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4D Printing & Programmable Matter

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4D Printing & Programmable Matter 4D Printing & Programmable Matter Prof. Kyu-Jin Cho Introduction What is Programmable Matter? Material Action Active Matter What is Programmable Matter? Programmability Programmable Matter 4 Active Matter Programmable Matter in SF Movies Big Hero 6, 2014 Transformers 2, 2009 Terminator 2 1991 Spider Man 3, 2007 5 Programmable World Architecture Art Claytronics Daily Life Biomedical Industrial 6 Programmable Matter의 연구 분야 • 지능형 재료 연구 • 신소재 활용 재료 • 초소형 메커니즘 • 임의 형상 구성을 개발 기계 위한 알고리즘 알고리즘 • 초소형 제조 공정 메커니즘 • 군집 행동 알고리즘 개발 개발 • 고효율 에너지원 전기 • 고효율 초소형 제어칩 개발 에너지 • 에너지 무선 전송 기술 전자 • 대규모 군집 통신 기술 개발 7 Towards Programmable Matter 1991 - Programmable Matter 개념 등장 T. Toffoli와 N. Margolus 에 의해 가변 구성 컴퓨팅 노드를 지칭하기 위하여 처음 사용 2002 – Claytronics Project 시작 CMU S. Goldstein을 필두로 첫 Modular Robot 형 Programmable Matter Project, Claytronics 시작 2010 – 종이접기형 Programmable Matter M.I.T. D. Rus에 의하여 종이접기를 활용한 Programmable Matter 구현 개념 제안 2013 – 4D Printing 개념 등장 M.I.T. S. Tibbits에 의하여 가변형 재료를 활용한 4D Printing 개념 제안 Programmable 8 Matter Modular Approach 9 모듈형 로봇을 통한 Programmable matter의 구현 • 기본 모듈형 로봇의 조합으로 다양한 형상 구성 • 가장 처음 시도된 로봇 시스템 기반의 Programmable Matter 개념 • 기본 모듈 설계, 통신, 제어, 결합 등의 이슈 존재 하드웨어 소프트웨어 • 모듈 개발 • 구조 형성 알고리즘 설계 • 결합 메커니즘 개발 • 군집 통신 알고리즘 설계 10 기본 단위 모듈 로봇의 개발 - Catom 2차원 형태의 기본 모듈 설계 • 40 mm 내외 크기 Claytronics Team • 전자기력으로 이동 및 결합 • 초소형 통신 모듈 내장 2002년도부터 시작된 프로젝트. 기계공학에서부터 전자, 컴퓨터 공학까지 광범위한 분야의 연구원이 참여 중 초소형 거동 메커니즘 개발 • 스테이터와 catom사이의 전기력으로 이동 11 기본 단위 모듈 로봇의 개발 – Robot Pebbles Robot Pebbles Daniela Rus • 한 변 12mm 길이의 정육면체 모듈 • 전자식 영구자석을 이용한 결합 • Shape duplication algorithm : Distributed approach 12 군집 통신 기술 흰개미 모사 창발 시스템 Kilo-bot J. Werfel et al., Science (2014) M. Rubenstein et al., Science (2014) • 개미에서 보여지는 자연계의 창발성, ‘Stigmergy’ • 적외선 송수신기 및 2개의 진동모터 탑재한 개별 Kilo-bot • 개별 로봇 주변의 정보만으로 협동 가능한 알고리즘 개발 • 좌표로봇 및 주변로봇과의 거리 측정한 후 목표 위치 이동 • 군집 로봇 시스템은 특정한 형상, 기능 획득 • 1,024개의 로봇의 움직임으로 다양한 형상 구현 13 다기능 모듈 기술의 발전 • 전체로봇의 형상에 따라 다양한 움직임 구현 • 구르기, 걷기, 바퀴를 이용한 이동 • 충격에 의해 모듈간 결합이 떨어졌을 때 다시 서로 결합할 수 있는 기술 • 모듈간 불빛으로 서로를 인식하고 가까이 다가가 다시 결합 UPENN GRASP Lab. • 소프트로봇을 모듈화 • 다른 강성의 모듈간 결합으로 다양한 동작 구현 • 레고 형상, 자석으로 쉬운 결합 Harvard Whiteside Lab. 14 Origami Approach 15 종이접기형 Programmable Matter • 모듈의 소형화 큰 기술적 • 모듈 간의 통신 및 위치 제어 한계 존재 • 모듈 간의 결합 Lang Origami • 종이 접기의 무한한 가변성을 활용한 Programmable Matter의 구현 • 모듈간의 통신, 결합 문제 해결 • 3차원 구조 형성, 얇은 구조의 거동 등 새로운 이슈 발생 16 DNA Origami - 폭 2nm의 DNA 가닥을 접어 나노 스케일에서의 형상 구현 - DNA간의 수소결합 원리 응용 : 결합을 유도하는 짧은 DNA 가 닥인 DNA staple의 배치을 통해 사슬 간 자가 조립을 유도하여 목표 형상 구현 < DNA 오리가미 구조 제작 모식도> < DNA 오리가미 기술로 구현한 2차원 형상> P.W.Rothemund, Nature (2006) 17 Programmable Matter by Folding < Universal Origami Self-folding Sheet> 구동기 작동 위한 도선, 조인트에서는 슬릿을 통해 유연성 확보 양방향 접힘이 가능한 형상기억합금 구동기, 전류를 통해 가열되어 작동 시트 주름 : 탄력성 있는 유리섬유 및 탄화수소 물질로 구성 < 목표 3차원 형상부터 자가조립구조로의 과정 모식도> E.Hawkes et al., PNAS (2010) - Universal Pattern으로 증명된 상자주름패턴의 각각의 조인트에 구동기 및 회로, 유연한 도선을 임베딩하여 self-folding sheet 개발 : 하나의 종이에서 다양한 3차원 형상 구현 가능 M. Tolley et al., SMS (2010) - 목표한 3차원 형상을 위한 2차원 종이접기 패턴 추출 알고리즘 18 Printable Robotics Samuel Felton et al., Soft Matter (2013) B.H. Shin et al., ICRA (2014) S. Felton et al., Science (2014) 형상기억고분자 및 지능재료의 적층공정(SCM : Smart Composite Manufacturing)을 응용한 자가 조립 구조의 개발로 2차원에서부터 3차원 형상의 로봇 및 전자기기류를 만드는 Printable Robotics 기술 구현 19 Funding for Origami Research NSF ODISSEI Project ($30M per year) NSF Funding to Origami (단일 연구실 연간 24억 원 규모) 4D Printing 21 생명 현상을 모방한 자가 조립 구조 Self-folding protein • 선 형상의 단일 구조에 홈을 새긴 구조로, 에너지를 전달하면 자가 조립 Biased Chain • 모듈을 접히는 방향을 고려하여 연결한 뒤 에너지를 전달하면 자가 조립됨 MIT Self-Assembly Lab. MIT Self-Assembly Lab. 22 Autodesk Inc.와의 연계 프로젝트 Programmable Carbon fiber & wood • 탄소 섬유나 목재에 평면 프린팅 기술을 이 용하여 패턴 인가 • 열을 가하거나 물에 넣으면 자가 변형 MIT Self-Assembly Lab. MIT Self-Assembly Lab. 23 Stratasys Inc.와의 연계 프로젝트 4D Printing • 물과 접촉하면 팽창하는 극친수성 고분자 복합체 활용 • 물에 넣으면 극친수성 재료 부분이 접히면 서 의도한 형상으로 자가 변형 MIT Self-Assembly Lab. MIT Self-Assembly Lab. 24 2D Printing to 4D Printing Mechanism Energy Material Material Control Control Control Increasing the capabilities in transforming digital information of the virtual world into physical objects 2D Objects 3D Objects Active Objects Hewlett-Packard Carbon3D Self-Assembly Lab. 25 Brief History of Printing 2D Printing 3D Printing 4D Printing ~1960s 1953, Univac 컴퓨터와 연동 되는 최초의 고속 프린터 개발 1960s 1970s IBM사에 의한 레이저 프린터 개발 3D 프린팅 기술 개념 태동 1980s Canon사에 의한 잉크젯 프린 터 BJ-80 개발 Charles Hull에 의해 최초의 3D Hewlett Parkard에 의해 잉크 1990s 프린터 개발 젯 프린터 가정 보급 시작 3D Systems에 의해 3D 프린터 상용화 시작 2000s 2010s 2만대 이상의 개인용 3D 프린터 보급 S. Tibbits에 의해 4D 프린팅 개념 Prototype 제작 26 Funding for 4D Printing 2007, DARPA Programmable Matter Project $14.5 million from Young Faculty Award 2013, US Army Research Office $855,000 Funding to ‘4D Printing’ Technology Harvard SEAS, University of Illonois, University of Pittsburgh 2015, NSF 3000만달러 규모 투자 예정 27 1st Active Matter Summit in MIT (15.04.24~15.04.25) Material Science Bio-Materials MIT Neil Gershenfeld MIT Peko Hosoi Group Harvard Molecular Systems Lab Tufts Univ. Group - Digital Materials - Active Soft Material - Programming DNA - Silk Polymerphism Transformation Robotics & & Self-Assembly Architecture MIT, Pedro Reis Group MIT Self-Assembly Lab. ICD MIT CSAIL & Harvard - Programmable Surfaces - Macro-scale Self-assembly - Active Architecture Microrobotics Lab. - Printable Robotics 28 Speakers of Active Matter Summit MATERIAL ROBOTICS MATERIAL MAKING John Romanishin & Daniela Rus, MIT / Printable Robotics Neil Gershenfeld, MIT / Digital Fabrication & Digital Materials Rob MacCurdy & Hod Lipson, Cornell University / Cellular Robotics Peko Hosoi, MIT / Active Soft Materials Erik Demaine, MIT / Computational Origami Jennifer Lewis, Harvard Univ. / Printing Functional and Active Matter Simon Kim & Mariana Ibanez, UPENN & Harvard / The Immersive Rob Wood, Harvard Univ. / Microrobotics Paul Kassabian, SGH & MIT / Robotic Assembly Markus Buehler,MIT / Materials by Design Marcelo Coelho, Marcelo Coelho Studio / Computational Matter Neri Oxman,MIT / Material Ecology MATERIAL TRANSFORMATIONS BIO-MATERIALS Paul McEuen / Graphene Transformations Peng Yin,MIT / Programming DNA Pedro Reis, MIT / Programmable Soft Surfaces Fiorenzo Omenetto, Tufts University / Silk Polymorphism Ying Liu & Michael Dickey, NC State Univ. / Soft Material Transformations Tal Danino,MIT / Programming Bacteria Junus Khan, Carbitex / Tunable Carbon Fiber David Benjamin, / The Living Christophe Cros / Airbus & Programmable Carbon Suzanne Lee, / BioCouture Christophe Guberan, Product Designer / Active Product Paola Antonelli, MoMA / Design & Biology ACTIVE ASSEMBLIES ACTIVE ARCHITECTURES Skylar Tibbits ,MIT / Macro-Scale Self-Assembly Achim Menges, Univ. of Stuttgart / Material Computation Arthur Olson, The Scripps Research Institute / Biomolecular Self-Assembly Chris Lasch, Aranda&Lasch / Architecture, Materials & Structure John Main, DARPA / Scalable Directed Assembly Jenny Sabin, Cornell University / Architecture & Biology Heinrich Jaeger, Univ. of Chicago / Granular Jammable Materials J. Rosenkrantz & J. Louis-Rosenberg / Nervous System Alfredo Alexander-Katz, MIT / Self-Assembly & Soft Materials Sheila Kennedy, MIT / Matter of Time Lodovica Illari, MIT / Weather in a Rotating Tank Tomás Saraceno, Artist / Material Environments 29 Soft Bio-inspired Robotics Research in Biorobotics Lab 생체모사 소프트 착용형 로봇 손 Exo-glove: Bio-inspired Soft Wearable Robot for the Hand IEEE Robotics Automation Magazine 2015 생체모사형 소프트 입는 로봇 하지 보조 소프트 로봇 상지보조 소프트 로봇 공압 구동 소프트 로봇 손 소형물고기로봇 벼룩 모사 점핑 Harvard New Scientist 2012 34 Jumping on Water 35 생체모사 소프트 모핑 2009-2014: 연구재단 <생체모사 소프트 모핑 기계기반 기술> Bistable Flytrap Robot Bistable Polymer Structure 종이 접기 구조 활용 연구 종이 접기 구조의 가변성 “Robots Get Flexible and Torqued Up With Origami Wheels” IEEE Spectrum 및 국내 MBC, JTBC, 조선일보 동아일보 등 언론 다수 소개, 2014 Compliant Mechanisms Award 수상 ASME IDETC and CIE Conference, 2014 Conclusion 38 Programmable Matter in SF Movies Big Hero 6, 2014 Transformers 2, 2009 Terminator 2 1991 Spider Man 3, 2007 39 Programmable Matter를 어떻게 보아야 할 것인가? 기계 전기 재료 에너지 알고리즘 메커니즘 전자 • 초소형 메커니즘 • 지능형 재료 연구 • 고효율 에너지원 • 고효율 초소형 • 임의 형상 구성을 개발 제어칩 개발 위한 • 신소재 활용 • 에너지 무선 전송 알고리즘 • 초소형 제조 공정 기술 • 대규모 군집 통신 개발 기술 개발 • 군집 행동 알고리 즘 개발 Extremely Challenging Technique 수많은 파생 기술과 응용 분야 발전 40 Programmable Matter Modular Robot Origami 4D Printing Programmable Matter 41 Programmable Matter Modular Robot Cubelets™ Origami ARA Project 4D Printing 사업화 중인 다양한 모듈형 장치 Programmable Matter 42 Programmable Matter Modular Robot Printable Robotics Origami 4D Printing 자가조립형 로봇 Programmable Matter 43 Programmable Matter Modular Robot Origami 4D Printing Programmable Matter 44 Thank You http://biorobotics.snu.ac.kr Q & A http://biorobotics.snu.ac.kr Appendix. 1 4D Printing Application 자가 수리형 구조물 가변형 구조물 가변형 자동차 가변형 도구 Appendix. 2 Challenges in 4D Printing Mechanism Material Energy 1. Active Material Printing 2. Mechanism Design with Active Material Appendix. 3 Folding Mechanism Muscle-like Actuators Shrinking or Swelling Materials Torsion Actuators.
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