相关论文: Controlling Smart Matter
Embedding microscopic sensors, computers and actuators into materials allows physical systems to actively monitor and respond to their environments. This leads to the possibility of creating smart matter, i.e., materials whose properties…
The development of small-scale sensors and actuators enables the construction of smart matter in which physical properties of materials are controlled in a distributed manner. In this paper, we describe how quantum computers could provide…
We offer our opinion on the benefits of integration of insights from active matter physics with principles of regulatory interactions and control to develop a field we term ``smart matter". This field can provide insight into important…
The complexity of condensed matter arises from emergent behaviors that cannot be understood by analyzing individual constituents in isolation. While traditional condensed-matter approaches-developed primarily for ideal crystalline…
The paper introduces a Data-driven Hierarchical Control (DHC) structure to improve performance of systems operating under the effect of system and/or environment uncertainty. The proposed hierarchical approach consists of two parts: 1) A…
The study of active matter has revealed novel non-equilibrium collective behaviors, illustrating their potential as a new materials platform. However, most works treat active matter as unregulated systems with uniform microscopic energy…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in the micro scale manufacturing, which requires high-precision…
Amorphous particulate matter constitutes a wide range of natural and synthetic materials. Despite this ubiquity, the way in which these systems' disordered microstructure couples to their often subtle and complex dynamical behavior is not…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
The control and integration of distributed, multi-sensor perceptual systems is a complex and challenging problem. The observations or opinions of different sensors are often disparate incomparable and are usually only partial views. Sensor…
In this book chapter, we review how systems of simple motile agents can be used as a pathway to intelligent systems. It is a well known result from nature that large groups of entities following simple rules, such as swarms of animals, can…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
Intelligent soft matter stands at the intersection of materials science, physics, and cognitive science, promising to change how we design and interact with materials. This transformative field seeks to create materials that possess…
Robotic materials are multi-robot systems formulated to leverage the low-order computation and actuation of the constituents to manipulate the high-order behavior of the entire material. We study the behaviors of ensembles composed of smart…
Soft and active condensed matter represent a class of fascinating materials that we encounter in our everyday lives -- and constitute life itself. Control signals interact with the dynamics of these systems, and this influence is formalized…
The term active matter describes diverse systems, spanning macroscopic (e.g. shoals of fish and flocks of birds) to microscopic scales (e.g. migrating cells, motile bacteria and gels formed through the interaction of nanoscale molecular…
We describe opportunities and challenges with wireless robotic materials. Robotic materials are multi-functional composites that tightly integrate sensing, actuation, computation and communication to create smart composites that can sense…
Disordered systems subject to a fluctuating environment can self-organize into a complex history-dependent response, retaining a memory of the driving. In sheared amorphous solids, self-organization is established by the emergence of a…
This paper describes a hierarchical control scheme for interconnected systems. The higher layer of the control structure is designed with robust Model Predictive Control (MPC) based on a reduced order dynamic model of the overall system and…
Many structural properties of conventional passive materials are known to arise from the symmetries of their microscopic constituents. By contrast, it is largely unclear how the interplay between cell shape and self-propulsion controls the…