Very long-range attractive and repulsive forces in Model Colloidal Dispersions

Experiments with polymer latex solutions show the coexistence of order-disorder structures of macroions. Because of the large macroions' sizes, this order-disorder phase coexistence imply the existence of very long-range attractive and repulsive forces, which can not be explained in terms of conventional direct interaction potentials, which are short-range. Here we apply an integral equations theory to a simple model for colloidal dispersions, at finite concentrations, calculate the particles distribution functions and the involved effective forces. We find very long-range attractive and repulsive forces among the like-charged macroions. The distribution functions are in qualitative agreement with experimental results. The origin of these forces are discussed in terms of an energy-entropy balance.Comment: 16 pages, seven figures. ECIS-201

Emerging robot swarm traffic

We discuss traffic patterns generated by swarms of robots while commuting to and from a base station. The overall question is whether to explicitly organise the traffic or whether a certain regularity develops `naturally'. Human driven motorized traffic is rigidly structured in two lanes. However, army ants develop a three-lane pattern in their traffic, while human pedestrians generate a main trail and secondary trials in either direction. Our robot swarm approach is bottom-up: designing individual agents we first investigate the mathematics of cases occurring when applying the artificial potential field method to three 'perfect' robots. We show that traffic lane pattern will not be disturbed by the internal system of forces. Next, we define models of sensor designs to account for the practical fact that robots (and ants) have limited visibility and compare the sensor models in groups of three robots. In the final step we define layouts of a highway: an unbounded open space, a trail with surpassable edges and a hard defined (walled) highway. Having defined the preliminaries we run swarm simulations and look for emerging traffic patterns. Apparently, depending on the initial situation a variety of lane patterns occurs, however, high traffic densities do delay the emergence of traffic lanes considerably. Overall we conclude that regularities do emerge naturally and can be turned into an advantage to obtain efficient robot traffic

Robot swarming applications

This paper discusses the different modes of operation of a swarm of robots: (i) non-communicative swarming, (ii) communicative swarming, (iii) networking, (iv) olfactory-based navigation and (v) assistive swarming. I briefly present the state of the art in swarming and outline the major techniques applied for each mode of operation and discuss the related problems and expected results