The cost of sex revisited: effects of male gamete output of hermaphrodites that are asexual in their female capacity

The genetic cost of sexual reproduction has been attributed to two causes in mathematical formulations: male function or genome dilution. We develop and analyse a genetic model that shows that both costs occur, depending upon the conditions. The model differs from previous formulations in that the level of output and fertilization success of male gametes produced by hermaphrodites that are asexual in their female function (henceforth "parthenogenetic hermaphrodites") are treated as variables, rather than constants fixed at 0 or 1, as has previously been the case. By expressing the cost of sex in terms of per capita egg loss of sexual individuals and parthenogenetic hermaphrodites, we partition the cost into components due to male function and genome dilution. Which component dominates the cost of sex depends upon the relative male gamete output of the parthenogenetic hermaphrodites. The cost of sex is observed to increase, or remain unchanged in some marginal cases, with increases in (i) frequency of parthenogenetic hermaphrodites, (ii) fertilization success of male gametes produced by parthenogenetic hermaphrodites and (iii) potential eggs lost by diverting resources to male gamete production. In certain situations, parthenogenetic hermaphrodites with an intermediate level of male gamete output have the greatest fitness advantage over sexual individuals. If heritable variation for levels of male gamete output exists among parthenogenetic hermaphrodites, this raises the possibility of the evolution of optimal levels of male gamete production by parthenogenetic hermaphrodites through natural selection, in situations of recurring invasion of asexual populations by propagules from sexual populations, a scenario that is increasingly being appreciated as potentially fairly likely to occur in nature.     

Optimizing functionally graded nickel–zirconia coating profiles for thermal stress relaxation

The investigations on optimization of composite composition of nickel–zirconia for the functionally graded layered thermal barrier coating for the lowest but uniform stress field under thermal loading is presented. The procedure for obtaining temperature- and composition-dependent thermal and mechanical properties of various coating compositions is discussed. These material parameters were used in thermo-mechanical finite element stress analyses of a nickel substrate with the coating. The results showed that the Von-Mises stresses in the substrate and the interfaces were the lowest with the coating profile that followed a concave power law relationship with the index n ≈ 2.65.     

Non-Parametric Mixture Model Based Evolution of Level Sets and Application to Medical Images

We present a novel region-based curve evolution algorithm which has three primary contributions: (i) non-parametric estimation of probability distributions using the recently developed NP windows method; (ii) an inequality-constrained least squares method to model the image histogram with a mixture of nonparametric probability distributions; and (iii) accommodation of the partial volume effect, which is primarily due to low resolution images, and which often poses a significant challenge in medical image analysis (our primary application area). We first approximate the image intensity histogram as a mixture of non-parametric probability density functions (PDFs), justifying its use with respect to medical image analysis. The individual densities in the mixture are estimated using the recent NP windows PDF estimation method, which builds a continuous representation of discrete signals. A Bayesian framework is then formulated in which likelihood probabilities are given by the non-parametric PDFs and prior probabilities are calculated using an inequality constrained least squares method. The non-parametric PDFs are then learnt and the segmentation solution is spatially regularised using a level sets framework. The log ratio of the posterior probabilities is used to drive the level set evolution. As background to our approach, we recall related developments in level set methods. Results are presented for a set of synthetic and natural images as well as simulated and real medical images of various anatomical organs. Results on a range of images show the effectiveness of the proposed algorithm.     

A Biologically-Inspired Micro Aerial Vehicle

This paper introduces a novel framework for the design, modeling and control of a Micro Aerial Vehicle (MAV). The vehicle’s conceptual design is based on biologically-inspired principles and emulates a dragonfly (Odonata–Anisoptera). We have taken inspiration from the flight mechanism features of the dragonfly and have developed indigenous designs in creating a novel version of a Flapping Wing MAV (FWMAV). The MAV design incorporates a complex mechanical construction and a sophisticated multi-layered, hybrid, linear/non-linear controller to achieve extended flight times and improved agility compared to other rotary wing and FWMAV Vertical Take Off and Landing (VTOL) designs. The first MAV prototype will have a ballpark weight including sensor payload of around 30 g. The targeted lifting capability is about twice the weight. The MAV features state of the art sensing and instrumentation payload, which includes integrated high-power on-board processors, 6DoF inertial sensors, 3DoF compasses, GPS, embedded camera and long-range telemetry capability. A 3-layer control mechanism has been developed to harness the dynamics and attain complete navigational control of the MAV. The inner-layer is composed of a ‘quad hybrid-energy controller’ and two higher layers are at present, implementing a linear controller; the latter will be replaced eventually with a dynamic adaptive non-linear controller. The advantages of the proposed design compared to other similar ones include higher energy efficiency and extended flight endurance. The design features elastic storage and re-use of propulsion energy favoring energy conservation during flight. The design/modeling of the MAV and its kinematics & dynamics have been tested under simulation to achieve desired performance. The potential applications for such a high endurance vehicle are numerous, including air-deployable mass surveillance and reconnaissance in cluster and swarm formations. The efficacy of the design is demonstrated through a simulation environment. The dynamics are verified through simulations and a general linear controller coupled with an energy based non-linear controller is shown to operate the vehicle in a stable regime. In accordance with specified objectives a prototype is being developed for flight-testing and demonstration purposes.     

A Unified Variational Volume Registration Method Based on Automatically Learned Brain Structures

We introduce a new volumetric registration technique that effectively combines active surfaces with the finite element method. The method simultaneously aligns multi-label automatic structural segmentation results, which can be obtained by the application of existing segmentation software, to produce an anatomically accurate 3D registration. This registration is obtained by the minimization of a single energy functional. Just like registering raw images, obtaining a 3D registration this way still requires solving a fundamentally ill-posed problem. We explain through academic examples as well as an MRI dataset with manual anatomical labels, which are hidden from the registration method, how the quality of a registration method can be measured and the advantages our approach offers.     

Decision-theoretic planning with generalized first-order decision diagrams

Many tasks in AI require representation and manipulation of complex functions. First-Order Decision Diagrams (FODD) are a compact knowledge representation expressing functions over relational structures. They represent numerical functions that, when constrained to the Boolean range, use only existential quantification. Previous work has developed a set of operations for composition and for removing redundancies in FODDs, thus keeping them compact, and showed how to successfully employ FODDs for solving large-scale stochastic planning problems through the formalism of relational Markov decision processes (RMDP). In this paper, we introduce several new ideas enhancing the applicability of FODDs. More specifically, we first introduce Generalized FODDs (GFODD) and composition operations for them, generalizing FODDs to arbitrary quantification. Second, we develop a novel approach for reducing (G)FODDs using model checking. This yields – for the first time – a reduction that maximally reduces the diagram for the FODD case and provides a sound reduction procedure for GFODDs. Finally we show how GFODDs can be used in principle to solve RMDPs with arbitrary quantification, and develop a complete solution for the case where the reward function is specified using an arbitrary number of existential quantifiers followed by an arbitrary number of universal quantifiers.     

A Linear Variational System for Modelling From Curves

We present a linear system for modelling 3D surfaces from curves. Our system offers better performance, stability and precision in control than previous non‐linear systems. By exploring the direct relationship between a standard higher‐order Laplacian editing framework and Hermite spline curves, we introduce a new form of Cauchy constraint that makes our system easy to both implement and control. We introduce novel workflows that simplify the construction of 3D models from sketches. We show how to convert existing 3D meshes into our curve‐based representation for subsequent editing and modelling, allowing our technique to be applied to a wide range of existing 3D content.     

Effective visualization of complex vascular structures using a non-parametric vessel detection method

The effective visualization of vascular structures is critical for diagnosis, surgical planning as well as treatment evaluation. In recent work, we have developed an algorithm for vessel detection that examines the intensity profile around each voxel in an angiographic image and determines the likelihood that any given voxel belongs to a vessel; we term this the "vesselness coefficient" of the voxel. Our results show that our algorithm works particularly well for visualizing branch points in vessels. Compared to standard Hessian based techniques, which are fine-tuned to identify long cylindrical structures, our technique identifies branches and connections with other vessels. Using our computed vesselness coefficient, we explore a set of techniques for visualizing vasculature. Visualizing vessels is particularly challenging because not only is their position in space important for clinicians but it is also important to be able to resolve their spatial relationship. We applied visualization techniques that provide shape cues as well as depth cues to allow the viewer to differentiate between vessels that are closer from those that are farther. We use our computed vesselness coefficient to effectively visualize vasculature in both clinical neurovascular x-ray computed tomography based angiography images, as well as images from three different animal studies. We conducted a formal user evaluation of our visualization techniques with the help of radiologists, surgeons, and other expert users. Results indicate that experts preferred distance color blending and tone shading for conveying depth over standard visualization techniques.     

Common-input models for multiple neural spike-train data

Recent developments in multi-electrode recordings enable the simultaneous measurement of the spiking activity of many neurons. Analysis of such multineuronal data is one of the key challenge in computational neuroscience today. In this work, we develop a multivariate point-process model in which the observed activity of a network of neurons depends on three terms: (1) the experimentally-controlled stimulus; (2) the spiking history of the observed neurons; and (3) a hidden term that corresponds, for example, to common input from an unobserved population of neurons that is presynaptic to two or more cells in the observed population. We consider two models for the network firing-rates, one of which is computationally and analytically tractable but can lead to unrealistically high firing-rates, while the other with reasonable firing-rates imposes a greater computational burden. We develop an expectation-maximization algorithm for fitting the parameters of both the models. For the analytically tractable model the expectation step is based on a continuous-time implementation of the extended Kalman smoother, and the maximization step involves two concave maximization problems which may be solved in parallel. The other model that we consider necessitates the use of Monte Carlo methods for the expectation as well as maximization step. We discuss the trade-off involved in choosing between the two models and the associated methods. The techniques developed allow us to solve a variety of inference problems in a straightforward, computationally efficient fashion; for example, we may use the model to predict network activity given an arbitrary stimulus, infer a neuron's ring rate given the stimulus and the activity of the other observed neurons, and perform optimal stimulus decoding and prediction. We present several detailed simulation studies which explore the strengths and limitations of our approach.     

Texture-based feature tracking for effective time-varying data visualization

Analyzing, visualizing, and illustrating changes within time-varying volumetric data is challenging due to the dynamic changes occurring between timesteps. The changes and variations in computational fluid dynamic volumes and atmospheric 3D datasets do not follow any particular transformation. Features within the data move at different speeds and directions making the tracking and visualization of these features a difficult task. We introduce a texture-based feature tracking technique to overcome some of the current limitations found in the illustration and visualization of dynamic changes within time-varying volumetric data. Our texture-based technique tracks various features individually and then uses the tracked objects to better visualize structural changes. We show the effectiveness of our texture-based tracking technique with both synthetic and real world time-varying data. Furthermore, we highlight the specific visualization, annotation, registration, and feature isolation benefits of our technique. For instance, we show how our texture-based tracking can lead to insightful visualizations of time-varying data. Such visualizations, more than traditional visualization techniques, can assist domain scientists to explore and understand dynamic changes.