Stochastic Modular Assembly

Project Members: Micheal Tolley, Jonas Neubert, Mekala Krishnan, Micheal Kalontarov, Stephane Constantin, Abe Cantwell

In this project we explore the concept of programmable matter, a substance that is able to change its physical properties as directed by the user. Imagine a system that assembles a pile of regular, mass-produced components into a shape, tool or even a robot with embedded sensing and computation. Objects can be assembled or repaired on-the-fly, and deconstructed to be recycled into new objects once they are no longer needed. Programmable matter would open up new possibilities for rapid prototyping, space exploration, sustainable technology, and evolutionary design. Our approach to programmable matter involves the assembly of components with embeded electronics by manipulating the flow of fluid through an assembly chamber.

Our work so far has focussed on developing centimeter scale modules that contain the mechanical and electrical functionality needed for controlled self-assembly. Further, we have develped a C++ based simulator to develop control strategies capable of dealing with the stochasticity in the assembly environment.

Stochastic Assembly Simulation

We are using a custom C++ simulator based on the Open Dynamics Engine (ODE) to model the stochastic interactions of 3D components in a fluidic environment. Simplified fluidic forces are applied to the components in order to obtain a computationally-efficient simulation.

Simulation: Fluidic assembly and reconfiguration. This simulation demonstrates the fluidic assembly of 3D cubes into an initial C-shape and the subsequent reconfiguration of this assembly into a U-Shape. Components are attracted by opening sinks on the bottom of the chamber. Once a component is attached, it opens internal valves to direct the fluid flow and attract new components where they are needed to assemble the target structure.