Final Claytronics

7/30/2019 Final Claytronics

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CLAYTRONICSBy-

[Type the document

subtitle]


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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


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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


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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.


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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.


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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


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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.


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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.


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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


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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.


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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.


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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.


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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 --


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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.


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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".


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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.


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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/

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