Bahar Haghighat

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Fluid-mediated programmable stochastic self-assembly offers promising means to formation of target structures capable of a variety of functionalities. While miniaturized building blocks allow for finer resolutions in such structures, as well as access to unconventional environments, they can only be endowed with very limited on-board resources. In this(More)
Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. Formalisms based on graph grammars and rule-based approaches have been previously published for controlling the self-assembly process. While several rule-synthesis algorithms have been proposed, formal synthesis of rulesets has(More)
Several self-assembly systems have been developed in recent years, where depending on the capabilities of the building blocks and the controlability of the environment, the assembly process is guided typically through either a fully centralized or a fully distributed control approach. In this work, we present a novel experimental system for studying the(More)
Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the process directly depends on the concurrency level induced by the employed ruleset, i.e. the number of(More)
Stochastic self-assembly provides promising means for building micro-/nano-structures with a variety of properties and functionalities. Numerous studies have been conducted on the control and modeling of the process in engineered self-assembling systems constituted of modules with varied capabilities ranging from completely reactive nano-/micro-particles to(More)
Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. One way to address the design of dedicated control rulesets for self-assembling robotic modules is to leverage formalisms based on graph grammar. While these tools are powerful and allow for formal analysis of the resulting(More)
Creating accurate models of stochastically selfassembling systems is a key step in developing control strategies, centralized or distributed, for the self-assembly process. This paper comparatively studies several aspects of developing probabilistic models for programmable self-assembling systems of stochastically interacting modules. In particular, we(More)
S CIENTIFIC reports from around the world present us with the undeniable fact that the global ecosystem is undergoing severe change. As this shift accelerates, it is ever more critical that we are able to quantify the local effects of such changes, and further, their implications, from our daily life to the biological processes that put food on our tables.(More)
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