Coarse-graining and renormalisation group methods for the elucidation of the kinetics of complex nucleation and growth processes

We review our work on generalisations of the Becker-Doring model of cluster-formation as applied to nucleation theory, polymer growth kinetics, and the formation of upramolecular structures in colloidal chemistry. One valuable tool in analysing mathematical models of these systems has been the coarse-graining approximation which enables macroscopic models for observable quantities to be derived from microscopic ones. This permits assumptions about the detailed molecular mechanisms to be tested, and their influence on the large-scale kinetics of surfactant self-assembly to be elucidated. We also summarise our more recent results on Becker-Doring systems, notably demonstrating that cross-inhibition and autocatalysis can destabilise a uniform solution and lead to a competitive environment in which some species flourish at the expense of others, phenomena relevant in models of the origins of life.

Genetic algorithm seeding of idiotypic networks for mobile-robot navigation

Robot-control designers have begun to exploit the properties of the human immune system in order to produce dynamic systems that can adapt to complex, varying, real-world tasks. Jerne’s idiotypic-network theory has proved the most popular artificial-immune-system (AIS) method for incorporation into behaviour-based robotics, since idiotypic selection produces highly adaptive responses. However, previous efforts have mostly focused on evolving the network connections and have often worked with a single, preengineered set of behaviours, limiting variability. This paper describes a method for encoding behaviours as a variable set of attributes, and shows that when the encoding is used with a genetic algorithm (GA), multiple sets of diverse behaviours can develop naturally and rapidly, providing much greater scope for flexible behaviour-selection. The algorithm is tested extensively with a simulated e-puck robot that navigates around a maze by tracking colour. Results show that highly successful behaviour sets can be generated within about 25 minutes, and that much greater diversity can be obtained when multiple autonomous populations are used, rather than a single one.