Macro Micro Nano Dimensions 1 cm 1 mm 10 microns > > < Weight of grams of mg 1 mg < 10’s 100’s Power 2 Watts of mW of nW < 10’s 10’s Locomotive Programmable Electrostatics Aerosol Mechanism Magnets Adhesive Mechanism Nanofiber Adhesives Programmable Molecular surface nanofiber adhesives adhesion and covalent bonds Manufacturing Conventional Chemically directed methods manufacturing self-assembly and and assembly and micro-assembly fabrication Resolution Low High High Cost $$$/catom $/catom Millicents/catom Table 8.1: A summary of the characteristics of the different catom design regimes. 1. Each catom should be in the sense of possessing everything necessary for self-contained, performing its own computation, communication, sensing, actuation, locomotion, and adhesion. 2. To support efficient routing of power and avoid excessive heat dissipation, no static power should be required for adhesion after attachment. 3. The coordination of the catoms should be performed via In particular, no local control. computation external to the ensemble should be necessary for individual catom execution. 4. For economic viability, manufacturability, and reliability, catoms should contain no moving parts. Catoms share many of the same features as individual robots in modular (self )reconfigurable robots .In both claytronics and MRR the behavior of interest is group behavior. The design goals of the individual robots and catoms are also similar in that the individuals are self-contained. 1 The differences are however many. MRR are designed to reconfigure their shapes in order to achieve functionality such as physical movement. While scaling to many
Macro Micro Nano Dimensions > 1 cm > 1 mm < 10 microns Weight 10’s of grams 100’s of mg < 1 mg Power < 2 Watts 10’s of mW 10’s of nW Locomotive Mechanism Programmable Magnets Electrostatics Aerosol Adhesive Mechanism Nanofiber Adhesives Programmable nanofiber adhesives Molecular surface adhesion and covalent bonds Manufacturing methods Conventional manufacturing and assembly and micro-assembly Chemically directed self-assembly and fabrication Resolution Low High High Cost $$$/catom $/catom Millicents/catom Table 8.1: A summary of the characteristics of the different catom design regimes. 1. Each catom should be self-contained, in the sense of possessing everything necessary for performing its own computation, communication, sensing, actuation, locomotion, and adhesion. 2. To support efficient routing of power and avoid excessive heat dissipation, no static power should be required for adhesion after attachment. 3. The coordination of the catoms should be performed via local control. In particular, no computation external to the ensemble should be necessary for individual catom execution. 4. For economic viability, manufacturability, and reliability, catoms should contain no moving parts. Catoms share many of the same features as individual robots in modular (self )reconfigurable robots .In both claytronics and MRR the behavior of interest is group behavior. The design goals of the individual robots and catoms are also similar in that the individuals are self-contained. 1 The differences are however many. MRR are designed to reconfigure their shapes in order to achieve functionality such as physical movement. While scaling to many
51196591-claytronics-final.docx