The circular SiZer, inferred persistence of shape parameters and application to early stem cell differentiation

We generalize the SiZer of Chaudhuri and Marron (J. Amer. Statist. Assoc. 94 (1999) 807-823, Ann. Statist. 28 (2000) 408-428) for the detection of shape parameters of densities on the real line to the case of circular data. It turns out that only the wrapped Gaussian kernel gives a symmetric, strongly Lipschitz semi-group satisfying "circular" causality, that is, not introducing possibly artificial modes with increasing levels of smoothing. Some notable differences between Euclidean and circular scale space theory are highlighted. Based on this, we provide an asymptotic theory to make inference about the persistence of shape features. The resulting circular mode persistence diagram is applied to the analysis of early mechanically-induced differentiation in adult human stem cells from their actin-myosin filament structure. As a consequence, the circular SiZer based on the wrapped Gaussian kernel (WiZer) allows the verification at a controlled error level of the observation reported by Zemel et al. (Nat. Phys. 6 (2010) 468-473): Within early stem cell differentiation, polarizations of stem cells exhibit preferred directions in three different micro-environments.Comment: Published at http://dx.doi.org/10.3150/15-BEJ722 in the Bernoulli (http://isi.cbs.nl/bernoulli/) by the International Statistical Institute/Bernoulli Society (http://isi.cbs.nl/BS/bshome.htm

Shear thickening in densely packed suspensions of spheres and rods confined to few layers

We investigate confined shear thickening suspensions for which the sample thickness is comparable to the particle dimensions. Rheometry measurements are presented for densely packed suspensions of spheres and rods with aspect ratios 6 and 9. By varying the suspension thickness in the direction of the shear gradient at constant shear rate, we find pronounced oscillations in the stress. These oscillations become stronger as the gap size is decreased, and the stress is minimized when the sample thickness becomes commensurate with an integer number of particle layers. Despite this confinement-induced effect, viscosity curves show shear thickening that retains bulk behavior down to samples as thin as two particle diameters for spheres, below which the suspension is jammed. Rods exhibit similar behavior commensurate with the particle width, but they show additional effects when the thickness is reduced below about a particle length as they are forced to align; the stress increases for decreasing gap size at fixed shear rate while the shear thickening regime gradually transitions to a Newtonian scaling regime. This weakening of shear thickening as an ordered configuration is approached contrasts with the strengthening of shear thickening when the packing fraction is increased in the disordered bulk limit, despite the fact that both types of confinement eventually lead to jamming.Comment: 21 pages, 14 figures. submitted to the Journal of Rheolog

Frequency-Aware Model Predictive Control

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on the real system. Model errors can be a result of model simplifications, but also naturally arise when deploying the robot in unstructured and nondeterministic environments. Predominantly, compliant contacts and actuator dynamics lead to bandwidth limitations. While classical control methods provide tools to synthesize controllers that are robust to a class of model errors, such a notion is missing in modern trajectory optimization, which is solved in the time domain. We propose frequency-shaped cost functions to achieve robust solutions in the context of optimal control for legged robots. Through simulation and hardware experiments we show that motion plans can be made compatible with bandwidth limits set by actuators and contact dynamics. The smoothness of the model predictive solutions can be continuously tuned without compromising the feasibility of the problem. Experiments with the quadrupedal robot ANYmal, which is driven by highly-compliant series elastic actuators, showed significantly improved tracking performance of the planned motion, torque, and force trajectories and enabled the machine to walk robustly on terrain with unmodeled compliance