CLAYTRONICS

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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 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, it’s 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 atoms—that 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 to perceive 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 in

artificial atoms.

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 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 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

ensemble’s 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.) Macro Scale

2.) Micro Scale

3.) 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

models—of anything, from engagement rings to sports cars—by 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 I’ve 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