Take this quad, for example.

For example, that's how we can make the quad hover.

It naturally doesn't spill, no matter what the quad does.

We added the mathematical model of the pole to that of the quad.

Here, the quad is behaving as if it were in a viscous fluid.

Twenty milliseconds later, the whole process is repeated until the quad strikes the ball.

You can notice that this quad is making fine adjustments to keep the pole balanced.

Notice how the quad lost altitude when I put this glass of water on it.

We can use mathematical models to estimate the force that I'm applying to the quad.

Suppose that we want this quad to not only hover but to also balance this pole.

We can also augment the model to include where we want the quad to be in space.

We then manipulate these equations with the help of control theory to create algorithms that stabilize the quad.

I can point to where I want the quad to be in space a fixed distance away from me.

Like before, I could use the pointer to tell the quad where I want it to be in space.

Third, a trajectory is planned that carries the quad from its current state to the impact point with the ball.

We then next calculate how the quad should hit the ball so that it flies to where it was thrown from.

The algorithms to do this are very similar to what the single quad used to hit the ball back to me.

Once we have a model of the combined quad pole system, we can use control theory to create algorithms for controlling it.

Suppose we want this quad here to perform a triple flip and finish off at the exact same spot that it started.

Once we know this force, we can also change the laws of physics, as far as the quad is concerned, of course.

This quad has a racket strapped onto its head with a sweet spot roughly the size of an apple, so not too large.

I will use this new capability to position this camera carrying quad to the appropriate location for filming the remainder of this demonstration.

This data is then sent to another laptop that is running estimation and control algorithms, which in turn sends commands to the quad, which is also running estimation and control algorithms.

Let's tell the quad to come back here and let the pole drop, and I will next demonstrate the importance of understanding physical models and the workings of the physical world.

Instead, what the quad can do is perform the maneuver blindly, observe how it finishes the maneuver, and then use that information to modify its behavior so that the next flip is better.

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View Switches to View Mode.

Views of kontact 's menubars in the Summary View, Mail View, and Calendar View

Views of kontact 's menubars in the Summary View, Mail View, and Calendar View.

This last view of cosmology is called the relational view.

Determines whether to use Tree view, or Icon view for your modules.

And there's kind of the first exploded view, or see through view.

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Tree View

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This is a reverse view of things from the kind of traditional Romantic view.

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