Multistationarity in sequential distributed multisite phosphorylation networks

Robustness and parameter geography in post-translational modification systems

Biological systems are acknowledged to be robust to perturbations but a rigorous understanding of this has been elusive. In a mathematical model, perturbations often exert their effect through parameters, so sizes and shapes of parametric regions offer an integrated global estimate of robustness. Here, we explore this “parameter geography” for bistability in post-translational modification (PTM) systems. We use the previously developed “linear framework” for timescale separation to describe the steady-states of a two-site PTM system as the solutions of two polynomial equations in two variables, with eight non-dimensional parameters. Importantly, this approach allows us to accommodate enzyme mechanisms of arbitrary complexity beyond the conventional Michaelis-Menten scheme, which unrealistically forbids product rebinding. We further use the numerical algebraic geometry tools Bertini, Paramotopy, and alphaCertified to statistically assess the solutions to these equations at ∼10⁹ parameter points in total. Subject to sampling limitations, we find no bistability when substrate amount is below a threshold relative to enzyme amounts. As substrate increases, the bistable region acquires 8-dimensional volume which increases in an apparently monotonic and sigmoidal manner towards saturation. The region remains connected but not convex, albeit with a high visibility ratio. Surprisingly, the saturating bistable region occupies a much smaller proportion of the sampling domain under mechanistic assumptions more realistic than the Michaelis-Menten scheme. We find that bistability is compromised by product rebinding and that unrealistic assumptions on enzyme mechanisms have obscured its parametric rarity. The apparent monotonic increase in volume of the bistable region remains perplexing because the region itself does not grow monotonically: parameter points can move back and forth between monostability and bistability. We suggest mathematical conjectures and questions arising from these findings. Advances in theory and software now permit insights into parameter geography to be uncovered by high-dimensional, data-centric analysis.

Biological organisms are often said to have robust properties but it is difficult to understand how such robustness arises from molecular interactions. Here, we use a mathematical model to study how the molecular mechanism of protein modification exhibits the property of multiple internal states, which has been suggested to underlie memory and decision making. The robustness of this property is revealed by the size and shape, or “geography,” of the parametric region in which the property holds. We use advances in reducing model complexity and in rapidly solving the underlying equations, to extensively sample parameter points in an 8-dimensional space. We find that under realistic molecular assumptions the size of the region is surprisingly small, suggesting that generating multiple internal states with such a mechanism is much harder than expected. While the shape of the region appears straightforward, we find surprising complexity in how the region grows with increasing amounts of the modified substrate. Our approach uses statistical analysis of data generated from a model, rather than from experiments, but leads to precise mathematical conjectures about parameter geography and biological robustness.

Multistationarity in the Space of Total Concentrations for Systems that Admit a Monomial Parametrization

We apply tools from real algebraic geometry to the problem of multistationarity of chemical reaction networks. A particular focus is on the case of reaction networks whose steady states admit a monomial parametrization. For such systems, we show that in the space of total concentrations multistationarity is scale invariant: If there is multistationarity for some value of the total concentrations, then there is multistationarity on the entire ray containing this value (possibly for different rate constants)-and vice versa. Moreover, for these networks it is possible to decide about multistationarity independent of the rate constants by formulating semi-algebraic conditions that involve only concentration variables. These conditions can easily be extended to include total concentrations. Hence, quantifier elimination may give new insights into multistationarity regions in the space of total concentrations. To demonstrate this, we show that for the distributive phosphorylation of a protein at two binding sites multistationarity is only possible if the total concentration of the substrate is larger than either the total concentration of the kinase or the total concentration of the phosphatase. This result is enabled by the chamber decomposition of the space of total concentrations from polyhedral geometry. Together with the corresponding sufficiency result of Bihan et al., this yields a characterization of multistationarity up to lower-dimensional regions.

Dynamics of Posttranslational Modification Systems: Recent Progress and Future Directions

Posttranslational modification of proteins is important for signal transduction, and hence significant effort has gone toward understanding how posttranslational modification networks process information. This involves, on the theory side, analyzing the dynamical systems arising from such networks. Which networks are, for instance, bistable? Which networks admit sustained oscillations? Which parameter values enable such behaviors? In this Biophysical Perspective, we highlight recent progress in this area and point out some important future directions. Along the way, we summarize several techniques for analyzing general networks, such as eliminating variables to obtain steady-state parameterizations, and harnessing results on how incorporating intermediates affects dynamics.

A Deficiency-Based Approach to Parametrizing Positive Equilibria of Biochemical Reaction Systems

We present conditions which guarantee a parametrization of the set of positive equilibria of a generalized mass-action system. Our main results state that (1) if the underlying generalized chemical reaction network has an effective deficiency of zero, then the set of positive equilibria coincides with the parametrized set of complex-balanced equilibria and (2) if the network is weakly reversible and has a kinetic deficiency of zero, then the equilibrium set is nonempty and has a positive, typically rational, parametrization. Via the method of network translation, we apply our results to classical mass-action systems studied in the biochemical literature, including the EnvZ–OmpR and shuttled WNT signaling pathways. A parametrization of the set of positive equilibria of a (generalized) mass-action system is often a prerequisite for the study of multistationarity and allows an easy check for the occurrence of absolute concentration robustness, as we demonstrate for the EnvZ–OmpR pathway.

Regions of multistationarity in cascades of Goldbeter-Koshland loops

We consider cascades of enzymatic Goldbeter-Koshland loops (Goldbeter and Koshland in Proc Natl Acad Sci 78(11):6840-6844, 1981) with any number n of layers, for which there exist two layers involving the same phosphatase. Even if the number of variables and the number of conservation laws grow linearly with n, we find explicit regions in reaction rate constant and total conservation constant space for which the associated mass-action kinetics dynamical system is multistationary. Our computations are based on the theoretical results of our companion paper (Bihan, Dickenstein and Giaroli 2018, preprint: arXiv:1807.05157 ) which are inspired by results in real algebraic geometry by Bihan et al. (SIAM J Appl Algebra Geom, 2018).

Enzyme sequestration by the substrate: An analysis in the deterministic and stochastic domains

This paper is concerned with the potential multistability of protein concentrations in the cell. That is, situations where one, or a family of, proteins may sit at one of two or more different steady state concentrations in otherwise identical cells, and in spite of them being in the same environment. For models of multisite protein phosphorylation for example, in the presence of excess substrate, it has been shown that the achievable number of stable steady states can increase linearly with the number of phosphosites available. In this paper, we analyse the consequences of adding enzyme docking to these and similar models, with the resultant sequestration of phosphatase and kinase by the fully unphosphorylated and by the fully phosphorylated substrates respectively. In the large molecule numbers limit, where deterministic analysis is applicable, we prove that there are always values for these rates of sequestration which, when exceeded, limit the extent of multistability. For the models considered here, these numbers are much smaller than the affinity of the enzymes to the substrate when it is in a modifiable state. As substrate enzyme-sequestration is increased, we further prove that the number of steady states will inevitably be reduced to one. For smaller molecule numbers a stochastic analysis is more appropriate, where multistability in the large molecule numbers limit can manifest itself as multimodality of the probability distribution; the system spending periods of time in the vicinity of one mode before jumping to another. Here, we find that substrate enzyme sequestration can induce bimodality even in systems where only a single steady state can exist at large numbers. To facilitate this analysis, we develop a weakly chained diagonally dominant M-matrix formulation of the Chemical Master Equation, allowing greater insights in the way particular mechanisms, like enzyme sequestration, can shape probability distributions and therefore exhibit different behaviour across different regimes.

Unlimited multistability and Boolean logic in microbial signalling

The ability to map environmental signals onto distinct internal physiological states or programmes is critical for single-celled microbes. A crucial systems dynamics feature underpinning such ability is multistability. While unlimited multistability is known to arise from multi-site phosphorylation seen in the signalling networks of eukaryotic cells, a similarly universal mechanism has not been identified in microbial signalling systems. These systems are generally known as two-component systems comprising histidine kinase (HK) receptors and response regulator proteins engaging in phosphotransfer reactions. We develop a mathematical framework for analysing microbial systems with multi-domain HK receptors known as hybrid and unorthodox HKs. We show that these systems embed a simple core network that exhibits multistability, thereby unveiling a novel biochemical mechanism for multistability. We further prove that sharing of downstream components allows a system with n multi-domain hybrid HKs to attain 3n steady states. We find that such systems, when sensing distinct signals, can readily implement Boolean logic functions on these signals. Using two experimentally studied examples of two-component systems implementing hybrid HKs, we show that bistability and implementation of logic functions are possible under biologically feasible reaction rates. Furthermore, we show that all sequenced microbial genomes contain significant numbers of hybrid and unorthodox HKs, and some genomes have a larger fraction of these proteins compared with regular HKs. Microbial cells are thus theoretically unbounded in mapping distinct environmental signals onto distinct physiological states and perform complex computations on them. These findings facilitate the understanding of natural two-component systems and allow their engineering through synthetic biology.

MAPK's networks and their capacity for multistationarity due to toric steady states

Mitogen-activated protein kinase (MAPK) signaling pathways play an essential role in the transduction of environmental stimuli to the nucleus, thereby regulating a variety of cellular processes, including cell proliferation, differentiation and programmed cell death. The components of the MAPK extracellular activated protein kinase (ERK) cascade represent attractive targets for cancer therapy as their aberrant activation is a frequent event among highly prevalent human cancers. MAPK networks are a model for computational simulation, mostly using ordinary and partial differential equations. Key results showed that these networks can have switch-like behavior, bistability and oscillations. In this work, we consider three representative ERK networks, one with a negative feedback loop, which present a binomial steady state ideal under mass-action kinetics. We therefore apply the theoretical result present in to find a set of rate constants that allow two significantly different stable steady states in the same stoichiometric compatibility class for each network. Our approach makes it possible to study certain aspects of the system, such as multistationarity, without relying on simulation, since we do not assume a priori any constant but the topology of the network. As the performed analysis is general it could be applied to many other important biochemical networks.

N-Site phosphorylation systems with 2n-1 steady states

Multisite protein phosphorylation plays a prominent role in intracellular processes like signal transduction, cell-cycle control and nuclear signal integration. Many proteins are phosphorylated in a sequential and distributive way at more than one phosphorylation site. Mathematical models of n-site sequential distributive phosphorylation are therefore studied frequently. In particular, in Wang and Sontag (J Math Biol 57:29–52, 2008), it is shown that models of n-site sequential distributive phosphorylation admit at most 2n - 1 steady states.Wang and Sontag furthermore conjecture that for odd n, there are at most n and that, for even n, there are at most n + 1 steady states. This, however, is not true: building on earlier work in Holstein et al. (BullMath Biol 75(11):2028–2058, 2013), we present a scalar determining equation for multistationarity which will lead to parameter values where a 3-site system has 5 steady states and parameter values where a 4-site system has 7 steady states. Our results therefore are counterexamples to the conjecture of Wang and Sontag.We furthermore study the inherent geometric properties of multistationarity in n-site sequential distributive phosphorylation: the complete vector of steady state ratios is determined by the steady state ratios of free enzymes and unphosphorylated protein and there exists a linear relationship between steady state ratios of phosphorylated protein.

Translated chemical reaction networks

Many biochemical and industrial applications involve complicated networks of simultaneously occurring chemical reactions. Under the assumption of mass action kinetics, the dynamics of these chemical reaction networks are governed by systems of polynomial ordinary differential equations. The steady states of these mass action systems have been analyzed via a variety of techniques, including stoichiometric network analysis, deficiency theory, and algebraic techniques (e.g., Gröbner bases). In this paper, we present a novel method for characterizing the steady states of mass action systems. Our method explicitly links a network's capacity to permit a particular class of steady states, called toric steady states, to topological properties of a generalized network called a translated chemical reaction network. These networks share their reaction vectors with their source network but are permitted to have different complex stoichiometries and different network topologies. We apply the results to examples drawn from the biochemical literature.