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Programmable - Agneev Guin SRM Department of Instrumentation and Control E-mail id: [email protected]

ABSTRACT- “Claytronics” is a dimensional shapes which can interact in developing field of the physical world and visually take on an reconfigurable nano-scale arbitrary appearance and thus replicate to (‘claytronic ’ or catoms) designed to an item using mini-. form much larger or According to Carnegie Mellon’s Synthetic mechanisms. Also known as Reality Project personnel, claytronics are ‘’, the catoms will be described as “An ensemble of material that sub-millimeter computers that will contains sufficient local computation, eventually have the ability to move around, actuation, storage, energy, sensing and communicate with each other, change ” which can be color, electrostatically connect to other programmed to form interesting dynamic catoms to form different shapes. The shapes and configurations. Claytronics shapes made up of catoms could mutate is currently being researched into nearly any object, even replicas of by Professor Seth Goldstein and Professor beings for virtual meetings. Todd C. Mowry at Carnegie Mellon The design for the Claytronics model is University, which is where the term was extremely on scalable modular coined. developed as part of the Claytronics This technology is not only effective in Project. This concept foresees multi- many skilled disciplines from engineering million-module outfits which are able innovativeness, education and healthcare to change into three-dimensional prospects, to entertainment and leisure activities such eventually with sufficient conformity so as as video games but it a step which can lead to persuade that the visions are for real. the world towards an innovative This project involves coordination and revolution. The main purpose of this communication of sensing and actuation technology is to improve human-to-human across such large ensembles of independent communication even when they remain units. considerably far away. This paper talks about the need to A beautiful example to depict the worth of understand and develop the hardware and this technology is the video conferencing software necessary to create which makes the 2-D image to be programmable matter, a material which transferred from one place to another but can be programmed to form dynamic three being impossible to transfer a 3-D image.

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California

Using claytronics, the physical presence of ‘claytronic’ model of himself move, the person sitting beside can be felt and generally mirror all of his actions. It continents away. This system could also would be as if a image is projected of have a role in telemedicine, allowing a patient and doctor to be miles away and him. This technology would consent surgeons examining the patient with claytronics to perform intricate surgery on enlarged emulations. Thus, this is the next claytronic replicas of organs at the same time unparalleled entity towards a Future World. the actual organs are being worked upon by a INTRODUCTION claytronic replica of the surgeon and would enable the to remotely in Atoms combine to form molecules and the physically hostile environments. micro or nano scale devices can combine to The Claytronics seems to be a little form the shapes of physical entities. This unbelievable and more than a sci-fi, however concept known as “programmable matter” work has already begun towards such can collaborate to a material called Catoms or technology. The current large proof-of- “Claytronics atoms”. These Catoms are the concept Catoms (measuring 4.4 centimeters) ones that contain sufficient local computation, connect and move via , much like the actuation, storage, energy, sensing and “replicating” robots, operating at scales where communication which can be programmed to electromagnetic or electrostatic connections form interesting dynamic shapes and are used for reassembling. The Catoms could configurations. Claytronics is the way of have LCD or LED sufaces able to produce a bringing this idea into reality. With faintly glowing image, so that what appeared claytronics, millions of tiny individual to be a model made of millions of tiny devices- “claytronics atoms” or “Catoms” microbots. Backed by the microchip would assemble into macro-scale objects, manufacturer Intel, first generation Catoms, connecting and disconnecting as they move. measuring 4.4 centimeters in diameter and 3.6 The innovation in this field combines the centimeters in height have been developed. concepts of along with The main concerns for the development of telepresence. Small robots or ‘Catoms” of the this technology are to create the basic size of a few millimeters (or a few modular building block of claytronics known nanometers) organize themselves into a shape as the claytronic or Catom, and to that is determined remotely. For example, an design and write robust and reliable software individual located at a remote location have a programs that will manage the shaping of Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California ensembles of millions of Catoms into A large moving object such as a human dynamic, 3-dimensional forms. replica might have billions of Catoms. A

These Catoms which are ringed by several system with a billion nodes is electromagnets are able to move around each something on the scale of the entire internet. other to form a variety of shapes. Containing Unlike the real internet, our thing is moving. elementary processors and drawing electricity This will require new schemes for quickly from a board that they rest upon. So far only organizing and reorganizing such a large four Catoms have been operated together. The computer network. A moving shape will idea is to have thousands and millions of make the Catoms to constantly and quickly them moving around each other to form change positions, breaking connections with whatever shape is desired and to change one set of Catoms and establishing new color, also as required. connections with others.

A. CATOMS B. HARDWARE

The “Claytronic atom” or Catom would be Claytronics hardware operates from macro similar to the look of an atom and is preferred scale designs with devices that are much to be spherical in shape. A Catom would have larger than the tiny modular robots that set the no moving parts and each of the Catoms will goals of this engineering research. Such act as an individual and would be covered by devices are designed to test concepts for sub- electromagnets to attach itself to other millimeter scale modules and to elucidate Catoms. crucial effects of the physical and electrical that affect Nano scale robots. Catoms Each Catom would contain a fairly powerful created from the present research to populate processor and the Catoms surfaces would claytronic ensembles will be less than a have photocells to sense light and light- millimeter in size, and the challenge in emitting diodes to allowing it to see and to designing and them draws the change color. The researchers are presently CMU-Intel Research team into a scale of trying to build a two-dimensional version, engineering where have never been with each Catom being a cylindrical device a built. The team of research scientists, little more than an inch in diameter with its engineers, technicians and students who side encircled by 24 electromagnets. It would design these devices are testing concepts that move by the rolling of the electromagnets one cross the frontiers of computer , over the other. Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California modular robotics and systems v. Cubes employ electrostatic latches to nanotechnology. demonstrate the functionality of a device that could be used in a system i. Planar catoms test the concept of motion without moving parts and the of lattice-style self-assembly at both design of effectors that create the macro and nano-scale. cooperative motion within ensembles The Carnegie Mellon-Intel Claytronics of modular robots. Hardware Lab has prepared the path for development of a millimeter scale module ii. Electrostatic latches model a new system of binding and releasing the that will represent the creation of a self- connection between modular robots, a actuating Catom- a device that can compute, connection that creates motion and move and communicate at the nano-scale. transfers power and data while With the millimeter scale modular robot, the employing a small factor of a Claytronic Hardware Lab will demonstrate powerful force. the feasibility of manufacturing Catoms in the quantities needed to produce dynamic 3- iii. Stochastic Catoms integrate random dimensional representations of original motion with global objectives objects. communicated in simple computer language to form predetermined B. 1. PLANAR CATOMS patterns, using a natural force to The self-actuating, cylinder-shaped planar actuate a simple device, one that Catom tests concepts of motion, power cooperates with other small helium distribution, data transfer and communication Catoms to fulfill a set of unique that will be eventually incorporated into instructions. ensembles of nano-scale robots. It provides a test bed for the architecture of micro-electro- iv. Giant Helium Catoms provide a larger-than-, lighter-than-air mechanical systems for self-actuation in platform to explore the relation of modular robotic devices. Employing magnetic forces when electrostatics has a force to generate motion, its operation as a greater effect than on a robotic research instrument build a bridge to a scale device, an effect simulated with a of engineering that will make it possible to modular robot designed for self- manufacture self-actuating nano-system construction of macro-scale structures. devices.

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California

The planar Catoms operates on a two- while also providing internal alignment and dimensional plane in small groups of two to stability along the cylinder's axis. At the base seven modules in order to allow researchers of the planar catom, the two heavier electro- to understand how micro-electro-mechanical rings, which comprise the motor for devices can move and communicate at a scale the device, also add stability. To create that cannot yet readily perceive -- or motion, the magnet rings exchange the imagine. These are approximately 45 times attraction and repulsion of electromagnetic larger in diameter than the millimeter scale force with magnet rings on adjacent Catom for which its work is a bigger-than-life catoms. From this conversion of electrical to prototype. kinetic energy, the module achieves a turning motion to model the spherical rotation of millimeter-scale catoms.

Fig. 1 Planar Catom V8 Fig. 2 Magnetic Rings from Planar Catom V7

The view of the stack of control and magnet- The above picture shows two magnet rings rings of the Plnar Catom V8 is shown from Planar Catoms displaying the above. Its solid state electronic controls ride arrangement of their 12 magnets around at the top of the stack. An individual control individual driver boards and the coil design ring is dedicated to each of the two rings of for horse-shoe magnets. magnet , which ride at the base of the A Catom sustains a clockwise or module. Two thin threaded rods extend like counterclockwise motion by a continuous lateral girders from top to bottom through the transfer of electro-magnetic force to achieve outside edge to brace the rings. A central the opposite motion in the other Catom. The connector stack carries circuits between planar Catom faces unique issues from control and magnet rings, enabling easier alignment and friction, which this image handling and maintenance of components suggests.

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California

Fig. 3 Planar Catoms with LED

The picture above displays a planar Catom Fig. 4 Electrostatic Latches controller ring with light emitting diodes It incorporates many innovative features into (LEDs) arranged around its perimeter. This a simple, robust device for attaching adjacent board directs the two magnet driver boards modules to each other in a lattice-style robotic embedded in the magnet rings. system. These features include a parallel plate

The custom design of the electronics achieves capacitor constructed from flexible genderless a very high level of capacity to guide the electrodes of aluminium foil and dielectric module’s performance. Built with the film to create an adhesion force from smallest components commercially available, electrostatic pressure. Its physical alignment each controller board contains 5 layers of of electrodes also enables the latch to engage embedded microcircuits on 45 mm diameter a mechanical shear force that strengthens its acrylic boards. At this density of circuit holding force. design, wach of the two controller rings Currently, the electrostatic latch is being provides approximately 40 times the tested on a modular Cube that is 28 cm on a embedded instrumentation of a standard side. Each star-shaped face supports passive robotics controller package in 2/5th the space. self-alignment of the link with a 45-degree The resulting capacity of its boards enables blade angle at the top of each comb on the the module to carry on board all devices face. The design also supports easy needed to manage its firmware, drivers and disengagement with a five-degree release 24 magnets. angle along the vertical lines of the faces.

B. 2. ELECTROMAGNETIC B. 3. STOCHASTIC ATOMS LATCHES 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

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California for a predetermined shape. Based on this for the electrostatic latch that has also been evaluation, the module either forms a bond or engineered as part of this program. continues in motion. 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. B. 4. GIANT HELIUM CATOMS

A Giant Helium Catom (GHC) measures Fig. 5 Cube Catoms eight cubic meters when its light Mylar skin The Cube also models the primary building fills with helium to acquire a lifting force of block in a hypothetical system for robotic approximately 5.6 kilograms. This lift is self-assembly that could be used for modular necessary to elevate a frame of carbon fiber construction and employ Cubes that are larger rods and joints, which contains the or smaller in scale than the pictured device. balloon and carries electronic sensors and a The design of a Cube, which resembles a box communication package to actuate the with starbursts flowering from six sides, catom's motion and engage it with other emphasizes several performance criteria: GHCs. accurate and fast engagement, facile release The Giant Helium Catom provides and firm, strong adhesion while Cube latches researchers a macroscale instrument to clasps one module to another. Its geometry investigate physical forces that affect enables reliable coupling of modules, a strong microscale devices. The GHC was designed binding electrostatic force and close spacing to approximate the relationship between a of modules within an ensemble to create near-zero-mass (or weightless) particle and structural stability. the force of electro-magnetic fields spread C. SOFTWARE across the surface of such particles. In a domain of research defined by many of B. 5. CUBES the greatest challenges facing computer A lattice-style modular robot, the 22-cubic- scientists and roboticists today is perhaps the centimeter Cube provides a base of actuation creation of algorithms and programming language to organize the actions of millions Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California of sub-millimeter scale Catoms in a for it the metaphor of an Internet that sits on a claytronics. As a consequence, the research desk. scientists and engineers have formulated a In the Carnegie Mellon – Intel Claytronics very broad-based and in-depth research Software Lab, researchers address several program to develop a complete structure of areas of software development. software resources for the creation and C. 1. PROGRAMMING operation of the densely distributed network LANGUAGES of robotic nodes in a claytronic matrix. A large, moving shape such as a human replica Researchers in the Claytronics project have might contain a billion Catoms. A system also created Meld and LDP (Locally with a billion computer nodes is something on Distributed Predicates). These new languages the scale of the entire Internet. Unlike the real for declarative programming provide compact Internet, our real thing is moving. linguistic structures for cooperative management of the motion of millions of A notable characteristic of a claytronic matrix modules in a matrix. is its huge concentration of computational power within a small space. For example, an C. 2. INTEGRATED ensemble of catoms with a physical volume DEBUGGING of one cubic meter could contain 1 billion In directing the work of the thousands to catoms. Computing in parallel, these tiny millions of individual computing devices in robots would provide unprecedented an ensemble, claytronics research also computing capacity within a space not much anticipates the inevitability of performance larger than a standard packing container. errors and system dysfunctions. Such an Because of its vast number of individual intense computational environment requires a computing nodes, the matrix invites comparably dynamic and self-directed comparison with the worldwide reservoir of process for identifying and debugging errors computing resources connected through the in the execution of programs.

Internet, a medium that not only distributes C. 3. SHAPE SCULPTING data around the globe but also enables nodes The team’s extensive work on Catom motion, on the network to share work from remote collective actuation and hierarchical motion locations. The physical concentration of planning addresses the need for algorithms millions of computing nodes in the small that convert groups of Catoms into primary space of a claytronic ensemble thus suggests Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California structures for building dynamic, 3- i. This technology would enable dimensional representations. Such structures engineers to work remotely in physically work in a way that can be compared to the hostile environments. muscles, bones and tissues of organic ii. Surgeons to perform intricate surgery systems. on enlarged claytronic replicas of organs, C. 4. LOCALIZATION whilst the actual organs are being worked

The team’s software researchers are also upon by a claytronic replica of the surgeon. creating algorithms that enable Catoms to iii. A 3-D Fax is a new approach localize their positions among thousands to to 3-D faxing. A large number of sub millions of other Catoms in an ensemble. This millimeter robot modules form intelligent relational knowledge of individual Catoms to clay which can be reshaped via the external the whole matrix is functional to the application of mechanical forces. The clay organization and management of Catom can act as a novel input device, using inter groups and the formation of cohesive and module localization techniques to acquire the fluid shapes throughout the matrix. shape of a 3D object by casting.

C. 5. DYNAMIC The process of remotely reproducing a

The simulated world of DPRSim manifests facsimile of an object requires three phases: characteristics that are crucial to Acquisition, Transmission and Reproduction. understanding the real-time performance of In the first phase, the system senses the object claytronic ensembles. Most important, the and creates a digital representation of the activities of Catoms in the simulator are visible, external structure. The shape governed by laws of the physical information is then transmitted to the remote universe. Thus simulated Catoms reflect the site. Finally, using the transmitted date, a natural effects of gravity, electrical and facsimile of the object is reconstructed at the magnetic forces and other phenomena that remote site. will determine the behavior of these devices Building a moving, sensing, color changing in reality. DPRSim also provides a visual replica of each person out of nanotech robots display that allows researchers to observe the makes every meeting a face-to-face meeting. behavior of groups of Catoms. This is the 3D Video conferencing. We feel that the person, continents away, as sitting D. APPLICATIONS right beside you.

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California iv. 3D TVs and movies may also be Unpredictable is the future though, changes in possible using this claytronics. the technology trends prepares everybody for v. It might be useful for producing 3D tomorrow. Biotechnology, Genetics, Space shapes in the computer-aided design process. Science, Nanotechnology, Material Science, Robotics and many more fields of technology vi. Claytronics cell phone might grow a managed to make their way out from science full-size keyboard, or expand its video display fiction in last 4 to 5 decades. Claytronics is an as needed. exception as it never existed in E. DISADVANTAGES as a science or technology until recent years, and yet here we are discussing the i. With so many Catoms, the system will possibilities if programming matter. have to compensate for the inevitable failure of individual Catoms. Computers don’t deal According to Moore’s Law, the transistors well with failure. count in an almost doubles every year. This shows the rapid development ii. Algorithm and programming the in the electronics in the recent decades. If this combined motion of Catoms to form a 3D continues the concept of Claytronics will not shape is a very ridiculous task. be hard to achieve. iii. Even the nodes of the Internet have some addresses and accessing them is hard. REFERENCES Accessing each Catom without any address is 1. Claytronics project website a very difficult task. http://www.cs.cmu.edu/claytronics/. 2. "Catoms: Moving Robots Without Moving iv. At present, only four individual Parts," Kirby, Campbell, Aksak, Pillai, Catoms are made to communicate with each Hoburg, Mowry, Goldstein, American other. But, the thought of making billions of Association for , Catoms to communicate may take a few 2005. decades. 3. Meld: A Declarative Approach to v. Even though the mentioned Programming Ensembles, InProceedings applications are possible, the cost involving of the IEEE International Conference on the manufacturing of these Catoms may not Intelligent Robots and Systems IROS '07, be affordable. Michael P. Ashley-Rollman, Seth Copen F. CONCLUSION

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California

Goldstein, Peter Lee, Todd C. Mowry and Padmanabhan S Pillai, October 2007. 4. Collective Actuation, International Journal of Robotics Research, Jason D. Campbell and Padmanabhan Pillai, 2007. 5. "Integrated Debugging of Large Modular Robot Ensembles," Benjamin D. Rister, Jason Campbell, Padmanabhan Pillai and Todd C. Mowry. 6. A Language for Large Ensembles of Independently Executing Nodes- Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell. In Proceedings of the International Conference on Logic Programming (ICLP '09), July, 2009. 7. "A Modular Robotic System Using Magnetic Force Effectors," In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), Kirby, Aksak, Campbell, Hoburg, Mowry, Pillai, Goldstein, October 2007. 8. "Hierarchical for Self- reconfigurable Modular Robots," In IEEE/RSJ International Confernce on Intelligent Robots and Systems(IROS), Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa, October 2006.

Copyright 2012 ISA. All rights reserved. www.isa.org Presented at the 58th International Instrumentation Symposium 4-8 June 2012, San Diego, California