Minimum energetic cost to maintain a target nonequilibrium state

Information Gain Limit of Biomolecular Computation

Biomolecules stochastically occupy different configurations that correspond to distinct functional states. Changing biochemical inputs such as rate constants alters the output probability distribution of configurations, and thus constitutes a form of computation. In the cell, such computations are often coupled to thermodynamic forces such as ATP hydrolysis that drive systems far from equilibrium, resulting in energy expenditure even during times when computations are not being performed. The information-theoretic advantage of this costly computational paradigm is unclear. Here we introduce a theoretical framework showing how much the thermodynamic force enables changes in probability distributions, quantified by the information gain, beyond what is possible at equilibrium. Using this framework, we derive a general expression relating the force to the maximum information gain in an arbitrary computation, revealing how small input changes can exponentially alter outputs. We numerically show that biomolecular systems can closely approach this universal bound, illustrating how energy expenditure is needed to achieve the information processing capabilities observed in nature.

Flexibility and sensitivity in gene regulation out of equilibrium

Cells adapt to environments and tune gene expression by controlling the concentrations of proteins and their kinetics in regulatory networks. In both eukaryotes and prokaryotes, experiments and theory increasingly attest that these networks can and do consume biochemical energy. How does this dissipation enable cellular behaviors forbidden in equilibrium? This open question demands quantitative models that transcend thermodynamic equilibrium. Here, we study the control of simple, ubiquitous gene regulatory networks to explore the consequences of departing equilibrium in transcription. Employing graph theory to model a set of especially common regulatory motifs, we find that dissipation unlocks nonmonotonicity and enhanced sensitivity of gene expression with respect to a transcription factor's concentration. These features allow a single transcription factor to act as both a repressor and activator at different concentrations or achieve outputs with multiple concentration regimes of locally enhanced sensitivity. We systematically dissect how energetically driving individual transitions within regulatory networks, or pairs of transitions, generates a wide range of more adjustable and sensitive phenotypic responses than in equilibrium. These results generalize to more complex regulatory scenarios, including combinatorial control by multiple transcription factors, which we relate and often find collapse to simple mathematical behaviors. Our findings quantify necessary conditions and detectable consequences of energy expenditure. These richer mathematical behaviors-feasibly accessed using biological energy budgets and rates-may empower cells to accomplish sophisticated regulation with simpler architectures than those required at equilibrium.

Adaptive nonequilibrium design of actin-based metamaterials: Fundamental and practical limits of control

The adaptive and surprising emergent properties of biological materials self-assembled in far-from-equilibrium environments serve as an inspiration for efforts to design nanomaterials. In particular, controlling the conditions of self-assembly can modulate material properties, but there is no systematic understanding of either how to parameterize external control or how controllable a given material can be. Here, we demonstrate that branched actin networks can be encoded with metamaterial properties by dynamically controlling the applied force under which they grow and that the protocols can be selected using multi-task reinforcement learning. These actin networks have tunable responses over a large dynamic range depending on the chosen external protocol, providing a pathway to encoding "memory" within these structures. Interestingly, we obtain a bound that relates the dissipation rate and the rate of "encoding" that gives insight into the constraints on control-both physical and information theoretical. Taken together, these results emphasize the utility and necessity of nonequilibrium control for designing self-assembled nanostructures.

Flexibility and sensitivity in gene regulation out of equilibrium

Cells adapt to environments and tune gene expression by controlling the concentrations of proteins and their kinetics in regulatory networks. In both eukaryotes and prokaryotes, experiments and theory increasingly attest that these networks can and do consume bio-chemical energy. How does this dissipation enable cellular behaviors unobtainable in equilibrium? This open question demands quantitative models that transcend thermodynamic equilibrium. Here we study the control of a simple, ubiquitous gene regulatory motif to explore the consequences of departing equilibrium in kinetic cycles. Employing graph theory, we find that dissipation unlocks nonmonotonicity and enhanced sensitivity of gene expression with respect to a transcription factor's concentration. These features allow a single transcription factor to act as both a repressor and activator at different levels or achieve outputs with multiple concentration regions of locally-enhanced sensitivity. We systematically dissect how energetically-driving individual transitions within regulatory networks, or pairs of transitions, generates more adjustable and sensitive phenotypic responses. Our findings quantify necessary conditions and detectable consequences of energy expenditure. These richer mathematical behaviors-feasibly accessed using biological energy budgets and rates-may empower cells to accomplish sophisticated regulation with simpler architectures than those required at equilibrium.

Significance Statement

Growing theoretical and experimental evidence demonstrates that cells can (and do) spend biochemical energy while regulating their genes. Here we explore the impact of departing from equilibrium in simple regulatory cycles, and learn that beyond increasing sensitivity, dissipation can unlock more flexible input-output behaviors that are otherwise forbidden without spending energy. These more complex behaviors could enable cells to perform more sophisticated functions using simpler systems than those needed at equilibrium.

Self-organized computation in the far-from-equilibrium cell

Recent progress in our understanding of the physics of self-organization in active matter has pointed to the possibility of spontaneous collective behaviors that effectively compute things about the patterns in the surrounding patterned environment. Here, we describe this progress and speculate about its implications for our understanding of the internal organization of the living cell.

Direct and Simultaneous Measurement of the Stiffness and Internal Friction of a Single Folded Protein

The nanomechanical response of a folded single protein, the natural nanomachine responsible for myriad biological processes, provides insight into its function. The conformational flexibility of a folded state, characterized by its viscoelasticity, allows proteins to adopt different shapes to perform their function. Despite efforts, its direct measurement has not been possible so far. We present a direct and simultaneous measurement of the stiffness and internal friction of the folded domains of the protein titin using a special interferometer based atomic force microscope. We analyzed the data by carefully separating different contributions affecting the response of the experimental probe to obtain the folded state's viscoelasticity. Above ∼95 pN of force, the individual immunoglobulins of titin transition from an elastic solid-like native state to a soft viscoelastic intermediate.

Eukaryotic gene regulation at equilibrium, or non?

Models of transcriptional regulation that assume equilibrium binding of transcription factors have been less successful at predicting gene expression from sequence in eukaryotes than in bacteria. This could be due to the non-equilibrium nature of eukaryotic regulation. Unfortunately, the space of possible non-equilibrium mechanisms is vast and predominantly uninteresting. The key question is therefore how this space can be navigated efficiently, to focus on mechanisms and models that are biologically relevant. In this review, we advocate for the normative role of theory-theory that prescribes rather than just describes-in providing such a focus. Theory should expand its remit beyond inferring mechanistic models from data, towards identifying non-equilibrium gene regulatory schemes that may have been evolutionarily selected, despite their energy consumption, because they are precise, reliable, fast, or otherwise outperform regulation at equilibrium. We illustrate our reasoning by toy examples for which we provide simulation code.

Quantifying brain state transition cost via Schrödinger Bridge

Quantifying brain state transition cost is a fundamental problem in systems neuroscience. Previous studies utilized network control theory to measure the cost by considering a neural system as a deterministic dynamical system. However, this approach does not capture the stochasticity of neural systems, which is important for accurately quantifying brain state transition cost. Here, we propose a novel framework based on optimal control in stochastic systems. In our framework, we quantify the transition cost as the Kullback-Leibler divergence from an uncontrolled transition path to the optimally controlled path, which is known as Schrödinger Bridge. To test its utility, we applied this framework to functional magnetic resonance imaging data from the Human Connectome Project and computed the brain state transition cost in cognitive tasks. We demonstrate correspondence between brain state transition cost and the difficulty of tasks. The results suggest that our framework provides a general theoretical tool for investigating cognitive functions from the viewpoint of transition cost.

Energetic scaling in microbial growth

Microbial growth is a clear example of organization and structure arising in nonequilibrium conditions. Due to the complexity of the microbial metabolic network, elucidating the fundamental principles governing microbial growth remains a challenge. Here, we present a systematic analysis of microbial growth thermodynamics, leveraging an extensive dataset on energy-limited monoculture growth. A consistent thermodynamic framework based on reaction stoichiometry allows us to quantify how much of the available energy microbes can efficiently convert into new biomass while dissipating the remaining energy into the environment and producing entropy. We show that dissipation mechanisms can be linked to the electron donor uptake rate, a fact leading to the central result that the thermodynamic efficiency is related to the electron donor uptake rate by the scaling law [Formula: see text] and to the growth yield by [Formula: see text] These findings allow us to rederive the Pirt equation from a thermodynamic perspective, providing a means to compute its coefficients, as well as a deeper understanding of the relationship between growth rate and yield. Our results provide rather general insights into the relation between mass and energy conversion in microbial growth with potentially wide application, especially in ecology and biotechnology.

Probing the theoretical and computational limits of dissipative design

Self-assembly, the process by which interacting components form well-defined and often intricate structures, is typically thought of as a spontaneous process arising from equilibrium dynamics. When a system is driven by external nonequilibrium forces, states statistically inaccessible to the equilibrium dynamics can arise, a process sometimes termed direct self-assembly. However, if we fix a given target state and a set of external control variables, it is not well-understood (i) how to design a protocol to drive the system toward the desired state nor (ii) the cost of persistently perturbing the stationary distribution. In this work, we derive a bound that relates the proximity to the chosen target with the dissipation associated with the external drive, showing that high-dimensional external control can guide systems toward target distribution but with an inevitable cost. Remarkably, the bound holds arbitrarily far from equilibrium. Second, we investigate the performance of deep reinforcement learning algorithms and provide evidence for the realizability of complex protocols that stabilize otherwise inaccessible states of matter.

A Drive towards Thermodynamic Efficiency for Dissipative Structures in Chemical Reaction Networks

Dissipative accounts of structure formation show that the self-organisation of complex structures is thermodynamically favoured, whenever these structures dissipate free energy that could not be accessed otherwise. These structures therefore open transition channels for the state of the universe to move from a frustrated, metastable state to another metastable state of higher entropy. However, these accounts apply as well to relatively simple, dissipative systems, such as convection cells, hurricanes, candle flames, lightning strikes, or mechanical cracks, as they do to complex biological systems. Conversely, interesting computational properties-that characterize complex biological systems, such as efficient, predictive representations of environmental dynamics-can be linked to the thermodynamic efficiency of underlying physical processes. However, the potential mechanisms that underwrite the selection of dissipative structures with thermodynamically efficient subprocesses is not completely understood. We address these mechanisms by explaining how bifurcation-based, work-harvesting processes-required to sustain complex dissipative structures-might be driven towards thermodynamic efficiency. We first demonstrate a simple mechanism that leads to self-selection of efficient dissipative structures in a stochastic chemical reaction network, when the dissipated driving chemical potential difference is decreased. We then discuss how such a drive can emerge naturally in a hierarchy of self-similar dissipative structures, each feeding on the dissipative structures of a previous level, when moving away from the initial, driving disequilibrium.

Exploring dissipative sources of non-Markovian biochemical reaction systems

Many biological processes including important intracellular processes are governed by biochemical reaction networks. Usually, these reaction systems operate far from thermodynamic equilibrium, implying free-energy dissipation. On the other hand, single reaction events happen often in a memory manner, leading to non-Markovian kinetics. A question then arises: how do we calculate free-energy dissipation (defined as the entropy production rate) in this physically real case? We derive an analytical formula for calculating the energy consumption of a general reaction system with molecular memory characterized by nonexponential waiting-time distributions. It shows that this dissipation is composed of two parts: one from broken detailed balance of an equivalent Markovian system with the same topology and substrates, and the other from the direction-time dependence of waiting-time distributions. But, if the system is in a detailed balance and the waiting-time distribution is direction-time independent, there is no energy dissipation even in the non-Markovian case. These general results provide insights into the physical mechanisms underlying nonequilibrium processes. A continuous-time random-walk model and a generalized model of stochastic gene expression are chosen to clearly show dissipative sources and the relationship between energy dissipation and molecular memory.

Proofreading through spatial gradients

Key enzymatic processes use the nonequilibrium error correction mechanism called kinetic proofreading to enhance their specificity. The applicability of traditional proofreading schemes, however, is limited because they typically require dedicated structural features in the enzyme, such as a nucleotide hydrolysis site or multiple intermediate conformations. Here, we explore an alternative conceptual mechanism that achieves error correction by having substrate binding and subsequent product formation occur at distinct physical locations. The time taken by the enzyme–substrate complex to diffuse from one location to another is leveraged to discard wrong substrates. This mechanism does not have the typical structural requirements, making it easier to overlook in experiments. We discuss how the length scales of molecular gradients dictate proofreading performance, and quantify the limitations imposed by realistic diffusion and reaction rates. Our work broadens the applicability of kinetic proofreading and sets the stage for studying spatial gradients as a possible route to specificity.

Optimizing energetic cost of uncertainty in a driven system with and without feedback

Many biological functions require dynamics to be necessarily driven out of equilibrium. In contrast, in various contexts, a nonequilibrium dynamics at fast timescales can be described by an effective equilibrium dynamics at a slower timescale. In this work, we study two different aspects: (i) the energy-efficiency tradeoff for a specific nonequilibrium linear dynamics of two variables with feedback and (ii) the cost of effective parameters in a coarse-grained theory as given by the "hidden" dissipation and entropy production rate in the effective equilibrium limit of the dynamics. To meaningfully discuss the tradeoff between energy consumption and the efficiency of the desired function, a one-to-one mapping between function(s) and energy input is required. The function considered in this work is the variance of one of the variables. We get a one-to-one mapping by considering the minimum variance obtained for a fixed entropy production rate and vice versa. We find that this minimum achievable variance is a monotonically decreasing function of the given entropy production rate. When there is a timescale separation, in the effective equilibrium limit, the cost of the effective potential and temperature is the associated "hidden" entropy production rate.

Allostery and Kinetic Proofreading

Kinetic proofreading is an error correction mechanism present in the processes of the central dogma and beyond and typically requires the free energy of nucleotide hydrolysis for its operation. Though the molecular players of many biological proofreading schemes are known, our understanding of how energy consumption is managed to promote fidelity remains incomplete. In our work, we introduce an alternative conceptual scheme called "the piston model of proofreading" in which enzyme activation through hydrolysis is replaced with allosteric activation achieved through mechanical work performed by a piston on regulatory ligands. Inspired by Feynman's ratchet and pawl mechanism, we consider a mechanical engine designed to drive the piston actions powered by a lowering weight, whose function is analogous to that of ATP synthase in cells. Thanks to its mechanical design, the piston model allows us to tune the "knobs" of the driving engine and probe the graded changes and trade-offs between speed, fidelity, and energy dissipation. It provides an intuitive explanation of the conditions necessary for optimal proofreading and reveals the unexpected capability of allosteric molecules to beat the Hopfield limit of fidelity by leveraging the diversity of states available to them. The framework that we have built for the piston model can also serve as a basis for additional studies of driven biochemical systems.

Inferring broken detailed balance in the absence of observable currents

Identifying dissipation is essential for understanding the physical mechanisms underlying nonequilibrium processes. In living systems, for example, the dissipation is directly related to the hydrolysis of fuel molecules such as adenosine triphosphate (ATP). Nevertheless, detecting broken time-reversal symmetry, which is the hallmark of dissipative processes, remains a challenge in the absence of observable directed motion, flows, or fluxes. Furthermore, quantifying the entropy production in a complex system requires detailed information about its dynamics and internal degrees of freedom. Here we introduce a novel approach to detect time irreversibility and estimate the entropy production from time-series measurements, even in the absence of observable currents. We apply our technique to two different physical systems, namely, a partially hidden network and a molecular motor. Our method does not require complete information about the system dynamics and thus provides a new tool for studying nonequilibrium phenomena.

Non-equilibrium systems with hidden states are relevant for biological systems such as molecular motors. Here the authors introduce a method for quantifying irreversibility in such a system by exploiting the fluctuations in the waiting times of time series data.

A space-time tradeoff for implementing a function with master equation dynamics

Master equations are commonly used to model the dynamics of physical systems, including systems that implement single-valued functions like a computer’s update step. However, many such functions cannot be implemented by any master equation, even approximately, which raises the question of how they can occur in the real world. Here we show how any function over some “visible” states can be implemented with master equation dynamics—if the dynamics exploits additional, “hidden” states at intermediate times. We also show that any master equation implementing a function can be decomposed into a sequence of “hidden” timesteps, demarcated by changes in what state-to-state transitions have nonzero probability. In many real-world situations there is a cost both for more hidden states and for more hidden timesteps. Accordingly, we derive a “space–time” tradeoff between the number of hidden states and the number of hidden timesteps needed to implement any given function.

Deterministic maps from initial to final states can always be modelled using the master equation formalism, provided additional “hidden” states are available. Here, the authors demonstrate a tradeoff between the required number of such states and the number of required, suitably defined “hidden time steps”.

Entropic constraints on the steady-state fitness of competing self-replicators

Recent developments in nonequilibrium statistical mechanics suggest that the history of entropy production in a system determines the relative likelihood of competing processes. This presents the possibility of interpreting and predicting the self-organization of complex active systems, but existing theories rely on quantities that are challenging to obtain. Here, we address this issue for a general class of Markovian systems in which two types of self-replicating molecular assemblies (self-replicators) compete for a pool of limiting resource molecules within a nonequilibrium steady state. We derive exact relations that show that the relative fitness of these species depends on a path function, ψ, which is a sum of the entropy production and a relative-entropy term. In the limit of infinite path length, ψ reduces to the entropy production. We demonstrate use of the theory by numerically studying two models inspired by biological systems, including a simplified model of a competition between strains of the yeast prion Sup35 in the presence of driven disaggregation by the ATPase Hsp104.

Semantic information, autonomous agency and non-equilibrium statistical physics

Shannon information theory provides various measures of so-called syntactic information, which reflect the amount of statistical correlation between systems. By contrast, the concept of 'semantic information' refers to those correlations which carry significance or 'meaning' for a given system. Semantic information plays an important role in many fields, including biology, cognitive science and philosophy, and there has been a long-standing interest in formulating a broadly applicable and formal theory of semantic information. In this paper, we introduce such a theory. We define semantic information as the syntactic information that a physical system has about its environment which is causally necessary for the system to maintain its own existence. 'Causal necessity' is defined in terms of counter-factual interventions which scramble correlations between the system and its environment, while 'maintaining existence' is defined in terms of the system's ability to keep itself in a low entropy state. We also use recent results in non-equilibrium statistical physics to analyse semantic information from a thermodynamic point of view. Our framework is grounded in the intrinsic dynamics of a system coupled to an environment, and is applicable to any physical system, living or otherwise. It leads to formal definitions of several concepts that have been intuitively understood to be related to semantic information, including 'value of information', 'semantic content' and 'agency'.

Energy-speed-accuracy relation in complex networks for biological discrimination

Discriminating between correct and incorrect substrates is a core process in biology, but how is energy apportioned between the conflicting demands of accuracy (μ), speed (σ), and total entropy production rate (P)? Previous studies have focused on biochemical networks with simple structure or relied on simplifying kinetic assumptions. Here, we use the linear framework for timescale separation to analytically examine steady-state probabilities away from thermodynamic equilibrium for networks of arbitrary complexity. We also introduce a method of scaling parameters that is inspired by Hopfield's treatment of kinetic proofreading. Scaling allows asymptotic exploration of high-dimensional parameter spaces. We identify in this way a broad class of complex networks and scalings for which the quantity σln(μ)/P remains asymptotically finite whenever accuracy improves from equilibrium, so that μ_{eq}/μ→0. Scalings exist, however, even for Hopfield's original network, for which σln(μ)/P is asymptotically infinite, illustrating the parametric complexity. Outside the asymptotic regime, numerical calculations suggest that, under more restrictive parametric assumptions, networks satisfy the bound, σln(μ/μ_{eq})/P<1, and we discuss the biological implications for discrimination by ribosomes and DNA polymerase. The methods introduced here may be more broadly useful for analyzing complex networks that implement other forms of cellular information processing.

Broken detailed balance and non-equilibrium dynamics in living systems: a review

Living systems operate far from thermodynamic equilibrium. Enzymatic activity can induce broken detailed balance at the molecular scale. This molecular scale breaking of detailed balance is crucial to achieve biological functions such as high-fidelity transcription and translation, sensing, adaptation, biochemical patterning, and force generation. While biological systems such as motor enzymes violate detailed balance at the molecular scale, it remains unclear how non-equilibrium dynamics manifests at the mesoscale in systems that are driven through the collective activity of many motors. Indeed, in several cellular systems the presence of non-equilibrium dynamics is not always evident at large scales. For example, in the cytoskeleton or in chromosomes one can observe stationary stochastic processes that appear at first glance thermally driven. This raises the question how non-equilibrium fluctuations can be discerned from thermal noise. We discuss approaches that have recently been developed to address this question, including methods based on measuring the extent to which the system violates the fluctuation-dissipation theorem. We also review applications of this approach to reconstituted cytoskeletal networks, the cytoplasm of living cells, and cell membranes. Furthermore, we discuss a more recent approach to detect actively driven dynamics, which is based on inferring broken detailed balance. This constitutes a non-invasive method that uses time-lapse microscopy data, and can be applied to a broad range of systems in cells and tissue. We discuss the ideas underlying this method and its application to several examples including flagella, primary cilia, and cytoskeletal networks. Finally, we briefly discuss recent developments in stochastic thermodynamics and non-equilibrium statistical mechanics, which offer new perspectives to understand the physics of living systems.

Least-rattling feedback from strong time-scale separation

In most interacting many-body systems associated with some "emergent phenomena," we can identify subgroups of degrees of freedom that relax on dramatically different time scales. Time-scale separation of this kind is particularly helpful in nonequilibrium systems where only the fast variables are subjected to external driving; in such a case, it may be shown through elimination of fast variables that the slow coordinates effectively experience a thermal bath of spatially varying temperature. In this paper, we investigate how such a temperature landscape arises according to how the slow variables affect the character of the driven quasisteady state reached by the fast variables. Brownian motion in the presence of spatial temperature gradients is known to lead to the accumulation of probability density in low-temperature regions. Here, we focus on the implications of attraction to low effective temperature for the long-term evolution of slow variables. After quantitatively deriving the temperature landscape for a general class of overdamped systems using a path-integral technique, we then illustrate in a simple dynamical system how the attraction to low effective temperature has a fine-tuning effect on the slow variable, selecting configurations that bring about exceptionally low force fluctuation in the fast-variable steady state. We furthermore demonstrate that a particularly strong effect of this kind can take place when the slow variable is tuned to bring about orderly, integrable motion in the fast dynamics that avoids thermalizing energy absorbed from the drive. We thus point to a potentially general feedback mechanism in multi-time-scale active systems, that leads to the exploration of slow variable space, as if in search of fine tuning for a "least-rattling" response in the fast coordinates.

Information-Theoretic Bound on the Entropy Production to Maintain a Classical Nonequilibrium Distribution Using Ancillary Control

There are many functional contexts where it is desirable to maintain a mesoscopic system in a nonequilibrium state. However, such control requires an inherent energy dissipation. In this article, we unify and extend a number of works on the minimum energetic cost to maintain a mesoscopic system in a prescribed nonequilibrium distribution using ancillary control. For a variety of control mechanisms, we find that the minimum amount of energy dissipation necessary can be cast as an information-theoretic measure of distinguishability between the target nonequilibrium state and the underlying equilibrium distribution. This work offers quantitative insight into the intuitive idea that more energy is needed to maintain a system farther from equilibrium.