Centimeter-scaled Self-assembly: A Preliminary Study

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F20%3A00344491" target="_blank" >RIV/68407700:21730/20:00344491 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.5220/0009830104380445" target="_blank" >https://doi.org/10.5220/0009830104380445</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0009830104380445" target="_blank" >10.5220/0009830104380445</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Centimeter-scaled Self-assembly: A Preliminary Study

Popis výsledku v původním jazyce

Passive self-assembly represents a general kind of bottom-up assembly process for objects, where the assembling particles exhibit no explicit, active ”sense and affect” featuring, but embedded properties only. Although the majority of the previous work in the field has been performed on a microscopic scale, in the field of chemistry and nanotechnology, we identify a strong relation to macroscopic cases and principles studied in robotics. We show that passive self-assembly processes might be promising also towards the development of new, completely passive (multi)robot systems, driven entirely by environmental perturbations. This work sketches insight into fundamental principles of driving a centimeter-scale self-assembly system while observing the behavior of single particles. Investigations show, that not all the principles previously studied in the microscopic scale do hold also in the macroscopic cases of centimeter-scale particles. Thus, this article proposes the macroscopic problem specification and an experimental self-assembly system design consisting of entirely passive elements. We tackle a theoretical description of the system model and the necessary simplification towards a two-handed tile assembly model (2HAM) together with real-world experimentation design. We evaluate experimental results, discuss the feasibility of shake-driven macroscopic self-assembly, and elaborate their major properties together with estimated future work.

Název v anglickém jazyce

Centimeter-scaled Self-assembly: A Preliminary Study

Popis výsledku anglicky

Passive self-assembly represents a general kind of bottom-up assembly process for objects, where the assembling particles exhibit no explicit, active ”sense and affect” featuring, but embedded properties only. Although the majority of the previous work in the field has been performed on a microscopic scale, in the field of chemistry and nanotechnology, we identify a strong relation to macroscopic cases and principles studied in robotics. We show that passive self-assembly processes might be promising also towards the development of new, completely passive (multi)robot systems, driven entirely by environmental perturbations. This work sketches insight into fundamental principles of driving a centimeter-scale self-assembly system while observing the behavior of single particles. Investigations show, that not all the principles previously studied in the microscopic scale do hold also in the macroscopic cases of centimeter-scale particles. Thus, this article proposes the macroscopic problem specification and an experimental self-assembly system design consisting of entirely passive elements. We tackle a theoretical description of the system model and the necessary simplification towards a two-handed tile assembly model (2HAM) together with real-world experimentation design. We evaluate experimental results, discuss the feasibility of shake-driven macroscopic self-assembly, and elaborate their major properties together with estimated future work.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics

ISBN

978-989-758-442-8

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

438-445

Název nakladatele

SciTePress

Místo vydání

Setùbal

Místo konání akce

online streaming

Datum konání akce

7. 7. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000614134300048