Programmable parts: a demonstration of the grammatical approach to self-organization

Bishop, Joshua D.; Burden, Samuel A.; Klavins, Eric; Kreisberg, Richard; Malone, William; Napp, Nils; Nguyen, Tung

doi:10.1109/iros.2005.1545375

Cited by 67 publications

(36 citation statements)

References 16 publications

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“…Lipson et al have developed a stochastic fluidic assembly system consisting of cubic modules whose assembly is controlled by pressure and suction [19,17]. Klavins et al have developed a set of triangular tiles that circulate on an air table and magnetically bond with their neighbors [1]. The Kilobot system [16] consists of 1000 autonomous robots that use stick-slip locomotion to form planar shapes.…”

Section: Related Workmentioning

confidence: 99%

“…Because the algorithm is distributed and does not rely on a centralized, external controller, the distributed algorithm provides a scalable solution. No module ever stores the complete goal shape nor the global state of the system; the memory required by each module is O (1). Furthermore, the number of inter-module The distributed duplication algorithm is capable of duplicating arbitrary 3D objects like the coffee mug (left) using a collection of intelligent modules modules.…”

Section: Introductionmentioning

confidence: 99%

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What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots

Gilpin¹,

Rus²

2012

Robotics: Science and Systems VIII

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Abstract-Our goal is to develop an automated digital fabrication process that can make any object out of smart materials. In this paper, we present an algorithm for creating shapes by the process of duplication, using modules we have termed smart sand. The object to be duplicated is dipped into a bag of smart sand; the particles exchange messages to sense the object's shape; and then the particles selectively form mechanical bonds with their neighbors to form a duplicate of the original.Our algorithm is capable of duplicating convex and concave 3D objects in a completely distributed manner. It uses O(1) storage space and O(n) inter-module messages per module. We perform close to 500 experiments using a realistic simulator with over 1400 modules. These experiments confirm the functionality and messaging demands of our distributed duplication algorithm while demonstrating that the algorithm can be used to form interesting and useful shapes.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots

Gilpin¹,

Rus²

2012

Robotics: Science and Systems VIII

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“…Here we address the key challenge of going beyond such limitations and aim to design more complex structures via magnetic assembly. To increase the complexity of magnetic assemblies, Klavins et al [17] developed programmable units that move passively on an air-table and bind to each other upon random collisions. These programmable units have on-board processors that can change the magnetic properties of the units dynamically during assembly.…”

Section: Previous Workmentioning

confidence: 99%

“…These programmable units have on-board processors that can change the magnetic properties of the units dynamically during assembly. Once attached, they execute local rules that determine how their internal states change and whether they should remain bound based on the theory of graph grammars [17]. This form of assembly is referred to as active assembly.…”

Section: Previous Workmentioning

confidence: 99%

A Framework for Designing Novel Magnetic Tiles Capable of Complex Self-assemblies

Majumder

Reif

2008

Unconventional Computing

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Abstract. Self-assembly has been immensely successful in creating complex patterns at the molecular scale. However, the use of self-assembly techniques at the macroscopic level has so far been limited to the formation of simple patterns. For example, in a number of prior works, self-assembling units or tiles formed aggregates based on the polarity of magnetic pads on their sides. The complexity of the resulting assemblies was limited, however, due to the small variety of magnetic pads that were used: namely just positive or negative polarity. This paper addresses the key challenge of increasing the variety of magnetic pads for tiles, which would allow the tiles to self-assemble into more complex patterns. We introduce a barcode scheme which potentially allows for the generation of arbitrarily complex structures using magnetic self-assembly at the macro-scale. Development of a framework for designing such barcode schemes is the main contribution of the paper. We also present a physical model based on Newtonian mechanics and Maxwellian magnetics. Additionally, we present a preliminary software simulation system that models the binding of these tiles using magnetic interactions as well as external forces (e.g. wind) which provide energy to the system. Although we have not performed any physical experiments, nevertheless, we show that it is possible to use the simulation results to extract a higher level kinetic model that can be used to predict assembly yield on a larger scale and provide better insight into the dynamics of the real system.

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“…Some robots use a mechanism to push modules away from each other until the attraction force has no more effect, for example with a Shape Memory Alloy (SMA) [12]. Others rotate the permanent magnets so that they repel each other [24]. Permanent magnets are useful at the cm scale though their attractive force decreases with third power with respect to the size.…”

Section: Connection Mechanismmentioning

confidence: 99%

Peltier-based freeze-thaw connector for waterborne self-assembly systems

Miyashita

Casanova

Lungarella

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Programmable parts: a demonstration of the grammatical approach to self-organization

Cited by 67 publications

References 16 publications

What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots

What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots

A Framework for Designing Novel Magnetic Tiles Capable of Complex Self-assemblies

Peltier-based freeze-thaw connector for waterborne self-assembly systems

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