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Claytronics, audio Synthetic Reality, Encoding And Robotics …01110010… mp3 Seth Goldstein & Todd Mowry Carnegie Mellon University 8/30/04 Robotics IC www.cs.cmu.edu/~claytronics video Encoding Joint work with Sitti, Hoburg, Lee, Aldrich, Seshan, …01110010… Pfenning, Veloso, Sukthankar, Baker, mpeg Kirby, Rister, Reshko, Bowers RI IC '04 © 2001-4 Goldstein&Mowry 1 RI IC '04 © 2001-4 Goldstein&Mowry 2

pario Telepario

Latin: to bear, bring forth, produce; create, make, get

Seattle

San Francisco Encoding …01110010…

Pittsburgh

Indirect pariomodeling Fires

parioconferencing

pariopresence

Science fiction? Programmable matter

MEMS/Nanotech Sensor Nets • An ensemble of material that contains

Sitti/CMU Amorphous Computing/ sufficient Emergent Behavior Modular Robots – local computation Fearing/UCB – actuation Materials –storage Amorphous Computing/MIT –energy Multi-Robot Yim/Parc – sensing & communication Teams • Which can be programmed to form interesting Flynn/SRI Rabinett&BBC dynamic shapes and configurations.

Flynn/SRI IRobot

RI IC '04 © 2001-4 Goldstein&Mowry Veloso/CMU 7 RI IC '04 © 2001-4 Goldstein&Mowry 8 Claytronics Synthetic Reality - Capture • Bring matter under computer control i.e., programmable matter • Path to the future – 1 micron cubed catom 1. Capture 3D Object 2. Encode 3D model – Creation of useful artifacts 3. Transmit data • Create a enticing system that explores ALL the computer science issues of programmable matter

• Basis for Synthetic Reality/Future Robots

Synthetic Reality - Reproduce A Claytronic Atom: Catom

3-5 years 5+ years

The outside is studded with contacts The outside is coated with organic LEDs •Low power • Conforms to shape

Inside the Catom Inside the Catom

Inside the Catom Moving the Catom

Communication Antenna

SuperCap

Computer

Programmable Magnets We can buy these today!

Moving the Catom Moving the Catom

900Mhz • 2D system Radio PIC Controller AlNiCo •Modular design Magnet Drivers

Steel Switching Sleeve Coil

Power Interface Power Grid

Magnets For Locomotion Next Generation 2D catom

Di spl W SMen ay ire agsneor less Dr st Co iver ntro s Po ller wer

ETA: November 15, 2004

Handling Grain Boundaries Next Step, Create Network • Use simple local rules to form hierarchy • 10 line program does this! • Local only decisions → Global effect

time

Multiple Networks Getting There From Here • Goal: Robust ensemble of millions

Unlike current systems, we can only create of catoms a single electrical contact between devices, so cooperation is needed to form circuits • Claytronics Design Principles An external source provides V dd –No Moving Parts and ground lines, and separate pathways are formed through the –Local Control object to power each catom –No Static Power We have developed an algorithm that keeps basic static shapes powered. Future work includes leveraging the hierarchy and powering dynamic structures. RI IC '04 © 2001-4 Goldstein&Mowry 39 RI IC '04 © 2001-4 Goldstein&Mowry 40 Moore’s Law Where are we in 50 years? 1949 2003 2050 H HappyaHappyp Eniac greeting Programmable B’Daypy B ‘ D card matter B’dayay Cost 5M-23M 1$ 1 millicent (2002 $) Weight 30 tons 1 oz 20 µg Volume 450 M3 1 cm3 1 nm3?? (1 µm3) Power 200KW 20mW 2 attowatts Cycle time >200µs 25ns 2 picosec Storage <800B 4KB 16KB

Cogent arguments for both sooner and later exist

Scaling of Claytronics 3D Catom Proposal Macro Micro Nano • Three die Dimensions >1 cm >1 mm <10 microns Weight 10’s gr 100’s mg <1 mg –Compute die power <2 Watts 10’s mW 10’s nW – Sense/actuate die Locomotive Programmable Electrostatics Aerosol mechanism magnets –Power die • Connect back-to-back use through die Electromagnets Adhesion Nanofiber Programmable Molecular surface vias mechanism adhesives nanofiber adhesion and adhesives covalent bonds Magnets Manufacturing Conventional Micro/Nano- Chemically methods manufacturing and fabrication and directed self- assembly micro-assembly assembly and fabrication Resolution Low High High Cost $$$/catom $/catom Millicents/catom

Power

Caps Caps CPU

Antenna Memory

Sensors and Actuators The Case/Motion

Radio Antenna

Light Sensor Radio Capacitor formed LED across two catoms Camera? Up/Down Mic? Sensor Pressure? V

RI IC '04 © 2001-4 Goldstein&Mowry 47 RI IC '04 © 2001-4 Goldstein&Mowry 48 What about the software? Networking: Naming & Routing Naming Routing • Distributed Planning How will programs address catoms? How to identify path to destination catoms? • Granularity: Individual, multicast, anycast • Traditional ad hoc routing (DSR, AODV, etc.) • Identity: Geographic, based on shape (e.g. • Programming Models arm catoms) – Relies on flooding Æ not scalable to Claytronic network sizes • Our approach • Geographic (GPSR) – Driven by application needs • Networking – Requires planar network interconnect Æ – Support multiple naming schemes (at cannot support arbitrary 3d structures higher cost) until application needs are clear • Our approach •… – Use programs to control 3d structure such that GPSR-like routing is possible – Develop localization techniques

When Unicast to x? greedy Node10.hand.arm.body? geographic (x=4, y=2, z=15)? routing fails, GPSR walks perimeter Multicast/Anycast *.hand.arm.body? (x=4..6, y=2..4, z=15..20)? 3D Æ No obvious perimeter! Need to prevent or limit voids RI IC '04 © 2001-4 Goldstein&Mowry 50

Programming Language/Software Claytronics & Pario Engineering Research • Open up an entire new application space SpecificationModels Planning Runtime – Entertainment (interactive clay) Wood Chiseling Sculpture – Training (live-fire exercises) Networking, – Design (100x protein model) 3-D Moving Snapshot Gradient Concurrency, Model Sequence Descent Resources, – Interaction (telepario) Timing, etc… Physical Force – Rescue (paramedic on demand) Model Propagation – Metal Man (fault tolerant robotics) • Vehicle for studying CS problem of the future: How do you design, program, maintain, and use a billion component system? RI IC '04 © 2001-4 Goldstein&Mowry 51

RI IC '04 © 2001-4 Goldstein&Mowry 52 Claytronics & Pario Claytronics & Pario • Open up an entire new application space • Open up an entire new application space • Vehicle for studying CS problem of the • Vehicle for studying CS problem of the future: future. How do you design, program, maintain, • Vehicle for creating robot of the future and use a billion component system? How to design and program a collection • Vehicle for creating robot of the future of micro/nanorobots to create a useful How to design and program a collection macroscale robot? of micro/nanorobots to create a useful macroscale robot?

Claytronics & Pario Software Systems • Open up an entire new application space • Distributed Computing – how to write a program for 1M+ machines? what • Vehicle for studying CS problem of the is the programming model? future. • Robot planning, distributed robotics – how to plan the coordinated movement, • Vehicle for creating robot of the future communication and sensing? How to design and program a collection • Networking and sensor nets – how to geolocate, communicate? of micro/nanorobots to create a useful • Emergent Behavior macroscale robot? – how to self-organize and operate in uncertain environments with unreliable components? • Our Approach: • Many others… – Make scaling work for us – Exploit scale invariance

RI IC '04– Design for scalability© 2001-4 Goldstein&Mowry in both number & size 55 RI IC '04 © 2001-4 Goldstein&Mowry 56 Hardware Systems • Microrobots, modular robots – what is the design of the elements? • MEMS/nanotech materials – how to achieve small scale economically? • Magnetics and other actuation – how to do locomotion, actuation? • High voltage silicon processing – how to achieve manufacturing economies of scale? • Power systems – how to distribute power? •…