Function HUpsix transforms vector u as follows 
 
 \[
 HUpsix(u)= \left\{
    \begin{array}{cc}
  u^2                            &  \mbox{if  }  |u/c| \leq 1 \\
  c \times \mbox{sign}(u) u      &  |u/c|>1   \\
 \end{array}
    \right.
  \]
 See equation (2.38) p. 29 of Maronna et al. (2006)
 Remark: Tukey's biweight  psi-function is almost linear around u = 0 in accordance with
 Winsor's principle that all distributions are normal in the middle.
 
 This means that  \psi (u)/u is approximately constant over the linear region of \psi,
 so the points in that region tend to get equal weight.