CAREER: Programmed Robotic Self Assembly

职业:编程机器人自组装

基本信息

  • 批准号:
    0347955
  • 负责人:
  • 金额:
    $ 50万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
    Continuing Grant
  • 财政年份:
    2004
  • 资助国家:
    美国
  • 起止时间:
    2004-02-01 至 2009-01-31
  • 项目状态:
    已结题

项目摘要

Self-assembly (SA) occurs when many building blocks are placed in an environment that thermodynamically favors their forming structured aggregates. For example, capillary forces between millimeter scale tiles floating on a liquid-liquid interface produce regular arrays of various shapes as the system is gently shaken. Similar phenomena play crucial roles in the assembly of viruses, organism development, growth of silicon crystals, electronics, pathogen detectors, artificial tissue, ad hoc wireless networks and reconfigurable robotic devices. However, most examples of engineered SA usually produce rather simple, regular arrays of parts. Engineering a system that self assembles something as complicated and irregular as, for example, a virus is well beyond our capabilities both theoretically and technologically.The PI proposes to address this problem by supplying the parts to be assembled with active control over the binding interactions in which they participate, developing a theory and practice of Programmed Robotic Self-Assembly. In particular, the PI proposes to implement programmed robotic SA in a test-bed where programmable parts have micro-controllers, local sensors and mechanical or magnetic latches. The idea is to approximate organic SA where changes in molecular conformation (shape) guide the assembly process. A task that the test-bed should be able to perform is: "Given a desired assembly specification input by the user, download programs onto each robotic part so that, when they are placed in a suitable environment, the parts self assemble into copies of the desired assembly." The success of this agenda will yield a useful class of robotic self-assembling structures as well as a theory for their design and operation.The proposed research involves theoretical models from computer science, dynamical systems and control, robotics and embedded systems. Thus, the interdisciplinary education of students of all levels is required. To address this need, the PI will develop two new courses, on Self Organizing Systems and Specification and Control, and interdisciplinary collaboration aimed at creating graduate and undergraduate students well versed in computer science, robotics, controls and the information-rich physical settings in which these fields are increasingly applied. The PI recognizes that not all students have equal experiences leading up to and while in college. Therefore, the PI will collaborate with the University of Washington College of Engineering's Mathematics Engineering Science Achievement program to employ high school student interns in the PI's laboratory. Furthermore, to make the results of the proposed research and curriculum development accessible to the public, the PI proposes to create interactive demonstrations of SA and robotics more generally. This material will be made available on the web as well as in the PI's lab and will be used by the PI and his students for education and outreach in conjunction with the University of Washington Electrical Engineering Department's K-12 outreach program
当许多构建块被放置在热力学上有利于它们形成结构化聚集体的环境中时,就会发生自组装(SA)。例如,当系统轻轻摇动时,漂浮在液-液界面上的毫米级瓷砖之间的毛细管力会产生各种形状的规则阵列。类似的现象在病毒组装、生物体发育、硅晶体生长、电子学、病原体探测器、人造组织、自组织无线网络和可重新配置的机器人设备中发挥着至关重要的作用。然而,大多数工程SA的例子通常会产生相当简单、规则的零件阵列。设计一个自组装像病毒这样复杂和不规则的东西的系统在理论和技术上都远远超出了我们的能力。PI建议通过为要组装的部件提供对它们参与的绑定相互作用的主动控制来解决这个问题,发展一种程序化机器人自组装的理论和实践。特别是,PI建议在试验台上实现可编程的机器人SA,其中可编程部件具有微控制器、本地传感器和机械或磁性锁存。这个想法是为了接近有机SA,其中分子构象(形状)的变化指导着组装过程。试验台应该能够执行的一项任务是:“给定用户输入的所需装配规范,将程序下载到每个机器人部件上,以便当它们被放置在合适的环境中时,部件可以自我组装成所需装配的副本。”这一议程的成功将产生一类有用的机器人自组装结构,并为其设计和操作提供理论依据。拟议的研究涉及计算机科学、动力学系统与控制、机器人学和嵌入式系统的理论模型。因此,需要对各级学生进行跨学科教育。为了满足这一需要,国际和平研究所将开发两门新课程,即自组织系统和规范与控制,以及跨学科协作,旨在培养精通计算机科学、机器人、控制以及这些领域日益应用的信息丰富的物理环境的研究生和本科生。PI认识到,并不是所有的学生在大学之前和在大学期间都有同样的经历。因此,PI将与华盛顿大学工程学院的数学工程科学成就项目合作,在PI的实验室雇用高中生实习生。此外,为了让公众了解拟议研究和课程开发的结果,国际机器人协会建议更广泛地创建SA和机器人的互动演示。这些材料将在网上和PI的实验室中提供,PI和他的学生将与华盛顿大学电气工程系的K-12外展计划一起用于教育和外展

项目成果

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Eric Klavins其他文献

A Platform for Cooperative and Coordinated Control of Multiple Vehicles
多车协同协调控制平台
  • DOI:
    10.1007/978-1-4613-0219-3_5
  • 发表时间:
    2004
  • 期刊:
  • 影响因子:
    0
  • 作者:
    Timothy H. Chung;L. Cremean;William B. Dunbar;Zhipu Jin;Eric Klavins;David Moore;Abhishek Tiwari;D. V. Gogh;S. Waydo
  • 通讯作者:
    S. Waydo
Approximating stochastic biochemical processes with Wasserstein pseudometrics.
用 Wasserstein 伪计量法近似随机生化过程。
  • DOI:
  • 发表时间:
    2010
  • 期刊:
  • 影响因子:
    2.3
  • 作者:
    D. Thorsley;Eric Klavins
  • 通讯作者:
    Eric Klavins
Lightening the load in synthetic biology
减轻合成生物学的负担
  • DOI:
    10.1038/nbt.3089
  • 发表时间:
    2014-12-09
  • 期刊:
  • 影响因子:
    41.700
  • 作者:
    Eric Klavins
  • 通讯作者:
    Eric Klavins

Eric Klavins的其他文献

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{{ truncateString('Eric Klavins', 18)}}的其他基金

QCIS-FF: Quantum Computing & Information Science Faculty Fellow at the University of Washington
QCIS-FF:量子计算
  • 批准号:
    2013214
  • 财政年份:
    2020
  • 资助金额:
    $ 50万
  • 项目类别:
    Continuing Grant
SemiSynBio: Collaborative Research: YeastOns: Neural Networks Implemented in Communicating Yeast Cells
SemiSynBio:合作研究:YeastOns:在酵母细胞通讯中实现的神经网络
  • 批准号:
    1807132
  • 财政年份:
    2018
  • 资助金额:
    $ 50万
  • 项目类别:
    Continuing Grant
RoL: FELS: EAGER: Exploring the adaptive possibilities of 'redundancy' in a plant defense hormone signaling pathway
RoL:FELS:EAGER:探索植物防御激素信号通路中“冗余”的适应性可能性
  • 批准号:
    1837583
  • 财政年份:
    2018
  • 资助金额:
    $ 50万
  • 项目类别:
    Standard Grant
An Auxin Toolbox for Synthetic Multicellular Systems
用于合成多细胞系统的生长素工具箱
  • 批准号:
    1411949
  • 财政年份:
    2014
  • 资助金额:
    $ 50万
  • 项目类别:
    Standard Grant
Collaborative Research: Molecular Programming Architectures, Abstractions, Algorithms, and Applications
合作研究:分子编程架构、抽象、算法和应用
  • 批准号:
    1317653
  • 财政年份:
    2013
  • 资助金额:
    $ 50万
  • 项目类别:
    Continuing Grant
Estimation & Observation of Stochastic Biochemical Networks
预估
  • 批准号:
    1002220
  • 财政年份:
    2010
  • 资助金额:
    $ 50万
  • 项目类别:
    Standard Grant
Collaborative Research: The Molecular Programming Project
合作研究:分子编程项目
  • 批准号:
    0832773
  • 财政年份:
    2008
  • 资助金额:
    $ 50万
  • 项目类别:
    Continuing Grant

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