CLAYTRONICS

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Index

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Introduction Major Goals Programmable Matter Synthetic reality Ensemble Principle C-Atoms Pario Algorithms Scaling and Designing of C-atoms Hardware Software Application of Claytronics Summary Bibliography

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CLAYTRONICS INTRODUCTION: In the past 50 years, computers have shrunk from room-size mainframes to lightweight 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 to create an ensemble of tens or even hundreds of small autonomous robots which 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 in three-dimensional solid form, the look, feel, and motion of the person at the other end of the telephone call

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Major Goals: Use large numbers of nano-scale robots to create synthetic reality. The goal of the claytronics project (AKA Synthetic reality) is to understand and develop the hardware and software necessary to create programmable matter. One of the primary goals of claytronics is to form the basis for a new media type, Pario. Pario, a logical extension of audio and video, is a media type used to reproduce moving 3D objects in the real world. The long term goal of our project is to render physical artifacts with such high fidelity that our senses will easily accept the reproduction for the original. When this goal is achieved we will be able to create an environment, which we call synthetic reality, in which a user can interact with computer generated artifacts as if they were the real thing. Synthetic reality has significant advantages over virtual reality or augmented reality.

Other people and objects created entirely from nano-scale robots.

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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 an arbitrary appearance. Claytronics refers to an ensemble of individual components, called catoms for claytronic atomsthat can move in three dimensions (in relation to other catoms), adhere to other catoms to maintain a 3D shape, and compute state information (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 or magnetic fields, etc. Primitive forms may allow only limited adjustment of one or two traits (e.g., the "photodarkening" or "photochromic" materials found in light-sensitive sunglasses), but there are theoretical forms which, using known principles of electronics, should be capable of emulating a broad 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 perceive directly with the human senses. This may include microscopic nanoscopic machines, but more typically refers to fixed arrangements conductors, semiconductors, and insulators designed to trap electrons artificial atoms. to or of in

Single-electron transistors, a form of quantum dot, were first proposed by A.A. Likharev in 1984 and constructed by Gerald Dolan and Theodore Fulton at Bell Laboratories in 1987. The first semiconductor SET, a type of quantum dot sometimes referred to as a designer atom, was invented by Marc Kastner and John Scott-Thomas at MIT in 1989. The term "artificial atom" 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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WHAT IS PROGRAMMABLE MATTER GOOD FOR ? Almost anything. It can improve the efficient collection, storage, distribution, and use of energy from environmental sources. It can be used to create novel sensors and computing devices, probably including quantum computers. It can create materials which are not available by other means, and which change their apparent composition on demand. Currently, the design of new materials is a time- and labor-intensive process; with programmable matter, it becomes a real-time issue, similar to the design and debugging of software. They sustain unnatural properties. Now What does "unnatural properties" mean? Atoms can be square, pyramidal, two-dimensional, highly transuranic, composed of charged particles other than electrons (e.g., "holes"), and can even be asymmetrical. Their size, energy, and shape are variable quantities. Thus, atoms exhibit optical, electrical, thermal, magnetic, mechanical, and (to some extent) chemical behaviors which do not occur in natural materials. This variety is bounded but infinite, in sharp contrast to the 92 stable atoms of the periodic table.

HOW IS PROGRAMMABLE MATTER MADE? Current forms of programmable matter fall into three types: Colloidal films, bulk crystals, and quantum dot chips which confine electrons electrostatically. Quantum dots can be grown chemically as nanoparticles of semiconductor surrounded by an insulating layer. These particles can then be deposited onto a substrate, such as a semiconductor wafer patterned with metal electrodes, or they can be crystalized into bulk solids by a variety of methods. Either substance can be stimulated with electricity or light (e.g., lasers) in order to change its properties. Electrostatic quantum dots are patterns of conductor (usually a metal such as gold) laid down on top of a quantum well, such that varying the electrical voltage on the conductors can drive electrons into and out of a confinement region in the well -- the quantum dot. This method offers numerous advantages over nanoparticle ("colloidal") films, including a greater control over the artificial atom's size, composition, and shape. Numerous quantum

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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 to produce 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 NANOTECHNOLOGY?

MATTER

THE

SAME

THING

AS

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 are nanotechnology. However, as originally coined by K. Eric Drexler in the 1980s and as commonly used by lay persons today, the word nanotechnology 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 not rule out such materials, but more typically refers to substances whose properties can be adjusted in the solid state, with no moving parts other than photons and electrons.

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SYNTHETIC REALITY One application of an ensemble, comprised of millions of cooperating robot modules, is programming it to self-assemble into arbitrary 3D shapes. Our long-term goal is to use such ensembles to achieve synthetic reality, an environment that, unlike virtual reality and augmented reality, allows for the physical realization of all computer-generated objects. Hence, users will be able to experience synthetic reality without any sensory augmentation, 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 demands simplifying and redesigning the software and hardware used in each catom to reduce complexity and manufacturing cost and increase robustness and reliability. 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 robot module should include only enough functionality to contribute to the ensembles desired functionality. Three early results of our research each highlight a key aspect of the ensemble principle: easy manufacturability, powering million-robot ensembles, and surface contour control without global motion planning

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C-ATOMS Catoms: the robotic substrate (the material or substance on which an enzyme 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 to reproduce moving 3D objects in the real world. The idea behind pario is to reproduce moving, physical 3D objects. Similar to audio 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 mechanisms for 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 in your 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 first diagram 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 three dimensional 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 structural strength 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 relational knowledge 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 reduce complexity 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 and Meld. Pario may fundamentally change how we communicate with others and interact with the world around us. Three Regimes : 1.) 2.) 3.) Macro Scale Micro Scale Nano Scale

Macro: Size from diameter >1cm Weight =>many tens of grams

Movements of catoms using magnetic forces which puts lower limit on the 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 that electrostatic 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 -- <10 microns Currently it is beyond the state of art in manufacturing such catoms further scaling of lithographic features in VLSI and advances in MEMS capabilities combined with advances in nanotechnology will enable integrated construction of such catoms

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SOFTWARES In parallel with our hardware effort, we are developing novel distributed programming languages and algorithms to control the ensembles, LDP and Meld. Pario may fundamentally change how we communicate with others and interact with the world around us. 1. Programming Languages Programmer 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 Sculpting It 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. Localization This algorithm enables catoms to localize their position among thousands 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 Simulation As 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 are being 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 engineering design, education and healthcare to entertainment and leisure activities such as video games. The advancements in nanotechnology and computing necessary for claytonics to become a reality are feasible, but the challenges to overcome are 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 been working 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 convince a 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 computation humans, 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 and synthetic reality, it should also serve as the basis for a large scale modular robotic 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 3D claytronics which will allow us to experiment with hardware and software solutions that realize full-scale programmable matter, e.g., a system of millions 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 modules shrink, claytronics will become useful in many applications. The featured application of claytronics is a new mode of communication. Claytronics will offer 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

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