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NANOROBOTICS CONTROL DESIGN: A PRACTICAL APPROACH TUTORIAL

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. NANOROBOTICS CONTROL DESIGN: A PRACTICAL APPROACH TUTORIAL. A. Cavalcanti, R.A. Freitas Jr., L.C. Kretly .

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NANOROBOTICS CONTROL DESIGN: A PRACTICAL APPROACH TUTORIAL

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  1. 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 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

  2. 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 The new era of Nanotechnology is coming

  3. 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 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 :

  4. 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 d. Efforts to bring new nanoproducts: IBM, Motorola, Philips Electronics, Xerox/PARC, Hewlett-Packard, Bell Laboratories, and Intel Corp., etc 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

  5. a. Interdisciplinary new technology (Engineering, Computer, Physics, Chemistry and Biology) b. To build NEMS(nanometer-sized electromechanical structures): up-to-down and bottom-up strategies c. The key technology: the new device and theory to explore the nano world d. Virtual reality / automated planning to assist nanotechnology - judgments about manufacturing feasibility - assisting chemical and biological assembly analyses 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 1. WHAT IS NANOTECHNOLOGY ?

  6. b. An acceptable approach • Agents as assemblers • sensory feedback intelligent control • is indispensable for micro/nano manipulation • Computer graphics • as a tool for exploration and 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 2. NANOTECHNOLOGY CHALLENGE a. Main goal of nanotechnology at nanoscale: - development of molecular nanomachine & systems  Possible applications: - Nanoassembly automation - Health and environmental care

  7. e. Nanorobot’s sensors identify: obstacles / molecule / organ inlets / another nanorobot 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. 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

  8. a. Comprised by: nanorobots, molecules, organ inlets, obstacles b. The obstacles located in unknown probabilistic positions 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 4. VIRTUAL ENVIRONMENT c. Human body: - simplified 3D workspace  a lower computational effort - is valuable approach to study nanorobotics control behaviors for nanomedicine

  9. d. Molecule trajectories: probabilistic position and motion acceleration 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 4. VIRTUAL ENVIRONMENT e. Kinetics assumptions: nanoworld dominated by - Friction, adhesion, and viscous forces are paramount - Gravitational forces are of little or no importance

  10. 5. NANOROBOT DESIGN 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 a. Nanoassembly Manipulation is taken into the nanorobot with robotic arm (telescoping manipulator) b. Nanorobot navigation: - Uses plane surfaces (three fins total) - Propulsion by bi-directional propellers: two simultaneously counter-rotating screw drives - navigational acoustic sensors

  11. a. Decision planning To verify Organs inlets To attend nanorobot biomolecules Directed molecule-capture and delivery 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. ENVIRONMENT SENSING

  12. 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 6. ENVIRONMENT SENSING

  13. 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 7. COMPETITIVE NANOROBOTICS 3D Simulation

  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

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  19. 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 8. COLLECTIVE NANOROBOTICS 3D Simulation

  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

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  23. 9. CONTRIBUTIONS a. Real-time graphics simulation as a valuable tool for the better investigation of kinematics in nano world c. Show a practical approach to investigate nanorobotics control design FUTURE WORKS • Further biomedical investigations 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 b. Rapid Evaluation of Various Control Algorithms

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  26. a. A first series of commercially nanobioelectronic products are expected to 2007 b. Next 5-10 years: first nanorobots to medicine and environmental applications c. Company DisplaySearch: rapid market grow from US$ 84 million today to $ 1.6 Billion in 2007 d. Devices and systems based on Nanotechnology: US$ 1 trillion market for 2015 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

  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 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) 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. 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 Q. & A. Control Performance – Competitive Nanorobots Fig.1: Highest/lowest organ inlets nutritional levels Fig.2: Histogram

  29. 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 Q. & A. Control Performance – Collective Nanorobotics Fig.3: Multi-robot cooperative reaction Fig.4: Histogram cooperative reaction

  30. 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 Q. & A. Control Performance – Neural Motion Control Fig.6:Nanorobot motion cost optimization Fig.5: Neural motion planning

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