Minimal output sets for identifiability

Ordinary differential equation models in biology often contain a large number of parameters that must be determined from measurements by parameter estimation. For a parameter estimation procedure to be successful, there must be a unique set of parameters that can have produced the measured data. This is not the case if a model is not uniquely structurally identifiable with the given set of outputs selected as measurements. In designing an experiment for the purpose of parameter estimation, given a set of feasible but resource-consuming measurements, it is useful to know which ones must be included in order to obtain an identifiable system, or whether the system is unidentifiable from the feasible measurement set. We have developed an algorithm that, from a user-provided set of variables and parameters or functions of them assumed to be measurable or known, determines all subsets that when used as outputs give a locally structurally identifiable system and are such that any output set for which the system is structurally identifiable must contain at least one of the calculated subsets. The algorithm has been implemented in Mathematica and shown to be feasible and efficient. We have successfully applied it in the analysis of large signalling pathway models from the literature.     

Extensions to a procedure for generating locally identifiable reparameterisations of unidentifiable systems

In this paper extensions to an existing procedure for generating locally identifiable reparameterisations of unidentifiable systems are presented. These extensions further formalise the constructive nature of the methodology and lend themselves to application within symbolic manipulation packages. The extended reparameterisation procedure is described in detail and is illustrated with application to two known non-trivial examples of unidentifiable systems of practical relevance.     

A priori analysis of metabolic flux identifiability from (13)C-labeling data

The (13)C-labeling technique was introduced in the field of metabolic engineering as a tool for determining fluxes that could not be found using the 'classical' method of flux balancing. An a priori flux identifiability analysis is required in order to determine whether a (13)C-labeling experiment allows the identification of all the fluxes. In this article, we propose a method for identifiability analysis that is based on the recently introduced 'cumomer' concept. The method improves upon previous identifiability methods in that it provides a way of systematically reducing the metabolic network on the basis of structural elements that constitute a network and to use the implicit function theorem to analytically determine whether the fluxes in the reduced network are theoretically identifiable for various types of real measurement data. Application of the method to a realistic flux identification problem shows both the potential of the method in yielding new, interesting conclusions regarding the identifiability and its practical limitations that are caused by the fact that symbolic calculations grow fast with the dimension of the studied system.     

The effects of different mesh generation methods on computational fluid dynamic analysis and power loss assessment in total cavopulmonary connection

The flow field and energetic efficiency of total cavopulmonary connection (TCPC) models have been studied by both in vitro experiment and computational fluid dynamics (CFD). All the previous CFD studies have employed the structured mesh generation method to create the TCPC simulation model. In this study, a realistic TCPC model with complete anatomical features was numerically simulated using both structured and unstructured mesh generation methods. The flow fields and energy losses were compared in these two meshes. Two different energy loss calculation methods, the control volume and viscous dissipation methods, were investigated. The energy losses were also compared to the in vitro experimental results. The results demonstrated that: (1) the flow fields in the structured model were qualitatively similar to the unstructured model; (2) more vortices were present in the structured model than in the unstructured model; (3) both models had the least energy loss when flow was equally distributed to the left and right pulmonary arteries, while high losses occurred for extreme pulmonary arterial flow splits; (4) the energy loss results calculated using the same method were significantly different for different meshes; and (5) the energy loss results calculated using different methods were significantly different for the same mesh.     

Estimating trees from filtered data: Identifiability of models for morphological phylogenetics

As an alternative to parsimony analyses, stochastic models have been proposed ( [Lewis, 2001] and [Nylander et al., 2004]) for morphological characters, so that maximum likelihood or Bayesian analyses may be used for phylogenetic inference. A key feature of these models is that they account for ascertainment bias, in that only varying, or parsimony-informative characters are observed. However, statistical consistency of such model-based inference requires that the model parameters be identifiable from the joint distribution they entail, and this issue has not been addressed.Here we prove that parameters for several such models, with finite state spaces of arbitrary size, are identifiable, provided the tree has at least eight leaves. If the tree topology is already known, then seven leaves suffice for identifiability of the numerical parameters. The method of proof involves first inferring a full distribution of both parsimony-informative and non-informative pattern joint probabilities from the parsimony-informative ones, using phylogenetic invariants. The failure of identifiability of the tree parameter for four-taxon trees is also investigated.     

Exploration of the intercellular heterogeneity of topotecan uptake into human breast cancer cells through compartmental modelling

A mathematical multi-cell model for the in vitro kinetics of the anti-cancer agent topotecan (TPT) following administration into a culture medium containing a population of human breast cancer cells (MCF-7 cell line) is described. This non-linear compartmental model is an extension of an earlier single-cell type model and has been validated using experimental data obtained using two-photon laser scanning microscopy (TPLSM). A structural identifiability analysis is performed prior to parameter estimation to test whether the unknown parameters within the model are uniquely determined by the model outputs. The full model has 43 compartments, with 107 unknown parameters, and it was found that the structural identifiability result could not be established even when using the latest version of the symbolic computation software Mathematica. However, by assuming that a priori knowledge is available for certain parameters, it was possible to reduce the number of parameters to 81, and it was found that this (Stage Two) model was globally (uniquely) structurally identifiable. The identifiability analysis demonstrated how valuable symbolic computation is in this context, as the analysis is far too lengthy and difficult to be performed by hand.     

Similarity transformation approach to identifiability analysis of nonlinear compartmental models

Through use of the local state isomorphism theorem instead of the algebraic equivalence theorem of linear systems theory, the similarity transformation approach is extended to nonlinear models, resulting in finitely verifiable sufficient and necessary conditions for global and local identifiability. The approach requires testing of certain controllability and observability conditions, but in many practical examples these conditions prove very easy to verify. In principle the method also involves nonlinear state variable transformations, but in all of the examples presented in the paper the transformations turn out to be linear. The method is applied to an unidentifiable nonlinear model and a locally identifiable nonlinear model, and these are the first nonlinear models other than bilinear models where the reason for lack of global identifiability is nontrivial. The method is also applied to two models with Michaelis-Menten elimination kinetics, both of considerable importance in pharmacokinetics, and for both of which the complicated nature of the algebraic equations arising from the Taylor series approach has hitherto defeated attempts to establish identifiability results for specific input functions.     

Using Data-Driven Model-Brain Mappings to Constrain Formal Models of Cognition

In this paper we propose a method to create data-driven mappings from components of cognitive models to brain regions. Cognitive models are notoriously hard to evaluate, especially based on behavioral measures alone. Neuroimaging data can provide additional constraints, but this requires a mapping from model components to brain regions. Although such mappings can be based on the experience of the modeler or on a reading of the literature, a formal method is preferred to prevent researcher-based biases. In this paper we used model-based fMRI analysis to create a data-driven model-brain mapping for five modules of the ACT-R cognitive architecture. We then validated this mapping by applying it to two new datasets with associated models. The new mapping was at least as powerful as an existing mapping that was based on the literature, and indicated where the models were supported by the data and where they have to be improved. We conclude that data-driven model-brain mappings can provide strong constraints on cognitive models, and that model-based fMRI is a suitable way to create such mappings.     

APPLICATION OF THIN‐PLATE SPLINE TRANSFORMATIONS TO FINITE ELEMENT MODELS,OR, HOW TO TURN A BOG TURTLE INTO A SPOTTED TURTLE TO ANALYZE BOTH

Finite element (FE) models are popular tools that allow biologists to analyze the biomechanical behavior of complex anatomical structures. However, the expense and time required to create models from specimens has prevented comparative studies from involving large numbers of species. A new method is presented for transforming existing FE models using geometric morphometric methods. Homologous landmark coordinates are digitized on the FE model and on a target specimen into which the FE model is being transformed. These coordinates are used to create a thin‐plate spline function and coefficients, which are then applied to every node in the FE model. This function smoothly interpolates the location of points between landmarks, transforming the geometry of the original model to match the target. This new FE model is then used as input in FE analyses. This procedure is demonstrated with turtle shells: a Glyptemys muhlenbergii model is transformed into Clemmys guttata and Actinemys marmorata models. Models are loaded and the resulting stresses are compared. The validity of the models is tested by crushing actual turtle shells in a materials testing machine and comparing those results to predictions from FE models. General guidelines, cautions, and possibilities for this procedure are also presented.     

Quantifying the impact of fixed effects modeling of clusters in multiple imputation for cluster randomized trials

In cluster randomized trials (CRTs), identifiable clusters rather than individuals are randomized to study groups. Resulting data often consist of a small number of clusters with correlated observations within a treatment group. Missing data often present a problem in the analysis of such trials, and multiple imputation (MI) has been used to create complete data sets, enabling subsequent analysis with well-established analysis methods for CRTs. We discuss strategies for accounting for clustering when multiply imputing a missing continuous outcome, focusing on estimation of the variance of group means as used in an adjusted t-test or ANOVA. These analysis procedures are congenial to (can be derived from) a mixed effects imputation model; however, this imputation procedure is not yet available in commercial statistical software. An alternative approach that is readily available and has been used in recent studies is to include fixed effects for cluster, but the impact of using this convenient method has not been studied. We show that under this imputation model the MI variance estimator is positively biased and that smaller intraclass correlations (ICCs) lead to larger overestimation of the MI variance. Analytical expressions for the bias of the variance estimator are derived in the case of data missing completely at random, and cases in which data are missing at random are illustrated through simulation. Finally, various imputation methods are applied to data from the Detroit Middle School Asthma Project, a recent school-based CRT, and differences in inference are compared.     

Indistinguishability and identifiability analysis of linear compartmental models.

Two compartmental model structures are said to be indistinguishable if they have the same input-output properties. In cases in which available a priori information is not sufficient to specify a unique compartmental model structure, indistinguishable model structures may have to be generated and their attributes examined for relevance. An algorithm is developed that, for a given compartmental model, investigates the complete set of models with the same number of compartments and the same input-output structure as the original model, applies geometrical rules necessary for indistinguishable models, and test models meeting the geometrical criteria for equality of transfer functions. Identifiability is also checked in the algorithm. The software consists of three programs. Program 1 determines the number of locally identifiable parameters. Program 2 applies several geometrical rules that eliminate many (generally most) of the candidate models. Program 3 checks the equality between system transfer functions of the original model and models being tested. Ranks of Jacobian matrices and submatrices and other criteria are used to check patterns of moment invariants and local identifiability. Structural controllability and structural observability are checked throughout the programs. The approach was successfully used to corroborate results from examples investigated by others.     

Determining the parametric structure of models

In this paper we develop a comprehensive approach to determining the parametric structure of models. This involves considering whether a model is parameter redundant or not and investigating model identifiability. The approach adopted makes use of exhaustive summaries, quantities that uniquely define the model. We review and generalise previous work on evaluating the symbolic rank of an appropriate derivative matrix to detect parameter redundancy, and then develop further tools for use within this framework, based on a matrix decomposition. Complex models, where the symbolic rank is difficult to calculate, may be simplified structurally using reparameterisation and by finding a reduced-form exhaustive summary. The approach of the paper is illustrated using examples from ecology, compartment modelling and Bayes networks. This work is topical as models in the biosciences and elsewhere are becoming increasingly complex.     

Estimating Abundance of an Unmarked,Low-Density Species using Cameras

Estimating abundance of wildlife populations can be challenging and costly, especially for species that are difficult to detect and that live at low densities, such as cougars (Puma concolor). Remote, motion-sensitive cameras are a relatively efficient monitoring tool, but most abundance estimation techniques using remote cameras rely on some or all of the population being uniquely identifiable. Recently developed methods estimate abundance from encounter rates with remote cameras and do not require identifiable individuals. We used 2 methods, the time-to-event and space-to-event models, to estimate the density of 2 cougar populations in Idaho, USA, over 3 winters from 2016–2019. We concurrently estimated cougar density using the random encounter model (REM), an existing camera-based method for unmarked populations, and genetic spatial capture recapture (SCR), an established method for monitoring cougar populations. In surveys for which we successfully estimated density using the SCR model, the time-to-event estimates were more precise and showed comparable variation between survey years. The space-to-event estimates were less precise than the SCR estimates and were more variable between survey years. Compared to REM, time-to-event was more precise and consistent, and space-to-event was less precise and consistent. Low sample sizes made the space-to-event and SCR models inconsistent from survey to survey, and non-random camera placement may have biased both of the camera-based estimators high. We show that camera-based estimators can perform comparably to existing methods for estimating abundance in unmarked species that live at low densities. With the time- and space-to-event models, managers could use remote cameras to monitor populations of multiple species at broader spatial and temporal scales than existing methods allow. © 2020 The Wildlife Society.     

An algorithm for finding globally identifiable parameter combinations of nonlinear ODE models using Gröbner Bases

The parameter identifiability problem for dynamic system ODE models has been extensively studied. Nevertheless, except for linear ODE models, the question of establishing identifiable combinations of parameters when the model is unidentifiable has not received as much attention and the problem is not fully resolved for nonlinear ODEs. Identifiable combinations are useful, for example, for the reparameterization of an unidentifiable ODE model into an identifiable one. We extend an existing algorithm for finding globally identifiable parameters of nonlinear ODE models to generate the ‘simplest’ globally identifiable parameter combinations using Gröbner Bases. We also provide sufficient conditions for the method to work, demonstrate our algorithm and find associated identifiable reparameterizations for several linear and nonlinear unidentifiable biomodels.     

An exhaustive analysis of heuristic methods for variable selection in ecological niche modeling and species distribution modeling

Ecological niche models and species distribution models are used in many fields of science. Despite their popularity, only recently have important aspects of the modeling process like model selection been developed. Choosing environmental variables with which to create these models is another critical part of the process, but methods currently in use are not consistent in their results and no comprehensive approach exists by which to perform this step. Here, we compared seven heuristic methods of variable selection against a novel approach that proposes to select best sets of variables by evaluating performance of models created with all combinations of variables and distinct parameter settings of the algorithm in concert. Our results were that—except for the jackknife method for one of the 12 species and fluctuation index for two of the 12 species—none of the heuristic methods for variable selection coincided with the exhaustive one. Performance decreased in models created using variables selected with heuristic methods and both underfitting and overfitting were detected when comparing their geographic projections with the ones of models created with variables selected with the exhaustive method. Using the exhaustive approach could be time consuming, so a two-step exercise may be necessary. However, using this method identifies adequate variable sets and parameter settings in concert that are associated with increased model performance.     

General method for the derivation and numerical solution of epithelial transport models

Summary A general method is presented for the formulation and numerical evaluation of mathematical models describing epithelial transport. The method is based on the principles of conservation of mass, and maintenance of electroneutrality within the cells and bathing solutions. It is therefore independent of the specific membrane transport mechanisms, and can be used to evaluate different models describing arbitrary transport processes (including passive, active and cotransport processes). Detailed numerical methods are presented that allow computation of steady-state and transient responses under open-circuit, current-clamp and voltage-clamp conditions, using a general-purpose laboratory minicomputer. To evaluate the utility of this approach, a specific model is presented that is consistent with the Koefoed-Johnson and Ussing hypothesis of sodium transport in tight epithelia (Acta Physiol. Scand. 42:298–308, 1958). This model considers passive transport of an arbitrary number of permeant solutes, active transport of sodium and potassium, and osmotically induced water transport across the apical and basolateral membranes. Results of the model are compared to published experimental measurements in rabbit urinary bladder epithelium.     

Application of pattern-mixture models to outcomes that are potentially missing not at random using pseudo maximum likelihood estimation

In this work, we fit pattern-mixture models to data sets with responses that are potentially missing not at random (MNAR, Little and Rubin, 1987). In estimating the regression parameters that are identifiable, we use the pseudo maximum likelihood method based on exponential families. This procedure provides consistent estimators when the mean structure is correctly specified for each pattern, with further information on the variance structure giving an efficient estimator. The proposed method can be used to handle a variety of continuous and discrete outcomes. A test built on this approach is also developed for model simplification in order to improve efficiency. Simulations are carried out to compare the proposed estimation procedure with other methods. In combination with sensitivity analysis, our approach can be used to fit parsimonious semi-parametric pattern-mixture models to outcomes that are potentially MNAR. We apply the proposed method to an epidemiologic cohort study to examine cognition decline among elderly.     

A method to determine whether a musculoskeletal model can resist arbitrary external loadings within a prescribed range

Computational models of the musculoskeletal system are prone to design errors. It is possible to create a model that cannot satisfy equilibrium conditions for a set of external loading conditions. A model is ‘loadable’ if there exists a set of muscle forces that can resist an arbitrary applied force within a prescribed range. In this study, a novel mathematical method is introduced to determine whether models are loadable. In addition, an idealised musculoskeletal model is presented in order to develop the theory behind the mathematical method. The method uses the simplex algorithm to determine feasibility of the linear programming problem and can determine loadability for an arbitrary, continuous range of external forces. The method was applied to a three-dimensional model of the shoulder and correctly determined loadability for a range of externally applied forces.     

Identifiability of parameters in MCMC Bayesian inference of phylogeny

Methods for Bayesian inference of phylogeny using DNA sequences based on Markov chain Monte Carlo (MCMC) techniques allow the incorporation of arbitrarily complex models of the DNA substitution process, and other aspects of evolution. This has increased the realism of models, potentially improving the accuracy of the methods, and is largely responsible for their recent popularity. Another consequence of the increased complexity of models in Bayesian phylogenetics is that these models have, in several cases, become overparameterized. In such cases, some parameters of the model are not identifiable; different combinations of nonidentifiable parameters lead to the same likelihood, making it impossible to decide among the potential parameter values based on the data. Overparameterized models can also slow the rate of convergence of MCMC algorithms due to large negative correlations among parameters in the posterior probability distribution. Functions of parameters can sometimes be found, in overparameterized models, that are identifiable, and inferences based on these functions are legitimate. Examples are presented of overparameterized models that have been proposed in the context of several Bayesian methods for inferring the relative ages of nodes in a phylogeny when the substitution rate evolves over time.     

Structural identifiability for a class of non-linear compartmental systems using linear/non-linear splitting and symbolic computation

Under certain controllability and observability restrictions, two different parameterisations for a non-linear compartmental model can only have the same input-output behaviour if they differ by a locally diffeomorphic change of basis for the state space. With further restrictions, it is possible to gain valuable information with respect to identifiability via a linear analysis. Examples are presented where non-linear identifiability analyses are substantially simplified by means of an initial linear analysis. For complex models, with four or more compartments, this linear analysis can prove lengthy to perform by hand and so symbolic computation has been employed to aid this procedure.