3fax claytronics

7/27/2019 3fax Claytronics

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A 3D Fax Machine based on

Claytronics

(Programmable Matter)

Bhavin Bhaskaran

4S0133SCS

SJEC


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Topic Covers

What is Programmable matter

Claytronics

3D faxing using claytronics


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Claytronics

Matter is the basic part of universe.

Computer size is getting smaller day by day.

A computer of millimeter size possible ?

Idea of Programmable matter !!!


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Claytronicscont..

Programmable matterMatter that can be programmed

Possibility of making electronic clay !!!

A group of programmable matter can make electronic clay Basic unitcatom

Group of catomelectronic Clay

Create a physical structure of object


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Claytronicscont..

Claytronics is an emerging technology.

connected volume of programmable matter is termed an ensemble,

Individual units are termed catoms,/ module

Catom

Have spherical structure

Move in three dimensions in relation to other catoms

Communicate with other catoms in an ensemble

Option of display for representing color of the object


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Catoms

Physical Characteristics tiny, sub-millimeter particles that stick together

spheres covered with insulated plates, permitting to adhere to

each other

Electronic properties

a sphere, including microprocessor,memory, communications,

power distribution, and sensor circuits


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What changes will claytronics makes

Make a synthetic reality world..

Entirely different communication : telepresence

3D fax machine


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3D Fax Machine

Need of 3D faxing

long-term goal : General purpose programmable matter

new medium for human-computer interaction

Actuation and motion are challenging aspects

Here imagine programmable matter minus actuation capacity

: without the ability to self-reconfigure or move.


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How it works ??


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Overview of 3D faxing

Three phases

Shape Acquisition - system senses the object and creates a

digital representation of the visible, external structure.

Transmission- transmitted to the remote site.

Reproduction.- Structure of object is reconstructed at theremote site.


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Shape Acquisition cont.

ensemble performs self-localization by a multiphase peer-to-

peer communication process

identifies the relative geometry of that neighbor

catoms do self localization to compute 3D shape of the object.

Completely embedded object in claytronic ensemble - canfind the adjacent catoms


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2 .Remote Transmission

many well known techniques used to store, manipulate, and

transmit.

Example : A radio or optical bridge to extract the shape

information from the ensemble for remote transmission


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3. Shape Reconstruction.

Final stage of a 3D fax system

Two ways Proposed :

1. Self-reconfiguration- ensemble2. digital sand casting

1. Self-reconfiguration- ensemble

reshaping itself on command to the desired shape

Complex and Research still going on.


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2. digital sand casting.

A volume of catoms is used to fill a closed structure such as a

bucket Power and the desired shape supplied to the ensemble.

Ensemble carry out self-localization to find the structure

Each catom evaluates whether it is or is not part of the target

shape

Those catoms which are part of the target shape bond

themselves together and other catoms switch themselves off.

user then pours or sweeps off the un-bonded catoms


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Design

Design Explain how the implementation of faxing is proposed.

1. Localization

2. Selecting Seeds3. Termination Detection

4. Surface Detection

5. Shape Reconstruction


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1. Localization

Finding their position by each Catom

The most critical algorithm in 3D fax machine

Catoms can communicate with their neighbor

Collection of contact points spaced across its surface

Contact points may also serve to distribute power

priori- Position of contact point.

Using prioryeach catom can find the relative positions of neighbors


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Localization Algorithm

1. A catom is selected to be the seed-(Origin).

2. The seed sets its own position to be the origin.

3. Fully Configured catom : Catom know position and

orientation

1. Partially Configured : Knows position only


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Localization of catoms


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Localization Algorithm

1. initial random seed sends positions to neighbors;

2. partially configured set of neighbors know their positions

(not orientations)

3. with info from 2 or more neighbors, the partially configured

modules change to the fully configured state

4. Fully configured modules propagate position information to

each of their neighbors

5. the next wave of neighbors determines their orientations;


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2. Selecting seeds

Selection of seeds are random.

At least one seed is formed even in very small systems.

Each seed picks a unique id

There can be multiple seeds.

Id helps in defining priority- when two regions growinto each other.


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3. Termination Detection

1. generate a spanning tree over the entire ensemble of catoms

2. The seed is treated as the root of the tree.

3. seed and fully configured catom will send child node request to

neighbors

4. neighbors reply - ACK or NACK ( already have parent)

5. leaf node - catom got NACK from all its neighbors

6. subtree complete message - send by leaf node to parent

7. Termination guaranteed - Seed received subtree complete message


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4.Surface Detection

surface-adjacent: A catom with missing neighbors in the

lattice

computes the positions of its missing neighbors

- will be the surface of object

missing neighbor positions, retrieved - transmit it to a remote

site.

one issue : Even the container adjacent is taken


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Surface Detection..how?


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Surface Detection..how?

modules surrounding original object perform localization;

modules marked as surface-adjacent (shaded) have one or

more missing neighbors;

missing neighbors (dotted outlines) are candidates

for membership in the object surface; select one locationknown to be an extremity (shaded);


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Shape Reconstruction


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Shape Reconstruction

1. start with solid volume of claytronic material

2. overlay mesh of output points over a full lattice;

3. select modules that intersect mesh; these latch on to each

other;

4. remove all other modules revealing replica


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Conclusions

Brief idea on what is claytronics

Properties of programmable matter.

Next generation 3D fax machine.

A model for 3D fax machine based on claytronics


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Who is with claytronics..

Intel Research wing.

Carnegie Mellon University,

http://repository.cmu.edu/compsci


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Think Claytronics more !!!

3fax claytronics

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