Dan Arbuckle

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Self-assembly is expected to become a dominant fabrication technique for the nanodevices and systems of the future. Traditional, or passive, self-assembly techniques have great difficulty in producing the asymmetric structures needed by the applications. This work discusses self-assembly methods that use active assembly agents (robots). It shows that swarms(More)
This paper introduces the concept of a temporal occupancy grid as a method for modeling and classifying spatial areas according to the time properties of their occupancy. The method extends the idea of occupancy grids[1] by considering occupancy over a number of different timescales. This paper presents the basic formalism and its implementation using(More)
Self-assembly of active, robotic agents, rather than of passive agents such as molecules, is an emerging research field that is attracting increasing attention. Active self-assembly techniques are especially attractive at very small spatial scales, where alternative construction methods are unavailable or have severe limitations. Building nanostructures by(More)
Interactive manipulation of nanoparticles by mechanically pushing them with the tip of an AFM (Atomic Force Microscope) is now done routinely at many laboratories around the world. However, a human in the loop introduces significant inaccuracies and results in a very slow process, mostly because of the need for locating the particles before and after(More)
IEEE Computer Graphics and Applications has a long tradition of addressing CAD/CAM problems, a tradition that extends even beyond the well-known special issue on solid modeling. Here, we discuss the conversion of a standard representation for a solid object (for example, a boundary representation) into a set of complex message-passing instructions for(More)
Robot swarms provide interesting and potentially very useful examples of self-organizing systems. This chapter focuses on a specific approach, dubbed “active self-assembly”, for constructing arbitrary shapeswith swarms of identical and identically programmed robots. Important, open issues are identified in the specific context of active self-assembly, but(More)
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