Cellular Automata: Theory and Applications
Cellular Automata: Theory and Applications
The concept was originally discovered in the 1940s by Stanislaw Ulam and John von
Neumann while they were contemporaries at Los Alamos National Laboratory. While
studied by some throughout the 1950s and 1960s, it was not until the 1970s and
Conway's Game of Life, a two-dimensional cellular automaton, that interest in the
subject expanded beyond academia. In the 1980s, Stephen Wolfram engaged in a
systematic study of one-dimensional cellular automata, or what he calls elementary
cellular automata; his research assistant Matthew Cook showed that one of these
rules is Turing-complete.
Overview
The red cells are the Moore neighborhood for the blue cell.
The red cells are the von Neumann neighborhood for the blue cell. The range-2
"cross neighborhood" includes the pink cells as well.
One way to simulate a two-dimensional cellular automaton is with an infinite sheet
of graph paper along with a set of rules for the cells to follow. Each square is
called a "cell" and each cell has two possible states, black and white. The
neighborhood of a cell is the nearby, usually adjacent, cells. The two most common
types of neighborhoods are the von Neumann neighborhood and the Moore neighborhood.
[5] The former, named after the founding cellular automaton theorist, consists of
the four orthogonally adjacent cells.[5] The latter includes the von Neumann
neighborhood as well as the four diagonally adjacent cells.[5] For such a cell and
its Moore neighborhood, there are 512 (= 29) possible patterns. For each of the 512
possible patterns, the rule table would state whether the center cell will be black
or white on the next time interval. Conway's Game of Life is a popular version of
this model. Another common neighborhood type is the extended von Neumann
neighborhood, which includes the two closest cells in each orthogonal direction,
for a total of eight.[5] The general equation for the total number of automata
possible is kks, where k is the number of possible states for a cell, and s is the
number of neighboring cells (including the cell to be calculated itself) used to
determine the cell's next state.[6] Thus, in the two-dimensional system with a
Moore neighborhood, the total number of automata possible would be 229, or
1.34×10154.
It is usually assumed that every cell in the universe starts in the same state,
except for a finite number of cells in other states; the assignment of state values
is called a configuration.[7] More generally, it is sometimes assumed that the
universe starts out covered with a periodic pattern, and only a finite number of
cells violate that pattern. The latter assumption is common in one-dimensional
cellular automata.
History
Stanislaw Ulam, while working at the Los Alamos National Laboratory in the 1940s,
studied the growth of crystals, using a simple lattice network as his model.[8] At
the same time, John von Neumann, Ulam's colleague at Los Alamos, was working on the
problem of self-replicating systems.[9] Von Neumann's initial design was founded
upon the notion of one robot building another robot. This design is known as the
kinematic model.[10][11] As he developed this design, von Neumann came to realize
the great difficulty of building a self-replicating robot, and of the great cost in
providing the robot with a "sea of parts" from which to build its replicant.
Neumann wrote a paper entitled "The general and logical theory of automata" for the
Hixon Symposium in 1948.[9] Ulam was the one who suggested using a discrete system
for creating a reductionist model of self-replication.[12][13] Nils Aall Barricelli
performed many of the earliest explorations of these models of artificial life.
Also in the 1940s, Norbert Wiener and Arturo Rosenblueth developed a model of
excitable media with some of the characteristics of a cellular automaton.[17] Their
specific motivation was the mathematical description of impulse conduction in
cardiac systems. However their model is not a cellular automaton because the medium
in which signals propagate is continuous, and wave fronts are curves.[17][18] A
true cellular automaton model of excitable media was developed and studied by J. M.
Greenberg and S. P. Hastings in 1978; see Greenberg-Hastings cellular automaton.
The original work of Wiener and Rosenblueth contains many insights and continues to
be cited in modern research publications on cardiac arrhythmia and excitable
systems.[19]
In 1969, German computer pioneer Konrad Zuse published his book Calculating Space,
proposing that the physical laws of the universe are discrete by nature, and that
the entire universe is the output of a deterministic computation on a single
cellular automaton; "Zuse's Theory" became the foundation of the field of study
called digital physics.[21]
Also in 1969 computer scientist Alvy Ray Smith completed a Stanford PhD
dissertation on Cellular Automata Theory, the first mathematical treatment of CA as
a general class of computers. Many papers came from this dissertation: He showed
the equivalence of neighborhoods of various shapes, how to reduce a Moore to a von
Neumann neighborhood or how to reduce any neighborhood to a von Neumann
neighborhood.[22] He proved that two-dimensional CA are computation universal,
introduced 1-dimensional CA, and showed that they too are computation universal,
even with simple neighborhoods.[23] He showed how to subsume the complex von
Neumann proof of construction universality (and hence self-reproducing machines)
into a consequence of computation universality in a 1-dimensional CA.[24] Intended
as the introduction to the German edition of von Neumann's book on CA, he wrote a
survey of the field with dozens of references to papers, by many authors in many
countries over a decade or so of work, often overlooked by modern CA researchers.
[25]
Any live cell with fewer than two live neighbours dies, as if caused by
underpopulation.
Any live cell with two or three live neighbours lives on to the next generation.
Any live cell with more than three live neighbours dies, as if by overpopulation.
Any dead cell with exactly three live neighbours becomes a live cell, as if by
reproduction.
Despite its simplicity, the system achieves an impressive diversity of behavior,
fluctuating between apparent randomness and order. One of the most apparent
features of the Game of Life is the frequent occurrence of gliders, arrangements of
cells that essentially move themselves across the grid. It is possible to arrange
the automaton so that the gliders interact to perform computations, and after much
effort it has been shown that the Game of Life can emulate a universal Turing
machine.[27] It was viewed as a largely recreational topic, and little follow-up
work was done outside of investigating the particularities of the Game of Life and
a few related rules in the early 1970s.[28]
Classification
Wolfram, in A New Kind of Science and several papers dating from the mid-1980s,
defined four classes into which cellular automata and several other simple
computational models can be divided depending on their behavior. While earlier
studies in cellular automata tended to try to identify type of patterns for
specific rules, Wolfram's classification was the first attempt to classify the
rules themselves. In order of complexity the classes are:
Class 1: Nearly all initial patterns evolve quickly into a stable, homogeneous
state. Any randomness in the initial pattern disappears.[32]
Class 2: Nearly all initial patterns evolve quickly into stable or oscillating
structures. Some of the randomness in the initial pattern may filter out, but some
remains. Local changes to the initial pattern tend to remain local.[32]
Class 3: Nearly all initial patterns evolve in a pseudo-random or chaotic manner.
Any stable structures that appear are quickly destroyed by the surrounding noise.
Local changes to the initial pattern tend to spread indefinitely.[32]
Class 4: Nearly all initial patterns evolve into structures that interact in
complex and interesting ways, with the formation of local structures that are able
to survive for long periods of time.[33] Class 2 type stable or oscillating
structures may be the eventual outcome, but the number of steps required to reach
this state may be very large, even when the initial pattern is relatively simple.
Local changes to the initial pattern may spread indefinitely. Wolfram has
conjectured that many class 4 cellular automata, if not all, are capable of
universal computation. This has been proven for Rule 110 and Conway's Game of Life.
These definitions are qualitative in nature and there is some room for
interpretation. According to Wolfram, "...with almost any general classification
scheme there are inevitably cases which get assigned to one class by one definition
and another class by another definition. And so it is with cellular automata: there
are occasionally rules...that show some features of one class and some of
another."[34] Wolfram's classification has been empirically matched to a clustering
of the compressed lengths of the outputs of cellular automata.[35]
There have been several attempts to classify cellular automata in formally rigorous
classes, inspired by Wolfram's classification. For instance, Culik and Yu proposed
three well-defined classes (and a fourth one for the automata not matching any of
these), which are sometimes called Culik–Yu classes; membership in these proved
undecidable.[36][37][38] Wolfram's class 2 can be partitioned into two subgroups of
stable (fixed-point) and oscillating (periodic) rules.[39]
The idea that there are 4 classes of dynamical system came originally from Nobel-
prize winning chemist Ilya Prigogine who identified these 4 classes of
thermodynamical systems: (1) systems in thermodynamic equilibrium, (2)
spatially/temporally uniform systems, (3) chaotic systems, and (4) complex far-
from-equilibrium systems with dissipative structures (see figure 1 in the 1974
paper of Nicolis, Prigogine's student).[40]
Reversible
Main article: Reversible cellular automaton
A cellular automaton is reversible if, for every current configuration of the
cellular automaton, there is exactly one past configuration (preimage).[41] If one
thinks of a cellular automaton as a function mapping configurations to
configurations, reversibility implies that this function is bijective.[41] If a
cellular automaton is reversible, its time-reversed behavior can also be described
as a cellular automaton; this fact is a consequence of the Curtis–Hedlund–Lyndon
theorem, a topological characterization of cellular automata.[42][43] For cellular
automata in which not every configuration has a preimage, the configurations
without preimages are called Garden of Eden patterns.[44]
For one-dimensional cellular automata there are known algorithms for deciding
whether a rule is reversible or irreversible.[45][46] However, for cellular
automata of two or more dimensions reversibility is undecidable; that is, there is
no algorithm that takes as input an automaton rule and is guaranteed to determine
correctly whether the automaton is reversible. The proof by Jarkko Kari is related
to the tiling problem by Wang tiles.[47]
Reversible cellular automata are often used to simulate such physical phenomena as
gas and fluid dynamics, since they obey the laws of thermodynamics. Such cellular
automata have rules specially constructed to be reversible. Such systems have been
studied by Tommaso Toffoli, Norman Margolus and others. Several techniques can be
used to explicitly construct reversible cellular automata with known inverses. Two
common ones are the second-order cellular automaton and the block cellular
automaton, both of which involve modifying the definition of a cellular automaton
in some way. Although such automata do not strictly satisfy the definition given
above, it can be shown that they can be emulated by conventional cellular automata
with sufficiently large neighborhoods and numbers of states, and can therefore be
considered a subset of conventional cellular automata. Conversely, it has been
shown that every reversible cellular automaton can be emulated by a block cellular
automaton.[48][49]
Totalistic
A special class of cellular automata are totalistic cellular automata. The state of
each cell in a totalistic cellular automaton is represented by a number (usually an
integer value drawn from a finite set), and the value of a cell at time t depends
only on the sum of the values of the cells in its neighborhood (possibly including
the cell itself) at time t − 1.[50][51] If the state of the cell at time t depends
on both its own state and the total of its neighbors at time t − 1 then the
cellular automaton is properly called outer totalistic.[51] Conway's Game of Life
is an example of an outer totalistic cellular automaton with cell values 0 and 1;
outer totalistic cellular automata with the same Moore neighborhood structure as
Life are sometimes called life-like cellular automata.[52][53]
Related automata
There are many possible generalizations of the cellular automaton concept.
A cellular automaton based on hexagonal cells instead of squares (rule 34/2)
One way is by using something other than a rectangular (cubic, etc.) grid. For
example, if a plane is tiled with regular hexagons, those hexagons could be used as
cells. In many cases the resulting cellular automata are equivalent to those with
rectangular grids with specially designed neighborhoods and rules. Another
variation would be to make the grid itself irregular, such as with Penrose tiles.
[54]
Also, rules can be probabilistic rather than deterministic. Such cellular automata
are called probabilistic cellular automata. A probabilistic rule gives, for each
pattern at time t, the probabilities that the central cell will transition to each
possible state at time t + 1. Sometimes a simpler rule is used; for example: "The
rule is the Game of Life, but on each time step there is a 0.001% probability that
each cell will transition to the opposite color."
The neighborhood or rules could change over time or space. For example, initially
the new state of a cell could be determined by the horizontally adjacent cells, but
for the next generation the vertical cells would be used.
In cellular automata, the new state of a cell is not affected by the new state of
other cells. This could be changed so that, for instance, a 2 by 2 block of cells
can be determined by itself and the cells adjacent to itself.
There are continuous automata. These are like totalistic cellular automata, but
instead of the rule and states being discrete (e.g. a table, using states {0,1,2}),
continuous functions are used, and the states become continuous (usually values in
[0,1]). The state of a location is a finite number of real numbers. Certain
cellular automata can yield diffusion in liquid patterns in this way.
There are known examples of continuous spatial automata, which exhibit propagating
phenomena analogous to gliders in the Game of Life.[56]
An animation of the way the rules of a 1D cellular automaton determine the next
generation
These 256 cellular automata are generally referred to by their Wolfram code, a
standard naming convention invented by Wolfram that gives each rule a number from 0
to 255. A number of papers have analyzed and compared these 256 cellular automata.
The rule 30, rule 90, rule 110, and rule 184 cellular automata are particularly
interesting. The images below show the history of rules 30 and 110 when the
starting configuration consists of a 1 (at the top of each image) surrounded by 0s.
Each row of pixels represents a generation in the history of the automaton, with
t=0 being the top row. Each pixel is colored white for 0 and black for 1.
Rule 30
Rule 30 cellular automaton
(binary 00011110 = decimal 30)
current pattern 111 110 101 100 011 010 001 000
new state for center cell 0 0 0 1 1 1 1 0
Rule 30 exhibits class 3 behavior, meaning even simple input patterns such as that
shown lead to chaotic, seemingly random histories.
Rule 110
Rule 110 cellular automaton
(binary 01101110 = decimal 110)
current pattern 111 110 101 100 011 010 001 000
new state for center cell 0 1 1 0 1 1 1 0
Rule 110, like the Game of Life, exhibits what Wolfram calls class 4 behavior,
which is neither completely random nor completely repetitive. Localized structures
appear and interact in various complicated-looking ways. In the course of the
development of A New Kind of Science, as a research assistant to Wolfram in 1994,
Matthew Cook proved that some of these structures were rich enough to support
universality. This result is interesting because rule 110 is an extremely simple
one-dimensional system, and difficult to engineer to perform specific behavior.
This result therefore provides significant support for Wolfram's view that class 4
systems are inherently likely to be universal. Cook presented his proof at a Santa
Fe Institute conference on Cellular Automata in 1998, but Wolfram blocked the proof
from being included in the conference proceedings, as Wolfram did not want the
proof announced before the publication of A New Kind of Science.[58] In 2004,
Cook's proof was finally published in Wolfram's journal Complex Systems (Vol. 15,
No. 1), over ten years after Cook came up with it. Rule 110 has been the basis for
some of the smallest universal Turing machines.[59]
Rule space
An elementary cellular automaton rule is specified by 8 bits, and all elementary
cellular automaton rules can be considered to sit on the vertices of the 8-
dimensional unit hypercube. This unit hypercube is the cellular automaton rule
space. For next-nearest-neighbor cellular automata, a rule is specified by 25 = 32
bits, and the cellular automaton rule space is a 32-dimensional unit hypercube. A
distance between two rules can be defined by the number of steps required to move
from one vertex, which represents the first rule, and another vertex, representing
another rule, along the edge of the hypercube. This rule-to-rule distance is also
called the Hamming distance.
Cellular automaton rule space allows us to ask the question concerning whether
rules with similar dynamical behavior are "close" to each other. Graphically
drawing a high dimensional hypercube on the 2-dimensional plane remains a difficult
task, and one crude locator of a rule in the hypercube is the number of bit-1 in
the 8-bit string for elementary rules (or 32-bit string for the next-nearest-
neighbor rules). Drawing the rules in different Wolfram classes in these slices of
the rule space show that class 1 rules tend to have lower number of bit-1s, thus
located in one region of the space, whereas class 3 rules tend to have higher
proportion (50%) of bit-1s.[39]
For larger cellular automaton rule space, it is shown that class 4 rules are
located between the class 1 and class 3 rules.[60] This observation is the
foundation for the phrase edge of chaos, and is reminiscent of the phase transition
in thermodynamics.
Applications
Biology
Patterns of some seashells, like the ones in the genera Conus and Cymbiola, are
generated by natural cellular automata. The pigment cells reside in a narrow band
along the shell's lip. Each cell secretes pigments according to the activating and
inhibiting activity of its neighbor pigment cells, obeying a natural version of a
mathematical rule.[61] The cell band leaves the colored pattern on the shell as it
grows slowly. For example, the widespread species Conus textile bears a pattern
resembling Wolfram's rule 30 cellular automaton.[61]
Plants regulate their intake and loss of gases via a cellular automaton mechanism.
Each stoma on the leaf acts as a cell.[62]
Moving wave patterns on the skin of cephalopods can be simulated with a two-state,
two-dimensional cellular automata, each state corresponding to either an expanded
or retracted chromatophore.[63]
Threshold automata have been invented to simulate neurons, and complex behaviors
such as recognition and learning can be simulated.[64]
Fibroblasts bear similarities to cellular automata, as each fibroblast only
interacts with its neighbors.[65]
Additionally, biological phenomena which require explicit modeling of the agents'
velocities (for example, those involved in collective cell migration) may be
modeled by cellular automata with a more complex state space and rules, such as
biological lattice-gas cellular automata. These include phenomena of great medical
importance, such as:
Physics
Cellular automata have been proposed for public-key cryptography. The one-way
function is the evolution of a finite CA whose inverse is believed to be hard to
find. Given the rule, anyone can easily calculate future states, but it appears to
be very difficult to calculate previous states. Cellular automata have also been
applied to design error correction codes.[76]
Specific rules
Specific cellular automata rules include:
Brian's Brain
Codd's cellular automaton
CoDi
Conway's game of life
Day and Night
Langton's ant
Langton's loops
Lenia
Nobili cellular automata
Rule 90
Rule 184
Seeds
Turmite
Von Neumann cellular automaton
Wireworld
See also
Agent-based model – Type of computational models
Automata theory – Study of abstract machines and automata
Cyclic cellular automaton
Excitable medium – nonlinear dynamical system
Golly
Movable cellular automaton – Method in computational solid mechanics based on the
discrete concept
Unconventional computing
Quantum cellular automaton – Abstract model of quantum computation
Spatial decision support system – Computerised aid to land use decisions
Discrete calculus
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External links