Self-Stabilizing Self-Assembly

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21110%2F22%3A00360848" target="_blank" >RIV/68407700:21110/22:00360848 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/22:00360848

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2022.3191795" target="_blank" >https://doi.org/10.1109/LRA.2022.3191795</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2022.3191795" target="_blank" >10.1109/LRA.2022.3191795</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Self-Stabilizing Self-Assembly

Popis výsledku v původním jazyce

The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their potentials, largely because such assemblies are often prone to errors, and the size of an individual assembly is limited due to insufficient mechanical stability. Moreover, the instability issue worsens as assemblies grow in size. Using a novel type of magnetically-bonded tiles carried by bristle-bot drives, we propose here a framework that reverses this tendency; i.e., as an assembly grows, it becomes more stable. Stability is achieved by introducing two sets of tiles that move in opposite directions, thus zeroing the assembly net force. Using physics-based computational experiments, we compare the performance of the proposed approach with the common orbital shaking method, proving that the proposed system of tiles indeed possesses self-stabilizing characteristics. Our approach enables assemblies containing hundreds of tiles to be built, while the shaking approach is inherently limited to a few tens of tiles. Our results indicate that one of the primary limitations of mechanical, agitation-based TBSA approaches, instability, might be overcome by employing a swarm of free-running, sensorless mobile robots, herein represented by passive tiles at the macroscopic scale.

Název v anglickém jazyce

Self-Stabilizing Self-Assembly

Popis výsledku anglicky

The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their potentials, largely because such assemblies are often prone to errors, and the size of an individual assembly is limited due to insufficient mechanical stability. Moreover, the instability issue worsens as assemblies grow in size. Using a novel type of magnetically-bonded tiles carried by bristle-bot drives, we propose here a framework that reverses this tendency; i.e., as an assembly grows, it becomes more stable. Stability is achieved by introducing two sets of tiles that move in opposite directions, thus zeroing the assembly net force. Using physics-based computational experiments, we compare the performance of the proposed approach with the common orbital shaking method, proving that the proposed system of tiles indeed possesses self-stabilizing characteristics. Our approach enables assemblies containing hundreds of tiles to be built, while the shaking approach is inherently limited to a few tens of tiles. Our results indicate that one of the primary limitations of mechanical, agitation-based TBSA approaches, instability, might be overcome by employing a swarm of free-running, sensorless mobile robots, herein represented by passive tiles at the macroscopic scale.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GX19-26143X" target="_blank" >GX19-26143X: Neperiodické materiály vykazující strukturované deformace: Modulární návrh a výroba</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

7

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

7

Strana od-do

9763-9769

Kód UT WoS článku

000831182500059

EID výsledku v databázi Scopus

2-s2.0-85135242097