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NANOROBOTICS CONTROL DESIGN:A PRACTICAL APPROACH TUTORIAL
A. Cavalcanti, R.A. Freitas Jr., L.C. Kretly
CAN Center for Automation in Nanobiotech IMM 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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FactWhat is Nanotechnology
Nanotechnology ChallengeProposed Approach
Virtual Environment
Nanorobot DesignEnvironment Sensing
Competitive NanoroboticsCollective Nanorobotics
ContributionsFact
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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 CHALLENGE
a. Main goal of nanotechnology at nanoscale:
- development of molecular nanomachine & systemsPossible applications:- Nanoassembly automation- Health and environmental care
b. An acceptable approach i. Agents as assemblers
sensory feedback intelligent control
is indispensable for micro/nano manipulationii. Computer graphicsas a tool for exploration and design
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3. PROPOSED APPROACH a. 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 probabilisticpositions
a. Comprised by:
obstaclesorgan 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 positionand 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 NANOROBOTICS3D Simulation
Nanorobot and nanorobot adversary in actionwww.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
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8. COLLECTIVE NANOROBOTICS
Cooperative team behaviorwww.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
3D Simulation
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9 CONTRIBUTIONS
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9. CONTRIBUTIONS
b. Rapid Evaluation of Various Control Algorithms
Further biomedical investigationsFUTURE WORKS
with more detailed simulator parameters
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c. Show a practical approach to investigatenanorobotics 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 commerciallynanobioelectronic 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
J t f t
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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 growsup that is familiar with it.
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 organinlets nutritional levels
Control Performance Competitive Nanorobots
Fig.2: Histogram
Competitive reaction: 30 organs nutritional states
102030
405060708090
1 2 4
time step simulation
l e v e
l %
agent lowest agent highestadversary lowest adversary highest
Simulation competitive: 24 time-step
0
10
20
30
40
50
1 8 15 22 29 36 43 50 57 64 71 78 8percentage nutritional state all 30 orga
f r e
q u e n c y
agent adversary
target: 50%
Q. & A.
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Fig.3: Multi-robot cooperative reaction
Fig.4: Histogram cooperative reaction
Control Performance Collective Nanorobotics
Q. & A.
Simulation collective robotics: 24 time-steps
0102030
4050607080
1 8 15 22 29 36 43 50 57 64 71 78 85 92
percentage nutritional state all 30 organs inlets
f r e q u e n c y
cooperative behavior
target: 50%
Collective reaction: 30 organs nutritional states
35
40
45
50
55
60
65
1 2 4
time step simulation
l e v e
l %
lowest level highest level
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Control Performance Neural Motion Control
Fig.5: Neural motion planning Fig.6:Nanorobot motion cost optimization
Q. & A.
Neural complete trajectory optimization
40
50
607080
90
100
110
120
1 2 3 4 5 6 7 8 9 10 11 12solutions for a time-step simulation
D i s t a
n c e
( u n
i t i n 1 0 0 0 n m
)
route ON route OFF