NANOROBOTICS  CONTROL  DESIGN:  A  PRACTICAL  APPROACH  TUTORIAL   A. Cavalcanti, R.A. Freitas Jr., L.C. Kretly  CAN Cente...
The new era of Nanotechnology is coming www.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
Fact What is Nanotechnology Nanotechnology Challenge Proposed Approach Virtual Environment Nanorobot Design Environment Se...
FACT  www.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 d. Efforts to bring new nanoproducts: IBM...
1. WHAT IS NANOTECHNOLOGY ?   a. Interdisciplinary new technology  (Engineering, Computer, Physics, Chemistry and Biology)...
2. NANOTECHNOLOGY CHALLENGE a. Main goal of nanotechnology at nanoscale:  - development of molecular nanomachine & systems...
3. PROPOSED APPROACH a. Mobile nanorobot control design   - Perform molecular assembly manipulation  - Applied to Nanomedi...
4. VIRTUAL ENVIRONMENT   c. Human body: - simplified 3D workspace    a lower computational effort - is valuable approach ...
e. Kinetics assumptions: nanoworld dominated by    - Friction, adhesion, and viscous forces are paramount    - Gravitation...
5. NANOROBOT DESIGN   b. Nanorobot navigation: - Uses plane surfaces (three fins total)  - Propulsion by bi-directional pr...
6. ENVIRONMENT SENSING a. Decision planning Directed molecule-capture and delivery Organs inlets nanorobot biomolecules To...
6. ENVIRONMENT SENSING b. Behavior activation Sensor-based-control loop  www.n a n o r o b o t d e s i g n.com  www.c a n ...
7. COMPETITIVE NANOROBOTICS   3D Simulation Nanorobot and nanorobot adversary in action www.n a n o r o b o t d e s i g n....
www.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
www.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
www.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
www.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
www.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
8. COLLECTIVE NANOROBOTICS 3D Simulation Cooperative team behavior   www.n a n o r o b o t d e s i g n.com  www.c a n b i ...
www.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
www.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
www.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
9. CONTRIBUTIONS   b. Rapid Evaluation of Various Control Algorithms <ul><li>Further biomedical investigations </li></ul>F...
www.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
www.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
FACT www.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 a. A first series of commercially nanobioe...
Just a few quotes… “ There is nothing permanent except change.” Heraclitus of Ephesus   (ca. 525-475 B.C.)   “ A scientifi...
Fig.1: Highest/lowest organ inlets nutritional levels  Control Performance – Competitive Nanorobots Fig.2: Histogram Q. & ...
Fig.3: Multi-robot cooperative reaction Fig.4: Histogram cooperative reaction   Control Performance – Collective Nanorobot...
Control Performance – Neural Motion Control Fig.5: Neural motion planning Fig.6:Nanorobot motion  cost optimization Q. & A...
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nano robotics toutorial

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nano robotics toutorial

  1. 1. 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 Conference ASME DETC - Salt Lake City, Utah, USA September 28 to October 2, 2004 www.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
  2. 2. The new era of Nanotechnology is coming www.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
  3. 3. Fact What is Nanotechnology Nanotechnology Challenge Proposed Approach Virtual Environment Nanorobot Design Environment Sensing Competitive Nanorobotics Collective Nanorobotics Contributions Fact P r e s e n t a t i o n o u t l i n e : www.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
  4. 4. FACT www.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 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
  5. 5. 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 www.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
  6. 6. 2. NANOTECHNOLOGY CHALLENGE a. Main goal of nanotechnology at nanoscale: - development of molecular nanomachine & systems  Possible applications: - Nanoassembly automation - Health and environmental care b. An acceptable approach <ul><li>Agents as assemblers </li></ul><ul><li>sensory feedback intelligent control </li></ul><ul><li>is indispensable for micro/nano manipulation </li></ul><ul><li>Computer graphics </li></ul><ul><li>as a tool for exploration and design </li></ul>www.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
  7. 7. 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 www.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 e. Nanorobot’s sensors identify: obstacles / molecule / organ inlets / another nanorobot
  8. 8. 4. VIRTUAL ENVIRONMENT c. Human body: - simplified 3D workspace  a lower computational effort - is valuable approach to study nanorobotics control behaviors for nanomedicine Top camera view in the virtual environment www.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 in unknown probabilistic positions a. Comprised by: obstacles organ inlets, molecules, nanorobots,
  9. 9. e. Kinetics assumptions: nanoworld dominated by - Friction, adhesion, and viscous forces are paramount - Gravitational forces are of little or no importance 4. VIRTUAL ENVIRONMENT Top camera view in the virtual environment www.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 d. Molecule trajectories: probabilistic position and motion acceleration
  10. 10. 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 nanorobot with robotic arm (telescoping manipulator) nanorobot design www.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
  11. 11. 6. ENVIRONMENT SENSING a. Decision planning Directed molecule-capture and delivery Organs inlets nanorobot biomolecules To verify To attend www.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
  12. 12. 6. ENVIRONMENT SENSING b. Behavior activation Sensor-based-control loop www.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
  13. 13. 7. COMPETITIVE NANOROBOTICS 3D Simulation Nanorobot and nanorobot adversary in action www.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
  14. 14. www.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
  15. 15. www.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
  16. 16. www.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
  17. 17. www.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
  18. 18. www.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
  19. 19. 8. COLLECTIVE NANOROBOTICS 3D Simulation Cooperative team behavior www.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
  20. 20. www.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
  21. 21. www.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
  22. 22. www.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
  23. 23. 9. CONTRIBUTIONS b. Rapid Evaluation of Various Control Algorithms <ul><li>Further biomedical investigations </li></ul>FUTURE WORKS with more detailed simulator parameters www.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 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
  24. 24. www.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
  25. 25. www.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
  26. 26. FACT www.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 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
  27. 27. 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 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) www.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
  28. 28. Fig.1: Highest/lowest organ inlets nutritional levels Control Performance – Competitive Nanorobots Fig.2: Histogram Q. & A. www.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
  29. 29. Fig.3: Multi-robot cooperative reaction Fig.4: Histogram cooperative reaction Control Performance – Collective Nanorobotics Q. & A. www.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
  30. 30. Control Performance – Neural Motion Control Fig.5: Neural motion planning Fig.6:Nanorobot motion cost optimization Q. & A. www.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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