Figure 1.

Probabilistic graphical models of kinematic chains. Left: sparse graphical model relating N joint angles and link transformations via local factors. Right: instantiation of the model for an n-residue protein backbone, with an additional layer accounting for atom positions.

Zhang and Hauser BMC Structural Biology 2013 13(Suppl 1):S9   doi:10.1186/1472-6807-13-S1-S9