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CLAYTRONICS

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Introduction
We still tell our children “you can be anything when you grow up.” It’s time to start telling them “you’re going to be able to make anything…right now.” How can a material be intelligent by being made up of particle-sized machines? The idea is simple: make basic computers housed in tiny spheres that can connect to each other and rearrange themselves. Each particle, called a Claytronics atom or Catom, is less than a millimeter in diameter. With billions you could make almost any object you wanted.


2. CLAYTRONICS/DPR PROJECT
The DPR project was begun at Carnegie Mellon University, spearheaded by Seth Goldstein, an Associate Professor in the Computer Science Department. The project is the brainchild of Goldstein and Todd Mowry, Director of Intel Research Pittsburgh, who first discussed the idea at a conference in 2002. Mowry wanted to improve on two-dimensional videoconferencing, and Goldstein was interested in nanotechnology.



HARDWARE:

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 engineering research. Such devices are designed to test concepts for sub-millimetre scale modules and to elucidate crucial effects of the physical and electrical forces that affect nanoscale robots.

CLAYTRONICS seminar report

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Introduction
The Claytronics project is an effort to explore how programmable matter might change the computing experience. Similar to how audio and video technologies capture and reproduce sound and moving images, respectively, we are investigating ways to reproduce moving physical 3D objects. The idea behind claytronics is neither to transport an object’s original instance nor to recreate its chemical composition, but rather to create a physical artefact using programmable matter that will eventually be able to mimic the original object’s shape, movement, visual appearance, sound, and tactile qualities.


Claytronics Principle
Realizing this vision requires new ways of thinking about massive numbers of cooperating millimetre-scale units. Most importantly, it demands simplifying and redesigning the software and hardware used in each catom to reduce complexity and manufacturing cost and increase robustness and reliability. For example, each catom must work cooperatively with others in the ensemble to move, communicate, and obtain power. Consequently, our designs strictly adhere to the ensemble principle: A robot module should include only enough functionality to contribute to the ensemble’s desired functionality. Three early results highlight a key aspect of the ensemble principle: easy manufacturability, powering million-robot ensembles, and surface contour control without global motion planning.

Shape Control
Classical approaches to creating an arbitrary shape from a group of modular robots involve motion planning through high-dimensional search or gradient descent methods. However, in the case of a million-robot ensemble, global search is unlikely to be tractable. Even if a method could globally plan for the entire ensemble, the communications overhead required to transmit individualized directions to each module would be very high. In addition, a global plan would break down in the face of individual unit failure. To address these concerns, we’re developing algorithms that can control shape without requiring extensive planning or communication.


Powering Microbot Ensembles
Some energy requirements, such as effort to move versus gravity, scale with size. Others, such as communi- cation and computation, don’t. As microrobots (catoms) are scaled down, the on board battery’s weight and volume exceed those of the robots themselves. To provide sufficient energy to each catom without incurring such a weight and volume penalty, we’re developing methods for routing energy from an external source to all catoms in an ensemble. For example, an ensemble could tap an environmental power source, such as a special table with positive and negative electrodes, and route that power internally using catom-to-catom connections.

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