Dimensionality reduction for probabilistic movement primitives

Humans as well as humanoid robots can use a large number of degrees of freedom to solve very complex motor tasks. The high-dimensionality of these motor tasks adds difficulties to the control problem and machine learning algorithms. However, it is well known that the intrinsic dimensionality of many human movements is small in comparison to the number of employed DoFs, and hence, the movements can be represented by a small number of synergies encoding the couplings between DoFs. In this paper, we want to apply Dimensionality Reduction (DR) to a recent movement representation used in robotics, called Probabilistic Movement Primitives (ProMP). While ProMP have been shown to have many benefits, they suffer with the high-dimensionality of a robotic system as the number of parameters of a ProMP scales quadratically with the dimensionality. We use probablistic dimensionality reduction techniques based on expectation maximization to extract the unknown synergies from a given set of demonstrations. The ProMP representation is now estimated in the low-dimensional space of the synergies. We show that our dimensionality reduction is more efficient both for encoding a trajectory from data and for applying Reinforcement Learning with Relative Entropy Policy Search (REPS)

EpiScanpy: integrated single-cell epigenomic analysis

EpiScanpy is a toolkit for the analysis of single-cell epigenomic data, namely single-cell DNA methylation and single-cell ATAC-seq data. To address the modality specific challenges from epigenomics data, epiScanpy quantifies the epigenome using multiple feature space constructions and builds a nearest neighbour graph using epigenomic distance between cells. EpiScanpy makes the many existing scRNA-seq workflows from scanpy available to large-scale single-cell data from other -omics modalities, including methods for common clustering, dimension reduction, cell type identification and trajectory learning techniques, as well as an atlas integration tool for scATAC-seq datasets. The toolkit also features numerous useful downstream functions, such as differential methylation and differential openness calling, mapping epigenomic features of interest to their nearest gene, or constructing gene activity matrices using chromatin openness. We successfully benchmark epiScanpy against other scATAC-seq analysis tools and show its outperformance at discriminating cell types. The authors present epiScanpy: a computational framework for the analysis of single-cell epigenomic data, both ATAC-seq and DNA methylation data, with examples for clustering, cell type identification, trajectory learning and atlas integration - and show its performance in distinguishing cell types

Status and Plans for the Array Control and Data Acquisition System of the Cherenkov Telescope Array

The Cherenkov Telescope Array (CTA) is the next-generation atmospheric Cherenkov gamma-ray observatory. CTA will consist of two installations, one in the northern, and the other in the southern hemisphere, containing tens of telescopes of different sizes. The CTA performance requirements and the inherent complexity associated with the operation, control and monitoring of such a large distributed multi-telescope array leads to new challenges in the field of the gamma-ray astronomy. The ACTL (array control and data acquisition) system will consist of the hardware and software that is necessary to control and monitor the CTA arrays, as well as to time-stamp, read-out, filter and store -at aggregated rates of few GB/s- the scientific data. The ACTL system must be flexible enough to permit the simultaneous automatic operation of multiple sub-arrays of telescopes with a minimum personnel effort on site. One of the challenges of the system is to provide a reliable integration of the control of a large and heterogeneous set of devices. Moreover, the system is required to be ready to adapt the observation schedule, on timescales of a few tens of seconds, to account for changing environmental conditions or to prioritize incoming scientific alerts from time-critical transient phenomena such as gamma ray bursts. This contribution provides a summary of the main design choices and plans for building the ACTL system.Comment: In Proceedings of the 34th International Cosmic Ray Conference (ICRC2015), The Hague, The Netherlands. All CTA contributions at arXiv:1508.0589

The ARIEL Instrument Control Unit design for the M4 Mission Selection Review of the ESA's Cosmic Vision Program

The Atmospheric Remote-sensing Infrared Exoplanet Large-survey mission (ARIEL) is one of the three present candidates for the ESA M4 (the fourth medium mission) launch opportunity. The proposed Payload will perform a large unbiased spectroscopic survey from space concerning the nature of exoplanets atmospheres and their interiors to determine the key factors affecting the formation and evolution of planetary systems. ARIEL will observe a large number (>500) of warm and hot transiting gas giants, Neptunes and super-Earths around a wide range of host star types, targeting planets hotter than 600 K to take advantage of their well-mixed atmospheres. It will exploit primary and secondary transits spectroscopy in the 1.2-8 um spectral range and broad-band photometry in the optical and Near IR (NIR). The main instrument of the ARIEL Payload is the IR Spectrometer (AIRS) providing low-resolution spectroscopy in two IR channels: Channel 0 (CH0) for the 1.95-3.90 um band and Channel 1 (CH1) for the 3.90-7.80 um range. It is located at the intermediate focal plane of the telescope and common optical system and it hosts two IR sensors and two cold front-end electronics (CFEE) for detectors readout, a well defined process calibrated for the selected target brightness and driven by the Payload's Instrument Control Unit (ICU).Comment: Experimental Astronomy, Special Issue on ARIEL, (2017

Design of the instrument and telescope control units integrated subsystem of the ESA-ARIEL payload

The Atmospheric Remote-sensing Infrared Exoplanets Large-survey (ARIEL)1 Mission has been recently selected by ESA as the fourth medium-class Mission (M4) in the framework of the Cosmic Vision Program. The goal of ARIEL is to investigate, thanks to VIS photometry and IR spectroscopy, the atmospheres of several hundreds of planets orbiting nearby stars in order to address the fundamental questions on how planetary systems form and evolve.2 During its four-years mission, ARIEL will observe several hundreds of exoplanets ranging from Jupiter- and Neptune-size down to super-Earth and Earth-size with its 1 meter-class telescope.3 The analysis of spectra and photometric data will allow to extract the chemical fingerprints of gases and condensates in the planets atmospheres, including the elemental composition for the most favorable targets. It will also enable the study of thermal and scattering properties of the atmosphere as the planet orbits around its parent star

Choice of the initial antiretroviral treatment for HIV-positive individuals in the era of integrase inhibitors

BACKGROUND: We aimed to describe the most frequently prescribed initial antiretroviral therapy (ART) regimens in recent years in HIV-positive persons in the Cohort of the Spanish HIV/AIDS Research Network (CoRIS) and to investigate factors associated with the choice of each regimen. METHODS: We analyzed initial ART regimens prescribed in adults participating in CoRIS from 2014 to 2017. Only regimens prescribed in >5% of patients were considered. We used multivariable multinomial regression to estimate Relative Risk Ratios (RRRs) for the association between sociodemographic and clinical characteristics and the choice of the initial regimen. RESULTS: Among 2874 participants, abacavir(ABC)/lamivudine(3TC)/dolutegavir(DTG) was the most frequently prescribed regimen (32.1%), followed by tenofovir disoproxil fumarate (TDF)/emtricitabine (FTC)/elvitegravir(EVG)/cobicistat(COBI) (14.9%), TDF/FTC/rilpivirine (RPV) (14.0%), tenofovir alafenamide (TAF)/FTC/EVG/COBI (13.7%), TDF/FTC+DTG (10.0%), TDF/FTC+darunavir/ritonavir or darunavir/cobicistat (bDRV) (9.8%) and TDF/FTC+raltegravir (RAL) (5.6%). Compared with ABC/3TC/DTG, starting TDF/FTC/RPV was less likely in patients with CD4100.000 copies/mL. TDF/FTC+DTG was more frequent in those with CD4100.000 copies/mL. TDF/FTC+RAL and TDF/FTC+bDRV were also more frequent among patients with CD4<200 cells//muL and with transmission categories other than men who have sex with men. Compared with ABC/3TC/DTG, the prescription of other initial ART regimens decreased from 2014-2015 to 2016-2017 with the exception of TDF/FTC+DTG. Differences in the choice of the initial ART regimen were observed by hospitals' location. CONCLUSIONS: The choice of initial ART regimens is consistent with Spanish guidelines' recommendations, but is also clearly influenced by physician's perception based on patient's clinical and sociodemographic variables and by the prescribing hospital location

The CARMENES search for exoplanets around M dwarfs High-resolution optical and near-infrared spectroscopy of 324 survey stars

The CARMENES radial velocity (RV) survey is observing 324 M dwarfs to search for any orbiting planets. In this paper, we present the survey sample by publishing one CARMENES spectrum for each M dwarf. These spectra cover the wavelength range 520–1710 nm at a resolution of at least R >80 000, and we measure its RV, Hα emission, and projected rotation velocity. We present an atlas of high-resolution M-dwarf spectra and compare the spectra to atmospheric models. To quantify the RV precision that can be achieved in low-mass stars over the CARMENES wavelength range, we analyze our empirical information on the RV precision from more than 6500 observations. We compare our high-resolution M-dwarf spectra to atmospheric models where we determine the spectroscopic RV information content, Q, and signal-to-noise ratio. We find that for all M-type dwarfs, the highest RV precision can be reached in the wavelength range 700–900 nm. Observations at longer wavelengths are equally precise only at the very latest spectral types (M8 and M9). We demonstrate that in this spectroscopic range, the large amount of absorption features compensates for the intrinsic faintness of an M7 star. To reach an RV precision of 1 m s−1 in very low mass M dwarfs at longer wavelengths likely requires the use of a 10 m class telescope. For spectral types M6 and earlier, the combination of a red visual and a near-infrared spectrograph is ideal to search for low-mass planets and to distinguish between planets and stellar variability. At a 4 m class telescope, an instrument like CARMENES has the potential to push the RV precision well below the typical jitter level of 3–4 m s−1