Ant-inspired sorting by robots: the importance of initial clustering

For engineers the prospect of scalable collective robot systems is very appealing. Such systems typically adopt a decentralized approach in their control and coordination mechanism, which employs local sensing and action as well as limited communication. Under these constraints and informed by research on Temnothorax ants, two puck sorting algorithms were tested in a combination of simulation and with real robots. Both algorithms employed puck density as a cue. Only the overall local density, irrespective of puck type, was found to be required which offers the prospect for a more simple mechanism than had been previously considered. For one algorithm, this density cue was used both for picking up and dropping items and is, therefore, referred to as the ‘double density’ algorithm (DD). In the second algorithm, density was used as a cue only for picking up. Depositing an item was governed by the distance travelled which was specific to the type of item being carried. This was referred to as the ‘single density’ algorithm (SD). Unlike the DD it was found that, for the SD, the clustering of items is a necessary pre-condition for sorting. Results from ant experiments also showed that sorting is carried out in two phases: a primary clustering episode followed by a spacing phase. This strongly suggests that clustering may also be a precondition for spacing in ants

Heparin modifies the immunogenicity of positively charged proteins

The immune response in heparin-induced thrombocytopenia is initiated by and directed to large multimolecular complexes of platelet factor 4 (PF4) and heparin (H). We have previously shown that PF4:H multimolecular complexes assemble through electrostatic interactions and, once formed, are highly immunogenic in vivo. Based on these observations, we hypothesized that other positively charged proteins would exhibit similar biologic interactions with H. To test this hypothesis, we selected 2 unrelated positively charged proteins, protamine (PRT) and lysozyme, and studied H-dependent interactions using in vitro and in vivo techniques. Our studies indicate that PRT/H and lysozyme/H, like PF4/H, show H-dependent binding over a range of H concentrations and that formation of complexes occurs at distinct stoichiometric ratios. We show that protein/H complexes are capable of eliciting high-titer antigen-specific antibodies in a murine immunization model and that PRT/H antibodies occur in patients undergoing cardiopulmonary bypass surgery. Finally, our studies indicate that protein/H complexes, but not uncomplexed protein, directly activate dendritic cells in vitro leading to interleukin-12 release. Taken together, these studies indicate that H significantly alters the biophysical and biologic properties of positively charged compounds through formation of multimolecular complexes that lead to dendritic cell activation and trigger immune responses in vivo