2,181 research outputs found
DNA electrophoresis in designed channels
We present a simple description on the electrophoretic dynamics of
polyelectrolytes going through designed channels with narrow constrictions of
slit geometry. By analyzing rheological behaviours of the stuck chain, which is
coupled to the effect of solvent flow, three critical electric fields
(permeation field , deformation field and injection field , with polymerization
index) are clarified. Between and , the chain migration
is dictated by the driven activation process. In particular, at ,
the stuck chain at the slit entrance is strongly deformed, which enhances the
rate of the permeation. From these observations, electrophoretic mobility at a
given electric field is deduced, which shows non-monotonic dependence on .
For long enough chains, mobility increases with , in good agreement with
experiments. An abrupt change in the electrophoretic flow at a threshold
electric field is formally regarded as a nonequilibrium phase transition.Comment: 11 pages, 8 figure
Hydrodynamics of Suspensions of Passive and Active Rigid Particles: A Rigid Multiblob Approach
We develop a rigid multiblob method for numerically solving the mobility
problem for suspensions of passive and active rigid particles of complex shape
in Stokes flow in unconfined, partially confined, and fully confined
geometries. As in a number of existing methods, we discretize rigid bodies
using a collection of minimally-resolved spherical blobs constrained to move as
a rigid body, to arrive at a potentially large linear system of equations for
the unknown Lagrange multipliers and rigid-body motions. Here we develop a
block-diagonal preconditioner for this linear system and show that a standard
Krylov solver converges in a modest number of iterations that is essentially
independent of the number of particles. For unbounded suspensions and
suspensions sedimented against a single no-slip boundary, we rely on existing
analytical expressions for the Rotne-Prager tensor combined with a fast
multipole method or a direct summation on a Graphical Processing Unit to obtain
an simple yet efficient and scalable implementation. For fully confined
domains, such as periodic suspensions or suspensions confined in slit and
square channels, we extend a recently-developed rigid-body immersed boundary
method to suspensions of freely-moving passive or active rigid particles at
zero Reynolds number. We demonstrate that the iterative solver for the coupled
fluid and rigid body equations converges in a bounded number of iterations
regardless of the system size. We optimize a number of parameters in the
iterative solvers and apply our method to a variety of benchmark problems to
carefully assess the accuracy of the rigid multiblob approach as a function of
the resolution. We also model the dynamics of colloidal particles studied in
recent experiments, such as passive boomerangs in a slit channel, as well as a
pair of non-Brownian active nanorods sedimented against a wall.Comment: Under revision in CAMCOS, Nov 201
Hiking networks generation from elevation maps
In this project we propose a highly controllable automatic method to synthesize plausible hiking networks connecting the different points of interest on a real or synthetic terrain. Our approach relies on a geometry graph generation algorithm based on a non-Euclidean metric combined with a path finding algorithm to generate a hiking network containing trails with different grades of difficulty. Unlike previous work, our method does not require a specific path merging stage, instead, each path generated takes into account the existing paths and merges with them if the conditions allow it. The trajectory of the trails is based on the different parameters of the scene, including the slope of the terrain, the exposure to falling, the natural obstacles such as lakes or snowy regions and the already existing trails
Coarse-graining polymer solutions: a critical appraisal of single- and multi-site models
We critically discuss and review the general ideas behind single- and
multi-site coarse-grained (CG) models as applied to macromolecular solutions in
the dilute and semi-dilute regime. We first consider single-site models with
zero-density and density-dependent pair potentials. We highlight advantages and
limitations of each option in reproducing the thermodynamic behavior and the
large-scale structure of the underlying reference model. As a case study we
consider solutions of linear homopolymers in a solvent of variable quality.
Secondly, we extend the discussion to multi-component systems presenting, as a
test case, results for mixtures of colloids and polymers. Specifically, we
found the CG model with zero-density potentials to be unable to predict
fluid-fluid demixing in a reasonable range of densities for mixtures of
colloids and polymers of equal size. For larger colloids, the polymer volume
fractions at which phase separation occurs are largely overestimated. CG models
with density-dependent potentials are somewhat less accurate than models with
zero-density potentials in reproducing the thermodynamics of the system and,
although they presents a phase separation, they significantly underestimate the
polymer volume fractions along the binodal. Finally, we discuss a general
multi-site strategy, which is thermodynamically consistent and fully
transferable with the number of sites, and that allows us to overcome most of
the limitations discussed for single-site models.Comment: 23 pages, 9 figures, 4 table
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
Rapid deployment and operation are key requirements in time critical
application, such as Search and Rescue (SaR). Efficiently teleoperated ground
robots can support first-responders in such situations. However, first-person
view teleoperation is sub-optimal in difficult terrains, while a third-person
perspective can drastically increase teleoperation performance. Here, we
propose a Micro Aerial Vehicle (MAV)-based system that can autonomously provide
third-person perspective to ground robots. While our approach is based on local
visual servoing, it further leverages the global localization of several ground
robots to seamlessly transfer between these ground robots in GPS-denied
environments. Therewith one MAV can support multiple ground robots on a demand
basis. Furthermore, our system enables different visual detection regimes, and
enhanced operability, and return-home functionality. We evaluate our system in
real-world SaR scenarios.Comment: Accepted for publication in 2018 IEEE International Symposium on
Safety, Security and Rescue Robotics (SSRR
- …