A Bayesian Model of Sensory Adaptation

Recent studies reported two opposite types of adaptation in temporal perception. Here, we propose a Bayesian model of sensory adaptation that exhibits both types of adaptation. We regard adaptation as the adaptive updating of estimations of time-evolving variables, which determine the mean value of the likelihood function and that of the prior distribution in a Bayesian model of temporal perception. On the basis of certain assumptions, we can analytically determine the mean behavior in our model and identify the parameters that determine the type of adaptation that actually occurs. The results of our model suggest that we can control the type of adaptation by controlling the statistical properties of the stimuli presented

A deep active inference model of the rubber-hand illusion

Understanding how perception and action deal with sensorimotor conflicts, such as the rubber-hand illusion (RHI), is essential to understand how the body adapts to uncertain situations. Recent results in humans have shown that the RHI not only produces a change in the perceived arm location, but also causes involuntary forces. Here, we describe a deep active inference agent in a virtual environment, which we subjected to the RHI, that is able to account for these results. We show that our model, which deals with visual high-dimensional inputs, produces similar perceptual and force patterns to those found in humans.Comment: 8 pages, 3 figures, Accepted in 1st International Workshop on Active Inference, in Conjunction with European Conference of Machine Learning 2020. The final authenticated publication is available online at https://doi.org/10.1007/978-3-030-64919-7_1

Robots that can adapt like animals

As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they will become damaged. However, while animals can quickly adapt to a wide variety of injuries, current robots cannot "think outside the box" to find a compensatory behavior when damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. Here we introduce an intelligent trial and error algorithm that allows robots to adapt to damage in less than two minutes, without requiring self-diagnosis or pre-specified contingency plans. Before deployment, a robot exploits a novel algorithm to create a detailed map of the space of high-performing behaviors: This map represents the robot's intuitions about what behaviors it can perform and their value. If the robot is damaged, it uses these intuitions to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a compensatory behavior that works in spite of the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new technique will enable more robust, effective, autonomous robots, and suggests principles that animals may use to adapt to injury

Discovery of a bright radio transient in M82: a new radio supernova?

In this Letter, we report the discovery of a new bright radio transient in M82. Using the Very Large Array, we observed the nuclear region of M82 at several epochs at 22 GHz and detected a new bright radio source in this galaxy's central region. We find a flux density for this flaring source that is ~300 times larger than upper limits determined in previous observations. The flare must have started between 2007 October 29 and 2008 March 24. Over the last year, the flux density of this new source has decreased from ~100 mJy to ~11 mJy. The lightcurve (based on only three data points) can be fitted better with an exponential decay than with a power law. Based on the current data we cannot identify the nature of this transient source. However, a new radio supernova seems to be the most natural explanation. With it's flux density of more than 100 mJy, it is at least 1.5 times brighter than SN1993J in M81 at the peak of its lightcurve at 22 GHz.Comment: accepted Astronomy & Astrophysics, 4 pages, 3 figures, final version & corrected abstract, also available at http://www.mpifr-bonn.mpg.de/staff/abrunthaler/pub.shtm

The balance of power: accretion and feedback in stellar mass black holes

In this review we discuss the population of stellar-mass black holes in our galaxy and beyond, which are the extreme endpoints of massive star evolution. In particular we focus on how we can attempt to balance the available accretion energy with feedback to the environment via radiation, jets and winds, considering also possible contributions to the energy balance from black hole spin and advection. We review quantitatively the methods which are used to estimate these quantities, regardless of the details of the astrophysics close to the black hole. Once these methods have been outlined, we work through an outburst of a black hole X-ray binary system, estimating the flow of mass and energy through the different accretion rates and states. While we focus on feedback from stellar mass black holes in X-ray binary systems, we also consider the applicability of what we have learned to supermassive black holes in active galactic nuclei. As an important control sample we also review the coupling between accretion and feedback in neutron stars, and show that it is very similar to that observed in black holes, which strongly constrains how much of the astrophysics of feedback can be unique to black holes.Comment: To be published in Haardt et al. Astrophysical Black Holes. Lecture Notes in Physics. Springer 201

GW190814 follow-up with the optical telescope MeerLICHT

The Advanced LIGO and Virgo gravitational wave observatories detected a signal on 2019 August 14 during their third observing run, named GW190814. A large number of electromagnetic facilities conducted follow-up campaigns in the search for a possible counterpart to the gravitational wave event, which was made especially promising given the early source classification of a neutron star-black hole merger.We present the results of the GW follow-up campaign taken with the wide-field optical telescope MeerLICHT, located at the South African Astronomical Observatory Sutherland site. We use our results to constrain possible kilonova models. MeerLICHT observed more than 95% of the probability localisation each night for over a week in three optical bands (u,q,i) with our initial observations beginning almost 2 hours after the GW detection. We describe the search for new transients in MeerLICHT data and investigate how our limiting magnitudes can be used to constrain an AT2017gfo-like kilonova. A single new transient was found in our analysis of MeerLICHT data, which we exclude from being the electromagnetic counterpart to GW190814 due to the existence of a spatially unresolved source at the transient's coordinates in archival data. Using our limiting magnitudes, the confidence with which we can exclude the presence of an AT2017gfo-like kilonova at the distance of GW190814 was low ($<10^{-4}$).Comment: 19 pages, 6 figures, accepted by A&

Radio emission and jets from microquasars

To some extent, all Galactic binary systems hosting a compact object are potential `microquasars', so much as all galactic nuclei may have been quasars, once upon a time. The necessary ingredients for a compact object of stellar mass to qualify as a microquasar seem to be: accretion, rotation and magnetic field. The presence of a black hole may help, but is not strictly required, since neutron star X-ray binaries and dwarf novae can be powerful jet sources as well. The above issues are broadly discussed throughout this Chapter, with a a rather trivial question in mind: why do we care? In other words: are jets a negligible phenomenon in terms of accretion power, or do they contribute significantly to dissipating gravitational potential energy? How do they influence their surroundings? The latter point is especially relevant in a broader context, as there is mounting evidence that outflows powered by super-massive black holes in external galaxies may play a crucial role in regulating the evolution of cosmic structures. Microquasars can also be thought of as a form of quasars for the impatient: what makes them appealing, despite their low number statistics with respect to quasars, are the fast variability time-scales. In the first approximation, the physics of the jet-accretion coupling in the innermost regions should be set by the mass/size of the accretor: stellar mass objects vary on 10^5-10^8 times shorter time-scales, making it possible to study variable accretion modes and related ejection phenomena over average Ph.D. time-scales. [Abridged]Comment: 28 pages, 13 figures, To appear in Belloni, T. (ed.): The Jet Paradigm - From Microquasars to Quasars, Lect. Notes Phys. 794 (2009

Spectro-timing analysis of Cygnus X-1 during a fast state transition

We present the analysis of two long, quasi-uninterrupted RXTE observations of Cygnus X-1 that span several days within a 10 d interval. The spectral characteristics during this observation cover the region where previous observations have shown the source to be most dynamic. Despite that the source behavior on time scales of hours and days is remarkably similar to that on year time scales. This includes a variety of spectral/temporal correlations that previously had only been observed over Cyg X-1's long-term evolution. Furthermore, we observe a full transition from a hard to a soft spectral state that occurs within less than 2.5 hours - shorter than previously reported for any other similar Cyg X-1 transition. We describe the spectra with a phenomenological model dominated by a broken power law, and we fit the X-ray variability power spectra with a combination of a cutoff power law and Lorentzian components. The spectral and timing properties are correlated: the power spectrum Lorentzian components have an energy-dependent amplitude, and their peak frequencies increase with photon spectral index. Averaged over 3.2-10 Hz, the time lag between the variability in the 4.5-5.7 keV and 9.5-15 keV bands increases with decreasing hardness when the variability is dominated by the Lorentzian components during the hard state. The lag is small when there is a large power law noise contribution, shortly after the transition to the soft state. Interestingly, the soft state not only shows the shortest lags, but also the longest lags when the spectrum is at its softest and faintest. We discuss our results in terms of emission models for black hole binaries.Comment: 13 pages, 15 figures, accepted for publication in Astronomy and Astrophysic

States and transitions in black-hole binaries

With the availability of the large database of black-hole transients from the Rossi X-Ray Timing Explorer, the observed phenomenology has become very complex. The original classification of the properties of these systems in a series of static states sorted by mass accretion rate proved not to be able to encompass the new picture. I outline here a summary of the current situation and show that a coherent picture emerges when simple properties such as X-ray spectral hardness and fractional variability are considered. In particular, fast transition in the properties of the fast time variability appear to be crucial to describe the evolution of black-hole transients. Based on this picture, I present a state-classification which takes into account the observed transitions. I show that, in addition to transients systems, other black-hole binaries and Active Galactic Nuclei can be interpreted within this framework. The association between these states and the physics of the accretion flow around black holes will be possible only through modeling of the full time evolution of galactic transient systems.Comment: 30 pages, 11 figures, To appear in Belloni, T. (ed.): The Jet Paradigm - From Microquasars to Quasars, Lect. Notes Phys. 794 (2009

Bayesian Integration and Non-Linear Feedback Control in a Full-Body Motor Task

A large number of experiments have asked to what degree human reaching movements can be understood as being close to optimal in a statistical sense. However, little is known about whether these principles are relevant for other classes of movements. Here we analyzed movement in a task that is similar to surfing or snowboarding. Human subjects stand on a force plate that measures their center of pressure. This center of pressure affects the acceleration of a cursor that is displayed in a noisy fashion (as a cloud of dots) on a projection screen while the subject is incentivized to keep the cursor close to a fixed position. We find that salient aspects of observed behavior are well-described by optimal control models where a Bayesian estimation model (Kalman filter) is combined with an optimal controller (either a Linear-Quadratic-Regulator or Bang-bang controller). We find evidence that subjects integrate information over time taking into account uncertainty. However, behavior in this continuous steering task appears to be a highly non-linear function of the visual feedback. While the nervous system appears to implement Bayes-like mechanisms for a full-body, dynamic task, it may additionally take into account the specific costs and constraints of the task