Notes for self-assembly of thin rectangles

1. Notes for self-assembly of thin rectangles Days 19, 20 and 21 of Comp Sci 480

2. Warm-up • (From hw3) PROVE: There exist infinitely values of N for which the tile complexity of uniquely building an NxN square is O(log log N) • This is MUCH better (asymptotically) than O(log N / log log N) • Consider values of N that are powers of 2: 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, …

3. NxN square for N = 1024 + 11 • Observation: 1024 = 210 • Thus, 1024 has 1 + log 1024 = 11 bits • Encode 1024 using 11 (log 1024) tile types? • NO! • Don’t encode 1024 – just encode 10 • Then build a 10x10 square • Once the “little square” is done, use its top row as the start value of another counter (something like 8 additional tile types for this) • The “big square” will have about 210 rows • 1024 + 10 rows

4. 0 0 0 0 0 0 0 0 0 0 X X X X X X X X X D C Y 1034 x 1034 Tile complexity for this example: “O(log 10) = O(log log 1034)” In general (if N = 2m): O(log m) = O(log log N) No optimal encoding either! We could do this for any value of N that is a power of 2! D C D C 0 0 0 0 0 0 0 0 1 0 D C 0 0 0 0 0 0 0 0 0 1 C 0 0 0 0 X X X X Y X Y X Y X 1 0 1 0 X 1 0 0 1 X X B A Y B A Y Y Y A Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y

5. Warm-up summary • (Hw3) Prove/disprove: There exists a positive constant c such that, for all values of N, the tile complexity of uniquely assembling an NxN square is at least c*log N / log log N. • Disproved • For all positive constants c, there exists a value of N such that the tile complexity of uniquely assembling an NxN square is less than c*log N / log log N • Our “power of 2” construction had tile complexity O(log log N) • Claim: For any positive constant c, there exists an N such that log log N < c * log N / log log N • This solves the homework problem

6. Another warm-up • Prove (from hw4): there is a program that can remove un-used tile types from a given tile set T • Here’s what doesn’t work: • For each tile type t in T: • simulate T (in TAS or some other simulator) • If there is more than one assembly sequence, then just simulate them all • If t never appears in the assembly, then remove it from T • What can go wrong? • In fact, one can prove that there is NO program that can, in general, remove un-used tile types from a given tile set • This doesn’t necessarily mean you should disprove the problem on the homework

7. Thin rectangles

8. What is a thin rectangle? • Rectangle: Nxk • N rows, k columns • Thin rectangles: when k < log N / (log log N – log log log N) • “Thick” otherwise • What does this mean? • Thin rectangles are so thin… • You can’t use the optimal encoding trick! • Why? …

9. No optimal encoding • For optimal encoding, we have x = xn-1xn-2∙∙∙x0 that we split up into n/k k-bit substrings, where n/log n ≤ 2k < 2n/log n • Do the math: n/k ≈ c* n/(log n - log log n), for some constant c • If n = log N, then we need ≈ log N/(log log N - log log log N) columns just to start the encoding • Thin rectangles do not give us enough space to do this • Therefore: cannot use optimal encoding for thin rectangles

10. Thick rectangles? • If k > log N / (log log N – log log log N), then the rectangle is thick • Can use optimal encoding to uniquely build thick rectangles • An NxN square is an example of a thick rectangle • Tile complexities • Upper bound: O(log N / log log N) for ALL values of N • The width doesn’t really matter • Lower bound: Ω(log N / log log N) for “almost all” N • Infinitely many examples of N for which the bound does not hold • Hw3 • Proof uses “Kolmogorov complexity” (see me for project idea)

11. Lower bound

12. Lower bound for thin rectangles • Goal: Prove that the tile complexity for building thin Nxk rectangles is at least a certain value • First, develop sufficient conditions for when we can “pump” an assembly (up or down) • A kind of pumping lemma for self-assembly • Temperature can be arbitrary, so not really related to pumpability

13. Window movie lemma

14. S S Windows • Let A be an assembly • A window is partitioning of A into two disjoint “subassemblies” AL and AR • AL and AR need not be connected! • We say that w “cuts” A into AL and AR • Technically, a window is a way to divide the 2D (3D) coordinate space into two parts S S The window w w’ = w + (-1,0) AL AR A = AL U AR Given a window w, its translation by the vector (x,y) is written as w + (x,y) Given an assembly A, its translation by a vector (x,y) is written as A + (x,y)

15. Window movie • We will now define the term “window movie” • A window movie will keep track of the order of placement, position and glue type for each glue that appears along the window w in assembly sequence a

16. Window movie definition • Let a = (a0, a1, …) be an assembly sequence and w be a window • A window movie is the maximal (possibly infinite) sequence of position and glue ordered pairs, written as Ma,w = ((x0,y0),g0), ((x1,y1),g1), …, given by the order of appearance of the glues along window w • If two glues appear simultaneously along a window then the positions and glues appear in the window movie in the order N, E, S, W • gi could be “empty” • The translation of a window movie Ma,w = ((x0,y0),g0), ((x1,y1),g1), … by the vector (x,y), written as Ma,w + (x,y), is the window movie Ma,w’, where w’ = w + (x,y) • Each point in the sequence gets translated

17. S S S S S S S Window movie example NOTE: Different assembly sequences give different window movies S S S S S S S Seed is placed at (0,0) What is the window movie? Ma,w = ((-1,0), green), ((0,1), yellow), ((0,1), “empty”), ((-1,1), “empty”), ((-1,1), green), ((0,2), yellow), ((-2,1), “empty”)

18. Window movie lemma (setup) • Let a = (a0, a1, …) be an assembly sequence with final result A • Let w be a window that cuts A into AL and AR • Let w’ = w + (x,y), for (x,y) ≠ (0,0), be a translation of w that cuts A into BL and BR • Let Ma,w and Ma,w’ be window movies for w and w’, respectively • Assume AL contains the seed tile

19. Window movie lemma (setup) AL AR A w w’ BL BR

20. Window movie lemma • If Ma,w = Ma,w’ - (x,y), for some (x,y) ≠ (0,0), then the following two assemblies are producible: • ALB’R = AL U B’R • Where B’R = BR - (x,y) • B’LAR = B’L U AR • Where B’L = BL + (x,y) • Proof idea: construct a valid assembly sequence that produces the assembly ALB’R. Further details omitted.

21. Window movie lemma high-level example AL AR w A w’ BL BR

22. Window movie lemma high-level example AL ALB’R = AL U (BR - (x,y)) B’R = BR - (x,y)

23. S S A better example w w’ = w + (3,0) 5 6 8 14 15 2 3 9 11 12 1 4 7 10 13 Ma,w = Ma,w’ + (-3,0)  Window movie lemma says that we can do this…

24. S S Example w w’ = w + (3,0) 5 6 8 14 15 2 3 9 11 12 1 4 7 10 13 This must also be producible (via Window movie lemma)… …using a different assembly sequence

25. Glue windows vs. tile windows • Window movies are sequences of location-glue pairs • What about location-tile pairs? • That is, what if we define a window movie as Ma,w = ((x0,y0),t0), ((x1,y1),t1), …, where each ti is a tile type ??? • Let’s do some examples…

26. “Tile window” example Same “tile windows” (up to translation) Try to splice… Definitely NOT producible! What if we require the shape to be rectangular OR the tile window to be completely filled?

27. “Glue window” example Back to using glue windows (our original definition)… There is no assembly sequence that results in equivalent (glue) window movies (up to translation) for the two windows given above… …why? This means we CANNOT apply the Window movie lemma to get a weird, non-producible (disconnected) assembly!

28. Thin rectangle tile complexity • We will prove that the tile complexity of uniquely building a thin rectangle is Ω(N1/2k/k) • For EVERY value of N and k • Only assume unique production of shape • Allows for possibility of non-determinism • Our proof is by contradiction • Assume we can uniquely build a thin rectangle using a tile set that is “just barely” too small

29. Thick rectangles need not apply • Apply the Ω(N1/2k/k) thin rectangle bound to thick rectangles… • Let k = log N • Then we have:N1/2log N/log N = (N1/log N)1/2/log N = 21/2/log N ≈ 1.4/log N,which says that we need at least 0 tile types (as N gets bigger and bigger) • If k = N, then we have: N1/2log N/log N = (N1/N)1/2/log N < (N1/log N)1/2/log N ≈ 1.4/log N.

30. The setup • Let T be any tile set that uniquely builds an Nxk (thin) rectangle • For the sake of simplicity, assume the single seed tile type is placed at the origin • Let G be the number of unique glues in T • Strength-label pairs

31. The assumption • Assume 0 < G < ((N-1)/(2k)!)1/2k • Should still work with “N-1” replaced with “N” or “N+1” – either way, not a big deal • Once we get a contradiction, we will know that G ≥ ((N-1)/(2k)!)1/2k

32. Horizontal windows k • Only consider windows that cut the Nxk rectangle horizontally • In any such window, there are 2k glue positions (see the picture…) • There are less than (N-1)/(2k)! distinct ways to position glues in these 2k positions... G < ((N-1)/(2k)!)1/2k  < ((N-1)/(2k)!)1/2k choices for the first position, < ((N-1)/(2k)!)1/2k choices for the second position, etc…  < ((N-1)/(2k)!)1/2k * ((N-1)/(2k)!)1/2k * ∙∙∙ ((N-1)/(2k)!)1/2k= (((N-1)/(2k)!)1/2k)2k = (N-1)/(2k)!

33. Order matters • If, along a horizontal window, there are 2k positions, then how many different ways could these glues show up? • How many different orderings? • Example: how many different ways are there to order the numbers 1, 2, 3, 4 and 5? 5! • 2k glue positions means there are (2k)! possible ways in which the glues could show up along the window

34. How many windows? k • In an Nxk rectangle, we have N rows of tiles • But only N-1 internal row-to-row boundaries • Therefore, there are N-1 ways a window can cut an Nxk rectangle horizontally N

35. Two “identical” window movies • There are less than (N-1)/(2k)! distinct ways to position glues in 2k positions along a horizontal window • Key: In an Nxk rectangle, a positioning of glues along a horizontal window must be repeated for more than (2k)! of the windows… • “N-1 horizontal windows” divided by “number of ways to position glues along that window” = “number of times some positioning of glues must be repeated in Nxk assembly”… • (N-1)/((N-1)/(2k)!) = (2k)! • But there are only (2k)! possible orderings • Thus, at least two orderings must be repeated across all horizontal windows that cut the Nxk assembly • This gives us two windows w, w’, with w’ = w + (x,y) and (x,y) ≠ (0,0) such that Ma,w = Ma,w’ - (x,y)

36. B’R ALB’R AL Apply the Window movie lemma • Assume this is a terminal assembly produced by T • The window movie lemma says that T should be able to do this… • ALB’R cannot be an Nxk rectangle • w’ = w + (x,y), where (x,y) ≠ (0,0) • ALB’R is terminal • Otherwise the assembly before “splicing” wasn’t terminal w’ w

37. Where’s the contradiction? • ALB’R is a contradiction • What is the contradiction? • We originally assumed that T uniquely produces an Nxk rectangle • Possibly many assemblies, but all must have the same Nxk rectangle shape • ALB’R is NOT an Nxk rectangle

38. The math • Thus, we have: G ≥ ((N-1)/(2k)!)1/2k > ((N-1)/(2k)2k)1/2k ; (2k)2k > (2k)! = ((N-1)1/2k/(2k)2k/2k = (N-1)1/2k/2k > (N/22k)1/2k/2k ; N-1 > N/22k for k > 2, and large N = (N1/2k/2)/2k = N1/2k/4k = Ω(N1/2k/k) • Since |T| ≥ G/4, it follows that |T| = Ω(N1/2k/k) • Note: G/4 ≤ |T| < G4 • |T| < G4 (four sides, G choices per side) • |T| ≥ G/4 (G glues, tiles have four sides, put a different glue on every side of every tile type)

39. Upper bound

40. Let’s build thin rectangles! • Build a base-m counter, where m = N1/k • Do NOT use zig-zag counter design • Start value encoded in the seed row • Have k unique tile types • Total columns: k • How many “counter” tile types? • O(m) • Total rows (start counting at 0): N1/kk = mk • Can start at any number between 0 and mk – 1 • North glues of seed row should represent mk – N • Tile complexity: O(m + k) = O(N1/k + k) • Observation: we never used assumption that k < log N / (log log N - log log log N)

41. A special case • Upper bound is O(N1/k + k) for all N • What if k = log N • N x log N rectangle • Not thin • Tile complexity (as per above): O(N1/log N + log N) = O(2 + log N) = O(log N)

42. Discussion • Upper bound is O(N1/k + k) for all N • Lower bound is Ω(N1/2k/k) for all N • Can we get the two bounds to be closer together? • Can we lower the upper bound? • Can we increase the lower bound? • It is possible to prove a lower bound of Ω(N1/k/k) for all N • Can’t use the Window movie lemma • Use tile windows but pump up, not down