19 research outputs found
Fun with Fonts: Algorithmic Typography
Over the past decade, we have designed six typefaces based on mathematical
theorems and open problems, specifically computational geometry. These
typefaces expose the general public in a unique way to intriguing results and
hard problems in hinged dissections, geometric tours, origami design,
computer-aided glass design, physical simulation, and protein folding. In
particular, most of these typefaces include puzzle fonts, where reading the
intended message requires solving a series of puzzles which illustrate the
challenge of the underlying algorithmic problem.Comment: 14 pages, 12 figures. Revised paper with new glass cane font.
Original version in Proceedings of the 7th International Conference on Fun
with Algorithm
Nested reconfigurable robots: theory, design, and realization
Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigurability of the proposed module
Locked and Unlocked Chains of Planar Shapes
We extend linkage unfolding results from the well-studied case of polygonal
linkages to the more general case of linkages of polygons. More precisely, we
consider chains of nonoverlapping rigid planar shapes (Jordan regions) that are
hinged together sequentially at rotatable joints. Our goal is to characterize
the families of planar shapes that admit locked chains, where some
configurations cannot be reached by continuous reconfiguration without
self-intersection, and which families of planar shapes guarantee universal
foldability, where every chain is guaranteed to have a connected configuration
space. Previously, only obtuse triangles were known to admit locked shapes, and
only line segments were known to guarantee universal foldability. We show that
a surprisingly general family of planar shapes, called slender adornments,
guarantees universal foldability: roughly, the distance from each edge along
the path along the boundary of the slender adornment to each hinge should be
monotone. In contrast, we show that isosceles triangles with any desired apex
angle less than 90 degrees admit locked chains, which is precisely the
threshold beyond which the inward-normal property no longer holds.Comment: 23 pages, 25 figures, Latex; full journal version with all proof
details. (Fixed crash-induced bugs in the abstract.
Geometric Properties and a Combinatorial Analysis of Convex Polygons Constructed of Tridrafters
The aim of this thesis is to show how the use of parity in tandem with the triangular grid as well as a newly introduced and similar method are insufficient to provide proof for why convex regions composed using the full set of shapes known as proper tridrafters have a portion shifted in a fashion known as against-the-grain. These two methods are applied in a combinatorial fashion
Hinged Dissections Exist
We prove that any finite collection of polygons of equal area has a common
hinged dissection. That is, for any such collection of polygons there exists a
chain of polygons hinged at vertices that can be folded in the plane
continuously without self-intersection to form any polygon in the collection.
This result settles the open problem about the existence of hinged dissections
between pairs of polygons that goes back implicitly to 1864 and has been
studied extensively in the past ten years. Our result generalizes and indeed
builds upon the result from 1814 that polygons have common dissections (without
hinges). We also extend our common dissection result to edge-hinged dissections
of solid 3D polyhedra that have a common (unhinged) dissection, as determined
by Dehn's 1900 solution to Hilbert's Third Problem. Our proofs are
constructive, giving explicit algorithms in all cases. For a constant number of
planar polygons, both the number of pieces and running time required by our
construction are pseudopolynomial. This bound is the best possible, even for
unhinged dissections. Hinged dissections have possible applications to
reconfigurable robotics, programmable matter, and nanomanufacturing.Comment: 22 pages, 14 figure