The Cold Dark Matter paradigm successfully explains many phenomena on scales
larger than galaxies, but seems to predict galaxy halos which are more
centrally concentrated and have a lumpier substructure than observed. Endowing
cosmic dark matter with a small primordial velocity dispersion preserves the
successful predictions of the Cold Dark Matter scenario on large scales and
improves the agreement with halo structure. A phase density'' $Q$, proportional to the inverse entropy for nonrelativistic matter, is estimated for relativistically decoupled thermal or degenerate relic particles of mass $m_X$, with a numerical factor depending on the particle type but no cosmological parameters. Since $Q$ cannot increase for dissipationless, collisionless matter, at a given velocity dispersion there is a maximum space density; this phase packing’’ constraint eliminates the singular density
predicted by CDM. The core radius and halo circular velocity scale analogously
to degenerate dwarf stars. Particle velocities also filter primordial
perturbations on a scale depending on and on details of particle
distributions. Particle candidates for warm matter are briefly discussed; for
warm thermal relics to have the observed mass density requires decoupling prior
to the QCD epoch and therefore a superweak interaction with thermal Standard
Model particles.

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