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

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The new era of Nanotechnology is coming

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Fact What is Nanotechnology Nanotechnology Challenge Proposed Approach Virtual Environment Nanorobot Design Environment Sensing Competitive Nanorobotics Collective Nanorobotics Contributions Fact

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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
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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
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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

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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

e. Nanorobots sensors identify: obstacles / molecule / organ inlets / another nanorobot
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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
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4. VIRTUAL ENVIRONMENT
d. Molecule trajectories: probabilistic position

and motion acceleration

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

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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 drivesnavigational acoustic sensors
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6. ENVIRONMENT SENSING a. Decision planning

To verify Organs inlets

To attend

nanorobot

biomolecules

Directed molecule-capture and delivery

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6. ENVIRONMENT SENSING

b. Behavior activation

Sensor-based-control loop
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7. COMPETITIVE NANOROBOTICS 3D Simulation

Nanorobot and nanorobot adversary in action

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8. COLLECTIVE NANOROBOTICS 3D Simulation

Cooperative team behavior

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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
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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
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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 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)
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Q. & A. Control Performance Competitive Nanorobots

90 80 70 60 50 40 30 20 10

Competitive reaction: 30 organs nutritional states

50
frequency

Simulation competitive: 24 time-steps

40 30 20 10 0 1 8 15 22 29 36 43 50 57 64 71 78 85 92 99

target: 50%

level %

time step simulation agent lowest adversary lowest agent highest adversary highest

24

percentage nutritional state all 30 organs inlets agent adversary

Fig.1: Highest/lowest organ inlets nutritional levels

Fig.2: Histogram

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Q. & A. Control Performance Collective Nanorobotics

Collective reaction: 30 organs nutritional states
65 60
level %

Simulation collective robotics: 24 time-steps

80 70 60 50 40 30 20 10 0 1

55 50 45 40 35
24 1

frequency

target: 50%

8 15 22 29 36 43 50 57 64 71 78 85 92 99

time step simulation lowest level highest level

percentage nutritional state all 30 organs inlets cooperative behavior

Fig.3: Multi-robot cooperative reaction

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Fig.4: Histogram cooperative reaction

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Q. & A. Control Performance Neural Motion Control

Neural complete trajectory optimization
120
Distance (unit in 1000 nm)

110 100 90 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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