Kinema Tic Cellular Automata

8/11/2019 Kinema Tic Cellular Automata

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Modeling Kinematic Cellular Automata:Modeling Kinematic Cellular Automata:

An Approach to SelfAn Approach to Self--

ReplicationReplication

Principal Investigator:Principal Investigator: Consultants:Consultants:

Tihamer TothTihamer Toth--FejelFejel RobertRobert FreitasFreitasTihamer.TothTihamer.Toth--Fejel@[email protected] Matt MosesMatt Moses

March 22, 2004 NIAC Fellows Presentation

NASA Institute for AdvancedNASA Institute for Advanced

ConceptsConcepts

Phase I: CPPhase I: CP--0202--0202

March 22, 2004 NIAC Fellows Presentation


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Modeling Kinematic CellularModeling Kinematic Cellular

AutomataAutomata RationaleRationale

BenefitsBenefits

ApplicationsApplications

Project GoalsProject Goals

StrategyStrategy

AccomplishmentsAccomplishments

Conclusion and FutureConclusion and Future

DirectionsDirectionsAdditional MaterialAdditional Material


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RationaleRationale

Why SelfWhy Self--Replication?Replication?

Why not SelfWhy not Self--Assembly?Assembly?

Why Kinematic CellularWhy Kinematic Cellular

Automata?Automata?

Why both macro andWhy both macro and nanonano scale?scale?


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Rationale: Why not SelfRationale: Why not Self--

Assembly?Assembly?Examples have been demonstratedExamples have been demonstrated

ButBut

Not Genotype +Not Genotype + RibotypeRibotype = Phenotype (GRP)= Phenotype (GRP)

No theoryNo theory

Against the principles of sound designAgainst the principles of sound design

HoweverHowever

Use it for simple input partsUse it for simple input parts


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Rationale:Rationale:

Why Both Macro andWhy Both Macro and NanoNano Scale?Scale?Abstract designAbstract design

Macro:Macro:Possible with current technologyPossible with current technology

Useful productsUseful productsProof of concept in short termProof of concept in short term

NanoNano::Quality of atoms (and molecules)Quality of atoms (and molecules)

SelfSelf--assembled input parts possibleassembled input parts possible

Significant financial payoffSignificant financial payoff

Ei l IBM Ad


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Benefit: Cost Reduction/LbBenefit: Cost Reduction/Lb

1

104

1 104 108 1012 1016 1020 1024

102

106

108

Wrench

Pentium

Potato

Lobster

Eiglers IBM Ad

Digital

Watch

Car

YogurtSalt

KCA SRS

Complexity (Parts and Interactions/lb)

Co

st($/lb)

SevenSeven

Magnitudes!Magnitudes!

GAIN

Traditional Top Down Manufacturing vs Bottom-up Molecular Replication


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Benefit: ProgrammableBenefit: Programmable

MaterialsMaterialsSimple identical modulesSimple identical modules Flow ModeFlow Mode

PixelatedPixelated ModeMode Logic Processing ModeLogic Processing Mode

Flow ModeFlow Mode PixelatedPixelated ModeMode


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Application: SpaceApplication: Space

ExplorationExploration

RobustRobust HyperflexibleHyperflexible

Resource UtilizationResource Utilization

Lower launch weightLower launch weight

ExpandableExpandable

TerraformingTerraforming

Politically feasiblePolitically feasible

Opens new frontierOpens new frontier


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Project GoalsProject Goals

Characterize selfCharacterize self--replicationreplication

Quantify the complexity of SelfQuantify the complexity of Self--Replicating System (SRS) madeReplicating System (SRS) made

of Kinematic Cellular Automataof Kinematic Cellular Automata(KCA)(KCA)

Confirm approachConfirm approach Design a KCA SRSDesign a KCA SRS

Simulate designsSimulate designs


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Project StrategyProject Strategy

Hybridize two selfHybridize two self--replicationreplication

modelsmodels Keep it simpleKeep it simple

Make it complicatedMake it complicated Refine approachRefine approach

Attempt designAttempt design

Imitate computersImitate computers

Imitate biologyImitate biology


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AccomplishmentsAccomplishmentsGoalsGoals AccomplishmentsAccomplishments

CharacterizeCharacterizeunexplored areaunexplored area

Explored MultiExplored Multi --Dimensional SpaceDimensional Space

Quantify theQuantify the

difficultydifficultyNot trivial, but less than a PentiumNot trivial, but less than a Pentium

Confirm or refuteConfirm or refuteapproachapproach

Refined ApproachRefined Approach Useful SRSUseful SRS

Hierarchy of Subsystems, Cells, Facets, & PartsHierarchy of Subsystems, Cells, Facets, & Parts

Transporter, Assembler, & ControllerTransporter, Assembler, & Control ler

LowLow--level simpler than highlevel simpler than high--levellevel TopTop--DownDown vsvs BottomBottom--UpUp

SelfSelf--Assembly for input PartsAssembly for input Parts

Standard conceptsStandard concepts

Universal Constructor is approach, not goalUniversal Constructor is approach, not goal

Design a KCA SRSDesign a KCA SRS Developed RequirementsDeveloped RequirementsPreliminary DesignPreliminary Design

Simulate designsSimulate designs Modeled SimulationsModeled Simulations Sensor PositionSensor Position

NAND gate and opNAND gate and op--amp selfamp self--assemblyassembly FacetFacet

Transporter and AssemblerTransporter and Assembler

Characteri ing SelfCharacterizing Self Replication Adj stingReplication: Adjusting


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Characterizing SelfCharacterizing Self--Replication: AdjustingReplication: Adjusting

thethe Freitas/MerkleFreitas/Merkle 116116--Dimension DesignDimension Design

SpaceSpace

Evolvability

Replicator

Information

Replicator

Energetics

Replication

Process

Product

Structure

Replicator

Performance

Replicator

Substrate

Replicator

Control

Manipulation

Autonomy

Manipulation

Redundancy

Manipulation

Centralization

Manipulation

Degrees of Freedom

Positional

AccuracyQuantity of Onboard

Energy TypesQuantity of

Manipulation

Types

Assembly

Style

Parts

Count

Parts

Scale

Parts

TypesQuantity

of Vitamin

PartsNutritional

Complexity

Parts

Preparation

Parts

ComplexityParts

Precision

MulticellularitySubunit

Scale

Subunit

Types

Subunit

Complexity

Replicator

Kinematics

Active

Subunits

Replicator

Parts

All

Replicators

Replicator

Structure

Subunit

Hierarchy

ReplicatorDesignability

Subunit

Complexity

Monotonicity


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Quantifying Difficulty of SRS DesignQuantifying Difficulty of SRS Design

1.00E+00

1.00E+011.00E+02

1.00E+03

1.00E+04

1.00E+051.00E+06

1.00E+07

1.00E+081.00E+09

Units of

difficulty

# parts

+

# interactions

Wrench Automobile Pentium KCA SRS


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Original Approach: FeynmanOriginal Approach: Feynman

methodmethod

1.1. Start with trivial selfStart with trivial self--replicationreplication

2.2. Move the complexity outMove the complexity out

of the environment andof the environment andinto the SRS byinto the SRS bydoubling parts count ofdoubling parts count ofthe component (Trivialthe component (Trivial+1+1

case)case)

3.3. ReiterateReiterate



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methodmethod Plenty of room at the bottom , topPlenty of room at the bottom , top--down, fractaldown, fractal

approachapproach

Mystery


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Refine Approach (by 180Refine Approach (by 180))

We should start at theWe should start at thebottom level and workbottom level and work upup

Imitate Mother NatureImitate Mother Nature

The Trivial+2 case hasThe Trivial+2 case has

already been donealready been done

Molecules


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The BottomThe Bottom--up Approachup Approach

WellWell --ordered environment,ordered environment,Simple inertSimple inert partsparts

SymmetricSymmetric facetsfacetsModularModular cellscells

Assembler, Transporter, and ControllerAssembler, Transporter, and Controllersubsystemssubsystems

SelfSelf--ReplicatingReplicating SystemSystem


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Subsystem RequirementsSubsystem Requirements

If atoms are analogous to bits,If atoms are analogous to bits,

then:then:Memory/BusMemory/Bus ----> Transporter> Transporter

Moves PartsMoves PartsALUALU ----> Assembler> Assembler

Connects PartsConnects Parts

ControlControl ----> Controller> Controller

Decides which Parts go whereDecides which Parts go where

StandardizedStandardized


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Assembler SubsystemAssembler Subsystem

(light blue preparation tool)

(yellow edge structural part)

(pink corner structural part)


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Controller SubsystemController Subsystem


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Cell Design RequirementsCell Design Requirements

Structure:Structure: Lock, 1Lock, 1--D slide, disconnectD slide, disconnect

Actuators:Actuators: TransformTransform

MoveMove

Sensors:Sensors: Detect PositionDetect Position

Transmit messagesTransmit messages

Logic:Logic: Decode messagesDecode messages

Accept, store, forward messagesAccept, store, forward messages

Activate commandsActivate commands


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Unit CellUnit Cell

(center structure, motors, sensors, and tabs omitted)


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Facet Design RequirementsFacet Design Requirements Structure:Structure: Insert or retractInsert or retract

Actuators:Actuators:

TransformTransformMove tabsMove tabs

Sensors:Sensors:TransformTransform

Logic:Logic:

DecodeDecode


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Unit FacetsUnit Facets


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Parts Design RequirementsParts Design Requirements Structure:Structure:

SolidSolid Motors:Motors:

RotaryRotary

LinearLinear IMPCIMPC

Sensors:Sensors: Translate signalsTranslate signals Detect parts positionDetect parts position

LogicLogic Activate messages to motorsActivate messages to motors

Aggregate digital logicAggregate digital logic

Parts: Structure Sensors &Parts: Structure Sensors &


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Parts: Structure, Sensors &Parts: Structure, Sensors &

SolenoidsSolenoids


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Software SimulationSoftware Simulation

Sensor Position Simulation ToolSensor Position Simulation Tool NAND gate & opNAND gate & op--amp Selfamp Self--AssemblyAssembly

ToolTool

Facet AnimationFacet Animation

Transporter and Assembler SimulationTransporter and Assembler Simulation


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Position Sensor SimulationPosition Sensor Simulation

SelfSelf assembly ofassembly of


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SelfSelf--assembly ofassembly of

NAND gate and opNAND gate and op--ampamp


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Facet AnimationFacet Animation

Simulation ofSimulation of


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Simulation ofSimulation of

Transporter and AssemblerTransporter and Assembler



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DirectionsDirectionsNo roadblocks!No roadblocks!

Final Design for macro physical prototypesFinal Design for macro physical prototypes

Build physical prototypesBuild physical prototypes

Build and run small cell collectionsBuild and run small cell collections

Build and run subsystemsBuild and run subsystems

Build macro scale SRSBuild macro scale SRS Write Place and Route softwareWrite Place and Route software

Refine concept atRefine concept at nanonano scalescale


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AcknowledgementsAcknowledgements NASA Institute for Advanced ConceptsNASA Institute for Advanced Concepts

JohnJohn SauterSauterAltarumAltarum

Rick Berthiaume, Ed Waltz, Ken Augustyn, andRick Berthiaume, Ed Waltz, Ken Augustyn, and

Sherwood SpringSherwood SpringGeneral Dynamics AISGeneral Dynamics AIS John McMillan and Teresa MacaulayJohn McMillan and Teresa Macaulay

Wise SolutionsWise Solutions

Forrest BishopForrest Bishop

Institute of AtomicInstitute of Atomic--Scale EngineeringScale Engineering

Joseph MichaelJoseph MichaelFractal Robots, Ltd.Fractal Robots, Ltd.


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Additional MaterialAdditional Material

AssumptionsAssumptions

Previous and Related WorkPrevious and Related Work

C S S


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KCA SRS AssumptionsKCA SRS Assumptions

Parts supplied as automated cartridgesParts supplied as automated cartridges Low rate of errors detected in codeLow rate of errors detected in code


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Previous and Related WorkPrevious and Related Work FreitasFreitas and Longand Long -- NASA Summer Study:NASA Summer Study:

Advanced Automation for Space Missions (1980)Advanced Automation for Space Missions (1980) MichaelMichael -- Fractal RobotsFractal Robots

ChirikjianChirikjian andand SuthakornSuthakorn --Autonomous RobotsAutonomous Robots

MosesMoses -- Universal Constructor PrototypeUniversal Constructor Prototype

ZyvexZyvex -- Exponential AssemblersExponential Assemblers

FreitasFreitas andand MerkleMerkle -- Kinematic SelfKinematic Self--ReplicatingReplicatingMachines (2004)Machines (2004)


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Previous Work:NASA Summer StudyPrevious Work:NASA Summer StudyAdvanced Automation for SpaceAdvanced Automation for Space

MissionsMissions -- Freitas and LongFreitas and Long --(1980)(1980)

StrengthsStrengths

First major work since 1950sFirst major work since 1950s

Cooperation of manyCooperation of manyvisionariesvisionaries

WeaknessesWeaknesses

short, no followshort, no follow--upup paper study onlypaper study only

prepre--PC technology

http://www.islandone.org/MMSG/aasm/FOR MORE INFO...

PC technology

P i W k J hP i W k J h


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Previous Work: JosephPrevious Work: Joseph

MichaelMichael StrengthsStrengths

The DOS of Util ity Fog The DOS of Util ity Fog

Working macro modularWorking macro modularrobotsrobots

Limited DOF = betterLimited DOF = betterstructurestructure


Fractals just push problem toFractals just push problem tolower, lesslower, less--accessible levelaccessible level

no detailed methodology forno detailed methodology for

selfself

--replicationreplication

http://www.fractal-robots.com/

FOR MORE INFO...

Previous Work: ForrestPrevious Work: Forrest


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Previous Work: Forreste ous o o est

BishopBishop StrengthsStrengths

Very Limited DOFVery Limited DOF

Clear macro designClear macro design WeaknessesWeaknesses

NanoscaleNanoscaleimplementation clearlyimplementation clearly

implied, but not clearlyimplied, but not clearlydesigneddesigned

no detailed methodologyno detailed methodologyfor selffor self--replicationreplication

http://www.iase.cc/html/overtool.htm

FOR MORE INFO...

R l t d W kR l t d W k


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Related Work:Related Work:

Chirikjian/SuthakornChirikjian/Suthakorn

StrengthsStrengths Autonomous implementationAutonomous implementation

of Trivialof Trivial+2+2 case (4 parts)case (4 parts)

Directed towardsDirected towardsextraterrestrial applicationsextraterrestrial applications

Lego isomorphic withLego isomorphic withmoleculesmolecules


Small UC envelopeSmall UC envelope Depends on nonDepends on non--replicatingreplicating

jigsjigs

High entropy environmentHigh entropy environment

limits extension to Triviallimits extension to Trivial+3+3

casecasehttp://http://caesar.me.jhu.edu/research/self_replicating.htmlcaesar.me.jhu.edu/research/self_replicating.html

FOR MORE INFO...

R l t d W kR l t d W k ZZ


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Related Work:Related Work: ZyvexZyvex

ProjectsProjects Applying MEMS andApplying MEMS and nanotubesnanotubes Parallel Micro and ExponentialParallel Micro and Exponential

AssemblyAssembly

StrengthsStrengths First and only funded company tryingFirst and only funded company trying

to build ato build a DrexlerianDrexlerian assemblerassembler

WeaknessesWeaknesses MEMS is 1000X too bigMEMS is 1000X too big

surfaces too roughsurfaces too rough

Exponential Assembly is machine selfExponential Assembly is machine self--assembly (not Universal Constructor;assembly (not Universal Constructor;not GRP paradigm; not Util ity Fog)not GRP paradigm; not Util ity Fog)

FOR MORE INFO...

http://http://www.zyvex.comwww.zyvex.com//


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Related Work:Related Work: Freitas/MerkleFreitas/MerkleKinematic SelfKinematic Self--Replicating MachinesReplicating Machines

((LandesLandes Bioscience, 2004)Bioscience, 2004)First comprehensive review of fieldFirst comprehensive review of field

1.1. The Concept of SelfThe Concept of Self--ReplicatingReplicating

MachinesMachines2.2. Classical Theory of Machine ReplicationClassical Theory of Machine Replication

3.3. MacroscaleMacroscale Kinematic MachineKinematic MachineReplicatorsReplicators

4.4. MicroscaleMicroscale and Molecular Kinematicand Molecular KinematicMachine ReplicatorsMachine Replicators

5.5. Issues in Kinematic Machine ReplicationIssues in Kinematic Machine ReplicationEngineeringEngineering

6.6. Motivations for MolecularMotivations for Molecular--Scale MachineScale MachineReplicator DesignReplicator Design(c) 2004 Robert Freitas and Ralph Merkle

Freitas is a technical consultant for this project

Related Work: Matt MosesRelated Work: Matt Moses


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Related Work: Matt MosesRelated Work: Matt Moses

Strengths:

CAD to physical

implementation

Large envelope UC

Weaknesses:

Strain bending under load

Manual control

Moses is a technical consultant for this project


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