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Professor Miomir Vukobratović passed away on March 11, 2012 at the age of 81. However, his achievements in robotics will remain with us always.
Miomir Vukobratović was born in 1931. He graduated in 1957 from the Faculty of Mechanical Engineering, University of Belgrade, where he also obtained his first PhD in 1964. In January 1958 he joined the Aeronautical Institute in Belgrade. At the beginning of 1965 he moved to the Mihajlo Pupin Institute in Belgrade, where he became director of the Robotics Laboratory. In 1980, he became professor at the Production Engineering Department of the Faculty of Mechanical Engineering, University of Belgrade.
Meetings are a rich resource of information that, in practice, is mostly untouched by any form of information processing. Even now it is rare that meetings are recorded, and fewer are then annotated for access purposes. Examples of the latter only include meetings held in parliaments, courts, hospitals, banks, etc., where a record is required for reasons of decision tracking or legal obligations. In these cases a labor-intensive manual transcription of the spoken words is produced. Giving much wider access to the rich content is the main aim of the AMI consortium projects, and there are now many examples of interest in that access – through the release of commercial hardware and software services. Especially with the advent of high-quality telephone and videoconferencing systems the opportunity to record, process, recognize, and categorize the interactions in meetings is recognized even by skeptics of speech and language processing technology.
Of course meetings are an audio-visual experience by nature and humans make extensive use of visual and other sensory information. To illustrate the rich landscape of information is the purpose of this book and many applications can be implemented even without looking at the spoken word. However, it is still verbal communication that forms the backbone of most meetings, and accounts for the bulk of the information transferred between participants. Hence automatic speech recognition (ASR) is key to access the information exchanged and is the most important part required for most higher level processing.
SMS language presents special phenomena and important deviations from natural language. Every day, an impressive amount of chat messages, SMS messages, and e-mails are sent all over the world. This widespread use makes important the development of systems that normalize SMS language into natural language. However, typical machine translation approaches are difficult to adapt to SMS language because of many irregularities that are shown by this kind of language. This paper presents a new approach for SMS normalization that combines lexical and phonological translation techniques with disambiguation algorithms at two different levels: lexical and semantic. The method proposed does not depend on big annotated corpus, which is difficult to build and is applied in two different domains showing its easiness of adaptation across different languages and domains. The results obtained by the system outperform some of the existing methods of SMS normalization despite the fact that the Spanish language and the corpus created have some features that complicate the normalization task.
I fell in love with RNA in one of my first jobs as an undergraduate.
(Joan Steitz, quoted by Sedwick, 2011)
Methods of gene prediction
We saw in the previous chapter how prediction of CpG islands may be used to
identify transcription start sites of protein-coding genes. However, there are
many other elements and statistical properties of such genes that we may exploit
for gene finding.
What are the methods available for computational gene finding? In general, one
may distinguish between two major categories: de novo or
ab initio methods and homology-based
methods. The de novo methods make use of statistical signals in
DNA sequences that are characteristic of protein-coding genes; the
homology-based methods rely on the identification of exons by matching known
mRNA or protein sequences or even profile HMMs to a genomic sequence. The
homology-based methods are powerful but they require that mRNA or protein
sequence information is available. Here we will focus on the de
novo type of gene finding. What are the signals characteristic of
proteincoding genes?
At some point a particularly remarkable molecule was formed by accident. We will call it the Replicator. It may not have been the biggest or the most complex molecule around, but it had the extraordinary property of being able to create copies of itself.
(Richard Dawkins, 1989)
The RNA world
So far this book has focused on proteins and the genes that encode them. The human genome encodes some 21000 different proteins and the vast majority of them are important. On the other hand, there is a whole range of RNAs transcribed from the human genome that do not code for proteins, but have other functions. We refer to these RNAs as non-coding RNAs (ncRNAs). In fact, a major portion of the human genome is transcribed, although only about 1.5% of it corresponds to coding regions. We still do not know the function of many of these RNAs, but there are a large number of ncRNA families that have been characterized. Classic examples are tRNAs and ribosomal RNAs, which are part of the translation machinery. A set of U RNAs are involved in splicing (Chapter 16) and there are catalytically important RNA molecules of the RNA-processing enzymes RNases P and MRP. A vital and highly populated class of ncRNA is the RNAs involved in gene silencing as described in Chapter 3.
Meeting support technology evaluation can broadly be considered to be in three categories, which will be discussed in sequence in this chapter, in terms of goals, methods, and outcomes, following a brief introduction on methodology and undertakings prior to the AMI Consortium (Section 13.1). Evaluation efforts can be technology-centric, focused on determining how specific systems or interfaces performed in the tasks for which they were designed (Section 13.2). Evaluations can also adopt a task-centric view, defining common reference tasks such as fact finding or verification, which directly support cross-comparisons of different systems and interfaces (Section 13.3). Finally, the user-centric approach evaluates meeting support technology in its real context of use, measuring the increase in efficiency and user satisfaction that it brings (Section 13.4).
These aspects of evaluation differ from the component evaluation that accompanies each of the underlying technologies described in Chapters 3 to 10, which is often a black-box evaluation based on reference data and distance metrics (although task-centric approaches have been adopted for summarization evaluation, as shown in Chapter 10). Rather, the evaluation of meeting support technology is a stage in a complex software development process for which the helix model was proposed in Chapter 11. We think back on this process in the light of evaluation undertakings, especially for meeting browsers, at the end of this chapter (Section 13.5).
Approaches to evaluation: methods, experiments, campaigns
The evaluation of meeting browsers, as pieces of software, should be related (at least in theory) to a precise view of the specifications they answer.
This book has two parts: the first summarizes the facts of coding and information theory which are needed to understand the essence of estimation and statistics, and the second describes a new theory of estimation, which also covers a good part of statistics as well. After all, both estimation and statistics are about extracting information from the often chaotic looking data in order to learn what it is that makes the data behave the way they do. The first part together with an outline of the algorithmic information in Appendix A is meant for the statistician who wants to understand his or her discipline rather than just learn a bag of tricks with programs to apply them to various data, tricks that are not based on any theory and do not stand a critical examination although some of them can be quite useful, providing solutions for important statistical problems.
The word information has many meanings, two of which have been formalized by Shannon. The first is fundamental in communication as just the number of messages, strings of symbols, either to be stored or to be sent over some communication channel, the practical question being the size of the storage device needed or the time it takes to send them. The second meaning is the measure of the strength of the statistical property a string has, which is fundamental in statistics, and very different from that in communication.
Great fleas have little fleas upon their backs to bite ’em,
And little fleas have lesser fleas, and so ad infinitum.
(Augustus De Morgan, 1806–1871)
For this chapter, as well as Chapters 12 and 13, we turn to the important
genomics and bioinformatics problem of identifying biological function based on
nucleotide and amino acid sequences.
Assigning function based on sequence similarity
A common problem in molecular biology is that you are faced with a gene or a gene
product and you have no clue from experimental studies as to its function. In
this context a critical contribution of bioinformatics is to attribute the
sequence of a gene or a gene product a function. As one example, a genome
sequencing project may give rise to tens of thousands of predicted protein
sequences. In such a case we want to assign as many of these as possible a
biological function using computational tools. In this manner we avoid many
laborious wetlab experiments. In addition to genome sequencing projects, there
are other more specialized situations where we want to find functions of genes.
For instance, we could identify genes as being related to a specific genetic
trait or disease, or a set of genes as being expressed under certain
conditions.
A number of computational tools are available to predict a biological function
associated with a protein sequence. In this chapter we will see an example in
which we assign a function to a protein based on sequence similarity. Consider
the human gene encoding the protein BRCA1, originally sequenced in 1994 (Miki
et al., 1994). It was found to be related in sequence to a
yeast protein RAD9. This yeast protein is involved in cell cycle control. This
observation gave scientists a hint about possible roles of the BRCA1 gene. We
see here an example of inferring a function based on a homology relationship to
a protein that has already been functionally characterized. We will see yet
another example of this situation in this chapter, where we will make use of
BLAST to identify a homology relationship. We already encountered BLAST in the
context of the BCR–ABL fusion protein in Chapter 7.
From 1878 to 1896, 3482 Tiger skins were despatched from [a tannery] to
London where they were made into waistcoats.
(Norman Laird, article in The Mercury, 7 October 1968;
cited in (Owen, 2003)
This chapter will deal further with phylogenetic analysis. We will introduce
methods in addition to those of neighbour-joining and we will use a Perl script
to examine taxonomy data. For these topics we will take a closer look at an
extinct animal, the Tasmanian tiger.
Extinction
The Tasmanian tiger was not, in fact, a tiger; it was a dog-like marsupial
animal. Thylacine is the more adequate scientific name. In the
early twentieth century it existed only in Tasmania, and even there it was very
scarce. A farmer named Wilf Batty lived in the Mawbanna district of northeastern
Tasmania. On 13 May 1930 he spotted a thylacine attempting to break into his
chicken coop. Batty had observed the thylacine around his house for weeks, and
this day he took his rifle and shot the animal. As it happened, this was the
last wild thylacine to be killed. Another specimen, most likely a female, was
captured in 1933 and kept at the Hobart Zoo in Tasmania. She died on 7 September
1936, apparently as a result of neglect. The animal was kept outdoors and was
not allowed access to her den, despite difficult temperatures. Ironically, the
death took place only two months after the thylacine species was given full
legal protection by the Tasmanian government. There are sightings of the
thylacine reported after 1936, but none of these are well documented and we
unfortunately need to regard the thylacine as being extinct.
The first versions of the human genome sequence were presented in 2001 (Lander et al., 2001; Venter et al., 2001). They resulted from projects highly demanding in terms of resources and financing. The publicly funded sequencing project was supported by a $3 billion grant allocated to the Human Genome Project, and Craig Venter's project is reported to have cost $300 million. Since 2001, however, DNA sequencing technology has been made much more effective (Metzker, 2010) and the cost of sequencing a human genome has dropped dramatically. Now, in 2012, it is less than $5000 and is expected to become even less expensive. Furthermore, a human genome is now being sequenced in less than one week. Current DNA sequencing machines are able to produce gigabytes of data every day, and large sequencing centres are able to produce data at an unprecedented rate. For instance, the Beijing Genomics Institute (BGI) in Hong Kong is reported to have, as of December 2010, a total sequencing capacity of an astounding five terabases (5 × 1012, equivalent to 1000 human genomes) per day.
I have a long lasting interest in estimation, which started with attempts to control industrial processes. It did not take long to realize that the control part is easy if you knew the behavior of the process you want to control, which meant that the real problem is estimation. When I was asked by the Information Theory Society to give the 2009 Shannon Lecture I thought of giving a coherent survey of estimation theory. However, during the year given to prepare the talk I found that it was not possible, because there was no coherent theory of estimation. There was a collection of facts and results but they were isolated with little to connect them. To my surprise this applied even to the works of some of the greatest names in statistics, such as Fisher, Cramér, and Rao, which I had been familiar with for decades, but which I had never questioned until now that I was more or less forced to do so. As an example, the famous maximum likelihood estimator due to Fisher [12] had virtually no formal justification. The celebrated Cramér-Rao inequality gives it a non-asymptotic justification only for special models and for more general parametric models only an asymptotic justification. Clearly, no workable theory should be founded on asymptotic behavior. About the value of asymptotics, we quote Keynes' famous quip that “asymptotically we all shall be dead.”
When I come to the laboratory of my father, I usually see some plates lying on the tables. These plates contain colonies of bacteria. These colonies remind me of a city with many inhabitants. In each bacterium there is a king. He is very long, but skinny. The king has many servants. These are thick and short, almost like balls. My father calls the king DNA, and the servants enzymes…My father has discovered a servant who serves as a pair of scissors. If a foreign king invades a bacterium, this servant can cut him in small fragments, but he does not do any harm to his own king…
(Silvia, daughter of Werner Arber and ten years old at the time of the quote. From The Tale of the King and his Servants; Lindsten and Nobelstiftelsen, 1992)
In the last 30 years we have seen a dramatic development in molecular biology research. Genetic information has been mapped in great detail for many different living organisms. We are able to examine gene expression, biochemical reactions and molecular interactions within the cell in a manner that was quite impossible 50 years ago. This basic research has had a great impact on many areas, including medicine and biotechnology. For instance, molecular details of many diseases such as cancer have been worked out, making new methods of diagnosis and therapy possible. In addition, pharmaceutically important proteins such as insulin may be produced in high yield. In the world of plants, crops have been genetically modified to achieve increased crop yields and resistance to insects, or to make them produce specific substances in large quantities.
In the two previous chapters we dealt with problems of assigning function to proteins or protein domains. We concerned ourselves with methods relying on sequence similarity, i.e. methods based on local alignment or profiles. We will now see an example of a functional domain which is not easily identified on the basis of sequence similarity or with profiles. It has specific properties as it has a characteristic amino acid composition and functional properties based on that composition. However, the properties of the domain may not be captured on the basis of sequence alignment or by position-specific information. The domain in question is characteristic of a group of proteins referred to as mucins (Perez-Vilar and Hill, 1999; Hollingsworth and Swanson, 2004).
A characteristic property of all mucins is the ability to form gels. Mucins are a major component of the mucous layer that is present on the surface of epithelial cells of the lung and intestine. The proteins act as a diffusion barrier to prevent harmful microorganisms and substances having more intimate contact with the cell. Mucins also function as lubricants to protect epithelial cells from dehydration and physical and chemical injury. Because mucins protect against pathogens, they play an important role in immune defence. In addition, certain mucins are associated with colon cancer (Hollingsworth and Swanson, 2004) and there is a strong association between the mucin Muc2 and the inflammatory bowel disease ulcerative colitis. For example, inflammation of the large intestine similar to ulcerative colitis is observed in mice that are deficient in the mucin Muc2 (Heazlewood et al., 2008).
Restriction enzymes, one of many tools of the molecular biology toolbox, were
introduced in the previous chapter. The present chapter is devoted to another
important method designed to examine the function of specific genes.
Interfering with gene expression
In order to study the biological function of a gene, the molecular biologist
needs methods that allow alteration of that gene – for example, an
alteration that reduces the production of the protein specified by the gene. The
behaviour of a normal cell may then be compared to a cell where the gene of
interest has been manipulated, thereby allowing a conclusion regarding the
function of the gene of interest. In the yeast Saccharomyces
cerevisiae, for instance, there are methods that allow the complete
removal of genes (such a removal is often referred to as a gene
knock-out). If, for instance, the yeast gene named PSY3 is removed or
inactivated, it gives rise to an increased level of mutations. This observation
suggests to us that this particular gene is related to the repair of DNA
damage.
For studies of human genes, you may want to examine a species more closely
related to man than is yeast. You can delete or inactivate genes in mammals such
as mice, but this is more technically involved than in yeast. On the other hand,
there are other methods that make possible a reduction in gene expression in
animals. One such important method involves RNA interference
(RNAi) (also known as RNA silencing). In
one common type of experiment, an mRNA is inactivated by the introduction of a
small synthetic RNA which is complementary to the mRNA. In the bioinformatics
example below we will see how we can design a small RNA for such an experiment.
RNAi is an example of a gene knock-down method, as the
expression of the target gene is reduced (compared to the gene knock-out, where
a specific gene is completely removed or inactivated).
Elucidation of the human genome sequence was a significant milestone in the life sciences (Lander et al., 2001; Venter et al., 2001; International Human Genome Sequencing Consortium, 2004). However, with access to this information an obvious but entirely non-trivial problem was encountered. What does all the genetic information in the form of some three billion bases represent in biological terms? One important category of information is the sequences that specify genes, i.e. regions that give rise to mRNAs that in turn encode specific protein molecules. Not only proteins are specified by the genome; also a large number of RNAs are transcribed from DNA that do not give rise to mRNA, but have other functions. (These are non-coding RNAs and will be discussed in Chapter 17.) In the next three chapters we will deal with the computational problems of finding proteins and non-coding RNA genes, starting out with a genomic sequence.
When it comes to the protein-coding genes of a mammalian genome, only a very small fraction, about 1.5–2%, of the genome codes for protein. For these genomes we are faced with the problem of identifying relatively small and scattered coding regions in a vast sea of non-coding material. There is a striking difference in this respect between mammals and a bacterium like Escherichia coli, whose genome contains as much as 83% of coding sequence. In the next chapter the focus will be on prediction of exon regions of protein-coding genes. Here we will address another sub-problem of finding protein-coding genes. We will see how a simple prediction of regions known as CpG islands will help us to locate sites in the genome that are close to the transcription start sites of genes.