Parallel Self-Assembly of Polyominoes under Uniform Control Inputs
Parallel Self-Assembly of Polyominoes under Uniform Control Inputs
复制标题
均匀控制输入下多联骨牌的并行自组装
DOI：
10.1109/lra.2017.2715402
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发表时间：
2017
影响因子：
5.2
通讯作者：
Becker, Aaron
中科院分区：
文献类型：
--
作者：
Manzoor, Sheryl;Sheckman, Sam;Lonsford, Jarrett;Kim, Hoyeon;Kim, MinJun;Becker, Aaron
我们提出了在复杂环境中使用大群微尺度粒子进行并行自组装的基本进展，这些粒子不是由单独的导航控制，而是由对每个粒子具有相同效果的统一的、全局的外力控制。考虑一个2-D网格世界，其中所有障碍物和粒子都是单位正方形，并且对于每个驱动，粒子最大限度地移动，直到它们与障碍物或另一个粒子碰撞。我们提出的算法，给定一个任意的2-D结构，设计一个障碍布局。激活后，此布局将生成输入2-D结构的副本。我们分析了工厂布局的运动和空间复杂性。我们提出了一个宏观尺度，基于重力的系统，和一个微观尺度，磁致动系统的硬件结果。
We present fundamental progress on parallel self-assembly using large swarms of microscale particles in complex environments, controlled not by individual navigation, but by a uniform, global, external force with the same effect on each particle. Consider a 2-D grid world, in which all obstacles and particles are unit squares, and for each actuation, particles move maximally until they collide with an obstacle or another particle. We present algorithms that, given an arbitrary 2-D structure, design an obstacle layout. When actuated, this layout generates copies of the input 2-D structure. We analyze the movement and spatial complexity of the factory layouts. We present hardware results on both a macroscale, gravity-based system, and a microscale, magnetically actuated system.