NANOROBOTICS CONTROL DESIGN: A PRACTICAL APPROACH TUTORIAL

A. Cavalcanti, R.A. Freitas Jr., L.C. Kretly
CAN Center for Automation in Nanobiotech IMM Institute for Molecular Manufacturing UNICAMP University of Campinas ASME 28th Biennial Mechanisms and Robotics Conference
ASME DETC - Salt Lake City, Utah, USA September 28 to October 2, 2004

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The new era of Nanotechnology is coming

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Fact What is Nanotechnology Nanotechnology Challenge Proposed Approach Virtual Environment Nanorobot Design Environment Sensing Competitive Nanorobotics Collective Nanorobotics Contributions Fact

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FACT a. USA 700 Million. Efforts to bring new nanoproducts: IBM. Philips Electronics. Bell Laboratories.S. National Science Foundation launched a program in ³Scientific Visualization´ c. The governments and industries all around the globe: investing for a fast development of nanotechnology b.c a n b i o t e c h n e m s. Motorola.n a n o r o b o t d e s i g n. Xerox/PARC. The U. 2003 Investiments in Nanobiotech: Europe 500 Million. and Intel Corp.com www. Japan 800 Million d.com . Hewlett-Packard.. etc www.

n a n o r o b o t d e s i g n. WHAT IS NANOTECHNOLOGY ? a.c a n b i o t e c h n e m s. Physics. Interdisciplinary new technology (Engineering.1. Virtual reality / automated planning to assist nanotechnology .assisting chemical and biological assembly analyses www.com . The key technology: the new device and theory to explore the nano world d. Chemistry and Biology) b.com www.judgments about manufacturing feasibility . To build NEMS(nanometer-sized electromechanical structures): up-to-down and bottom-up strategies c. Computer.

com www. NANOTECHNOLOGY CHALLENGE a.development of molecular nanomachine & systems Possible applications: . An acceptable approach i.2.Nanoassembly automation . Main goal of nanotechnology at nanoscale: .Health and environmental care b.c a n b i o t e c h n e m s. Agents as assemblers sensory feedback intelligent control is indispensable for micro/nano manipulation ii.n a n o r o b o t d e s i g n.com . Computer graphics as a tool for exploration and design www.

Macro-transponder for positional location e. PROPOSED APPROACH a.com .Located in known positions d.com www. Nanorobot aims . Nanorobot¶s sensors identify: obstacles / molecule / organ inlets / another nanorobot www.Perform molecular assembly manipulation . Mobile nanorobot control design .Control organ inlets nutritional levels (ranging from 20 to 80%) target* 50% c.3.c a n b i o t e c h n e m s.Represent organ inlets requiring proteins . The delivery positions .n a n o r o b o t d e s i g n.Applied to Nanomedicine b. assembly and delivery .Molecules transport.

The obstacles located in unknown probabilistic positions Top camera view in the virtual environment c.com .com www.is valuable approach to study nanorobotics control behaviors for nanomedicine www.4. molecules. organ inlets.c a n b i o t e c h n e m s. Comprised by: nanorobots.simplified 3D workspace a lower computational effort . obstacles b.n a n o r o b o t d e s i g n. VIRTUAL ENVIRONMENT a. Human body: .

and viscous forces are paramount .com Top camera view in the virtual environment www. VIRTUAL ENVIRONMENT d. Kinetics assumptions: nanoworld dominated by .Friction. adhesion.c a n b i o t e c h n e m s.4.Gravitational forces are of little or no importance www.n a n o r o b o t d e s i g n.com . Molecule trajectories: probabilistic position and motion acceleration e.

Uses plane surfaces (three fins total) .5.Propulsion by bi-directional propellers: two simultaneously counter-rotating screw drivesnavigational acoustic sensors www.com www. Nanorobot navigation: .com .n a n o r o b o t d e s i g n. Nanoassembly Manipulation is taken into the nanorobot with robotic arm (telescoping manipulator) nanorobot design b. NANOROBOT DESIGN a.c a n b i o t e c h n e m s.

com . Decision planning To verify Organs inlets To attend nanorobot biomolecules Directed molecule-capture and delivery www. ENVIRONMENT SENSING a.com www.c a n b i o t e c h n e m s.6.n a n o r o b o t d e s i g n.

ENVIRONMENT SENSING b. Behavior activation Sensor-based-control loop www.6.c a n b i o t e c h n e m s.com www.n a n o r o b o t d e s i g n.com .

c a n b i o t e c h n e m s.com . COMPETITIVE NANOROBOTICS 3D Simulation Nanorobot and nanorobot adversary in action www.com www.n a n o r o b o t d e s i g n.7.

com .c a n b i o t e c h n e m s.n a n o r o b o t d e s i g n.www.com www.

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n a n o r o b o t d e s i g n. COLLECTIVE NANOROBOTICS 3D Simulation Cooperative team behavior www.com www.c a n b i o t e c h n e m s.8.com .

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Show a practical approach to investigate nanorobotics control design FUTURE WORKS Further biomedical investigations with more detailed simulator parameters www.c a n b i o t e c h n e m s.n a n o r o b o t d e s i g n. Real-time graphics simulation as a valuable tool for the better investigation of kinematics in nano world b.com . Rapid Evaluation of Various Control Algorithms c. CONTRIBUTIONS a.9.com www.

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Devices and systems based on Nanotechnology: US$ 1 trillion market for 2015 www.com .com www.6 Billion in 2007 d.FACT a.c a n b i o t e c h n e m s. A first series of commercially nanobioelectronic products are expected to 2007 b.n a n o r o b o t d e s i g n. Company DisplaySearch: rapid market grow from US$ 84 million today to $ 1. Next 5-10 years: first nanorobots to medicine and environmental applications c.

C.Just a few quotes« ³There is nothing permanent except change.´ Heraclitus of Ephesus (ca. (1874-1965) www.´ Max Plank (1858-1947) ³A pessimist sees the difficulty in every opportunity. but rather because its opponents eventually die and a new generation grows up that is familiar with it. 525-475 B. An optimist sees the opportunity in every difficulty.) ³A scientific truth does not triumph by convincing its opponents and making them see the light.com .c a n b i o t e c h n e m s.´ Winston Churchill.n a n o r o b o t d e s i g n.com www.

com .com www.Q.c a n b i o t e c h n e m s. & A. Control Performance ± Competitive Nanorobots Competitive reaction: 30 organs nutritional states 90 80 70 60 50 40 30 20 10 1 Simulation competitive: 24 time-steps 50 40 target: 50% level % frequency time step simulation agent lowest adversary lowest agent highest adversary highest 24 30 20 10 0 1 8 15 22 29 36 43 50 57 64 71 78 85 92 99 percentage nutritional state all 30 organs inlets agent adversary Fig.n a n o r o b o t d e s i g n.1: Highest/lowest organ inlets nutritional levels Fig.2: Histogram www.

Control Performance ± Collective Nanorobotics Collective reaction: 30 organs nutritional states 65 60 55 Simulation collective robotics: 24 time-steps 80 70 60 50 40 30 20 10 0 1 8 15 22 29 36 43 50 57 64 71 78 85 92 99 50 45 40 35 1 time step simulation lowest level highest level 24 frequency level % target: 50% percentage nutritional state all 30 organs inlets cooperative behavior Fig.n a n o r o b o t d e s i g n.3: Multi-robot cooperative reaction www.Q.com Fig.c a n b i o t e c h n e m s.4: Histogram cooperative reaction www.com . & A.

6:Nanorobot motion cost optimization www.n a n o r o b o t d e s i g n. Control Performance ± Neural Motion Control Neural complete trajectory optimization 120 110 100 Distance (unit in 1000 nm) 90 80 70 60 50 40 1 2 3 4 5 6 7 8 9 10 11 12 solutions for a time-step simulation route ON route OFF Fig.Q.5: Neural motion planning Fig.com www.com .c a n b i o t e c h n e m s. & A.

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