How to load series matrix file into SeSAMe or minfi for processing?

Question

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I'm using R. I'd like to:

1. load up a series matrix file i downloaded onto a library like SeSAMe or minfi
2. Do some basic optimization on them like beta value analysis, noob normalization
3. Export the files on my computer as csv or some other common data file type to import into python and do machine learning with it

If you could:

1. Explain how to load up a Series Matrix file onto one of those libraries for analysis or normalization
2. explain how to export the Series Matrix file as a csv or some other data type to load them onto python for predictions

Or link to some resources, it'd be of great help.

Thanks.