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Transformation of modular robots by rotation: 3 + 1 musketeers for all orthogonally convex shapes

JOURNAL OF COMPUTER AND SYSTEM SCIENCES 2025年 150卷

作者： Connor, Matthew Michail, Othon Univ Liverpool Dept Comp Sci Liverpool England

We study programmable matter systems consisting of modules that perform the minimal mechanical operation of rotating by 90 degrees around each other. We represent the modules as nodes lying on the cells of a two-dimensional square grid. We are interested in characterising families whose shapes can be transformed into each other by a sequence of rotation moves that maintains global connectivity. Shapes can only be transformed into each other by rotation if they are colour-consistent, meaning that their nodes have identical colour cardinalities on a checkered colouring of the grid. We develop a generic centralised transformation and prove that, for any pair A , B of connected, colour-consistent, orthogonally convex shapes, it can transform A into B , using a seed of 3 or 4 nodes to trigger the transformation. The running time of our transformation is an optimal O(n2) sequential moves, where n = | A | = | B | . (c) 2025 The Author(s). Published by Elsevier Inc. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Programmable matter Transformation Reconfigurable robotics Shape formation centralised algorithms

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centralised connectivity-preserving transformations for programmable matter: A minimal seed approach

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THEORETICAL COMPUTER SCIENCE 2022年 936卷 77-91页

作者： Connor, Matthew Michail, Othon Potapov, Igor Univ Liverpool Dept Comp Sci Liverpool England Univ Liverpool Dept Comp Sci Ashton St Liverpool L69 3BX England

We study a model of programmable matter systems consisting of n devices lying on a 2 -dimensional square grid which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial shape A into a target shape B. We investigate the class of shapes which can be constructed in such a scenario under the additional constraint of maintaining global connectivity at all times. We focus on the scenario of transforming nice shapes, a class of shapes consisting of a central line L where for all nodes u in S either u is an element of L or u is connected to L by a line of nodes perpendicular to L. We prove that by introducing a minimal 3-node seed it is possible for the canonical shape of a line of n nodes to be transformed into a nice shape of n -1 nodes. We use this to show that a 4-node seed enables the transformation of nice shapes of size n into any other nice shape of size n in O (n2) time. We leave as an open problem the expansion of the class of shapes which can be constructed using such a seed to include those derived from nice shapes.(c) 2022 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Programmable matter Transformation Reconfigurable robotics Shape formation centralised algorithms

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centralised Connectivity-Preserving Transformations by Rotation: 3 Musketeers for All Orthogonal Convex Shapes 1

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18th International Symposium on Algorithmics of Wireless Networks

作者： Connor, Matthew Michail, Othon Univ Liverpool Dept Comp Sci Liverpool Merseyside England

ISBN: (数字)9783031220500

ISBN: (纸本)9783031220494;9783031220500

We study a model of programmable matter systems consisting of n devices lying on the cells of a 2-dimensional square grid, which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial shape of devices A into a target shape B. We are interested in characterising the class of shapes which can be transformed into each other in such a scenario, under the additional constraint of maintaining global connectivity at all times. This was one of the main problems left open by [Michail et al., JCSS'19]. Note that the considered question is about structural feasibility of transformations, which we exclusively deal with via centralised constructive proofs. Distributed solutions are left for future work and form an interesting research direction. Past work made some progress for the special class of colour-consistent nice shapes. We here consider the class of orthogonal convex shapes, where for any two nodes u, v in a horizontal or vertical line on the grid, there is no empty cell between u and v. We develop a generic centralised transformation and prove that, for any pair A, B of colour-consistent orthogonal convex shapes, it can transform A into B. In light of the existence of blocked shapes in the considered class, we use a minimal 3-node seed (additional nodes placed at the start) to trigger the transformation. The running time of our transformation is an optimal O(n(2)) sequential moves, where n = |A| = |B|. We leave as an open problem the existence of a universal connectivity-preserving transformation with a small seed. Our belief is that the techniques developed in this paper might prove useful to answer this.

关键词： Programmable matter Transformation Reconfigurable robotics Shape formation centralised algorithms

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centralised Connectivity-Preserving Transformations for Programmable Matter: A Minimal Seed Approach 1

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17th International Symposium on algorithms and Experiments for Wireless Sensor Networks (ALGOSENSORS)

作者： Connor, Matthew Michail, Othon Potapov, Igor Univ Liverpool Dept Comp Sci Liverpool England

ISBN: (数字)9783030892401

ISBN: (纸本)9783030892395;9783030892401

We study a model of programmable matter systems consisting of n devices lying on a 2-dimensional square grid which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial shape A into a target shape B. We investigate the class of shapes which can be constructed in such a scenario under the additional constraint of maintaining global connectivity at all times. We focus on the scenario of transforming nice shapes, a class of shapes consisting of a central line L where for all nodes u in S either u is an element of L or u is connected to L by a line of nodes perpendicular to L. We prove that by introducing a minimal 3-node seed it is possible for the canonical shape of a line of n nodes to be transformed into a nice shape of n- 1 nodes. We use this to show that a 4-node seed enables the transformation of nice shapes of size n into any other nice shape of size n in O(n(2)) time. We leave as an open problem the expansion of the class of shapes which can be constructed using such a seed to include those derived from nice shapes.

关键词： Programmable matter Transformation Reconfigurable robotics Shape formation centralised algorithms

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Price-based power management of off-grid photovoltaic systems with centralised dc bus

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IET RENEWABLE POWER GENERATION 2016年第8期10卷 1132-1139页

作者： Bellinaso, Lucas Vizzotto Schwertner, Christoffer Daniel Michels, Leandro Univ Fed Santa Maria Power Elect & Control Grp Ave Roraima BR-97105900 Santa Maria RS Brazil

Power management of stand-alone photovoltaic (PV) systems with centralised dc bus is usually performed using centralised algorithms based on complex state machines. This study proposes an intuitive and modular solution using a price-based approach. The dc bus is considered a market environment where a fictitious energy price is defined according to energy scarcity. The converters that connect the PV generator, loads, and energy storages to the dc bus choose their operation modes in response to the price. The proposed approach was applied to a stand-alone PV system with energy storage. Advantages of the proposed technique are scalability and intuitive programming effort due to the market analogy, so it may be helpful to developers of off-grid PV systems. Experimental results have been carried out to validate the proposed approach, proved effective to manage this system.

关键词： photovoltaic power systems power grids power markets energy storage power system management finite state machines power generation economics price-based power management off-grid photovoltaic systems off-grid PV systems centralised DC bus centralised algorithms state machines energy price energy scarcity PV generator energy storages

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A Survey on centralised and Distributed Clustering Routing algorithms for WSNs 81

A Survey on Centralised and Distributed Clustering Routing A...

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81st IEEE Vehicular Technology Conference (VTC Spring)

作者： Zanjireh, Morteza M. Larijani, Hadi Glasgow Caledonian Univ Sch Engn & Built Environm Glasgow G4 0BA Lanark Scotland

ISBN: (纸本)9781479980888

Wireless sensor networks have a wide range of applications because they can be adapted for various environments. They can operate independently in harsh places where a human presence is risky or even impossible. Since their life time is dependent on their batteries and replacing or recharging their batteries is impossible in rough places, it is necessary to find energy efficient routing protocols for them. In this paper, a number of well-know energy efficient routing algorithms for WSNs have been classified and presented based on their attributes.

关键词： Wireless Sensor Networks Clustering Energy Efficiency centralised algorithms Distributed algorithms Uniform distribution

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A Survey on centralised and Distributed Clustering Routing algorithms for WSNs

A Survey on Centralised and Distributed Clustering Routing A...

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IEEE Vehicular Technology Conference

作者： Morteza M. Zanjireh Hadi Larijani School of Engineering and Built Environment Glasgow Caledonian University

ISBN: (纸本)9781479980895

关键词： Wireless Sensor Networks Clustering Energy Efficiency centralised algorithms Distributed algorithms Uniform distribution

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