Related papers: Self-Stabilizing Self-Assembly
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
The classification of materials into insulators and conductors has been shaken up by the discovery of topological insulators that conduct robustly at the edge but not in the bulk. In mechanics, designating a material as insulating or…
Current reconfiguration techniques are based on starting the system in a consistent configuration, in which all participating entities are in their initial state. Starting from that state, the system must preserve consistency as long as a…
The simulated self-assembly of molecular building blocks into functional complexes is a key area of study in computational biology and materials science. Self-assembly simulations of proteins using physically-motivated potentials for…
Distributed fault-tolerance can mask the effect of a limited number of permanent faults, while self-stabilization provides forward recovery after an arbitrary number of transient fault hit the system. FTSS protocols combine the best of both…
Locomotion in the real world involves unexpected perturbations, and therefore requires strategies to maintain stability to successfully execute desired behaviours. Ensuring the safety of locomoting systems therefore necessitates a…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
Topologically interlocked material systems are two-dimensional assemblies of unit elements from which no element can be removed from the assembly without disassembly of the entire system. Consequently, such tile assemblies are able to carry…
Self-assembly, the process by which interacting components form well-defined and often intricate structures, is typically thought of as a spontaneous process arising from equilibrium dynamics. When a system is driven by external…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain.…
We prove that by successively combining subassemblies, we can achieve sublinear construction times for "staged" assembly of micro-scale objects from a large number of tiny particles, for vast classes of shapes; this is a significant advance…
The inverse problem of designing component interactions to target emergent structure is fundamental to numerous applications in biotechnology, materials science, and statistical physics. Equally important is the inverse problem of designing…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…
Surface and interfacial energies play important roles in a number of instability phenomena in liquids and soft matters, but are rare to play a similar role in solids. Here we report a new type of mechanical instabilities that are controlled…
Equilibrium self-assembly and conventional materials processing techniques fall far short of mimicking dynamic self-actuating processes that are commonplace throughout biology. To bridge the gap between living and synthetic matter, we study…
Position based dynamics is a powerful technique for simulating a variety of materials. Its primary strength is its robustness when run with limited computational budget. We develop a novel approach to address problems with PBD for…
This paper presents an overview and discussion of magnetocapillary self-assemblies. New results are presented, in particular concerning the possible development of future applications. These self-organizing structures possess the notable…