Claytronics the building block of new virtual world

International Journal of Electronics and Communication
International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 0976
IJECET
– 6464(Print), ISSN 0976 – 6472(Online) Volume 2, Number 1, Jan - April (2011), © IAEME
Engineering & Technology (IJECET)
ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online)
Volume 2, Number 1, Jan – April (2011), pp. 50-56 ©IAEME
© IAEME, http://www.iaeme.com/ijecet.html

CLAYTRONICS :THE BUILDING BLOCK OF NEW VIRTUAL
WORLD
Divya Asija
Electronics and Communication
Manav Rachna College of Engineering,
Faridabad, India
anoushkabhatia@gmail.com

Manisha Hooda
Electronics and Communication
Manav Rachna College of Engineering,
Faridabad, India
hooda.manisha@gmail.com

ABSTRACT

This paper introduces a new branch of technology, the programmable matter.
Claytronics is an abstract future concept that combines nanoscale robotics and computer
science to create individual nanometre-scale computers called claytronic atoms, or
catoms, which can interact with each other to form tangible 3-D objects that a user can
interact with. This idea is more broadly referred to as programmable matter. Claytronics
has the potential to greatly affect many areas of daily life, such as telecommunication,
human-computer interfaces, and entertainment.

Keywords-Claytronics,Catoms,Macro,Nano,MELD,LDP

I. INTRODUCTION
Claytronics is a programmable matter whose primary function is to organize itself
into the shape of an object and render its outer surface to match the visual appearance
of that object. Programmable matter is a proposed digital material having computation,
sensing, actuation and display as continuous properties active over its whole extent.
Claytronics is made up of individual components, called catoms—for Claytronic
atoms—that can move in three dimensions (in relation to other catoms), adhere to
other catoms to maintain a 3D shape and compute state information (with possible
assistance from other catoms in the ensemble). Each catom is a self-contained unit with
a CPU, an energy store, a network device, a video output device, one or more sensors, a
means of locomotion, and a mechanism for adhering to other catoms. Objects featuring
these catoms can be radically altered in form and function. Furniture can morph into
new types, for instance. bed could suddenly become a sofa, or a large table. Chairs can
be instantly moulded to precisely suit the individual. Walls, carpets, ceilings, doors and

50


other surfaces can modify their colour or texture on demand. Many vehicles now make
use of claytronics. Car surfaces can change colour at the touch of a button or they can
self-heal: fixing bumps, scratches and other damage. Tyres can be instantly adapted for
different terrain types or weather conditions. Transparent windows can be instantly
blacked-out for privacy.

II. SCALING AND DESIGN PRINCIPLES

Four basic design principles

1. Each atom should be self contained.
2. No static power should be required for adhesion after attachment.
3. Coordination should be performed via local control.
4. Catom should contain no moving parts.

Figure 1. A summary of the characteristics of the different catom design regimes

PROPERTIES MACRO MiCRO NANO
DIMENSIONS >1 cm >1 mm <10 microns
WEIGHT 10’s of grams 100’s of mg <1 mg
POWER 2 watt 10’s of mW 10’s of nW
LOCOMOTIVE Programmable Electrostatics Aerosol
MECHANISM magnets
ADHESION Magnets Programmable Molecouler
MECHANISM nano fibre surface
adhesives adhesion,covalent
bonds
MANUFACTURING Conventional Nano- Chemically
METHODS Fabrication directed self
assembly
RESOLUTION Low High High

III. HARDWARE

The basic hardware of a claytronic atom comprises of

1. Central Processing Unit
2. Energy Source
3. Network Device
4. Video Output Device
5. One or more Sensors
6. Mechanism for adhering to other catoms

At the current stage of design, claytronics hardware operates from macroscale designs
with devices that are much larger than the tiny modular robots that set the goals of this

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engineering research. Such devices are designed to test concepts for sub-millimeter scale
modules and to elucidate crucial effects of the physical and electrical forces that affect
nanoscale robots.
Planar catoms test the concept of motion without moving parts and the design of force
effectors that create cooperative motion within ensembles of modular robots.
Electrostatic latches model a new system of binding and releasing the connection
between modular robots, a connection that creates motion and transfers power and data
while employing a small factor of a powerful force.
Stochastic Catoms integrate random motion with global objectives communicated in
simple computer language to form predetermined patterns, using a natural force to actuate
a simple device, one that cooperates with other small helium catoms to fulfill a set of
unique instructions.
Giant Helium Catoms provide a larger-than-life, lighter-than-air platform to explore
the relation of forces when electrostatics has a greater effect than gravity on a robotic
device, an effect simulated with a modular robot designed for self-construction of macro-
scale structures.
Cubes employ electrostatic latches to demonstrate the functionality of a device that
could be used in a system of lattice-style self-assembly at both the macro and nano-scale.
A. Future Design
In the current design, the catoms are only able to move in two dimensions relative to
each other. Future catoms will be required to move in three dimensions relative to each
other. The goal of the researchers is to develop a millimeter scale catom with no moving
parts, to allow for mass manufacturability. Millions of these microrobots will be able to
emit variable colour and intensity of light, allowing for dynamic physical rendering. The
design goal has shifted to creating catoms that are simple enough to only function as part
of an ensemble, with the ensemble as a whole being capable of higher function.
As the catoms are scaled down, an onboard battery sufficient to power it will exceed
the size of the catom itself, so an alternate energy solution is desired. Research is being
done into powering all of the catoms in an ensemble, utilizing the catom-to-catom contact
as a means of energy transport. One possibility being explored is using a special table with
positive and negative electrodes and routing the power internally through the catoms, via
“virtual wires.”
Another major design challenge will be developing a genderless unary connector for
the catoms in order to keep reconfiguration time at a minimum. Nanofibers provide a
possible solution to this challenge. Nanofibers allow for great adhesion on a small scale
and allow for minimum power consumption when the catoms are at rest.

IV. SOFTWARE

A. Tasks of Software

Organizing all of the communication and actions between millions of sub-millimeter
scale catoms requires development of advanced algorithms and programming languages.
The researchers and engineers of Carnegie Mellon-Intel Claytronics Research Lab
launched a wide range of projects to develop the necessary software to facilitate
communication between catoms. The most important projects are developing new

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programming languages which work more efficiently for claytronics. The goal of a
claytronics matrix is to dynamically form three dimensional shapes. However, the vast
number of catoms in this distributed network increases complexity of micro-management
of each individual catom. So, each catom must perceive accurate position information and
command of cooperation with its neighbours. In this environment, software language for
the matrix operation must convey concise statements of high-level commands in order to
be universally distributed. Languages to program a matrix require a more abbreviated
syntax and style of command than normal programming languages such as C++ and Java.

The Carnegie Mellon-Intel Claytronics Research Project has created two new
programming languages: Meld and Locally Distributed Predicates (LDP).

B. MELD
Meld is a declarative language, a logic programming language originally designed for
programming overlay networks. By using logic programming, the code for an ensemble of
robots can be written from a global perspective, enabling the programmer to concentrate
on the overall performance of the claytronics matrix rather than writing individual
instructions for every one of the thousands to millions of catoms in the ensemble. This
dramatically simplifies the thought process for programming the movement of a
claytronics matrix.
Meld is a programming language designed for robustly programming massive
ensembles. Meld was designed to give the programmer an ensemble-centric viewpoint,
where they write a program for an ensemble rather than the modules that make it up. A
program is then compiled into individual programs for the nodes that make up the
ensemble. In this way the programmer need not worry about the details of programming a
distributed system and can focus on the logic of their program.
Because Meld is a declarative programming language (specifically, a logic
programming language), the programs written in Meld are concise. Both the localization
algorithm and the metamodule planning algorithms (papers linked below) are
implemented in Meld in only a few pages of code. Because the implementations are so
concise, we've found it practical to prove them correct. We have proved correctness of the
metamodule planning algorithm as written in Meld. We found this proof to be easier to
carry out than a proof on pseudo code.
Furthermore, these implementations are inherently fault-tolerant. They can recover
from modules that experience FAIL-STOP errors as the Meld runtime automatically
recovers from these errors without any need for the programmer to think about them.
Between the ability to perform proofs directly on Meld code and the inherent fault-
tolerance provided by the runtime, Meld programs are robust. They have been
demonstrated on ensembles containing millions of modules, as shown in the video on the
right.
C. LDP
LDP is a reactive programming language. It has been used to trigger debugging in the
earlier research. With the addition of language that enables the programmer to build
operations in the development of the shape of the matrix, it can be used to analyze the
distributed local conditions. It can operate on fixed-size, connected groups of modules
providing various functions of state configuration. A program that addresses a fixed-size

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module rather than the entire ensemble allows programmers to operate the claytronic
matrix more frequently and efficiently. LDP further provides a means of matching
distributed patterns. It enables the programmer to address a larger set of variables
with Boolean logic, which enables the program to search for larger patterns of activity and
behaviour among groups of modules.
LDP approaches the distributed programming problem using pattern-matching
techniques. LDP provides programmers the ability to specify distributed state
configurations, based on combinations of the state found on connected subgroups of
catoms. The LDP runtime automatically detects occurrences of these distributed
configurations, and triggers user-specified actions in response to the detection event.
LDP also allows for the expression of distributed event sequences (through the use of
automated history and temporal operators), as well as the expression of particular shapes
(through topological restrictions). These facilities, combined with an array of
mathematical and logical operators, allow programmers to express a wide variety of
distributed conditions. As with Meld, LDP produces dramatically shorter code than
traditional high-level languages (C++, Java, etc.).
LDP is descended from work on distributed debugging, and as such its strengths lie in
the ability to efficiently detect conditions on variably-sized groups of modules, interface
easily with existing low-level code, and easily express a large numbers of common
distributed programming idioms. LDP has been used to implement several motions
planning algorithms, as well as a variety of low-level utilities such as gradient fields and
distributed aggregation.
D. Distributed Watchpoints
Performance errors for thousands to millions of individual catoms are hard to detect
and debug, therefore, claytronics matrix operations require a dynamic and self-directed
process for identifying and debugging errors. Claytronics researchers have developed
Distributed Watchpoints, an algorithm-level approach to detecting and fixing errors
missed by more conventional debugging techniques. It establishes nodes that receive
surveillance to determine the validity of distributed conditions. This approach provides a
simple and highly descriptive set of rules to evaluate distributed conditions and proves
effective in the detection of errors.
E. Algorithms
Two important classes of claytronics algorithms are shape sculpting and localization
algorithms. The ultimate goal of claytronics research is creating dynamic motion in three
dimensional poses. All the research on catom motion, collective actuation and hierarchical
motion planning require shape sculpting algorithms to convert catoms into the necessary
structure, which will give structural strength and fluid movement to the dynamic
ensemble. Meanwhile, localization algorithms enable catoms to localize their positions in
an ensemble. A localization algorithm should provide accurate relational knowledge of
catoms to the whole matrix based on noisy observation in a fully distributed manner.

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V. CONCLUSION

Once fully developed and functional, this advanced technology would highly be
beneficial, not only to the scientific class of people but also to the common man. It would
help users to carry around a lump of claytronics in their pockets that can reshape into any
object and even act like 3D TV and create synthetic reality.

From scientific perspective, this technology would enable engineers to work remotely
in physically hostile environments or surgeons to perform intricate surgery on enlarged
claytronic replicas of organs, while the actual organs are being worked upon by a
claytronic replica of the surgeon. It may help scientists learn how to efficiently manage
networks of millions of computers. It will also advance our understanding of
nanotechnology.

VI. FUTURE SCOPE

The power and flexibility that will arise from being able to "program" the world around
us should influence every aspect of the human experience. Claytronics is a technology
which can serve as the means of implementing a new communication medium, which we
call pario. The idea behind pario is to reproduce moving, physical 3D objects. Similar to
audio and video, we are neither transporting the original phenomena nor recreating an
exact replica: instead, the idea is to create a physical artefact that can do a good enough
job of reproducing the shape, appearance, motion, etc., of the original object that our
senses will accept it as being close enough.

As the capabilities of computing continue to develop and robotic modules shrink,
claytronics will become useful in many applications. The featured application of
claytronics is a new mode of communication. Claytronics will offer a more realistic sense
to communication over long distance called pario. Similar to how audio and video provide
aural and visual stimulation; pario provides an aural, visual and physical sensation. A user
will be able to hear, see and touch the one communicating with them in a realistic manner.
Pario could be used effectively in many professional disciplines from engineering design,
education and healthcare to entertainment and leisure activities such as video games.

The advancements in nanotechnology and computing necessary for claytronics to
become a reality are feasible, but the challenges to overcome are daunting and will require
great innovation. In an interview, December 2008, Jason Campbell, a lead researcher from
Intel Labs Pittsburgh said, "My estimates of how long it is going to take have gone from
50 years down to just a couple more years. That has changed over the four years I’ve been
working on the project.”

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