Evolution of Neural Networks for Helicopter Control: Why Modularity Matters

The problem of the automatic development of controllers for vehicles for which the exact characteristics are not known is considered in the context of miniature helicopter flocking. A methodology is proposed in which neural network based controllers are evolved in a simulation using a dynamic model qualitatively similar to the physical helicopter. Several network architectures and evolutionary sequences are investigated, and two approaches are found that can evolve very competitive controllers. The division of the neural network into modules and of the task into incremental steps seems to be a precondition for success, and we analyse why this might be so

αβ T cell receptor germline CDR regions moderate contact with MHC ligands and regulate peptide cross-reactivity

αβ T cells respond to peptide epitopes presented by major histocompatibility complex (MHC) molecules. The role of T cell receptor (TCR) germline complementarity determining regions (CDR1 and 2) in MHC restriction is not well understood. Here, we examine T cell development, MHC restriction and antigen recognition where germline CDR loop structure has been modified by multiple glycine/alanine substitutions. Surprisingly, loss of germline structure increases TCR engagement with MHC ligands leading to excessive loss of immature thymocytes. MHC restriction is, however, strictly maintained. The peripheral T cell repertoire is affected similarly, exhibiting elevated cross-reactivity to foreign peptides. Our findings are consistent with germline TCR structure optimising T cell cross-reactivity and immunity by moderating engagement with MHC ligands. This strategy may operate alongside co-receptor imposed MHC restriction, freeing germline TCR structure to adopt this novel role in the TCR-MHC interface

How preference change induced by mere action versus inaction persists over time

Understanding how sustainable preference change can be achieved is of both scientific and practical importance. Recent work shows that merely responding or not responding to objects during go/no-go training can influence preferences for these objects right after the training, when people choose with a time limit. Here we examined whether and how such immediate preference change in fast choices can affect choices without time limit one week later. In two preregistered experiments, participants responded to go food items and withheld responses toward no-go food items during a go/no-go training. Immediately after the training, they made consumption choices for half of the items (with a time limit in Experiment 1; without time limit in Experiment 2). One week later, participants chose again (without time limit in both experiments). Half of the choices had been presented immediately after the training (repeated choices), while the other half had not (new choices). Participants preferred go over no-go items both immediately after the training and one week later. Furthermore, the effect was observed for both repeated and new choices after one week, revealing a direct effect of mere (non)responses on preferences one week later. Exploratory analyses revealed that the effect after one week is related to the memory of stimulus-response contingencies immediately after the training, and this memory is impaired by making choices. These findings show mere action versus inaction can directly induce preference change that lasts for at least one week, and memory of stimulus-response contingencies may play a crucial role in this effect

Polymorphisms in the methylenetetrahydrofolate reductase (MTHFR) gene, intakes of folate and related B vitamins and colorectal cancer : a case-control study in a population with relatively low folate intake

Peer reviewedPublisher PD

Comparison of Back-Thinned Detector Ultraviolet Quantum Efficiency for Two Commercially Available Passivation Treatments

Back-thinned silicon detectors offer a high response over a very broad spectrum for direct detection by providing an efficient optical path into the sensing silicon avoiding front face structures manufactured from metal, polysilicon, nitrides, and oxides that may absorb the incident light before reaching the sensing silicon. We have tested two CCDs with different back-surface shallow p+ implant thicknesses (basic and enhanced) at the M4 line (wavelength between 40 and 400 nm) at Physikalisch-Technische Bundesanstalt (PTB)’s Metrology Light Source in Berlin. This characterization in the ultraviolet spectral range extends the soft X-ray quantum efficiency (QE) data set previously acquired with the exact same devices. Due to the short absorption depth and the scope for many types of interactions of the device materials with ultraviolet photons, QE measurement and stability of the device against extended exposure in the UV are of ongoing interest. Therefore, QE measurements have been carried out before and after exposures to quantify any change in behavior. To allow characterization of the passivation processes only, the devices have no antireflection coating. The measured QE of the standard back-thinned CCD is below 10% between 70 and 370 nm. An average additional 5% efficiency is achieved in the enhanced device within the same range. At the limits of the measured spectrum, toward soft X-rays or toward the visible range, the QE increases and the difference between the standard and the enhanced process is reduced as the photon absorption length increases beyond the immediate back-surface. The measured QE after long high-flux exposures at 200 nm shows remarkable improvement

Measurement and optimization of clock-induced charge in electron multiplying charge-coupled devices

Electron multiplying charge-coupled devices (EMCCDs) are a variant of standard CCD technology capable of single-optical photon counting at MHz pixel readout rates. For photon counting, thermal dark signal and clock-induced charge (CIC) are the dominant source of noise and must be minimized to reduce the likelihood of coincident events. Thermal dark signal is reduced to low levels through cooling or operation in inverted mode (pinning). However, mitigation of CIC requires precise tuning of both parallel and serial clock waveforms. Here, we present a detailed study of CIC within Teledyne-e2v EMCCDs with a goal of better understanding the physical mechanisms that dominate CIC production in both noninverted and inverted mode operations (IMO). Measurements are presented as a function of parallel and serial clock timings, clock amplitudes, and device temperature. The effects of radiation damage and annealing are also discussed. A widely accepted view is that CIC is signal generated through impact ionization of energetic holes as the clock phase is driven high. While this explanation holds for IMO, we propose that the majority of CIC generated in noninverted mode is in fact due to a secondary effect of light emission from hot carriers. The information from this study is then used to optimize CIC on Teledyne e2v CCD201s operating at 1-MHz pixel rate in NIMO. For the CCD201, we obtained total CIC levels as low as 6.9  ×  10  −  4  e  −    /  pix  /  frame with ≥90  %   detective quantum efficiency. We conclude with proposals to further reduce CIC based upon modifications to clocking schemes and device architecture

CLASH: Weak-Lensing Shear-and-Magnification Analysis of 20 Galaxy Clusters

We present a joint shear-and-magnification weak-lensing analysis of a sample of 16 X-ray-regular and 4 high-magnification galaxy clusters at 0.19<z<0.69 selected from the Cluster Lensing And Supernova survey with Hubble (CLASH). Our analysis uses wide-field multi-color imaging, taken primarily with Suprime-Cam on the Subaru Telescope. From a stacked shear-only analysis of the X-ray-selected subsample, we detect the ensemble-averaged lensing signal with a total signal-to-noise ratio of ~25 in the radial range of 200 to 3500kpc/h. The stacked tangential-shear signal is well described by a family of standard density profiles predicted for dark-matter-dominated halos in gravitational equilibrium, namely the Navarro-Frenk-White (NFW), truncated variants of NFW, and Einasto models. For the NFW model, we measure a mean concentration of $c_{200c}=4.01^{+0.35}_{-0.32}$ at $M_{200c}=1.34^{+0.10}_{-0.09} 10^{15}M_{\odot}$. We show this is in excellent agreement with Lambda cold-dark-matter (LCDM) predictions when the CLASH X-ray selection function and projection effects are taken into account. The best-fit Einasto shape parameter is $\alpha_E=0.191^{+0.071}_{-0.068}$, which is consistent with the NFW-equivalent Einasto parameter of $\sim 0.18$. We reconstruct projected mass density profiles of all CLASH clusters from a joint likelihood analysis of shear-and-magnification data, and measure cluster masses at several characteristic radii. We also derive an ensemble-averaged total projected mass profile of the X-ray-selected subsample by stacking their individual mass profiles. The stacked total mass profile, constrained by the shear+magnification data, is shown to be consistent with our shear-based halo-model predictions including the effects of surrounding large-scale structure as a two-halo term, establishing further consistency in the context of the LCDM model.Comment: Accepted by ApJ on 11 August 2014. Textual changes to improve clarity (e.g., Sec.3.2.2 "Number-count Depletion", Sec.4.3 "Shape Measurement", Sec.4.4 "Background Galaxy Selection"). Results and conclusions remain unchanged. For the public release of Subaru data, see http://archive.stsci.edu/prepds/clash

Hubble Space Telescope Combined Strong and Weak Lensing Analysis of the CLASH Sample: Mass and Magnification Models and Systematic Uncertainties

We present results from a comprehensive lensing analysis in HST data, of the complete CLASH cluster sample. We identify new multiple-images previously undiscovered allowing improved or first constraints on the cluster inner mass distributions and profiles. We combine these strong-lensing constraints with weak-lensing shape measurements within the HST FOV to jointly constrain the mass distributions. The analysis is performed in two different common parameterizations (one adopts light-traces-mass for both galaxies and dark matter while the other adopts an analytical, elliptical NFW form for the dark matter), to provide a better assessment of the underlying systematics - which is most important for deep, cluster-lensing surveys, especially when studying magnified high-redshift objects. We find that the typical (median), relative systematic differences throughout the central FOV are $\sim40\%$ in the (dimensionless) mass density, $\kappa$, and $\sim20\%$ in the magnification, $\mu$. We show maps of these differences for each cluster, as well as the mass distributions, critical curves, and 2D integrated mass profiles. For the Einstein radii ($z_{s}=2$) we find that all typically agree within $10\%$ between the two models, and Einstein masses agree, typically, within $\sim15\%$. At larger radii, the total projected, 2D integrated mass profiles of the two models, within r\sim2\arcmin, differ by $\sim30\%$. Stacking the surface-density profiles of the sample from the two methods together, we obtain an average slope of $d\log (\Sigma)/d\log(r)\sim-0.64\pm0.1$, in the radial range [5,350] kpc. Lastly, we also characterize the behavior of the average magnification, surface density, and shear differences between the two models, as a function of both the radius from the center, and the best-fit values of these quantities.Comment: 35 pages (20 main text pages, plus 15 pages for additional figures and tables); 2 Tables, 17 Figures. V3: accepted version; some minor corrections and additions made. V4: corrected several entries in Table 2. All mass models and magnification maps are made publicly available for the communit

Swift Observations of GRB 050603: An afterglow with a steep late time decay slope

We report the results of Swift observations of the Gamma Ray Burst GRB 050603. With a V magnitude V=18.2 about 10 hours after the burst the optical afterglow was the brightest so far detected by Swift and one of the brightest optical afterglows ever seen. The Burst Alert Telescope (BAT) light curves show three fast-rise-exponential-decay spikes with $T_{90}$=12s and a fluence of 7.6$\times 10^{-6}$ ergs cm$^{-2}$ in the 15-150 keV band. With an $E_{\rm \gamma, iso} = 1.26 \times 10^{54}$ ergs it was also one of the most energetic bursts of all times. The Swift spacecraft began observing of the afterglow with the narrow-field instruments about 10 hours after the detection of the burst. The burst was bright enough to be detected by the Swift UV/Optical telescope (UVOT) for almost 3 days and by the X-ray Telescope (XRT) for a week after the burst. The X-ray light curve shows a rapidly fading afterglow with a decay index $\alpha$=1.76$^{+0.15}_{-0.07}$. The X-ray energy spectral index was $\beta_{\rm X}$=0.71\plm0.10 with the column density in agreement with the Galactic value. The spectral analysis does not show an obvious change in the X-ray spectral slope over time. The optical UVOT light curve decays with a slope of $\alpha$=1.8\plm0.2. The steepness and the similarity of the optical and X-ray decay rates suggest that the afterglow was observed after the jet break. We estimate a jet opening angle of about 1-2$^{\circ}$Comment: 14 pages, accepted for publication in Ap