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A Formal Definition for Nanorobots and Nanonetworks

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A Formal Definition for Nanorobots and Nanonetworks A Formal Definition for Nanorobots and Nanonetworks Florian Büther, Florian-Lennert Lau, Marc Stelzner, Sebastian Ebers University of Lübeck, Institute of Telematics, Lübeck, Germany {buether,lau,stelzner,ebers}@itm.uni-luebeck.de Abstract—Nano computation and communication research ex- size, assumptions vary. Some papers assume an overall size amines minuscule devices like sensor nodes or robots. Over of 1–100 nanometers [8], others consider a maximum size the last decade, it has attracted attention from many different of a few micrometers [10], [5]. However, neither provide a perspectives, including material sciences, biomedical engineering, and algorithm design. With growing maturity and diversity, a reasoning for the respective restriction. While devices of a common terminology is increasingly important. few micrometers may be no longer nanoscale, they still are In this paper, we analyze the state of the art of nanoscale subject to quantum effects which we consider the necessary computational devices, and infer common requirements. We and crucial aspect for a device being called a nanodevices. combine these with definitions for macroscale machines and Next to their size, nanosdevices are often described as robots to define Nanodevices, an umbrella term that includes all minuscule artificial devices. We derive definitions for Nanoma- autonomous machines or robots. Regular macroscale machines chines and Nanorobots, each with a set of mandatory and optional and robots are well-known research topics, and provide useful components. Constraints concerning artificiality and purpose dis- definitions for both terms [11], [12]. tinguish Nanodevices from nanoparticles and natural life forms. Building upon both areas of research, we derive a precise, Additionally, we define a Nanonetwork as a network comprised formal definition for nanoscale devices, machines and robots. of Nanodevices, and show the specific challenges for Medical Nanorobots and Nanonetworks. We integrate our definition into These give way to a similar definition for nanonetworks. the current research of Nanodevice components with a set of The definitions include the target environment of a robot or examples for electronic and biological implementations. network. This in turn allows us to describe the specifics of using nanodevices in a medical application. I. INTRODUCTION This paper aims for a twofold effect: First, hardware de- Over the last 40 years, the field of nanotechnology has signers can precisely select and describe a machine’s ca- provided incredible new possibilities to interact with matter pabilities. Second, application and algorithm developers can on the atomic and molecular level. Two important branches identify required machine capabilities and spot possibly costly of nanotechnology are nano computation, concerning nano- assumptions and realization difficulties. scale computational devices, and nano communication, which investigates nanoscale information exchange. Together, these II. DEFINITIONS introduce the idea of machines and robots that are small Nanoscale devices are usually characterised as small agents enough to operate in a nanoscale environment. They may for that chiefly interact with their physical surroundings. As such, example measure chemical environmental data, or manipulate they are less like computers as mathematical processors, but atomic or molecular processes. rather like controlled or autonomous robots. We thus first Recently, many new building parts for nanoscale devices define normal macroscale robots, and subsequently transfer (see Section III) have been developed. With increasing variety the definition to the nanoscale. and domain maturity, a common terminology facilitates a bet- ter comparison of nanodevice research. To this end, [1] gives A. Machines and Robots a definition for nanoscale communication and [2] investigates Definitions for a robot are given by Xie and the ISO general computational capabilities. Still, to the best of our Standard 8373: knowledge, no common definition for nanoscale devices exists. “ A robot is the embodiment of manipulative, locomotive, The terms nanomachine, nanodevice, nanorobot, and nanobot perceptive, communicative and cognitive abilities in an artifi- are often used without differentiation, and only an intuitive cial body. ” [11] description for an assumed machine model is provided. “ A robot [is an] actuated mechanism programmable in two Most research agrees on a common set of components for or more axes with a degree of autonomy, moving within its nanomachines. These include sensors, actuators, a transceiver environment, to perform intended tasks. ” [12] or antenna, a processor including memory, and a power unit A robot is defined by its constituting physical components, [3], [4], [5]. Several approaches investigate these components used for manipulative, locomotive, etc. aspects, as well as a in the biological domain [6], [7]. Others describe nanoma- set of qualities describing the design and behavior of a robot, chines through the tasks they can accomplish, focusing on namely that it is artificial and programmable, has a degree of actuation, sensing and computation [8], [9]. With regards to autonomy, and performs intended tasks. For the upcoming definitions, we identify two sets of relevant components, which directly correspond to the parts Nanodevices ND the respective device is made of. The first set of components covers interaction, namely sensors S, actuators A, a compo- nent for locomotion L, and a component for communication C with other devices. Second, to facilitate complex behavior, the Nano- Nano- information processing I Nanorobots N second set includes components for , sensors N R machines N optionally supported by memory M, and a measurement of S M time T . Finally, the whole device will need a power supply P to power its operation. We describe these components in more detail in Section II-C. With these terms at hand, we can now give definitions for Nanonodes NN macroscale machines and robots, adopting the notions of Xie [11] and the ISO Standard [12]. Definition 1. A machine M = (Kmand;Kopt) is an artificial Figure 1. The relationship between Nanodevices and the derived terms. For construct, designed to perform a predetermined actuatory task. the formal definitions, see Definition 3–7. It consists of a set of mandatory components Kmand = fA; P g and a set of zero or more optional components Kopt ⊆ fC; I; L; M; S; T g. interaction [12]. Autonomy may enable a certain degree of self-organization in networks or swarms of nanoscale devices. This definition captures the nature of machines as self- powered manipulators. For example, an excavator possesses B. Nanodevices a motor and an arm to act on its environment, thus has all With the definitions of machines and robots provided, we mandatory components to be considered a machine. More- can now define the respective nanoscale variants. In order to over, it usually has tracks to move itself, which we consider facilitate analysis of all kinds of nanoscale devices, we first locomotion. This neatly reflects the fact that machines may be define a suitable umbrella term. capable of more than only manipulation, so that derived, more complex constructs are machines as well. Definition 3. A Nanodevice ND = (Kmand;Kopt) is an The qualities of machines differentiate them from natural artificial construct with an overall nanoscale size, designed to and random phenomena: As artificial constructs, only human- perform a predefined function in an environment Γ. It consists made objects qualify. The requirement for a predetermined of mandatory components Kmand = fP g and a set of zero or task demands intentional creation: The machine must pursue more optional components Kopt ⊆ fA; C; I; L; M; S; T g. a set goal, instead of being an unintentional side effect of an Nanodevices require at least a power supply, in order to unrelated process. differentiate them from completely passive constructs like nanoparticles. Similar to machines, further components are Definition 2. A robot R = (Kmand;Kopt) is a machine that is reprogrammable and consists of a set of mandatory optionally available, which establishes Nanodevices as the un- derlying term for all following definitions. Figure 1 illustrates components Kmand = fA; I; M; P; Sg and a set of zero or this hierarchical approach. more optional components Kopt ⊆ fC; L; T g. Nanodevices will operate in a possibly unusual environment, As a subclass of machines, robots introduce additional for example permanently moving along the bloodstream. In required components and qualities. Foremost, the mandatory addition, the nanoscale introduces new physical effects like component for information processing enables a robot to molecular interference and quantum effects [1], which Nano- perform complex actions. Additionally, the robot needs to be devices need adopt to. We explicitly capture this dependency reprogrammable, so that it can switch its program logic during as the device’s target environment Γ. It can be interpreted as its deployment to perform other activities. To reprogram a a list of environmental parameters and constraints. A common robot naturally requires it to store the current programming constraint is the device size: As described in Section II-E, state, thus it requires memory as well. Lastly, to adhere to the circulatory system restricts Medical Nanodevices to have the initial robot definitions given above, a robot needs to a size of at most 4 micrometers. have some sort of perceptive ability, which we reflect as a mandatory sensor component.
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