Self-Assembly from Milli- to Nanoscales: Methods and Applications

The design and fabrication techniques for microelectromechanical systems (MEMS) and nanodevices are progressing rapidly. However, due to material and process flow incompatibilities in the fabrication of sensors, actuators and electronic circuitry, a final packaging step is often necessary to integrate all components of a heterogeneous microsystem on a common substrate. Robotic pick-and-place, although accurate and reliable at larger scales, is a serial process that downscales unfavorably due to stiction problems, fragility and sheer number of components. Self-assembly, on the other hand, is parallel and can be used for device sizes ranging from millimeters to nanometers. In this review, the state-of-the-art in methods and applications for self-assembly is reviewed. Methods for assembling three-dimensional (3D) MEMS structures out of two-dimensional (2D) ones are described. The use of capillary forces for folding 2D plates into 3D structures, as well as assembling parts onto a common substrate or aggregating parts to each other into 2D or 3D structures, is discussed. Shape matching and guided assembly by magnetic forces and electric fields are also reviewed. Finally, colloidal self-assembly and DNA-based self-assembly, mainly used at the nanoscale, are surveyed, and aspects of theoretical modeling of stochastic assembly processes are discussed

Grand Challenge 7: Journeys in Non-Classical Computation

We review progress in Grand Challenge 7 : Journeys in Non-Classical Computation. We overview GC7-related events, review some background work in certain aspects of GC7 (hypercomputation, bio-inspired computation, and embodied computation) and identify some of the unifying challenges. We review the progress in implementations of one class of non-classical computers: reaction-diffusion systems. We conclude with warnings about “regression to the classical”

Learning from experience in the engineering of non-orthogonal architectural surfaces: A computational design system

This research paints a comprehensive picture of the current state of the conception and engineering of non-orthogonal architectural surfaces. The present paradigm in the design and engineering of these elaborate building structures is such that the overall form is decided first and it is then broken down into building components (façade cladding, or structural or shell elements) retrospectively. Subsequently, there is a division between the creation of the design and then the reverse engineering of it. In most of these projects, the discretisation of elaborate architectural surfaces into building components has little to do with how the form has been created, and the logic of the global form and its local subdivision are not of the same order. Experience gained through project work in the sponsoring company Buro Happold has been harnessed to inform the implementation of a design tool prototype. It is an open, extendable system. The development of the tool aims at stepping outside the current paradigm in practice; provides an integrated process of bottom-up generation of form and top-down search and optimisation, using an evolutionary method. The assertion of this thesis is that non-orthogonal design, which mimics a natural form in appearance, can be derived using mechanisms found in nature. These mechanisms, e.g. growth and evolution, can be transferred in such a way that they integrate aspects of the aesthetic, manufacturing, construction or performance. Designs are then created with an inherent logic. Growing form by adding discrete local geometries to produce larger componential surfaces ensures that the local parts and the global geometry are coherent and of the same kind. The aspiration is to make use of computational methods to contribute to the design and buildability of non-orthogonal architectural surfaces, and to further the discussion, development and application of digital design tools in practice

Design exploration through bidirectional modeling of constraints

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Architecture, 2006.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (p. 315-324).Today digital models for design exploration are not used to their full potential. The research efforts in the past decades have placed geometric design representations firmly at the center of digital design environments. In this thesis it is argued that models for design exploration that bridge different representation aid in the discovery of novel designs. Replacing commonly used analytical, uni-directional models for linking representations, with bidirectional ones, further supports design exploration. The key benefit of bidirectional models is the ability to swap the role of driver and driven in the exploration. The thesis developed around a set of design experiments that tested the integration of bidirectional computational models in domain specific designs. From the experiments three main exploration types emerged. They are: branching explorations for establishing constraints for an undefined design problem; illustrated in the design of a concept car. Circular explorations for the refinement of constraint relationships; illustrated in the design of a chair. Parallel explorations for exercising well-understood constraints; illustrated in a form finding model in architecture. A key contribution of the thesis is the novel use of constraint diagrams developed to construct design explorers for the experiments. The diagrams show the importance of translations between design representations in establishing design drivers from the set of constraints. The incomplete mapping of design features across different representations requires the redescription of the design for each translation.(cont.) This redescription is a key aspect of exploration and supports design innovation. Finally, this thesis argues that the development of design specific design explorers favors a shift in software design away from monolithic, integrated software environments and towards open software platforms that support user development.by Axel Kilian.Ph.D

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so

Replaceable Substructures for Efficient Part-Based Modeling

International audienceA popular mode of shape synthesis involves mixing and matching parts from different objects to form a coherent whole. The key challenge is to efficiently synthesize shape variations that are plausible, both locally and globally. A major obstacle is to assemble the objects with local consistency, i.e., all the connections between parts are valid with no dangling open connections. The combinatorial complexity of this problem limits existing methods in geometric and/or topological variations of the synthesized models. In this work, we introduce replaceable substructures as arrangements of parts that can be interchanged while ensuring boundary consistency. The consistency information is extracted from part labels and connections in the original source models. We present a polynomial time algorithm that discovers such substructures by working on a dual of the original shape graph that encodes inter-part connectivity. We demonstrate the algorithm on a range of test examples producing plausible shape variations, both from a geometric and from a topological viewpoint

A Lexical Description of English for Architecture: A Corpus-based Approach

Every knowledge community has a distinct type of discourse and a linguistic identity which brings together the ideas of that discipline. These are expressed through characteristic linguistic realizations which are of considerable interest in the study of English for Specific Purposes (ESP) from many different perspectives. Despite the fact that ESP is a recent area of linguistic research, there is already a varied literature on academic and professional languages: English for law, business, computer and technology, advertising, marketing and engineering, just to mention a few. According to Dudley-Evans (1998:19), the development of ESP arose as a result of general improvements in the world economy in the 1960’s, along with the expansion of science and technology. Other relevant factors were the growing use of English as the international language of science, technology and business, and the increasing flow of exchange students to and from the UK, US and Australia

Logic and intuition in architectural modelling: philosophy of mathematics for computational design

This dissertation investigates the relationship between the shift in the focus of architectural modelling from object to system and philosophical shifts in the history of mathematics that are relevant to that change. Particularly in the wake of the adoption of digital computation, design model spaces are more complex, multidimensional, arguably more logical, less intuitive spaces to navigate, less accessible to perception and visual comprehension. Such spatial issues were encountered much earlier in mathematics than in architectural modelling, with the growth of analytical geometry, a transition from Classical axiomatic proofs in geometry as the basis of mathematics, to analysis as the underpinning of geometry. Can the computational design modeller learn from the changing modern history, philosophy and psychology of mathematics about the construction and navigation of computational geometrical architectural system model space? The research is conducted through a review of recent architectural project examples and reference to three more detailed architectural modelling case studies. The spatial questions these examples and case studies raise are examined in the context of selected historical writing in the history, philosophy and psychology of mathematics and space. This leads to conclusions about changes in the relationship of architecture and mathematics, and reflections on the opportunities and limitations for architectural system models using computation geometry in the light of this historical survey. This line of questioning was motivated as a response to the experience of constructing digital associative geometry models and encountering the apparent limits of their flexibility as the graph of dependencies grew and the messiness of the digital modelling space increased. The questions were inspired particularly by working on the Narthex model for the Sagrada Família church, which extends to many tens of thousands of relationships and constraints, and which was modelled and repeatedly partially remodelled over a very long period. This experience led to the realisation that the limitations of the model were not necessarily the consequence of poor logical schema definition, but could be inevitable limitations of the geometry as defined, regardless of the means of defining it, the ‘shape’ of the multidimensional space being created. This led to more fundamental questions about the nature of Space, its relationship to geometry and the extent to which the latter can be considered simply as an operational and notational system. This dissertation offers a purely inductive journey, offering evidence through very selective examples in architecture, architectural modelling and in the philosophy of mathematics. The journey starts with some questions about the tendency of the model space to break out and exhibit unpredictable and not always desirable behaviour and the opportunities for geometrical construction to solve these questions is not conclusively answered. Many very productive questions about computational architectural modelling are raised in the process of looking for answers

Shape formation by self-disassembly in programmable matter systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 225-236).Programmable matter systems are composed of small, intelligent modules able to form a variety of macroscale objects with specific material properties in response to external commands or stimuli. While many programmable matter systems have been proposed in fiction, (Barbapapa, Changelings from Star Trek, the Terminator, and Transformers), and academia, a lack of suitable hardware and accompanying algorithms prevents their full realization. With this thesis research, we aim to create a system of miniature modules that can form arbitrary structures on demand. We develop autonomous 12mm cubic modules capable of bonding to, and communicating with, four of their immediate neighbors. These modules are among the smallest autonomous modular robots capable of sensing, communication, computation, and actuation. The modules employ unique electropermanent magnet connectors. The four connectors in each module enable the modules to communicate and share power with their nearest neighbors. These solid-state connectors are strong enough for a single inter-module connection to support the weight of 80 other modules. The connectors only consume power when switching on or off; they have no static power consumption. We implement a number of low-level communication and control algorithms which manage information transfer between neighboring modules. These algorithms ensure that messages are delivered reliably despite challenging conditions. They monitor the state of all communication links and are able to reroute messages around broken communication links to ensure that they reach their intended destinations. In order to accomplish our long-standing goal of programmatic shape formation, we also develop a suite of provably-correct distributed algorithms that allow complex shape formation. The distributed duplication algorithm that we present allows the system to duplicate any passive object that is submerged in a collection of programmable matter modules. The algorithm runs on the processors inside the modules and requires no external intervention. It requires 0(1) storage and O(n) inter-module messages per module, where n is the number of modules in the system. The algorithm can both magnify and produce multiple copies of the submerged object. A programmable matter system is a large network of autonomous processors, so these algorithms have applicability in a variety of routing, sensor network, and distributed computing applications. While our hardware system provides a 50-module test-bed for the algorithms, we show, by using a unique simulator, that the algorithms are capable of operating in much larger environments. Finally, we perform hundreds of experiments using both the simulator and hardware to show how the algorithms and hardware operate in practice.by Kyle William Gilpin.Ph.D