final claytronics
TRANSCRIPT
-
7/30/2019 Final Claytronics
1/19
CLAYTRONICSBy-
[Type the document
subtitle]
-
7/30/2019 Final Claytronics
2/19
Page | 1
Index
1. Introduction 2
2. Major Goals 3
3. Programmable Matter 4
4. Synthetic reality 7
5. Ensemble Principle 7
6. C-Atoms 8
7. Pario 9
8. Algorithms 10
9. Scaling and Designing of C-atoms 12
10. Hardware 13
11. Software 15
12. Application of Claytronics 16
13. Summary 17
14. Bibliography 18
-
7/30/2019 Final Claytronics
3/19
Page | 2
CLAYTRONICS
INTRODUCTION:
In the past 50 years, computers have shrunk from room-size mainframes tolightweight handhelds. This fantastic miniaturization is primarily the result of
high-volume Nano scale manufacturing. While this technology has
predominantly been applied to logic and memory, its now being used to
create advanced micro-electromechanical systems using both top-down and
bottom-up processes.
One possible outcome of continued progress in high-volume Nano scale
assembly is the ability to inexpensively produce millimeter-scale units that
integrate computing, sensing, actuation, and locomotion mechanisms. A
collection of such units can be viewed as a form of programmable matter.
Claytronics is an abstract future concept that combines Nano scale robotics
and computer science to create individual nanometer-scale computers called
claytronic atoms, or catoms, which can interact with each other to form
tangible 3-D objects that a user can interact with. This idea is more broadly
referred to as programmable matter.
Claytronics is a form a programmable matter that takes the concept of
modular robots to a new extreme. The concept of modular robots has been
around for some time. Previous approaches to modular robotics sought tocreate an ensemble of tens or even hundreds of small autonomous robotswhich could, through coordination, achieve a global effect not possible by
any single unit.
For Example:
Claytronics might be used in telepresense to mimic, with high-fidelity and inthree-dimensional solid form, the look, feel, and motion of the person at the
other end of the telephone call
-
7/30/2019 Final Claytronics
4/19
-
7/30/2019 Final Claytronics
5/19
Page | 4
WHAT IS PROGRAMMABLE MATTER ?
A material which can be programmed to form dynamic three dimensional
shapes which can interact in the physical world and visually take on anarbitrary appearance.
Claytronics refers to an ensemble of individual components, called catoms
for claytronic atomsthat can move in three dimensions (in relation to othercatoms), adhere to other catoms to maintain a 3D shape, and compute stateinformation (with possible assistance from other catoms in the ensemble).
Programmable matter is any bulk substance whose physical properties can
be adjusted in real time through the application of light, voltage, electric ormagnetic fields, etc. Primitive forms may allow only limited adjustment of
one or two traits (e.g., the "photodarkening" or "photochromic" materialsfound in light-sensitive sunglasses), but there are theoretical forms which,
using known principles of electronics, should be capable of emulating abroad range of naturally occurring materials, or of exhibiting unnatural
properties which cannot be produced by other means.
WHAT IS PROGRAMMABLE MATTER COMPOSED OF?
Programmable matter is composed of manmade objects too small toperceive directly with the human senses. This may include microscopic or
nanoscopic machines, but more typically refers to fixed arrangements of
conductors, semiconductors, and insulators designed to trap electrons inartificial atoms.
Single-electron transistors, a form of quantum dot, were first proposed byA.A. Likharev in 1984 and constructed by Gerald Dolan and Theodore Fulton
at Bell Laboratories in 1987. The first semiconductor SET, a type ofquantum dot sometimes referred to as a designer atom, was invented by
Marc Kastner and John Scott-Thomas at MIT in 1989. The term "artificialatom" was coined by Kastner in 1993.
However, Wil McCarthy was the first to use the term "programmable matter"in connection with quantum dots, and to propose a mechanism for the
precise, 3D control of large numbers of quantum dots inside a bulk material.
-
7/30/2019 Final Claytronics
6/19
-
7/30/2019 Final Claytronics
7/19
Page | 6
dots can be placed on the same chip, forming a semiconductor material with
a programmable dopant layer near its surface.
A number of fabrication technologies exist whose resolution is sufficient toproduce room-temperature quantum dot devices.
Rolling such quantum dot chips into cylindrical fibers produces "wellstone," a
hypothetical woven solid whose bulk properties are broadly programmable.
IS PROGRAMMABLE MATTER THE SAME THING AS
NANOTECHNOLOGY?
Yes and no. The word "nanotechnology" simply means "technology on the
scale of nanometers," or billionths of a meter, i.e. technology on the
molecular scale. Most forms of programmable matter rely on nano-circuitry,designer molecules, or both, so in this literal sense they arenanotechnology. However, as originally coined by K. Eric Drexler in the
1980s and as commonly used by lay persons today, the wordnanotechnology implies nanoscale _machinery_, more properly known as
molecular nanotechnology or MNT.
While bulk materials incorporating MNT may have programmable properties,
they also have moving parts. The term "programmable matter" does notrule out such materials, but more typically refers to substances whose
properties can be adjusted in the solid state, with no moving parts otherthan photons and electrons.
-
7/30/2019 Final Claytronics
8/19
Page | 7
SYNTHETIC REALITY
One application of an ensemble, comprised of millions of cooperating robotmodules, is programming it to self-assemble into arbitrary 3D shapes. Ourlong-term goal is to use such ensembles to achieve synthetic reality, an
environment that, unlike virtual reality and augmented reality, allows for thephysical realization of all computer-generated objects.
Hence, users will be able to experience synthetic reality without any sensoryaugmentation, such as head-mounted displays. They can also physically
interact with any object in the system in a natural way.
ENSEMBLE PRINCIPLE
Realizing this vision requires new ways of thinking about massive numbers
of cooperating millimeter-scale units. Most importantly, it demandssimplifying and redesigning the software and hardware used in each catom
to reduce complexity and manufacturing cost and increase robustness andreliability.
For example, each catom must work cooperatively with others in the
ensemble to move, communicate, and obtain power.
Consequently, our designs strictly adhere to the ensemble principle: A robotmodule should include only enough functionality to contribute to the
ensembles desired functionality. Three early results of our research eachhighlight a key aspect of the ensemble principle: easy manufacturability,
powering million-robot ensembles, and surface contour control withoutglobal motion planning
-
7/30/2019 Final Claytronics
9/19
Page | 8
C-ATOMS
Catoms: the robotic substrate (the material or substance on which anenzyme acts) of the Claytronics project
Bands of electro-magnets provide locomotion Infrared sensors allow for communication Metal contact rings route power throughout ensemble Movements amongst catoms produces movement of macroscopic
structure Like a hologram, but you can touch and interact with it
Each catom contains :-
- a CPU,
- an energy store,
- a network device,- a video output device,- one or more sensors,- a means of locomotion,
- and a mechanism for adhering to other catoms.
-
7/30/2019 Final Claytronics
10/19
Page | 9
PARIO:
Pario, a logical extension of audio and video, is a media type used toreproduce moving 3D objects in the real world.
The idea behind pario is to reproduce moving, physical 3D objects. Similar toaudio and video, we are neither transporting the original phenomena nor
recreating an exact replica: instead, the idea is to create a physical artifact
that can do a good enough job of reproducing the shape, appearance,motion, etc., of the original object that our senses will accept it as being
close enough.
To achieve this long-range vision we are investigating hardware mechanismsfor constructing sub millimeter robots, which can be manufactured en masse
using photolithography. We also propose the creation of a new media type,which we call pario. The idea behind pario is to render arbitrary moving,physical three-dimensional objects that you can see, touch, and even hold inyour hands.
Fig.A photo that shows encoding of a video using pario.
-
7/30/2019 Final Claytronics
11/19
Page | 10
In the above diagram a replica of the man is made where in the firstdiagram all the cameras is catching the image with the sound it is producing
and then is it getting encoded to another place.
Types of C-atoms
-
7/30/2019 Final Claytronics
12/19
Page | 11
ALGORITHMS USED:-
Two important classes of claytronics algorithms are:-
Shape sculpting and Localization algorithms.
SHAPE SCULPTING:
The ultimate goal of claytronics research is creating dynamic motion in threedimensional poses. All the research on catom motion, collective actuation
and hierarchical motion planning require shape sculpting algorithms to
convert catoms into the necessary structure, which will give structuralstrength and fluid movement to the dynamic ensemble.
LOCALIZATION:
localization algorithms enable catoms to localize their positions in an
ensemble.[A localization algorithm should provide accurate relationalknowledge of catoms to the whole matrix based on noisy observation in a
fully distributed manner.
-
7/30/2019 Final Claytronics
13/19
Page | 12
SCALING AND DESIGNING OF C-ATOMS
A fundamental requirement of claytronics is that the system must scale to
very large no of interacting catoms
1.) Self-contained in sense of possessing everything necessary for
performing its own computation, communication, sensing, locomotion and
adhesion.
2.) Efficient Routing - no static power should be used for adhesion
3.) Local Control- no computation external to ensemble
4.) Static Control- For economic viability, manufacturability, and reliability
catoms should not contain moving parts
Designing and large scale manufacturing of catoms demands simplifying
and redesigning the software and hardware used in each catom to reducecomplexity and manufacturing cost and increase robustness and reliability.
-
7/30/2019 Final Claytronics
14/19
Page | 13
HARDWARE USED
In parallel with our hardware effort, we are developing novel distributed
programming languages and algorithms to control the ensembles, LDP andMeld. Pario may fundamentally change how we communicate with others
and interact with the world around us.
Three Regimes :
1.) Macro Scale2.) Micro Scale3.) Nano Scale
Macro:-
Size from diameter >1cm Weight =>many tens of grams
Movements of catoms using magnetic forces which puts lower limit onthe size and weight of catoms as magnets have considerable weight
and volume
At this huge scale, we cannot adhere to static power principle
Weight comes from packaging.
-
7/30/2019 Final Claytronics
15/19
Page | 14
Micro:-
Size b/w 1mm to 1 cm Weight- < 1 gram Packaging is eliminated and catoms constructed by bonding VLSI dies
to MEMS(Micro Electrical Mechanical System) based sensor and
actuation dies
Forces needed to move catoms are now sufficiently small thatelectrostatic forces becomes an option
Another option is combining Programmable Nano fiber Adhesive(PNA)with electrostatic forces to attach catoms w/o using any static power
Nano Technology
Size --
-
7/30/2019 Final Claytronics
16/19
Page | 15
SOFTWARES
In parallel with our hardware effort, we are developing novel distributedprogramming languages and algorithms to control the ensembles, LDP and
Meld. Pario may fundamentally change how we communicate with othersand interact with the world around us.
1. Programming LanguagesProgrammer in claytronics have created MELD and LDP (Locally
Distributed Predicates).this new Language for distributed
programming provides linguistic structure for co-operative
management of motions of millions of modules in the matrix.
2. Shape SculptingIt addresses catoms motion collective actuation and hierarchical
motion. This Algorithm coverts the group of catoms into primary
structure for building dynamic, 3-D representation.
3. LocalizationThis algorithm enables catoms to localize their position amongthousands of millions of catoms in ensemble. This Relational
knowledge of individual catoms to whole matrix is the
fundamental to organization and management of catom group
and formation of cohesive and fluid shape throughout the
matrix.
4. Dynamic SimulationAs a first step in developing software to program a claytronic
ensemble, the team created DPR-Simulator, a tool that permits
researchers to model, test and visualize the behavior of catoms.
-
7/30/2019 Final Claytronics
17/19
Page | 16
FUTURE APPLICATIONS
Researchers say they will have a hardware prototype of sub-millimeter
electrostatic modules in five years and will be able to fax complex 3D
modelsof anything, from engagement rings to sports carsby 2017.
If it works, claytronics could transform communication, entertainment,
medicine.
a)Engineering and Medical
This technology would enable engineers to work remotely in physically
hostile environments or surgeons to perform intricate surgery on
enlarged claytronic replicas of organs, while the actual organs arebeing worked upon by a claytronic replica of the surgeon.
b)Computer Networks
It may help scientists learn how to efficiently manage networks of
millions of computers.
c)Nanotechnology
It will also advance our understanding of nanotechnology.
Similar to how audio and video provide aural and visual stimulation; pario
provides an aural, visual and physical sensation. A user will be able to hear,see and touch the one communicating with them in a realistic manner. Pario
could be used effectively in many professional disciplines from engineeringdesign, education and healthcare to entertainment and leisure activities suchas video games.
The advancements in nanotechnology and computing necessary for
claytonics to become a reality are feasible, but the challenges to overcomeare daunting and will require great innovation. In an interview, December
2008, Jason Campbell, a lead researcher from Intel Labs Pittsburgh said,"my estimates of how long it is going to take have gone from 50 years down
to just a couple more years. That has changed over the four years Ive beenworking on the project".
-
7/30/2019 Final Claytronics
18/19
Page | 17
SUMMARY
Claytronics envisions multi-million-module robot ensembles able to form into
three dimensional scenes, eventually with sufficient fidelity so as to convincea human observer the scenes are real. This work presents substantial
challenges in mechanical and electronic design, control, programming,reliability, power delivery, and motion planning (among other areas), and
holds the promise of radically altering the relationship between computationhumans, and the physical world.
Claytronics is one instance of programmable matter, a system which can be
used to realize 3D dynamic objects in the physical world. While our original
motivation was to create the technology necessary to realize pario andsynthetic reality, it should also serve as the basis for a large scale modularrobotic system. At this point we have constructed a planer version of
claytronics that obeys our design principles. We are using the planer
prototype in combination with our simulator to begin the design of 3Dclaytronics which will allow us to experiment with hardware and software
solutions that realize full-scale programmable matter, e.g., a system ofmillions of catoms which appear to act as a single entity, inspite of being
composed of millions of individually acting units.
As the capabilities of computing continue to develop and robotic modulesshrink, claytronics will become useful in many applications. The featured
application of claytronics is a new mode of communication. Claytronics willoffer a more realistic sense to communication over long distance called
pario.
-
7/30/2019 Final Claytronics
19/19
Page | 18
BIBLOGRAPHY
www.cs.cmu.edu
http://www.post-gazette.com/
www.intel_research.net
http://www.cs.cmu.edu/http://www.cs.cmu.edu/http://www.post-gazette.com/http://www.post-gazette.com/http://www.intel_research.net/http://www.intel_research.net/http://www.intel_research.net/http://www.post-gazette.com/http://www.cs.cmu.edu/