Beruflich Dokumente
Kultur Dokumente
CONTENTS
Abstract
Introduction
Aim
Claytronics
1. Claytronics Hardware
2. Software Research
21
3. Claytronics Software
23
Conclusion
41
Future Scope
42
Bibliography
43
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CLAYTRONICS
ABSTRACT
This paper introduces a new branch of technology, the programmable
matter. Claytronics is an abstract future concept that combines nanoscale robotics
and computer science to create individual nanometre-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 has the potential to greatly affect many areas
of daily life, such as telecommunication, human-computer interfaces, and
entertainment.
Claytronics is a programmable matter whose primary function is to
organize itself into the shape of an object and render its outer surface to match
the visual appearance of that object. Programmable matter is a proposed digital
material having computation, sensing, actuation and display as continuous
properties active over its whole extent.
Claytronics is made up of individual components, called catomsfor
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). Each
catom is a self-contained unit with 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. Objects featuring these catoms can be
radically altered in form and function. Furniture can morph into new types, for
instance. bed could suddenly become a sofa, or a large table. Chairs can be
instantly moulded to precisely suit the individual. Walls, carpets, ceilings, doors
and other surfaces can modify their colour or texture on demand. Many vehicles
now make use of claytronics. Car surfaces can change colour at the touch of a
button or they can self-heal: fixing bumps, scratches and other damage.
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CLAYTRONICS
INTRODUCTION
Claytronics is an emerging field of engineering concerning reconfigurable
nanoscale robots (claytronic atoms or catoms) designed to form large-scale
machines or mechanisms. The catoms would be sub millimeter computers that
eventually gain the ability to move around, communicate with other computers,
change colour, and electrostatically connect to other catoms to form different
shapes when instructed by the software to do so. The forms made up of catoms
could morph into any object, even replicas of human beings for virtual meetings.
Claytronics research arose out of a combination of work on micro-scale
computing devices and on tele-presence. To get these claytronic manifestations
organise themselves, it has been suggested that they adjust the size and locations
of empty chambers within a groups general structure to form raised areas or
troughs. This would allow their overall shape to be controlled delicately.
Photo-sensors and pressure sensors would allow input to be transmitted
to any location required. The undergoing research combines modular robotic
systems, nanotechnology and computer science to create dynamic, 3D display of
electronic information. Initial research is focused on creating the basic modular
building blocks of claytronics, on designing and in writing robust and reliable
software programs that will shape ensembles of millions of catoms into dynamic
3D forms. The aim is to give tangible, interactive forms to information so that a
users senses can experience digital environments as if they are indistinguishable
from reality. This technology will help to drive breathtaking advances in design
and engineering of computing and hardware systems.
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 carsby 2017. If it works,
claytronics could transform communication, entertainment, medicine and more
as it promises to help humanity in different ways.
Keywords-Claytronics, Catoms, Macro, Nano, MELD, LDP
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CLAYTRONICS
AIM
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.
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Claytronics
Collaborative Research in Programmable Matter Directed by Carnegie Mellon and Intel
This project combines modular robotics, systems nanotechnology and
computer science to create the dynamic, 3-Dimensional display of electronic
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 indistinguishable from
reality.
Claytronics is taking place across a rapidly advancing frontier. This
technology will help to drive breathtaking advances in the design and engineering of
computing and hardware systems.
Our research 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.
Realizing the vision of claytronics through the self-assembly of millions of
catoms into synthetic reality will have a profound effect on the experience of users of
electronic information. This promise of claytronic technology has become possible
because of the ever increasing speeds of computer processing predicted in Moore's
Law.
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1. Claytronics Hardware
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. Such devices are designed to test concepts for
sub-millimetre scale modules and to elucidate crucial effects of the physical and
electrical forces that affect nanoscale robots.
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.
Giant Helium Catoms provide a larger-than-life, lighter-than-air 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 selfconstruction of macro-scale structures.
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.
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1.1 Blinky Blocks
Users are encouraged to leave the power on and plug and unplug units
during runtime to enable changes in behaviour based on new physical groupings.
Color change is the primary mode of feedback to the users each block has several
powerful RGB LEDs so that they can glow with any color and brightness level and
be visible in normal office lighting conditions. Several secondary capabilities also
exist. The blocks can detect their current orientation, as well as changes in orientation
and sudden impulses such as shaking or tapping. They are also able to play sounds
through their speaker, from simple beeps to complex waveforms streamed off their
internal storage. Capturing sound is possible with the onboard microphone.
In a typical usage situation, each Blinky Block in an ensemble is loaded with
the same Meld program.
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Realizing high-resolution applications that Claytronics offers requires
catoms that are in the order of millimeters. In this work, we develop and demonstrate
millimeter-scale catoms that are electrostatically actuated and self contained. As a
simplified approach we build cylindrical catoms instead of spheres.
The millimeter scale catom consists of a cylindrical shell and a High voltage
CMOS die attached inside the tube. The tubes are fabricated as double-layer planar
structures in 2D using standard photolithography. The difference in thermal stress
created in the layers during the fabrication processes causes the 2D structures to bend
into a 3D tubes upon release from the substrate. The tubes have electrodes for power
transfer and actuation on the perimeter.
The high voltage CMOS die is fabricated separately and is manually flip-chip
bonded to the tube before release. The chip includes a rectifier, a charge pump for
creating high voltages, a storage capacitor, a simple logic unit, and high voltage
drivers.
The catom moves on a power grid (the stator) that contains rails which carry
high voltage AC signals. Through capacitive coupling, an AC signal is generated on
the coupling electrodes of the tube, which is then converted to DC power by the chip.
The powered chip then generates voltage on the actuation electrodes sequentially,
creating electric fields that push the tube forward.
1.3 Cubes
A lattice-style modular robot, the 22-cubic-centimeter Cube, which has been
developed in the Carnegie Mellon-Intel Claytronics Research Program, provides a
base of actuation for the electrostatic latch that has also been engineered as part of
this program. The Cube (pictured below, right) also models the primary building
block in a hypothetical system for robotic self-assembly that could be used for
modular construction and employ Cubes that are larger or smaller in scale than the
pictured device.
Department of BCA, SRBS Gujarati College, Kochi
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The design of a cube, which resembles a box with starbursts flowering from
six sides, emphasizes several performance criteria: accurate and fast engagement,
facile release and firm, strong adhesion while Cube latches clasps one module to
another. Its geometry enables reliable coupling of modules, a strong binding
electrostatic force and close spacing of modules within an ensemble to create
structural stability.
Designed to project angular motion from the faces of its box-like shape, the
Cube extends and contracts six electrostatic latching devices on stem assemblies. By
this mechanism, the latches of a Cube integrate with latches on adjacent Cubes for
construction of larger shapes.
With extension and retraction of stem-drive arms that carry the latches, the
module achieves motion, exchanges power and communicates with other Cubes in a
matrix that contains many of these devices. Combining these forces of motion,
attachment and data coupling, Cubes demonstrate a potential to create intricate
forms from meta-modules or ensembles that consist of much greater numbers of
Cubes; numbers determined by the scale of Cubes employed in an ensemble of selfconstruction.
To create motion for a Cube in a matrix of many cubes, a direct-current motor
inside the Cube 's central frame actuates expansion and contraction of electrostatic
latches fixed to the ends of independent worm-drive assemblies.
Housed in
individual tubes, the assemblies provide arms to support the motion of latches from
six sides of the central frame. Linear motion enables the Cube to exploit considerable
lateral flexibility for forming shapes within a matrix. The Cube measures 22 cm
between faces when fully contracted and 44 cm when fully expanded.
The worm-drive assembly extends the face of one cube to create contact with
the face of an adjacent cube. The electrodes on each face create one-half of a
capacitor. When the two "genderless, " star-shaped faces of adjacent Cubes integrate
their combs, they complete a capacitor and form an electrostatic couple from the
contact of electrodes, which binds the faces as a completed latch.
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The capacitive couple, which forms the electrostatic latch, provides within an
ensemble of Cubes not only adhesion and structural stability but also the
transmission of power and communication. In a meta-module of many cubes, power
would move in discrete packets rather than as a continuous current, in a mode similar
to data moving through a network in discrete packets of bytes that reassemble into
larger packages of information at the point of delivery. This packet delivery of
energy would enable the meta-module or ensemble to move power from cubes that
have a surplus to others that require more of it.
Four sub-circuits within the capacitive couplings of these electrostatic latches
make possible this system of power transfer. With these circuits, the simultaneous
transfer of data would follow an even simpler scheme.
Cubes reconfigure by expanding the connected faces of two neighboring
modules so that one is pushed one block length across the assembly. Then by
contracting its extended arm, it pulls the next module forward. Such motion within
a meta-module consisting of sufficiently large numbers of cubes could form any
conceivable shape.
This micro-electro-mechanical device thus presents a model for a type of robotic
self-assembly of complex structures at both macro and micro scales.
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1.4 Powering Catoms with Magnetic Resonant Coupling
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incorporated into ensembles of nano-scale robots. It provides a testbed for the
architecture of micro-electro-mechanical systems for self-actuation in modular
robotic devices. Employing magnetic force to generate motion, its operations as a
research instrument build a bridge to a scale of engineering that will make it possible
to manufacture self-actuating nano-system devices.
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module achieves a turning motion to model the spherical rotation of millimeter-scale
catoms.
The magnets are arranged in the containment ring as the straightedge faces
of a 12-sided polygon seated in the acrylic plate that holds them in place. The
horseshoe magnets feature 39AWG magnet wire wrapped around AISI 1010 steel
cores, components selected to balance machinable metal and flux-saturation density.
Replacing barrel-shaped, round-face magnets in Planar Catom Versions 1-5,
the horseshoe magnet was adopted to boost magnet strength and create a wider
footprint. It also represents an evolution of the use of flat-surface magnets, which
were introduced in Planar Catom Version 5. Flat surfaces prove to be more efficient
for contact than round-face magnets. In a fully assembled catom, as seen in the earlier
picture of the V8 (above, right), a second magnet ring would ride below each of these
rings. The faces of the lower rings would be offset to the 12 gaps that appear between
the magnets in this top view. This view also highlights the geometry of plane surface
magnets as force effectors . A catom sustains a clockwise or counterclockwise motion
by a continuous transfer of electro-magnetic force to achieve the opposite motion in
the other catom.
When compared to a stepper motor, another brushless, synchronous motor
that relies upon a large number of steps to sustain motion, the planar catom faces
unique issues from alignment and friction, which this image suggests.
Imagine a third catom rotating in the space above the side-by-side rotation
of these adjacent magnet rings. Its magnets would contact magnets toward the top
of the two magnet rings shown here because of the physical impossibility of its
touching magnet faces nearer the point where these two exchange a contact.
This configuration highlights the temporarily "orphan " character of magnets
situated on either side of the contact points at any given moment in the rotation of
adjacent catoms. To better manage the flow of power in this circumstance where a
Department of BCA, SRBS Gujarati College, Kochi
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contacting magnet blocks the potential of its neighbors, the controller operates each
magnet ring as 3 independent groups of four magnets. Thus it is possible to direct
power to one magnet in a group of four as the rotation advances in an ensemble.
This electrical design increases the accuracy of the alignment between
catoms. It improves torque control and heat management. It also eliminates 18
unnecessary signal paths from an earlier architecture that allocated an independent
signal path to each magnet. This design to refine functionality represents a 30
percent reduction of circuit complexity. It also illustrates the Ensemble Axiom 's
influence as an overarching design criterion. In this instance, it drives an economy
of function to reduce complexity in the device. Because there was no benefit for the
ensemble in the capacity of four neighboring magnets to actuate simultaneously, the
arrays of four magnets have been electronically consolidated to focus actuation on
the most magnet in the group that comes closest to a neighboring catom. This
modification in design enhances the functionality for the ensemble while
streamlining an element of the module 's complex alignment.
The custom design of the electronics achieves a very high level of capacity to
guide the module 's performance. Built with the smallest components commercially
available, each controller board contains 5 layers of embedded microcircuits on 45
mm diameter acrylic boards. At this density of circuit design, each of the two
controller rings provides approximately 40 times the embedded instrumentation of a
standard robotics controller package in 2/5th the space. The resulting capacity of its
boards enables the module to carry on board all devices needed to manage its
firmware, drivers and 24 magnets.
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A more typical robotics servo controller would carry a microprocessor,
motors, servos and other devices on one side of a 50 mm x 75 mm board embedded
with two layers of microcircuits. While building planar catoms to investigate a
customized actuation system that creates motion without moving parts, the design
team also achieved the complementary objective of constructing a robust, selfcontained modular robot.
In pursuing a goal that is broader than the testing of an individual system for
a modular robot, the research team has gained experience with micro-electromechanical system (MEMS) interfaces that use "genderless " connectors while testing
algorithms for the transfer of data and power across unary circuits whose points of
connection occur in a transitory state because of the rotation of the modules across
which the circuits are formed. This is the essence of the challenge of constructing
nanoscale devices whose motion will enable the shaping of 3-dimensional
representations of objects from ensembles of thousands of catoms.
Another component of this robust electronic system is shown in the picture
below of a Planar Catom Infrared Communication Board.
On this device, the Infrared Data (IrDA) transmitters and receivers are
separately multiplexed to transmit and receive signals on separate channels, allowing
fast, simultaneous transmission on all channels.
These global communication
features anticipate the necessity of debugging and reprogramming large ensembles
of catoms.
The engineering goal for these components is a system that supports
cooperative behavior among nanoscale robotic modules. This concept of machine
behavior is one in which the primary devices direct their own motion toward a
common goal by employing functionality that focuses every element of design on the
requirements of the ensemble rather than on those of the individual robot. The
engineering design thus adheres to the ensemble axiom by incorporating in these
devices only those functions that advance the functionality of the ensemble.
In the present stage of development, this model of cooperative movement -motion without moving parts -- can be seen in this video of two planar
catoms exchanging electromagnetic force in order to develop a circular motion.
The flexibility of its electro-magnetic system also enables the planar catoms
to emulate the shapes of hexagonal and cubic lattices, as well as various irregular
polygonal configurations, which are relevant to the modelling of nano-scale catom
ensembles.
These shapes conform to lattice configurations that optimize the
Department of BCA, SRBS Gujarati College, Kochi
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communication among individual spherical catoms in an ensemble. For example,
within a fully-populated, three-dimensional hexagonally arranged ensemble, an
individual catom would have direct contact with as many as 12 other catoms.
The hexagonal configuration of a group of planar catoms is highlighted in
this concept video , which demonstrates the principle of motion without moving
parts. In the video, with an exchange of electromagnetic force one catom rotates
against an ensemble of six other catoms, whose conductive nodes appear as small
colored beads around the perimeter of each barrel-shaped module.
The feasibility of "motion without moving parts " is further explained in this
article for the American Association of Artificial Intelligence .
To gain a close-up view of a planar catom 's electrical components and more
detailed illustration of the evolution of the design and electro-magnetics of the planar
catom, visit this page of design notes .
The electrodes that form the latch fit into "genderless " faces constructed as
star-shaped plastic frames carried by each module. In the design of the circuits, each
electrode functions as one-half of a complete capacitor. A latch forms when the faces
of two adjacent modules come together and create an electrostatic field between the
flexible electrodes.
Each star-shaped face supports passive self-alignment of the link with a 45degree blade angle at the top of each comb on the face. The design also supports
easy disengagement with a five-degree release angle along the vertical lines of the
faces.
Department of BCA, SRBS Gujarati College, Kochi
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The parallel alignment of the electrodes in forming the complete capacitor
plate introduces a shear force - or friction - that strengthens the binding of the
latch. Once formed, the latch requires almost zero static power to maintain its
holding force. Additionally, the presence of multiple circuits among the electrodes
provides the latch with simultaneous capacity also to exchange power and
communicate data between modules. These features make the device suitable for
lattice-style robots in both nanotechnology (micro-scale) and macroscale
applications.
In its electrical design, the electrostatic latch uses the closely spaced plates of
a parallel capacitor, which generate an electrostatic force to attract each other when
the capacitor is charged. After the latch closes, residual charge maintains the latch
indefinitely. A thin dielectric film on each conductive plate provides insulation.
Employing capacitive coupling, the latch adheres with a force of 0.6
2
N/cm while requiring almost zero static power to maintain the force after the latch
forms. A specific degree of flexibility in the electrodes maximizes the mutual
coupling of electrodes. Electrodes that are too rigid or too flexible do not provide an
adequate level of latch performance.
Moreover, the electrodes create multiple circuits, which allow transmission
of power and data for communication between modules. This design serves several
functions within the robotic module and enables a level of efficiency that reduces
requirements for total weight, volume and complexity. This design feature thus
yields simpler paths to performance and scaling goals in robotic modules.
The factor that enables electrostatic adhesion to be effective at the macroscale
is an interface for the electric field that also creates a shear force from mechanical
friction. A combination of electrostatic and shear forces results from the alignment.
Currently, the electrostatic latch is being tested on a modular Cube that is 28
cm on a side.
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Depending upon the scale of the device, actuation of the module 's motion
can be created with various sources of energy, including currents of air, electrostatics
or, in the case of a study of the phenomenon during Andrew 's Leap, Carnegie Mellon
's summer enrichment program, the propelling motion of high school students
throwing helium-filled balloons.
From such forces, a module derives an initially incoherent motion that causes
random contacts with other modules. In these contacts, the module evaluates the
appropriateness of forming a connection with the other module. The module makes
its decision by evaluating the relation of its form in the instance of the contact location
to the ensemble 's overall goal for a predetermined shape. Based on this evaluation,
the module either forms a bond or continues in motion.
To demonstrate the applicability of stochastic reconfiguration to modular
robots, the Andrew 's Leap students constructed an ensemble of Mylar balloons in
the shape of cubes, each approximately 1/2 meter on a side. They also created a
lightweight electronic module to support each catom 's functionality as well as simple
latches for the faces of each cube to provide a means of data exchange and attachment
among catoms. To create bouyancy, each catom was filled with helium.
Computations within the electronic module follow a simple program, known as a
graph grammar, which enables each stochastic catom independently to determine its
location in relation to other catoms in the ensemble - and in relation to a
predetermined shape into which the catoms locate their positions from random
motion.
Localizing its position while in contact with other catoms, a catom either
engages its electrostatic latch in order to bind to an adjacent robot or signals for
separation and further stochastic motion until it identifies a location where it will
contribute to the desired global shape.
As a type of swarm behavior conceived for nano-scale robots, stochastic
motion among catoms would draw upon mathematical probability whose effective
potential to shape forms would increase with greater numbers of smaller-scale
modules.
While the student technologists worked with a few large-scale, low-mass
modules, they were able to test algorithms that implemented valid steps for the
sorting of random associations among catoms. They were also successful in the
design of latches that enabled catoms to exchange data, localize positions within an
Department of BCA, SRBS Gujarati College, Kochi
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ensemble and determine the appropriateness of connections with randomlyencountered catoms to the goal-shape desired for the ensemble.
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square balloon is constructed with edge dimensions of approximately 1.9 meters
from 4 meter X 1 meter sheets of Mylar. Each balloon uses four sheets of this
material.
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Two electrodes on each flap create the electrostatic forces that enable latches
to form a capacitive couple between flaps on adjacent GHCs. A dielectric material
(Mylar) isolates the pair of electrodes (and electrical charges from them) on each flap
to prevent their direct electrical contact. This design enables voltage differences
applied to the electrodes to accumulate charges, create electrostatic force on the flap
and align with electrodes that carry an opposing charge on the flap of an adjacent
GHC.
Each flap moves independently with the assistance of a spring-loaded
mechanism and a composite shape-memory alloy (SMA). GHCs deliver power to
each other using capacitive coupling with alternating current (AC). The AC power
generated at the neighboring catom is rectified and regulated, and the resulting DC
power is used for processing and other electronics on the module. A high-voltage
generator creates the electrostatic force to activate the latches.
Although the project planned to construct six giant helium catoms to
simulate an ensemble, in its 3-month duration, this experiment tested this interface
on two catoms.
Experience with this design provided the Carnegie Mellon-Intel Claytronics
Research Project with substantial experience in the design characteristics of micro-electromechanical
latches.
2. Software Research
2.1 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.
Department of BCA, SRBS Gujarati College, Kochi
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As a consequence, the research scientists and engineers of the Carnegie
Mellon-Intel Claytronics Research Program have formulated a very broad-based and
in-depth research program to develop a complete structure of software resources for
the creation and operation of the densely distributed network of robotic nodes in a
claytronic matrix.
A notable characteristic of a claytronic matrix is its huge concentration of
computational power within a 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 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 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.
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physical locations of the anonymous nodes while they are transferring the data
through the network.
3. Claytronics Software
3.1 The Research Program
In the Carnegie Mellon-Intel Claytronics Software Lab, researchers address
several areas of software development, which are described in this section of the
website.
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Researchers in the Claytronics project have also created Meld and
LDP. These new languages for declarative programming 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.
3.1.4 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 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 of the elephant
simulated in the center panel of images below.
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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. A Linux-based modeling tool,
DPRSim can be downloaded from the website of the Intel Pittsburgh Lab.
The simulated world of DPRSim manifests characteristics that are crucial to
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. At the top and
bottom of this column, images present snapshots from simulations of programs
generated through DPRSim. Videos from simulations can be seen on other pages of
this site.
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3.2.1 Meld
Meld addresses the need to write computer code for an ensemble of robots
from a global perspective, enabling the programmer to concentrate on the overall
performance of the matrix while finessing the resource-consuming alternative of
writing individual instructions for every one of the thousands to millions of catoms
in the ensemble. This form of logical programming represents a heuristic solution
to the challenge of controlling the action of such a great number of individual
computing nodes.
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Meld employs a declarative language that has roots in the logic of P2, a
language created for the management of static, overlay networks that share
information from many sources of traffic. Although P2 evolved for networks with a
static topology, Meld extends its programming logic to control motion among robotic
modules in claytronic ensembles.
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tireless. Each catom continues to evaluate its position in relation to a next best move
-- even after it has stopped moving.
Another way of characterizing this dynamic aspect of declarative program is
to recognize that rules for combining facts produce new facts that continue to be
proven until all rules of proof have been satisfied. Because most if not all baseline
facts state the locations of individual modules in relative positions, the rules drive
the proofs until final positions represent the global shape desired for the ensemble.
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While Meld approaches the management of the matrix from the perspective
of logic programming, LDP employs distributive pattern matching. As a further
development of program languages for the matrix, LDP, which stands for Locally
Distributed Predicates, provides a means of matching distributed patterns. This tool
enables the programmer to address a larger set of variables with Boolean logic that
matches paired conditions and enables the program to search for larger patterns of
activity and behavior among groups of modules in the matrix.
`While addressing variable conditions related to time, topology and the
status of modules, LDP triggers specific actions in parallel with other expressions
governing local groups of modules. A reactive language, LDP grows from earlier
research into the analysis of distributed local conditions, which has been used to
trigger debugging protocols. From this base, LDP adds language that enables the
programmer to build operations that can be used for more general purposes in the
development of the shape of the matrix.
LDP shares with Meld the achievement of dramatically shorter code, the
automatic distribution of the program through the matrix and automatic messaging
about conditions in the matrix.
As it originates in the research to evaluate conditions throughout the
ensemble, its strength is in detection and description of distributed conditions. From
this perspective, it programs locally, focusing upon a bounded number of modules
in contact groups while basing its predicates upon Boolean (if, then) expressions,
which expand the basic set of variables that the programmer can manage throughout
the matrix.
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the inherent fault-tolerance provided by the runtime, Meld programs are robust.
They have been demonstrated on ensembles containing millions of modules, as
shown in the video on the right.
Performance bottlenecks are still difficult to detect. On the one hand, tracing
an execution on the Blinky Blocks hardware faces a number of problems: scarcity of
memory resources prevents logging of performance data, and the execution is likely
to be affected if traces are sent to an external storage resource via a central point. Also,
a special API would need to be developed as standard performance tuning and
tracing frameworks cannot be used on the Blinky Blocks hardware.
On the other hand, the Blinky Blocks simulator and DPRSim actually execute
the Meld programs but simulate communications and the physical environment. This
means that the simulated time of a Meld program does not match the real execution
time as embedded processors are much slower than generic CPUs.
Therefore, performance metrics cannot be derived from the simulation. Also,
the control flow of a simulated application can mismatch a real execution as, for
example, during a simulation, messages can be read before they would have been
received during a real execution.
This part of the Claytronics project aims to add performance metrics to the
Blinky Blocks Simulator as well as DPRSim to ease performance tuning of the
compiler and improve the virtual machine as well as Meld programs. We are using a
two-step approach: first, every Meld operation is benchmarked on the Blinky Blocks
hardware platform, second these performance data are fed back into the simulators.
Department of BCA, SRBS Gujarati College, Kochi
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They will be used to eventually modify the control flow of the program, to match a
real execution and also to report performance metrics of the Meld application.
3.6 Localization
Determining module locations from noisy observations
One of the first tasks for a modular robot is to understand where its modules
are located relative of one to another. This knowledge is very useful: For example,
motion planning and control will often shift many modules from one location to
another, and knowing the module locations helps robot properly allocate the
resources. The knowledge of module locations will also be useful to identify a human
user.
Department of BCA, SRBS Gujarati College, Kochi
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In order to determine their locations, the modules need to rely on noisy
observations of their immediate neighbors. These observations are obtained from
sensors onboard the modules, such as short-range IR sensors. Unlike many other
systems, a modular robot may not have access to long distance measurements, such
as wireless radio or GPS. Furthermore, the robot's modules will often form irregular,
non-lattice structures. Therefore, the robot needs to employ sophisticated
probabilistic techniques to estimate the location of each its module from noisy data.
Our contribution is an algorithm that lets the modules estimate their
locations in a fully distributed manner. The algorithm has a number of attractive
properties: It can handle errors that arise from uncertain observations. As we scale
the ensemble to increasingly finer resolutions, the accuracy of the localization
remains roughly constant. Furthermore, the algorithm is sufficiently simple that it
permits a distributed implementation. Therefore, the locations are estimated directly
by the modules themselves, without relying on an external, centralized processing
unit.
On the technical side, our algorithm leverages two insights. One key idea is
to hierarchically decompose the ensemble into smaller parts. The parts are localized
first, and the partial solutions are then merged to obtain an estimate for the entire
ensemble. Importantly, the ensemble is split in such a way that the partial solutions
do not accumulate too much error. Thus, when the partial solutions are merged, the
algorithm only needs to exercise a minimal effort to compute an accurate overall
solution.
The second key idea employed in our work is to limit the amount of
communication sent between the modules. Much like in a flock of birds, each module
needs to communicate information about itself to others in the ensemble, but should
avoid communicating with everybody. In our case, many operations in the algorithm
are implemented by communicating aggregate statistics about progressively larger
parts of the ensemble. In this manner, the communication complexity of our
algorithm scales logarithmically with the size of the ensemble.
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A first of its kind software program for the conceptual testing and
visualization of multi-thousand robot ensembles, DPRSim operates as a Linux-based
system on desktop computers. It is available as open source software with a tutorial
on the website of Intel 's Pittsburgh Lab. DPRSim has become the primary tool of
the Carnegie Mellon-Intel Claytronics Research Project for observing real-time
performance when designing, testing and debugging modular robots in claytronic
ensembles.
Demonstrating the validity of claytronics requires extensive observation of
cooperative behaviors among nanoscale modular robots. The research task is made
uniquely challenging by the absence of physical prototypes that can serve as
demonstration platforms for these tiny devices, which are no larger than a grain of
sand.
Between concept and engineering conception, there is the need for extensive
trial and error with real devices, and, necessarily, that testing of concept requires very
clear representations of a vast number of effects in a tiny world that cannot be directly
observed.
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Its run-time record captures all ensemble events in both video and text
formats, making DPRSim an unusually powerful tool for debugging as well as
modelling. While providing a platform for programming the internal computing
capacity of individual catoms, DPRSim incorporates software drivers for physical
phenomena such as power flow, magnetics, gravity and friction.
From this
performance, DPRSim also captures movies to record its simulations.
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human.cly. No, make it taller than that''. We want to design, from first principles,
ensembles with the ``universal knobs'' needed for applications, and to understand
the laws that govern them.
This is no small task; applications will involve dozens to thousands of
parameters, and reverse-engineering them is far harder than ground-up approaches.
So in pursuit of the overarching goal, we are starting smaller. Simple solids like
spheres and regular polyhedra are highly symmetrical and can be easily described
using mathematics; we seek algorithms which will form Claytronic matter into these
shapes while meeting the necessary criteria for robustness and generality. Common
patterns in these algorithms will point the way to general rules underlying the
``universal knobs'' that will be needed in the future. Starting from these smaller
problems, we seek to lay the foundation for all aggregate Claytronic programming.
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for the course of software development - expanded to the scale that claytronics brings
to the realm of parallel and distributed computing.
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programming, this retooling of the debugging process has become a necessity although one that is relevant beyond the applications of claytronics technology. With
forensic simulation, a programmer can much more easily and quickly reconstruct
root causes of the coding and algorithmic errors that compromise smooth operations
in a mega-threaded environment. The visualization of records permits a dramatic
scaling upward of error searches and speeds recovery of essential information. The
process reduces the time of investigations while rewarding focused inquiries with
increasing levels of relevant information.
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3.10 Shape Sculpting in Claytronics
Lifting Catoms into the 3 RD Dimension
Creating dynamic motion in 3-D poses the ultimate goal of the Carnegie
Mellon-Intel Claytronics Research Project.
A claytronics designer might demonstrate the complexity of this challenge of
forming 3-dimensional objects from millions of robotic catoms, each less than a
millimeter in diameter, by presenting an ensemble of these tiny spherical devices laid
side-by-side on a flat surface. This arrangement would present a 2-dimensional
square, approximately a meter on each side. This is the organized position that an
ensemble could assume before the application of any external forces. How then to
give it a 3-D shape?
With a flow of power into the ensemble, the sensors of adjacent catoms could
induce an electrostatic alignment or latching effect to increase the hold of one catom
to another across this million-member network of distributed computing devices.
With the fine grain particularity of each individual catom, the charge in the
ensemble might enhance colors and shadings across the pixilated surface of each
catom to induce subtle lines and surface perspectives that would appear with the
activation of the individual voxels -- in much the same way that pixels activate
images on a video screen.
In this state, moreover, each catom would possess sufficient microprocessing
capacity to implement algorithms that instruct the device to localize its position in
relation to other catoms. This information would enable each catom to initiate
motion and change its alignment with adjacent catoms until the tiny spheres reach
other locations. Thus, the ensemble would reshape as it creates a new contour in a
boundary line or opens a void inside its boundary while still lying flat.
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distributed computing, nanotechnology and modular robotics, would also highlight
the greater challenge of attaining a 3-dimensional perspective -- in which catoms
would rise from the flat surface to represent not only the outline but also the volume
and motion of a fully-shaped object, animal or person.
To gather height and volume from the array of a million catoms lying
alongside each other within a level plane, the ensemble must not only overcome the
resistance of local inertia but also mass sufficient internal force to oppose gravity -perhaps the most difficult challenge facing claytronic algorithm designers.
Thus far, in this demonstration of the capacity of self-actuating modular
robots, the claytronic architect works with forces that can be manipulated with the
mass of two catoms sharing equal amounts of work. The catoms generate motion,
for example, by employing their round shapes to form a simple lever between them,
one that exchanges a small electrostatic force across matching sensors to create a
rotational (or kinetic) force, which is sufficient to shift the mass of one catom around
the pivot point of its spherical shape. Balanced between individual catoms, this force
is sufficient to move any catom on a flat surface to any position within an ensemble.
To rise above the level plane, however, the ensemble must multiply its catom
forces (the mass of a single catom plus the electrostatic energy that each device can
carry) to overcome gravitational force, which increases resistance by the mass of
catoms needed to form a specific shape in the 3rd dimension. Thus, to accomplish
the lifting of more than one catom, the ensemble needs the algorithmic equivalent of
ropes and pulleys in order to lift multiple catoms and build a taller structure.
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An understanding of the complexity of the software engineering needed to
achieve Collective Actuation - a general term for algorithms to control the motion of
micro-electro-mechanical levers inside ensembles - also helps to illustrate the
structure of software research for the Carnegie Mellon-Intel Claytronics Research
Program.
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CONCLUSION
Once fully developed and functional, this advanced technology would
highly be beneficial, not only to the scientific class of people but also to the
common man. It would help users to carry around a lump of claytronics in their
pockets that can reshape into any object and even act like 3D TV and create
synthetic reality. From scientific perspective, 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. It
may help scientists learn how to efficiently manage networks of millions of
computers. It will also advance our understanding of nanotechnology.
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FUTURE SCOPE
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 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 artefact 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. 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. 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
claytronics 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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BIBLIOGRAPHY
http://en.wikipedia.org/wiki/Claytronics
http://www.cs.cmu.edu/~claytronics/
http://jiaps.org/claytronics-from-atoms-to-catoms/
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