Massachusetts Institute of Technology

About: Massachusetts Institute of Technology is a education organization based out in Cambridge, Massachusetts, United States. It is known for research contribution in the topics: Population & Laser. The organization has 116795 authors who have published 268000 publications receiving 18272025 citations. The organization is also known as: MIT & M.I.T..

Sampling-based algorithms for optimal motion planning

Abstract: During the last decade, sampling-based path planning algorithms, such as probabilistic roadmaps (PRM) and rapidly exploring random trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g. as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g. showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e. such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.

DNA targeting specificity of RNA-guided Cas9 nucleases

Abstract: The Streptococcus pyogenes Cas9 (SpCas9) nuclease can be efficiently targeted to genomic loci by means of single-guide RNAs (sgRNAs) to enable genome editing. Here, we characterize SpCas9 targeting specificity in human cells to inform the selection of target sites and avoid off-target effects. Our study evaluates >700 guide RNA variants and SpCas9-induced indel mutation levels at >100 predicted genomic off-target loci in 293T and 293FT cells. We find that SpCas9 tolerates mismatches between guide RNA and target DNA at different positions in a sequence-dependent manner, sensitive to the number, position and distribution of mismatches. We also show that SpCas9-mediated cleavage is unaffected by DNA methylation and that the dosage of SpCas9 and sgRNA can be titrated to minimize off-target modification. To facilitate mammalian genome engineering applications, we provide a web-based software tool to guide the selection and validation of target sequences as well as off-target analyses.

Mammalian microRNAs predominantly act to decrease target mRNA levels

Abstract: MicroRNAs (miRNAs) are endogenous approximately 22-nucleotide RNAs that mediate important gene-regulatory events by pairing to the mRNAs of protein-coding genes to direct their repression. Repression of these regulatory targets leads to decreased translational efficiency and/or decreased mRNA levels, but the relative contributions of these two outcomes have been largely unknown, particularly for endogenous targets expressed at low-to-moderate levels. Here, we use ribosome profiling to measure the overall effects on protein production and compare these to simultaneously measured effects on mRNA levels. For both ectopic and endogenous miRNA regulatory interactions, lowered mRNA levels account for most (>/=84%) of the decreased protein production. These results show that changes in mRNA levels closely reflect the impact of miRNAs on gene expression and indicate that destabilization of target mRNAs is the predominant reason for reduced protein output.

A Simplification of the Hartree-Fock Method

Abstract: It is shown that the Hartree-Fock equations can be regarded as ordinary Schr\"odinger equations for the motion of electrons, each electron moving in a slightly different potential field, which is computed by electrostatics from all the charges of the system, positive and negative, corrected by the removal of an exchange charge, equal in magnitude to one electron, surrounding the electron whose motion is being investigated By forming a weighted mean of the exchange charges, weighted and averaged over the various electronic wave functions at a given point of space, we set up an average potential field in which we can consider all of the electrons to move, thus leading to a great simplification of the Hartree-Fock method, and bringing it into agreement with the usual band picture of solids, in which all electron are assumed to move in the same field We can further replace the average exchange charge by the corresponding value which we should have in a free-electron gas whose local density is equal to the density of actual charge at the position in question; this results in a very simple expression for the average potential field, which still behaves qualitatively like that of the Hartree-Fock method This simplified field is being applied to problems in atomic structure, with satisfactory results, and is adapted as well to problems of molecules and solids