Full Tilt: Universal Constructors for General Shapes with Uniform External Forces

We investigate the problem of assembling general shapes and patterns in a model in which particles move based on uniform external forces until they encounter an obstacle. In this model, corresponding particles may bond when adjacent with one another. Succinctly, this model considers a 2D grid of “open” and “blocked” spaces, along with a set of slidable polyominoes placed at open locations on the board. The board may be tilted in any of the 4 cardinal directions, causing all slidable polyominoes to move maximally in the specified direction until blocked. By successively applying a sequence of such tilts, along with allowing different polyominoes to stick when adjacent, tilt sequences provide a method to reconfigure an initial board configuration so as to assemble a collection of previous separate polyominoes into a larger shape. While previous work within this model of assembly has focused on designing a specific board configuration for the assembly of a specific given shape, we propose the problem of designing universal configurations that are capable of constructing a large class of shapes and patterns. For these constructions, we present the notions of weak and strong universality which indicate the presence of “excess” polyominoes after the shape is constructed. In particular, for given integers h, w, we show that there exists a weakly universal configuration with O(hw) 1 × 1 slidable particles that can be reconfigured to build any h × w patterned rectangle. We then expand this result to show that there exists a weakly universal configuration that can build any h × w-bounded size connected shape. Following these results, which require an admittedly relaxed assembly definition, we go on to show the existence of a strongly universal configuration (no excess particles) which can assemble any shape within a previously studied “drop” class, while using quadratically less space than previous results. Finally, we include a study of the complexity of deciding if a particle within a configuration may be relocated to another position, and deciding if a given configuration may be transformed into a second given configuration. We show both problems to be PSPACE-complete even when no particles stick to one another and movable particles are restricted to 1 × 1 tiles and a single 2 × 2 polyomino

Robotic Swarms: Assembly and Complexity

This thesis focuses on the assembly of robotic swarms that move according to some global signal in a model called the “tilt” model. The model consists of a 2D board that contain open and blocked spaces, along with tiles or polyominoes that move toward a signaled cardinal direction. We look at two variations of this model called the single-step and full-tilt model, where the elements move single distances or maximally, respectively, when a signal is send. We show different methods of shape construction, defining board configurations that are universal for a set of shapes. Afterwards, we analyze different computational problems that arise from the tilt model in the latter chapters of this thesis. This thesis consists of published work in algorithmic and computational complexity conferences, along with new material that improve upon old contributions

Algorithmic Assembly of Nanoscale Structures

The development of nanotechnology has become one of the most significant endeavors of our time. A natural objective of this field is discovering how to engineer nanoscale structures. Limitations of current top-down techniques inspire investigation into bottom-up approaches to reach this objective. A fundamental precondition for a bottom-up approach is the ability to control the behavior of nanoscale particles. Many abstract representations have been developed to model systems of particles and to research methods for controlling their behavior. This thesis develops theories on two such approaches for building complex structures: the self-assembly of simple particles, and the use of simple robot swarms. The concepts for these two approaches are straightforward. Self-assembly is the process by which simple particles, following the rules of some behavior-governing system, naturally coalesce into a more complex form. The other method of bottom-up assembly involves controlling nanoscale particles through explicit directions and assembling them into a desired form. Regarding the self-assembly of nanoscale structures, we present two construction methods in a variant of a popular theoretical model known as the 2-Handed Tile Self-Assembly Model. The first technique achieves shape construction at only a constant scale factor, while the second result uses only a constant number of unique particle types. Regarding the use of robot swarms for construction, we first develop a novel technique for reconfiguring a swarm of globally-controlled robots into a desired shape even when the robots can only move maximally in a commanded direction. We then expand on this work by formally defining an entire hierarchy of shapes which can be built in this manner and we provide a technique for doing so

Simulation in Algorithmic Self-assembly

Winfree introduced a model of self-assembling systems called the abstract Tile Assembly Model (aTAM) where square tiles with glues on their edges attach spontaneously via matching glues to form complex structures. A generalization of the aTAM called the 2HAM (two-handed aTAM) not only allows for single tiles to bind, but also for supertile assemblies consisting of any number of tiles to attach. We consider a variety of models based on either the aTAM or the 2HAM. The underlying commonality of the work presented here is simulation. We introduce the polyTAM, where a tile system consists of a collection of polyomino tiles, and show that for any polyomino P of size greater than or equal to 3 and any Turing machine M , there exists a temperature-1 polyTAM system containing only shape-P tiles that simulates M . We introduce the RTAM (Reflexive Tile Assembly Model) that works like the aTAM except that tiles can nondeterministically flip prior to binding. We show that the temperature-1 RTAM cannot simulate a Turing machine by showing the much stronger result that the RTAM can only self-assemble periodic patterns. We then define notions of simulation which serve as relations between two tile assembly systems (possibly belonging to different models). Using simulation as a basis of comparison, we first show that cellular automata and the class of all tile assembly systems in the aTAM are equivalent. Next, we introduce the Dupled aTAM (DaTAM) and show that the temperature-2 aTAM and the temperature-1 DaTAM are mutually exclusive by showing that there is an aTAM system that cannot be simulated by any DaTAM system, and vice versa. Third, we consider the restricted glues Tile Assembly Model (rgTAM) and show that there is an aTAM system that cannot be simulated by any rgTAM system. We introduce the Dupled restricted glues Tile Assembly Model (DrgTAM), and show that the DrgTAM is intrinsically universal for the aTAM. Finally, we consider a variation of the Signal-passing Tile Assembly Model (STAM) called the STAM+ and show that the STAM+ is intrinsically universal and that the 3-D 2HAM is intrinsically universal for the STAM+

Forcing nonperiodicity with a single tile

An aperiodic prototile is a shape for which infinitely many copies can be arranged to fill Euclidean space completely with no overlaps, but not in a periodic pattern. Tiling theorists refer to such a prototile as an "einstein" (a German pun on "one stone"). The possible existence of an einstein has been pondered ever since Berger's discovery of large set of prototiles that in combination can tile the plane only in a nonperiodic way. In this article we review and clarify some features of a prototile we recently introduced that is an einstein according to a reasonable definition. [This abstract does not appear in the published article.]Comment: 18 pages, 10 figures. This article has been substantially revised and accepted for publication in the Mathematical Intelligencer and is scheduled to appear in Vol 33. Citations to and quotations from this work should reference that publication. If you cite this work, please check that the published form contains precisely the material to which you intend to refe

Programmation et indécidabilités dans les systèmes complexes

N/AUn système complexe est un système constitué d'un ensemble d'entités quiinteragissent localement, engendrant des comportements globaux, émergeant dusystème, qu'on ne sait pas expliquer à partir du comportement local, connu, desentités qui le constituent. Nos travaux ont pour objet de mieux cerner lesliens entre certaines propriétés des systèmes complexes et le calcul. Parcalcul, il faut entendre l'objet d'étude de l'informatique, c'est-à-dire ledéplacement et la combinaison d'informations. À l'aide d'outils issus del'informatique, l'algorithmique et la programmation dans les systèmes complexessont abordées selon trois points de vue. Une première forme de programmation,dite externe, consiste à développer l'algorithmique qui permet de simuler lessystèmes étudiés. Une seconde forme de programmation, dite interne, consiste àdévelopper l'algorithmique propre à ces systèmes, qui permet de construire desreprésentants de ces systèmes qui exhibent des comportements programmés. Enfin,une troisième forme de programmation, de réduction, consiste à plonger despropriétés calculatoires complexes dans les représentants de ces systèmes pourétablir des résultats d'indécidabilité -- indice d'une grande complexitécalculatoire qui participe à l'explication de la complexité émergente. Afin demener à bien cette étude, les systèmes complexes sont modélisés par desautomates cellulaires. Le modèle des automates cellulaires offre une dualitépertinente pour établir des liens entre complexité des propriétés globales etcalcul. En effet, un automate cellulaire peut être décrit à la fois comme unréseau d'automates, offrant un point de vue familier de l'informatique, etcomme un système dynamique discret, une fonction définie sur un espacetopologique, offrant un point de vue familier de l'étude des systèmesdynamiques discrets.Une première partie de nos travaux concerne l'étude de l'objet automatecellulaire proprement dit. L'observation expérimentale des automatescellulaires distingue, dans la littérature, deux formes de dynamiques complexesdominantes. Certains automates cellulaires présentent une dynamique danslaquelle émergent des structures simples, sortes de particules qui évoluentdans un domaine régulier, se rencontrent lors de brèves collisions, avant degénérer d'autres particules. Cette forme de complexité, dans laquelletransparaît une notion de quanta d'information localisée en interaction, estl'objet de nos études. Un premier champ de nos investigations est d'établir uneclassification algébrique, le groupage, qui tend à rendre compte de ce type decomportement. Cette classification met à jour un type d'automate cellulaireparticulier : les automates cellulaires intrinsèquement universels. Un automatecellulaire intrinsèquement universel est capable de simuler le comportement detout automate cellulaire. C'est l'objet de notre second champ d'investigation.Nous caractérisons cette propriété et démontrons son indécidabilité. Enfin, untroisième champ d'investigation concerne l'algorithmique des automatescellulaires à particules et collisions. Étant donné un ensemble de particuleset de collisions d'un tel automate cellulaire, nous étudions l'ensemble desinteractions possibles et proposons des outils pour une meilleure programmationinterne à l'aide de ces collisions.Une seconde partie de nos travaux concerne la programmation par réduction. Afinde démontrer l'indécidabilité de propriétés dynamiques des automatescellulaires, nous étudions d'une part les problèmes de pavage du plan par desjeux de tuiles finis et d'autre part les problèmes de mortalité et depériodicité dans les systèmes dynamiques discrets à fonction partielle. Cetteétude nous amène à considérer des objets qui possèdent la même dualité entredescription combinatoire et topologique que les automates cellulaires. Unenotion d'apériodicité joue un rôle central dans l'indécidabilité des propriétésde ces objets