Instability of spatial patterns and its ambiguous impact on species diversity

Self-arrangement of individuals into spatial patterns often accompanies and promotes species diversity in ecological systems. Here, we investigate pattern formation arising from cyclic dominance of three species, operating near a bifurcation point. In its vicinity, an Eckhaus instability occurs, leading to convectively unstable "blurred" patterns. At the bifurcation point, stochastic effects dominate and induce counterintuitive effects on diversity: Large patterns, emerging for medium values of individuals' mobility, lead to rapid species extinction, while small patterns (low mobility) promote diversity, and high mobilities render spatial structures irrelevant. We provide a quantitative analysis of these phenomena, employing a complex Ginzburg-Landau equation.Comment: 4 pages, 3 figures and supplementary information. To appear in Phys. Rev. Lett

Efficient Constellation-Based Map-Merging for Semantic SLAM

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201

Dynamic Light Scattering from Semidilute Actin Solutions: A Study of Hydrodynamic Screening, Filament Bending Stiffness and the Effect of Tropomyosin/Troponin-Binding

Quasi-elastic light scattering (QELS) is applied to investigate the effect of the tropomyosin/troponin complex (Tm/Tn) on the stiffness of actin filaments. The importance of hydrodynamic screening in semidilute solutions is demonstrated. A new concentration dependent expression for the dynamic structure factor $g(\bm k,t)$ of semiflexible polymers in semidilute solutions is used to analyze the experimental QELS data. A concentration independent value for the bending modulus $\kappa$ is thus obtained. It increases by 50\% as a consequence of Tm/Tn binding in a 7:1:1 molar ratio of actin/Tm/Tn. In addition a new expression for the initial slope of the dynamic structure factor of a semiflexible polymer is used to determine the effective hydrodynamic diameter of the actin filament. Our results confirm the general relevance of the concept of (intrinsic) semiflexibility to polymer dynamics.Comment: 9 pages, RevTeX, 9 figures, all uuencoded gzipe

Nonaffine rubber elasticity for stiff polymer networks

We present a theory for the elasticity of cross-linked stiff polymer networks. Stiff polymers, unlike their flexible counterparts, are highly anisotropic elastic objects. Similar to mechanical beams stiff polymers easily deform in bending, while they are much stiffer with respect to tensile forces (``stretching''). Unlike in previous approaches, where network elasticity is derived from the stretching mode, our theory properly accounts for the soft bending response. A self-consistent effective medium approach is used to calculate the macroscopic elastic moduli starting from a microscopic characterization of the deformation field in terms of ``floppy modes'' -- low-energy bending excitations that retain a high degree of non-affinity. The length-scale characterizing the emergent non-affinity is given by the ``fiber length'' $l_f$, defined as the scale over which the polymers remain straight. The calculated scaling properties for the shear modulus are in excellent agreement with the results of recent simulations obtained in two-dimensional model networks. Furthermore, our theory can be applied to rationalize bulk rheological data in reconstituted actin networks.Comment: 12 pages, 10 figures, revised Section II

Stiff Polymers, Foams and Fiber Networks

We study the elasticity of fibrous materials composed of generalized stiff polymers. It is shown that in contrast to cellular foam-like structures affine strain fields are generically unstable. Instead, a subtle interplay between the architecture of the network and the elastic properties of its building blocks leads to intriguing mechanical properties with intermediate asymptotic scaling regimes. We present exhaustive numerical studies based on a finite element method complemented by scaling arguments.Comment: 4 pages, 5 figure

Stochastic Yield Catastrophes and Robustness in Self-Assembly

A guiding principle in self-assembly is that, for high production yield, nucleation of structures must be significantly slower than their growth. However, details of the mechanism that impedes nucleation are broadly considered irrelevant. Here, we analyze self-assembly into finite-sized target structures employing mathematical modeling. We investigate two key scenarios to delay nucleation: (i) by introducing a slow activation step for the assembling constituents and, (ii) by decreasing the dimerization rate. These scenarios have widely different characteristics. While the dimerization scenario exhibits robust behavior, the activation scenario is highly sensitive to demographic fluctuations. These demographic fluctuations ultimately disfavor growth compared to nucleation and can suppress yield completely. The occurrence of this stochastic yield catastrophe does not depend on model details but is generic as soon as number fluctuations between constituents are taken into account. On a broader perspective, our results reveal that stochasticity is an important limiting factor for self-assembly and that the specific implementation of the nucleation process plays a significant role in determining the yield