luc florack - inria · riemann geometry ⊂ finsler geometry riemannian and finslerian geometry for...
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© Nicolas Lavarenne, l’exposition ‘A ciel ouvert’
Luc Florack
Riemannian and Finslerian geometry for diffusion weighted magnetic resonance imaging
Computational Brain Connectivity Mapping
Winter School Workshop 2017 - November 20-24, Jeans-les-Pins, France
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Heuristics
Finsler manifold.
A Finsler manifold is a space (M,F) of spatial base points x∈M, furnished with a notion of a ‘line’ or ‘length element’ ds ≐ F(x,dx).
The ‘infinitesimal displacement vectors’ dx are ‘infinitely scalable’ into finite ‘tangent’ or ‘velocity vectors’ ẋ, viz. dx = ẋ dt.The collection of all (x, ẋ) is called the tangent bundle TM over M.Integrating the line element along a curve C produces the ‘length’ of that curve:
L (C) =
Z
Cds =
Z
CF (x, dx)
Bernhard Riemann Sophus Lie Elie Cartan Albert Einstein Paul Finsler
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Applications
Examples (anisotropic media).
Mechanics e.g. F(x,dx) := infinitesimal displacement, or infinitesimal travel time, etc.
Optimal control e.g. F(x,dx) := local cost function for infinitesimal movement of Reeds-Shepp car
Opticse.g. F(x,dx) := infinitesimal travel time for light propagation
Seismologye.g. F(x,dx) := infinitesimal travel time for seismic ray propagation
Ecologye.g. F(x,dx) := infinitesimal energy for coral reef state transition
Relativitye.g. F(x,dx) := infinitesimal (pseudo-Finslerian) spacetime line element
Diffusion MRIe.g. F(x,dx) := infinitesimal hydrogen spin diffusion
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Axiomatics
Literature.
© David Bao et al.© Hanno Rund et al.
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The Riemann-DTI paradigm
Propagator. P (x, ⇠, ⌧) =
Z
R3
e2⇡iq·⇠ E(x, q, ⌧) dq
DTI. DDTI(x, q, ⌧) = Dij(x)qiqjEDTI(x, q, ⌧) = exp [�⌧DDTI(x, q, ⌧)]
PDTI(x, ⇠, ⌧) =
Z
R3
e2⇡iq·⇠ EDTI(x, q, ⌧) dq =1
p4⇡⌧2
3 exp
� 1
4⌧Dij(x)⇠
i⇠j�
Dik(x)Dkj(x) = �ij
diffusion tensor
q-space variable
inverse diffusion tensor
quadratic assumption…
another quadratic form…
DWMRI signal attenuation. E(x, q, ⌧) = exp [�⌧D(x, q, ⌧)]q = �
Zg(t)dt
�
Einstein ∑-convention
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The Riemann-DTI paradigm
quadratic assumption…
kck2 =nX
i,j=1
gijcicj
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Xiang Hao
Lauren O’Donnell Christophe Lenglet Andrea Fuster
The Riemann-DTI paradigm
Ansatz [1,2].
gij(x) = Dij(x) Dik(x)Dkj(x) = �ij
Adaptations [3,4].
gij(x) = e↵(x)Dij(x)
gij(x) = (adjD)ij(x) (adjD)ik(x)Dkj(x) = �ji detD
•(x)
adjugate diffusion tensor
inverse diffusion tensor
References.
1. Lauren O’Donnell et al, LNCS 2488:459-466 (2002)2. Christophe Lenglet et al, LNCS 3024: 127-140 (2004)3. Xiang Hao et al, LNCS 6801:13-24 (2011)4. Andrea Fuster et al, JMIV 54: 1-14 (2016)
References.
1. Lauren O’Donnell et al, LNCS 2488:459-466 (2002)2. Christophe Lenglet et al, LNCS 3024: 127-140 (2004)3. Xiang Hao et al, LNCS 6801:13-24 (2011)4. Andrea Fuster et al, JMIV 54: 1-14 (2016)
References.
1. Lauren O’Donnell et al, LNCS 2488:459-466 (2002)2. Christophe Lenglet et al, LNCS 3024: 127-140 (2004)3. Xiang Hao et al, LNCS 6801:13-24 (2011)4. Andrea Fuster et al, JMIV 54: 1-14 (2016)
References.
1. Lauren O’Donnell et al, LNCS 2488:459-466 (2002)2. Christophe Lenglet et al, LNCS 3024: 127-140 (2004)3. Xiang Hao et al, LNCS 6801:13-24 (2011)4. Andrea Fuster et al, JMIV 54: 1-14 (2016)
Riemann metric tensor
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Hypothesis.
Tissue microstructure imparts non-random barriers to water diffusion.© C. Beaulieu, NMR Biomed. 15:7-8, 2002
The Riemann-DTI paradigm
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Conjecture.
Extrinsic diffusion on Euclidean space ≈ intrinsic geometry of a Riemannian space
The Riemann-DTI paradigm
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The Riemann-DTI paradigm
Conjecture.
Extrinsic diffusion on Euclidean space ≈ intrinsic geometry of a Riemannian space
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The Riemann-DTI paradigm
Conjecture.
Extrinsic diffusion on Euclidean space ≈ intrinsic geometry of a Riemannian space
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Terminology.
gauge figure = unit sphere = indicatrix = Riemannian metric = inner product
The Riemann-DTI paradigm
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The Riemann-DTI paradigm
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The Riemann-DTI paradigm
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The Riemann-DTI paradigm
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The Riemann-DTI paradigm
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length2=6
The Riemann-DTI paradigm
kck2 = gijcicj
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length2=9
The Riemann-DTI paradigm
kck2 = gijcicj
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The Riemann-DTI paradigm & geodesic tractography
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‘short’ geodesic
‘long’ geodesic
Riemannian length : Euclidean length
5.0 : 6.0 < 1
7.5 : 6.0 > 1
The Riemann-DTI paradigm & geodesic tractography
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© Andrea Fuster & Neda Sepasian (unpublished)
tumour infiltration
smooth fibresventricle infiltration
irregular fibres
gij(x) = (adjD)ij(x)gij(x) = Dij(x)
The Riemann-DTI paradigm & geodesic tractography
cf. Pujol et al. The DTI Challenge, MICCAI 2015
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geodesiccompleteness=
redundantconnec2ons
ellipsoidalgaugefigure=
poorangularresolu2on
pro:pixels→geodesiccongruences
con:destructiveinterferenceoforientationpreferences
The Riemann-DTI paradigm & geodesic tractography
→
‘100%falseposi2ves’
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DTI ⊂ generic models
⇳ ⇳
Riemann geometry ⊂ Finsler geometry
Riemannian and Finslerian geometry for diffusion weighted magnetic resonance imaging
Akward: Geometry built upon the limitations of a model…
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Heuristics
Literature.
© J. Melonakos et al, “Finsler Tractography for White Matter Connectivity Analysis of the Cingulum Bundle”. MICCAI (2007)© J. Melonakos et al, “Finsler Active Countours”. PAMI 30:3 (2008)© De Boer et al., “Statistical Analysis of Minimum Cost Path based Structural Brain Connectivity”. NeuroImage 55:2 (2011)© Astola, “Multi-Scale Riemann-Finsler Geometry: Applications to Diffusion Tensor Imaging and High Angular Resolution Diffusion Imaging”. PhD Thesis (2010)© Astola & Florack, “Finsler Geometry on Higher Order Tensor Fields and Applications to High Angular Resolution Diffusion© Astola et al., “Finsler Streamline Tracking with Single Tensor Orientation Distribution Function for High Angular Resolution Diffusion Imaging”. JMIV 41:3 (2011)© Sepasian et al., “Riemann-Finsler Multi-Valued Geodesic Tractography for HARDI”. In: “Visualisation and Processing of Tensors and Higher Order Descriptors for Multi-Valued Data”, Westin et al. (Eds.), Springer (2014)© Fuster & Pabst, “Finsler pp-Waves”. Phys. Rev. D 94:10 (2016)© Florack et al., “Riemann-Finsler Geometry for Diffusion Weighted Magnetics Resonance Imaging”. In: “Visualisation and Processing of Tensors and Higher Order Descriptors for Multi-Valued Data”, Westin et al. (Eds.), Springer (2014)© Florack et al., “Direction-Controlled DTI Interpolation”. In: “Visualisation and Processing of Higher Order Descriptors for Multi-Valued Data”, Hotz et al. (Eds.), Springer (2015)© Dela Haije et al., “Structural Connectivity Analysis using Finsler Geometry” (submitted)
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Terminology
(x,ẋ)
Slit tangent bundle.
TM\0 = { (x,ẋ)∈TM | ẋ≠0 }
Sphere bundle.
SM = { (x,ẋ)∈TM | F(x,ẋ)=1 }
Projectivized tangent bundle.
PTM = { (x,ẋ)∈TM | F(x,ẋ)=1 , ẋ~(-ẋ) }
Tangent bundle.
TM = { (x,ẋ) | x∈M, ẋ∈TxM }
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Finsler function
L (C) =
Z
Cds =
Z
CF (x, dx) =
Z t+
t�
F (x(t), x(t))dt =
Z t+
t�
qgij(x(t), x(t))xi(t)xj(t)dt
Notes.
The Finsler function ‘lives’ on the 2n-dimensional tangent bundle TM.A Finsler function defines a (smoothly varying) local norm ||ẋ||x = F(x,ẋ) for a vector ẋ at anchor point x.The line integral (✻) is independent of curve parametrisation:
(✻)
(positivity)F (x, x) > 0 (x 6= 0)
@2F 2(x, x)
@xi@xj⇠i⇠j > 0 (⇠ 6= 0)(convexity)
Finsler function. (homogeneity)F (x,�x) = |�|F (x, x) (� 2 R)(� 2 R , x 6= 0 , ⇠ 6= 0)
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Finsler metric
Notes.
The Finsler metric is a second order symmetric positive definite covariant tensor.The Finsler metric is homogeneous of degree 0.The Finsler metric ‘lives’ on the (2n-1)-dimensional projectivized tangent bundle PTM.
Finsler metric. gij(x, x).=
1
2
@2F 2(x, x)
@xi@xjF (x, x) =
qgij(x, x)xixj⟺
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Riemann metric
Notes.
A Riemann metric defines an inner product induced norm (‘Pythagorean rule’).Finsler geometry is ‘just’ Riemannian geometry without the quadratic assumption.
Pythagorean rule
Riemann metric. FR(x, x) =qgij(x)xixjgij(x) =
1
2
@2F 2R(x, x)
@xi@xj⟺
position only
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xi .= gij(x, q)qjH(x, q) = F (x, x)
Dual Finsler function.
1
2H
2(x, q) = supx2TMx
hq|xi � 1
2F
2(x, x)
�
© Dela Haije, “Finsler Geometry and Diffusion MRI”. PhD Thesis (2017)
The Finsler-DTI paradigm
E(x, q, ⌧) = exp [�⌧D(x, q, ⌧)] P (x, ⇠, ⌧) =
Z
R3
e2⇡iq·⇠ E(x, q, ⌧) dq
DWMRI signal attenuation and propagator.
Notes.
(i) Riemann-DTI paradigm ~ central limit theorem:
(ii) Finsler-DTI paradigm: cf. PhD thesis Tom Dela Haije
H2(x, q) /
X
ij
Dij(x)qiqj
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The Finsler-DTI paradigm
Finsler metric & dual Finsler metric.
gij(x, q) =
1
2
@2H
2(x, q)
@qi@qjgij(x, x) =
1
2
@2F 2(x, x)
@xi@xj
# 2
gij(x,#)xixj = 1gij(x,#)qiqj = 1
Osculating figuratrices & osculating indicatrices.
Note. Z
T⇤Mx
gij(x,#)�(#� q)qiqj d# = gij(x, q)qiqj
Z
TMx
gij(x,#)�(#� x)xixj d# = gij(x, x)xixj
Figuratrix & indicatrix.
H2(x, q) = g
ij(x, q)qiqj = 1 F 2(x, x) = gij(x, x)xixj = 1
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The Finsler-DTI paradigm
Note. Z
T⇤Mx
gij(x,#)�(#� q)qiqj d# = gij(x, q)qiqj
Z
TMx
gij(x,#)�(#� x)xixj d# = gij(x, x)xixj
Interpretation.
The dual Finsler metric represents an orientation-parametrized family of DTI tensors of the kind considered in the Riemann-DTI paradigm.In the Riemannian limit all members of this family coincide.
# 2
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Application: DTI interpolation
© Florack, Dela Haije & Fuster. in: Hotz & Schultz, Springer 2015
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DTI interpolation paradox
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DTI interpolation paradox
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DTI interpolation paradox
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DTI interpolation paradox
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DTI interpolation paradox
Riemannian frame
Finslerian extension
think out of the box…
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Claim.
(i) The tensor is a Finsler metric.
(ii) An analytical, closed-form solution exists.
Riemann metric weighted averaging Finsler manifold
F 2g (x, x) = gij(x)x
ixj
F 2h (x, x) = hij(x)x
ixj
F 2(x, x) = F 2↵g (x, x)F 2(1�↵)
h (x, x)
gij(x, x) =1
2
@2F 2(x, x)
@xi@xj
(✻)
Definition.
(i)
(ii)
(iii)
(iv) (✻)
(0 ↵ 1)
input: two 3D-DTI tensors
output: one 5D-DTI tensor
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Cartan tensor
Cartan tensor.
Notes.
The Cartan tensor C is a symmetric third order covariant tensor on the slit tangent bundle (sphere bundle / projectivized tangent bundle).The Cartan tensor is the ẋ-gradient of the metric tensor:Deicke’s theorem: Space is Riemannian iff the Cartan tensor vanishes identically.
Cijk(x, x).=
1
4
@3F 2(x, x)
@xi@xj@xk
Cijk(x, x) = @xkgij(x, x)
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Cartan scalar maps
Notes.
These scalars live on the slit tangent bundle (sphere bundle / projectivized tangent bundle).They can be projected in various ways onto the spatial base manifold.They can be used as invariant local or tractometric features.They are (locally) nontrivial iff the Riemann-DTI model (locally) fails (Deicke’s theorem).
gij(x, x)Cijk(x, x)gk`(x, x)C`mn(x, x)g
mn(x, x)=
Cijk(x, x)(x, x)gi`(x, x)gjm(x, x)gkn(x, x)C`mn(x, x)=
5D-DTI
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≠ 0
≠ 0
= 0
= 0
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Tractography from 5D???
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HV-splitting
Horizontal versus vertical transport:
V-type: Spinning without walking.H-type: Spinning-walking preserving a forward gaze.
H/V-generators:
V-type:
H-type:�
�xi
.=
@
@xi�N j
i (x, x)@
@xj
@
@xj
© Sean Gryb
H-type
V-type
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HV-splitting
Nonlinear connection.
A ‘nonlinear connection’ is needed to ensure a geometrically meaningful HV-splitting.
Riemannian limit (linear connection):
‘Christoffel symbols of the 2nd kind’:
�jik(x)
.=
1
2gj`(x)
@g`k(x)
@xi+
@gi`(x)
@xk� @gik(x)
@x`
�
N ji (x, x) = �j
ik(x)xk
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HV-splitting
Nonlinear connection.
Finslerian case: nonlinear correction terms, involving the Cartan tensor:
N ij(x, x) = �i
jk(x, x)xk � Ci
jk(x, x)�k`m(x, x)x`xm
geodesic spray coefficients
(✻)N ij(x, x) =
@Gi(x, x)
@xj⟺ Gi(x, x) =
1
2�ijk(x, x)x
j xk =1
2N i
j(x, x)xj
formal Christoffel symbols of the 2nd kind
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HV-splitting
d
dsf(x(t+ s), y(t+ s))
����s=0
= xi(t)@
@xif(x(t), y(t)) + yi(t)
@
@yif(x(t), y(t))
Rate of change along a curve in TM\0.
d
dsf(x(t+ s), y(t+ s))
����s=0
= xi(t)�
�xif(x(t), y(t)) +
⇥yi(t) +N i
j(x(t), y(t))xj(t)
⇤ @
@yif(x(t), y(t))
@
@xi
˙
def=
d
dt
�
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HV-splitting
d
dsf(x(t+ s), y(t+ s))
����s=0
= xi(t)�
�xif(x(t), y(t)) +
⇥yi(t) +N i
j(x(t), y(t))xj(t)
⇤ @
@yif(x(t), y(t))
d
dsf(x(t+ s), y(t+ s))
����s=0
= xi(t)@
@xif(x(t), y(t)) + yi(t)
@
@yif(x(t), y(t))
Rate of change along a curve in TM\0.
H-component V-component
H/V curves.
Vertical curve:
Horizontal curve:
Constant Finslerian speed geodesic (y=ẋ):
yi(t) +N ij(x(t), y(t))x
j(t) = 0
xi(t) +N ij(x(t), x(t))x
j(t) = 0
xi(t) = 0
Finslerian ‘pseudo-force’
xi(t) + 2Gi(x(t), x(t)) = 0
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Geodesics
L (C) =
Z
CF (x, dx) �! min
xi + 2Gi(x, x) =d lnF (x, x)
dtxi
Geodesic (global definition).
A geodesic is a ‘locally’ shortest path:
Recall (local definition).
Constant Finslerian speed geodesics:Always possibly by slick choice of parametrization (e.g. ‘arclength’, i.e. such that F(x,ẋ)=1).
xi + 2Gi(x, x) = 0
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Conjecture.
neural fiber bundles correspond to relatively short geodesics in a Riemannian ‘brain space’ the Riemannian structure can be inferred from ‘3D-DTI’
The Riemann-DTI paradigm
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Conjecture.
neural fiber bundles correspond to relatively short geodesics in a Finslerian ‘brain space’ the Finslerian structure can be inferred from ‘5D-DTI’
The Finsler-DTI paradigm
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Euclidean
Riemannian
Finslerian
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Diffusion Weighted Magnetic Resonance Imaging
(x,p1), (x,p2), (x,p3),...
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Riemannmetric:lengths&anglesG(v, v) = kvk2
Levi-Civitaconnection:paralleltransportrxx = 0
Christoffelsymbols:“pseudo-forces”(relativetolocalcoordinateframes)xi +X
jk
�ijk(x) x
j xk = 0
The Riemann-DTI paradigm & geodesic tractography
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Riemannmetric:lengths&anglesG(v, v) = kvk2
Levi-Civitaconnection:paralleltransportrxx = 0
Christoffelsymbols:“pseudo-forces”(relativetolocalcoordinateframes)xi +X
jk
�ijk(x) x
j xk = 0
The Riemann-DTI paradigm & geodesic tractography
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Euclideangeodesic
Riemannmetric:lengths&anglesG(v, v) = kvk2
Levi-Civitaconnection:paralleltransportrxx = 0
Christoffelsymbols:“pseudo-forces”(relativetolocalcoordinateframes)xi +X
jk
�ijk(x) x
j xk = 0
The Riemann-DTI paradigm & geodesic tractography
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Riemanniangeodesic
Riemannmetric:lengths&anglesG(v, v) = kvk2
Levi-Civitaconnection:paralleltransportrxx = 0
Christoffelsymbols:“pseudo-forces”(relativetolocalcoordinateframes)xi +X
jk
�ijk(x) x
j xk = 0
The Riemann-DTI paradigm & geodesic tractography
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�ij(x, x) =gij(x, x) = F 2(x, x)�ij(x, x)
Riemann metric weighted averaging Finsler manifold
hij(x) =
gij(x) = gij(x)xixj =
hij(x)xixj = hij(x)x
j =
gij(x)xj =
+ + + + +÷
↵
÷
�2↵(1� ↵)
÷
2↵(1� ↵)
÷
2↵(1� ↵)
÷
�2↵(1� ↵)
÷
1� ↵