nano robots tutorial
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NANOROBOTICS CONTROL DESIGN:
A PRACTICAL APPROACH TUTORIALA. Cavalcanti, R.A. Freitas Jr., L.C. Kretly
CAN Center for Automation in NanobiotechIMM Institute for Molecular Manufacturing
UNICAMP University of Campinas
ASME 28th Biennial Mechanisms and Robotics ConferenceASME DETC - Salt Lake City, Utah, USA
September 28 to October 2, 2004
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The new era of Nanotechnology is coming
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Fact
What is Nanotechnology
Nanotechnology Challenge
Proposed Approach
Virtual Environment
Nanorobot DesignEnvironment Sensing
Competitive Nanorobotics
Collective Nanorobotics
Contributions
Fact
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FACT
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d. Efforts to bring new nanoproducts:
IBM, Motorola, Philips Electronics, Xerox/PARC,
Hewlett-Packard, Bell Laboratories, and Intel Corp., etc
a. The governments and industries all around the globe:investing for a fast development of nanotechnology
b. The U.S. National Science Foundation launched
a program in Scientific Visualization
c. 2003 Investiments in Nanobiotech:
Europe 500 Million, USA 700 Million, Japan 800 Million
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1. WHAT IS NANOTECHNOLOGY ?
a. Interdisciplinary new technology
(Engineering, Computer, Physics, Chemistry and Biology)
b. To build
up-to-down and bottom-up strategies
NEMS(nanometer-sized electromechanical structures):
c. The key technology:the new device and theory to explore the nano world
d. Virtual reality / automated planning to assist nanotechnology
- assisting chemical and biological assembly analyses
- judgments about manufacturing feasibility
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2. NANOTECHNOLOGY CHALLENGEa. Main goal of nanotechnology at nanoscale:
- development of molecular nanomachine & systems Possible applications:- Nanoassembly automation
- Health and environmental care
b. An acceptable approachi. Agents as assemblers
sensory feedback intelligent control
is indispensable for micro/nano manipulationii. Computer graphics
as a tool for exploration and design
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3. PROPOSED APPROACHa. Mobile nanorobot control design
- Perform molecular assembly manipulation
- Applied to Nanomedicine
b. Nanorobot aims
- Molecules transport, assembly and delivery
- Control organ inlets nutritional levels
(ranging from 20 to 80%) target* 50%c. The delivery positions
- Represent organ inlets requiring proteins
- Located in known positions
d. Macro-transponder for positional location
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e. Nanorobots sensors identify:
obstacles / molecule / organ inlets / another nanorobot
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4. VIRTUAL ENVIRONMENT
Top camera view
in the virtual environmentc. Human body:
- simplified 3D workspace a lower computational effort- is valuable approach to study
nanorobotics control behaviors for nanomedicinewww.n a n o r o b o t d e s i g n.com www.c a n b i o t e c h n e m s.com
b. The obstacles located inunknown probabilistic
positions
a. Comprised by:
obstacles
organ inlets,
molecules,nanorobots,
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e. Kinetics assumptions:
nanoworld dominated by
- Friction, adhesion, and viscous forces are paramount- Gravitational forces are of little or no importance
Top camera view
in the virtual environment
4. VIRTUAL ENVIRONMENT
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d. Molecule trajectories:
probabilistic position
and motion acceleration
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5. NANOROBOT DESIGN
b. Nanorobot navigation:
- Uses plane surfaces (three fins total)- Propulsion by bi-directional propellers:
two simultaneously counter-rotating screw drives -
navigational acoustic sensors
a. Nanoassembly Manipulation
is taken into the nanorobotwith robotic arm
(telescoping manipulator)
nanorobot design
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6. ENVIRONMENT SENSING
a. Decision planning
Directed molecule-capture and delivery
Organs inlets
nanorobot biomolecules
To verify
To attend
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b. Behavior activation
Sensor-based-control loop
6. ENVIRONMENT SENSING
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7. COMPETITIVE NANOROBOTICS
3D Simulation
Nanorobot and nanorobot adversary in action
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8. COLLECTIVE NANOROBOTICS
Cooperative team behavior
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3D Simulation
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9 CONTRIBUTIONS
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9. CONTRIBUTIONS
b. Rapid Evaluation of Various Control Algorithms
Further biomedical investigations
FUTURE WORKS
with more detailed simulator parameters
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c. Show a practical approach to investigate
nanorobotics control design
a. Real-time graphics simulation as a valuable tool
for the better investigation of kinematics in nano world
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FACT
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a. A first series of commercially
nanobioelectronic products are expected to 2007
c. Company DisplaySearch: rapid market grow
from US$ 84 million today to $ 1.6 Billion in 2007
b. Next 5-10 years: first nanorobots
to medicine and environmental applications
d. Devices and systems based on Nanotechnology:
US$ 1 trillion market for 2015
Just a few quotes
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Just a few quotes
There is nothing permanent except change.
Heraclitus of Ephesus(ca. 525-475 B.C.)A scientific truth does not triumph by convincing its opponents
and making them see the light, but rather because its opponents
eventually die and a new generation grows
up that is familiar withit.
Max Plank (1858-1947)
A pessimist sees the difficulty in every opportunity;
An optimist sees the opportunity in every difficulty.
Winston Churchill, (1874-1965)
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Fig.1: Highest/lowest organ
inlets nutritional levels
Control PerformanceCompetitive Nanorobots
Fig.2: Histogram
Competitive reaction: 30 organs nutritional states
10
2030
40
50
60
70
80
90
124
time step simulation
level%
agent lowest agent highest
adversary lowest adversary highest
Simulation competitive: 24 time-steps
0
10
20
30
40
50
1 8 15 22 29 36 43 50 57 64 71 78 85 92 99percentage nutritional state all 30 organs inlets
fre
quency
agent adversary
target: 50%
Q. & A.
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Fig.3: Multi-robot cooperative
reaction
Fig.4: Histogram
cooperative reaction
Control PerformanceCollective Nanorobotics
Q. & A.
Simulation collective robotics: 24 time-steps
0
10
2030
40
50
60
70
80
1 8 15 22 29 36 43 50 57 64 71 78 85 92 99
percentage nutritional state all 30 organs inlets
fre
quency
cooperative behavior
target: 50%
Collective reaction: 30 organs nutritional states
35
40
45
50
55
60
65
124
time step simulation
level%
lowest level highest level
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Control PerformanceNeural Motion Control
Fig.5: Neural motion planning Fig.6:Nanorobot motion
cost optimization
Q. & A.
Neural complete trajectory optimization
40
50
60
70
80
90
100
110
120
1 2 3 4 5 6 7 8 9 10 11 12solutions for a time-step simulation
Dista
nce
(unitin1
000nm)
route ON route OFF