Publications
My published scientific work spans numerous domains. So at first glance, it might seem disjoint or disparate.
But this is actually incorrect—all of my work here is part of the same ongoing project, or process,
as fundamental connections exist therein.
As I stand upon the shoulders of giants and wield the methods of science and mathematics,
my intent is to continue to develop, explore, and strengthen my work, and related work, as we blast towards a transcendant goal:
onwards to unification my friends!
A scientist's work is never complete. A warrior never surrenders.
Update [June 2026]:
"Late night hobby mode" continues! I just finished co-authoring an exciting paper in a joint collaboration with
Quantum Gravity Research (QGR).
To prepare for journal submission, I also just finished version 4 of my TQF radial dual triangular lattice graph paper.
So many ideas, so many applications, so much compute, and yet so little time! More to come! 🤣 ☕
Radial Dual Lattice Graphs via Admissible Inversion: Exact Folding Operators for Eisenstein, Hurwitz, and E8 Lattices —
A Clifford-Algebraic Cl(8) Formulation
Status: Preprint V1, preparing for a journal submission
May 26, 2026
Nathan O. Schmidt, Klee Irwin, and Natasha Urakhchina
In this collaboration with Quantum Gravity Research,
we take the Tri-Quarter Framework—originally a 2D method for folding a flat triangular grid in on
itself via circular inversion with perfect, lossless precision—and launch it up into the higher dimensions with hyperspherical inversion, all the way to the
legendary E8 lattice in 8D, one of the most elegant and symmetric structures in all of mathematics.
The core idea is a kind of mathematical origami: a reversible “inversion”
that folds far-away points in these vast lattices back into a small, tidy region and unfolds them again
without ever losing a speck of information—no rounding, no approximations, just exact arithmetic.
Because the boundary sphere is a perfect mirror, every one of the infinitely many points in the
sprawling outer region gets a unique “twin” inside the finite inner zone—so an endless lattice
is faithfully encoded into a small, bounded space, with nothing duplicated and nothing lost.
That exactness is the whole point, because E8 and its 8D cousins sit at the heart of
cutting-edge physics models for quasicrystals and quantum gravity, where the sheer number of
points to track explodes so fast that direct computation becomes hopeless. By folding that explosion down
to size, our method runs these calculations 83,000 to 260,000 times faster than the standard exact
approach—and the bigger the problem, the bigger the advantage. As a bonus, the same fold neatly reveals
a famous 4D shape (the 600-cell) nested inside E8 and scaled by the golden ratio, which is a satisfying
hint that this structure was hiding there all along. Onwards to unification! 🚀 😎

The Tri-Quarter Framework: Radial Dual Triangular Lattice Graphs with
Exact Bijective Dualities and Equivariant Encodings via
the Inversive Hexagonal Dihedral Symmetry Group 𝕋24
Status: Preprint V4, preparing for a journal submission
June 10, 2026
Nathan O. Schmidt
This is the original Tri-Quarter Framework in its full 2D form: a way of taking a flat,
endlessly repeating triangular grid and giving it a rich set of perfectly reversible symmetries—
rotations, mirror reflections, and a circular “inside-out” inversion that swaps the region inside
a circle with the region outside it—all computed with exact arithmetic, no approximations or floating-point hassles. Every one
of these moves can be undone without losing a shred of information, which is what lets the framework fold,
mirror, and reorganize the grid with total precision. The engine driving it all is a 24-element collection
of symmetries I call 𝕋24, and here's the part I find genuinely delightful: this
hand-built collection turns out to be a famous structure that crystallographers and mathematicians have
studied for over a century—the hexagonal symmetry group that describes how honeycombs, snowflakes, and
many real crystals are organized. So rather than inventing something exotic and isolated, the framework
plugs straight into a deep, well-understood body of classical mathematics, with everything ever proven
about that structure coming along for free. And the payoff is practical, because the grid splits cleanly
into six interlocking color groups that never interfere with each other, so the work can be spread
across modern parallel hardware like a graphics card, and on an ordinary gaming laptop the symmetry-aware
version runs the calculations a median of roughly 8× faster than a standard single-core
approach—an advantage that only grows as the problem gets bigger. It's a foundation for fast, exact,
symmetry-aware computing, with applications spanning geometry, graph algorithms, tiling, clustering, and
parallel computation. BOOM SHAKALAKA! 🏀

Tri-Quarter Framework Case Study: BPSK Signal Processing
Status: Being reviewed at a journal
July 4, 2025
Nathan O. Schmidt
Every time your phone, a satellite, or a smart device sends data, it's really sending a stream of
1s and 0s encoded as a wave—and the receiver has to correctly read each bit even when the signal
is buried in noise. This case study takes the Tri-Quarter Framework and puts it to work
on exactly that problem, for a common encoding scheme called BPSK. The clever part is that our approach
is “model-free”: it doesn't need to be told in advance what kind of noise it's dealing with.
Most standard decoders are tuned for one specific flavor of noise—the gentle, bell-curve
“static” that engineers usually assume—and they perform beautifully there but fall apart when the
interference gets spiky and unpredictable, the kind you actually get in a crowded city, a factory floor,
or out at sea. Our method uses simple sign-and-distance rules to decode signals on the fly, and in
100,000 simulated trials it holds its own against the textbook techniques in calm conditions while
dramatically outperforming them when the noise turns nasty—all while staying cheap enough to run
in just a handful of CPU cycles. The upshot: a versatile, robust decoder for the messy real-world
environments—urban cellular, industrial sensors, ocean buoys, naval comms—where the usual assumptions
break down, with a clear path to extend it to richer encodings down the road.

The Tri-Quarter Framework: Unifying Complex Coordinates with Topological and Reflective Duality
across Circles of Any Radius
Status: Being reviewed at a journal
June 13, 2025
Nathan O. Schmidt
This is the founding paper of the Tri-Quarter Framework, where the core idea first took shape. That
idea is deceptively simple: take an ordinary circle drawn on a flat plane and give it a job. Normally a
circle is just a passive boundary, but here it becomes an active divider that cleanly separates
“inside” from “outside” and keeps track of which direction every point is facing. To do this, we
attach extra directional labels (called phase pairs) to every point and unify the three coordinate
systems mathematicians normally juggle separately—rectangular, polar, and complex—into one coherent
picture. We then prove two elegant duality theorems: one showing the circle perfectly partitions
space into matched inner and outer regions, and a second—named after the artist M.C. Escher—showing
a mirror-like “inside-out” flip that swaps those regions while preserving all the directional
information. Beyond its geometric elegance, the framework is practical: in a worked example, it cuts the
number of decision-checks a computer must perform from up to seven down to four, a tidy efficiency win.
It's a fresh lens for analyzing anything with circular symmetry—from black hole physics to signal
processing—and it laid the conceptual groundwork that every later Tri-Quarter Framework paper builds upon.

Interferometric Detection of Gravitational Waves: How can a Wild Roam Through Mindless Mathematical
Laws Really be a Trek Towards the Goal of Unification?
FQXi • Wandering Towards a Goal Essay Contest 2016-2017
March 6, 2017
Christian Corda Reza Katebi Nathan O. Schmidt
In 2015, humanity directly detected gravitational waves for the first time—ripples in the
fabric of spacetime itself, set off by two black holes colliding over a billion light-years away. This
essay, written for the FQXi “Wandering Towards a Goal” contest, steps back to ask a bigger
question: how did we get there? The detection wasn't just a triumph of incredible engineering—it rested
on a full century of theoretical work by scientists who, in their own time, were wandering through
abstract mathematics with no guarantee any of it would ever connect to reality. We explore that wandering
and argue that this seemingly aimless roaming through “mindless mathematical laws” is in fact how
real progress toward the grand goal of unifying physics tends to happen—a reflection on the strange,
winding path from pure idea to world-changing discovery.
Latin Squares and Their Applications to Cryptography
Boise State University Theses and Dissertations
Number 1223
December 1, 2016
Nathan O. Schmidt
A Latin square is the mathematical idea hiding inside every Sudoku puzzle: a grid where each
symbol appears exactly once in every row and every column. They look like a game, but they quietly encode
the structure of deep algebraic objects—and that makes them valuable raw material for building
cryptographic systems that keep data secure. This thesis digs into a hard, still-unsolved question
about special diagonal patterns within these grids (called transversals), surveys what's known, and
builds software tools to generate Latin squares and count those patterns. The centerpiece is a new
algorithm I designed that snaps small prime-sized Latin squares together like building blocks to
construct larger “super-symmetric” ones, letting me predict their transversal counts with
accuracy. As a capstone, I use one of these structures to build a simplified version of Grøstl,
a real cryptographic hash function—showing how this puzzle-like mathematics reaches all the way to
modern data security.

Confusion in Cosmology and Gravitation
International Journal of Theoretical Physics
Volume 55 • Number 10 • Page 4331
June 13, 2016
Christian Corda Reza Katebi Nathan O. Schmidt
Science advances not only by proposing new ideas but by carefully checking and correcting claims
that don't hold up—and that's exactly what this paper does. A group of researchers had published a
series of bold assertions: that Einstein's general relativity is wrong and that the
Universe isn't actually expanding. Those are extraordinary claims, and we examine them rigorously. We show that
they stem from misunderstandings of basic concepts in gravitation and cosmology, that neither claim is
actually demonstrated, and that the alternative “iso-gravitation” theory being proposed conflicts
with well-established physics like the Equivalence Principle. Even the one idea with some surface
appeal—an alternative explanation for the cosmic redshift—falls apart on the numbers, coming out about
a million times too weak to account for what we observe. It's a careful defense of well-tested
physics against overreaching claims.

A Brief Note on the Magnecule Order Parameter Upgrade Hypothesis
AIP Conference Proceedings: 2014 ICNAAM at Rhodes, Greece
Volume 1648 • Issue 1 • Page 510016
March 10, 2015
Nathan O. Schmidt
This short note proposes a way to sharpen a model of an exotic kind of chemical bond. Beyond the
familiar bonds that hold ordinary molecules together, some theories describe “magnecules”—structures
held together by magnetic effects among their electrons. The idea here is to upgrade that model by
equipping it with extra mathematical bookkeeping (called order parameters) that more precisely
capture how the electrons swirl and align, borrowing tools from the physics of superfluids—those
strange, frictionless states of matter. The payoff of adding this machinery is an
extra degree of freedom : a richer way to describe a magnecule's possible states and how it shifts between them, which
could reveal more about the underlying physics of these unusual bonds and how they might be put to
practical, industrial use. It's an early-stage hypothesis flagged for further investigation.

Launching the Chaotic Realm of Iso-Fractals: A Short Remark
AIP Conference Proceedings: 2014 ICNAAM at Rhodes, Greece
Volume 1648 • Issue 1 • Page 510017
March 10, 2015
Nathan O. Schmidt Reza Katebi Christian Corda
Nature is full of fractals—the endlessly repeating, self-similar patterns you see in coastlines,
snowflakes, ferns, and lightning—and as the saying goes, fractal geometry is the language of chaos. This
short note launches a brand-new twist on them, which we call iso-fractals. The key idea is to take a
classic like the famous Mandelbrot set and give it an adjustable extra dial (an “iso-unit”)
that can be turned continuously or in discrete steps—even driven by famous number sequences like
Fibonacci's—to generate whole families of related fractals that morph and rescale while preserving
their essential structure. Adding this extra degree of freedom makes the resulting toolkit far more
general and flexible than traditional fractals for tackling problems in chaos. It's an early sketch of an
emerging sub-discipline, closing with open questions to chart where it might go next.

Launching the Six-Coloring Baryon-Antibaryon Antisymmetric Iso-Wavefunctions and Iso-Matrices
Hadronic Journal
Volume 37 • Number 5 • Page 503
October 1, 2014
Nathan O. Schmidt
Protons and neutrons are built from quarks, which come in three “colors”—and counting
a particle and its antiparticle together gives six. This paper builds on an earlier quark-confinement
proof and reworks it using Santilli's iso-mathematics, an alternative mathematical framework. The
setup places a matched particle-antiparticle pair on a six-colored honeycomb-like lattice and
upgrades the equations that describe them (their wavefunctions and matrices) into “iso” versions
with an extra adjustable ingredient. The early results suggest this richer machinery might offer a cleaner
way to describe how these particles jump between energy states. It's an exploratory proposal flagged for
further scrutiny.
Toward a Topological Iso-String Theory in 4D Iso-Dual Space-Time: Hypothesis and Preliminary Construction
Hadronic Journal
Volume 37 • Number 5 • Page 585
October 1, 2014
Nathan O. Schmidt
This paper sketches an early, speculative version of a string theory—the idea that the universe's
most fundamental objects are tiny vibrating strings rather than point particles. The twist is to build it
using Santilli's iso-mathematics, with a number system designed so that
space and time mirror each other as duals. In the proposal, open strings encode matter particles (fermions) while closed
strings encode force particles (bosons), and the whole construction is meant to capture the twisting,
winding, and spiraling of information structures while respecting the holographic principle. It's
explicitly a hypothesis and preliminary construction—an opening move, offered up for collaboration and
refinement.
Effective Dynamic Iso-Sphere Inopin Holographic Rings: Inquiry and Hypothesis
Algebras, Groups and Geometries
Volume 31 • Number 3 • Page 293
September 1, 2014
Nathan O. Schmidt
Many objects in physics are spherical and change size—expanding, contracting, pulsing. This
paper proposes a generalized mathematical way to track the states of such growing-and-shrinking spheres
using Santilli's iso-mathematics. The central new idea is an “effective iso-radius” that
lets these spheres smoothly transition between states, building toward what the paper calls
“effective dynamic iso-sphere holographic rings.” It poses a direct question—could these
structures find real use in physics and chemistry?—and answers, hypothetically, yes, while explicitly
calling for the rigorous follow-up work needed to test the conjecture.
Protium and Antiprotium in Riemannian Dual 4D Space-Time
Hadronic Journal
Volume 37 • Number 4 • Page 461
August 1, 2014
Nathan O. Schmidt Reza Katebi
Protium is the simplest atom—ordinary hydrogen—and antiprotium is its antimatter mirror image.
This brief paper applies a particular “dual” model of spacetime, paired with a six-colored
structure borrowed from quark physics, to describe both of them together. The encouraging early result is
that the same approach might extend to every chemical element, not just hydrogen. It's a preliminary
proposal, offered up for the scrutiny and refinement that would be needed to develop it further.
Initiating the Effective Unification of Black Hole Horizon Area and Entropy Quantization with Quasi-Normal Modes
Advances in High Energy Physics
Volume 2014 • Article ID 530547
August 1, 2014
Christian Corda Seyed Hossein Hendi Reza Katebi Nathan O. Schmidt
One of the deepest clues toward a theory of quantum gravity is the idea that a black hole's surface
area isn't smooth but comes in tiny discrete steps—like rungs on a ladder. The evidence increasingly
supports this, but physicists don't yet agree on the spacing between the rungs. This paper examines the
key work on that spacing, in both its simpler “strictly thermal” form and a more refined
“non-strictly thermal” version that includes entropy (a measure of a black hole's hidden
information). By showing how a series of corrections connects these previously separate results, it
unifies several earlier advances into one picture, where the black hole's natural “ringing”
vibrations—its quasi-normal modes—mark the transitions between energy levels.
Initiating Santilli's Iso-Mathematics to Triplex Numbers, Fractals, and Inopin's Holographic Ring: Preliminary Assessment and New Lemmas
Hadronic Journal
Volume 37 • Number 3 • Page 303
June 1, 2014
Nathan O. Schmidt Reza Katebi
Mathematicians have long used complex numbers to describe the 2D plane; this paper works with their
3D cousin, the triplex number, and combines it with Santilli's iso-mathematics and a
particular spherical “holographic ring” structure. The goal is foundational: to carefully define
new iso-triplex numbers for doing fractal geometry in this enriched 3D setting, and to state a series
of supporting lemmas (small proven building-block results) that pin the new structures down. It's an
opening assessment, suggesting this encoding might be a versatile tool for attacking a broad range of
problems—while calling for the rigorous collaborative work needed to test and refine it.
Exterior and Interior Dynamic Iso-Sphere Holographic Rings with an Inverse Iso-Duality
Hadronic Journal
Volume 37 • Number 2 • Page 227
April 1, 2014
Nathan O. Schmidt
This paper takes a fixed mathematical sphere and, using Santilli's iso-mathematics, splits it into a
linked pair: one version that magnifies outward and a mirror version that shrinks inward, with
the two locked together as “inverse duals.” A neat feature falls out: a measurement on one (its
size) exactly matches a complementary measurement on the other (its curvature), and vice versa. The
significance is that the inside and outside regions become two faces of the same object—
each can be inferred from the other—hinting at a new mode of geometry worth exploring further. Notably, this
inside-outside duality theme is an early ancestor of ideas that later matured in the Tri-Quarter Framework.
Initiating a Hypothetical Molecular Upgrade to Iso-Electronium with Topological Deformation Order
Parameters for Spontaneous Superfluidic Gauge Symmetry Breaking
April 1, 2014
Nathan O. Schmidt Reza Katebi Christian Corda
When two hydrogen atoms bond into a molecule, one model describes the shared electrons as a combined
object called iso-electronium. This paper proposes a step-by-step upgrade to that model, adding
extra mathematical bookkeeping (order parameters borrowed from the physics of superfluids) to
more precisely capture how the paired electrons swirl, align, and form their bond. As with the related
magnecule work, the payoff is an extra degree of freedom—a richer description of the molecule's
states that could shed light on the underlying physics. It's an early hypothesis, explicitly offered up for
rigorous testing and refinement.
Hawking Radiation — Quasi-Normal Modes Correspondence and Effective States for Nonextremal Reissner-Nordström Black Holes
Advances in High Energy Physics (Black Hole Special Issue)
Volume 2014 • Number 2 • Article ID 527874
February 11, 2014
Christian Corda Seyed Hossein Hendi Reza Katebi Nathan O. Schmidt
Black holes slowly evaporate by emitting Hawking radiation, and they also “ring” like a
struck bell with characteristic vibrations called quasi-normal modes. A deep insight is that these
two phenomena are linked, with the ringing marking the black hole's quantum energy levels. Earlier work
established this for plain and spinning black holes; this paper extends it to electrically charged
ones (the Reissner-Nordström case). That step matters because a charged black hole can absorb or emit a
particle carrying both mass and charge, not just mass—and the analysis shows the ringing modes
still cleanly correspond to quantum levels for both emission and absorption.
The Iso-Dual Tesseract
Algebras, Groups and Geometries
Volume 30 • Number 4 • Page 465
December 1, 2013
Nathan O. Schmidt
A tesseract is the four-dimensional analogue of a cube—a famously hard shape to picture. This
paper offers an unusual route to building one: using Santilli's iso-mathematics, it assembles a
tesseract from two interlocking mirror-image cubes following a set of simple, shape-preserving
instructions. The elegant result is that the whole 4D structure can be
inferred from a single starting cube rather than needing two independent ones, revealing a new geometric link between “inside”
and “outside” dynamical systems—another early echo of the inside-outside duality themes that run
throughout this body of work.
Dynamic Iso-Topic Lifting with Application to Fibonacci's Sequence and Mandelbrot's Set
Hadronic Journal
Volume 36 • Number 4 • Page 167
August 1, 2013
Nathan O. Schmidt
This paper introduces dynamic iso-spaces—mathematical spaces, built with Santilli's
iso-mathematics, that can stretch and rescale according to a changing dial rather than staying
fixed. To make the idea concrete, it works two famous examples: it drives the dial using the
Fibonacci sequence to build a “Fibonacci dynamic iso-space,” and using the
Mandelbrot set to build a “Mandelbrot dynamic iso-space.” Taken together, these
constructions suggest the outlines of a possible new branch of mathematics—an exploratory first step.
Effective State, Hawking Radiation and Quasi-Normal Modes for Kerr Black Holes
Journal of High Energy Physics
Volume 2013 • Number 8
June 4, 2013
Christian Corda Seyed Hossein Hendi Reza Katebi Nathan O. Schmidt
Real black holes spin, and a rotating one is described by the Kerr solution. This paper extends a
key insight to that spinning case: that a black hole's slow Hawking radiation and its bell-like
quasi-normal mode vibrations are naturally linked. We show that for a Kerr black hole, these ringing
modes can be read as quantum energy levels, so that emitting or absorbing a particle becomes a jump
between two levels—and we generalize the notion of the black hole's “effective state” to match.
It's part of a broader program connecting black hole radiation to a discrete, quantum picture of gravity.
Initiating the Newtonian Gravitational n-Body Spherical Simplification Algorithm on the Inopin Holographic Ring Topology
May 1, 2013
Nathan O. Schmidt
Predicting how many objects move under their mutual gravity—the famous n-body problem—gets
brutally hard as the number of bodies grows; even three is notoriously difficult. This paper proposes a
preliminary algorithm that tries to tame the mess by collapsing many bodies down toward a
simpler two-body picture. It works by planting one mass at the origin as a reference point and then
following a recipe to consolidate all the remaining bodies onto a spherical ring structure. Through a
worked step-by-step example, it shows the method yields net “effective” quantities—an
effective energy and motion for the whole system. It's an early, alternative viewpoint aimed at sparking
simpler solutions down the road.
Mandelbrot Iso-Sets: Iso-Unit Impact Assessment
Hadronic Journal
Volume 36 • Number 2 • Page 211
April 1, 2013
Reza Katebi Nathan O. Schmidt
The Mandelbrot set is the iconic, infinitely intricate fractal generated by repeating one simple
equation. This paper explores what happens when you modify that equation using Santilli's
iso-mathematics—swapping in a tweaked form of multiplication controlled by an adjustable
“iso-unit” dial. Turning that dial produces a whole family of Mandelbrot iso-sets, each a
variation on the original that stays connected in one piece but bends and rescales in two distinct ways
(reshaping its overall scale and its boundary). The takeaway is a more general toolkit than the
single classic Mandelbrot set—an early probe into the emerging realm of iso-fractals.
A Complex and Triplex Framework for Encoding the Riemannian Dual Space-Time Topology Equipped with Order Parameter Fields
Hadronic Journal
Volume 35 • Number 6 • Page 671
December 1, 2012
Nathan O. Schmidt
Complex numbers are a powerful tool for describing the 2D plane; this paper builds their
3D counterpart, the triplex number, to extend that power into higher dimensions. The aim is a
clean, easy-to-visualize vector framework for particle and astrophysics that respects the holographic
principle. Using complex and triplex numbers as building blocks, it systematically encodes a “dual”
model of spacetime—where space and time are interconnected—in both 3D and 4D, and equips that
spacetime with extra fields describing how it can deform. It closes with three example applications to
show the framework in action. This triplex-number work is a direct conceptual ancestor of the coordinate
unification that later anchors the Tri-Quarter Framework.
Proof of Quark Confinement and Baryon-Antibaryon Duality: I: Gauge Symmetry Breaking in Dual 4D Fractional Quantum Hall Superfluidic Space-Time
Hadronic Journal
Volume 35 • Number 5 • Page 469
October 1, 2012
Andrej E. Inopin Nathan O. Schmidt
One of the great puzzles of particle physics is quark confinement: why quarks are never found
alone, always locked inside particles like protons. This paper—my collaboration with Andrej Inopin—sets
out a proof of confinement for a matched particle-antiparticle pair, built on a custom, deliberately
easy-to-visualize model of spacetime grounded in experimental data. The construction assembles a
“dual” 4D spacetime, equips it with fields that spontaneously break several symmetries at once,
and uses those to build the particle's quantum description, connecting it to elegant structures like
skyrmions and Higgs-like excitations. The paper argues the framework sharpens the predictions of standard
physics and even nods to M.C. Escher's art as a visual metaphor for its core duality. This is the
ambitious early work from which much of my later research—including the inside-outside duality at the
heart of the Tri-Quarter Framework—ultimately grew.

On the k-Mer Frequency Spectra of Organism Genome and Proteome Sequences with a Preliminary Machine Learning Assessment of Prime Predictability
Boise State University Theses and Dissertations
Number 346
August 1, 2012
Nathan O. Schmidt
DNA and proteins are long sequences spelled out in a small alphabet, and one way to study them is to count
how often every short “word” of a given length (a k-mer) appears—paying special attention
to nullomers, the words that never show up at all. This thesis builds software to extract and
statistically analyze these word-frequency patterns across the genomes and proteomes of ten organisms plus
several bacteria and viruses. It finds that naturally evolved sequences look clearly different from
randomly generated ones. As a second experiment, it trains machine-learning models on 18 months of
genome snapshots to see whether future patterns can be forecast—and finds that, to a modest degree, they
can. It's a blend of bioinformatics, statistics, and early machine learning.
Simulating Mobile Robots for Undergraduate Research
Journal of Computing Sciences in Colleges
Volume 23 • Issue 6 • Page 181
June 1, 2008
Suranga Hettiarachchi Eli Cohen Timothy Willey Nathan O. Schmidt
This early paper—from my undergraduate days—is about using robot simulations as a teaching tool.
The goal was to get undergraduates excited about real scientific research by having them design and program
virtual mobile robots. The novel ingredient is “Physicomimetics”: a control approach where
simulated robots coordinate by acting as if they're governed by artificial physics forces, like
particles attracting and repelling each other. The paper describes the hands-on experience of building such
a simulated robot environment and reflects on how effective it was for drawing students into research.