Florida State University Libraries Electronic Theses, Treatises and Dissertations The Graduate School 2005 Model Characteristics and Properties of Nanorobots in the Bloodstream Michael Makoto Zimmer Follow this and additional works at the FSU Digital Library. For more information, please contact [email protected] THE FLORIDA STATE UNIVERSITY FAMU-FSU COLLEGE OF ENGINEERING MODEL CHARACTERISTICS AND PROPERTIES OF NANOROBOTS IN THE BLOODSTREAM By MICHAEL MAKOTO ZIMMER A Thesis submitted to the Department of Industrial and Manufacturing Engineering in partial fulfillment of the requirements for the degree of Master of Science Degree Awarded: Spring Semester 2005 The members of the Committee approve the Thesis of Michael M. Zimmer defended on April 4, 2005. ___________________________ Yaw A. Owusu Professor Directing Thesis ___________________________ Rodney G. Roberts Outside Committee Member ___________________________ Reginald Parker Committee Member ___________________________ Chun Zhang Committee Member Approved: _______________________ Hsu-Pin (Ben) Wang, Chairperson Department of Industrial and Manufacturing Engineering _______________________ Chin-Jen Chen, Dean FAMU-FSU College of Engineering The Office of Graduate Studies has verified and approved the above named committee members. ii For the advancement of technology where engineers make the future possible. iii ACKNOWLEDGEMENTS I want to give thanks and appreciation to Dr. Yaw A. Owusu who first gave me the chance and motivation to pursue my master’s degree. I also want to give my thanks to my undergraduate team who helped in obtaining information for my thesis and helped in setting up my experiments. Many thanks go to Dr. Hans Chapman for his technical assistance. I want to acknowledge the whole Undergraduate Research Center for Cutting Edge Technology (URCCET) for their support and continuous input in my studies. I also want to acknowledge the professors on my committee for their time and support. I must give gratitude to all the organizations and the U.S. Department of Education, Washington, DC, that funded URCCET to make this all possible. Lastly, I give all the appreciation from my heart to my family, friends, and love ones. iv TABLE OF CONTENTS List of Tables ................................................................................................ viii List of Figures ................................................................................................ ix Abstract ...................................................................................................... xii Chapter 1 Introduction..................................................................................... 1 1.1 Overview into Nanotechnology.......................................................... 1 1.2 Problem Description ........................................................................... 2 1.3 Project Rationale................................................................................. 3 1.4 Project Objectives ............................................................................... 3 1.5 Benefit of Research ............................................................................. 5 Chapter 2 Literature Survey............................................................................ 6 2.1 Robotics and Nanorobotics ................................................................ 6 2.2 Ideas of Nanotechnology and Nanorobotics ..................................... 7 2.2.1 Positional Assemblers and Self-Replication ............................ 7 2.2.2 Views for Nanorobotics ............................................................. 10 2.3 Current Nanorobotics Research........................................................ 12 2.4 Issues against Current Micro Robots for this Research.................. 15 2.5 Miniature Model Submarine ............................................................. 17 2.6 Physiology of the Circulatory System ............................................... 19 2.6.1 The Blood.................................................................................... 19 2.6.2 Blood Vessels .............................................................................. 21 2.7 Transport Phenomena of the Human Bloodstream......................... 22 2.7.1 Blood Flow .................................................................................. 23 2.7.2 Velocity of Blood ........................................................................ 23 2.7.3 Pressure of Blood ....................................................................... 24 2.7.4 Viscosity of Blood....................................................................... 24 2.8 Analysis of Shear Stress, Viscosity, and Vessel Dynamics .............. 25 Chapter 3 Methodology.................................................................................... 29 3.1 Introduction......................................................................................... 29 3.2 Design of Simulation Model ............................................................... 29 3.2.1 Anatomy of Bloodstream........................................................... 29 v 3.2.2 Selection of Mobile Robot for the Research ............................ 30 3.2.3 Design of Apparatus and Elements for the Simulation .......... 30 3.3 Design Calculations for the Simulated Model.................................. 32 3.4 Trouble Shooting and Modifications................................................. 34 3.5 Testing with the Mobile Robot........................................................... 34 3.6 Tests for Blood Elements.................................................................... 34 3.7 Scaling Issues....................................................................................... 35 Chapter 4 Design of Experiments.................................................................... 36 4.1 Design Matrix...................................................................................... 36 4.2 Particle Testing.................................................................................... 37 4.2.1 Styrofoam.................................................................................... 38 4.2.2 Grains and Cereal...................................................................... 38 4.3 Design Matrix Setup and Testing Procedure ................................... 39 4.3.1 Test Run Steps............................................................................ 40 4.4 Issues and Modifications .................................................................... 41 Chapter 5 Data Collection Analyses................................................................ 44 5.1 Testing Results .................................................................................... 44 Chapter 6 Concluding Remarks and Recommendations for Further Research........................................................................................... 55 6.1 Concluding Remarks .......................................................................... 55 6.1.1 Bloodstream vs. Scaled Model .................................................. 55 6.1.2 Comparative Study of Mobile Robot vs. Nanorobot .............. 56 6.1.3 Summary of Concluding Remarks........................................... 58 6.2 Recommendations for Further Research.......................................... 59 APPENDICES ................................................................................................ 61 A Experiment Charts.............................................................................. 61 B Test Run Tables................................................................................... 63 C Completed Experiment Charts.......................................................... 70 D Design of Experiment Chart .............................................................. 74 E Residuals Plots..................................................................................... 76 F One Factor and Interaction Plots ...................................................... 78 G Speed vs. Viscosity Graphs................................................................. 83 vi REFERENCES ................................................................................................ 85 BIOGRAPHICAL SKETCH ........................................................................... 87 vii LIST OF TABLES Table 2.1: Values of cellular elements in human blood................................. 21 Table 2.2: Characteristics of various blood vessels ....................................... 22 Table 4.1: Sample of Design Chart for Mobile Robot Testing ..................... 36 Table 5.1: Design of experiment partial chart................................................ 44 Table 5.2: ANOVA chart for response Speed ................................................ 47 Table 6.1: Bloodstream and Scaled Model comparison ................................ 58 viii LIST OF FIGURES Figure 1.1: Cell Repair Machine .................................................................... 4 Figure 1.2: Seek-and-Destroy ......................................................................... 4 Figure 1.3: The Artery Cleaner ...................................................................... 4 Figure 2.1: The Stewart Platform ................................................................... 9 Figure 2.2: The Double Tripod ....................................................................... 9 Figure 2.3: John von Neumann’s self-replicating