Nanorobotics Control Design: A Practical Approach Tutorial

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

The new era of Nanotechnology is coming

Presentation o u t l i n e :
Fact
What is Nanotechnology
Nanotechnology Challenge
Proposed Approach
Virtual Environment
Nanorobot Design
Environment Sensing
Competitive Nanorobotics
Collective Nanorobotics
Contributions
Fact

FACT
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

1. WHAT IS NANOTECHNOLOGY ?
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

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
i. Agents as assemblers
sensory feedback intelligent control
is indispensable for micro/nano manipulation
ii. Computer graphics
as a tool for exploration and design

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
e. Nanorobot’s sensors identify:
obstacles / molecule / organ inlets / another nanorobot
4. VIRTUAL ENVIRONMENT
a. Comprised by:
nanorobots,
molecules,
organ inlets,
obstacles
b. The obstacles located in

unknown probabilistic
positions
Top camera view
in the virtual environment
c. Human body:
- simplified 3D workspace  a lower computational effort
- is valuable approach to study
nanorobotics control behaviors for nanomedicine
4. VIRTUAL ENVIRONMENT
d. Molecule trajectories:
probabilistic position
and motion acceleration
Top camera view

e. Kinetics assumptions: in the virtual environment
nanoworld dominated by
- Friction, adhesion, and viscous forces are paramount
- Gravitational forces are of little or no importance

5. NANOROBOT DESIGN
a. Nanoassembly Manipulation
is taken into the nanorobot
with robotic arm
(telescoping manipulator)
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

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

6. ENVIRONMENT SENSING
b. Behavior activation
Sensor-based-control loop
7. COMPETITIVE NANOROBOTICS
3D Simulation
Nanorobot and nanorobot adversary in action

8. COLLECTIVE NANOROBOTICS
3D Simulation
Cooperative team behavior

9. CONTRIBUTIONS
a. Real-time graphics simulation as a valuable tool

for the better investigation of kinematics in nano world
b. Rapid Evaluation of Various Control Algorithms
c. Show a practical approach to investigate

nanorobotics control design
FUTURE WORKS
Further biomedical investigations

with more detailed simulator parameters

FACT
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

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)

Q. & A.
Control Performance – Competitive Nanorobots
Competitive reaction: 30 organs nutritional states Simulation competitive: 24 time-steps
90
50
80 target: 50%
70 40
60
30
level %
50
frequency
40 20
30
20 10
10 0
1
time step simulation

24
1 8 15 22 29 36 43 50 57 64 71 78 85 92 99
agent lowest agent highest percentage nutritional state all 30 organs inlets
adversary lowest adversary highest agent adversary
Fig.1: Highest/lowest organ Fig.2: Histogram

inlets nutritional levels

Q. & A.
Control Performance – Collective Nanorobotics
Collective reaction: 30 organs nutritional states Simulation collective robotics: 24 time-steps
65
80
60 70
60
55
50
target: 50%
frequency
level %
50 40
30
45
20
40 10
0
35
1 8 15 22 29 36 43 50 57 64 71 78 85 92 99
1
24
time step simulation percentage nutritional state all 30 organs inlets
lowest level highest level cooperative behavior
Fig.3: Multi-robot cooperative Fig.4: Histogram

reaction cooperative reaction

Q. & A.
Control Performance – Neural Motion Control
Neural complete trajectory optimization

120
110
100
(unit in 1000 nm)

90
Distance
80
70
60
50
40
1 2 3 4 5 6 7 8 9 10 11 12
solutions for a time-step simulation
route ON route OFF
Fig.5: Neural motion planning Fig.6:Nanorobot motion

cost optimization

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NANOROBOTICS CONTROL

CAN Center for Automation in Nanobiotech

ASME 28th Biennial Mechanisms and Robotics Conference

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

a. The governments and industries all around the globe:

b. The U.S. National Science Foundation launched

c. 2003 Investiments in Nanobiotech:

d. Efforts to bring new nanoproducts:

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. Interdisciplinary new technology

c. The key technology:

d. Virtual reality / automated planning to assist nanotechnology

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. Main goal of nanotechnology at nanoscale:

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

Top camera view

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

Directed molecule-capture and delivery

Nanorobot and nanorobot adversary in action

Cooperative team behavior

a. Real-time graphics simulation as a valuable tool

b. Rapid Evaluation of Various Control Algorithms

c. Show a practical approach to investigate

Further biomedical investigations

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

b. Next 5-10 years: first nanorobots

c. Company DisplaySearch: rapid market grow

d. Devices and systems based on Nanotechnology:

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

“There is nothing permanent except change.”

“A scientific truth does not triumph by convincing its opponents

“A pessimist sees the difficulty in every opportunity;

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

time step simulation

Fig.1: Highest/lowest organ Fig.2: Histogram

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

lowest level highest level cooperative behavior

Fig.3: Multi-robot cooperative Fig.4: Histogram

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

Neural complete trajectory optimization

(unit in 1000 nm)

Fig.5: Neural motion planning Fig.6:Nanorobot motion

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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