Power Routing Paper Overview February All-Hands Claytronics / Dynamic Physical Rendering

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Power Routing Paper OverviewFebruary
All-HandsClaytronics / Dynamic Physical Rendering

• Jason Campbell
• Babu Pillai
• Seth Goldstein

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In our previous episode
sphere packing
static resistor net active crossbar switching
power plane concept
lattice routing feasibility
simulations, starvation
sphere packing
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• The Robot is the Tether Active, Adaptive Power
  Routing for Modular Robots with Unary Inter-robot
  Power Connectors
• Campbell, Pillai, Goldstein
• Under submission to IROS 2005

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Unary connectors matter

• Faster docking (milliseconds, as opposed to tens
  of seconds for the multiphase docking process
  required by insertion connectors)
• Broad engagement tolerances
• Maximize surface area available for carrying
  current.

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Passive Resistor-Net
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Simulation scenario
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Active Power Routing (gradientrandom)
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Series vs. Parallel Routing

• High current activities (actuation, high-speed
  computation) will require direct connections to
  supply and ground.
• Random algorithms dont achieve this so far.
• Pseudo-lattice ones do, however!

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alg-alonggradient doesnt achieve many
parallel connections
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alg-lattice2 achieves parallel connections to
most catoms
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Routing Feasibility
cubic planar not feasible
hexagonal planar feasible, cubic volume feasible
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Routing Feasibility

• Subgraphs ( edges) gt (vertexes) 1

• For two subgraphs to exist
• e gt 2(v-1)

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Routing Feasibility
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Joining Routable Shapes
two minimal shapes
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Extra connections increase internal redundancy
too
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Computing vs. Motion
(The number of Joules required to move a catom
one meter straight up. Computation requires 60
pJ/op.)
diameter
actuation efficiency
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Battery capacities
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A few more points

• Batteries wont scale perfectly!
• Moving one catom may not always be enough some
  forms of actuation may demand 1000x more force.
• At smallest scales, powering computation requires
  active power routing!
• Brief periods of disconnected operation (e.g.,
  during reconfiguration) are very likely to be
  feasible.

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(Some) Work left to be done .

• Define sufficient routability criteria
• Simulate in other lattices
• Simulate grain boundaries
• Answer the real-world sphere-on-sphere
  resistance problem

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