Dielectric relaxation of DNA aqueous solutions

We report on a detailed characterization of complex dielectric response of Na-DNA aqueous solutions by means of low-frequency dielectric spectroscopy (40 Hz - 110 MHz). Results reveal two broad relaxation modes of strength 20<\Delta\epsilon_LF<100 and 5<\Delta\epsilon_HF<20, centered at 0.5 kHz<\nu_LF<70 kHz and 0.1 MHz<\nu_HF<15 MHz. The characteristic length scale of the LF process, 50<L_LF<750nm, scales with DNA concentration as c_DNA^{-0.29\pm0.04} and is independent of the ionic strength in the low added salt regime. Conversely, the measured length scale of the LF process does not vary with DNA concentration but depends on the ionic strength of the added salt as I_s^{-1} in the high added salt regime. On the other hand, the characteristic length scale of the HF process, 3<L_HF<50 nm, varyes with DNA concentration as c_DNA^{-0.5} for intermediate and large DNA concentrations. At low DNA concentrations and in the low added salt limit the characteristic length scale of the HF process scales as c_DNA^{-0.33}. We put these results in perspective regarding the integrity of the double stranded form of DNA at low salt conditions as well as regarding the role of different types of counterions in different regimes of dielectric dispersion. We argue that the free DNA counterions are primarily active in the HF relaxation, while the condensed counterions play a role only in the LF relaxation. We also suggest theoretical interpretations for all these length scales in the whole regime of DNA and salt concentrations and discuss their ramifications and limitations.Comment: 15 pages, 9 figure

How to Blend a Robot within a Group of Zebrafish: Achieving Social Acceptance through Real-time Calibration of a Multi-level Behavioural Model

We have previously shown how to socially integrate a fish robot into a group of zebrafish thanks to biomimetic behavioural models. The models have to be calibrated on experimental data to present correct behavioural features. This calibration is essential to enhance the social integration of the robot into the group. When calibrated, the behavioural model of fish behaviour is implemented to drive a robot with closed-loop control of social interactions into a group of zebrafish. This approach can be useful to form mixed-groups, and study animal individual and collective behaviour by using biomimetic autonomous robots capable of responding to the animals in long-standing experiments. Here, we show a methodology for continuous real-time calibration and refinement of multi-level behavioural model. The real-time calibration, by an evolutionary algorithm, is based on simulation of the model to correspond to the observed fish behaviour in real-time. The calibrated model is updated on the robot and tested during the experiments. This method allows to cope with changes of dynamics in fish behaviour. Moreover, each fish presents individual behavioural differences. Thus, each trial is done with naive fish groups that display behavioural variability. This real-time calibration methodology can optimise the robot behaviours during the experiments. Our implementation of this methodology runs on three different computers that perform individual tracking, data-analysis, multi-objective evolutionary algorithms, simulation of the fish robot and adaptation of the robot behavioural models, all in real-time.Comment: 9 pages, 3 figure