PAPER PRESENTATION On CLAYTRONICS (For future Robots)

CLAYTRONICS

ABSTRACT to convince a human observer the scenes This project combines modular robotics, systems nanotechnology and computer science to create the dynamic, 3Dimensional display of electronic are real. For instance, as in sensor

networks, each robot will incorporate sensing, computation, and

communications components. However, unlike most sensor networks each robot will also include mechanisms for

information known as claytronics. Our goal is to give tangible, interactive forms to information so that a user's senses will experience digital environments as though they are

actuation and motion. Many of the key challenges in this project involve

coordination and communication of sensing and actuation across such large ensembles of independent units. Claytronics is an emerging field of engineering nanoscale concerning robots

indistinguishable from reality. Claytronics is taking place across a rapidly advancing frontier. technology will help to This drive

breathtaking advances in the design and engineering of computing and hardware systems. We propose a demonstration of extremely scalable modular robotics algorithms developed as part of the Claytronics Project demonstration of as well as a proof-of-concept

reconfigurable

('claytronic atoms', or catoms) designed to form much larger scale machines or mechanisms. The catoms will be submillimeter computers that will

eventually have the ability to move around, computers, communicate change with color, other and

prototypes. Our effort envisions multimillion-module robot ensembles able to morph into three-dimensional scenes, eventually with sufficient fidelity so as

electrostatically connect to other catoms to form different shapes.

My team focuses on two main projects:

 Creating the basic modular building block of claytronics known as the claytronic atom or catom, and

Designing and writing robust and reliable software programs that will manage the shaping of ensembles of millions of catoms into dynamic, 3-Dimensional forms.

Claytronics Hardware

Through hardware engineering projects, there are effects of scale on micro-electromechanical systems and model concepts for manufacturable, nanoscale modular robots capable of self-assembly. At the current stage of design, claytronics hardware operates from macroscale designs with devices that are much larger than the tiny modular robots that set the goals of this engineering research. Planar catoms test the concept of motion without moving parts and the design of force effectors that create cooperative motion within ensembles of modular robots.

Electrostatic latches model a new system of binding and releasing the connection between modular robots, a connection that creates motion and transfers power and data while employing a small factor of a powerful force. Stochastic Catoms integrate random motion with global objectives

communicated in simple computer language to form predetermined patterns, using a natural force to actuate a simple device, one that cooperates with other small helium

catoms to fulfill a set of unique instructions.

self-construction structures.

of

macro-scale

Giant Helium Catoms provide a larger-than-life, lighter-than-air

Cubes employ electrostatic latches to demonstrate the functionality of a device that could be used in a system of lattice-style self-assembly at both the macro and nano-scale.

platform to explore the relation of forces when electrostatics has a greater effect than gravity on a robotic device, an effect simulated with a modular robot designed for Software Research Distributed Computing in Claytronics

In a domain of research defined by many of the greatest challenges facing computer scientists and roboticists today, perhaps none is greater than the creation of algorithms and programming language to organize the actions of millions of submillimeter scale catoms in a claytronics ensemble. A notable characteristic of a

computational

power

within

small

space. For example, an ensemble of catoms with a physical volume of one cubic meter could contain 1 billion catoms. Computing in parallel, these tiny robots would provide unprecedented computing capacity within a space not much larger than a standard packing container. This arrangement of

computing capacity creates a challenging new programming environment for authors

claytronic matrix is its huge concentration of

of software. A representation of a matrix of approximately 20,000 catoms can be seen in the left frame of the illustration at the top of this column. Because of its vast number of individual computing nodes, the matrix invites comparison with the worldwide reservoir of computing resources connected through the Internet, a medium that not only distributes data around the globe but also enables nodes on the network to share work from remote locations. The physical

unfamiliar to the current operations of network technology. Languages to program a matrix require a more abbreviated syntax and style of command than the lengthy instructions that widely used network languages such as C++ and Java employ when translating data for computers linked to the Internet. Such

widely used programming languages work in a network environment where paths between computing nodes can be clearly flagged for the transmission of instructions while the computers remain under the control of individual operators and function with a high degree of independence behind

concentration of millions of computing nodes in the small space of a claytronic ensemble thus suggests for it the metaphor of an Internet that sits on a desk. An Internet in a Box Only Generally Speaking: Comparison with the Internet, however, does not represent much of the novel complexity of a claytronic

their

links

to

the

network.

In contrast to that tightly linked programming environment of multi-

functional machines, where C++, Java and similar languages evolved, a claytronic matrix presents a software developer with a highly organized, single-purpose, densely concentrated and physically dynamic

ensemble. For example, a matrix of catoms will not have wires and unique addresses -which in cyberspace provide fixed paths on which data travels between

computers. Without wires together

them, the atomized nodes of a claytronic matrix will operate in a state of constant flux. The consequences of computing in a network without wires and addresses for individual nodes are significant and largely

network of unwired nodes that create connections by rotating contacts with the closest neighbors. The architecture of programming realm requires not only

instructions that move packets of data through unstable channels. Matrix software must also actuate the constant change in the

physical locations of the anonymous nodes while they are transferring the data through the network. For the Nodes, Its All about Cooperation In this environment, the processes of each individual catom must be entirely dedicated to the operational goal of the matrix which is the formation of dynamic, 3-dimensional shapes. Yet, given the vast number of nodes, the matrix cannot dedicate its global resources to the micro-management of each catom. Thus, every catom must achieve a state of self-actuation in cooperation with its immediate neighbors, and that modality of local cooperation must radiate through the matrix. Software language for the matrix must convey concise statements of high-level commands in order to be universally distributed. For this purpose, it must

organize collective actions that gravitate toward the higher-level ensemble. goals of the

A Seamless Ensemble of Form and Functionality By providing a design to focus constructive rearrangements of individual nodes,

software for the matrix will motivate local cooperation among groups of catoms. This protocol reflects a seamless union between form and functionality in the actuation of catoms. In a hexagonal stacking arrangement, for example, rows of catoms in one layer rest within the slight concavities of catom layers above and below them. That placement gives each catom direct communication with as many as 12 other catoms. Such dynamic groupings provide the stage upon which to program catom motion within local areas of the matrix. Such collective actuation will transform the claytronic matrix into the realistic representations of original object

possess an economy of syntax that is uncommon among software languages. In place of detailed commands for individual nodes, it must state the conditions toward which the nodes will direct their motion in local groups. In this way, catoms will

process for identifying and debugging errors in the execution of programs. One result is a Programming Languages Researchers in the Claytronics project have also created Meld and LDP. These new languages for declarative programming The team's extensive work on catom motion, collective actuation and hierarchical motion planning addresses the need for algorithms program known as Distributed Watch Points, represented in the snapshot. Shape Sculpting

provide compact linguistic structures for cooperative management of the motion of millions of modules in a matrix. The center panel above shows a simulation of Meld in which modules in the matrix have been instructed with a very few lines of highly condensed code to swarm toward a target. Integrated Debugging In directing the work of the thousands to millions of individual computing devices in an ensemble, claytronics research also anticipates the inevitability of performance errors and system dysfunctions. Such an intense computational environment requires a comparably dynamic and self-directed strength and fluid movement to dynamic forms. Snapshots from the simulation of these studies can be seen in the right-side panel at the top of this column and in the left-side panel below.

that convert groups of catoms into primary structures dimensional for building dynamic, 3Such

representations.

structures work in a way that can be compared to the muscles, bones and tissues of organic systems. In claytronics, this special class of algorithms will enable the matrix to work with templates suitable to the representations it renders. In this aspect of claytronics development, researchers

develop algorithms that will give structural

Localization The teams software researchers are also creating algorithms that enable catoms to localize their positions among thousands to millions of other catoms in an

ensemble. This relational knowledge of individual catoms to the whole matrix is

fundamental

to

the

organization

and

The simulated world of DPRSim manifests characteristics that are crucial to

management of catom groups and the formation of cohesive and fluid shapes throughout the matrix. A pictorial context for examining the dynamics of localization is represented by the snapshot. 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. The simulator creates a world in which catoms take on the characteristics that researchers wish to observe.

understanding the real-time performance of claytronic ensembles. Most important, the activities of catoms in the simulator are governed by laws of the physical

universe. Thus simulated catoms reflect the natural effects of gravity, electrical and magnetic forces and other phenomena that will determine the behavior of these devices in reality. DPRSim also provides a visual display that allows researchers to observe the behavior of groups of catoms. In this context, DPRSim allows researchers to model conditions under which they wish to test actions of catoms.

Future Applications 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

new

mode

of

communication. Claytronics will offer a more realistic sense to communication over long distance called pario. 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 design, disciplines education from and Conclusions Claytronics is one instance of programmable matter, a system which can be used to The power and flexibility that will arise from being able to "program" the world around us should influence every aspect of the human experience. Claytronics is a technology which can serve as the means of implementing a new communication realize 3D dynamic objects in the physical world. While our original

engineering

healthcare to entertainment and leisure activities such as video games.

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 principles. We that obeys are using our design the planer

medium, which we call pario. 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.

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, in spite of being composed of millions of individually acting units.

References

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