Motor learning in reaching tasks leads to homogenization of task space error distribution

A human arm, up to the wrist, is often modelled as a redundant 7 degree-of-freedom serial robot. Despite its inherent nonlinearity, we can perform point-to-point reaching tasks reasonably fast and with reasonable accuracy in the presence of external disturbances and noise. In this work, we take a closer look at the task space error during point-to-point reaching tasks and learning during an external force-field perturbation. From experiments and quantitative data, we confirm a directional dependence of the peak task space error with certain directions showing larger errors than others at the start of a force-field perturbation, and the larger errors are reduced with repeated trials implying learning. The analysis of the experimental data further shows that a) the distribution of the peak error is made more uniform across directions with trials and the error magnitude and distribution approaches the value when no perturbation is applied, b) the redundancy present in the human arm is used more in the direction of the larger error, and c) homogenization of the error distribution is not seen when the reaching task is performed with the non-dominant hand. The results support the hypothesis that not only magnitude of task space error, but the directional dependence is reduced during motor learning and the workspace is homogenized possibly to increase the control efficiency and accuracy in point-to-point reaching tasks. The results also imply that redundancy in the arm is used to homogenize the workspace, and additionally since the bio-mechanically similar dominant and non-dominant arms show different behaviours, the homogenizing is actively done in the central nervous system.

Focusing light into scattering media with ultrasound-induced field perturbation

Focusing light into scattering media, although challenging, is highly desirable in many realms. With the invention of time-reversed ultrasonically encoded (TRUE) optical focusing, acousto-optic modulation was demonstrated as a promising guidestar mechanism for achieving noninvasive and addressable optical focusing into scattering media. Here, we report a new ultrasound-assisted technique, ultrasound-induced field perturbation optical focusing, abbreviated as UFP. Unlike in conventional TRUE optical focusing, where only the weak frequency-shifted first-order diffracted photons due to acousto-optic modulation are useful, here UFP leverages the brighter zeroth-order photons diffracted by an ultrasonic guidestar as information carriers to guide optical focusing. We find that the zeroth-order diffracted photons, although not frequency-shifted, do have a field perturbation caused by the existence of the ultrasonic guidestar. By detecting and time-reversing the differential field of the frequency-unshifted photons when the ultrasound is alternately ON and OFF, we can focus light to the position where the field perturbation occurs inside the scattering medium. We demonstrate here that UFP optical focusing has superior performance to conventional TRUE optical focusing, which benefits from the more intense zeroth-order photons. We further show that UFP optical focusing can be easily and flexibly developed into double-shot realization or even single-shot realization, which is desirable for high-speed wavefront shaping. This new method upsets conventional thinking on the utility of an ultrasonic guidestar and broadens the horizon of light control in scattering media. We hope that it provides a more efficient and flexible mechanism for implementing ultrasound-guided wavefront shaping.

Massive scalar field perturbation on Kerr black holes in dynamical Chern–Simons gravity

We study massive scalar field perturbation on Kerr black holes in dynamical Chern–Simons gravity by performing a $$(2+1)$$ ( 2 + 1 ) -dimensional simulation. Object pictures of the wave dynamics in time domain are obtained. The tachyonic instability is found to always occur for any nonzero black hole spin and any scalar field mass as long as the coupling constant exceeds a critical value. The presence of the mass term suppresses or even quench the instability. The quantitative dependence of the onset of the tachyonic instability on the coupling constant, the scalar field mass and the black hole spin is given numerically.