00:15:25.990 align:start position:0% happen if you had a bunch of vehicles they<00:15:24.560> had<00:15:24.720> to<00:15:24.959> cooperate<00:15:25.600> you<00:15:25.760> start 00:15:25.990 --> 00:15:26.000 align:start position:0% they had to cooperate you start 00:15:26.000 --> 00:15:27.829 align:start position:0% they had to cooperate you start looking<00:15:26.240> at<00:15:26.320> the<00:15:26.480> effects<00:15:26.800> that<00:15:26.959> occur<00:15:27.600> with 00:15:27.829 --> 00:15:27.839 align:start position:0% looking at the effects that occur with 00:15:27.839 --> 00:15:29.030 align:start position:0% looking at the effects that occur with the<00:15:27.920> communication<00:15:28.480> network<00:15:28.800> that<00:15:28.959> they're 00:15:29.030 --> 00:15:29.040 align:start position:0% the communication network that they're 00:15:29.040 --> 00:15:30.389 align:start position:0% the communication network that they're going<00:15:29.120> to<00:15:29.199> send<00:15:29.440> information<00:15:29.839> across<00:15:30.240> you 00:15:30.389 --> 00:15:30.399 align:start position:0% going to send information across you 00:15:30.399 --> 00:15:31.829 align:start position:0% going to send information across you start<00:15:30.639> thinking<00:15:30.880> about 00:15:31.829 --> 00:15:31.839 align:start position:0% start thinking about 00:15:31.839 --> 00:15:33.350 align:start position:0% start thinking about how<00:15:32.000> is<00:15:32.160> it<00:15:32.240> that<00:15:32.399> they're<00:15:32.560> going<00:15:32.800> to<00:15:32.959> interact 00:15:33.350 --> 00:15:33.360 align:start position:0% how is it that they're going to interact 00:15:33.360 --> 00:15:34.949 align:start position:0% how is it that they're going to interact with<00:15:33.519> each<00:15:33.680> other<00:15:34.560> to 00:15:34.949 --> 00:15:34.959 align:start position:0% with each other to 00:15:34.959 --> 00:15:36.949 align:start position:0% with each other to sort<00:15:35.199> of<00:15:35.279> do<00:15:35.519> a<00:15:35.759> task<00:15:36.160> that<00:15:36.320> requires<00:15:36.720> all<00:15:36.800> of 00:15:36.949 --> 00:15:36.959 align:start position:0% sort of do a task that requires all of 00:15:36.959 --> 00:15:38.389 align:start position:0% sort of do a task that requires all of them<00:15:37.040> to<00:15:37.199> take<00:15:37.360> the<00:15:37.440> right<00:15:37.680> role 00:15:38.389 --> 00:15:38.399 align:start position:0% them to take the right role 00:15:38.399 --> 00:15:41.350 align:start position:0% them to take the right role so<00:15:38.560> we<00:15:38.720> started<00:15:39.040> looking<00:15:39.360> at<00:15:40.000> interconnected 00:15:41.350 --> 00:15:41.360 align:start position:0% so we started looking at interconnected 00:15:41.360 --> 00:15:43.110 align:start position:0% so we started looking at interconnected systems<00:15:41.839> of<00:15:41.920> various<00:15:42.240> sorts 00:15:43.110 --> 00:15:43.120 align:start position:0% systems of various sorts 00:15:43.120 --> 00:15:46.150 align:start position:0% systems of various sorts often<00:15:43.920> motivated<00:15:44.480> by<00:15:45.519> kind<00:15:45.680> of<00:15:45.759> aerial 00:15:46.150 --> 00:15:46.160 align:start position:0% often motivated by kind of aerial 00:15:46.160 --> 00:15:47.509 align:start position:0% often motivated by kind of aerial vehicles<00:15:46.560> and<00:15:46.720> collections<00:15:47.120> of<00:15:47.199> various 00:15:47.509 --> 00:15:47.519 align:start position:0% vehicles and collections of various 00:15:47.519 --> 00:15:48.230 align:start position:0% vehicles and collections of various vehicles<00:15:47.920> doing 00:15:48.230 --> 00:15:48.240 align:start position:0% vehicles doing 00:15:48.240 --> 00:15:50.629 align:start position:0% vehicles doing space<00:15:49.279> satellites<00:15:49.839> that<00:15:49.920> might<00:15:50.160> have<00:15:50.240> to<00:15:50.320> fly 00:15:50.629 --> 00:15:50.639 align:start position:0% space satellites that might have to fly 00:15:50.639 --> 00:15:54.470 align:start position:0% space satellites that might have to fly in<00:15:50.720> formation<00:15:51.199> things<00:15:51.360> like<00:15:52.839> that 00:15:54.470 --> 00:15:54.480 align:start position:0% in formation things like that 00:15:54.480 --> 00:15:55.990 align:start position:0% in formation things like that is<00:15:54.720> that<00:15:54.800> where<00:15:54.959> you<00:15:55.120> continue<00:15:55.440> to<00:15:55.519> work<00:15:55.839> on 00:15:55.990 --> 00:15:56.000 align:start position:0% is that where you continue to work on 00:15:56.000 --> 00:15:59.110 align:start position:0% is that where you continue to work on that<00:15:56.639> no<00:15:56.880> now<00:15:57.120> i<00:15:57.199> do<00:15:57.360> a<00:15:57.519> very<00:15:57.839> well<00:15:58.000> so<00:15:58.240> little 00:15:59.110 --> 00:15:59.120 align:start position:0% that no now i do a very well so little 00:15:59.120 --> 00:16:02.310 align:start position:0% that no now i do a very well so little so<00:15:59.600> uh<00:16:00.160> we<00:16:00.320> got<00:16:00.560> involved<00:16:01.120> uh<00:16:01.519> so 00:16:02.310 --> 00:16:02.320 align:start position:0% so uh we got involved uh so 00:16:02.320 --> 00:16:04.389 align:start position:0% so uh we got involved uh so the<00:16:02.560> the<00:16:03.120> research<00:16:03.600> kind<00:16:03.680> of<00:16:03.759> bifurcated<00:16:04.320> a 00:16:04.389 --> 00:16:04.399 align:start position:0% the the research kind of bifurcated a 00:16:04.399 --> 00:16:06.230 align:start position:0% the the research kind of bifurcated a little<00:16:04.560> bit<00:16:05.120> so<00:16:05.360> on<00:16:05.440> the<00:16:05.600> side<00:16:05.920> that<00:16:06.000> we<00:16:06.160> would 00:16:06.230 --> 00:16:06.240 align:start position:0% little bit so on the side that we would 00:16:06.240 --> 00:16:07.509 align:start position:0% little bit so on the side that we would think<00:16:06.399> of<00:16:06.560> is<00:16:06.720> still<00:16:06.959> associated<00:16:07.440> with 00:16:07.509 --> 00:16:07.519 align:start position:0% think of is still associated with 00:16:07.519 --> 00:16:09.350 align:start position:0% think of is still associated with robotics<00:16:07.920> we<00:16:08.000> got<00:16:08.240> involved 00:16:09.350 --> 00:16:09.360 align:start position:0% robotics we got involved 00:16:09.360 --> 00:16:11.269 align:start position:0% robotics we got involved in<00:16:09.519> 2004<00:16:10.160> or<00:16:10.240> so<00:16:10.399> like<00:16:10.639> everybody<00:16:10.959> else<00:16:11.120> with 00:16:11.269 --> 00:16:11.279 align:start position:0% in 2004 or so like everybody else with 00:16:11.279 --> 00:16:12.550 align:start position:0% in 2004 or so like everybody else with the<00:16:11.519> darpa<00:16:11.839> grand<00:16:12.000> challenge 00:16:12.550 --> 00:16:12.560 align:start position:0% the darpa grand challenge 00:16:12.560 --> 00:16:15.350 align:start position:0% the darpa grand challenge series<00:16:12.800> of<00:16:12.880> competitions<00:16:14.000> um<00:16:14.560> and<00:16:14.959> so<00:16:15.199> that 00:16:15.350 --> 00:16:15.360 align:start position:0% series of competitions um and so that 00:16:15.360 --> 00:16:16.870 align:start position:0% series of competitions um and so that led<00:16:15.600> to<00:16:15.759> some<00:16:15.920> new<00:16:16.079> insights<00:16:16.399> about<00:16:16.639> what 00:16:16.870 --> 00:16:16.880 align:start position:0% led to some new insights about what 00:16:16.880 --> 00:16:18.230 align:start position:0% led to some new insights about what worked<00:16:17.199> and<00:16:17.279> what<00:16:17.440> didn't<00:16:17.759> and<00:16:17.839> what<00:16:18.000> some<00:16:18.160> of 00:16:18.230 --> 00:16:18.240 align:start position:0% worked and what didn't and what some of 00:16:18.240 --> 00:16:19.590 align:start position:0% worked and what didn't and what some of the<00:16:18.320> challenges<00:16:18.720> were<00:16:18.880> and<00:16:18.959> so<00:16:19.120> we<00:16:19.279> started 00:16:19.590 --> 00:16:19.600 align:start position:0% the challenges were and so we started 00:16:19.600 --> 00:16:20.790 align:start position:0% the challenges were and so we started thinking<00:16:19.920> about 00:16:20.790 --> 00:16:20.800 align:start position:0% thinking about 00:16:20.800 --> 00:16:22.150 align:start position:0% thinking about a<00:16:20.880> lot<00:16:21.120> of<00:16:21.199> things<00:16:21.519> that<00:16:21.600> have<00:16:21.759> to<00:16:21.839> do<00:16:22.000> with 00:16:22.150 --> 00:16:22.160 align:start position:0% a lot of things that have to do with 00:16:22.160 --> 00:16:23.509 align:start position:0% a lot of things that have to do with decision<00:16:22.560> making<00:16:22.800> at<00:16:22.880> higher<00:16:23.120> levels<00:16:23.440> of 00:16:23.509 --> 00:16:23.519 align:start position:0% decision making at higher levels of 00:16:23.519 --> 00:16:28.870 align:start position:0% decision making at higher levels of abstraction<00:16:24.079> how<00:16:24.240> do<00:16:24.320> we<00:16:24.480> describe 00:16:28.870 --> 00:16:28.880 align:start position:0% 00:16:28.880 --> 00:16:30.470 align:start position:0% control<00:16:29.279> problems<00:16:29.680> still<00:16:29.920> in<00:16:30.000> some<00:16:30.160> sense 00:16:30.470 --> 00:16:30.480 align:start position:0% control problems still in some sense 00:16:30.480 --> 00:16:32.870 align:start position:0% control problems still in some sense feedback<00:16:30.959> dynamics<00:16:31.839> but<00:16:32.000> ones<00:16:32.320> where<00:16:32.639> the 00:16:32.870 --> 00:16:32.880 align:start position:0% feedback dynamics but ones where the 00:16:32.880 --> 00:16:33.990 align:start position:0% feedback dynamics but ones where the descriptions<00:16:33.600> were 00:16:33.990 --> 00:16:34.000 align:start position:0% descriptions were 00:16:34.000 --> 00:16:35.509 align:start position:0% descriptions were at<00:16:34.079> the<00:16:34.160> level<00:16:34.399> of<00:16:34.560> events<00:16:34.959> and<00:16:35.120> temporal 00:16:35.509 --> 00:16:35.519 align:start position:0% at the level of events and temporal 00:16:35.519 --> 00:16:36.870 align:start position:0% at the level of events and temporal logic<00:16:35.920> and<00:16:36.000> other<00:16:36.160> types<00:16:36.320> of<00:16:36.399> descriptions 00:16:36.870 --> 00:16:36.880 align:start position:0% logic and other types of descriptions 00:16:36.880 --> 00:16:37.590 align:start position:0% logic and other types of descriptions how<00:16:37.040> do<00:16:37.120> you 00:16:37.590 --> 00:16:37.600 align:start position:0% how do you 00:16:37.600 --> 00:16:39.030 align:start position:0% how do you drive<00:16:37.920> through<00:16:38.079> an<00:16:38.240> intersection<00:16:38.720> you<00:16:38.800> need 00:16:39.030 --> 00:16:39.040 align:start position:0% drive through an intersection you need 00:16:39.040 --> 00:16:40.470 align:start position:0% drive through an intersection you need to<00:16:39.120> come<00:16:39.279> up<00:16:39.360> to<00:16:39.519> the<00:16:39.600> intersection<00:16:40.079> based<00:16:40.399> on 00:16:40.470 --> 00:16:40.480 align:start position:0% to come up to the intersection based on 00:16:40.480 --> 00:16:41.670 align:start position:0% to come up to the intersection based on what's<00:16:40.720> happening<00:16:41.040> at<00:16:41.120> the<00:16:41.199> intersection<00:16:41.600> you 00:16:41.670 --> 00:16:41.680 align:start position:0% what's happening at the intersection you 00:16:41.680 --> 00:16:42.230 align:start position:0% what's happening at the intersection you have<00:16:41.759> to<00:16:41.839> do 00:16:42.230 --> 00:16:42.240 align:start position:0% have to do 00:16:42.240 --> 00:16:44.389 align:start position:0% have to do one<00:16:42.480> thing<00:16:42.639> or<00:16:42.800> another<00:16:43.040> thing<00:16:43.279> wait<00:16:43.519> until 00:16:44.389 --> 00:16:44.399 align:start position:0% one thing or another thing wait until 00:16:44.399 --> 00:16:45.509 align:start position:0% one thing or another thing wait until different<00:16:44.800> uh 00:16:45.509 --> 00:16:45.519 align:start position:0% different uh 00:16:45.519 --> 00:16:46.790 align:start position:0% different uh vehicles<00:16:45.920> have<00:16:46.000> gone<00:16:46.160> through<00:16:46.399> go<00:16:46.560> when<00:16:46.720> it's 00:16:46.790 --> 00:16:46.800 align:start position:0% vehicles have gone through go when it's 00:16:46.800 --> 00:16:48.629 align:start position:0% vehicles have gone through go when it's your<00:16:46.959> turn<00:16:47.360> react<00:16:47.839> to 00:16:48.629 --> 00:16:48.639 align:start position:0% your turn react to 00:16:48.639 --> 00:16:50.230 align:start position:0% your turn react to problems<00:16:49.040> so<00:16:49.279> you<00:16:49.360> know<00:16:49.519> you<00:16:49.759> start<00:16:49.920> driving 00:16:50.230 --> 00:16:50.240 align:start position:0% problems so you know you start driving 00:16:50.240 --> 00:16:51.430 align:start position:0% problems so you know you start driving somebody<00:16:50.480> else<00:16:50.639> starts<00:16:50.880> driving<00:16:51.120> what<00:16:51.199> do<00:16:51.360> you 00:16:51.430 --> 00:16:51.440 align:start position:0% somebody else starts driving what do you 00:16:51.440 --> 00:16:51.829 align:start position:0% somebody else starts driving what do you do 00:16:51.829 --> 00:16:51.839 align:start position:0% do 00:16:51.839 --> 00:16:54.870 align:start position:0% do so<00:16:52.000> we<00:16:52.160> started<00:16:52.880> thinking<00:16:53.120> about<00:16:53.519> uh<00:16:54.000> the<00:16:54.720> kind 00:16:54.870 --> 00:16:54.880 align:start position:0% so we started thinking about uh the kind 00:16:54.880 --> 00:16:56.470 align:start position:0% so we started thinking about uh the kind of<00:16:54.959> theoretical<00:16:55.440> foundations<00:16:56.000> of<00:16:56.079> that<00:16:56.399> and 00:16:56.470 --> 00:16:56.480 align:start position:0% of theoretical foundations of that and 00:16:56.480 --> 00:16:57.670 align:start position:0% of theoretical foundations of that and how<00:16:56.639> do<00:16:56.720> you<00:16:56.880> combine<00:16:57.360> some<00:16:57.519> of<00:16:57.600> the 00:16:57.670 --> 00:16:57.680 align:start position:0% how do you combine some of the 00:16:57.680 --> 00:16:59.189 align:start position:0% how do you combine some of the underlying<00:16:58.079> dynamics<00:16:58.560> with<00:16:58.720> the<00:16:58.880> decision 00:16:59.189 --> 00:16:59.199 align:start position:0% underlying dynamics with the decision 00:16:59.199 --> 00:16:59.990 align:start position:0% underlying dynamics with the decision making 00:16:59.990 --> 00:17:00.000 align:start position:0% making 00:17:00.000 --> 00:17:01.670 align:start position:0% making and<00:17:00.079> so<00:17:00.240> we<00:17:00.399> still<00:17:00.560> do<00:17:00.720> a<00:17:00.959> lot<00:17:01.120> of<00:17:01.279> interesting 00:17:01.670 --> 00:17:01.680 align:start position:0% and so we still do a lot of interesting 00:17:01.680 --> 00:17:03.189 align:start position:0% and so we still do a lot of interesting work<00:17:01.839> there<00:17:02.320> which<00:17:02.480> we<00:17:02.560> think<00:17:02.720> of<00:17:02.880> as<00:17:02.959> sort<00:17:03.120> of 00:17:03.189 --> 00:17:03.199 align:start position:0% work there which we think of as sort of 00:17:03.199 --> 00:17:03.990 align:start position:0% work there which we think of as sort of design<00:17:03.519> of<00:17:03.600> control 00:17:03.990 --> 00:17:04.000 align:start position:0% design of control 00:17:04.000 --> 00:17:05.590 align:start position:0% design of control protocols<00:17:04.480> given<00:17:04.720> a<00:17:04.799> specification<00:17:05.360> how<00:17:05.520> do 00:17:05.590 --> 00:17:05.600 align:start position:0% protocols given a specification how do 00:17:05.600 --> 00:17:08.150 align:start position:0% protocols given a specification how do you<00:17:05.679> design<00:17:05.919> a<00:17:06.000> control<00:17:06.319> protocol 00:17:08.150 --> 00:17:08.160 align:start position:0% you design a control protocol 00:17:08.160 --> 00:17:09.510 align:start position:0% you design a control protocol and<00:17:08.319> then<00:17:08.640> separate<00:17:08.880> from<00:17:09.039> that<00:17:09.280> started 00:17:09.510 --> 00:17:09.520 align:start position:0% and then separate from that started 00:17:09.520 --> 00:17:11.909 align:start position:0% and then separate from that started looking<00:17:09.760> at<00:17:09.919> synthetic<00:17:10.319> biology<00:17:10.880> and<00:17:10.959> design 00:17:11.909 --> 00:17:11.919 align:start position:0% looking at synthetic biology and design 00:17:11.919 --> 00:17:13.909 align:start position:0% looking at synthetic biology and design at<00:17:12.079> the<00:17:12.160> bio<00:17:12.480> circuits<00:17:12.880> level<00:17:13.520> so<00:17:13.679> how<00:17:13.760> do<00:17:13.839> you 00:17:13.909 --> 00:17:13.919 align:start position:0% at the bio circuits level so how do you 00:17:13.919 --> 00:17:15.909 align:start position:0% at the bio circuits level so how do you program<00:17:14.319> dna<00:17:14.799> to<00:17:14.880> implement<00:17:15.280> given<00:17:15.520> functions 00:17:15.909 --> 00:17:15.919 align:start position:0% program dna to implement given functions 00:17:15.919 --> 00:17:17.029 align:start position:0% program dna to implement given functions it's<00:17:16.079> still<00:17:16.240> a<00:17:16.400> kind<00:17:16.480> of<00:17:16.559> feedback<00:17:16.959> and 00:17:17.029 --> 00:17:17.039 align:start position:0% it's still a kind of feedback and 00:17:17.039 --> 00:17:18.870 align:start position:0% it's still a kind of feedback and control<00:17:17.360> problem<00:17:17.839> but<00:17:18.079> now<00:17:18.319> happening<00:17:18.640> much 00:17:18.870 --> 00:17:18.880 align:start position:0% control problem but now happening much 00:17:18.880 --> 00:17:19.990 align:start position:0% control problem but now happening much more<00:17:19.039> at<00:17:19.120> the<00:17:19.280> level<00:17:19.600> of 00:17:19.990 --> 00:17:20.000 align:start position:0% more at the level of 00:17:20.000 --> 00:17:21.990 align:start position:0% more at the level of uh<00:17:20.480> you<00:17:20.559> know<00:17:20.959> a<00:17:21.199> very<00:17:21.520> different<00:17:21.760> set<00:17:21.919> of 00:17:21.990 --> 00:17:22.000 align:start position:0% uh you know a very different set of 00:17:22.000 --> 00:17:23.510 align:start position:0% uh you know a very different set of dynamics<00:17:22.319> very<00:17:22.559> stochastic<00:17:23.039> how<00:17:23.199> do<00:17:23.280> you<00:17:23.360> put 00:17:23.510 --> 00:17:23.520 align:start position:0% dynamics very stochastic how do you put 00:17:23.520 --> 00:17:24.870 align:start position:0% dynamics very stochastic how do you put dna<00:17:24.000> into<00:17:24.240> cells<00:17:24.640> and 00:17:24.870 --> 00:17:24.880 align:start position:0% dna into cells and 00:17:24.880 --> 00:17:27.750 align:start position:0% dna into cells and implement<00:17:25.199> circuits<00:17:26.799> we<00:17:27.199> do<00:17:27.360> a<00:17:27.360> lot<00:17:27.520> of<00:17:27.600> work 00:17:27.750 --> 00:17:27.760 align:start position:0% implement circuits we do a lot of work 00:17:27.760 --> 00:17:28.470 align:start position:0% implement circuits we do a lot of work there 00:17:28.470 --> 00:17:28.480 align:start position:0% there 00:17:28.480 --> 00:17:29.669 align:start position:0% there we<00:17:28.640> still<00:17:28.799> give<00:17:29.039> lots<00:17:29.200> of<00:17:29.280> talks<00:17:29.520> in<00:17:29.600> the 00:17:29.669 --> 00:17:29.679 align:start position:0% we still give lots of talks in the 00:17:29.679 --> 00:17:30.950 align:start position:0% we still give lots of talks in the controls<00:17:30.000> community<00:17:30.320> about<00:17:30.480> it<00:17:30.559> but<00:17:30.720> not<00:17:30.880> in 00:17:30.950 --> 00:17:30.960 align:start position:0% controls community about it but not in 00:17:30.960 --> 00:17:31.990 align:start position:0% controls community about it but not in the<00:17:31.039> robotics<00:17:31.360> community<00:17:31.679> i<00:17:31.760> mean<00:17:31.919> in 00:17:31.990 --> 00:17:32.000 align:start position:0% the robotics community i mean in 00:17:32.000 --> 00:17:32.870 align:start position:0% the robotics community i mean in principle 00:17:32.870 --> 00:17:32.880 align:start position:0% principle 00:17:32.880 --> 00:17:34.390 align:start position:0% principle some<00:17:33.120> of<00:17:33.280> the<00:17:33.440> you<00:17:33.600> could<00:17:33.679> imagine<00:17:34.080> nano 00:17:34.390 --> 00:17:34.400 align:start position:0% some of the you could imagine nano 00:17:34.400 --> 00:17:35.990 align:start position:0% some of the you could imagine nano robots<00:17:34.880> that<00:17:35.039> go<00:17:35.200> through<00:17:35.440> and<00:17:35.600> look<00:17:35.760> for 00:17:35.990 --> 00:17:36.000 align:start position:0% robots that go through and look for 00:17:36.000 --> 00:17:37.909 align:start position:0% robots that go through and look for environmental<00:17:36.480> contaminants<00:17:37.039> and<00:17:37.120> then<00:17:37.360> go 00:17:37.909 --> 00:17:37.919 align:start position:0% environmental contaminants and then go 00:17:37.919 --> 00:17:40.070 align:start position:0% environmental contaminants and then go do<00:17:38.160> something<00:17:38.559> to<00:17:38.720> try<00:17:38.880> and<00:17:38.960> remediate<00:17:39.919> the 00:17:40.070 --> 00:17:40.080 align:start position:0% do something to try and remediate the 00:17:40.080 --> 00:17:41.190 align:start position:0% do something to try and remediate the effects<00:17:40.400> of<00:17:40.480> those 00:17:41.190 --> 00:17:41.200 align:start position:0% effects of those 00:17:41.200 --> 00:17:43.029 align:start position:0% effects of those but<00:17:41.360> i<00:17:41.440> think<00:17:41.600> we're<00:17:41.840> a<00:17:42.000> long<00:17:42.240> ways<00:17:42.480> away<00:17:42.799> from 00:17:43.029 --> 00:17:43.039 align:start position:0% but i think we're a long ways away from 00:17:43.039 --> 00:17:44.710 align:start position:0% but i think we're a long ways away from you<00:17:43.120> know<00:17:43.200> we're<00:17:43.360> really<00:17:43.600> focused<00:17:44.000> on<00:17:44.080> the 00:17:44.710 --> 00:17:44.720 align:start position:0% you know we're really focused on the 00:17:44.720 --> 00:17:46.390 align:start position:0% you know we're really focused on the underlying<00:17:45.360> technology<00:17:45.919> of<00:17:46.000> how<00:17:46.160> do<00:17:46.240> you 00:17:46.390 --> 00:17:46.400 align:start position:0% underlying technology of how do you 00:17:46.400 --> 00:17:48.549 align:start position:0% underlying technology of how do you actually<00:17:46.880> get<00:17:47.679> some<00:17:47.840> of<00:17:48.080> the 00:17:48.549 --> 00:17:48.559 align:start position:0% actually get some of the 00:17:48.559 --> 00:17:49.990 align:start position:0% actually get some of the pieces<00:17:48.960> put<00:17:49.120> together<00:17:49.440> and<00:17:49.600> working<00:17:49.840> as 00:17:49.990 --> 00:17:50.000 align:start position:0% pieces put together and working as 00:17:50.000 --> 00:17:51.909 align:start position:0% pieces put together and working as opposed<00:17:50.240> to<00:17:50.400> how<00:17:50.559> do<00:17:50.640> you<00:17:51.360> program 00:17:51.909 --> 00:17:51.919 align:start position:0% opposed to how do you program 00:17:51.919 --> 00:17:53.510 align:start position:0% opposed to how do you program them<00:17:52.240> as<00:17:52.400> a<00:17:52.480> robot<00:17:52.880> as<00:17:52.960> we<00:17:53.039> might<00:17:53.200> think<00:17:53.360> of<00:17:53.440> in 00:17:53.510 --> 00:17:53.520 align:start position:0% them as a robot as we might think of in 00:17:53.520 --> 00:17:55.190 align:start position:0% them as a robot as we might think of in a<00:17:53.600> kind<00:17:53.679> of<00:17:53.840> robotics<00:17:54.240> community 00:17:55.190 --> 00:17:55.200 align:start position:0% a kind of robotics community 00:17:55.200 --> 00:17:56.630 align:start position:0% a kind of robotics community so<00:17:55.360> tell<00:17:55.520> me<00:17:55.679> about<00:17:55.840> your<00:17:56.000> involvement<00:17:56.400> in<00:17:56.480> the 00:17:56.630 --> 00:17:56.640 align:start position:0% so tell me about your involvement in the 00:17:56.640 --> 00:17:58.470 align:start position:0% so tell me about your involvement in the grand<00:17:56.880> challenge<00:17:57.840> yeah<00:17:58.000> that<00:17:58.160> was<00:17:58.240> very 00:17:58.470 --> 00:17:58.480 align:start position:0% grand challenge yeah that was very 00:17:58.480 --> 00:17:59.990 align:start position:0% grand challenge yeah that was very interesting<00:17:58.880> so<00:17:59.280> uh 00:17:59.990 --> 00:18:00.000 align:start position:0% interesting so uh 00:18:00.000 --> 00:18:03.510 align:start position:0% interesting so uh i<00:18:00.160> was<00:18:00.400> on<00:18:01.280> icesat<00:18:01.919> at<00:18:02.000> the<00:18:02.160> time<00:18:02.799> uh<00:18:03.039> so<00:18:03.200> i<00:18:03.360> sat 00:18:03.510 --> 00:18:03.520 align:start position:0% i was on icesat at the time uh so i sat 00:18:03.520 --> 00:18:05.190 align:start position:0% i was on icesat at the time uh so i sat to<00:18:03.679> the<00:18:03.760> information<00:18:04.160> science<00:18:04.400> technology 00:18:05.190 --> 00:18:05.200 align:start position:0% to the information science technology 00:18:05.200 --> 00:18:07.029 align:start position:0% to the information science technology study<00:18:05.520> group<00:18:05.760> that<00:18:06.000> uh<00:18:06.240> sort<00:18:06.400> of<00:18:06.480> sponsored<00:18:06.880> by 00:18:07.029 --> 00:18:07.039 align:start position:0% study group that uh sort of sponsored by 00:18:07.039 --> 00:18:08.789 align:start position:0% study group that uh sort of sponsored by darpa<00:18:07.679> a<00:18:07.919> bunch<00:18:08.160> of<00:18:08.240> people 00:18:08.789 --> 00:18:08.799 align:start position:0% darpa a bunch of people 00:18:08.799 --> 00:18:11.669 align:start position:0% darpa a bunch of people in<00:18:09.919> computer<00:18:10.400> science<00:18:10.880> and<00:18:10.960> affiliated 00:18:11.669 --> 00:18:11.679 align:start position:0% in computer science and affiliated 00:18:11.679 --> 00:18:12.390 align:start position:0% in computer science and affiliated communities 00:18:12.390 --> 00:18:12.400 align:start position:0% communities 00:18:12.400 --> 00:18:15.430 align:start position:0% communities um<00:18:12.880> and<00:18:14.400> tony<00:18:14.720> tether<00:18:14.960> who<00:18:15.039> was<00:18:15.120> the<00:18:15.200> director 00:18:15.430 --> 00:18:15.440 align:start position:0% um and tony tether who was the director 00:18:15.440 --> 00:18:16.549 align:start position:0% um and tony tether who was the director of<00:18:15.520> darp<00:18:15.760> at<00:18:15.840> the<00:18:16.000> time 00:18:16.549 --> 00:18:16.559 align:start position:0% of darp at the time 00:18:16.559 --> 00:18:18.470 align:start position:0% of darp at the time uh<00:18:17.120> i<00:18:17.280> think<00:18:17.440> decided<00:18:17.840> that<00:18:18.000> they<00:18:18.080> wanted<00:18:18.400> to 00:18:18.470 --> 00:18:18.480 align:start position:0% uh i think decided that they wanted to 00:18:18.480 --> 00:18:19.669 align:start position:0% uh i think decided that they wanted to try<00:18:18.640> and<00:18:18.720> do<00:18:18.880> some<00:18:19.120> sort<00:18:19.360> of<00:18:19.440> a<00:18:19.520> grand 00:18:19.669 --> 00:18:19.679 align:start position:0% try and do some sort of a grand 00:18:19.679 --> 00:18:20.870 align:start position:0% try and do some sort of a grand challenge<00:18:20.000> he<00:18:20.080> hadn't<00:18:20.320> decided<00:18:20.640> it<00:18:20.720> would<00:18:20.799> be 00:18:20.870 --> 00:18:20.880 align:start position:0% challenge he hadn't decided it would be 00:18:20.880 --> 00:18:22.070 align:start position:0% challenge he hadn't decided it would be in<00:18:20.960> robotics 00:18:22.070 --> 00:18:22.080 align:start position:0% in robotics 00:18:22.080 --> 00:18:23.909 align:start position:0% in robotics so<00:18:22.240> but<00:18:22.400> the<00:18:22.480> first<00:18:22.640> i<00:18:22.720> heard<00:18:22.960> about<00:18:23.200> it<00:18:23.280> was 00:18:23.909 --> 00:18:23.919 align:start position:0% so but the first i heard about it was 00:18:23.919 --> 00:18:25.350 align:start position:0% so but the first i heard about it was somebody<00:18:24.240> from<00:18:24.400> darpa<00:18:24.720> came<00:18:24.880> to<00:18:24.960> i<00:18:25.120> sat<00:18:25.280> and 00:18:25.350 --> 00:18:25.360 align:start position:0% somebody from darpa came to i sat and 00:18:25.360 --> 00:18:26.630 align:start position:0% somebody from darpa came to i sat and said<00:18:25.520> hey<00:18:25.679> you<00:18:25.760> know<00:18:25.919> we've<00:18:26.080> got<00:18:26.240> this 00:18:26.630 --> 00:18:26.640 align:start position:0% said hey you know we've got this 00:18:26.640 --> 00:18:30.470 align:start position:0% said hey you know we've got this ability<00:18:27.039> to<00:18:27.440> award<00:18:27.840> prizes<00:18:29.280> and 00:18:30.470 --> 00:18:30.480 align:start position:0% ability to award prizes and 00:18:30.480 --> 00:18:31.669 align:start position:0% ability to award prizes and what<00:18:30.640> would<00:18:30.799> be<00:18:30.880> an<00:18:31.039> interesting<00:18:31.360> one<00:18:31.520> that 00:18:31.669 --> 00:18:31.679 align:start position:0% what would be an interesting one that 00:18:31.679 --> 00:18:33.830 align:start position:0% what would be an interesting one that might<00:18:31.840> stimulate<00:18:32.320> research<00:18:33.039> of<00:18:33.360> interest<00:18:33.679> to 00:18:33.830 --> 00:18:33.840 align:start position:0% might stimulate research of interest to 00:18:33.840 --> 00:18:35.029 align:start position:0% might stimulate research of interest to darpa 00:18:35.029 --> 00:18:35.039 align:start position:0% darpa 00:18:35.039 --> 00:18:37.750 align:start position:0% darpa i<00:18:35.200> said<00:18:35.440> gave<00:18:35.600> them<00:18:35.760> a<00:18:35.840> couple<00:18:36.000> of<00:18:36.160> ideas<00:18:37.360> steve 00:18:37.750 --> 00:18:37.760 align:start position:0% i said gave them a couple of ideas steve 00:18:37.760 --> 00:18:38.950 align:start position:0% i said gave them a couple of ideas steve coonan<00:18:38.160> who<00:18:38.240> was<00:18:38.320> the<00:18:38.400> provost<00:18:38.799> here<00:18:38.880> at 00:18:38.950 --> 00:18:38.960 align:start position:0% coonan who was the provost here at 00:18:38.960 --> 00:18:41.029 align:start position:0% coonan who was the provost here at caltech<00:18:39.280> at<00:18:39.360> the<00:18:39.440> time<00:18:39.600> was<00:18:39.760> the<00:18:40.000> chair<00:18:40.320> of 00:18:41.029 --> 00:18:41.039 align:start position:0% caltech at the time was the chair of 00:18:41.039 --> 00:18:42.870 align:start position:0% caltech at the time was the chair of jason's<00:18:41.760> which<00:18:42.000> is<00:18:42.160> another<00:18:42.480> study<00:18:42.720> group 00:18:42.870 --> 00:18:42.880 align:start position:0% jason's which is another study group 00:18:42.880 --> 00:18:45.029 align:start position:0% jason's which is another study group like<00:18:43.120> isat<00:18:43.679> that<00:18:43.840> was<00:18:44.000> at<00:18:44.080> the<00:18:44.240> time 00:18:45.029 --> 00:18:45.039 align:start position:0% like isat that was at the time 00:18:45.039 --> 00:18:47.669 align:start position:0% like isat that was at the time kind<00:18:45.200> of<00:18:45.440> giving<00:18:45.760> ideas<00:18:46.080> to<00:18:46.240> darpa<00:18:46.640> or<00:18:47.039> somehow 00:18:47.669 --> 00:18:47.679 align:start position:0% kind of giving ideas to darpa or somehow 00:18:47.679 --> 00:18:48.870 align:start position:0% kind of giving ideas to darpa or somehow affiliated<00:18:48.080> with<00:18:48.240> darpa 00:18:48.870 --> 00:18:48.880 align:start position:0% affiliated with darpa 00:18:48.880 --> 00:18:50.230 align:start position:0% affiliated with darpa and<00:18:49.039> i<00:18:49.120> think<00:18:49.280> it<00:18:49.360> was<00:18:49.600> the<00:18:49.760> jasons<00:18:50.160> and 00:18:50.230 --> 00:18:50.240 align:start position:0% and i think it was the jasons and 00:18:50.240 --> 00:18:52.870 align:start position:0% and i think it was the jasons and probably<00:18:50.480> many<00:18:50.720> of<00:18:50.880> others<00:18:51.120> that 00:18:52.870 --> 00:18:52.880 align:start position:0% probably many of others that 00:18:52.880 --> 00:18:55.990 align:start position:0% probably many of others that suggested<00:18:53.520> the<00:18:53.679> idea<00:18:54.240> of<00:18:54.720> a<00:18:55.280> road<00:18:55.520> race<00:18:55.840> a 00:18:55.990 --> 00:18:56.000 align:start position:0% suggested the idea of a road race a 00:18:56.000 --> 00:18:57.350 align:start position:0% suggested the idea of a road race a robotic<00:18:56.400> road<00:18:56.640> race 00:18:57.350 --> 00:18:57.360 align:start position:0% robotic road race 00:18:57.360 --> 00:19:00.789 align:start position:0% robotic road race um<00:18:57.760> and<00:18:58.240> so<00:18:58.720> because<00:18:59.679> uh<00:18:59.840> steve<00:19:00.240> coonan<00:19:00.640> was 00:19:00.789 --> 00:19:00.799 align:start position:0% um and so because uh steve coonan was 00:19:00.799 --> 00:19:01.510 align:start position:0% um and so because uh steve coonan was involved 00:19:01.510 --> 00:19:01.520 align:start position:0% involved 00:19:01.520 --> 00:19:03.190 align:start position:0% involved and<00:19:01.679> he<00:19:01.840> was<00:19:01.919> here<00:19:02.080> at<00:19:02.160> caltech<00:19:02.720> when<00:19:02.960> they 00:19:03.190 --> 00:19:03.200 align:start position:0% and he was here at caltech when they 00:19:03.200 --> 00:19:04.950 align:start position:0% and he was here at caltech when they finally<00:19:03.520> announced<00:19:04.000> the<00:19:04.080> grand<00:19:04.320> challenge 00:19:04.950 --> 00:19:04.960 align:start position:0% finally announced the grand challenge 00:19:04.960 --> 00:19:06.310 align:start position:0% finally announced the grand challenge steve<00:19:05.200> and<00:19:05.360> i<00:19:05.440> talked<00:19:05.679> and<00:19:05.760> said<00:19:05.919> geez<00:19:06.160> do<00:19:06.240> you 00:19:06.310 --> 00:19:06.320 align:start position:0% steve and i talked and said geez do you 00:19:06.320 --> 00:19:08.150 align:start position:0% steve and i talked and said geez do you think<00:19:06.480> we<00:19:06.640> should<00:19:06.720> put<00:19:06.880> together<00:19:07.200> a<00:19:07.280> team 00:19:08.150 --> 00:19:08.160 align:start position:0% think we should put together a team 00:19:08.160 --> 00:19:10.630 align:start position:0% think we should put together a team and<00:19:08.240> so<00:19:08.400> at<00:19:08.480> caltech<00:19:09.120> uh<00:19:10.160> because<00:19:10.480> the 00:19:10.630 --> 00:19:10.640 align:start position:0% and so at caltech uh because the 00:19:10.640 --> 00:19:11.510 align:start position:0% and so at caltech uh because the research 00:19:11.510 --> 00:19:11.520 align:start position:0% research 00:19:11.520 --> 00:19:12.870 align:start position:0% research activities<00:19:12.000> in<00:19:12.080> robotics<00:19:12.480> were<00:19:12.559> relatively 00:19:12.870 --> 00:19:12.880 align:start position:0% activities in robotics were relatively 00:19:12.880 --> 00:19:14.230 align:start position:0% activities in robotics were relatively small<00:19:13.200> basically<00:19:13.440> joel<00:19:13.600> burdick<00:19:13.919> and<00:19:14.000> i<00:19:14.160> and 00:19:14.230 --> 00:19:14.240 align:start position:0% small basically joel burdick and i and 00:19:14.240 --> 00:19:15.430 align:start position:0% small basically joel burdick and i and we<00:19:14.320> weren't<00:19:14.480> doing<00:19:14.640> anything<00:19:14.960> at<00:19:15.039> that<00:19:15.200> time 00:19:15.430 --> 00:19:15.440 align:start position:0% we weren't doing anything at that time 00:19:15.440 --> 00:19:17.350 align:start position:0% we weren't doing anything at that time that<00:19:15.520> was<00:19:15.679> directly<00:19:16.240> related<00:19:16.640> to 00:19:17.350 --> 00:19:17.360 align:start position:0% that was directly related to 00:19:17.360 --> 00:19:20.310 align:start position:0% that was directly related to driving<00:19:18.000> and<00:19:18.640> other<00:19:19.679> parts<00:19:19.919> of<00:19:20.000> the<00:19:20.080> problem 00:19:20.310 --> 00:19:20.320 align:start position:0% driving and other parts of the problem 00:19:20.320 --> 00:19:21.350 align:start position:0% driving and other parts of the problem we<00:19:20.400> were<00:19:20.480> doing<00:19:20.720> but<00:19:20.880> a<00:19:20.880> lot<00:19:21.039> of<00:19:21.120> them<00:19:21.200> we 00:19:21.350 --> 00:19:21.360 align:start position:0% we were doing but a lot of them we 00:19:21.360 --> 00:19:22.150 align:start position:0% we were doing but a lot of them we weren't 00:19:22.150 --> 00:19:22.160 align:start position:0% weren't 00:19:22.160 --> 00:19:23.830 align:start position:0% weren't we<00:19:22.320> thought<00:19:22.480> about<00:19:22.640> doing<00:19:22.880> it<00:19:23.039> as<00:19:23.200> a<00:19:23.520> something 00:19:23.830 --> 00:19:23.840 align:start position:0% we thought about doing it as a something 00:19:23.840 --> 00:19:25.669 align:start position:0% we thought about doing it as a something that<00:19:23.919> might<00:19:24.080> involve<00:19:24.320> the<00:19:24.480> undergraduates 00:19:25.669 --> 00:19:25.679 align:start position:0% that might involve the undergraduates 00:19:25.679 --> 00:19:27.430 align:start position:0% that might involve the undergraduates so<00:19:25.840> i<00:19:25.919> told<00:19:26.160> steve<00:19:26.400> koonin<00:19:26.720> that<00:19:27.120> i'd<00:19:27.280> be 00:19:27.430 --> 00:19:27.440 align:start position:0% so i told steve koonin that i'd be 00:19:27.440 --> 00:19:28.950 align:start position:0% so i told steve koonin that i'd be willing<00:19:27.679> to<00:19:27.760> help<00:19:28.080> coordinate<00:19:28.640> it 00:19:28.950 --> 00:19:28.960 align:start position:0% willing to help coordinate it 00:19:28.960 --> 00:19:30.549 align:start position:0% willing to help coordinate it um<00:19:29.200> if<00:19:29.360> there<00:19:29.440> was<00:19:29.679> interest<00:19:30.000> from<00:19:30.320> the 00:19:30.549 --> 00:19:30.559 align:start position:0% um if there was interest from the 00:19:30.559 --> 00:19:32.150 align:start position:0% um if there was interest from the undergraduates<00:19:31.120> to<00:19:31.200> do<00:19:31.360> it<00:19:31.440> and<00:19:31.520> so<00:19:31.760> we 00:19:32.150 --> 00:19:32.160 align:start position:0% undergraduates to do it and so we 00:19:32.160 --> 00:19:33.590 align:start position:0% undergraduates to do it and so we you<00:19:32.320> know<00:19:32.400> put<00:19:32.559> some<00:19:32.720> flyers<00:19:33.039> around<00:19:33.360> and<00:19:33.440> said 00:19:33.590 --> 00:19:33.600 align:start position:0% you know put some flyers around and said 00:19:33.600 --> 00:19:35.190 align:start position:0% you know put some flyers around and said come<00:19:33.760> find<00:19:34.000> out<00:19:34.160> about<00:19:34.400> this<00:19:34.559> thing 00:19:35.190 --> 00:19:35.200 align:start position:0% come find out about this thing 00:19:35.200 --> 00:19:37.990 align:start position:0% come find out about this thing um<00:19:35.760> and<00:19:36.400> my<00:19:36.559> recollection<00:19:37.039> i<00:19:37.120> was<00:19:37.440> sort<00:19:37.600> of<00:19:37.679> 60 00:19:37.990 --> 00:19:38.000 align:start position:0% um and my recollection i was sort of 60 00:19:38.000 --> 00:19:39.750 align:start position:0% um and my recollection i was sort of 60 to<00:19:38.080> 70<00:19:38.400> students<00:19:38.720> showed<00:19:38.960> up<00:19:39.120> for<00:19:39.360> the 00:19:39.750 --> 00:19:39.760 align:start position:0% to 70 students showed up for the 00:19:39.760 --> 00:19:41.669 align:start position:0% to 70 students showed up for the information<00:19:40.320> session<00:19:40.880> which<00:19:41.120> at<00:19:41.280> caltech 00:19:41.669 --> 00:19:41.679 align:start position:0% information session which at caltech 00:19:41.679 --> 00:19:43.590 align:start position:0% information session which at caltech that<00:19:41.840> only<00:19:42.080> has<00:19:42.240> about<00:19:42.480> 900<00:19:42.960> undergraduates 00:19:43.590 --> 00:19:43.600 align:start position:0% that only has about 900 undergraduates 00:19:43.600 --> 00:19:45.270 align:start position:0% that only has about 900 undergraduates that's<00:19:43.760> a<00:19:43.840> large<00:19:44.160> fraction<00:19:44.640> really<00:19:44.960> of<00:19:45.120> the 00:19:45.270 --> 00:19:45.280 align:start position:0% that's a large fraction really of the 00:19:45.280 --> 00:19:47.029 align:start position:0% that's a large fraction really of the undergraduate<00:19:45.760> population<00:19:46.320> showed<00:19:46.559> up 00:19:47.029 --> 00:19:47.039 align:start position:0% undergraduate population showed up 00:19:47.039 --> 00:19:49.029 align:start position:0% undergraduate population showed up and<00:19:47.280> so<00:19:47.919> we<00:19:48.080> said<00:19:48.240> okay<00:19:48.480> well<00:19:48.640> it<00:19:48.799> looks<00:19:48.960> like 00:19:49.029 --> 00:19:49.039 align:start position:0% and so we said okay well it looks like 00:19:49.039 --> 00:19:50.870 align:start position:0% and so we said okay well it looks like there's<00:19:49.200> interest<00:19:49.520> so<00:19:49.600> we'll<00:19:49.760> do<00:19:49.919> it 00:19:50.870 --> 00:19:50.880 align:start position:0% there's interest so we'll do it 00:19:50.880 --> 00:19:52.630 align:start position:0% there's interest so we'll do it and<00:19:51.039> so<00:19:51.360> we<00:19:51.679> you<00:19:51.840> know<00:19:52.080> kind<00:19:52.160> of<00:19:52.320> pulled 00:19:52.630 --> 00:19:52.640 align:start position:0% and so we you know kind of pulled 00:19:52.640 --> 00:19:54.789 align:start position:0% and so we you know kind of pulled together<00:19:53.120> a<00:19:53.360> really<00:19:53.679> ragged<00:19:54.080> team 00:19:54.789 --> 00:19:54.799 align:start position:0% together a really ragged team 00:19:54.799 --> 00:19:57.029 align:start position:0% together a really ragged team uh<00:19:55.280> and<00:19:56.000> i<00:19:56.080> guess<00:19:56.320> this<00:19:56.559> might<00:19:56.720> have<00:19:56.799> been 00:19:57.029 --> 00:19:57.039 align:start position:0% uh and i guess this might have been 00:19:57.039 --> 00:19:58.710 align:start position:0% uh and i guess this might have been because<00:19:57.360> the<00:19:57.440> first<00:19:57.679> challenge<00:19:58.080> was 00:19:58.710 --> 00:19:58.720 align:start position:0% because the first challenge was 00:19:58.720 --> 00:20:01.110 align:start position:0% because the first challenge was in<00:19:59.080> 2004<00:20:00.160> right<00:20:00.400> so<00:20:00.559> this<00:20:00.640> must<00:20:00.880> have<00:20:00.960> been<00:20:01.039> in 00:20:01.110 --> 00:20:01.120 align:start position:0% in 2004 right so this must have been in 00:20:01.120 --> 00:20:02.230 align:start position:0% in 2004 right so this must have been in 2003. 00:20:02.230 --> 00:20:02.240 align:start position:0% 2003. 00:20:02.240 --> 00:20:04.870 align:start position:0% 2003. so<00:20:02.400> anyway<00:20:02.720> so<00:20:03.679> i<00:20:03.919> pulled<00:20:04.159> together<00:20:04.480> a<00:20:04.559> team 00:20:04.870 --> 00:20:04.880 align:start position:0% so anyway so i pulled together a team 00:20:04.880 --> 00:20:05.510 align:start position:0% so anyway so i pulled together a team and 00:20:05.510 --> 00:20:05.520 align:start position:0% and 00:20:05.520 --> 00:20:08.470 align:start position:0% and somehow<00:20:06.159> managed<00:20:06.559> to<00:20:07.520> get<00:20:07.760> a<00:20:07.840> vehicle<00:20:08.240> to<00:20:08.400> the 00:20:08.470 --> 00:20:08.480 align:start position:0% somehow managed to get a vehicle to the 00:20:08.480 --> 00:20:09.990 align:start position:0% somehow managed to get a vehicle to the competition 00:20:09.990 --> 00:20:10.000 align:start position:0% competition 00:20:10.000 --> 00:20:12.390 align:start position:0% competition that<00:20:10.159> first<00:20:10.480> year<00:20:11.360> and<00:20:11.520> made<00:20:11.760> it<00:20:12.159> to<00:20:12.240> the 00:20:12.390 --> 00:20:12.400 align:start position:0% that first year and made it to the 00:20:12.400 --> 00:20:14.070 align:start position:0% that first year and made it to the actual<00:20:12.799> race<00:20:13.120> and 00:20:14.070 --> 00:20:14.080 align:start position:0% actual race and 00:20:14.080 --> 00:20:15.750 align:start position:0% actual race and you<00:20:14.159> know<00:20:14.880> there's<00:20:15.039> always<00:20:15.280> a<00:20:15.360> question<00:20:15.600> about 00:20:15.750 --> 00:20:15.760 align:start position:0% you know there's always a question about 00:20:15.760 --> 00:20:17.669 align:start position:0% you know there's always a question about how<00:20:15.919> you<00:20:16.080> count<00:20:16.320> i<00:20:16.400> think<00:20:16.559> if<00:20:16.640> you<00:20:16.799> count<00:20:17.039> by 00:20:17.669 --> 00:20:17.679 align:start position:0% how you count i think if you count by 00:20:17.679 --> 00:20:19.510 align:start position:0% how you count i think if you count by miles<00:20:18.159> traversed<00:20:18.720> we<00:20:18.799> were<00:20:19.039> you<00:20:19.120> know<00:20:19.280> sort<00:20:19.440> of 00:20:19.510 --> 00:20:19.520 align:start position:0% miles traversed we were you know sort of 00:20:19.520 --> 00:20:21.190 align:start position:0% miles traversed we were you know sort of fifth<00:20:19.760> or<00:20:20.000> sixth<00:20:20.640> um 00:20:21.190 --> 00:20:21.200 align:start position:0% fifth or sixth um 00:20:21.200 --> 00:20:24.710 align:start position:0% fifth or sixth um but<00:20:21.360> we<00:20:21.520> made<00:20:21.679> it<00:20:21.760> 1.1<00:20:22.480> miles<00:20:23.520> on<00:20:23.760> a<00:20:24.000> 150 00:20:24.710 --> 00:20:24.720 align:start position:0% but we made it 1.1 miles on a 150 00:20:24.720 --> 00:20:26.230 align:start position:0% but we made it 1.1 miles on a 150 mile-ish<00:20:25.280> course<00:20:25.600> or<00:20:25.679> something<00:20:25.919> like<00:20:26.080> that 00:20:26.230 --> 00:20:26.240 align:start position:0% mile-ish course or something like that 00:20:26.240 --> 00:20:28.149 align:start position:0% mile-ish course or something like that but<00:20:26.480> i<00:20:26.640> think<00:20:26.880> cmu<00:20:27.280> made<00:20:27.440> it<00:20:27.520> the<00:20:27.600> furthest<00:20:28.080> and 00:20:28.149 --> 00:20:28.159 align:start position:0% but i think cmu made it the furthest and 00:20:28.159 --> 00:20:29.590 align:start position:0% but i think cmu made it the furthest and they<00:20:28.320> only<00:20:28.480> made<00:20:28.640> it<00:20:28.720> maybe<00:20:28.960> seven<00:20:29.200> miles<00:20:29.520> or 00:20:29.590 --> 00:20:29.600 align:start position:0% they only made it maybe seven miles or 00:20:29.600 --> 00:20:30.549 align:start position:0% they only made it maybe seven miles or something<00:20:29.840> like<00:20:30.000> that<00:20:30.240> so 00:20:30.549 --> 00:20:30.559 align:start position:0% something like that so 00:20:30.559 --> 00:20:32.950 align:start position:0% something like that so that<00:20:30.720> was<00:20:30.799> a<00:20:30.880> lot<00:20:30.960> of<00:20:31.039> fun<00:20:31.600> um<00:20:32.159> you<00:20:32.240> know<00:20:32.799> that 00:20:32.950 --> 00:20:32.960 align:start position:0% that was a lot of fun um you know that 00:20:32.960 --> 00:20:33.669 align:start position:0% that was a lot of fun um you know that first<00:20:33.200> year 00:20:33.669 --> 00:20:33.679 align:start position:0% first year 00:20:33.679 --> 00:20:35.830 align:start position:0% first year it<00:20:33.760> was<00:20:34.000> just<00:20:34.640> you<00:20:34.720> know<00:20:34.880> sort<00:20:35.039> of<00:20:35.600> that 00:20:35.830 --> 00:20:35.840 align:start position:0% it was just you know sort of that 00:20:35.840 --> 00:20:37.669 align:start position:0% it was just you know sort of that anything<00:20:36.240> worked<00:20:36.480> at<00:20:36.640> all<00:20:36.720> was<00:20:36.880> amazing 00:20:37.669 --> 00:20:37.679 align:start position:0% anything worked at all was amazing 00:20:37.679 --> 00:20:39.430 align:start position:0% anything worked at all was amazing um<00:20:38.000> because<00:20:38.240> it<00:20:38.480> really<00:20:38.720> was<00:20:38.880> sort<00:20:39.039> of<00:20:39.120> pushing 00:20:39.430 --> 00:20:39.440 align:start position:0% um because it really was sort of pushing 00:20:39.440 --> 00:20:41.510 align:start position:0% um because it really was sort of pushing it<00:20:39.520> and<00:20:39.600> then<00:20:39.840> we<00:20:40.559> stayed<00:20:40.880> involved<00:20:41.280> and<00:20:41.440> the 00:20:41.510 --> 00:20:41.520 align:start position:0% it and then we stayed involved and the 00:20:41.520 --> 00:20:42.789 align:start position:0% it and then we stayed involved and the next<00:20:41.679> year<00:20:41.919> participated 00:20:42.789 --> 00:20:42.799 align:start position:0% next year participated 00:20:42.799 --> 00:20:44.789 align:start position:0% next year participated and<00:20:42.880> that<00:20:43.360> the<00:20:43.440> first<00:20:43.679> year<00:20:44.000> i<00:20:44.080> think<00:20:44.640> because 00:20:44.789 --> 00:20:44.799 align:start position:0% and that the first year i think because 00:20:44.799 --> 00:20:45.909 align:start position:0% and that the first year i think because we<00:20:44.880> hadn't<00:20:45.120> set<00:20:45.280> it<00:20:45.440> up<00:20:45.520> and<00:20:45.679> structured 00:20:45.909 --> 00:20:45.919 align:start position:0% we hadn't set it up and structured 00:20:45.919 --> 00:20:46.950 align:start position:0% we hadn't set it up and structured within<00:20:46.240> the<00:20:46.320> courses 00:20:46.950 --> 00:20:46.960 align:start position:0% within the courses 00:20:46.960 --> 00:20:48.549 align:start position:0% within the courses there<00:20:47.120> were<00:20:47.280> really<00:20:47.520> only<00:20:47.760> about<00:20:47.919> a<00:20:48.080> dozen 00:20:48.549 --> 00:20:48.559 align:start position:0% there were really only about a dozen 00:20:48.559 --> 00:20:49.830 align:start position:0% there were really only about a dozen undergraduates<00:20:49.280> who<00:20:49.360> were<00:20:49.440> trying<00:20:49.600> to<00:20:49.679> get 00:20:49.830 --> 00:20:49.840 align:start position:0% undergraduates who were trying to get 00:20:49.840 --> 00:20:51.270 align:start position:0% undergraduates who were trying to get this<00:20:50.000> to<00:20:50.080> work<00:20:50.240> by<00:20:50.400> the<00:20:50.480> second<00:20:50.799> year 00:20:51.270 --> 00:20:51.280 align:start position:0% this to work by the second year 00:20:51.280 --> 00:20:52.789 align:start position:0% this to work by the second year we<00:20:51.440> figured<00:20:51.760> out<00:20:51.840> how<00:20:52.000> to<00:20:52.159> set<00:20:52.320> it<00:20:52.480> up<00:20:52.559> within 00:20:52.789 --> 00:20:52.799 align:start position:0% we figured out how to set it up within 00:20:52.799 --> 00:20:53.990 align:start position:0% we figured out how to set it up within our<00:20:52.960> course<00:20:53.200> structure<00:20:53.440> and<00:20:53.600> other<00:20:53.760> things 00:20:53.990 --> 00:20:54.000 align:start position:0% our course structure and other things 00:20:54.000 --> 00:20:54.950 align:start position:0% our course structure and other things and<00:20:54.159> so 00:20:54.950 --> 00:20:54.960 align:start position:0% and so 00:20:54.960 --> 00:20:56.630 align:start position:0% and so over<00:20:55.200> the<00:20:55.360> course<00:20:55.679> of<00:20:55.760> that<00:20:55.919> competition<00:20:56.480> so 00:20:56.630 --> 00:20:56.640 align:start position:0% over the course of that competition so 00:20:56.640 --> 00:20:58.789 align:start position:0% over the course of that competition so that<00:20:56.799> would<00:20:56.880> be<00:20:56.960> in<00:20:57.039> the<00:20:57.280> 2005<00:20:58.000> competition 00:20:58.789 --> 00:20:58.799 align:start position:0% that would be in the 2005 competition 00:20:58.799 --> 00:21:00.070 align:start position:0% that would be in the 2005 competition over<00:20:58.960> the<00:20:59.039> course<00:20:59.200> of<00:20:59.280> a<00:20:59.360> year<00:20:59.520> and<00:20:59.679> a<00:20:59.760> half<00:20:59.919> we 00:21:00.070 --> 00:21:00.080 align:start position:0% over the course of a year and a half we 00:21:00.080 --> 00:21:02.549 align:start position:0% over the course of a year and a half we must<00:21:00.320> have<00:21:00.480> had<00:21:01.200> i<00:21:01.360> don't<00:21:01.440> know<00:21:01.760> 70<00:21:02.080> or<00:21:02.240> 80 00:21:02.549 --> 00:21:02.559 align:start position:0% must have had i don't know 70 or 80 00:21:02.559 --> 00:21:04.230 align:start position:0% must have had i don't know 70 or 80 undergraduates<00:21:03.200> who<00:21:03.280> actually<00:21:03.520> participated 00:21:04.230 --> 00:21:04.240 align:start position:0% undergraduates who actually participated 00:21:04.240 --> 00:21:06.149 align:start position:0% undergraduates who actually participated in<00:21:04.400> it<00:21:04.480> so<00:21:04.640> in<00:21:04.720> the<00:21:04.799> first<00:21:05.039> competition 00:21:06.149 --> 00:21:06.159 align:start position:0% in it so in the first competition 00:21:06.159 --> 00:21:08.070 align:start position:0% in it so in the first competition we<00:21:06.320> had<00:21:06.960> i<00:21:07.039> think<00:21:07.280> 70<00:21:07.600> or<00:21:07.679> so<00:21:07.840> who<00:21:08.000> were 00:21:08.070 --> 00:21:08.080 align:start position:0% we had i think 70 or so who were 00:21:08.080 --> 00:21:09.190 align:start position:0% we had i think 70 or so who were interested<00:21:08.559> but<00:21:08.720> the<00:21:08.799> number<00:21:09.039> that 00:21:09.190 --> 00:21:09.200 align:start position:0% interested but the number that 00:21:09.200 --> 00:21:10.789 align:start position:0% interested but the number that eventually<00:21:09.600> in<00:21:09.679> the<00:21:09.840> end<00:21:10.000> participated 00:21:10.789 --> 00:21:10.799 align:start position:0% eventually in the end participated 00:21:10.799 --> 00:21:13.190 align:start position:0% eventually in the end participated was<00:21:11.039> probably<00:21:11.440> 30<00:21:11.840> of<00:21:12.000> 12<00:21:12.480> who<00:21:12.640> really<00:21:12.880> did<00:21:13.120> the 00:21:13.190 --> 00:21:13.200 align:start position:0% was probably 30 of 12 who really did the 00:21:13.200 --> 00:21:14.149 align:start position:0% was probably 30 of 12 who really did the last<00:21:13.440> bit 00:21:14.149 --> 00:21:14.159 align:start position:0% last bit 00:21:14.159 --> 00:21:15.510 align:start position:0% last bit the<00:21:14.240> next<00:21:14.480> year<00:21:14.640> we<00:21:14.799> had<00:21:14.880> 70<00:21:15.200> who<00:21:15.360> really 00:21:15.510 --> 00:21:15.520 align:start position:0% the next year we had 70 who really 00:21:15.520 --> 00:21:16.789 align:start position:0% the next year we had 70 who really participated<00:21:15.919> in<00:21:15.919> the<00:21:16.000> whole<00:21:16.159> thing<00:21:16.320> and<00:21:16.559> had 00:21:16.789 --> 00:21:16.799 align:start position:0% participated in the whole thing and had 00:21:16.799 --> 00:21:18.230 align:start position:0% participated in the whole thing and had probably<00:21:17.120> 30<00:21:17.360> by<00:21:17.520> the<00:21:17.679> end<00:21:17.840> who<00:21:18.000> were<00:21:18.080> really 00:21:18.230 --> 00:21:18.240 align:start position:0% probably 30 by the end who were really 00:21:18.240 --> 00:21:19.270 align:start position:0% probably 30 by the end who were really putting<00:21:18.480> it<00:21:18.640> all<00:21:18.720> together 00:21:19.270 --> 00:21:19.280 align:start position:0% putting it all together 00:21:19.280 --> 00:21:21.430 align:start position:0% putting it all together that<00:21:19.440> was<00:21:20.000> another<00:21:20.400> desert<00:21:20.720> race<00:21:21.039> very<00:21:21.200> cool 00:21:21.430 --> 00:21:21.440 align:start position:0% that was another desert race very cool 00:21:21.440 --> 00:21:22.710 align:start position:0% that was another desert race very cool had<00:21:21.600> a<00:21:21.679> lot<00:21:21.840> of<00:21:21.919> fun 00:21:22.710 --> 00:21:22.720 align:start position:0% had a lot of fun 00:21:22.720 --> 00:21:25.510 align:start position:0% had a lot of fun didn't<00:21:23.120> do<00:21:23.280> as<00:21:23.440> well<00:21:24.720> i<00:21:24.799> think<00:21:24.960> maybe<00:21:25.200> made<00:21:25.440> it 00:21:25.510 --> 00:21:25.520 align:start position:0% didn't do as well i think maybe made it 00:21:25.520 --> 00:21:26.870 align:start position:0% didn't do as well i think maybe made it five<00:21:25.760> miles<00:21:26.080> that<00:21:26.240> year<00:21:26.400> or<00:21:26.480> something<00:21:26.720> like 00:21:26.870 --> 00:21:26.880 align:start position:0% five miles that year or something like 00:21:26.880 --> 00:21:27.669 align:start position:0% five miles that year or something like that 00:21:27.669 --> 00:21:27.679 align:start position:0% that 00:21:27.679 --> 00:21:30.710 align:start position:0% that had<00:21:27.919> a<00:21:28.240> nicely<00:21:28.840> spectacular 00:21:30.710 --> 00:21:30.720 align:start position:0% had a nicely spectacular 00:21:30.720 --> 00:21:32.549 align:start position:0% had a nicely spectacular end<00:21:30.960> to<00:21:31.120> the<00:21:31.200> race<00:21:31.440> which<00:21:31.679> is<00:21:31.840> that<00:21:32.320> our 00:21:32.549 --> 00:21:32.559 align:start position:0% end to the race which is that our 00:21:32.559 --> 00:21:34.470 align:start position:0% end to the race which is that our vehicle<00:21:32.799> which<00:21:32.960> we<00:21:33.120> called<00:21:33.360> alice 00:21:34.470 --> 00:21:34.480 align:start position:0% vehicle which we called alice 00:21:34.480 --> 00:21:37.590 align:start position:0% vehicle which we called alice decided<00:21:35.039> that<00:21:35.840> a<00:21:36.320> concrete<00:21:36.799> barrier<00:21:37.280> was<00:21:37.440> not 00:21:37.590 --> 00:21:37.600 align:start position:0% decided that a concrete barrier was not 00:21:37.600 --> 00:21:38.789 align:start position:0% decided that a concrete barrier was not really<00:21:37.919> a<00:21:38.000> barrier 00:21:38.789 --> 00:21:38.799 align:start position:0% really a barrier 00:21:38.799 --> 00:21:40.630 align:start position:0% really a barrier but<00:21:38.960> perhaps<00:21:39.360> something<00:21:39.600> to<00:21:39.679> go<00:21:39.840> over<00:21:40.320> it<00:21:40.480> was 00:21:40.630 --> 00:21:40.640 align:start position:0% but perhaps something to go over it was 00:21:40.640 --> 00:21:42.789 align:start position:0% but perhaps something to go over it was right<00:21:40.880> in<00:21:40.960> front<00:21:41.200> of<00:21:41.280> the<00:21:41.600> press<00:21:41.919> area 00:21:42.789 --> 00:21:42.799 align:start position:0% right in front of the press area 00:21:42.799 --> 00:21:45.190 align:start position:0% right in front of the press area and<00:21:42.960> so<00:21:43.120> we<00:21:43.280> have<00:21:43.600> some<00:21:43.760> wonderful<00:21:44.159> video 00:21:45.190 --> 00:21:45.200 align:start position:0% and so we have some wonderful video 00:21:45.200 --> 00:21:46.470 align:start position:0% and so we have some wonderful video taken<00:21:45.520> both<00:21:45.760> from<00:21:45.919> the<00:21:46.080> view 00:21:46.470 --> 00:21:46.480 align:start position:0% taken both from the view 00:21:46.480 --> 00:21:48.230 align:start position:0% taken both from the view of<00:21:46.640> the<00:21:46.960> press<00:21:47.280> who<00:21:47.360> were<00:21:47.520> filming<00:21:47.919> watching 00:21:48.230 --> 00:21:48.240 align:start position:0% of the press who were filming watching 00:21:48.240 --> 00:21:49.830 align:start position:0% of the press who were filming watching this<00:21:48.400> robot<00:21:48.720> come<00:21:48.960> charging<00:21:49.280> over<00:21:49.440> a<00:21:49.520> concrete 00:21:49.830 --> 00:21:49.840 align:start position:0% this robot come charging over a concrete 00:21:49.840 --> 00:21:50.549 align:start position:0% this robot come charging over a concrete barrier<00:21:50.159> at<00:21:50.240> them 00:21:50.549 --> 00:21:50.559 align:start position:0% barrier at them 00:21:50.559 --> 00:21:52.549 align:start position:0% barrier at them but<00:21:50.720> also<00:21:50.960> from<00:21:51.120> the<00:21:51.200> point<00:21:51.360> of<00:21:51.440> view<00:21:51.600> of<00:21:51.760> alice 00:21:52.549 --> 00:21:52.559 align:start position:0% but also from the point of view of alice 00:21:52.559 --> 00:21:53.990 align:start position:0% but also from the point of view of alice watching<00:21:52.880> some<00:21:53.039> of<00:21:53.120> the<00:21:53.200> media<00:21:53.600> people 00:21:53.990 --> 00:21:54.000 align:start position:0% watching some of the media people 00:21:54.000 --> 00:21:55.510 align:start position:0% watching some of the media people uh<00:21:54.400> you<00:21:54.480> know<00:21:54.720> and<00:21:54.799> you<00:21:54.960> can<00:21:55.039> go<00:21:55.120> on<00:21:55.280> youtube 00:21:55.510 --> 00:21:55.520 align:start position:0% uh you know and you can go on youtube 00:21:55.520 --> 00:21:57.669 align:start position:0% uh you know and you can go on youtube and<00:21:55.679> find<00:21:55.840> it<00:21:56.000> and<00:21:56.080> sort<00:21:56.320> of<00:21:56.960> you<00:21:57.039> know 00:21:57.669 --> 00:21:57.679 align:start position:0% and find it and sort of you know 00:21:57.679 --> 00:21:59.190 align:start position:0% and find it and sort of you know you<00:21:57.760> can<00:21:57.919> see<00:21:58.159> people<00:21:58.400> sort<00:21:58.559> of<00:21:58.799> see<00:21:59.039> this 00:21:59.190 --> 00:21:59.200 align:start position:0% you can see people sort of see this 00:21:59.200 --> 00:22:00.310 align:start position:0% you can see people sort of see this thing<00:21:59.360> coming<00:21:59.520> and<00:21:59.679> they're<00:21:59.760> filming<00:22:00.159> it<00:22:00.240> and 00:22:00.310 --> 00:22:00.320 align:start position:0% thing coming and they're filming it and 00:22:00.320 --> 00:22:01.350 align:start position:0% thing coming and they're filming it and then<00:22:00.480> you<00:22:00.559> can<00:22:00.720> start<00:22:00.960> to<00:22:01.039> say 00:22:01.350 --> 00:22:01.360 align:start position:0% then you can start to say 00:22:01.360 --> 00:22:03.110 align:start position:0% then you can start to say oh<00:22:01.520> my<00:22:01.679> god<00:22:01.919> this<00:22:02.080> thing's<00:22:02.320> gonna<00:22:02.640> come<00:22:02.880> over 00:22:03.110 --> 00:22:03.120 align:start position:0% oh my god this thing's gonna come over 00:22:03.120 --> 00:22:05.110 align:start position:0% oh my god this thing's gonna come over the<00:22:03.280> wall<00:22:04.000> and<00:22:04.080> then<00:22:04.240> they<00:22:04.480> start<00:22:04.640> to<00:22:04.799> run<00:22:05.039> and 00:22:05.110 --> 00:22:05.120 align:start position:0% the wall and then they start to run and 00:22:05.120 --> 00:22:06.310 align:start position:0% the wall and then they start to run and they<00:22:05.200> don't<00:22:05.360> know<00:22:05.520> which<00:22:05.679> way<00:22:05.840> to<00:22:06.000> run<00:22:06.159> because 00:22:06.310 --> 00:22:06.320 align:start position:0% they don't know which way to run because 00:22:06.320 --> 00:22:07.830 align:start position:0% they don't know which way to run because what<00:22:06.559> is<00:22:06.640> it<00:22:06.720> gonna<00:22:06.880> do<00:22:07.039> anyway<00:22:07.440> it's<00:22:07.520> really 00:22:07.830 --> 00:22:07.840 align:start position:0% what is it gonna do anyway it's really 00:22:07.840 --> 00:22:08.230 align:start position:0% what is it gonna do anyway it's really uh 00:22:08.230 --> 00:22:08.240 align:start position:0% uh 00:22:08.240 --> 00:22:11.029 align:start position:0% uh anyway<00:22:09.039> nobody<00:22:09.280> got<00:22:09.440> hurt<00:22:10.400> the<00:22:10.559> vehicle<00:22:10.880> did 00:22:11.029 --> 00:22:11.039 align:start position:0% anyway nobody got hurt the vehicle did 00:22:11.039 --> 00:22:11.750 align:start position:0% anyway nobody got hurt the vehicle did not 00:22:11.750 --> 00:22:11.760 align:start position:0% not 00:22:11.760 --> 00:22:14.710 align:start position:0% not it<00:22:12.000> survived<00:22:12.559> it<00:22:13.039> sort<00:22:13.200> of<00:22:13.760> broke<00:22:14.320> some<00:22:14.480> of<00:22:14.559> the 00:22:14.710 --> 00:22:14.720 align:start position:0% it survived it sort of broke some of the 00:22:14.720 --> 00:22:16.149 align:start position:0% it survived it sort of broke some of the steering<00:22:14.960> gears<00:22:15.280> and<00:22:15.360> other<00:22:15.520> things<00:22:15.760> but<00:22:15.919> we 00:22:16.149 --> 00:22:16.159 align:start position:0% steering gears and other things but we 00:22:16.159 --> 00:22:17.190 align:start position:0% steering gears and other things but we fixed<00:22:16.480> it<00:22:16.559> actually 00:22:17.190 --> 00:22:17.200 align:start position:0% fixed it actually 00:22:17.200 --> 00:22:19.669 align:start position:0% fixed it actually at<00:22:17.280> the<00:22:17.440> race<00:22:17.679> and<00:22:17.840> drove<00:22:18.080> it<00:22:18.159> back<00:22:18.400> home<00:22:18.640> so<00:22:19.280> um 00:22:19.669 --> 00:22:19.679 align:start position:0% at the race and drove it back home so um 00:22:19.679 --> 00:22:20.470 align:start position:0% at the race and drove it back home so um anyway<00:22:20.000> that<00:22:20.159> was 00:22:20.470 --> 00:22:20.480 align:start position:0% anyway that was 00:22:20.480 --> 00:22:22.230 align:start position:0% anyway that was a<00:22:20.640> lot<00:22:20.799> of<00:22:20.880> fun<00:22:21.039> and<00:22:21.120> then<00:22:21.520> the<00:22:21.679> final<00:22:22.000> year<00:22:22.159> the 00:22:22.230 --> 00:22:22.240 align:start position:0% a lot of fun and then the final year the 00:22:22.240 --> 00:22:24.310 align:start position:0% a lot of fun and then the final year the urban<00:22:22.480> challenge<00:22:22.720> we<00:22:22.880> also<00:22:23.039> participated 00:22:24.310 --> 00:22:24.320 align:start position:0% urban challenge we also participated 00:22:24.320 --> 00:22:25.830 align:start position:0% urban challenge we also participated um<00:22:24.720> didn't<00:22:24.960> make<00:22:25.120> it<00:22:25.200> to<00:22:25.280> the<00:22:25.360> finals<00:22:25.679> that 00:22:25.830 --> 00:22:25.840 align:start position:0% um didn't make it to the finals that 00:22:25.840 --> 00:22:27.430 align:start position:0% um didn't make it to the finals that year<00:22:26.000> but<00:22:26.159> did<00:22:26.320> make<00:22:26.480> it<00:22:26.559> to<00:22:26.720> the<00:22:27.120> uh 00:22:27.430 --> 00:22:27.440 align:start position:0% year but did make it to the uh 00:22:27.440 --> 00:22:30.630 align:start position:0% year but did make it to the uh qualifying<00:22:27.919> event<00:22:28.640> um<00:22:29.120> and<00:22:29.360> that<00:22:29.600> year<00:22:30.320> we<00:22:30.400> had 00:22:30.630 --> 00:22:30.640 align:start position:0% qualifying event um and that year we had 00:22:30.640 --> 00:22:31.110 align:start position:0% qualifying event um and that year we had a<00:22:30.720> bigger 00:22:31.110 --> 00:22:31.120 align:start position:0% a bigger 00:22:31.120 --> 00:22:33.029 align:start position:0% a bigger a<00:22:31.520> bigger<00:22:31.840> team<00:22:32.159> not<00:22:32.320> the<00:22:32.400> same<00:22:32.640> size<00:22:32.880> but 00:22:33.029 --> 00:22:33.039 align:start position:0% a bigger team not the same size but 00:22:33.039 --> 00:22:34.230 align:start position:0% a bigger team not the same size but involved<00:22:33.360> undergraduates<00:22:33.919> graduate 00:22:34.230 --> 00:22:34.240 align:start position:0% involved undergraduates graduate 00:22:34.240 --> 00:22:35.909 align:start position:0% involved undergraduates graduate students<00:22:34.480> people<00:22:34.720> up<00:22:34.799> at<00:22:34.880> jpl 00:22:35.909 --> 00:22:35.919 align:start position:0% students people up at jpl 00:22:35.919 --> 00:22:37.029 align:start position:0% students people up at jpl and<00:22:36.000> so<00:22:36.080> we<00:22:36.159> had<00:22:36.320> a<00:22:36.320> lot<00:22:36.480> of<00:22:36.559> collaborations 00:22:37.029 --> 00:22:37.039 align:start position:0% and so we had a lot of collaborations 00:22:37.039 --> 00:22:39.350 align:start position:0% and so we had a lot of collaborations with<00:22:37.200> them<00:22:37.280> but<00:22:37.440> that<00:22:37.520> was<00:22:37.679> a<00:22:37.679> lot<00:22:37.840> of<00:22:37.919> fun 00:22:39.350 --> 00:22:39.360 align:start position:0% with them but that was a lot of fun 00:22:39.360 --> 00:22:40.870 align:start position:0% with them but that was a lot of fun have<00:22:39.520> you<00:22:39.760> collaborated<00:22:40.320> a<00:22:40.320> lot<00:22:40.480> with<00:22:40.640> people 00:22:40.870 --> 00:22:40.880 align:start position:0% have you collaborated a lot with people 00:22:40.880 --> 00:22:42.789 align:start position:0% have you collaborated a lot with people from<00:22:41.039> jpl<00:22:41.440> over<00:22:41.679> the<00:22:41.760> years<00:22:42.159> yeah<00:22:42.480> over<00:22:42.640> the 00:22:42.789 --> 00:22:42.799 align:start position:0% from jpl over the years yeah over the 00:22:42.799 --> 00:22:43.990 align:start position:0% from jpl over the years yeah over the years<00:22:43.039> sort<00:22:43.200> of<00:22:43.360> off<00:22:43.520> and<00:22:43.679> on 00:22:43.990 --> 00:22:44.000 align:start position:0% years sort of off and on 00:22:44.000 --> 00:22:46.230 align:start position:0% years sort of off and on um<00:22:44.880> i<00:22:44.960> think<00:22:45.120> when<00:22:45.280> i<00:22:45.360> first<00:22:45.600> started<00:22:45.919> we<00:22:46.080> were 00:22:46.230 --> 00:22:46.240 align:start position:0% um i think when i first started we were 00:22:46.240 --> 00:22:47.909 align:start position:0% um i think when i first started we were very<00:22:46.720> interested<00:22:47.200> in<00:22:47.360> doing<00:22:47.520> things<00:22:47.760> with 00:22:47.909 --> 00:22:47.919 align:start position:0% very interested in doing things with 00:22:47.919 --> 00:22:48.310 align:start position:0% very interested in doing things with them 00:22:48.310 --> 00:22:48.320 align:start position:0% them 00:22:48.320 --> 00:22:49.909 align:start position:0% them uh<00:22:48.640> and<00:22:48.880> you<00:22:48.960> know<00:22:49.120> had<00:22:49.280> a<00:22:49.360> couple<00:22:49.600> of<00:22:49.679> joint 00:22:49.909 --> 00:22:49.919 align:start position:0% uh and you know had a couple of joint 00:22:49.919 --> 00:22:50.870 align:start position:0% uh and you know had a couple of joint projects<00:22:50.159> and<00:22:50.240> other<00:22:50.400> things<00:22:50.559> we've<00:22:50.720> done 00:22:50.870 --> 00:22:50.880 align:start position:0% projects and other things we've done 00:22:50.880 --> 00:22:51.669 align:start position:0% projects and other things we've done some<00:22:51.120> space 00:22:51.669 --> 00:22:51.679 align:start position:0% some space 00:22:51.679 --> 00:22:53.350 align:start position:0% some space control<00:22:52.159> types<00:22:52.400> of<00:22:52.480> projects<00:22:52.880> formation 00:22:53.350 --> 00:22:53.360 align:start position:0% control types of projects formation 00:22:53.360 --> 00:22:55.190 align:start position:0% control types of projects formation flying<00:22:53.679> things<00:22:53.919> with<00:22:54.080> them<00:22:54.559> a<00:22:54.720> little<00:22:54.880> bit<00:22:55.039> the 00:22:55.190 --> 00:22:55.200 align:start position:0% flying things with them a little bit the 00:22:55.200 --> 00:22:56.390 align:start position:0% flying things with them a little bit the diaper<00:22:55.520> grant<00:22:55.679> challenge<00:22:55.919> was<00:22:56.080> probably<00:22:56.320> the 00:22:56.390 --> 00:22:56.400 align:start position:0% diaper grant challenge was probably the 00:22:56.400 --> 00:22:57.750 align:start position:0% diaper grant challenge was probably the time<00:22:56.559> we<00:22:56.720> interacted<00:22:57.200> with<00:22:57.360> them 00:22:57.750 --> 00:22:57.760 align:start position:0% time we interacted with them 00:22:57.760 --> 00:23:00.789 align:start position:0% time we interacted with them the<00:22:57.919> most<00:22:58.240> intensely<00:23:00.080> we 00:23:00.789 --> 00:23:00.799 align:start position:0% the most intensely we 00:23:00.799 --> 00:23:02.230 align:start position:0% the most intensely we you<00:23:00.880> know<00:23:01.039> talk<00:23:01.200> to<00:23:01.360> each<00:23:01.520> other<00:23:01.679> a<00:23:01.760> lot<00:23:02.159> we 00:23:02.230 --> 00:23:02.240 align:start position:0% you know talk to each other a lot we 00:23:02.240 --> 00:23:03.669 align:start position:0% you know talk to each other a lot we have<00:23:02.480> lots<00:23:02.720> of<00:23:02.880> students<00:23:03.120> who<00:23:03.280> graduate<00:23:03.600> and 00:23:03.669 --> 00:23:03.679 align:start position:0% have lots of students who graduate and 00:23:03.679 --> 00:23:05.350 align:start position:0% have lots of students who graduate and go<00:23:03.840> up<00:23:04.000> there 00:23:05.350 --> 00:23:05.360 align:start position:0% go up there 00:23:05.360 --> 00:23:07.430 align:start position:0% go up there the<00:23:05.840> projects<00:23:06.240> that<00:23:06.320> they're<00:23:06.640> involved<00:23:07.200> with 00:23:07.430 --> 00:23:07.440 align:start position:0% the projects that they're involved with 00:23:07.440 --> 00:23:09.350 align:start position:0% the projects that they're involved with that<00:23:07.679> are<00:23:07.840> on<00:23:08.000> the<00:23:08.159> nasa<00:23:08.559> side<00:23:08.880> are<00:23:09.039> often 00:23:09.350 --> 00:23:09.360 align:start position:0% that are on the nasa side are often 00:23:09.360 --> 00:23:10.630 align:start position:0% that are on the nasa side are often things<00:23:09.520> that<00:23:09.679> have<00:23:09.919> time<00:23:10.159> frames<00:23:10.400> and<00:23:10.480> other 00:23:10.630 --> 00:23:10.640 align:start position:0% things that have time frames and other 00:23:10.640 --> 00:23:12.149 align:start position:0% things that have time frames and other things<00:23:10.799> that<00:23:11.039> sometimes<00:23:11.440> don't<00:23:11.679> fit 00:23:12.149 --> 00:23:12.159 align:start position:0% things that sometimes don't fit 00:23:12.159 --> 00:23:15.590 align:start position:0% things that sometimes don't fit a<00:23:12.559> phd<00:23:13.120> and<00:23:13.280> so<00:23:14.159> we<00:23:14.480> i<00:23:14.640> think<00:23:14.880> are<00:23:15.120> interested 00:23:15.590 --> 00:23:15.600 align:start position:0% a phd and so we i think are interested 00:23:15.600 --> 00:23:17.350 align:start position:0% a phd and so we i think are interested and<00:23:15.919> talk<00:23:16.080> to<00:23:16.240> each<00:23:16.400> other<00:23:16.559> but<00:23:16.720> may<00:23:16.960> not<00:23:17.200> be 00:23:17.350 --> 00:23:17.360 align:start position:0% and talk to each other but may not be 00:23:17.360 --> 00:23:19.350 align:start position:0% and talk to each other but may not be working<00:23:17.679> on<00:23:17.760> it<00:23:17.919> directly 00:23:19.350 --> 00:23:19.360 align:start position:0% working on it directly 00:23:19.360 --> 00:23:21.270 align:start position:0% working on it directly because<00:23:19.760> the<00:23:20.320> dark<00:23:20.640> urban<00:23:20.880> challenge<00:23:21.120> was 00:23:21.270 --> 00:23:21.280 align:start position:0% because the dark urban challenge was 00:23:21.280 --> 00:23:22.390 align:start position:0% because the dark urban challenge was something<00:23:21.440> where<00:23:21.600> we<00:23:21.679> really<00:23:21.919> had<00:23:22.080> to<00:23:22.159> pull 00:23:22.390 --> 00:23:22.400 align:start position:0% something where we really had to pull 00:23:22.400 --> 00:23:23.590 align:start position:0% something where we really had to pull together<00:23:22.799> people 00:23:23.590 --> 00:23:23.600 align:start position:0% together people 00:23:23.600 --> 00:23:24.950 align:start position:0% together people who<00:23:23.760> had<00:23:23.919> the<00:23:24.000> right<00:23:24.240> expertise<00:23:24.720> it<00:23:24.799> was 00:23:24.950 --> 00:23:24.960 align:start position:0% who had the right expertise it was 00:23:24.960 --> 00:23:27.510 align:start position:0% who had the right expertise it was natural<00:23:25.360> to<00:23:25.679> go<00:23:25.840> up<00:23:25.919> to<00:23:26.240> gpl<00:23:26.799> and<00:23:26.880> talk<00:23:27.120> to 00:23:27.510 --> 00:23:27.520 align:start position:0% natural to go up to gpl and talk to 00:23:27.520 --> 00:23:30.390 align:start position:0% natural to go up to gpl and talk to our<00:23:27.600> colleagues<00:23:28.000> up<00:23:28.159> there<00:23:29.039> and<00:23:29.120> since<00:23:29.440> then 00:23:30.390 --> 00:23:30.400 align:start position:0% our colleagues up there and since then 00:23:30.400 --> 00:23:31.510 align:start position:0% our colleagues up there and since then we've<00:23:30.640> continued<00:23:31.120> a<00:23:31.120> lot<00:23:31.280> of<00:23:31.360> those 00:23:31.510 --> 00:23:31.520 align:start position:0% we've continued a lot of those 00:23:31.520 --> 00:23:33.029 align:start position:0% we've continued a lot of those collaborations<00:23:32.000> that<00:23:32.159> some<00:23:32.559> started<00:23:32.880> through 00:23:33.029 --> 00:23:33.039 align:start position:0% collaborations that some started through 00:23:33.039 --> 00:23:33.990 align:start position:0% collaborations that some started through that 00:23:33.990 --> 00:23:34.000 align:start position:0% that 00:23:34.000 --> 00:23:36.549 align:start position:0% that and<00:23:34.159> so<00:23:34.880> we<00:23:35.039> participate<00:23:35.600> jointly<00:23:36.000> in<00:23:36.080> various 00:23:36.549 --> 00:23:36.559 align:start position:0% and so we participate jointly in various 00:23:36.559 --> 00:23:37.430 align:start position:0% and so we participate jointly in various projects<00:23:37.039> and 00:23:37.430 --> 00:23:37.440 align:start position:0% projects and 00:23:37.440 --> 00:23:40.789 align:start position:0% projects and the<00:23:38.080> jpl<00:23:39.760> researchers<00:23:40.240> actually<00:23:40.480> teach<00:23:40.720> our 00:23:40.789 --> 00:23:40.799 align:start position:0% the jpl researchers actually teach our 00:23:40.799 --> 00:23:42.549 align:start position:0% the jpl researchers actually teach our robotics<00:23:41.279> course<00:23:41.679> our<00:23:41.840> kind<00:23:42.000> of 00:23:42.549 --> 00:23:42.559 align:start position:0% robotics course our kind of 00:23:42.559 --> 00:23:43.830 align:start position:0% robotics course our kind of intermediate<00:23:43.039> robotics<00:23:43.440> course<00:23:43.679> here<00:23:43.760> at 00:23:43.830 --> 00:23:43.840 align:start position:0% intermediate robotics course here at 00:23:43.840 --> 00:23:45.669 align:start position:0% intermediate robotics course here at caltech<00:23:44.240> so<00:23:44.400> that<00:23:44.559> works<00:23:44.720> out<00:23:44.880> quite<00:23:45.039> well 00:23:45.669 --> 00:23:45.679 align:start position:0% caltech so that works out quite well 00:23:45.679 --> 00:23:48.710 align:start position:0% caltech so that works out quite well are<00:23:45.760> there<00:23:46.000> particular<00:23:46.559> ones<00:23:46.960> that<00:23:47.120> you<00:23:47.440> have 00:23:48.710 --> 00:23:48.720 align:start position:0% are there particular ones that you have 00:23:48.720 --> 00:23:50.230 align:start position:0% are there particular ones that you have larry<00:23:48.960> matthews<00:23:49.360> and<00:23:49.440> his<00:23:49.600> group<00:23:49.840> is<00:23:49.919> probably 00:23:50.230 --> 00:23:50.240 align:start position:0% larry matthews and his group is probably 00:23:50.240 --> 00:23:51.750 align:start position:0% larry matthews and his group is probably the<00:23:50.559> group<00:23:50.720> that<00:23:50.880> we<00:23:50.960> interact<00:23:51.279> with<00:23:51.440> the<00:23:51.520> most 00:23:51.750 --> 00:23:51.760 align:start position:0% the group that we interact with the most 00:23:51.760 --> 00:23:53.110 align:start position:0% the group that we interact with the most and<00:23:51.919> andrew<00:23:52.159> howard<00:23:52.400> when<00:23:52.559> he<00:23:52.640> was<00:23:52.799> there<00:23:52.960> was 00:23:53.110 --> 00:23:53.120 align:start position:0% and andrew howard when he was there was 00:23:53.120 --> 00:23:54.630 align:start position:0% and andrew howard when he was there was one<00:23:53.279> of<00:23:53.440> our<00:23:53.520> kind<00:23:53.600> of<00:23:53.679> key<00:23:53.840> contributors<00:23:54.480> on 00:23:54.630 --> 00:23:54.640 align:start position:0% one of our kind of key contributors on 00:23:54.640 --> 00:23:55.110 align:start position:0% one of our kind of key contributors on the 00:23:55.110 --> 00:23:55.120 align:start position:0% the 00:23:55.120 --> 00:23:57.430 align:start position:0% the urban<00:23:55.440> challenge<00:23:55.679> he's<00:23:55.840> now<00:23:56.080> off<00:23:56.240> at<00:23:56.320> spacex 00:23:57.430 --> 00:23:57.440 align:start position:0% urban challenge he's now off at spacex 00:23:57.440 --> 00:23:58.470 align:start position:0% urban challenge he's now off at spacex so<00:23:57.600> that's<00:23:57.760> probably<00:23:58.000> the 00:23:58.470 --> 00:23:58.480 align:start position:0% so that's probably the 00:23:58.480 --> 00:23:59.510 align:start position:0% so that's probably the group<00:23:58.720> that<00:23:58.799> we've<00:23:58.960> had<00:23:59.120> the<00:23:59.200> most 00:23:59.510 --> 00:23:59.520 align:start position:0% group that we've had the most 00:23:59.520 --> 00:24:01.110 align:start position:0% group that we've had the most interaction<00:24:00.000> fred<00:24:00.159> hoddy<00:24:00.480> has<00:24:00.799> runs<00:24:01.039> the 00:24:01.110 --> 00:24:01.120 align:start position:0% interaction fred hoddy has runs the 00:24:01.120 --> 00:24:02.390 align:start position:0% interaction fred hoddy has runs the control<00:24:01.440> group<00:24:01.679> there 00:24:02.390 --> 00:24:02.400 align:start position:0% control group there 00:24:02.400 --> 00:24:03.990 align:start position:0% control group there and<00:24:02.559> so<00:24:02.720> some<00:24:02.880> of<00:24:02.960> the<00:24:03.039> formation<00:24:03.520> flying<00:24:03.840> and 00:24:03.990 --> 00:24:04.000 align:start position:0% and so some of the formation flying and 00:24:04.000 --> 00:24:05.190 align:start position:0% and so some of the formation flying and other<00:24:04.159> things<00:24:04.400> have<00:24:04.480> been<00:24:04.640> with<00:24:04.799> people<00:24:05.120> in 00:24:05.190 --> 00:24:05.200 align:start position:0% other things have been with people in 00:24:05.200 --> 00:24:06.149 align:start position:0% other things have been with people in his<00:24:05.440> group 00:24:06.149 --> 00:24:06.159 align:start position:0% his group 00:24:06.159 --> 00:24:07.590 align:start position:0% his group so<00:24:06.240> those<00:24:06.400> are<00:24:06.559> probably<00:24:06.799> the<00:24:06.880> two<00:24:07.120> primary 00:24:07.590 --> 00:24:07.600 align:start position:0% so those are probably the two primary 00:24:07.600 --> 00:24:09.269 align:start position:0% so those are probably the two primary groups<00:24:08.159> steve<00:24:08.400> chan<00:24:08.640> a<00:24:08.720> little<00:24:08.880> bit 00:24:09.269 --> 00:24:09.279 align:start position:0% groups steve chan a little bit 00:24:09.279 --> 00:24:11.750 align:start position:0% groups steve chan a little bit uh<00:24:09.440> but<00:24:09.600> not<00:24:09.760> quite<00:24:10.000> as<00:24:10.080> much<00:24:11.120> so<00:24:11.360> when<00:24:11.520> you're 00:24:11.750 --> 00:24:11.760 align:start position:0% uh but not quite as much so when you're 00:24:11.760 --> 00:24:13.029 align:start position:0% uh but not quite as much so when you're phd<00:24:12.400> students 00:24:13.029 --> 00:24:13.039 align:start position:0% phd students 00:24:13.039 --> 00:24:14.630 align:start position:0% phd students um<00:24:13.440> have<00:24:13.679> many<00:24:13.919> of<00:24:14.000> them<00:24:14.159> going<00:24:14.400> under 00:24:14.630 --> 00:24:14.640 align:start position:0% um have many of them going under 00:24:14.640 --> 00:24:16.549 align:start position:0% um have many of them going under robotics<00:24:15.200> didn't<00:24:15.520> even<00:24:15.840> do<00:24:16.000> some 00:24:16.549 --> 00:24:16.559 align:start position:0% robotics didn't even do some 00:24:16.559 --> 00:24:20.470 align:start position:0% robotics didn't even do some specific<00:24:17.840> yeah<00:24:18.080> some<00:24:18.559> so<00:24:19.440> a<00:24:19.679> number<00:24:19.919> of<00:24:20.000> phd 00:24:20.470 --> 00:24:20.480 align:start position:0% specific yeah some so a number of phd 00:24:20.480 --> 00:24:21.750 align:start position:0% specific yeah some so a number of phd students<00:24:20.799> are<00:24:20.880> now 00:24:21.750 --> 00:24:21.760 align:start position:0% students are now 00:24:21.760 --> 00:24:24.230 align:start position:0% students are now up<00:24:21.919> at<00:24:22.000> jpl<00:24:22.640> working<00:24:22.960> on<00:24:23.440> control<00:24:23.919> problems 00:24:24.230 --> 00:24:24.240 align:start position:0% up at jpl working on control problems 00:24:24.240 --> 00:24:25.990 align:start position:0% up at jpl working on control problems but<00:24:24.400> because<00:24:24.640> jpl<00:24:25.039> does<00:24:25.200> robotics<00:24:25.600> those<00:24:25.840> are 00:24:25.990 --> 00:24:26.000 align:start position:0% but because jpl does robotics those are 00:24:26.000 --> 00:24:27.750 align:start position:0% but because jpl does robotics those are often<00:24:26.320> associated<00:24:26.960> with<00:24:27.200> uh<00:24:27.440> things<00:24:27.679> of 00:24:27.750 --> 00:24:27.760 align:start position:0% often associated with uh things of 00:24:27.760 --> 00:24:29.510 align:start position:0% often associated with uh things of robotics<00:24:28.080> francesco<00:24:28.559> boula<00:24:28.799> who's<00:24:29.039> now<00:24:29.200> at 00:24:29.510 --> 00:24:29.520 align:start position:0% robotics francesco boula who's now at 00:24:29.520 --> 00:24:31.110 align:start position:0% robotics francesco boula who's now at uc<00:24:29.840> santa<00:24:30.080> barbara<00:24:30.400> does<00:24:30.559> some<00:24:30.640> things<00:24:30.880> and 00:24:31.110 --> 00:24:31.120 align:start position:0% uc santa barbara does some things and 00:24:31.120 --> 00:24:32.549 align:start position:0% uc santa barbara does some things and has<00:24:31.279> done<00:24:31.440> some<00:24:31.600> things<00:24:31.840> in<00:24:32.000> coverage<00:24:32.400> and 00:24:32.549 --> 00:24:32.559 align:start position:0% has done some things in coverage and 00:24:32.559 --> 00:24:33.510 align:start position:0% has done some things in coverage and other<00:24:32.799> things<00:24:33.039> that 00:24:33.510 --> 00:24:33.520 align:start position:0% other things that 00:24:33.520 --> 00:24:36.870 align:start position:0% other things that uh<00:24:34.080> intersect<00:24:34.559> with<00:24:34.640> robotics<00:24:35.679> um 00:24:36.870 --> 00:24:36.880 align:start position:0% uh intersect with robotics um 00:24:36.880 --> 00:24:38.549 align:start position:0% uh intersect with robotics um trying<00:24:37.120> to<00:24:37.200> think<00:24:37.360> who<00:24:37.600> else<00:24:37.840> is<00:24:38.000> really<00:24:38.240> doing 00:24:38.549 --> 00:24:38.559 align:start position:0% trying to think who else is really doing 00:24:38.559 --> 00:24:40.149 align:start position:0% trying to think who else is really doing things<00:24:38.880> that<00:24:39.440> you<00:24:39.520> know<00:24:39.679> he<00:24:39.840> would<00:24:39.919> sort<00:24:40.080> of 00:24:40.149 --> 00:24:40.159 align:start position:0% things that you know he would sort of 00:24:40.159 --> 00:24:42.310 align:start position:0% things that you know he would sort of label<00:24:40.480> his<00:24:40.559> robotics<00:24:40.880> lots<00:24:41.039> of<00:24:41.120> people<00:24:41.360> doing 00:24:42.310 --> 00:24:42.320 align:start position:0% label his robotics lots of people doing 00:24:42.320 --> 00:24:43.830 align:start position:0% label his robotics lots of people doing unmanned<00:24:42.799> vehicles<00:24:43.279> but<00:24:43.360> again<00:24:43.600> a<00:24:43.600> little<00:24:43.760> bit 00:24:43.830 --> 00:24:43.840 align:start position:0% unmanned vehicles but again a little bit 00:24:43.840 --> 00:24:45.350 align:start position:0% unmanned vehicles but again a little bit more<00:24:44.000> from<00:24:44.159> the<00:24:44.240> trajectory<00:24:44.720> control 00:24:45.350 --> 00:24:45.360 align:start position:0% more from the trajectory control 00:24:45.360 --> 00:24:47.590 align:start position:0% more from the trajectory control christy<00:24:45.679> morganson<00:24:46.320> up<00:24:46.480> at<00:24:47.120> university<00:24:47.520> of 00:24:47.590 --> 00:24:47.600 align:start position:0% christy morganson up at university of 00:24:47.600 --> 00:24:49.269 align:start position:0% christy morganson up at university of washington<00:24:48.080> works<00:24:48.320> in<00:24:48.480> underwater<00:24:48.880> swimming 00:24:49.269 --> 00:24:49.279 align:start position:0% washington works in underwater swimming 00:24:49.279 --> 00:24:51.029 align:start position:0% washington works in underwater swimming and<00:24:49.360> things<00:24:49.520> like<00:24:49.679> that 00:24:51.029 --> 00:24:51.039 align:start position:0% and things like that 00:24:51.039 --> 00:24:54.390 align:start position:0% and things like that so<00:24:52.480> i'd<00:24:52.720> say<00:24:53.360> those<00:24:53.600> students<00:24:53.919> in<00:24:54.000> my<00:24:54.159> group 00:24:54.390 --> 00:24:54.400 align:start position:0% so i'd say those students in my group 00:24:54.400 --> 00:24:55.750 align:start position:0% so i'd say those students in my group have<00:24:54.480> tended<00:24:54.720> to<00:24:54.880> go 00:24:55.750 --> 00:24:55.760 align:start position:0% have tended to go 00:24:55.760 --> 00:24:59.110 align:start position:0% have tended to go into<00:24:56.960> robotics<00:24:57.520> and<00:24:57.679> control<00:24:58.400> and<00:24:58.720> so<00:24:58.880> look<00:24:59.039> at 00:24:59.110 --> 00:24:59.120 align:start position:0% into robotics and control and so look at 00:24:59.120 --> 00:25:00.390 align:start position:0% into robotics and control and so look at that<00:24:59.279> kind<00:24:59.440> of<00:24:59.600> side<00:24:59.760> of<00:24:59.919> things 00:25:00.390 --> 00:25:00.400 align:start position:0% that kind of side of things 00:25:00.400 --> 00:25:01.590 align:start position:0% that kind of side of things and<00:25:00.480> then<00:25:00.640> many<00:25:00.799> of<00:25:00.960> them<00:25:01.039> gone<00:25:01.200> just<00:25:01.440> under 00:25:01.590 --> 00:25:01.600 align:start position:0% and then many of them gone just under 00:25:01.600 --> 00:25:03.029 align:start position:0% and then many of them gone just under control<00:25:02.240> having<00:25:02.480> nothing<00:25:02.720> to<00:25:02.799> do<00:25:02.960> with 00:25:03.029 --> 00:25:03.039 align:start position:0% control having nothing to do with 00:25:03.039 --> 00:25:04.310 align:start position:0% control having nothing to do with robotics<00:25:03.520> looking<00:25:03.760> at<00:25:03.919> either 00:25:04.310 --> 00:25:04.320 align:start position:0% robotics looking at either 00:25:04.320 --> 00:25:06.149 align:start position:0% robotics looking at either you<00:25:04.400> know<00:25:04.559> biological<00:25:05.039> systems<00:25:05.360> or<00:25:05.679> networks 00:25:06.149 --> 00:25:06.159 align:start position:0% you know biological systems or networks 00:25:06.159 --> 00:25:09.029 align:start position:0% you know biological systems or networks or<00:25:06.480> other<00:25:06.640> types<00:25:06.880> of<00:25:07.279> problems 00:25:09.029 --> 00:25:09.039 align:start position:0% or other types of problems 00:25:09.039 --> 00:25:10.789 align:start position:0% or other types of problems how<00:25:09.200> did<00:25:09.360> you<00:25:09.520> get<00:25:09.760> involved<00:25:10.080> with<00:25:10.240> the 00:25:10.789 --> 00:25:10.799 align:start position:0% how did you get involved with the 00:25:10.799 --> 00:25:13.350 align:start position:0% how did you get involved with the biomolecular<00:25:11.760> feedback 00:25:13.350 --> 00:25:13.360 align:start position:0% biomolecular feedback 00:25:13.360 --> 00:25:16.789 align:start position:0% biomolecular feedback um<00:25:14.559> you<00:25:14.640> know<00:25:14.720> i<00:25:14.799> think<00:25:14.960> when<00:25:15.200> i<00:25:15.760> uh<00:25:16.320> so<00:25:16.480> i<00:25:16.559> went 00:25:16.789 --> 00:25:16.799 align:start position:0% um you know i think when i uh so i went 00:25:16.799 --> 00:25:18.390 align:start position:0% um you know i think when i uh so i went on<00:25:17.039> sabbatical<00:25:17.679> for<00:25:17.840> a<00:25:17.840> couple<00:25:18.000> of<00:25:18.080> years<00:25:18.320> and 00:25:18.390 --> 00:25:18.400 align:start position:0% on sabbatical for a couple of years and 00:25:18.400 --> 00:25:19.750 align:start position:0% on sabbatical for a couple of years and worked<00:25:18.559> at<00:25:18.640> united<00:25:18.880> technologies 00:25:19.750 --> 00:25:19.760 align:start position:0% worked at united technologies 00:25:19.760 --> 00:25:22.149 align:start position:0% worked at united technologies in<00:25:20.000> 1998<00:25:20.640> to<00:25:20.880> 2000<00:25:21.360> roughly<00:25:21.679> and<00:25:21.760> when<00:25:21.919> i<00:25:22.000> came 00:25:22.149 --> 00:25:22.159 align:start position:0% in 1998 to 2000 roughly and when i came 00:25:22.159 --> 00:25:23.830 align:start position:0% in 1998 to 2000 roughly and when i came back<00:25:22.320> from<00:25:22.480> that<00:25:22.720> i<00:25:22.799> was<00:25:22.960> the<00:25:23.200> division<00:25:23.600> chair 00:25:23.830 --> 00:25:23.840 align:start position:0% back from that i was the division chair 00:25:23.840 --> 00:25:24.870 align:start position:0% back from that i was the division chair for<00:25:23.919> engineering<00:25:24.159> applied<00:25:24.480> science 00:25:24.870 --> 00:25:24.880 align:start position:0% for engineering applied science 00:25:24.880 --> 00:25:26.149 align:start position:0% for engineering applied science here<00:25:24.960> at<00:25:25.120> caltech<00:25:25.440> which<00:25:25.600> is<00:25:25.679> kind<00:25:25.760> of<00:25:26.080> our 00:25:26.149 --> 00:25:26.159 align:start position:0% here at caltech which is kind of our 00:25:26.159 --> 00:25:27.350 align:start position:0% here at caltech which is kind of our roughly<00:25:26.480> our<00:25:26.640> dean<00:25:26.880> of<00:25:26.960> engineering 00:25:27.350 --> 00:25:27.360 align:start position:0% roughly our dean of engineering 00:25:27.360 --> 00:25:29.510 align:start position:0% roughly our dean of engineering positions<00:25:27.679> not<00:25:27.840> quite<00:25:28.000> the<00:25:28.080> same<00:25:28.320> but<00:25:28.559> roughly 00:25:29.510 --> 00:25:29.520 align:start position:0% positions not quite the same but roughly 00:25:29.520 --> 00:25:31.750 align:start position:0% positions not quite the same but roughly and<00:25:29.919> um<00:25:30.240> so<00:25:30.640> during<00:25:30.880> that<00:25:31.039> five-year<00:25:31.520> period 00:25:31.750 --> 00:25:31.760 align:start position:0% and um so during that five-year period 00:25:31.760 --> 00:25:33.750 align:start position:0% and um so during that five-year period from<00:25:31.919> 2000<00:25:32.320> 2005 00:25:33.750 --> 00:25:33.760 align:start position:0% from 2000 2005 00:25:33.760 --> 00:25:35.590 align:start position:0% from 2000 2005 i<00:25:33.840> didn't<00:25:34.159> start<00:25:34.400> anything<00:25:34.960> new<00:25:35.200> because<00:25:35.520> i 00:25:35.590 --> 00:25:35.600 align:start position:0% i didn't start anything new because i 00:25:35.600 --> 00:25:36.549 align:start position:0% i didn't start anything new because i just<00:25:35.679> didn't<00:25:35.919> have<00:25:36.000> time<00:25:36.240> because<00:25:36.400> of<00:25:36.480> my 00:25:36.549 --> 00:25:36.559 align:start position:0% just didn't have time because of my 00:25:36.559 --> 00:25:37.990 align:start position:0% just didn't have time because of my administrative<00:25:37.039> commitments<00:25:37.520> but<00:25:37.679> i<00:25:37.760> kept 00:25:37.990 --> 00:25:38.000 align:start position:0% administrative commitments but i kept 00:25:38.000 --> 00:25:39.430 align:start position:0% administrative commitments but i kept going<00:25:38.240> all<00:25:38.320> the<00:25:38.400> things<00:25:38.640> was<00:25:38.799> going<00:25:39.120> but<00:25:39.279> i<00:25:39.360> was 00:25:39.430 --> 00:25:39.440 align:start position:0% going all the things was going but i was 00:25:39.440 --> 00:25:40.710 align:start position:0% going all the things was going but i was looking<00:25:39.679> around<00:25:39.919> what's<00:25:40.159> the<00:25:40.240> next<00:25:40.480> thing<00:25:40.640> to 00:25:40.710 --> 00:25:40.720 align:start position:0% looking around what's the next thing to 00:25:40.720 --> 00:25:41.990 align:start position:0% looking around what's the next thing to do<00:25:40.960> and<00:25:41.039> i<00:25:41.200> think 00:25:41.990 --> 00:25:42.000 align:start position:0% do and i think 00:25:42.000 --> 00:25:44.710 align:start position:0% do and i think what<00:25:42.159> was<00:25:42.559> clear<00:25:42.880> i<00:25:42.960> served<00:25:43.200> on<00:25:43.360> an<00:25:43.440> isat<00:25:43.919> study 00:25:44.710 --> 00:25:44.720 align:start position:0% what was clear i served on an isat study 00:25:44.720 --> 00:25:46.549 align:start position:0% what was clear i served on an isat study in<00:25:44.880> synthetic<00:25:45.279> biology<00:25:45.760> and<00:25:45.840> what<00:25:46.000> was<00:25:46.240> clear 00:25:46.549 --> 00:25:46.559 align:start position:0% in synthetic biology and what was clear 00:25:46.559 --> 00:25:47.510 align:start position:0% in synthetic biology and what was clear was 00:25:47.510 --> 00:25:47.520 align:start position:0% was 00:25:47.520 --> 00:25:49.350 align:start position:0% was that<00:25:48.240> there<00:25:48.400> was<00:25:48.559> some<00:25:48.720> really<00:25:48.960> new<00:25:49.120> stuff 00:25:49.350 --> 00:25:49.360 align:start position:0% that there was some really new stuff 00:25:49.360 --> 00:25:51.669 align:start position:0% that there was some really new stuff happening<00:25:49.760> so<00:25:50.240> you<00:25:50.400> know<00:25:50.480> the<00:25:50.720> beginnings<00:25:51.440> of 00:25:51.669 --> 00:25:51.679 align:start position:0% happening so you know the beginnings of 00:25:51.679 --> 00:25:53.110 align:start position:0% happening so you know the beginnings of synthetic<00:25:52.080> biology<00:25:52.559> and<00:25:52.640> molecular 00:25:53.110 --> 00:25:53.120 align:start position:0% synthetic biology and molecular 00:25:53.120 --> 00:25:54.630 align:start position:0% synthetic biology and molecular programming 00:25:54.630 --> 00:25:54.640 align:start position:0% programming 00:25:54.640 --> 00:25:56.710 align:start position:0% programming are<00:25:54.799> often<00:25:55.120> traced<00:25:55.440> back<00:25:56.000> now<00:25:56.159> only<00:25:56.400> about<00:25:56.559> ten 00:25:56.710 --> 00:25:56.720 align:start position:0% are often traced back now only about ten 00:25:56.720 --> 00:25:58.070 align:start position:0% are often traced back now only about ten years<00:25:56.960> talking<00:25:57.120> about<00:25:57.279> robotics<00:25:57.600> being<00:25:57.760> fifty 00:25:58.070 --> 00:25:58.080 align:start position:0% years talking about robotics being fifty 00:25:58.080 --> 00:25:58.630 align:start position:0% years talking about robotics being fifty years 00:25:58.630 --> 00:25:58.640 align:start position:0% years 00:25:58.640 --> 00:26:01.430 align:start position:0% years uh<00:25:59.120> to<00:25:59.600> uh<00:25:59.919> things<00:26:00.240> like<00:26:00.480> the<00:26:00.720> repressolator 00:26:01.430 --> 00:26:01.440 align:start position:0% uh to uh things like the repressolator 00:26:01.440 --> 00:26:02.710 align:start position:0% uh to uh things like the repressolator which<00:26:01.600> was<00:26:01.679> something<00:26:01.919> that<00:26:02.080> michael<00:26:02.320> elowitz 00:26:02.710 --> 00:26:02.720 align:start position:0% which was something that michael elowitz 00:26:02.720 --> 00:26:03.269 align:start position:0% which was something that michael elowitz built 00:26:03.269 --> 00:26:03.279 align:start position:0% built 00:26:03.279 --> 00:26:05.190 align:start position:0% built uh<00:26:03.600> that<00:26:03.760> he<00:26:04.240> essentially<00:26:04.640> built<00:26:04.880> a<00:26:04.960> small 00:26:05.190 --> 00:26:05.200 align:start position:0% uh that he essentially built a small 00:26:05.200 --> 00:26:07.590 align:start position:0% uh that he essentially built a small oscillator<00:26:05.760> out<00:26:05.840> of<00:26:06.080> uh 00:26:07.590 --> 00:26:07.600 align:start position:0% oscillator out of uh 00:26:07.600 --> 00:26:09.669 align:start position:0% oscillator out of uh genes<00:26:08.159> pulled<00:26:08.559> from<00:26:08.720> multiple<00:26:09.120> organisms<00:26:09.600> and 00:26:09.669 --> 00:26:09.679 align:start position:0% genes pulled from multiple organisms and 00:26:09.679 --> 00:26:10.870 align:start position:0% genes pulled from multiple organisms and put<00:26:10.000> put<00:26:10.159> together<00:26:10.480> and<00:26:10.559> then 00:26:10.870 --> 00:26:10.880 align:start position:0% put put together and then 00:26:10.880 --> 00:26:13.430 align:start position:0% put put together and then you<00:26:10.960> know<00:26:11.200> sort<00:26:11.360> of<00:26:11.440> inserted<00:26:12.000> into<00:26:12.240> e<00:26:12.400> coli 00:26:13.430 --> 00:26:13.440 align:start position:0% you know sort of inserted into e coli 00:26:13.440 --> 00:26:14.230 align:start position:0% you know sort of inserted into e coli and<00:26:13.600> so 00:26:14.230 --> 00:26:14.240 align:start position:0% and so 00:26:14.240 --> 00:26:16.870 align:start position:0% and so uh<00:26:14.559> it<00:26:14.720> was<00:26:15.120> clear<00:26:15.360> during<00:26:15.600> that<00:26:15.840> time<00:26:16.240> that<00:26:16.480> uh 00:26:16.870 --> 00:26:16.880 align:start position:0% uh it was clear during that time that uh 00:26:16.880 --> 00:26:17.590 align:start position:0% uh it was clear during that time that uh some 00:26:17.590 --> 00:26:17.600 align:start position:0% some 00:26:17.600 --> 00:26:20.149 align:start position:0% some interesting<00:26:18.080> new<00:26:18.320> results<00:26:18.720> had<00:26:18.880> happened<00:26:19.600> um 00:26:20.149 --> 00:26:20.159 align:start position:0% interesting new results had happened um 00:26:20.159 --> 00:26:22.830 align:start position:0% interesting new results had happened um it<00:26:20.240> was<00:26:20.480> also<00:26:20.799> clear<00:26:21.120> that<00:26:21.440> uh 00:26:22.830 --> 00:26:22.840 align:start position:0% it was also clear that uh 00:26:22.840 --> 00:26:25.750 align:start position:0% it was also clear that uh that<00:26:23.840> both<00:26:24.240> natural<00:26:24.640> biological<00:26:25.200> systems<00:26:25.600> and 00:26:25.750 --> 00:26:25.760 align:start position:0% that both natural biological systems and 00:26:25.760 --> 00:26:27.909 align:start position:0% that both natural biological systems and likely<00:26:26.159> engineered<00:26:26.559> biological<00:26:27.039> systems 00:26:27.909 --> 00:26:27.919 align:start position:0% likely engineered biological systems 00:26:27.919 --> 00:26:29.430 align:start position:0% likely engineered biological systems we're<00:26:28.080> going<00:26:28.159> to<00:26:28.240> use<00:26:28.480> feedback<00:26:28.960> in<00:26:29.039> a<00:26:29.120> lot<00:26:29.279> of 00:26:29.430 --> 00:26:29.440 align:start position:0% we're going to use feedback in a lot of 00:26:29.440 --> 00:26:31.909 align:start position:0% we're going to use feedback in a lot of ways<00:26:29.760> and<00:26:29.919> control<00:26:30.880> in<00:26:31.039> a<00:26:31.039> lot<00:26:31.200> of<00:26:31.360> ways<00:26:31.760> to 00:26:31.909 --> 00:26:31.919 align:start position:0% ways and control in a lot of ways to 00:26:31.919 --> 00:26:33.029 align:start position:0% ways and control in a lot of ways to regulate<00:26:32.240> their<00:26:32.400> behavior 00:26:33.029 --> 00:26:33.039 align:start position:0% regulate their behavior 00:26:33.039 --> 00:26:34.070 align:start position:0% regulate their behavior and<00:26:33.120> so<00:26:33.360> it<00:26:33.440> was<00:26:33.520> something<00:26:33.760> i<00:26:33.840> started 00:26:34.070 --> 00:26:34.080 align:start position:0% and so it was something i started 00:26:34.080 --> 00:26:35.029 align:start position:0% and so it was something i started looking<00:26:34.240> at<00:26:34.400> saying<00:26:34.559> geez<00:26:34.799> you<00:26:34.880> know<00:26:34.960> this 00:26:35.029 --> 00:26:35.039 align:start position:0% looking at saying geez you know this 00:26:35.039 --> 00:26:36.710 align:start position:0% looking at saying geez you know this might<00:26:35.200> be<00:26:35.279> an<00:26:35.440> interesting<00:26:35.840> next<00:26:36.159> thing<00:26:36.400> to<00:26:36.480> go 00:26:36.710 --> 00:26:36.720 align:start position:0% might be an interesting next thing to go 00:26:36.720 --> 00:26:37.750 align:start position:0% might be an interesting next thing to go look<00:26:36.960> at 00:26:37.750 --> 00:26:37.760 align:start position:0% look at 00:26:37.760 --> 00:26:39.990 align:start position:0% look at and<00:26:37.840> so<00:26:38.000> when<00:26:38.159> i<00:26:38.320> started<00:26:38.640> to<00:26:38.720> have<00:26:38.960> time<00:26:39.679> after 00:26:39.990 --> 00:26:40.000 align:start position:0% and so when i started to have time after 00:26:40.000 --> 00:26:42.310 align:start position:0% and so when i started to have time after stepping<00:26:40.240> down<00:26:40.400> his<00:26:40.559> vision<00:26:40.799> chair 00:26:42.310 --> 00:26:42.320 align:start position:0% stepping down his vision chair 00:26:42.320 --> 00:26:44.390 align:start position:0% stepping down his vision chair i<00:26:42.960> every<00:26:43.200> time<00:26:43.360> a<00:26:43.440> project<00:26:43.760> came<00:26:44.000> up<00:26:44.080> where<00:26:44.240> it 00:26:44.390 --> 00:26:44.400 align:start position:0% i every time a project came up where it 00:26:44.400 --> 00:26:46.070 align:start position:0% i every time a project came up where it was<00:26:44.640> a<00:26:44.720> joint<00:26:45.039> project<00:26:45.360> with<00:26:45.520> somebody<00:26:45.919> to 00:26:46.070 --> 00:26:46.080 align:start position:0% was a joint project with somebody to 00:26:46.080 --> 00:26:47.350 align:start position:0% was a joint project with somebody to look<00:26:46.320> at 00:26:47.350 --> 00:26:47.360 align:start position:0% look at 00:26:47.360 --> 00:26:49.029 align:start position:0% look at something<00:26:47.760> related<00:26:48.080> to<00:26:48.240> bio<00:26:48.559> circuits<00:26:48.960> in 00:26:49.029 --> 00:26:49.039 align:start position:0% something related to bio circuits in 00:26:49.039 --> 00:26:51.510 align:start position:0% something related to bio circuits in that<00:26:49.200> scale<00:26:49.919> we<00:26:50.080> did<00:26:50.240> it 00:26:51.510 --> 00:26:51.520 align:start position:0% that scale we did it 00:26:51.520 --> 00:26:54.789 align:start position:0% that scale we did it in<00:26:52.799> probably<00:26:53.120> in<00:26:53.279> 2007<00:26:53.919> we<00:26:54.080> wrote<00:26:54.240> a<00:26:54.320> proposal 00:26:54.789 --> 00:26:54.799 align:start position:0% in probably in 2007 we wrote a proposal 00:26:54.799 --> 00:26:56.710 align:start position:0% in probably in 2007 we wrote a proposal to<00:26:54.880> the<00:26:54.960> national<00:26:55.279> science<00:26:55.600> foundation 00:26:56.710 --> 00:26:56.720 align:start position:0% to the national science foundation 00:26:56.720 --> 00:27:00.630 align:start position:0% to the national science foundation maybe<00:26:57.039> 2008<00:26:58.080> as<00:26:58.240> part<00:26:58.400> of<00:26:58.480> their<00:26:58.960> expeditions 00:27:00.630 --> 00:27:00.640 align:start position:0% maybe 2008 as part of their expeditions 00:27:00.640 --> 00:27:03.830 align:start position:0% maybe 2008 as part of their expeditions project<00:27:02.400> a<00:27:02.559> number<00:27:02.799> of<00:27:02.960> us<00:27:03.039> got<00:27:03.279> together 00:27:03.830 --> 00:27:03.840 align:start position:0% project a number of us got together 00:27:03.840 --> 00:27:06.070 align:start position:0% project a number of us got together and<00:27:04.080> wrote<00:27:04.400> a<00:27:04.559> proposal<00:27:05.120> to<00:27:05.279> do<00:27:05.600> molecular 00:27:06.070 --> 00:27:06.080 align:start position:0% and wrote a proposal to do molecular 00:27:06.080 --> 00:27:07.029 align:start position:0% and wrote a proposal to do molecular programming<00:27:06.480> so<00:27:06.559> we<00:27:06.640> started<00:27:06.880> something 00:27:07.029 --> 00:27:07.039 align:start position:0% programming so we started something 00:27:07.039 --> 00:27:08.310 align:start position:0% programming so we started something called<00:27:07.200> the<00:27:07.279> molecular<00:27:07.600> programming<00:27:08.000> project 00:27:08.310 --> 00:27:08.320 align:start position:0% called the molecular programming project 00:27:08.320 --> 00:27:09.350 align:start position:0% called the molecular programming project got<00:27:08.559> funded 00:27:09.350 --> 00:27:09.360 align:start position:0% got funded 00:27:09.360 --> 00:27:10.470 align:start position:0% got funded and<00:27:09.440> so<00:27:09.600> that's<00:27:09.760> a<00:27:09.840> number<00:27:10.000> of<00:27:10.159> us<00:27:10.240> here<00:27:10.400> at 00:27:10.470 --> 00:27:10.480 align:start position:0% and so that's a number of us here at 00:27:10.480 --> 00:27:12.789 align:start position:0% and so that's a number of us here at caltech<00:27:10.960> including<00:27:11.760> paul<00:27:12.000> rodeman<00:27:12.480> who's<00:27:12.640> the 00:27:12.789 --> 00:27:12.799 align:start position:0% caltech including paul rodeman who's the 00:27:12.799 --> 00:27:14.470 align:start position:0% caltech including paul rodeman who's the inventor<00:27:13.200> of<00:27:13.279> dean<00:27:13.520> origami<00:27:14.080> it's<00:27:14.240> just<00:27:14.400> an 00:27:14.470 --> 00:27:14.480 align:start position:0% inventor of dean origami it's just an 00:27:14.480 --> 00:27:15.750 align:start position:0% inventor of dean origami it's just an amazing<00:27:14.880> technology 00:27:15.750 --> 00:27:15.760 align:start position:0% amazing technology 00:27:15.760 --> 00:27:17.430 align:start position:0% amazing technology eric<00:27:16.000> winfrey<00:27:16.320> shooky<00:27:16.640> brook<00:27:16.799> niles<00:27:17.120> pierce 00:27:17.430 --> 00:27:17.440 align:start position:0% eric winfrey shooky brook niles pierce 00:27:17.440 --> 00:27:19.350 align:start position:0% eric winfrey shooky brook niles pierce myself<00:27:18.159> eric<00:27:18.399> clavins<00:27:18.880> who's<00:27:19.120> a 00:27:19.350 --> 00:27:19.360 align:start position:0% myself eric clavins who's a 00:27:19.360 --> 00:27:20.470 align:start position:0% myself eric clavins who's a robotics<00:27:19.760> guy<00:27:19.919> at<00:27:20.000> the<00:27:20.080> university<00:27:20.399> of 00:27:20.470 --> 00:27:20.480 align:start position:0% robotics guy at the university of 00:27:20.480 --> 00:27:21.909 align:start position:0% robotics guy at the university of washington<00:27:20.880> but<00:27:21.039> now<00:27:21.279> increasingly<00:27:21.760> doing 00:27:21.909 --> 00:27:21.919 align:start position:0% washington but now increasingly doing 00:27:21.919 --> 00:27:23.669 align:start position:0% washington but now increasingly doing things<00:27:22.159> in<00:27:22.320> biocircuits 00:27:23.669 --> 00:27:23.679 align:start position:0% things in biocircuits 00:27:23.679 --> 00:27:25.590 align:start position:0% things in biocircuits and<00:27:23.840> just<00:27:24.000> started<00:27:24.320> looking<00:27:24.559> at<00:27:25.440> you<00:27:25.520> know 00:27:25.590 --> 00:27:25.600 align:start position:0% and just started looking at you know 00:27:25.600 --> 00:27:26.789 align:start position:0% and just started looking at you know what<00:27:25.760> we<00:27:25.919> could<00:27:26.000> do<00:27:26.159> i<00:27:26.320> think<00:27:26.399> i'd<00:27:26.640> always 00:27:26.789 --> 00:27:26.799 align:start position:0% what we could do i think i'd always 00:27:26.799 --> 00:27:28.630 align:start position:0% what we could do i think i'd always thought<00:27:26.960> it'd<00:27:27.120> be<00:27:27.200> kind<00:27:27.279> of<00:27:27.440> interesting<00:27:27.919> to 00:27:28.630 --> 00:27:28.640 align:start position:0% thought it'd be kind of interesting to 00:27:28.640 --> 00:27:30.870 align:start position:0% thought it'd be kind of interesting to reprogram<00:27:29.200> chemotaxis<00:27:29.919> for<00:27:30.000> example<00:27:30.480> so 00:27:30.870 --> 00:27:30.880 align:start position:0% reprogram chemotaxis for example so 00:27:30.880 --> 00:27:33.110 align:start position:0% reprogram chemotaxis for example so chemotaxis<00:27:31.520> is<00:27:31.679> the<00:27:31.760> process<00:27:32.159> by<00:27:32.320> which 00:27:33.110 --> 00:27:33.120 align:start position:0% chemotaxis is the process by which 00:27:33.120 --> 00:27:36.389 align:start position:0% chemotaxis is the process by which organisms<00:27:34.399> find<00:27:35.120> gradients<00:27:35.760> in<00:27:36.000> nutrient 00:27:36.389 --> 00:27:36.399 align:start position:0% organisms find gradients in nutrient 00:27:36.399 --> 00:27:37.590 align:start position:0% organisms find gradients in nutrient fields<00:27:36.720> usually<00:27:37.120> and 00:27:37.590 --> 00:27:37.600 align:start position:0% fields usually and 00:27:37.600 --> 00:27:40.470 align:start position:0% fields usually and seek<00:27:37.919> out<00:27:38.399> higher<00:27:38.640> nutrient<00:27:39.039> concentrations 00:27:40.470 --> 00:27:40.480 align:start position:0% seek out higher nutrient concentrations 00:27:40.480 --> 00:27:41.269 align:start position:0% seek out higher nutrient concentrations and<00:27:40.640> so 00:27:41.269 --> 00:27:41.279 align:start position:0% and so 00:27:41.279 --> 00:27:42.549 align:start position:0% and so it<00:27:41.360> was<00:27:41.520> interesting<00:27:41.919> motion<00:27:42.159> control 00:27:42.549 --> 00:27:42.559 align:start position:0% it was interesting motion control 00:27:42.559 --> 00:27:44.070 align:start position:0% it was interesting motion control problem<00:27:42.880> looked<00:27:43.120> a<00:27:43.200> lot<00:27:43.360> it's<00:27:43.679> clearly 00:27:44.070 --> 00:27:44.080 align:start position:0% problem looked a lot it's clearly 00:27:44.080 --> 00:27:45.029 align:start position:0% problem looked a lot it's clearly something<00:27:44.320> where<00:27:44.480> they're<00:27:44.640> sensing<00:27:44.960> their 00:27:45.029 --> 00:27:45.039 align:start position:0% something where they're sensing their 00:27:45.039 --> 00:27:45.909 align:start position:0% something where they're sensing their environment<00:27:45.440> they're<00:27:45.520> moving<00:27:45.760> their 00:27:45.909 --> 00:27:45.919 align:start position:0% environment they're moving their 00:27:45.919 --> 00:27:46.870 align:start position:0% environment they're moving their environment 00:27:46.870 --> 00:27:46.880 align:start position:0% environment 00:27:46.880 --> 00:27:48.230 align:start position:0% environment and<00:27:47.039> just<00:27:47.200> kind<00:27:47.360> of<00:27:47.440> conceptually<00:27:47.919> seems<00:27:48.080> like 00:27:48.230 --> 00:27:48.240 align:start position:0% and just kind of conceptually seems like 00:27:48.240 --> 00:27:49.669 align:start position:0% and just kind of conceptually seems like well<00:27:48.399> why<00:27:48.559> can't<00:27:48.720> we<00:27:48.880> build<00:27:49.120> systems<00:27:49.440> at<00:27:49.520> that 00:27:49.669 --> 00:27:49.679 align:start position:0% well why can't we build systems at that 00:27:49.679 --> 00:27:51.269 align:start position:0% well why can't we build systems at that scale<00:27:50.080> and<00:27:50.159> do<00:27:50.320> that<00:27:50.480> and<00:27:50.640> how<00:27:50.799> might<00:27:50.960> we<00:27:51.120> do 00:27:51.269 --> 00:27:51.279 align:start position:0% scale and do that and how might we do 00:27:51.279 --> 00:27:51.990 align:start position:0% scale and do that and how might we do that 00:27:51.990 --> 00:27:52.000 align:start position:0% that 00:27:52.000 --> 00:27:53.430 align:start position:0% that and<00:27:52.080> so<00:27:52.240> molecular<00:27:52.720> programming<00:27:53.120> for<00:27:53.279> me 00:27:53.430 --> 00:27:53.440 align:start position:0% and so molecular programming for me 00:27:53.440 --> 00:27:54.710 align:start position:0% and so molecular programming for me started<00:27:53.840> as<00:27:54.000> we<00:27:54.080> started<00:27:54.320> to<00:27:54.399> think<00:27:54.559> about 00:27:54.710 --> 00:27:54.720 align:start position:0% started as we started to think about 00:27:54.720 --> 00:27:56.470 align:start position:0% started as we started to think about okay<00:27:54.960> well<00:27:55.120> could<00:27:55.360> we<00:27:55.440> do<00:27:55.600> that 00:27:56.470 --> 00:27:56.480 align:start position:0% okay well could we do that 00:27:56.480 --> 00:27:58.549 align:start position:0% okay well could we do that and<00:27:56.720> you<00:27:56.880> know<00:27:56.960> i<00:27:57.039> think<00:27:57.120> if<00:27:57.279> you<00:27:57.440> look<00:27:58.000> uh<00:27:58.320> at 00:27:58.549 --> 00:27:58.559 align:start position:0% and you know i think if you look uh at 00:27:58.559 --> 00:28:00.710 align:start position:0% and you know i think if you look uh at the<00:27:59.279> last<00:27:59.600> 10<00:27:59.840> years 00:28:00.710 --> 00:28:00.720 align:start position:0% the last 10 years 00:28:00.720 --> 00:28:02.389 align:start position:0% the last 10 years there's<00:28:00.960> just<00:28:01.200> a<00:28:01.360> lot<00:28:01.520> of<00:28:01.679> interesting<00:28:02.159> trends 00:28:02.389 --> 00:28:02.399 align:start position:0% there's just a lot of interesting trends 00:28:02.399 --> 00:28:03.990 align:start position:0% there's just a lot of interesting trends so<00:28:02.559> the<00:28:02.720> ability<00:28:03.200> to 00:28:03.990 --> 00:28:04.000 align:start position:0% so the ability to 00:28:04.000 --> 00:28:06.710 align:start position:0% so the ability to synthesize<00:28:04.480> dna<00:28:05.279> cheaply<00:28:05.760> the<00:28:06.000> ability<00:28:06.480> to 00:28:06.710 --> 00:28:06.720 align:start position:0% synthesize dna cheaply the ability to 00:28:06.720 --> 00:28:08.389 align:start position:0% synthesize dna cheaply the ability to build<00:28:07.039> things<00:28:07.360> structurally<00:28:07.919> out<00:28:08.000> of<00:28:08.080> d<00:28:08.240> and 00:28:08.389 --> 00:28:08.399 align:start position:0% build things structurally out of d and 00:28:08.399 --> 00:28:09.510 align:start position:0% build things structurally out of d and origami 00:28:09.510 --> 00:28:09.520 align:start position:0% origami 00:28:09.520 --> 00:28:11.990 align:start position:0% origami the<00:28:09.760> ability<00:28:10.240> to<00:28:10.799> build<00:28:11.120> small<00:28:11.360> bio<00:28:11.679> circuits 00:28:11.990 --> 00:28:12.000 align:start position:0% the ability to build small bio circuits 00:28:12.000 --> 00:28:13.029 align:start position:0% the ability to build small bio circuits and<00:28:12.080> get<00:28:12.159> them<00:28:12.320> to<00:28:12.399> work 00:28:13.029 --> 00:28:13.039 align:start position:0% and get them to work 00:28:13.039 --> 00:28:14.549 align:start position:0% and get them to work all<00:28:13.200> the<00:28:13.360> igem<00:28:13.679> competitions<00:28:14.240> that<00:28:14.320> are<00:28:14.399> going 00:28:14.549 --> 00:28:14.559 align:start position:0% all the igem competitions that are going 00:28:14.559 --> 00:28:16.149 align:start position:0% all the igem competitions that are going on<00:28:14.799> anyway<00:28:15.120> it's<00:28:15.600> as<00:28:15.760> a 00:28:16.149 --> 00:28:16.159 align:start position:0% on anyway it's as a 00:28:16.159 --> 00:28:17.590 align:start position:0% on anyway it's as a 10-year<00:28:16.559> period<00:28:16.960> there's<00:28:17.120> just<00:28:17.279> been<00:28:17.440> this 00:28:17.590 --> 00:28:17.600 align:start position:0% 10-year period there's just been this 00:28:17.600 --> 00:28:19.430 align:start position:0% 10-year period there's just been this nice<00:28:17.840> explosion<00:28:18.320> of<00:28:18.480> interest 00:28:19.430 --> 00:28:19.440 align:start position:0% nice explosion of interest 00:28:19.440 --> 00:28:21.909 align:start position:0% nice explosion of interest and<00:28:19.520> so<00:28:20.480> that<00:28:20.960> area<00:28:21.279> i<00:28:21.360> think<00:28:21.520> is<00:28:21.600> going<00:28:21.679> to<00:28:21.760> be 00:28:21.909 --> 00:28:21.919 align:start position:0% and so that area i think is going to be 00:28:21.919 --> 00:28:23.350 align:start position:0% and so that area i think is going to be very<00:28:22.240> interesting<00:28:22.640> for<00:28:22.799> the<00:28:22.880> next<00:28:23.039> several 00:28:23.350 --> 00:28:23.360 align:start position:0% very interesting for the next several 00:28:23.360 --> 00:28:24.230 align:start position:0% very interesting for the next several decades 00:28:24.230 --> 00:28:24.240 align:start position:0% decades 00:28:24.240 --> 00:28:26.149 align:start position:0% decades as<00:28:24.399> somebody<00:28:24.799> who<00:28:25.039> approaches<00:28:25.520> robotics<00:28:26.000> from 00:28:26.149 --> 00:28:26.159 align:start position:0% as somebody who approaches robotics from 00:28:26.159 --> 00:28:27.750 align:start position:0% as somebody who approaches robotics from very<00:28:26.320> much<00:28:26.559> a<00:28:26.640> control<00:28:27.039> theory<00:28:27.279> perspective 00:28:27.750 --> 00:28:27.760 align:start position:0% very much a control theory perspective 00:28:27.760 --> 00:28:29.590 align:start position:0% very much a control theory perspective did<00:28:27.919> you<00:28:28.080> ever<00:28:28.240> find<00:28:28.559> cybernetics<00:28:29.360> to<00:28:29.440> be 00:28:29.590 --> 00:28:29.600 align:start position:0% did you ever find cybernetics to be 00:28:29.600 --> 00:28:30.950 align:start position:0% did you ever find cybernetics to be influential 00:28:30.950 --> 00:28:30.960 align:start position:0% influential 00:28:30.960 --> 00:28:32.710 align:start position:0% influential yeah<00:28:31.200> not<00:28:31.360> so<00:28:31.520> much<00:28:31.679> i<00:28:31.760> mean<00:28:31.919> i<00:28:32.240> sort<00:28:32.399> of<00:28:32.480> read 00:28:32.710 --> 00:28:32.720 align:start position:0% yeah not so much i mean i sort of read 00:28:32.720 --> 00:28:34.549 align:start position:0% yeah not so much i mean i sort of read weiner's<00:28:33.039> book<00:28:33.279> uh<00:28:33.840> probably<00:28:34.159> only<00:28:34.399> about 00:28:34.549 --> 00:28:34.559 align:start position:0% weiner's book uh probably only about 00:28:34.559 --> 00:28:35.830 align:start position:0% weiner's book uh probably only about five<00:28:34.799> ten<00:28:34.960> years<00:28:35.200> ago<00:28:35.360> i<00:28:35.440> mean<00:28:35.520> you<00:28:35.600> sort<00:28:35.760> of 00:28:35.830 --> 00:28:35.840 align:start position:0% five ten years ago i mean you sort of 00:28:35.840 --> 00:28:37.669 align:start position:0% five ten years ago i mean you sort of knew<00:28:36.000> about<00:28:36.240> it<00:28:36.320> you<00:28:36.399> heard<00:28:36.640> about<00:28:36.880> it 00:28:37.669 --> 00:28:37.679 align:start position:0% knew about it you heard about it 00:28:37.679 --> 00:28:38.870 align:start position:0% knew about it you heard about it it's<00:28:37.840> interesting<00:28:38.240> now<00:28:38.399> because<00:28:38.640> of<00:28:38.720> course 00:28:38.870 --> 00:28:38.880 align:start position:0% it's interesting now because of course 00:28:38.880 --> 00:28:40.389 align:start position:0% it's interesting now because of course we're<00:28:39.039> coming<00:28:39.200> back<00:28:39.440> and<00:28:39.520> looking<00:28:39.760> at<00:28:39.840> biology 00:28:40.389 --> 00:28:40.399 align:start position:0% we're coming back and looking at biology 00:28:40.399 --> 00:28:41.909 align:start position:0% we're coming back and looking at biology at<00:28:40.559> a<00:28:40.640> different<00:28:40.880> scale<00:28:41.279> i<00:28:41.360> think<00:28:41.520> than<00:28:41.679> really 00:28:41.909 --> 00:28:41.919 align:start position:0% at a different scale i think than really 00:28:41.919 --> 00:28:43.190 align:start position:0% at a different scale i think than really in<00:28:42.000> some<00:28:42.159> sense<00:28:42.399> wiener<00:28:42.640> was<00:28:42.799> thinking<00:28:42.960> about 00:28:43.190 --> 00:28:43.200 align:start position:0% in some sense wiener was thinking about 00:28:43.200 --> 00:28:46.070 align:start position:0% in some sense wiener was thinking about not<00:28:43.520> well<00:28:43.679> it<00:28:43.760> was<00:28:43.919> a<00:28:44.000> pretty<00:28:44.159> broad<00:28:44.480> view<00:28:45.200> um 00:28:46.070 --> 00:28:46.080 align:start position:0% not well it was a pretty broad view um 00:28:46.080 --> 00:28:46.789 align:start position:0% not well it was a pretty broad view um and<00:28:46.240> so 00:28:46.789 --> 00:28:46.799 align:start position:0% and so 00:28:46.799 --> 00:28:50.549 align:start position:0% and so uh<00:28:48.480> you<00:28:48.640> know<00:28:48.720> this<00:28:48.960> sort<00:28:49.120> of<00:28:49.520> combination<00:28:50.240> of 00:28:50.549 --> 00:28:50.559 align:start position:0% uh you know this sort of combination of 00:28:50.559 --> 00:28:52.630 align:start position:0% uh you know this sort of combination of looking<00:28:50.880> at<00:28:51.039> biology<00:28:51.600> and<00:28:51.760> man<00:28:52.080> machine<00:28:52.480> and 00:28:52.630 --> 00:28:52.640 align:start position:0% looking at biology and man machine and 00:28:52.640 --> 00:28:54.470 align:start position:0% looking at biology and man machine and all<00:28:52.720> of<00:28:52.880> that<00:28:53.039> stuff 00:28:54.470 --> 00:28:54.480 align:start position:0% all of that stuff 00:28:54.480 --> 00:28:56.630 align:start position:0% all of that stuff never<00:28:54.720> really<00:28:55.039> influenced<00:28:55.600> i<00:28:55.679> think<00:28:56.080> directly 00:28:56.630 --> 00:28:56.640 align:start position:0% never really influenced i think directly 00:28:56.640 --> 00:28:58.149 align:start position:0% never really influenced i think directly i<00:28:56.720> mean<00:28:56.880> i<00:28:56.960> think<00:28:57.279> indirectly<00:28:57.760> did<00:28:57.919> because<00:28:58.080> of 00:28:58.149 --> 00:28:58.159 align:start position:0% i mean i think indirectly did because of 00:28:58.159 --> 00:28:59.350 align:start position:0% i mean i think indirectly did because of course<00:28:58.320> weiner<00:28:58.640> started<00:28:58.960> something<00:28:59.200> that<00:28:59.279> a 00:28:59.350 --> 00:28:59.360 align:start position:0% course weiner started something that a 00:28:59.360 --> 00:29:00.310 align:start position:0% course weiner started something that a lot<00:28:59.600> of<00:28:59.760> people 00:29:00.310 --> 00:29:00.320 align:start position:0% lot of people 00:29:00.320 --> 00:29:02.710 align:start position:0% lot of people were<00:29:00.559> influenced<00:29:01.039> by<00:29:01.440> and<00:29:02.080> and<00:29:02.320> it<00:29:02.399> just<00:29:02.559> sort 00:29:02.710 --> 00:29:02.720 align:start position:0% were influenced by and and it just sort 00:29:02.720 --> 00:29:03.830 align:start position:0% were influenced by and and it just sort of<00:29:02.880> trickled<00:29:03.279> through 00:29:03.830 --> 00:29:03.840 align:start position:0% of trickled through 00:29:03.840 --> 00:29:05.830 align:start position:0% of trickled through but<00:29:04.000> in<00:29:04.080> terms<00:29:04.320> of<00:29:04.480> the<00:29:04.640> direct<00:29:05.039> influences<00:29:05.679> of 00:29:05.830 --> 00:29:05.840 align:start position:0% but in terms of the direct influences of 00:29:05.840 --> 00:29:07.110 align:start position:0% but in terms of the direct influences of it<00:29:06.399> um 00:29:07.110 --> 00:29:07.120 align:start position:0% it um 00:29:07.120 --> 00:29:08.470 align:start position:0% it um you<00:29:07.200> know<00:29:07.360> we<00:29:07.440> didn't<00:29:07.679> really<00:29:08.000> think<00:29:08.240> all<00:29:08.320> that 00:29:08.470 --> 00:29:08.480 align:start position:0% you know we didn't really think all that 00:29:08.480 --> 00:29:10.549 align:start position:0% you know we didn't really think all that much<00:29:08.720> about<00:29:08.960> it<00:29:09.360> um<00:29:09.919> although 00:29:10.549 --> 00:29:10.559 align:start position:0% much about it um although 00:29:10.559 --> 00:29:12.470 align:start position:0% much about it um although my<00:29:10.720> first<00:29:10.960> publication<00:29:11.600> journal<00:29:11.919> publication 00:29:12.470 --> 00:29:12.480 align:start position:0% my first publication journal publication 00:29:12.480 --> 00:29:14.389 align:start position:0% my first publication journal publication was<00:29:12.640> in<00:29:12.799> systems<00:29:13.200> man<00:29:13.440> and<00:29:13.520> cybernetics<00:29:14.240> and 00:29:14.389 --> 00:29:14.399 align:start position:0% was in systems man and cybernetics and 00:29:14.399 --> 00:29:15.669 align:start position:0% was in systems man and cybernetics and actually<00:29:14.799> transaction<00:29:15.360> on 00:29:15.669 --> 00:29:15.679 align:start position:0% actually transaction on 00:29:15.679 --> 00:29:17.430 align:start position:0% actually transaction on citizens<00:29:16.080> ban<00:29:16.240> and<00:29:16.320> cybernetics<00:29:17.200> and<00:29:17.360> i 00:29:17.430 --> 00:29:17.440 align:start position:0% citizens ban and cybernetics and i 00:29:17.440 --> 00:29:19.510 align:start position:0% citizens ban and cybernetics and i remember<00:29:17.679> ralph<00:29:18.000> andrea<00:29:18.480> who<00:29:18.559> was<00:29:18.720> a<00:29:19.200> graduate 00:29:19.510 --> 00:29:19.520 align:start position:0% remember ralph andrea who was a graduate 00:29:19.520 --> 00:29:21.269 align:start position:0% remember ralph andrea who was a graduate student<00:29:19.679> here<00:29:19.840> at<00:29:19.919> keltaken 00:29:21.269 --> 00:29:21.279 align:start position:0% student here at keltaken 00:29:21.279 --> 00:29:25.110 align:start position:0% student here at keltaken got<00:29:21.440> very<00:29:21.760> involved<00:29:22.240> in<00:29:22.399> the<00:29:23.679> robocop<00:29:24.320> and 00:29:25.110 --> 00:29:25.120 align:start position:0% got very involved in the robocop and 00:29:25.120 --> 00:29:27.029 align:start position:0% got very involved in the robocop and all<00:29:25.279> of<00:29:25.360> those<00:29:25.520> sorts<00:29:25.760> of<00:29:25.919> things<00:29:26.399> and<00:29:26.559> is<00:29:26.720> now 00:29:27.029 --> 00:29:27.039 align:start position:0% all of those sorts of things and is now 00:29:27.039 --> 00:29:28.230 align:start position:0% all of those sorts of things and is now at<00:29:27.200> eth 00:29:28.230 --> 00:29:28.240 align:start position:0% at eth 00:29:28.240 --> 00:29:30.950 align:start position:0% at eth we<00:29:28.399> were<00:29:28.480> talking<00:29:28.799> about<00:29:29.039> the<00:29:29.120> fact<00:29:29.360> that<00:29:30.240> the 00:29:30.950 --> 00:29:30.960 align:start position:0% we were talking about the fact that the 00:29:30.960 --> 00:29:31.510 align:start position:0% we were talking about the fact that the control 00:29:31.510 --> 00:29:31.520 align:start position:0% control 00:29:31.520 --> 00:29:33.110 align:start position:0% control theory's<00:29:31.840> got<00:29:32.000> a<00:29:32.080> sort<00:29:32.240> of<00:29:32.320> a<00:29:32.399> bad<00:29:32.640> name<00:29:32.880> as<00:29:33.039> a 00:29:33.110 --> 00:29:33.120 align:start position:0% theory's got a sort of a bad name as a 00:29:33.120 --> 00:29:34.710 align:start position:0% theory's got a sort of a bad name as a field<00:29:33.520> because<00:29:33.760> it<00:29:33.840> doesn't<00:29:34.159> mean<00:29:34.399> anything 00:29:34.710 --> 00:29:34.720 align:start position:0% field because it doesn't mean anything 00:29:34.720 --> 00:29:35.430 align:start position:0% field because it doesn't mean anything to<00:29:34.880> anybody 00:29:35.430 --> 00:29:35.440 align:start position:0% to anybody 00:29:35.440 --> 00:29:36.870 align:start position:0% to anybody and<00:29:35.679> and<00:29:35.919> people<00:29:36.080> don't<00:29:36.240> know<00:29:36.399> quite<00:29:36.559> what<00:29:36.720> it 00:29:36.870 --> 00:29:36.880 align:start position:0% and and people don't know quite what it 00:29:36.880 --> 00:29:38.230 align:start position:0% and and people don't know quite what it is<00:29:37.039> and<00:29:37.120> it's<00:29:37.200> hard<00:29:37.360> to<00:29:37.600> describe<00:29:38.000> and<00:29:38.080> other 00:29:38.230 --> 00:29:38.240 align:start position:0% is and it's hard to describe and other 00:29:38.240 --> 00:29:39.590 align:start position:0% is and it's hard to describe and other things<00:29:38.399> we<00:29:38.559> think<00:29:38.720> we<00:29:38.880> should<00:29:39.039> rename<00:29:39.440> it<00:29:39.520> i 00:29:39.590 --> 00:29:39.600 align:start position:0% things we think we should rename it i 00:29:39.600 --> 00:29:40.549 align:start position:0% things we think we should rename it i remember<00:29:39.760> we<00:29:39.840> thought<00:29:40.000> well<00:29:40.240> we<00:29:40.320> should<00:29:40.480> go 00:29:40.549 --> 00:29:40.559 align:start position:0% remember we thought well we should go 00:29:40.559 --> 00:29:41.029 align:start position:0% remember we thought well we should go back<00:29:40.799> and 00:29:41.029 --> 00:29:41.039 align:start position:0% back and 00:29:41.039 --> 00:29:42.549 align:start position:0% back and rename<00:29:41.440> it<00:29:41.520> cyberdecks<00:29:42.159> right<00:29:42.320> you<00:29:42.399> know 00:29:42.549 --> 00:29:42.559 align:start position:0% rename it cyberdecks right you know 00:29:42.559 --> 00:29:43.990 align:start position:0% rename it cyberdecks right you know because<00:29:42.720> it<00:29:42.799> was<00:29:42.960> really<00:29:43.200> about<00:29:43.760> sort<00:29:43.919> of 00:29:43.990 --> 00:29:44.000 align:start position:0% because it was really about sort of 00:29:44.000 --> 00:29:45.830 align:start position:0% because it was really about sort of putting<00:29:44.240> feedback<00:29:44.720> in<00:29:44.880> machines<00:29:45.440> and<00:29:45.520> doing 00:29:45.830 --> 00:29:45.840 align:start position:0% putting feedback in machines and doing 00:29:45.840 --> 00:29:47.190 align:start position:0% putting feedback in machines and doing other<00:29:46.080> interesting<00:29:46.559> things 00:29:47.190 --> 00:29:47.200 align:start position:0% other interesting things 00:29:47.200 --> 00:29:49.269 align:start position:0% other interesting things that<00:29:47.440> biology<00:29:47.919> does<00:29:48.480> so<00:29:48.720> but<00:29:48.880> that<00:29:49.039> was<00:29:49.120> kind 00:29:49.269 --> 00:29:49.279 align:start position:0% that biology does so but that was kind 00:29:49.279 --> 00:29:50.710 align:start position:0% that biology does so but that was kind of<00:29:49.440> the<00:29:49.520> only<00:29:49.760> connections<00:29:50.320> that 00:29:50.710 --> 00:29:50.720 align:start position:0% of the only connections that 00:29:50.720 --> 00:29:52.870 align:start position:0% of the only connections that came<00:29:50.960> up<00:29:51.039> with<00:29:51.200> that<00:29:51.360> work<00:29:52.399> what<00:29:52.559> do<00:29:52.640> you<00:29:52.720> see 00:29:52.870 --> 00:29:52.880 align:start position:0% came up with that work what do you see 00:29:52.880 --> 00:29:54.950 align:start position:0% came up with that work what do you see as<00:29:53.039> the<00:29:53.120> big<00:29:53.360> uh<00:29:53.679> challenges<00:29:54.320> and<00:29:54.480> problems 00:29:54.950 --> 00:29:54.960 align:start position:0% as the big uh challenges and problems 00:29:54.960 --> 00:29:56.630 align:start position:0% as the big uh challenges and problems facing<00:29:55.279> robotics<00:29:55.919> in<00:29:56.000> the<00:29:56.080> next 00:29:56.630 --> 00:29:56.640 align:start position:0% facing robotics in the next 00:29:56.640 --> 00:29:57.830 align:start position:0% facing robotics in the next 10<00:29:56.880> to<00:29:56.960> 20<00:29:57.200> years<00:29:57.360> yeah<00:29:57.520> i<00:29:57.600> think<00:29:57.679> there<00:29:57.760> are<00:29:57.840> a 00:29:57.830 --> 00:29:57.840 align:start position:0% 10 to 20 years yeah i think there are a 00:29:57.840 --> 00:30:00.389 align:start position:0% 10 to 20 years yeah i think there are a lot<00:29:58.000> of<00:29:58.080> them<00:29:58.240> i<00:29:58.320> think<00:29:58.720> you<00:29:58.799> know<00:29:59.440> sorting<00:29:59.919> out 00:30:00.389 --> 00:30:00.399 align:start position:0% lot of them i think you know sorting out 00:30:00.399 --> 00:30:03.269 align:start position:0% lot of them i think you know sorting out perception<00:30:01.279> and<00:30:01.440> how<00:30:01.600> to<00:30:01.760> take<00:30:02.960> lots<00:30:03.200> of 00:30:03.269 --> 00:30:03.279 align:start position:0% perception and how to take lots of 00:30:03.279 --> 00:30:04.549 align:start position:0% perception and how to take lots of information<00:30:03.679> about<00:30:03.840> environment<00:30:04.320> very 00:30:04.549 --> 00:30:04.559 align:start position:0% information about environment very 00:30:04.559 --> 00:30:05.830 align:start position:0% information about environment very complicated<00:30:05.120> information<00:30:05.520> about<00:30:05.679> our 00:30:05.830 --> 00:30:05.840 align:start position:0% complicated information about our 00:30:05.840 --> 00:30:06.549 align:start position:0% complicated information about our environment 00:30:06.549 --> 00:30:06.559 align:start position:0% environment 00:30:06.559 --> 00:30:08.630 align:start position:0% environment and<00:30:06.880> reason<00:30:07.360> about<00:30:07.679> that<00:30:08.240> is<00:30:08.399> very 00:30:08.630 --> 00:30:08.640 align:start position:0% and reason about that is very 00:30:08.640 --> 00:30:09.909 align:start position:0% and reason about that is very interesting<00:30:09.039> so<00:30:09.200> i<00:30:09.279> think<00:30:09.440> that<00:30:09.520> was<00:30:09.679> one<00:30:09.840> of 00:30:09.909 --> 00:30:09.919 align:start position:0% interesting so i think that was one of 00:30:09.919 --> 00:30:11.110 align:start position:0% interesting so i think that was one of the<00:30:10.000> things<00:30:10.240> that<00:30:10.399> the 00:30:11.110 --> 00:30:11.120 align:start position:0% the things that the 00:30:11.120 --> 00:30:12.549 align:start position:0% the things that the darpa<00:30:11.440> grand<00:30:11.600> challenge<00:30:11.919> particularly<00:30:12.240> darpa 00:30:12.549 --> 00:30:12.559 align:start position:0% darpa grand challenge particularly darpa 00:30:12.559 --> 00:30:14.149 align:start position:0% darpa grand challenge particularly darpa urban<00:30:12.799> challenge<00:30:13.200> taught<00:30:13.440> us 00:30:14.149 --> 00:30:14.159 align:start position:0% urban challenge taught us 00:30:14.159 --> 00:30:16.230 align:start position:0% urban challenge taught us was<00:30:14.399> that<00:30:14.799> you<00:30:14.960> know<00:30:15.360> if<00:30:15.520> you<00:30:15.760> watch<00:30:16.000> what 00:30:16.230 --> 00:30:16.240 align:start position:0% was that you know if you watch what 00:30:16.240 --> 00:30:17.669 align:start position:0% was that you know if you watch what happens<00:30:16.799> as 00:30:17.669 --> 00:30:17.679 align:start position:0% happens as 00:30:17.679 --> 00:30:19.590 align:start position:0% happens as robots<00:30:18.080> move<00:30:18.320> around<00:30:18.720> in<00:30:18.799> human<00:30:19.120> environments 00:30:19.590 --> 00:30:19.600 align:start position:0% robots move around in human environments 00:30:19.600 --> 00:30:22.070 align:start position:0% robots move around in human environments and<00:30:19.679> try<00:30:19.919> and<00:30:20.080> reason<00:30:20.480> about<00:30:20.720> what<00:30:20.880> to<00:30:21.039> do 00:30:22.070 --> 00:30:22.080 align:start position:0% and try and reason about what to do 00:30:22.080 --> 00:30:25.430 align:start position:0% and try and reason about what to do i<00:30:22.159> think<00:30:22.320> you<00:30:22.480> have<00:30:22.720> to<00:30:24.880> i<00:30:24.960> think<00:30:25.120> a<00:30:25.200> lot<00:30:25.279> of<00:30:25.360> the 00:30:25.430 --> 00:30:25.440 align:start position:0% i think you have to i think a lot of the 00:30:25.440 --> 00:30:26.389 align:start position:0% i think you have to i think a lot of the techniques<00:30:25.919> out 00:30:26.389 --> 00:30:26.399 align:start position:0% techniques out 00:30:26.399 --> 00:30:27.750 align:start position:0% techniques out there<00:30:26.640> are<00:30:26.720> very<00:30:26.960> interesting<00:30:27.440> but<00:30:27.600> they're 00:30:27.750 --> 00:30:27.760 align:start position:0% there are very interesting but they're 00:30:27.760 --> 00:30:29.269 align:start position:0% there are very interesting but they're not<00:30:27.919> solving<00:30:28.320> the<00:30:28.399> entire<00:30:28.720> problem<00:30:28.960> so<00:30:29.120> one<00:30:29.279> of 00:30:29.269 --> 00:30:29.279 align:start position:0% not solving the entire problem so one of 00:30:29.279 --> 00:30:30.310 align:start position:0% not solving the entire problem so one of the<00:30:29.360> problems<00:30:29.600> we're<00:30:29.679> working<00:30:29.919> on<00:30:30.000> now<00:30:30.159> for 00:30:30.310 --> 00:30:30.320 align:start position:0% the problems we're working on now for 00:30:30.320 --> 00:30:31.269 align:start position:0% the problems we're working on now for example 00:30:31.269 --> 00:30:31.279 align:start position:0% example 00:30:31.279 --> 00:30:32.789 align:start position:0% example is<00:30:31.360> how<00:30:31.520> to<00:30:31.600> get<00:30:31.760> robots<00:30:32.159> to<00:30:32.320> navigate<00:30:32.720> in 00:30:32.789 --> 00:30:32.799 align:start position:0% is how to get robots to navigate in 00:30:32.799 --> 00:30:34.389 align:start position:0% is how to get robots to navigate in crowded<00:30:33.200> environments<00:30:33.919> and<00:30:34.000> so<00:30:34.159> i<00:30:34.240> have<00:30:34.320> a 00:30:34.389 --> 00:30:34.399 align:start position:0% crowded environments and so i have a 00:30:34.399 --> 00:30:36.389 align:start position:0% crowded environments and so i have a student<00:30:34.640> who's<00:30:34.880> working<00:30:35.120> on 00:30:36.389 --> 00:30:36.399 align:start position:0% student who's working on 00:30:36.399 --> 00:30:38.870 align:start position:0% student who's working on getting<00:30:36.640> a<00:30:36.720> robot<00:30:37.200> to<00:30:37.440> move<00:30:37.760> through<00:30:38.159> uh<00:30:38.559> the 00:30:38.870 --> 00:30:38.880 align:start position:0% getting a robot to move through uh the 00:30:38.880 --> 00:30:39.990 align:start position:0% getting a robot to move through uh the cafeteria<00:30:39.600> here 00:30:39.990 --> 00:30:40.000 align:start position:0% cafeteria here 00:30:40.000 --> 00:30:41.909 align:start position:0% cafeteria here during<00:30:40.240> lunch<00:30:40.559> hour<00:30:41.039> right<00:30:41.360> and<00:30:41.440> so<00:30:41.600> when<00:30:41.760> you 00:30:41.909 --> 00:30:41.919 align:start position:0% during lunch hour right and so when you 00:30:41.919 --> 00:30:43.269 align:start position:0% during lunch hour right and so when you do<00:30:42.080> that<00:30:42.320> you<00:30:42.480> have<00:30:42.720> to 00:30:43.269 --> 00:30:43.279 align:start position:0% do that you have to 00:30:43.279 --> 00:30:45.029 align:start position:0% do that you have to take<00:30:43.520> into<00:30:43.840> account<00:30:44.399> it's<00:30:44.640> a<00:30:44.720> crowded 00:30:45.029 --> 00:30:45.039 align:start position:0% take into account it's a crowded 00:30:45.039 --> 00:30:46.070 align:start position:0% take into account it's a crowded environment<00:30:45.360> there<00:30:45.440> are<00:30:45.520> lots<00:30:45.760> of<00:30:45.840> people 00:30:46.070 --> 00:30:46.080 align:start position:0% environment there are lots of people 00:30:46.080 --> 00:30:47.269 align:start position:0% environment there are lots of people around<00:30:46.399> you 00:30:47.269 --> 00:30:47.279 align:start position:0% around you 00:30:47.279 --> 00:30:48.950 align:start position:0% around you they<00:30:47.600> are<00:30:47.679> going<00:30:47.919> to<00:30:48.000> react<00:30:48.320> to<00:30:48.559> you<00:30:48.640> so<00:30:48.799> you 00:30:48.950 --> 00:30:48.960 align:start position:0% they are going to react to you so you 00:30:48.960 --> 00:30:50.710 align:start position:0% they are going to react to you so you can't<00:30:49.120> just<00:30:49.279> sort<00:30:49.440> of<00:30:49.520> say<00:30:49.679> well<00:30:50.159> i'll<00:30:50.399> model 00:30:50.710 --> 00:30:50.720 align:start position:0% can't just sort of say well i'll model 00:30:50.720 --> 00:30:51.990 align:start position:0% can't just sort of say well i'll model them<00:30:50.880> as<00:30:51.039> moving<00:30:51.360> in<00:30:51.440> the<00:30:51.520> way<00:30:51.679> that<00:30:51.840> they're 00:30:51.990 --> 00:30:52.000 align:start position:0% them as moving in the way that they're 00:30:52.000 --> 00:30:53.510 align:start position:0% them as moving in the way that they're going<00:30:52.159> to<00:30:52.320> move<00:30:52.720> without<00:30:53.120> taking<00:30:53.360> into 00:30:53.510 --> 00:30:53.520 align:start position:0% going to move without taking into 00:30:53.520 --> 00:30:55.590 align:start position:0% going to move without taking into account<00:30:53.840> how<00:30:54.000> they<00:30:54.159> will<00:30:54.320> react<00:30:54.640> to<00:30:54.799> me 00:30:55.590 --> 00:30:55.600 align:start position:0% account how they will react to me 00:30:55.600 --> 00:30:57.190 align:start position:0% account how they will react to me how<00:30:55.760> they<00:30:55.840> will<00:30:56.000> perceive<00:30:56.480> me<00:30:56.720> how<00:30:56.880> they<00:30:57.039> will 00:30:57.190 --> 00:30:57.200 align:start position:0% how they will perceive me how they will 00:30:57.200 --> 00:30:58.710 align:start position:0% how they will perceive me how they will perceive<00:30:57.600> each<00:30:57.840> other<00:30:58.080> you<00:30:58.159> know<00:30:58.320> if<00:30:58.480> i<00:30:58.559> see 00:30:58.710 --> 00:30:58.720 align:start position:0% perceive each other you know if i see 00:30:58.720 --> 00:30:59.830 align:start position:0% perceive each other you know if i see two<00:30:58.880> people<00:30:59.039> coming<00:30:59.279> together<00:30:59.519> one<00:30:59.679> of<00:30:59.760> them's 00:30:59.830 --> 00:30:59.840 align:start position:0% two people coming together one of them's 00:30:59.840 --> 00:31:00.870 align:start position:0% two people coming together one of them's going<00:30:59.919> to<00:31:00.000> slow<00:31:00.240> down<00:31:00.399> the<00:31:00.480> other<00:31:00.640> one's<00:31:00.799> going 00:31:00.870 --> 00:31:00.880 align:start position:0% going to slow down the other one's going 00:31:00.880 --> 00:31:01.509 align:start position:0% going to slow down the other one's going to<00:31:00.960> go<00:31:01.039> by 00:31:01.509 --> 00:31:01.519 align:start position:0% to go by 00:31:01.519 --> 00:31:03.190 align:start position:0% to go by how<00:31:01.679> do<00:31:01.760> i<00:31:01.840> take<00:31:02.000> that<00:31:02.159> into<00:31:02.320> account<00:31:02.960> all<00:31:03.120> of 00:31:03.190 --> 00:31:03.200 align:start position:0% how do i take that into account all of 00:31:03.200 --> 00:31:05.190 align:start position:0% how do i take that into account all of that<00:31:03.440> thinking<00:31:03.679> about<00:31:04.240> how<00:31:04.399> do<00:31:04.559> you<00:31:04.720> perceive 00:31:05.190 --> 00:31:05.200 align:start position:0% that thinking about how do you perceive 00:31:05.200 --> 00:31:06.710 align:start position:0% that thinking about how do you perceive the<00:31:05.360> environment<00:31:05.840> around<00:31:06.080> you<00:31:06.240> how<00:31:06.399> do<00:31:06.480> you 00:31:06.710 --> 00:31:06.720 align:start position:0% the environment around you how do you 00:31:06.720 --> 00:31:08.470 align:start position:0% the environment around you how do you represent<00:31:07.279> in<00:31:07.360> some<00:31:07.519> way<00:31:07.679> the<00:31:07.840> environment 00:31:08.470 --> 00:31:08.480 align:start position:0% represent in some way the environment 00:31:08.480 --> 00:31:10.549 align:start position:0% represent in some way the environment how<00:31:08.640> do<00:31:08.720> you<00:31:08.880> reason<00:31:09.200> about<00:31:09.519> that<00:31:10.000> um<00:31:10.240> that<00:31:10.480> i 00:31:10.549 --> 00:31:10.559 align:start position:0% how do you reason about that um that i 00:31:10.559 --> 00:31:12.230 align:start position:0% how do you reason about that um that i think<00:31:10.799> is<00:31:11.039> an<00:31:11.120> enormous<00:31:11.600> and<00:31:11.760> interesting 00:31:12.230 --> 00:31:12.240 align:start position:0% think is an enormous and interesting 00:31:12.240 --> 00:31:13.669 align:start position:0% think is an enormous and interesting challenge 00:31:13.669 --> 00:31:13.679 align:start position:0% challenge 00:31:13.679 --> 00:31:15.350 align:start position:0% challenge in<00:31:13.840> many<00:31:14.080> of<00:31:14.320> the<00:31:14.640> applications<00:31:15.120> that<00:31:15.200> we're 00:31:15.350 --> 00:31:15.360 align:start position:0% in many of the applications that we're 00:31:15.360 --> 00:31:16.789 align:start position:0% in many of the applications that we're still<00:31:15.600> interested<00:31:16.000> in<00:31:16.159> we're<00:31:16.320> interested<00:31:16.720> in 00:31:16.789 --> 00:31:16.799 align:start position:0% still interested in we're interested in 00:31:16.799 --> 00:31:18.630 align:start position:0% still interested in we're interested in things<00:31:17.039> where<00:31:17.200> you<00:31:17.360> can 00:31:18.630 --> 00:31:18.640 align:start position:0% things where you can 00:31:18.640 --> 00:31:20.950 align:start position:0% things where you can more<00:31:18.799> or<00:31:18.880> less<00:31:19.519> certify<00:31:20.080> at<00:31:20.240> some<00:31:20.480> level<00:31:20.799> the 00:31:20.950 --> 00:31:20.960 align:start position:0% more or less certify at some level the 00:31:20.960 --> 00:31:22.789 align:start position:0% more or less certify at some level the correct<00:31:21.360> behavior<00:31:21.760> will<00:31:22.000> take 00:31:22.789 --> 00:31:22.799 align:start position:0% correct behavior will take 00:31:22.799 --> 00:31:25.190 align:start position:0% correct behavior will take place<00:31:23.440> and<00:31:23.600> so<00:31:24.080> these<00:31:24.320> things<00:31:24.480> where<00:31:24.640> we<00:31:24.880> move 00:31:25.190 --> 00:31:25.200 align:start position:0% place and so these things where we move 00:31:25.200 --> 00:31:26.230 align:start position:0% place and so these things where we move from 00:31:26.230 --> 00:31:26.240 align:start position:0% from 00:31:26.240 --> 00:31:28.230 align:start position:0% from kind<00:31:26.399> of<00:31:26.480> the<00:31:26.640> lower<00:31:26.960> levels<00:31:27.279> of<00:31:27.360> control<00:31:28.000> to 00:31:28.230 --> 00:31:28.240 align:start position:0% kind of the lower levels of control to 00:31:28.240 --> 00:31:30.470 align:start position:0% kind of the lower levels of control to control<00:31:28.559> at<00:31:28.640> higher<00:31:28.960> levels<00:31:29.200> of<00:31:29.360> abstraction 00:31:30.470 --> 00:31:30.480 align:start position:0% control at higher levels of abstraction 00:31:30.480 --> 00:31:32.870 align:start position:0% control at higher levels of abstraction but<00:31:30.640> we<00:31:30.880> still<00:31:31.120> want<00:31:31.360> to<00:31:31.840> have<00:31:32.080> specifications 00:31:32.870 --> 00:31:32.880 align:start position:0% but we still want to have specifications 00:31:32.880 --> 00:31:34.070 align:start position:0% but we still want to have specifications of<00:31:32.960> what<00:31:33.120> proper<00:31:33.360> behavior<00:31:33.840> is<00:31:34.000> and 00:31:34.070 --> 00:31:34.080 align:start position:0% of what proper behavior is and 00:31:34.080 --> 00:31:35.509 align:start position:0% of what proper behavior is and synthesize<00:31:34.640> controllers<00:31:35.200> that 00:31:35.509 --> 00:31:35.519 align:start position:0% synthesize controllers that 00:31:35.519 --> 00:31:37.110 align:start position:0% synthesize controllers that satisfy<00:31:36.000> those<00:31:36.159> specifications<00:31:36.880> but<00:31:37.039> the 00:31:37.110 --> 00:31:37.120 align:start position:0% satisfy those specifications but the 00:31:37.120 --> 00:31:39.190 align:start position:0% satisfy those specifications but the specs<00:31:37.519> are<00:31:37.600> no<00:31:37.760> longer<00:31:38.399> you<00:31:38.480> know 00:31:39.190 --> 00:31:39.200 align:start position:0% specs are no longer you know 00:31:39.200 --> 00:31:41.830 align:start position:0% specs are no longer you know track<00:31:39.679> with<00:31:40.000> you<00:31:40.080> know<00:31:40.480> uh<00:31:41.200> one<00:31:41.360> micron 00:31:41.830 --> 00:31:41.840 align:start position:0% track with you know uh one micron 00:31:41.840 --> 00:31:42.870 align:start position:0% track with you know uh one micron accuracy<00:31:42.559> or 00:31:42.870 --> 00:31:42.880 align:start position:0% accuracy or 00:31:42.880 --> 00:31:44.470 align:start position:0% accuracy or no<00:31:43.120> overshoot<00:31:43.600> passes<00:31:44.080> sort<00:31:44.159> of<00:31:44.320> these 00:31:44.470 --> 00:31:44.480 align:start position:0% no overshoot passes sort of these 00:31:44.480 --> 00:31:46.310 align:start position:0% no overshoot passes sort of these traditional<00:31:44.960> specifications<00:31:45.840> that<00:31:46.000> might<00:31:46.159> be 00:31:46.310 --> 00:31:46.320 align:start position:0% traditional specifications that might be 00:31:46.320 --> 00:31:48.070 align:start position:0% traditional specifications that might be relevant<00:31:46.640> to<00:31:46.720> manufacturing<00:31:47.279> robotics<00:31:47.760> but 00:31:48.070 --> 00:31:48.080 align:start position:0% relevant to manufacturing robotics but 00:31:48.080 --> 00:31:49.269 align:start position:0% relevant to manufacturing robotics but really<00:31:48.399> are<00:31:48.559> the<00:31:48.640> wrong<00:31:48.880> thing<00:31:49.039> if<00:31:49.200> you're 00:31:49.269 --> 00:31:49.279 align:start position:0% really are the wrong thing if you're 00:31:49.279 --> 00:31:51.509 align:start position:0% really are the wrong thing if you're talking<00:31:49.519> about<00:31:49.679> robots<00:31:50.080> that<00:31:50.240> are<00:31:50.320> going<00:31:50.559> to 00:31:51.509 --> 00:31:51.519 align:start position:0% talking about robots that are going to 00:31:51.519 --> 00:31:53.590 align:start position:0% talking about robots that are going to be<00:31:52.159> interacting<00:31:52.720> with<00:31:52.880> society<00:31:53.440> or 00:31:53.590 --> 00:31:53.600 align:start position:0% be interacting with society or 00:31:53.600 --> 00:31:55.029 align:start position:0% be interacting with society or interacting<00:31:54.080> with<00:31:54.240> humans<00:31:54.559> or<00:31:54.640> whatever<00:31:54.880> it 00:31:55.029 --> 00:31:55.039 align:start position:0% interacting with humans or whatever it 00:31:55.039 --> 00:31:56.230 align:start position:0% interacting with humans or whatever it is<00:31:55.120> and<00:31:55.200> you<00:31:55.279> want<00:31:55.440> to<00:31:55.519> say<00:31:55.760> hey<00:31:55.919> look<00:31:56.080> i'm 00:31:56.230 --> 00:31:56.240 align:start position:0% is and you want to say hey look i'm 00:31:56.240 --> 00:31:57.909 align:start position:0% is and you want to say hey look i'm going to<00:31:56.320> build<00:31:56.559> a<00:31:56.640> driving<00:31:56.880> robot<00:31:57.200> how<00:31:57.360> do<00:31:57.440> i 00:31:57.909 --> 00:31:57.919 align:start position:0% going to build a driving robot how do i 00:31:57.919 --> 00:32:00.389 align:start position:0% going to build a driving robot how do i design<00:31:58.480> the<00:31:58.960> control<00:31:59.360> protocol<00:31:59.919> that<00:32:00.080> tells 00:32:00.389 --> 00:32:00.399 align:start position:0% design the control protocol that tells 00:32:00.399 --> 00:32:01.909 align:start position:0% design the control protocol that tells me<00:32:00.559> you<00:32:00.720> know<00:32:00.880> when<00:32:01.039> to<00:32:01.120> change<00:32:01.440> lanes<00:32:01.679> when<00:32:01.840> to 00:32:01.909 --> 00:32:01.919 align:start position:0% me you know when to change lanes when to 00:32:01.919 --> 00:32:02.950 align:start position:0% me you know when to change lanes when to go<00:32:02.000> through<00:32:02.159> intersections 00:32:02.950 --> 00:32:02.960 align:start position:0% go through intersections 00:32:02.960 --> 00:32:05.909 align:start position:0% go through intersections uh<00:32:03.279> how<00:32:03.440> to<00:32:03.679> react<00:32:04.159> to<00:32:04.399> unexpected<00:32:05.039> events<00:32:05.840> in 00:32:05.909 --> 00:32:05.919 align:start position:0% uh how to react to unexpected events in 00:32:05.919 --> 00:32:08.070 align:start position:0% uh how to react to unexpected events in a<00:32:06.080> way<00:32:06.240> that<00:32:06.399> i<00:32:06.559> know<00:32:06.799> that<00:32:06.960> it 00:32:08.070 --> 00:32:08.080 align:start position:0% a way that i know that it 00:32:08.080 --> 00:32:09.590 align:start position:0% a way that i know that it will<00:32:08.320> never<00:32:08.559> run<00:32:08.720> into<00:32:08.960> anything<00:32:09.279> right<00:32:09.519> and 00:32:09.590 --> 00:32:09.600 align:start position:0% will never run into anything right and 00:32:09.600 --> 00:32:11.990 align:start position:0% will never run into anything right and then<00:32:10.000> of<00:32:10.159> course<00:32:11.039> there's 00:32:11.990 --> 00:32:12.000 align:start position:0% then of course there's 00:32:12.000 --> 00:32:14.389 align:start position:0% then of course there's you've<00:32:12.240> got<00:32:12.399> some<00:32:13.360> abstracted<00:32:14.000> version<00:32:14.320> of 00:32:14.389 --> 00:32:14.399 align:start position:0% you've got some abstracted version of 00:32:14.399 --> 00:32:15.750 align:start position:0% you've got some abstracted version of that<00:32:14.559> problem<00:32:14.960> that<00:32:15.039> you<00:32:15.200> need<00:32:15.360> to 00:32:15.750 --> 00:32:15.760 align:start position:0% that problem that you need to 00:32:15.760 --> 00:32:17.430 align:start position:0% that problem that you need to be<00:32:15.919> able<00:32:16.080> to<00:32:16.159> solve<00:32:16.480> and<00:32:16.559> then<00:32:17.039> getting<00:32:17.279> it<00:32:17.360> to 00:32:17.430 --> 00:32:17.440 align:start position:0% be able to solve and then getting it to 00:32:17.440 --> 00:32:19.350 align:start position:0% be able to solve and then getting it to work<00:32:17.919> robustly<00:32:18.480> and<00:32:18.559> reliable<00:32:18.960> and<00:32:19.120> all<00:32:19.200> that 00:32:19.350 --> 00:32:19.360 align:start position:0% work robustly and reliable and all that 00:32:19.360 --> 00:32:20.549 align:start position:0% work robustly and reliable and all that stuff<00:32:19.519> is<00:32:19.600> yet<00:32:19.840> another<00:32:20.080> channel<00:32:20.320> so<00:32:20.399> i<00:32:20.480> think 00:32:20.549 --> 00:32:20.559 align:start position:0% stuff is yet another channel so i think 00:32:20.559 --> 00:32:22.230 align:start position:0% stuff is yet another channel so i think all<00:32:20.720> of<00:32:20.799> those<00:32:21.039> are<00:32:21.120> interesting 00:32:22.230 --> 00:32:22.240 align:start position:0% all of those are interesting 00:32:22.240 --> 00:32:23.669 align:start position:0% all of those are interesting so<00:32:22.480> it<00:32:22.559> seems<00:32:22.799> like<00:32:22.960> you've<00:32:23.200> worked<00:32:23.519> in<00:32:23.600> a 00:32:23.669 --> 00:32:23.679 align:start position:0% so it seems like you've worked in a 00:32:23.679 --> 00:32:26.310 align:start position:0% so it seems like you've worked in a number<00:32:24.000> of<00:32:24.960> i<00:32:25.039> don't<00:32:25.200> know 00:32:26.310 --> 00:32:26.320 align:start position:0% number of i don't know 00:32:26.320 --> 00:32:28.389 align:start position:0% number of i don't know places<00:32:26.880> in<00:32:27.039> your<00:32:27.200> career<00:32:27.600> come<00:32:27.840> across<00:32:28.159> this 00:32:28.389 --> 00:32:28.399 align:start position:0% places in your career come across this 00:32:28.399 --> 00:32:29.909 align:start position:0% places in your career come across this issue<00:32:28.640> of<00:32:29.200> um 00:32:29.909 --> 00:32:29.919 align:start position:0% issue of um 00:32:29.919 --> 00:32:32.149 align:start position:0% issue of um the<00:32:30.480> robot<00:32:30.960> somehow<00:32:31.440> interacting<00:32:31.919> with<00:32:32.080> a 00:32:32.149 --> 00:32:32.159 align:start position:0% the robot somehow interacting with a 00:32:32.159 --> 00:32:33.269 align:start position:0% the robot somehow interacting with a human<00:32:32.559> or 00:32:33.269 --> 00:32:33.279 align:start position:0% human or 00:32:33.279 --> 00:32:34.710 align:start position:0% human or being<00:32:33.519> part<00:32:33.760> of<00:32:33.919> a<00:32:34.000> kind<00:32:34.159> of<00:32:34.320> human 00:32:34.710 --> 00:32:34.720 align:start position:0% being part of a kind of human 00:32:34.720 --> 00:32:36.950 align:start position:0% being part of a kind of human environment<00:32:35.200> so<00:32:35.360> how<00:32:35.440> do<00:32:35.600> you<00:32:35.760> deal<00:32:36.080> with 00:32:36.950 --> 00:32:36.960 align:start position:0% environment so how do you deal with 00:32:36.960 --> 00:32:40.070 align:start position:0% environment so how do you deal with uh<00:32:37.360> kind<00:32:37.519> of<00:32:37.679> people<00:32:38.159> in<00:32:38.320> that<00:32:39.120> context 00:32:40.070 --> 00:32:40.080 align:start position:0% uh kind of people in that context 00:32:40.080 --> 00:32:41.350 align:start position:0% uh kind of people in that context yeah<00:32:40.399> so<00:32:40.640> you<00:32:40.799> know<00:32:40.880> i<00:32:40.960> think<00:32:41.039> when<00:32:41.200> we<00:32:41.279> were 00:32:41.350 --> 00:32:41.360 align:start position:0% yeah so you know i think when we were 00:32:41.360 --> 00:32:43.830 align:start position:0% yeah so you know i think when we were doing<00:32:41.600> the<00:32:42.240> so<00:32:42.399> in<00:32:42.559> the<00:32:43.039> things<00:32:43.360> that<00:32:43.600> we 00:32:43.830 --> 00:32:43.840 align:start position:0% doing the so in the things that we 00:32:43.840 --> 00:32:45.269 align:start position:0% doing the so in the things that we originally<00:32:44.559> worked<00:32:44.880> on 00:32:45.269 --> 00:32:45.279 align:start position:0% originally worked on 00:32:45.279 --> 00:32:46.470 align:start position:0% originally worked on we<00:32:45.440> weren't<00:32:45.679> worried<00:32:46.000> about<00:32:46.159> humans 00:32:46.470 --> 00:32:46.480 align:start position:0% we weren't worried about humans 00:32:46.480 --> 00:32:48.630 align:start position:0% we weren't worried about humans interaction<00:32:46.960> with<00:32:47.039> humans<00:32:48.159> in<00:32:48.320> the<00:32:48.399> urban 00:32:48.630 --> 00:32:48.640 align:start position:0% interaction with humans in the urban 00:32:48.640 --> 00:32:50.070 align:start position:0% interaction with humans in the urban challenge<00:32:48.960> it<00:32:49.039> became<00:32:49.360> clear<00:32:49.600> that<00:32:49.679> we<00:32:49.840> needed 00:32:50.070 --> 00:32:50.080 align:start position:0% challenge it became clear that we needed 00:32:50.080 --> 00:32:51.269 align:start position:0% challenge it became clear that we needed to<00:32:50.159> think<00:32:50.320> about<00:32:50.480> how<00:32:50.640> to<00:32:50.720> do<00:32:50.880> that<00:32:51.120> and<00:32:51.200> that 00:32:51.269 --> 00:32:51.279 align:start position:0% to think about how to do that and that 00:32:51.279 --> 00:32:52.789 align:start position:0% to think about how to do that and that there<00:32:51.440> were<00:32:51.519> some<00:32:51.679> interesting<00:32:52.159> problems 00:32:52.789 --> 00:32:52.799 align:start position:0% there were some interesting problems 00:32:52.799 --> 00:32:54.310 align:start position:0% there were some interesting problems and<00:32:52.960> so<00:32:53.440> there<00:32:53.679> of<00:32:53.760> course<00:32:53.919> it<00:32:54.000> was<00:32:54.159> very 00:32:54.310 --> 00:32:54.320 align:start position:0% and so there of course it was very 00:32:54.320 --> 00:32:55.669 align:start position:0% and so there of course it was very structured<00:32:54.799> because<00:32:55.120> you're<00:32:55.279> not<00:32:55.440> dealing 00:32:55.669 --> 00:32:55.679 align:start position:0% structured because you're not dealing 00:32:55.679 --> 00:32:56.230 align:start position:0% structured because you're not dealing with 00:32:56.230 --> 00:32:56.240 align:start position:0% with 00:32:56.240 --> 00:32:58.149 align:start position:0% with humans<00:32:57.039> walking<00:32:57.519> and<00:32:57.600> running<00:32:57.840> and<00:32:57.919> doing 00:32:58.149 --> 00:32:58.159 align:start position:0% humans walking and running and doing 00:32:58.159 --> 00:32:59.909 align:start position:0% humans walking and running and doing other<00:32:58.320> things<00:32:58.480> in<00:32:58.640> that<00:32:58.880> context 00:32:59.909 --> 00:32:59.919 align:start position:0% other things in that context 00:32:59.919 --> 00:33:02.149 align:start position:0% other things in that context it<00:33:00.000> was<00:33:00.320> just<00:33:00.880> human-controlled<00:33:01.679> machines 00:33:02.149 --> 00:33:02.159 align:start position:0% it was just human-controlled machines 00:33:02.159 --> 00:33:02.950 align:start position:0% it was just human-controlled machines but<00:33:02.320> the<00:33:02.399> machines 00:33:02.950 --> 00:33:02.960 align:start position:0% but the machines 00:33:02.960 --> 00:33:05.190 align:start position:0% but the machines obeyed<00:33:03.279> the<00:33:03.440> same<00:33:03.760> dynamics<00:33:04.399> that<00:33:04.640> you<00:33:04.799> did<00:33:05.039> or 00:33:05.190 --> 00:33:05.200 align:start position:0% obeyed the same dynamics that you did or 00:33:05.200 --> 00:33:05.990 align:start position:0% obeyed the same dynamics that you did or at<00:33:05.279> least<00:33:05.600> you<00:33:05.679> know 00:33:05.990 --> 00:33:06.000 align:start position:0% at least you know 00:33:06.000 --> 00:33:07.990 align:start position:0% at least you know if<00:33:06.240> if<00:33:06.399> a<00:33:06.480> car<00:33:06.720> is<00:33:06.799> moving<00:33:07.120> at<00:33:07.200> this<00:33:07.440> speed<00:33:07.919> i 00:33:07.990 --> 00:33:08.000 align:start position:0% if if a car is moving at this speed i 00:33:08.000 --> 00:33:09.269 align:start position:0% if if a car is moving at this speed i can<00:33:08.159> predict<00:33:08.559> over<00:33:08.640> the<00:33:08.720> next<00:33:08.880> second<00:33:09.120> where 00:33:09.269 --> 00:33:09.279 align:start position:0% can predict over the next second where 00:33:09.279 --> 00:33:09.990 align:start position:0% can predict over the next second where it's<00:33:09.440> going<00:33:09.519> to<00:33:09.519> be<00:33:09.679> with<00:33:09.760> high 00:33:09.990 --> 00:33:10.000 align:start position:0% it's going to be with high 00:33:10.000 --> 00:33:11.430 align:start position:0% it's going to be with high accuracy<00:33:10.399> over<00:33:10.559> the<00:33:10.640> next<00:33:10.880> minute<00:33:11.120> with<00:33:11.200> much 00:33:11.430 --> 00:33:11.440 align:start position:0% accuracy over the next minute with much 00:33:11.440 --> 00:33:13.029 align:start position:0% accuracy over the next minute with much less<00:33:11.679> accuracy<00:33:12.240> but<00:33:12.399> those<00:33:12.640> were<00:33:12.799> sort<00:33:12.880> of 00:33:13.029 --> 00:33:13.039 align:start position:0% less accuracy but those were sort of 00:33:13.039 --> 00:33:14.149 align:start position:0% less accuracy but those were sort of tractable<00:33:13.519> problems 00:33:14.149 --> 00:33:14.159 align:start position:0% tractable problems 00:33:14.159 --> 00:33:16.710 align:start position:0% tractable problems um<00:33:14.399> i<00:33:14.559> think<00:33:14.720> the<00:33:14.799> things<00:33:15.120> where<00:33:16.159> we<00:33:16.399> interact 00:33:16.710 --> 00:33:16.720 align:start position:0% um i think the things where we interact 00:33:16.720 --> 00:33:17.909 align:start position:0% um i think the things where we interact with<00:33:16.799> humans<00:33:17.120> as<00:33:17.279> humans 00:33:17.909 --> 00:33:17.919 align:start position:0% with humans as humans 00:33:17.919 --> 00:33:20.070 align:start position:0% with humans as humans um<00:33:18.480> get<00:33:18.720> a<00:33:18.799> lot<00:33:18.960> more<00:33:19.120> complicated<00:33:19.840> and<00:33:19.919> so 00:33:20.070 --> 00:33:20.080 align:start position:0% um get a lot more complicated and so 00:33:20.080 --> 00:33:21.190 align:start position:0% um get a lot more complicated and so we're<00:33:20.240> seeing<00:33:20.480> this<00:33:20.720> in<00:33:20.799> some<00:33:20.880> of<00:33:20.960> the<00:33:21.039> work 00:33:21.190 --> 00:33:21.200 align:start position:0% we're seeing this in some of the work 00:33:21.200 --> 00:33:22.070 align:start position:0% we're seeing this in some of the work that<00:33:21.360> we're<00:33:21.440> doing 00:33:22.070 --> 00:33:22.080 align:start position:0% that we're doing 00:33:22.080 --> 00:33:23.750 align:start position:0% that we're doing in<00:33:22.159> the<00:33:22.240> cafeteria<00:33:22.880> where<00:33:23.120> you<00:33:23.279> know<00:33:23.519> how<00:33:23.679> do 00:33:23.750 --> 00:33:23.760 align:start position:0% in the cafeteria where you know how do 00:33:23.760 --> 00:33:25.269 align:start position:0% in the cafeteria where you know how do you<00:33:23.919> represent<00:33:24.320> the<00:33:24.480> way<00:33:24.799> that 00:33:25.269 --> 00:33:25.279 align:start position:0% you represent the way that 00:33:25.279 --> 00:33:28.630 align:start position:0% you represent the way that uh<00:33:26.480> 50<00:33:26.880> people<00:33:27.200> interact<00:33:27.679> with<00:33:27.919> each<00:33:28.080> other 00:33:28.630 --> 00:33:28.640 align:start position:0% uh 50 people interact with each other 00:33:28.640 --> 00:33:30.630 align:start position:0% uh 50 people interact with each other um<00:33:29.120> and<00:33:29.279> we<00:33:29.440> do<00:33:29.600> this<00:33:29.840> sort<00:33:30.000> of<00:33:30.080> naturally<00:33:30.559> as 00:33:30.630 --> 00:33:30.640 align:start position:0% um and we do this sort of naturally as 00:33:30.640 --> 00:33:32.149 align:start position:0% um and we do this sort of naturally as we<00:33:31.039> sort<00:33:31.200> of<00:33:31.279> move<00:33:31.440> through<00:33:31.600> an<00:33:31.760> environment 00:33:32.149 --> 00:33:32.159 align:start position:0% we sort of move through an environment 00:33:32.159 --> 00:33:33.430 align:start position:0% we sort of move through an environment you<00:33:32.240> see<00:33:32.399> that<00:33:32.559> somebody's<00:33:32.880> coming<00:33:33.120> up<00:33:33.279> you 00:33:33.430 --> 00:33:33.440 align:start position:0% you see that somebody's coming up you 00:33:33.440 --> 00:33:34.870 align:start position:0% you see that somebody's coming up you slow<00:33:33.600> down<00:33:33.760> you<00:33:33.840> speed<00:33:34.080> up<00:33:34.159> whatever 00:33:34.870 --> 00:33:34.880 align:start position:0% slow down you speed up whatever 00:33:34.880 --> 00:33:38.549 align:start position:0% slow down you speed up whatever um<00:33:36.080> and<00:33:36.399> and<00:33:36.799> i<00:33:36.880> don't<00:33:37.120> think<00:33:37.279> we<00:33:37.519> know 00:33:38.549 --> 00:33:38.559 align:start position:0% um and and i don't think we know 00:33:38.559 --> 00:33:40.230 align:start position:0% um and and i don't think we know how<00:33:38.720> to<00:33:38.880> describe<00:33:39.279> how<00:33:39.519> we<00:33:39.600> do<00:33:39.760> it<00:33:39.919> it's<00:33:40.080> just 00:33:40.230 --> 00:33:40.240 align:start position:0% how to describe how we do it it's just 00:33:40.240 --> 00:33:41.750 align:start position:0% how to describe how we do it it's just sort<00:33:40.399> of<00:33:40.480> built<00:33:40.720> in<00:33:40.880> in<00:33:40.960> fact<00:33:41.120> we<00:33:41.279> also<00:33:41.440> do<00:33:41.600> some 00:33:41.750 --> 00:33:41.760 align:start position:0% sort of built in in fact we also do some 00:33:41.760 --> 00:33:42.389 align:start position:0% sort of built in in fact we also do some work<00:33:42.000> in 00:33:42.389 --> 00:33:42.399 align:start position:0% work in 00:33:42.399 --> 00:33:44.470 align:start position:0% work in uh<00:33:42.799> insect<00:33:43.200> flight<00:33:43.519> control<00:33:44.000> and<00:33:44.159> insect 00:33:44.470 --> 00:33:44.480 align:start position:0% uh insect flight control and insect 00:33:44.480 --> 00:33:46.230 align:start position:0% uh insect flight control and insect control<00:33:44.799> systems<00:33:45.120> of<00:33:45.200> various<00:33:45.440> sorts<00:33:45.760> and 00:33:46.230 --> 00:33:46.240 align:start position:0% control systems of various sorts and 00:33:46.240 --> 00:33:48.389 align:start position:0% control systems of various sorts and not<00:33:46.480> our<00:33:46.640> work<00:33:46.799> but<00:33:46.960> work<00:33:47.200> of<00:33:47.279> pedro<00:33:47.840> parona 00:33:48.389 --> 00:33:48.399 align:start position:0% not our work but work of pedro parona 00:33:48.399 --> 00:33:49.750 align:start position:0% not our work but work of pedro parona here<00:33:48.559> at<00:33:48.559> caltech<00:33:48.960> and<00:33:49.039> michael<00:33:49.200> dickinson<00:33:49.679> at 00:33:49.750 --> 00:33:49.760 align:start position:0% here at caltech and michael dickinson at 00:33:49.760 --> 00:33:51.110 align:start position:0% here at caltech and michael dickinson at university<00:33:50.080> of<00:33:50.159> washington 00:33:51.110 --> 00:33:51.120 align:start position:0% university of washington 00:33:51.120 --> 00:33:53.750 align:start position:0% university of washington has<00:33:51.360> looked<00:33:51.600> at<00:33:51.679> how<00:33:52.080> flies<00:33:53.039> move<00:33:53.279> around<00:33:53.679> and 00:33:53.750 --> 00:33:53.760 align:start position:0% has looked at how flies move around and 00:33:53.760 --> 00:33:55.110 align:start position:0% has looked at how flies move around and you<00:33:53.840> see<00:33:54.000> things<00:33:54.240> that<00:33:54.320> look<00:33:54.559> very<00:33:54.720> similar<00:33:55.039> to 00:33:55.110 --> 00:33:55.120 align:start position:0% you see things that look very similar to 00:33:55.120 --> 00:33:55.509 align:start position:0% you see things that look very similar to what 00:33:55.509 --> 00:33:55.519 align:start position:0% what 00:33:55.519 --> 00:33:57.669 align:start position:0% what humans<00:33:55.919> do<00:33:56.080> that<00:33:56.320> is<00:33:56.480> that<00:33:57.120> two<00:33:57.279> flies<00:33:57.600> are 00:33:57.669 --> 00:33:57.679 align:start position:0% humans do that is that two flies are 00:33:57.679 --> 00:33:59.110 align:start position:0% humans do that is that two flies are coming<00:33:57.840> along<00:33:58.159> and<00:33:58.240> one<00:33:58.399> will<00:33:58.559> slow<00:33:58.799> down<00:33:58.960> so 00:33:59.110 --> 00:33:59.120 align:start position:0% coming along and one will slow down so 00:33:59.120 --> 00:34:00.710 align:start position:0% coming along and one will slow down so the<00:33:59.279> other<00:33:59.440> can<00:33:59.600> pass<00:33:59.919> and<00:34:00.000> things<00:34:00.159> like<00:34:00.320> that 00:34:00.710 --> 00:34:00.720 align:start position:0% the other can pass and things like that 00:34:00.720 --> 00:34:02.870 align:start position:0% the other can pass and things like that and<00:34:01.279> that's<00:34:01.840> some<00:34:02.080> evidence<00:34:02.399> that<00:34:02.559> maybe<00:34:02.799> a 00:34:02.870 --> 00:34:02.880 align:start position:0% and that's some evidence that maybe a 00:34:02.880 --> 00:34:04.310 align:start position:0% and that's some evidence that maybe a lot<00:34:03.039> of<00:34:03.120> these<00:34:03.360> behaviors<00:34:03.840> are<00:34:04.000> really 00:34:04.310 --> 00:34:04.320 align:start position:0% lot of these behaviors are really 00:34:04.320 --> 00:34:06.149 align:start position:0% lot of these behaviors are really encoded<00:34:04.799> quite<00:34:05.120> low<00:34:05.360> down<00:34:05.679> right<00:34:05.840> that<00:34:06.000> is 00:34:06.149 --> 00:34:06.159 align:start position:0% encoded quite low down right that is 00:34:06.159 --> 00:34:07.830 align:start position:0% encoded quite low down right that is that<00:34:06.240> you<00:34:06.399> see<00:34:06.559> some<00:34:06.799> optical<00:34:07.200> flow<00:34:07.519> and<00:34:07.600> that 00:34:07.830 --> 00:34:07.840 align:start position:0% that you see some optical flow and that 00:34:07.840 --> 00:34:09.109 align:start position:0% that you see some optical flow and that causes<00:34:08.159> your<00:34:08.240> muscles<00:34:08.560> to<00:34:08.639> move<00:34:08.800> in<00:34:08.960> a<00:34:09.040> way 00:34:09.109 --> 00:34:09.119 align:start position:0% causes your muscles to move in a way 00:34:09.119 --> 00:34:10.629 align:start position:0% causes your muscles to move in a way that<00:34:09.280> you<00:34:09.359> know<00:34:09.520> forces<00:34:09.760> you<00:34:09.919> slow<00:34:10.079> down 00:34:10.629 --> 00:34:10.639 align:start position:0% that you know forces you slow down 00:34:10.639 --> 00:34:12.310 align:start position:0% that you know forces you slow down maybe<00:34:10.960> humans<00:34:11.520> humans<00:34:11.919> are<00:34:12.079> much<00:34:12.159> more 00:34:12.310 --> 00:34:12.320 align:start position:0% maybe humans humans are much more 00:34:12.320 --> 00:34:14.389 align:start position:0% maybe humans humans are much more complicated<00:34:13.200> but<00:34:13.440> also<00:34:13.679> have<00:34:13.839> some<00:34:14.000> similar 00:34:14.389 --> 00:34:14.399 align:start position:0% complicated but also have some similar 00:34:14.399 --> 00:34:15.909 align:start position:0% complicated but also have some similar types<00:34:14.720> of<00:34:14.800> reactive 00:34:15.909 --> 00:34:15.919 align:start position:0% types of reactive 00:34:15.919 --> 00:34:18.470 align:start position:0% types of reactive sorts<00:34:16.159> of<00:34:16.240> things<00:34:16.399> so<00:34:16.480> how<00:34:16.560> do<00:34:16.639> we<00:34:16.800> find<00:34:17.119> those 00:34:18.470 --> 00:34:18.480 align:start position:0% sorts of things so how do we find those 00:34:18.480 --> 00:34:20.230 align:start position:0% sorts of things so how do we find those reactive<00:34:19.040> approaches<00:34:19.440> how<00:34:19.599> do<00:34:19.679> we<00:34:19.839> design 00:34:20.230 --> 00:34:20.240 align:start position:0% reactive approaches how do we design 00:34:20.240 --> 00:34:23.270 align:start position:0% reactive approaches how do we design reactive<00:34:20.639> approaches<00:34:21.040> so<00:34:21.200> that<00:34:21.359> robots 00:34:23.270 --> 00:34:23.280 align:start position:0% reactive approaches so that robots 00:34:23.280 --> 00:34:25.589 align:start position:0% reactive approaches so that robots react<00:34:23.760> appropriately<00:34:24.800> uh<00:34:25.040> with<00:34:25.200> humans<00:34:25.520> in 00:34:25.589 --> 00:34:25.599 align:start position:0% react appropriately uh with humans in 00:34:25.599 --> 00:34:26.310 align:start position:0% react appropriately uh with humans in the<00:34:25.679> environment 00:34:26.310 --> 00:34:26.320 align:start position:0% the environment 00:34:26.320 --> 00:34:27.750 align:start position:0% the environment with<00:34:26.560> the<00:34:26.639> more<00:34:26.879> deliberative<00:34:27.440> things<00:34:27.599> were 00:34:27.750 --> 00:34:27.760 align:start position:0% with the more deliberative things were 00:34:27.760 --> 00:34:29.430 align:start position:0% with the more deliberative things were you<00:34:27.839> somehow<00:34:28.240> reasoning<00:34:28.639> about<00:34:28.879> that 00:34:29.430 --> 00:34:29.440 align:start position:0% you somehow reasoning about that 00:34:29.440 --> 00:34:30.710 align:start position:0% you somehow reasoning about that i<00:34:29.520> think<00:34:29.679> those<00:34:29.919> are<00:34:30.000> interesting<00:34:30.560> there<00:34:30.639> are 00:34:30.710 --> 00:34:30.720 align:start position:0% i think those are interesting there are 00:34:30.720 --> 00:34:31.990 align:start position:0% i think those are interesting there are a lot<00:34:30.879> of<00:34:30.960> people<00:34:31.119> thinking<00:34:31.359> about<00:34:31.679> humans 00:34:31.990 --> 00:34:32.000 align:start position:0% a lot of people thinking about humans 00:34:32.000 --> 00:34:33.270 align:start position:0% a lot of people thinking about humans that<00:34:32.079> are<00:34:32.159> interacting<00:34:32.560> much<00:34:32.720> more<00:34:32.879> closely 00:34:33.270 --> 00:34:33.280 align:start position:0% that are interacting much more closely 00:34:33.280 --> 00:34:33.669 align:start position:0% that are interacting much more closely so 00:34:33.669 --> 00:34:33.679 align:start position:0% so 00:34:33.679 --> 00:34:35.109 align:start position:0% so human<00:34:33.919> assistance<00:34:34.399> and<00:34:34.480> things<00:34:34.639> like<00:34:34.800> that 00:34:35.109 --> 00:34:35.119 align:start position:0% human assistance and things like that 00:34:35.119 --> 00:34:36.550 align:start position:0% human assistance and things like that not<00:34:35.280> a<00:34:35.359> problem<00:34:35.599> i've<00:34:35.760> thought<00:34:35.919> about<00:34:36.159> a<00:34:36.240> lot<00:34:36.480> i 00:34:36.550 --> 00:34:36.560 align:start position:0% not a problem i've thought about a lot i 00:34:36.560 --> 00:34:38.149 align:start position:0% not a problem i've thought about a lot i think<00:34:36.720> it's<00:34:36.960> uh<00:34:37.119> it's<00:34:37.280> a<00:34:37.359> hard<00:34:37.599> one 00:34:38.149 --> 00:34:38.159 align:start position:0% think it's uh it's a hard one 00:34:38.159 --> 00:34:40.470 align:start position:0% think it's uh it's a hard one um<00:34:39.119> so<00:34:39.599> we<00:34:39.679> haven't<00:34:39.839> thought<00:34:40.000> so<00:34:40.159> much<00:34:40.320> about 00:34:40.470 --> 00:34:40.480 align:start position:0% um so we haven't thought so much about 00:34:40.480 --> 00:34:41.510 align:start position:0% um so we haven't thought so much about that<00:34:40.639> one<00:34:40.720> yet 00:34:41.510 --> 00:34:41.520 align:start position:0% that one yet 00:34:41.520 --> 00:34:44.310 align:start position:0% that one yet so<00:34:41.760> do<00:34:41.919> you<00:34:42.159> actually<00:34:43.119> observe<00:34:43.599> i<00:34:43.679> mean<00:34:44.000> do<00:34:44.159> you 00:34:44.310 --> 00:34:44.320 align:start position:0% so do you actually observe i mean do you 00:34:44.320 --> 00:34:46.389 align:start position:0% so do you actually observe i mean do you observe<00:34:44.720> the<00:34:44.800> cafeteria<00:34:45.440> initially 00:34:46.389 --> 00:34:46.399 align:start position:0% observe the cafeteria initially 00:34:46.399 --> 00:34:47.829 align:start position:0% observe the cafeteria initially kind<00:34:46.639> of<00:34:46.720> what<00:34:46.879> people<00:34:47.200> are<00:34:47.280> doing<00:34:47.599> or<00:34:47.679> how 00:34:47.829 --> 00:34:47.839 align:start position:0% kind of what people are doing or how 00:34:47.839 --> 00:34:49.589 align:start position:0% kind of what people are doing or how they<00:34:47.919> react<00:34:48.159> to<00:34:48.320> each<00:34:48.480> other<00:34:48.800> or<00:34:49.200> how<00:34:49.440> do<00:34:49.440> you 00:34:49.589 --> 00:34:49.599 align:start position:0% they react to each other or how do you 00:34:49.599 --> 00:34:50.950 align:start position:0% they react to each other or how do you approach<00:34:49.839> that<00:34:50.079> issue<00:34:50.399> yeah<00:34:50.639> so 00:34:50.950 --> 00:34:50.960 align:start position:0% approach that issue yeah so 00:34:50.960 --> 00:34:52.310 align:start position:0% approach that issue yeah so you<00:34:51.040> know<00:34:51.200> the<00:34:51.520> setups<00:34:51.919> are<00:34:52.000> probably<00:34:52.159> what 00:34:52.310 --> 00:34:52.320 align:start position:0% you know the setups are probably what 00:34:52.320 --> 00:34:53.349 align:start position:0% you know the setups are probably what you<00:34:52.399> would<00:34:52.480> imagine<00:34:52.720> which<00:34:52.879> is<00:34:53.040> overhead 00:34:53.349 --> 00:34:53.359 align:start position:0% you would imagine which is overhead 00:34:53.359 --> 00:34:54.710 align:start position:0% you would imagine which is overhead cameras<00:34:53.679> that<00:34:53.760> are<00:34:53.839> looking<00:34:54.079> at<00:34:54.159> some<00:34:54.399> area 00:34:54.710 --> 00:34:54.720 align:start position:0% cameras that are looking at some area 00:34:54.720 --> 00:34:56.149 align:start position:0% cameras that are looking at some area and<00:34:54.800> we<00:34:54.960> can 00:34:56.149 --> 00:34:56.159 align:start position:0% and we can 00:34:56.159 --> 00:34:59.109 align:start position:0% and we can more<00:34:56.320> or<00:34:56.480> less<00:34:57.119> uh<00:34:57.680> track<00:34:58.160> uh<00:34:58.720> people's 00:34:59.109 --> 00:34:59.119 align:start position:0% more or less uh track uh people's 00:34:59.119 --> 00:35:00.950 align:start position:0% more or less uh track uh people's location<00:34:59.599> and<00:34:59.680> how<00:34:59.839> they<00:35:00.079> move<00:35:00.480> and<00:35:00.640> start<00:35:00.800> to 00:35:00.950 --> 00:35:00.960 align:start position:0% location and how they move and start to 00:35:00.960 --> 00:35:03.030 align:start position:0% location and how they move and start to build<00:35:01.359> very<00:35:01.680> data-driven<00:35:02.240> representations 00:35:03.030 --> 00:35:03.040 align:start position:0% build very data-driven representations 00:35:03.040 --> 00:35:03.430 align:start position:0% build very data-driven representations so 00:35:03.430 --> 00:35:03.440 align:start position:0% so 00:35:03.440 --> 00:35:05.270 align:start position:0% so you<00:35:03.599> know<00:35:03.680> we're<00:35:03.760> trying<00:35:04.000> to<00:35:04.079> build<00:35:04.400> kind<00:35:04.560> of 00:35:05.270 --> 00:35:05.280 align:start position:0% you know we're trying to build kind of 00:35:05.280 --> 00:35:06.710 align:start position:0% you know we're trying to build kind of more<00:35:05.440> or<00:35:05.520> less<00:35:05.760> conditional<00:35:06.240> probability 00:35:06.710 --> 00:35:06.720 align:start position:0% more or less conditional probability 00:35:06.720 --> 00:35:08.310 align:start position:0% more or less conditional probability distributions<00:35:07.520> so 00:35:08.310 --> 00:35:08.320 align:start position:0% distributions so 00:35:08.320 --> 00:35:10.550 align:start position:0% distributions so if<00:35:08.480> you<00:35:08.560> think<00:35:08.720> about<00:35:09.040> a<00:35:09.359> trajectory<00:35:10.240> as<00:35:10.400> an 00:35:10.550 --> 00:35:10.560 align:start position:0% if you think about a trajectory as an 00:35:10.560 --> 00:35:12.069 align:start position:0% if you think about a trajectory as an object<00:35:10.880> you<00:35:10.960> can<00:35:11.040> say<00:35:11.200> well<00:35:11.359> okay<00:35:11.599> well<00:35:11.839> what's 00:35:12.069 --> 00:35:12.079 align:start position:0% object you can say well okay well what's 00:35:12.079 --> 00:35:13.510 align:start position:0% object you can say well okay well what's the<00:35:12.240> probability<00:35:12.800> that<00:35:13.040> given<00:35:13.359> this 00:35:13.510 --> 00:35:13.520 align:start position:0% the probability that given this 00:35:13.520 --> 00:35:14.950 align:start position:0% the probability that given this trajectory<00:35:14.000> and<00:35:14.160> given<00:35:14.320> this<00:35:14.480> trajectory 00:35:14.950 --> 00:35:14.960 align:start position:0% trajectory and given this trajectory 00:35:14.960 --> 00:35:16.069 align:start position:0% trajectory and given this trajectory that<00:35:15.119> they'll 00:35:16.069 --> 00:35:16.079 align:start position:0% that they'll 00:35:16.079 --> 00:35:18.390 align:start position:0% that they'll have<00:35:16.320> some<00:35:17.040> reaction<00:35:17.440> respect<00:35:17.760> to<00:35:17.920> each<00:35:18.079> other 00:35:18.390 --> 00:35:18.400 align:start position:0% have some reaction respect to each other 00:35:18.400 --> 00:35:19.829 align:start position:0% have some reaction respect to each other and<00:35:18.560> then<00:35:18.800> given<00:35:19.040> that<00:35:19.200> i<00:35:19.280> can<00:35:19.359> say<00:35:19.520> well<00:35:19.599> now 00:35:19.829 --> 00:35:19.839 align:start position:0% and then given that i can say well now 00:35:19.839 --> 00:35:21.349 align:start position:0% and then given that i can say well now if<00:35:20.000> i<00:35:20.160> do<00:35:20.400> this 00:35:21.349 --> 00:35:21.359 align:start position:0% if i do this 00:35:21.359 --> 00:35:23.270 align:start position:0% if i do this can<00:35:21.520> i<00:35:21.760> in<00:35:21.839> a<00:35:22.000> sort<00:35:22.160> of<00:35:22.240> bayesian<00:35:22.720> like<00:35:22.880> way 00:35:23.270 --> 00:35:23.280 align:start position:0% can i in a sort of bayesian like way 00:35:23.280 --> 00:35:24.390 align:start position:0% can i in a sort of bayesian like way reason<00:35:23.680> about 00:35:24.390 --> 00:35:24.400 align:start position:0% reason about 00:35:24.400 --> 00:35:26.230 align:start position:0% reason about the<00:35:24.560> probabilities<00:35:25.280> that<00:35:25.440> that<00:35:25.599> will<00:35:25.839> avoid 00:35:26.230 --> 00:35:26.240 align:start position:0% the probabilities that that will avoid 00:35:26.240 --> 00:35:27.750 align:start position:0% the probabilities that that will avoid collision<00:35:26.640> or<00:35:26.720> that<00:35:26.880> people<00:35:27.119> will<00:35:27.280> react<00:35:27.599> in 00:35:27.750 --> 00:35:27.760 align:start position:0% collision or that people will react in 00:35:27.760 --> 00:35:28.550 align:start position:0% collision or that people will react in certain<00:35:28.000> ways 00:35:28.550 --> 00:35:28.560 align:start position:0% certain ways 00:35:28.560 --> 00:35:31.510 align:start position:0% certain ways so<00:35:28.720> tends<00:35:28.960> to<00:35:29.040> be<00:35:29.119> very<00:35:29.359> data<00:35:29.680> driven<00:35:30.880> and<00:35:31.440> kind 00:35:31.510 --> 00:35:31.520 align:start position:0% so tends to be very data driven and kind 00:35:31.520 --> 00:35:33.589 align:start position:0% so tends to be very data driven and kind of<00:35:31.680> stochastic<00:35:32.160> representations 00:35:33.589 --> 00:35:33.599 align:start position:0% of stochastic representations 00:35:33.599 --> 00:35:37.109 align:start position:0% of stochastic representations and<00:35:33.839> not<00:35:34.079> trying<00:35:34.480> to<00:35:34.960> say<00:35:35.680> here's<00:35:36.079> a<00:35:36.560> model<00:35:36.960> of 00:35:37.109 --> 00:35:37.119 align:start position:0% and not trying to say here's a model of 00:35:37.119 --> 00:35:39.190 align:start position:0% and not trying to say here's a model of human<00:35:37.520> decision<00:35:38.079> making<00:35:38.560> as<00:35:38.720> much<00:35:38.880> as<00:35:39.040> just 00:35:39.190 --> 00:35:39.200 align:start position:0% human decision making as much as just 00:35:39.200 --> 00:35:40.950 align:start position:0% human decision making as much as just here's<00:35:39.520> a<00:35:39.680> model<00:35:40.160> of<00:35:40.320> how 00:35:40.950 --> 00:35:40.960 align:start position:0% here's a model of how 00:35:40.960 --> 00:35:42.550 align:start position:0% here's a model of how the<00:35:41.200> trajectories<00:35:41.760> that<00:35:41.839> humans<00:35:42.240> take 00:35:42.550 --> 00:35:42.560 align:start position:0% the trajectories that humans take 00:35:42.560 --> 00:35:45.270 align:start position:0% the trajectories that humans take interact<00:35:43.680> and<00:35:43.760> that<00:35:43.920> seems<00:35:44.240> to 00:35:45.270 --> 00:35:45.280 align:start position:0% interact and that seems to 00:35:45.280 --> 00:35:47.270 align:start position:0% interact and that seems to at<00:35:45.359> least<00:35:45.599> so<00:35:45.839> far<00:35:46.160> be<00:35:46.720> it's<00:35:46.880> giving<00:35:47.119> us 00:35:47.270 --> 00:35:47.280 align:start position:0% at least so far be it's giving us 00:35:47.280 --> 00:35:48.550 align:start position:0% at least so far be it's giving us interesting<00:35:47.760> results<00:35:48.079> you<00:35:48.160> know<00:35:48.320> is<00:35:48.400> it<00:35:48.480> going 00:35:48.550 --> 00:35:48.560 align:start position:0% interesting results you know is it going 00:35:48.560 --> 00:35:49.829 align:start position:0% interesting results you know is it going to<00:35:48.640> be<00:35:48.720> the<00:35:48.880> end<00:35:49.119> all<00:35:49.280> way 00:35:49.829 --> 00:35:49.839 align:start position:0% to be the end all way 00:35:49.839 --> 00:35:51.510 align:start position:0% to be the end all way to<00:35:50.160> navigate<00:35:50.560> through<00:35:50.640> a<00:35:50.720> cafeteria<00:35:51.280> i<00:35:51.280> didn't 00:35:51.510 --> 00:35:51.520 align:start position:0% to navigate through a cafeteria i didn't 00:35:51.520 --> 00:35:52.950 align:start position:0% to navigate through a cafeteria i didn't know<00:35:51.680> i<00:35:51.760> doubt<00:35:52.000> it<00:35:52.079> but<00:35:52.320> you<00:35:52.400> know<00:35:52.480> it's<00:35:52.720> it's 00:35:52.950 --> 00:35:52.960 align:start position:0% know i doubt it but you know it's it's 00:35:52.960 --> 00:35:54.069 align:start position:0% know i doubt it but you know it's it's interesting<00:35:53.359> to<00:35:53.440> look<00:35:53.599> at 00:35:54.069 --> 00:35:54.079 align:start position:0% interesting to look at 00:35:54.079 --> 00:35:56.870 align:start position:0% interesting to look at what<00:35:54.320> kind<00:35:54.480> of<00:35:54.640> robot<00:35:55.040> are<00:35:55.200> you<00:35:55.359> using<00:35:56.560> in<00:35:56.720> this 00:35:56.870 --> 00:35:56.880 align:start position:0% what kind of robot are you using in this 00:35:56.880 --> 00:35:58.150 align:start position:0% what kind of robot are you using in this case<00:35:57.119> just<00:35:57.280> a<00:35:57.440> pioneer 00:35:58.150 --> 00:35:58.160 align:start position:0% case just a pioneer 00:35:58.160 --> 00:35:59.910 align:start position:0% case just a pioneer very<00:35:58.400> standard<00:35:58.800> robot<00:35:59.119> nothing<00:35:59.359> complicated 00:35:59.910 --> 00:35:59.920 align:start position:0% very standard robot nothing complicated 00:35:59.920 --> 00:36:02.069 align:start position:0% very standard robot nothing complicated at<00:36:00.079> all<00:36:00.640> we<00:36:00.800> just<00:36:01.119> in<00:36:01.280> some<00:36:01.440> sense<00:36:01.680> needed<00:36:01.920> the 00:36:02.069 --> 00:36:02.079 align:start position:0% at all we just in some sense needed the 00:36:02.079 --> 00:36:04.069 align:start position:0% at all we just in some sense needed the simplest<00:36:02.480> robot<00:36:02.800> that<00:36:02.960> could<00:36:03.200> maneuver<00:36:03.760> it 00:36:04.069 --> 00:36:04.079 align:start position:0% simplest robot that could maneuver it 00:36:04.079 --> 00:36:07.030 align:start position:0% simplest robot that could maneuver it roughly<00:36:04.560> human-like<00:36:05.200> speeds<00:36:05.920> um<00:36:06.240> and<00:36:06.320> so<00:36:06.480> we 00:36:07.030 --> 00:36:07.040 align:start position:0% roughly human-like speeds um and so we 00:36:07.040 --> 00:36:08.710 align:start position:0% roughly human-like speeds um and so we didn't<00:36:07.280> have<00:36:07.440> to<00:36:07.520> build<00:36:07.760> anything<00:36:08.160> fancy<00:36:08.560> or 00:36:08.710 --> 00:36:08.720 align:start position:0% didn't have to build anything fancy or 00:36:08.720 --> 00:36:09.910 align:start position:0% didn't have to build anything fancy or anything<00:36:08.960> else 00:36:09.910 --> 00:36:09.920 align:start position:0% anything else 00:36:09.920 --> 00:36:11.910 align:start position:0% anything else it<00:36:10.079> seems<00:36:10.400> also<00:36:10.640> like<00:36:10.800> people<00:36:11.119> would<00:36:11.520> perhaps 00:36:11.910 --> 00:36:11.920 align:start position:0% it seems also like people would perhaps 00:36:11.920 --> 00:36:13.589 align:start position:0% it seems also like people would perhaps have<00:36:12.160> slightly<00:36:12.480> different<00:36:12.880> reactions<00:36:13.359> to<00:36:13.520> a 00:36:13.589 --> 00:36:13.599 align:start position:0% have slightly different reactions to a 00:36:13.599 --> 00:36:15.190 align:start position:0% have slightly different reactions to a robot<00:36:13.920> than<00:36:14.079> they<00:36:14.240> would<00:36:14.400> to<00:36:14.560> a<00:36:14.640> person<00:36:15.040> yeah 00:36:15.190 --> 00:36:15.200 align:start position:0% robot than they would to a person yeah 00:36:15.200 --> 00:36:16.550 align:start position:0% robot than they would to a person yeah we're<00:36:15.359> playing<00:36:15.599> with<00:36:15.760> that<00:36:16.000> so 00:36:16.550 --> 00:36:16.560 align:start position:0% we're playing with that so 00:36:16.560 --> 00:36:17.670 align:start position:0% we're playing with that so that's<00:36:16.800> right<00:36:17.040> so<00:36:17.280> you<00:36:17.359> know<00:36:17.520> one<00:36:17.599> of<00:36:17.680> the 00:36:17.670 --> 00:36:17.680 align:start position:0% that's right so you know one of the 00:36:17.680 --> 00:36:18.710 align:start position:0% that's right so you know one of the things<00:36:17.839> you<00:36:17.920> can<00:36:18.079> do<00:36:18.160> is<00:36:18.240> you<00:36:18.400> can<00:36:18.480> run<00:36:18.640> the 00:36:18.710 --> 00:36:18.720 align:start position:0% things you can do is you can run the 00:36:18.720 --> 00:36:20.230 align:start position:0% things you can do is you can run the robot<00:36:19.040> through<00:36:19.280> and<00:36:19.359> see<00:36:19.520> how<00:36:19.680> people<00:36:19.920> react 00:36:20.230 --> 00:36:20.240 align:start position:0% robot through and see how people react 00:36:20.240 --> 00:36:21.670 align:start position:0% robot through and see how people react to<00:36:20.320> it<00:36:20.480> in<00:36:20.560> some<00:36:20.720> sense<00:36:20.960> that's<00:36:21.200> what<00:36:21.359> you<00:36:21.520> care 00:36:21.670 --> 00:36:21.680 align:start position:0% to it in some sense that's what you care 00:36:21.680 --> 00:36:22.630 align:start position:0% to it in some sense that's what you care about 00:36:22.630 --> 00:36:22.640 align:start position:0% about 00:36:22.640 --> 00:36:25.109 align:start position:0% about in<00:36:22.800> this<00:36:22.880> particular<00:36:23.359> context<00:36:24.720> you<00:36:24.880> know<00:36:24.960> one 00:36:25.109 --> 00:36:25.119 align:start position:0% in this particular context you know one 00:36:25.119 --> 00:36:26.310 align:start position:0% in this particular context you know one of<00:36:25.200> the<00:36:25.280> things<00:36:25.520> is<00:36:25.599> just<00:36:25.760> to<00:36:25.839> put<00:36:26.000> something 00:36:26.310 --> 00:36:26.320 align:start position:0% of the things is just to put something 00:36:26.320 --> 00:36:28.230 align:start position:0% of the things is just to put something on<00:36:26.480> top<00:36:26.720> with<00:36:26.960> eyes<00:36:27.440> or<00:36:27.599> you<00:36:27.680> know<00:36:27.839> camera<00:36:28.160> that 00:36:28.230 --> 00:36:28.240 align:start position:0% on top with eyes or you know camera that 00:36:28.240 --> 00:36:29.829 align:start position:0% on top with eyes or you know camera that looks<00:36:28.400> like<00:36:28.560> eyes<00:36:28.880> and<00:36:28.960> other<00:36:29.119> things<00:36:29.359> so 00:36:29.829 --> 00:36:29.839 align:start position:0% looks like eyes and other things so 00:36:29.839 --> 00:36:31.670 align:start position:0% looks like eyes and other things so so<00:36:30.000> that<00:36:30.160> people<00:36:30.560> realize<00:36:30.960> that<00:36:31.040> the<00:36:31.200> robot 00:36:31.670 --> 00:36:31.680 align:start position:0% so that people realize that the robot 00:36:31.680 --> 00:36:33.430 align:start position:0% so that people realize that the robot can<00:36:31.920> probably<00:36:32.320> see<00:36:32.560> them<00:36:32.720> and<00:36:32.800> will<00:36:33.040> react<00:36:33.280> to 00:36:33.430 --> 00:36:33.440 align:start position:0% can probably see them and will react to 00:36:33.440 --> 00:36:34.390 align:start position:0% can probably see them and will react to them<00:36:33.599> because<00:36:33.839> otherwise 00:36:34.390 --> 00:36:34.400 align:start position:0% them because otherwise 00:36:34.400 --> 00:36:35.750 align:start position:0% them because otherwise if<00:36:34.560> you<00:36:34.640> just<00:36:34.800> have<00:36:34.960> a<00:36:35.200> you<00:36:35.280> know<00:36:35.440> sort<00:36:35.599> of 00:36:35.750 --> 00:36:35.760 align:start position:0% if you just have a you know sort of 00:36:35.760 --> 00:36:37.349 align:start position:0% if you just have a you know sort of short<00:36:35.920> pioneer<00:36:36.320> robot<00:36:36.640> moving<00:36:36.880> around<00:36:37.280> and 00:36:37.349 --> 00:36:37.359 align:start position:0% short pioneer robot moving around and 00:36:37.359 --> 00:36:39.589 align:start position:0% short pioneer robot moving around and people<00:36:37.599> interact<00:36:37.920> with<00:36:38.000> it<00:36:38.160> very<00:36:38.320> differently 00:36:39.589 --> 00:36:39.599 align:start position:0% people interact with it very differently 00:36:39.599 --> 00:36:41.670 align:start position:0% people interact with it very differently so<00:36:40.160> yeah<00:36:40.400> i<00:36:40.480> think<00:36:40.640> that's<00:36:40.880> something<00:36:41.440> it<00:36:41.520> was 00:36:41.670 --> 00:36:41.680 align:start position:0% so yeah i think that's something it was 00:36:41.680 --> 00:36:43.349 align:start position:0% so yeah i think that's something it was the<00:36:41.839> thing<00:36:42.160> about 00:36:43.349 --> 00:36:43.359 align:start position:0% the thing about 00:36:43.359 --> 00:36:45.990 align:start position:0% the thing about in<00:36:43.599> urban<00:36:43.920> environments<00:36:44.400> with<00:36:44.640> cars<00:36:45.680> i<00:36:45.839> think 00:36:45.990 --> 00:36:46.000 align:start position:0% in urban environments with cars i think 00:36:46.000 --> 00:36:47.270 align:start position:0% in urban environments with cars i think people<00:36:46.240> might<00:36:46.400> do<00:36:46.480> a<00:36:46.640> double<00:36:46.880> take<00:36:47.040> when<00:36:47.200> they 00:36:47.270 --> 00:36:47.280 align:start position:0% people might do a double take when they 00:36:47.280 --> 00:36:47.829 align:start position:0% people might do a double take when they don't<00:36:47.520> see 00:36:47.829 --> 00:36:47.839 align:start position:0% don't see 00:36:47.839 --> 00:36:50.390 align:start position:0% don't see a<00:36:47.920> driver<00:36:48.320> behind<00:36:49.119> the<00:36:49.839> reality<00:36:50.240> of<00:36:50.320> the 00:36:50.390 --> 00:36:50.400 align:start position:0% a driver behind the reality of the 00:36:50.400 --> 00:36:52.069 align:start position:0% a driver behind the reality of the matter<00:36:50.640> was<00:36:50.880> that<00:36:51.040> if<00:36:51.200> you're<00:36:51.280> driving<00:36:51.760> in<00:36:51.920> a 00:36:52.069 --> 00:36:52.079 align:start position:0% matter was that if you're driving in a 00:36:52.079 --> 00:36:53.349 align:start position:0% matter was that if you're driving in a human<00:36:52.400> environment<00:36:52.720> you<00:36:52.800> almost<00:36:53.040> always<00:36:53.280> have 00:36:53.349 --> 00:36:53.359 align:start position:0% human environment you almost always have 00:36:53.359 --> 00:36:54.310 align:start position:0% human environment you almost always have a<00:36:53.440> safety<00:36:53.839> driver 00:36:54.310 --> 00:36:54.320 align:start position:0% a safety driver 00:36:54.320 --> 00:36:55.589 align:start position:0% a safety driver so<00:36:54.480> most<00:36:54.720> of<00:36:54.720> the<00:36:54.800> time<00:36:54.960> people<00:36:55.200> don't<00:36:55.359> even 00:36:55.589 --> 00:36:55.599 align:start position:0% so most of the time people don't even 00:36:55.599 --> 00:36:57.990 align:start position:0% so most of the time people don't even know<00:36:55.839> that<00:36:56.000> it's<00:36:56.240> a<00:36:56.560> computer-controlled<00:36:57.280> car 00:36:57.990 --> 00:36:58.000 align:start position:0% know that it's a computer-controlled car 00:36:58.000 --> 00:36:59.270 align:start position:0% know that it's a computer-controlled car that's<00:36:58.240> driving<00:36:58.560> through<00:36:58.720> so<00:36:58.880> that's<00:36:59.040> a<00:36:59.119> much 00:36:59.270 --> 00:36:59.280 align:start position:0% that's driving through so that's a much 00:36:59.280 --> 00:37:00.950 align:start position:0% that's driving through so that's a much simpler<00:36:59.599> situation<00:37:00.000> because<00:37:00.160> they<00:37:00.480> interact 00:37:00.950 --> 00:37:00.960 align:start position:0% simpler situation because they interact 00:37:00.960 --> 00:37:01.910 align:start position:0% simpler situation because they interact in<00:37:01.119> the<00:37:01.200> same<00:37:01.440> way 00:37:01.910 --> 00:37:01.920 align:start position:0% in the same way 00:37:01.920 --> 00:37:03.589 align:start position:0% in the same way and<00:37:02.079> it's<00:37:02.240> very<00:37:02.400> structured<00:37:03.280> but<00:37:03.440> you're 00:37:03.589 --> 00:37:03.599 align:start position:0% and it's very structured but you're 00:37:03.599 --> 00:37:05.670 align:start position:0% and it's very structured but you're right<00:37:04.480> something<00:37:04.720> like<00:37:04.880> a<00:37:04.960> pioneer<00:37:05.359> robot 00:37:05.670 --> 00:37:05.680 align:start position:0% right something like a pioneer robot 00:37:05.680 --> 00:37:06.310 align:start position:0% right something like a pioneer robot with<00:37:05.839> a 00:37:06.310 --> 00:37:06.320 align:start position:0% with a 00:37:06.320 --> 00:37:07.750 align:start position:0% with a pole<00:37:06.560> sticking<00:37:06.800> up<00:37:06.960> on<00:37:07.040> a<00:37:07.119> camera<00:37:07.359> mounted<00:37:07.680> on 00:37:07.750 --> 00:37:07.760 align:start position:0% pole sticking up on a camera mounted on 00:37:07.760 --> 00:37:09.190 align:start position:0% pole sticking up on a camera mounted on the<00:37:07.839> top<00:37:08.079> of<00:37:08.160> it<00:37:08.320> you<00:37:08.400> know<00:37:08.480> i<00:37:08.560> think<00:37:08.960> although 00:37:09.190 --> 00:37:09.200 align:start position:0% the top of it you know i think although 00:37:09.200 --> 00:37:10.710 align:start position:0% the top of it you know i think although it's<00:37:09.359> kel<00:37:09.520> tuck<00:37:09.680> you<00:37:09.760> know<00:37:09.920> people<00:37:10.160> somehow 00:37:10.710 --> 00:37:10.720 align:start position:0% it's kel tuck you know people somehow 00:37:10.720 --> 00:37:12.150 align:start position:0% it's kel tuck you know people somehow you<00:37:10.800> know<00:37:10.960> it's<00:37:11.040> like<00:37:11.119> yeah<00:37:11.359> whatever 00:37:12.150 --> 00:37:12.160 align:start position:0% you know it's like yeah whatever 00:37:12.160 --> 00:37:13.829 align:start position:0% you know it's like yeah whatever yeah<00:37:12.720> i<00:37:12.800> need<00:37:12.960> some<00:37:13.119> pizza<00:37:13.359> you<00:37:13.440> know<00:37:13.599> i<00:37:13.680> don't 00:37:13.829 --> 00:37:13.839 align:start position:0% yeah i need some pizza you know i don't 00:37:13.839 --> 00:37:15.349 align:start position:0% yeah i need some pizza you know i don't know<00:37:14.079> it's<00:37:14.320> amazing<00:37:14.640> they<00:37:14.720> don't<00:37:14.880> react<00:37:15.119> as 00:37:15.349 --> 00:37:15.359 align:start position:0% know it's amazing they don't react as 00:37:15.359 --> 00:37:16.390 align:start position:0% know it's amazing they don't react as you<00:37:15.440> know<00:37:15.520> they<00:37:15.599> don't<00:37:15.680> crowd<00:37:15.920> around<00:37:16.160> it<00:37:16.320> they 00:37:16.390 --> 00:37:16.400 align:start position:0% you know they don't crowd around it they 00:37:16.400 --> 00:37:18.870 align:start position:0% you know they don't crowd around it they don't<00:37:16.560> you<00:37:16.720> know<00:37:17.040> sort<00:37:17.280> of<00:37:17.599> uh<00:37:18.320> ask 00:37:18.870 --> 00:37:18.880 align:start position:0% don't you know sort of uh ask 00:37:18.880 --> 00:37:20.550 align:start position:0% don't you know sort of uh ask they're<00:37:19.119> obvious<00:37:19.440> people<00:37:19.760> around<00:37:20.079> who<00:37:20.240> are 00:37:20.550 --> 00:37:20.560 align:start position:0% they're obvious people around who are 00:37:20.560 --> 00:37:21.990 align:start position:0% they're obvious people around who are keeping<00:37:20.880> track<00:37:21.040> of<00:37:21.119> what's<00:37:21.280> going<00:37:21.440> on<00:37:21.760> he<00:37:21.839> just 00:37:21.990 --> 00:37:22.000 align:start position:0% keeping track of what's going on he just 00:37:22.000 --> 00:37:25.270 align:start position:0% keeping track of what's going on he just seemed<00:37:22.160> to<00:37:22.240> leave<00:37:22.400> us<00:37:22.560> all<00:37:22.720> alone<00:37:23.119> so 00:37:25.270 --> 00:37:25.280 align:start position:0% seemed to leave us all alone so 00:37:25.280 --> 00:37:27.030 align:start position:0% seemed to leave us all alone so do<00:37:25.359> you<00:37:25.520> know<00:37:25.920> i<00:37:26.000> just<00:37:26.160> want<00:37:26.320> to<00:37:26.480> make<00:37:26.640> sure<00:37:26.880> is 00:37:27.030 --> 00:37:27.040 align:start position:0% do you know i just want to make sure is 00:37:27.040 --> 00:37:28.710 align:start position:0% do you know i just want to make sure is your<00:37:27.200> student<00:37:27.440> gonna<00:37:27.920> uh<00:37:28.079> she's<00:37:28.400> probably 00:37:28.710 --> 00:37:28.720 align:start position:0% your student gonna uh she's probably 00:37:28.720 --> 00:37:29.910 align:start position:0% your student gonna uh she's probably waiting<00:37:28.960> for<00:37:29.119> me<00:37:29.359> uh 00:37:29.910 --> 00:37:29.920 align:start position:0% waiting for me uh 00:37:29.920 --> 00:37:31.030 align:start position:0% waiting for me uh right<00:37:30.079> i'm<00:37:30.160> sure<00:37:30.400> there's<00:37:30.560> a<00:37:30.640> tractor<00:37:30.960> we 00:37:31.030 --> 00:37:31.040 align:start position:0% right i'm sure there's a tractor we 00:37:31.040 --> 00:37:32.950 align:start position:0% right i'm sure there's a tractor we should<00:37:31.200> stop<00:37:31.520> if<00:37:31.599> we<00:37:31.760> can<00:37:32.079> just<00:37:32.240> because<00:37:32.880> i 00:37:32.950 --> 00:37:32.960 align:start position:0% should stop if we can just because i 00:37:32.960 --> 00:37:34.470 align:start position:0% should stop if we can just because i don't<00:37:33.040> want<00:37:33.119> to<00:37:33.200> cut<00:37:33.359> too<00:37:33.440> much<00:37:33.599> into<00:37:33.839> here<00:37:34.240> one 00:37:34.470 --> 00:37:34.480 align:start position:0% don't want to cut too much into here one 00:37:34.480 --> 00:37:38.069 align:start position:0% don't want to cut too much into here one lined<00:37:34.720> up<00:37:34.880> question 00:37:38.069 --> 00:37:38.079 align:start position:0% 00:37:38.079 --> 00:37:39.270 align:start position:0% young<00:37:38.320> people<00:37:38.560> who<00:37:38.720> are<00:37:38.800> interested<00:37:39.200> in 00:37:39.270 --> 00:37:39.280 align:start position:0% young people who are interested in 00:37:39.280 --> 00:37:41.829 align:start position:0% young people who are interested in robotics<00:37:40.079> what<00:37:40.240> do<00:37:40.240> you<00:37:40.400> recommend<00:37:40.880> for<00:37:41.040> them 00:37:41.829 --> 00:37:41.839 align:start position:0% robotics what do you recommend for them 00:37:41.839 --> 00:37:43.430 align:start position:0% robotics what do you recommend for them oh<00:37:42.000> i<00:37:42.079> think<00:37:42.320> build<00:37:42.560> stuff<00:37:43.040> you<00:37:43.119> know<00:37:43.200> i<00:37:43.280> think 00:37:43.430 --> 00:37:43.440 align:start position:0% oh i think build stuff you know i think 00:37:43.440 --> 00:37:44.470 align:start position:0% oh i think build stuff you know i think the<00:37:43.520> great<00:37:43.680> thing<00:37:43.839> about<00:37:44.000> the<00:37:44.079> robotics 00:37:44.470 --> 00:37:44.480 align:start position:0% the great thing about the robotics 00:37:44.480 --> 00:37:45.990 align:start position:0% the great thing about the robotics community<00:37:44.880> is<00:37:45.040> that<00:37:45.200> it's<00:37:45.280> been<00:37:45.440> a<00:37:45.599> community 00:37:45.990 --> 00:37:46.000 align:start position:0% community is that it's been a community 00:37:46.000 --> 00:37:48.230 align:start position:0% community is that it's been a community that's<00:37:46.160> built<00:37:46.400> stuff<00:37:46.640> and<00:37:46.720> tried<00:37:47.040> things<00:37:47.280> out 00:37:48.230 --> 00:37:48.240 align:start position:0% that's built stuff and tried things out 00:37:48.240 --> 00:37:49.430 align:start position:0% that's built stuff and tried things out and<00:37:48.400> so<00:37:48.880> you<00:37:48.960> know<00:37:49.040> i<00:37:49.119> think<00:37:49.200> if<00:37:49.280> you're<00:37:49.440> going 00:37:49.430 --> 00:37:49.440 align:start position:0% and so you know i think if you're going 00:37:49.440 --> 00:37:51.109 align:start position:0% and so you know i think if you're going to<00:37:49.520> get<00:37:49.599> into<00:37:49.760> robotics<00:37:50.320> the<00:37:50.480> way<00:37:50.640> to<00:37:50.720> do<00:37:50.880> it<00:37:51.040> is 00:37:51.109 --> 00:37:51.119 align:start position:0% to get into robotics the way to do it is 00:37:51.119 --> 00:37:52.710 align:start position:0% to get into robotics the way to do it is to<00:37:51.280> start<00:37:51.520> building<00:37:51.839> robots<00:37:52.240> that<00:37:52.320> do<00:37:52.560> things 00:37:52.710 --> 00:37:52.720 align:start position:0% to start building robots that do things 00:37:52.720 --> 00:37:54.230 align:start position:0% to start building robots that do things you'll<00:37:52.880> find<00:37:53.119> interesting<00:37:53.599> challenges 00:37:54.230 --> 00:37:54.240 align:start position:0% you'll find interesting challenges 00:37:54.240 --> 00:37:55.829 align:start position:0% you'll find interesting challenges i<00:37:54.320> mean<00:37:54.560> every<00:37:54.720> robot<00:37:55.040> that<00:37:55.200> we've<00:37:55.359> built 00:37:55.829 --> 00:37:55.839 align:start position:0% i mean every robot that we've built 00:37:55.839 --> 00:37:57.109 align:start position:0% i mean every robot that we've built we've<00:37:56.079> always<00:37:56.240> learned<00:37:56.480> something<00:37:56.720> new<00:37:56.960> from 00:37:57.109 --> 00:37:57.119 align:start position:0% we've always learned something new from 00:37:57.119 --> 00:37:57.910 align:start position:0% we've always learned something new from we've<00:37:57.359> always 00:37:57.910 --> 00:37:57.920 align:start position:0% we've always 00:37:57.920 --> 00:37:59.990 align:start position:0% we've always uh<00:37:58.240> i<00:37:58.400> think<00:37:58.640> gotten<00:37:58.960> something<00:37:59.440> out<00:37:59.680> of<00:37:59.839> the 00:37:59.990 --> 00:38:00.000 align:start position:0% uh i think gotten something out of the 00:38:00.000 --> 00:38:01.270 align:start position:0% uh i think gotten something out of the experience<00:38:00.480> of<00:38:00.560> building<00:38:00.800> and<00:38:01.040> trying<00:38:01.200> to 00:38:01.270 --> 00:38:01.280 align:start position:0% experience of building and trying to 00:38:01.280 --> 00:38:02.470 align:start position:0% experience of building and trying to implement<00:38:01.680> things<00:38:01.839> and<00:38:01.920> seeing<00:38:02.079> what<00:38:02.240> worked 00:38:02.470 --> 00:38:02.480 align:start position:0% implement things and seeing what worked 00:38:02.480 --> 00:38:03.589 align:start position:0% implement things and seeing what worked and<00:38:02.560> what<00:38:02.720> didn't 00:38:03.589 --> 00:38:03.599 align:start position:0% and what didn't 00:38:03.599 --> 00:38:05.190 align:start position:0% and what didn't and<00:38:03.680> so<00:38:03.920> i<00:38:04.000> think<00:38:04.240> you<00:38:04.320> know<00:38:04.880> starting<00:38:05.119> to 00:38:05.190 --> 00:38:05.200 align:start position:0% and so i think you know starting to 00:38:05.200 --> 00:38:07.030 align:start position:0% and so i think you know starting to build<00:38:05.440> robots<00:38:05.920> early<00:38:06.320> in<00:38:06.400> your<00:38:06.560> career<00:38:06.880> is 00:38:07.030 --> 00:38:07.040 align:start position:0% build robots early in your career is 00:38:07.040 --> 00:38:09.349 align:start position:0% build robots early in your career is good 00:38:09.349 --> 00:38:09.359 align:start position:0% 00:38:09.359 --> 00:38:13.839 align:start position:0% great<00:38:09.680> good<00:38:10.720> thank<00:38:10.880> you<00:38:11.119> you're<00:38:11.280> welcome