tmdiagram.tex

\documentclass{article}

\usepackage{tikz}
\usetikzlibrary{automata,positioning}

\newcommand{\mtsym}{\sqcup}

\pagestyle{empty}

\begin{document}

\begin{center}
  \begin{tikzpicture}[auto,node distance=5mm and 5mm]
    \node [state, initial above]                (q0) {$q_0$};
    \node [state, accepting, left=2cm of q0]    (q+) {$q_\top$};
    \node [state, right=2cm of q0]              (q-) {$q_\bot$};
    \coordinate [below=2cm of q0]               (cbranch1);
    \node [state, left=of cbranch1]             (ql) {$q_L$};
    \node [state, right=of cbranch1]            (qr) {$q_R$};
    \node [state, left=3cm of ql]               (qdone?) {$q_\mathrm{done?}$};
    \node [state, right=3cm of qr]              (qend) {$q_\mathrm{end}$};
    \draw [->]
    (q0) edge [swap] node {$\mtsym$} (q+)
    (q0) edge node {$1, \; \#$} (q-)
    (q0) edge node [near end] {$0 \mapsto \#, R$} (qr)
    (ql) edge node [near start] {$\# \mapsto R$} (q0)
    (ql) edge [loop below] node {$0, 1 \mapsto L$} ()
    (qr) edge [loop below] node {$0, 1 \mapsto R$} ()
    (qr) edge node {$\mtsym, \# \mapsto L$} (qend)
    (qdone?) edge node {$\#$} (q+)
    (qdone?) edge node {$0, 1 \mapsto L$} (ql)
    (qend) edge [swap] node {$0, \#$} (q-)
    (qend) edge [bend left=45] node {$1 \mapsto \#, L$} (qdone?)
    ;
  \end{tikzpicture}
\end{center}

\end{document}

Output: