Microscopic robots could perform tasks with high spatial precision, such as acting on precisely-targeted cells in biological tissues. Some tasks may benefit from robots that change shape, such as elongating to improve chemical gradient sensing or con
tracting to squeeze through narrow channels. This paper evaluates the energy dissipation for shape-changing (i.e., metamorphic) robots whose size is comparable to bacteria. Unlike larger robots, surface forces dominate the dissipation. Theoretical estimates indicate that the power likely to be available to the robots, as determined by previous studies, is sufficient to change shape fairly rapidly even in highly-viscous biological fluids. Achieving this performance will require significant improvements in manufacturing and material properties compared to current micromachines. Furthermore, optimally varying the speed of shape change only slightly reduces energy use compared to uniform speed, thereby simplifying robot controllers.
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion for micro
n-size robots. Two appealing methods rely only on surface motions: steady tangential motion and small amplitude oscillations. These methods contrast with common microorganism propulsion based on flagella or cilia, which are more likely to damage nearby cells if used by robots made of stiff materials. The power potentially available to robots in tissue supports speeds ranging from one to hundreds of microns per second, over the range of viscosities found in biological tissue. We discuss design trade-offs among propulsion method, speed, power, shear forces and robot shape, and relate those choices to robot task requirements. This study shows that realizing such locomotion requires substantial improvements in fabrication capabilities and material properties over current technology.
The power available to microscopic robots (nanorobots) that oxidize bloodstream glucose while aggregated in circumferential rings on capillary walls is evaluated with a numerical model using axial symmetry and time-averaged release of oxygen from pas
sing red blood cells. Robots about one micron in size can produce up to several tens of picowatts, in steady-state, if they fully use oxygen reaching their surface from the blood plasma. Robots with pumps and tanks for onboard oxygen storage could collect oxygen to support burst power demands two to three orders of magnitude larger. We evaluate effects of oxygen depletion and local heating on surrounding tissue. These results give the power constraints when robots rely entirely on ambient available oxygen and identify aspects of the robot design significantly affecting available power. More generally, our numerical model provides an approach to evaluating robot design choices for nanomedicine treatments in and near capillaries.
Web sites where users create and rate content as well as form networks with other users display long-tailed distributions in many aspects of behavior. Using behavior on one such community site, Essembly, we propose and evaluate plausible mechanisms t
o explain these behaviors. Unlike purely descriptive models, these mechanisms rely on user behaviors based on information available locally to each user. For Essembly, we find the long-tails arise from large differences among user activity rates and qualities of the rated content, as well as the extensive variability in the time users devote to the site. We show that the models not only explain overall behavior but also allow estimating the quality of content from their early behaviors.
