Claytronics, audio Synthetic Reality,claytronics/talks/ic-ri-2004.pdf · 2004. 8. 30. ·...
Transcript of Claytronics, audio Synthetic Reality,claytronics/talks/ic-ri-2004.pdf · 2004. 8. 30. ·...
RI IC '04 © 2001-4 Goldstein&Mowry 1
Seth Goldstein & Todd MowryCarnegie Mellon University
8/30/04Robotics IC
www.cs.cmu.edu/~claytronics
Joint work with Sitti, Hoburg, Lee, Aldrich, Seshan, Pfenning, Veloso, Sukthankar, Baker,
Kirby, Rister, Reshko, Bowers
Claytronics,Synthetic Reality,
And Robotics
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audio
…01110010…
Encoding
mp3
video…01110010…Encoding
mpeg
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pario
Latin: to bear, bring forth, produce;create, make, get
…01110010…Encoding
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Telepario
San Francisco
Pittsburgh
Seattle
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IndirectFires
pariomodeling
parioconferencing
pariopresence
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Science fiction?
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Science fiction?
Flynn/SRI
Flynn/SRIRabinett&BBC
IRobot
MEMS/Nanotech
Modular Robots
Veloso/CMU
Materials
Amorphous Computing/Emergent Behavior
Amorphous Computing/MIT
Multi-RobotTeams
Fearing/UCB
Yim/Parc
Sensor Nets
Sitt
i/CM
U
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Programmable matter
• An ensemble of material that contains sufficient– local computation– actuation– storage– energy– sensing & communication
• Which can be programmed to form interesting dynamic shapes and configurations.
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Claytronics• Bring matter under computer control
i.e., programmable matter• Path to the future
– 1 micron cubed catom– Creation of useful artifacts
• Create a enticing system that explores ALL the computer science issues of programmable matter
• Basis for Synthetic Reality/Future RobotsRI IC '04 © 2001-4 Goldstein&Mowry 10
Synthetic Reality - Capture
1. Capture 3D Object2. Encode 3D model3. Transmit data
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Synthetic Reality - Reproduce
3-5 years 5+ years
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A Claytronic Atom: Catom
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The outside is studded with contacts
A Claytronic Atom: Catom
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The outside is coated with organic LEDs• Low power• Conforms to shape
A Claytronic Atom: Catom
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Inside the Catom
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Inside the Catom
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Inside the Catom
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Inside the Catom
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Inside the Catom
Computer
SuperCap
AntennaCommunication
Programmable Magnets
We can buy these today!RI IC '04 © 2001-4 Goldstein&Mowry 20
Moving the Catom
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Moving the Catom
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Moving the Catom
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Moving the Catom
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Moving the Catom
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Moving the Catom
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Moving the Catom
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Moving the Catom
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Moving the Catom
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Claytronics Today• 2D system• Modular design
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Complete Catoms
SwitchingCoil
SteelSleeve
Display
900MhzRadio
PICController
Drivers
PowerInterface Power
Grid
AlNiCoMagnet
SwitchingCoil
SteelSleeve
Display
900MhzRadio
PICController
Drivers
PowerInterface Power
Grid
AlNiCoMagnet
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Magnets For Locomotion
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Next Generation 2D catom
Power
Controller
WirelessMagnetDrivers
Sensors
Display
ETA: November 15, 2004
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First Step, Find and localize
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Distributed Localization
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Handling Grain Boundaries
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Next Step, Create Network• Use simple local rules to form
hierarchy• 10 line program does this!• Local only decisions → Global effect
time
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Simulation of Future Catoms
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And Localization
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Multiple Networks
Unlike current systems, we can only createa single electrical contact between devices,so cooperation is needed to form circuits
An external source provides Vddand ground lines, and separate pathways are formed through the object to power each catom
We have developed an algorithm that keeps basic static shapes powered.
Future work includes leveraging the hierarchy and powering dynamic structures.
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Getting There From Here• Goal: Robust ensemble of millions
of catoms
• Claytronics Design Principles– No Moving Parts– Local Control– No Static Power
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HappyB’dayHappyB ‘ Day
HappyB’Day
Moore’s Law
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Where are we in 50 years?
1 nm3?? (1 µm3)1 cm3450 M3Volume
16KB4KB<800BStorage
2 attowatts20mW200KWPower
20 µg1 oz30 tonsWeight
2 picosec25ns>200µsCycle time
1 millicent1$5M-23M (2002 $)
Cost
2050Programmable matter
2003 greeting card
1949Eniac
Cogent arguments for both sooner and later exist
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Millicents/catom$/catom$$$/catomCost
Chemically directed self-assembly and fabrication
Micro/Nano-fabrication and micro-assembly
Conventional manufacturing and assembly
Manufacturing methods
HighHighLowResolution
10’s nW10’s mW<2 Wattspower
Molecular surface adhesion and covalent bonds
Programmable nanofiberadhesives
Nanofiberadhesives
Magnets
Adhesion mechanism
AerosolElectrostaticsProgrammable magnets
Electromagnets
Locomotive mechanism
<1 mg100’s mg10’s grWeight<10 microns>1 mm>1 cmDimensionsNanoMicroMacro
Millicents/catom$/catom$$$/catomCost
Chemically directed self-assembly and fabrication
Micro/Nano-fabrication and micro-assembly
Conventional manufacturing and assembly
Manufacturing methods
HighHighLowResolution
10’s nW10’s mW<2 Wattspower
Molecular surface adhesion and covalent bonds
Programmable nanofiberadhesives
Nanofiberadhesives
Magnets
Adhesion mechanism
AerosolElectrostaticsProgrammable magnets
Electromagnets
Locomotive mechanism
<1 mg100’s mg10’s grWeight<10 microns>1 mm>1 cmDimensionsNanoMicroMacro
Scaling of Claytronics
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3D Catom Proposal• Three die
– Compute die– Sense/actuate die– Power die
• Connect back-to-back use through die vias
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Power
Power
Antenna
Caps Caps
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Processing
Memory
CPU
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Sensors and Actuators
Radio Antenna
Radio
Up/Down Sensor
Light Sensor
Camera?Mic?
Pressure?
LED
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The Case/Motion
Capacitor formed across two catoms
V
Capacitor formed across two catoms
V
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What about the software?• Distributed Planning• Programming Models• Networking• …
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Networking: Naming & Routing
• Granularity: Individual, multicast, anycast• Identity: Geographic, based on shape (e.g.
arm catoms)• Our approach
– Driven by application needs – Support multiple naming schemes (at
higher cost) until application needs are clear
• Traditional ad hoc routing (DSR, AODV, etc.)
– Relies on flooding not scalable to Claytronic network sizes
• Geographic (GPSR)– Requires planar network interconnect
cannot support arbitrary 3d structures• Our approach
– Use programs to control 3d structure such that GPSR-like routing is possible
– Develop localization techniques
When greedy geographic routing fails, GPSR walks perimeter
3D No obvious perimeter!Need to prevent or limit voids
to x?
NamingHow will programs address catoms?
RoutingHow to identify path to destination catoms?
Multicast/Anycast*.hand.arm.body?(x=4..6, y=2..4, z=15..20)?
UnicastNode10.hand.arm.body?(x=4, y=2, z=15)?
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Programming Language/Software Engineering Research
Wood Sculpture
Snapshot Sequence
Physical Model
Gradient Descent
Networking,
Concurrency,
Resources,
Timing, etc…
PlanningModelsSpecification Runtime
3-D Moving Model
Force Propagation
Chiseling
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Claytronics & Pario• Open up an entire new application space
– Entertainment (interactive clay)– Training (live-fire exercises)– Design (100x protein model)– Interaction (telepario)– Rescue (paramedic on demand)– 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?
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Claytronics & Pario• Open up an entire new application space• Vehicle for studying CS problem of the
future:How do you design, program, maintain,and use a billion component system?
• Vehicle for creating robot of the futureHow to design and program a collectionof micro/nanorobots to create a usefulmacroscale robot?
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Claytronics & Pario• Open up an entire new application space• Vehicle for studying CS problem of the
future.• Vehicle for creating robot of the future
How to design and program a collectionof micro/nanorobots to create a usefulmacroscale robot?
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Claytronics & Pario• Open up an entire new application space• Vehicle for studying CS problem of the
future.• Vehicle for creating robot of the future
How to design and program a collectionof micro/nanorobots to create a usefulmacroscale robot?
• Our Approach:– Make scaling work for us– Exploit scale invariance– Design for scalability in both number & size RI IC '04 © 2001-4 Goldstein&Mowry 56
Software Systems• Distributed Computing
– how to write a program for 1M+ machines? what is the programming model?
• Robot planning, distributed robotics– how to plan the coordinated movement,
communication and sensing?• Networking and sensor nets
– how to geolocate, communicate?• Emergent Behavior
– how to self-organize and operate in uncertain environments with unreliable components?
• Many others…
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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?
• …