Frequency selectivity, multistability, and oscillations emerge from models of genetic regulatory systems

Dynamics and bifurcations in genetic circuits with fibration symmetries

Circuit building blocks of gene regulatory networks (GRN) have been identified through the fibration symmetries of the underlying biological graph. Here, we analyse analytically six of these circuits that occur as functional and synchronous building blocks in these networks. Of these, the lock-on, toggle switch, Smolen oscillator, feed-forward fibre and Fibonacci fibre circuits occur in living organisms, notably Escherichia coli; the sixth, the repressilator, is a synthetic GRN. We consider synchronous steady states determined by a fibration symmetry (or balanced colouring) and determine analytic conditions for local bifurcation from such states, which can in principle be either steady-state or Hopf bifurcations. We identify conditions that characterize the first bifurcation, the only one that can be stable near the bifurcation point. We model the state of each gene in terms of two variables: mRNA and protein concentration. We consider all possible 'admissible' models-those compatible with the network structure-and then specialize these general results to simple models based on Hill functions and linear degradation. The results systematically classify using graph symmetries the complexity and dynamics of these circuits, which are relevant to understand the functionality of natural and synthetic cells.

Classification of 2-node excitatory-inhibitory networks

We classify connected 2-node excitatory-inhibitory networks under various conditions. We assume that, as well as for connections, there are two distinct node-types, excitatory and inhibitory. In our classification we consider four different types of excitatory-inhibitory networks: restricted, partially restricted, unrestricted and completely unrestricted. For each type we give two different classifications. Using results on ODE-equivalence and minimality, we classify the ODE-classes and present a minimal representative for each ODE-class. We also classify all the networks with valence ≤2. These classifications are up to renumbering of nodes and the interchange of 'excitatory' and 'inhibitory' on nodes and arrows. These classifications constitute a first step towards analysing dynamics and bifurcations of excitatory-inhibitory networks. The results have potential applications to biological network models, especially neuronal networks, gene regulatory networks, and synthetic gene networks.

MaxCal can infer models from coupled stochastic trajectories of gene expression and cell division

Gene expression is inherently noisy due to small numbers of proteins and nucleic acids inside a cell. Likewise, cell division is stochastic, particularly when tracking at the level of a single cell. The two can be coupled when gene expression affects the rate of cell division. Single-cell time-lapse experiments can measure both fluctuations by simultaneously recording protein levels inside a cell and its stochastic division. These information-rich noisy trajectory data sets can be harnessed to learn about the underlying molecular and cellular details that are often not known a priori. A critical question is: How can we infer a model given data where fluctuations at two levels-gene expression and cell division-are intricately convoluted? We show the principle of maximum caliber (MaxCal)-integrated within a Bayesian framework-can be used to infer several cellular and molecular details (division rates, protein production, and degradation rates) from these coupled stochastic trajectories (CSTs). We demonstrate this proof of concept using synthetic data generated from a known model. An additional challenge in data analysis is that trajectories are often not in protein numbers, but in noisy fluorescence that depends on protein number in a probabilistic manner. We again show that MaxCal can infer important molecular and cellular rates even when data are in fluorescence, another example of CST with three confounding factors-gene expression noise, cell division noise, and fluorescence distortion-all coupled. Our approach will provide guidance to build models in synthetic biology experiments as well as general biological systems where examples of CSTs are abundant.

Buffering variability in cell regulation motifs close to criticality

Bistable biological regulatory systems need to cope with stochastic noise to fine tune their function close to bifurcation points. Here, we study stability properties of this regime in generic systems to demonstrate that cooperative interactions buffer system variability, hampering noise-induced regime shifts. Our analysis also shows that, in the considered cooperativity range, impending regime shifts can be generically detected by statistical early warning signals from distributional data. Our generic framework, based on minimal models, can be used to extract robustness and variability properties of more complex models and empirical data close to criticality.

Magnetic induction inspires a schematic theory for crosstalk-driven relaxation dynamics in cells

Establishing formal mathematical analogies between disparate physical systems can be a powerful tool, allowing for the well studied behavior of one system to be directly translated into predictions about the behavior of another that may be harder to probe. In this paper we lay the foundation for such an analogy between the macroscale electrodynamics of simple magnetic circuits and the microscale chemical kinetics of transcriptional regulation in cells. By artificially allowing the inductor coils of the former to elastically expand under the action of their Lorentz pressure, we introduce nonlinearities into the system that we interpret through the lens of our analogy as a schematic model for the impact of crosstalk on the rates of gene expression near steady state. Synthetic plasmids introduced into a cell must compete for a finite pool of metabolic and enzymatic resources against a maelstrom of crisscrossing biological processes, and our theory makes sensible predictions about how this noisy background might impact the expression profiles of synthetic constructs without explicitly modeling the kinetics of numerous interconnected regulatory interactions. We conclude the paper with a discussion of how our theory might be expanded to a broader class of plasmid circuits and how our predictions might be tested experimentally.

Critical Comparison of MaxCal and Other Stochastic Modeling Approaches in Analysis of Gene Networks

Learning the underlying details of a gene network with feedback is critical in designing new synthetic circuits. Yet, quantitative characterization of these circuits remains limited. This is due to the fact that experiments can only measure partial information from which the details of the circuit must be inferred. One potentially useful avenue is to harness hidden information from single-cell stochastic gene expression time trajectories measured for long periods of time—recorded at frequent intervals—over multiple cells. This raises the feasibility vs. accuracy dilemma while deciding between different models of mining these stochastic trajectories. We demonstrate that inference based on the Maximum Caliber (MaxCal) principle is the method of choice by critically evaluating its computational efficiency and accuracy against two other typical modeling approaches: (i) a detailed model (DM) with explicit consideration of multiple molecules including protein-promoter interaction, and (ii) a coarse-grain model (CGM) using Hill type functions to model feedback. MaxCal provides a reasonably accurate model while being significantly more computationally efficient than DM and CGM. Furthermore, MaxCal requires minimal assumptions since it is a top-down approach and allows systematic model improvement by including constraints of higher order, in contrast to traditional bottom-up approaches that require more parameters or ad hoc assumptions. Thus, based on efficiency, accuracy, and ability to build minimal models, we propose MaxCal as a superior alternative to traditional approaches (DM, CGM) when inferring underlying details of gene circuits with feedback from limited data.

Self-assembly-based posttranslational protein oscillators

Recent advances in synthetic posttranslational protein circuits are substantially impacting the landscape of cellular engineering and offer several advantages compared to traditional gene circuits. However, engineering dynamic phenomena such as oscillations in protein-level circuits remains an outstanding challenge. Few examples of biological posttranslational oscillators are known, necessitating theoretical progress to determine realizable oscillators. We construct mathematical models for two posttranslational oscillators, using few components that interact only through reversible binding and phosphorylation/dephosphorylation reactions. Our designed oscillators rely on the self-assembly of two protein species into multimeric functional enzymes that respectively inhibit and enhance this self-assembly. We limit our analysis to within experimental constraints, finding (i) significant portions of the restricted parameter space yielding oscillations and (ii) that oscillation periods can be tuned by several orders of magnitude using recent advances in computational protein design. Our work paves the way for the rational design and realization of protein-based dynamic systems.

Topology-induced dynamics in a network of synthetic oscillators with piecewise affine approximation

In synthetic biology approaches, minimal systems are used to reproduce complex molecular mechanisms that appear in the core functioning of multi-cellular organisms. In this paper, we study a piecewise affine model of a synthetic two-gene oscillator and prove existence and stability of a periodic solution for all parameters in a given region. Motivated by the synchronization of circadian clocks in a cluster of cells, we next consider a network of N identical oscillators under diffusive coupling to investigate the effect of the topology of interactions in the network's dynamics. Our results show that both all-to-all and one-to-all coupling topologies may introduce new stable steady states in addition to the expected periodic orbit. Both topologies admit an upper bound on the coupling parameter that prevents the generation of new steady states. However, this upper bound is independent of the number of oscillators in the network and less conservative for the one-to-all topology.

Exploring the mechanisms of cell reprogramming and transdifferentiation via intercellular communication

In the past years, the mechanisms of cell reprogramming and transdifferentiation via the way of gene regulation, stochastic fluctuations, or chemical induction to realize cell type transitions from the perspectives of single cells were explored. In multicellular organisms, intercellular communication plays crucial roles in cell fate decisions. However, the importance of intercellular communication to the processes of cell reprogramming and transdifferentiation is often neglected. In this paper, the mechanisms of cell reprogramming and transdifferentiation by intercellular communication are investigated. A two-gene circuit with mutual inhibition and self-activation as a basic model is selected. Then, a coupling mechanism via intercellular communication by introducing a specific signaling molecule into the gene circuit is considered. Finally, the influence of coupling intensity on the dynamics of the coupled system of two cells is analyzed. Moreover, when the coupling intensity changes with respect to the cell number in a discrete way, the effects of coupling intensity on cell reprogramming and transdifferentiation are discussed. Some theoretical analysis of stability and bifurcation of the systems are also given. Our research shows that cells can realize cell reprogramming and transdifferentiation via intercellular interaction at opportune coupling intensity. These results not only further enrich previous studies but also are beneficial to understand the mechanisms of cell reprogramming and transdifferentiation via intercellular communication in the growth and development of multicellular organisms.

Transitions in the cell-fate induction induced by colored noise associated with the inductive stimulus

The cell-fate induction based on the saddle-node bifurcation is undoubtedly a very important concept in developmental biology, which provides a possible mechanism to explain the intrinsic irreversibility in the developmental process. In this paper, the effect of a colored noise, which is associated with the inductive stimulus, on the saddle-node landscape of cell-fate induction is investigated, especially, the effect of the change of correlation time of colored noise on cell-fate induction. The main results show clearly that the change of correlation time of colored noise could induce the transitions of the system. This implies that the colored noise associated with inductive stimulus may have a profound effect on the saddle-node bifurcation landscape of cell-fate induction. This will also help us to understand more deeply the role of cell-fate induction in developmental biology.

Comparison between Effects of Retroactivity and Resource Competition upon Change in Downstream Reporter Genes of Synthetic Genetic Circuits

Reporter genes have contributed to advancements in molecular biology. Binding of an upstream regulatory protein to a downstream reporter promoter allows quantification of the activity of the upstream protein produced from the corresponding gene. In studies of synthetic biology, analyses of reporter gene activities ensure control of the cell with synthetic genetic circuits, as achieved using a combination of in silico and in vivo experiments. However, unexpected effects of downstream reporter genes on upstream regulatory genes may interfere with in vivo observations. This phenomenon is termed as retroactivity. Using in silico and in vivo experiments, we found that a different copy number of regulatory protein-binding sites in a downstream gene altered the upstream dynamics, suggesting retroactivity of reporters in this synthetic genetic oscillator. Furthermore, by separating the two sources of retroactivity (titration of the component and competition for degradation), we showed that, in the dual-feedback oscillator, the level of the fluorescent protein reporter competing for degradation with the circuits' components is important for the stability of the oscillations. Altogether, our results indicate that the selection of reporter promoters using a combination of in silico and in vivo experiments is essential for the advanced design of genetic circuits.

Dynamic environment-induced multistability and critical transition in a metacommunity ecosystem

We study a metacommunity model of consumer-resource populations coupled via dispersal under an environment-dependent framework, and we explore the occurrence of multistability and critical transition. By emphasizing two magnitudes acting on a dynamic environment at temporal and spatial scales, the coupled system with simple diffusive coupling and the nonlinear environmental coupling enables various interesting complex dynamics such as bistability, multistability, and critical transitions. Using the basin stability measure, we find the probability of attaining each alternative state in a multistable region. In addition, critical transitions (one from a high to a low species density and the other from a low to a high species density) are identified at different magnitudes in the presence of stochastic fluctuations. We also explore the robustness of critical slowing-down indicators, e.g., lag-1 autocorrelation and variance, to forewarn the critical transition in the metacommunity model. Further, a network structure also identifies synchronization and multiclustering for a different choice of initial conditions. In contrast with the earlier studies on dynamic environmental coupling, our results based on the defined magnitudes provide important insights into environmental heterogeneity, which determines the set of environmental conditions to predict metacommunity stability and persistence.

Maximum Caliber Can Build and Infer Models of Oscillation in a Three-Gene Feedback Network

Single-cell protein expression time trajectories provide rich temporal data quantifying cellular variability and its role in dictating fitness. However, theoretical models to analyze and fully extract information from these measurements remain limited for three reasons: (i) gene expression profiles are noisy, rendering models of averages inapplicable, (ii) experiments typically measure only a few protein species while leaving other molecular actors-necessary to build traditional bottom-up models-unnoticed, and (iii) measured data are in fluorescence, not particle number. We recently addressed these challenges in an alternate top-down approach using the principle of Maximum Caliber (MaxCal) to model genetic switches with one and two protein species. In the present work we address scalability and broader applicability of MaxCal by extending to a three-gene (A, B, C) feedback network that exhibits oscillation, commonly known as the repressilator. We test MaxCal's inferential power by using synthetic data of noisy protein number time traces-serving as a proxy for experimental data-generated from a known underlying model. We notice that the minimal MaxCal model-accounting for production, degradation, and only one type of symmetric coupling between all three species-reasonably infers several underlying features of the circuit such as the effective production rate, degradation rate, frequency of oscillation, and protein number distribution. Next, we build models of higher complexity including different levels of coupling between A, B, and C and rigorously assess their relative performance. While the minimal model (with four parameters) performs remarkably well, we note that the most complex model (with six parameters) allowing all possible forms of crosstalk between A, B, and C slightly improves prediction of rates, but avoids ad hoc assumption of all the other models. It is also the model of choice based on Bayesian information criteria. We further analyzed time trajectories in arbitrary fluorescence (using synthetic trajectories) to mimic realistic data. We conclude that even with a three-protein system including both fluorescence noise and intrinsic gene expression fluctuations, MaxCal can faithfully infer underlying details of the network, opening future directions to model other network motifs with many species.

Analog Signaling With the "Digital" Molecular Switch CaMKII

Molecular switches, such as the protein kinase CaMKII, play a fundamental role in cell signaling by decoding inputs into either high or low states of activity; because the high activation state can be turned on and persist after the input ceases, these switches have earned a reputation as "digital." Although this on/off, binary perspective has been valuable for understanding long timescale synaptic plasticity, accumulating experimental evidence suggests that the CaMKII switch can also control plasticity on short timescales. To investigate this idea further, a non-autonomous, nonlinear ordinary differential equation, representative of a general bistable molecular switch, is analyzed. The results suggest that switch activity in regions surrounding either the high- or low-stable states of activation could act as a reliable analog signal, whose short timescale fluctuations relative to equilibrium track instantaneous input frequency. The model makes intriguing predictions and is validated against previous work demonstrating its suitability as a minimal representation of switch dynamics; in combination with existing experimental evidence, the theory suggests a multiplexed encoding of instantaneous frequency information over short timescales, with integration of total activity over longer timescales.

Biological Oscillators in Nanonetworks-Opportunities and Challenges

One of the major issues in molecular communication-based nanonetworks is the provision and maintenance of a common time knowledge. To stay true to the definition of molecular communication, biological oscillators are the potential solutions to achieve that goal as they generate oscillations through periodic fluctuations in the concentrations of molecules. Through the lens of a communication systems engineer, the scope of this survey is to explicitly classify, for the first time, existing biological oscillators based on whether they are found in nature or not, to discuss, in a tutorial fashion, the main principles that govern the oscillations in each oscillator, and to analyze oscillator parameters that are most relevant to communication engineer researchers. In addition, the survey highlights and addresses the key open research issues pertaining to several physical aspects of the oscillators and the adoption and implementation of the oscillators to nanonetworks. Moreover, key research directions are discussed.

Maximum Caliber Can Characterize Genetic Switches with Multiple Hidden Species

Gene networks with feedback often involve interactions between multiple species of biomolecules, much more than experiments can actually monitor. Coupled with this is the challenge that experiments often measure gene expression in noisy fluorescence instead of protein numbers. How do we infer biophysical information and characterize the underlying circuits from this limited and convoluted data? We address this by building stochastic models using the principle of Maximum Caliber (MaxCal). MaxCal uses the basic information on synthesis, degradation, and feedback-without invoking any other auxiliary species and ad hoc reactions-to generate stochastic trajectories similar to those typically measured in experiments. MaxCal in conjunction with Maximum Likelihood (ML) can infer parameters of the model using fluctuating trajectories of protein expression over time. We demonstrate the success of the MaxCal + ML methodology using synthetic data generated from known circuits of different genetic switches: (i) a single-gene autoactivating circuit involving five species (including mRNA), (ii) a mutually repressing two-gene circuit (toggle switch) with seven species (including mRNA) considering stochastic time traces of two proteins, and (iii) the same toggle switch circuit considering stochastic time traces of only one of the two proteins. To further challenge the MaxCal + ML inference scheme, we repeat our analysis for the second and third scenario with traces expressed in noisy fluorescence instead of protein number to closely mimic typical experiments. We show that, for all of these models with increasing complexity and obfuscation, the minimal model of MaxCal is still able to capture the fluctuations of the trajectory and infer basic underlying rate parameters when benchmarked against the known values used to generate the synthetic data. Importantly, the model also yields an effective feedback parameter that can be used to quantify interactions within these circuits. These applications show the promise of MaxCal's ability to characterize circuits with limited data, and its utility to better understand evolution and advance design strategies for specific functions.

Likelihood for transcriptions in a genetic regulatory system under asymmetric stable Lévy noise

This work is devoted to investigating the evolution of concentration in a genetic regulation system, when the synthesis reaction rate is under additive and multiplicative asymmetric stable Lévy fluctuations. By focusing on the impact of skewness (i.e., non-symmetry) in the probability distributions of noise, we find that via examining the mean first exit time (MFET) and the first escape probability (FEP), the asymmetric fluctuations, interacting with nonlinearity in the system, lead to peculiar likelihood for transcription. This includes, in the additive noise case, realizing higher likelihood of transcription for larger positive skewness (i.e., asymmetry) index β, causing a stochastic bifurcation at the non-Gaussianity index value α = 1 (i.e., it is a separating point or line for the likelihood for transcription), and achieving a turning point at the threshold value β≈-0.5 (i.e., beyond which the likelihood for transcription suddenly reversed for α values). The stochastic bifurcation and turning point phenomena do not occur in the symmetric noise case (β = 0). While in the multiplicative noise case, non-Gaussianity index value α = 1 is a separating point or line for both the MFET and the FEP. We also investigate the noise enhanced stability phenomenon. Additionally, we are able to specify the regions in the whole parameter space for the asymmetric noise, in which we attain desired likelihood for transcription. We have conducted a series of numerical experiments in "regulating" the likelihood of gene transcription by tuning asymmetric stable Lévy noise indexes. This work offers insights for possible ways of achieving gene regulation in experimental research.

Building Predictive Models of Genetic Circuits Using the Principle of Maximum Caliber

Learning the underlying details of a gene network is a major challenge in cellular and synthetic biology. We address this challenge by building a chemical kinetic model that utilizes information encoded in the stochastic protein expression trajectories typically measured in experiments. The applicability of the proposed method is demonstrated in an auto-activating genetic circuit, a common motif in natural and synthetic gene networks. Our approach is based on the principle of maximum caliber (MaxCal)-a dynamical analog of the principle of maximum entropy-and builds a minimal model using only three constraints: 1) protein synthesis, 2) protein degradation, and 3) positive feedback. The MaxCal-generated model (described with four parameters) was benchmarked against synthetic data generated using a Gillespie algorithm on a known reaction network (with seven parameters). MaxCal accurately predicts underlying rate parameters of protein synthesis and degradation as well as experimental observables such as protein number and dwell-time distributions. Furthermore, MaxCal yields an effective feedback parameter that can be useful for circuit design. We also extend our methodology and demonstrate how to analyze trajectories that are not in protein numbers but in arbitrary fluorescence units, a more typical condition in experiments. This "top-down" methodology based on minimal information-in contrast to traditional "bottom-up" approaches that require ad hoc knowledge of circuit details-provides a powerful tool to accurately infer underlying details of feedback circuits that are not otherwise visible in experiments and to help guide circuit design.

Impulsive Multisynchronization of Coupled Multistable Neural Networks With Time-Varying Delay

This paper studies the synchronization problem of coupled delayed multistable neural networks (NNs) with directed topology. To begin with, several sufficient conditions are developed in terms of algebraic inequalities such that every subnetwork has multiple locally exponentially stable periodic orbits or equilibrium points. Then two new concepts named dynamical multisynchronization (DMS) and static multisynchronization (SMS) are introduced to describe the two novel kinds of synchronization manifolds. Using the impulsive control strategy and the Razumikhin-type technique, some sufficient conditions for both the DMS and the SMS of the controlled coupled delayed multistable NNs with fixed and switching topologies are derived, respectively. Simulation examples are presented to illustrate the effectiveness of the proposed results.

Classical Mechanics Approach Applied to Analysis of Genetic Oscillators

Biological oscillators present a fundamental part of several regulatory mechanisms that control the response of various biological systems. Several analytical approaches for their analysis have been reported recently. They are, however, limited to only specific oscillator topologies and/or to giving only qualitative answers, i.e., is the dynamics of an oscillator given the parameter space oscillatory or not. Here, we present a general analytical approach that can be applied to the analysis of biological oscillators. It relies on the projection of biological systems to classical mechanics systems. The approach is able to provide us with relatively accurate results in the meaning of type of behavior system reflects (i.e., oscillatory or not) and periods of potential oscillations without the necessity to conduct expensive numerical simulations. We demonstrate and verify the proposed approach on three different implementations of amplified negative feedback oscillator.

Transitions in a genetic transcriptional regulatory system under Lévy motion

Based on a stochastic differential equation model for a single genetic regulatory system, we examine the dynamical effects of noisy fluctuations, arising in the synthesis reaction, on the evolution of the transcription factor activator in terms of its concentration. The fluctuations are modeled by Brownian motion and α-stable Lévy motion. Two deterministic quantities, the mean first exit time (MFET) and the first escape probability (FEP), are used to analyse the transitions from the low to high concentration states. A shorter MFET or higher FEP in the low concentration region facilitates such a transition. We have observed that higher noise intensities and larger jumps of the Lévy motion shortens the MFET and thus benefits transitions. The Lévy motion activates a transition from the low concentration region to the non-adjacent high concentration region, while Brownian motion can not induce this phenomenon. There are optimal proportions of Gaussian and non-Gaussian noises, which maximise the quantities MFET and FEP for each concentration, when the total sum of noise intensities are kept constant. Because a weaker stability indicates a higher transition probability, a new geometric concept is introduced to quantify the basin stability of the low concentration region, characterised by the escaping behaviour.

Gene switching rate determines response to extrinsic perturbations in the self-activation transcriptional network motif

Gene switching dynamics is a major source of randomness in genetic networks, also in the case of large concentrations of the transcription factors. In this work, we consider a common network motif - the positive feedback of a transcription factor on its own synthesis - and assess its response to extrinsic noises perturbing gene deactivation in a variety of settings where the network might operate. These settings are representative of distinct cellular types, abundance of transcription factors and ratio between gene switching and protein synthesis rates. By investigating noise-induced transitions among the different network operative states, our results suggest that gene switching rates are key parameters to shape network response to external perturbations, and that such response depends on the particular biological setting, i.e. the characteristic time scales and protein abundance. These results might have implications on our understanding of irreversible transitions for noise-related phenomena such as cellular differentiation. In addition these evidences suggest to adopt the appropriate mathematical model of the network in order to analyze the system consistently to the reference biological setting.

Anticipating regime shifts in gene expression: The case of an autoactivating positive feedback loop

Considerable evidence suggests that anticipating sudden shifts from one state to another in bistable dynamical systems is a challenging task; examples include ecosystems, financial markets, and complex diseases. In this paper, we investigate the effects of additive, multiplicative, and cross-correlated stochastic perturbations on determining the regime shifts in a bistable gene regulatory system, which gives rise to two distinct states of low and high concentrations of protein. We obtain the stationary probability density and mean first-passage time of the system. We show that increasing the additive (multiplicative) noise intensity induces a regime shift from a low (high) to a high (low) protein concentration state. However, an increase in the cross-correlation intensity always induces regime shifts from a high to a low protein concentration state. For both bifurcation-induced (often called the tipping point) and noise-induced (called stochastic switching) regime shifts, we further explore the robustness of recently developed critical-down-based early warning signal (EWS) indicators (e.g., rising variance and lag-1 autocorrelation) on our simulated time-series data. We identify that using EWS indicators, prediction of an impending bifurcation-induced regime shift is relatively easier than that of a noise-induced regime shift in the considered system. Moreover, the success of EWS indicators also strongly depends upon the nature of the noise.

The right time to learn: mechanisms and optimization of spaced learning

For many types of learning, spaced training, which involves repeated long inter-trial intervals, leads to more robust memory formation than does massed training, which involves short or no intervals. Several cognitive theories have been proposed to explain this superiority, but only recently have data begun to delineate the underlying cellular and molecular mechanisms of spaced training, and we review these theories and data here. Computational models of the implicated signalling cascades have predicted that spaced training with irregular inter-trial intervals can enhance learning. This strategy of using models to predict optimal spaced training protocols, combined with pharmacotherapy, suggests novel ways to rescue impaired synaptic plasticity and learning.

The role of mRNA and protein stability in the function of coupled positive and negative feedback systems in eukaryotic cells

Oscillators and switches are important elements of regulation in biological systems. These are composed of coupling negative feedback loops, which cause oscillations when delayed, and positive feedback loops, which lead to memory formation. Here, we examine the behavior of a coupled feedback system, the Negative Autoregulated Frustrated bistability motif (NAF). This motif is a combination of two previously explored motifs, the frustrated bistability motif (FBM) and the negative auto regulation motif (NAR), which both can produce oscillations. The NAF motif was previously suggested to govern long term memory formation in animals, and was used as a synthetic oscillator in bacteria. We build a mathematical model to analyze the dynamics of the NAF motif. We show analytically that the NAF motif requires an asymmetry in the strengths of activation and repression links in order to produce oscillations. We show that the effect of time delays in eukaryotic cells, originating from mRNA export and protein import, are negligible in this system. Based on the reported protein and mRNA half-lives in eukaryotic cells, we find that even though the NAF motif possesses the ability for oscillations, it mostly promotes constant protein expression at the biologically relevant parameter regimes.

STOCHASTIC MULTIRESONANCE INDUCED BY ADDITIVE AMPLITUDE MODULATION SIGNAL AND NOISE IN A GENE TRANSCRIPTIONAL REGULATORY MODEL

We investigate the stochastic resonance (SR) and stochastic multiresonance phenomena in a gene transcriptional regulatory system driven by additive amplitude modulation signal and cross-correlated noise. By using the general two-state approach, we obtained the analytic expression of signal-to-noise ratio (SNR) under the condition of adiabatic approximation. Our results show that the SR phenomenon can be observed and the peak of SR can be manipulated by the amplitude modulation deepness and the amplitude modulation frequency of the signal. More interestingly, stochastic multiresonance can be observed in the curve of SNR versus cross-correlation coefficient. Our results illustrate the potential to utilize the cross-correlation noise for controlling SNR under fixed noise intensity in the study of stochastic gene transcriptional regulatory process.

Effects of downstream genes on synthetic genetic circuits

Background

In order to understand and regulate complex genetic networks in living cells, it is important to build simple and well-defined genetic circuits. We designed such circuits using a synthetic biology approach that included mathematical modeling and simulation, with a focus on the effects by which downstream reporter genes are involved in the regulation of synthetic genetic circuits.

Results

Our results indicated that downstream genes exert two main effects on genes involved in the regulation of synthetic genetic circuits: (1) competition for regulatory proteins and (2) protein degradation in the cell.

Conclusions

Our findings regarding the effects of downstream genes on regulatory genes and the role of impedance in driving large-scale and complex genetic circuits may facilitate the design of more accurate genetic circuits. This design will have wide applications in future studies of systems and synthetic biology.

Graph-theoretic analysis of a model for the coupling between photosynthesis and photorespiration

We develop and analyze a mathematical model based on a previously enunciated hypothesis regarding the origin of rapid, irregular oscillations observed in photosynthetic variables when a leaf is transferred to a low-CO2atmosphere. This model takes the form of a set of differential equations with two delays. We review graph-theoretical methods of analysis based on the bipartite graph representation of mass-action models, including models with delays. We illustrate the use of these methods by showing that our model is capable of delay-induced oscillations. We present some numerical examples confirming this possibility, including the possibility of complex transient oscillations. We then use the structure of the identified oscillophore, the part of the reaction network responsible for the oscillations, along with our knowledge of the plausible range of values for one of the delays, to rule out this hypothetical mechanism.

Lévy noise induced switch in the gene transcriptional regulatory system

The study of random fluctuations in a gene transcriptional regulatory system is extended to the case of non-Gaussian Lévy noise, which can describe unpredictable jump changes of the random environment. The stationary probability densities are given to explore the key roles of Lévy noise in a gene transcriptional regulatory system. The results demonstrate that the parameters of Lévy noise, including noise intensity, stability index, and skewness parameter, can induce switches between distinct gene-expression states. A further concern is the switching time (from the high concentration state to the low concentration one or from the low concentration state to the high concentration one), which is a random variable and often referred to as the mean first passage time. The effects of Lévy noise on expression and degradation time are studied by computing the mean first passage time in two directions and a number of different peculiarities of non-Gaussian Lévy noise compared with Gaussian noise are observed.

Time delay induced transition of gene switch and stochastic resonance in a genetic transcriptional regulatory model

Background

Noise, nonlinear interactions, positive and negative feedbacks within signaling pathways, time delays, protein oligomerization, and crosstalk between different pathways are main characters in the regulatory of gene expression. However, only a single noise source or only delay time in the deterministic model is considered in the gene transcriptional regulatory system in previous researches. The combined effects of correlated noise and time delays on the gene regulatory model still remain not to be fully understood.

Results

The roles of time delay on gene switch and stochastic resonance are systematically explored based on a famous gene transcriptional regulatory model subject to correlated noise. Two cases, including linear time delay appearing in the degradation process (case I) and nonlinear time delay appearing in the synthesis process (case II) are considered, respectively. For case I: Our theoretical results show that time delay can induce gene switch, i.e., the TF-A monomer concentration shifts from the high concentration state to the low concentration state ("on"→"off"). With increasing the time delay, the transition from "on" to "off" state can be further accelerated. Moreover, it is found that the stochastic resonance can be enhanced by both the time delay and correlated noise intensity. However, the additive noise original from the synthesis rate restrains the stochastic resonance. It is also very interesting that a resonance bi-peaks structure appears under large additive noise intensity. The theoretical results by using small-delay time-approximation approach are consistent well with our numerical simulation. For case II: Our numerical simulation results show that time delay can also induce the gene switch, however different with case I, the TF-A monomer concentration shifts from the low concentration state to the high concentration state ("off"→"on"). With increasing time delay, the transition from "on" to "off" state can be further enhanced. Moreover, it is found that the stochastic resonance can be weaken by the time delay.

Conclusions

The stochastic delay dynamic approach can identify key physiological control parameters to which the behavior of special genetic regulatory systems is particularly sensitive. Such parameters might provide targets for pharmacological intervention. Thus, it would be highly interesting to investigate if similar experimental techniques could be used to bring out the delay-induced switch and stochastic resonance in the stochastic gene transcriptional regulatory process.

Dynamic regulation of myosin light chain phosphorylation by Rho-kinase

Myosin light chain (MLC) phosphorylation plays important roles in various cellular functions such as cellular morphogenesis, motility, and smooth muscle contraction. MLC phosphorylation is determined by the balance between activities of Rho-associated kinase (Rho-kinase) and myosin phosphatase. An impaired balance between Rho-kinase and myosin phosphatase activities induces the abnormal sustained phosphorylation of MLC, which contributes to the pathogenesis of certain vascular diseases, such as vasospasm and hypertension. However, the dynamic principle of the system underlying the regulation of MLC phosphorylation remains to be clarified. Here, to elucidate this dynamic principle whereby Rho-kinase regulates MLC phosphorylation, we developed a mathematical model based on the behavior of thrombin-dependent MLC phosphorylation, which is regulated by the Rho-kinase signaling network. Through analyzing our mathematical model, we predict that MLC phosphorylation and myosin phosphatase activity exhibit bistability, and that a novel signaling pathway leading to the auto-activation of myosin phosphatase is required for the regulatory system of MLC phosphorylation. In addition, on the basis of experimental data, we propose that the auto-activation pathway of myosin phosphatase occurs in vivo. These results indicate that bistability of myosin phosphatase activity is responsible for the bistability of MLC phosphorylation, and the sustained phosphorylation of MLC is attributed to this feature of bistability.

A self-organized model for cell-differentiation based on variations of molecular decay rates

Systemic properties of living cells are the result of molecular dynamics governed by so-called genetic regulatory networks (GRN). These networks capture all possible features of cells and are responsible for the immense levels of adaptation characteristic to living systems. At any point in time only small subsets of these networks are active. Any active subset of the GRN leads to the expression of particular sets of molecules (expression modes). The subsets of active networks change over time, leading to the observed complex dynamics of expression patterns. Understanding of these dynamics becomes increasingly important in systems biology and medicine. While the importance of transcription rates and catalytic interactions has been widely recognized in modeling genetic regulatory systems, the understanding of the role of degradation of biochemical agents (mRNA, protein) in regulatory dynamics remains limited. Recent experimental data suggests that there exists a functional relation between mRNA and protein decay rates and expression modes. In this paper we propose a model for the dynamics of successions of sequences of active subnetworks of the GRN. The model is able to reproduce key characteristics of molecular dynamics, including homeostasis, multi-stability, periodic dynamics, alternating activity, differentiability, and self-organized critical dynamics. Moreover the model allows to naturally understand the mechanism behind the relation between decay rates and expression modes. The model explains recent experimental observations that decay-rates (or turnovers) vary between differentiated tissue-classes at a general systemic level and highlights the role of intracellular decay rate control mechanisms in cell differentiation.

Bifurcation threshold of the delayed van der Pol oscillator under stochastic modulation

We obtain the location of the Hopf bifurcation threshold for a modified van der Pol oscillator, parametrically driven by a stochastic source and including delayed feedback in both position and velocity. We introduce a multiple scale expansion near threshold, and we solve the resulting Fokker-Planck equation associated with the evolution at the slowest time scale. The analytical results are compared with a direct numerical integration of the model equation. Delay modifies the Hopf frequency at threshold and leads to a stochastic bifurcation that is shifted relative to the deterministic limit by an amount that depends on the delay time, the amplitude of the feedback terms, and the intensity of the noise. Interestingly, stochasticity generally increases the region of stability of the limit cycle.

Transient noise amplification and gene expression synchronization in a bistable mammalian cell-fate switch

Progenitor cells within a clonal population show variable proclivity toward lineage commitment and differentiation. This cell-to-cell variability has been attributed to transcriptome-wide gene expression noise generated by fluctuations in the amount of cellular machinery and stochasticity in the biochemical reactions involved in protein synthesis. It therefore remains unclear how a signaling network, in the presence of such noise, can execute unequivocal cell-fate decisions from external cues. Here, we use mathematical modeling and model-guided experiments to reveal functional interplay between instructive signaling and noise in erythropoiesis. We present evidence that positive transcriptional feedback loops in a lineage-specific receptor signaling pathway can generate ligand-induced memory to engender robust, switch-like responses. These same feedback loops can also transiently amplify gene expression noise in the signaling network, suggesting that external cues can actually bias seemingly stochastic decisions during cell-fate specification. Gene expression levels among key effectors in the signaling pathway are uncorrelated in the initial population of progenitor cells but become synchronized after addition of ligand, which activates the transcriptional feedback loops. Finally, we show that this transient noise amplification and gene expression synchronization induced by ligand can directly influence cell survival and differentiation kinetics within the population.

A dynamic model of transcriptional imprinting derived from the vitellogenesis memory effect

Transcriptional memory of transient signals can be imprinted on living systems and influence their reactivity to repeated stimulations. Although they are classically ascribed to structural chromatin rearrangements in eukaryotes, such behaviors can also rely on dynamic memory circuits with sustained self-amplification loops. However, these phenomena are either of finite duration, or conversely associated to sustained phenotypic changes. A mechanism is proposed, in which only the responsiveness of the target gene is durably reset at a higher level after primary stimulation, using the celebrated but still puzzling vitellogenesis memory effect. The basic ingredients of this system are: 1), a positive autoregulation of the estrogen receptor α gene; 2), a strongly cooperative action of the estradiol receptor on vitellogenin expression; and 3), a variant isoform of the estradiol receptor with two autonomous transcription-activating modules, one of which is signal-independent and the other, signal-dependent. Realistic quantification supports the possibility of a multistationary situation in which ligand-independent activity is unable by itself to prime the amplification loop, but can click the system over a memory threshold after a primary stimulation. This ratchet transcriptional mechanism can have developmental and ecotoxicological importance and explain lifelong imprinting of past exposures without apparent phenotypic changes before restimulation and without need for persistent chromatin modifications.

Computational design of enhanced learning protocols

Learning and memory are influenced by the temporal pattern of training stimuli. However, the mechanisms that determine the effectiveness of a particular training protocol are not well understood. We tested the hypothesis that the efficacy of a protocol is determined in part by interactions among biochemical cascades that underlie learning and memory. Previous findings suggest that the protein kinase A (PKA) and extracellular signal-regulated kinase (ERK) cascades are necessary to induce long-term synaptic facilitation (LTF) in Aplysia, a neuronal correlate of memory. We developed a computational model of the PKA and ERK cascades and used it to identify a training protocol that maximized PKA and ERK interactions. In vitro studies confirmed that the protocol enhanced LTF. Moreover, the protocol enhanced the levels of phosphorylation of the transcription factor CREB1. Behavioral training confirmed that long-term memory also was enhanced by the protocol. These results illustrate the feasibility of using computational models to design training protocols that improve memory.

Key role of time-delay and connection topology in shaping the dynamics of noisy genetic regulatory networks

This paper focuses on a paced genetic regulatory small-world network with time-delayed coupling. How the dynamical behaviors including temporal resonance and spatial synchronization evolve under the influence of time-delay and connection topology is explored through numerical simulations. We reveal the phenomenon of delay-induced resonance when the network topology is fixed. For a fixed time-delay, temporal resonance is shown to be degraded by increasing the rewiring probability of the network. On the other hand, for small rewiring probability, temporal resonance can be enhanced by an appropriately tuned small delay but degraded by a large delay, while conversely, temporal resonance is always reduced by time-delay for large rewiring probability. Finally, an optimal spatial synchrony is detected by a proper combination of time-delay and connection topology.

RECONSTRUCTING GENETIC NETWORKS FROM TIME ORDERED GENE EXPRESSION DATA USING BAYESIAN METHOD WITH GLOBAL SEARCH ALGORITHM

Different genes of an organism are expressed to different levels at different times during the life cycle and in response to various environmental stresses. Elucidating the network of gene-gene interactions responsible for the expression helps understand living processes. Microarray technology allows concurrent genomic scale measurement of an organism's mRNA levels. We describe a power-law formalism to model the combinatorial effect of regulators on gene transcription. The dynamic model allows delayed transcription. We employ a principled network reconstruction approach that accounts for the high noise and low replicate characteristics of present day microarray data. An important feature of our approach is that the detail of the reconstructed network is limited to the noise level of the data. We apply the methodology to a microarray dataset of yeast cells grown in glucose and experiencing a diauxic transition upon glucose depletion. The reconstructed transcriptional regulations of yeast glycolytic genes are consistent with published findings.

Dynamic modeling of gene expression in prokaryotes: application to glucose-lactose diauxie in Escherichia coli

Coexpression of genes or, more generally, similarity in the expression profiles poses an unsurmountable obstacle to inferring the gene regulatory network (GRN) based solely on data from DNA microarray time series. Clustering of genes with similar expression profiles allows for a course-grained view of the GRN and a probabilistic determination of the connectivity among the clusters. We present a model for the temporal evolution of a gene cluster network which takes into account interactions of gene products with genes and, through a non-constant degradation rate, with other gene products. The number of model parameters is reduced by using polynomial functions to interpolate temporal data points. In this manner, the task of parameter estimation is reduced to a system of linear algebraic equations, thus making the computation time shorter by orders of magnitude. To eliminate irrelevant networks, we test each GRN for stability with respect to parameter variations, and impose restrictions on its behavior near the steady state. We apply our model and methods to DNA microarray time series' data collected on Escherichia coli during glucose-lactose diauxie and infer the most probable cluster network for different phases of the experiment.

ELECTRONIC SUPPLEMENTARY MATERIAL

The online version of this article (doi:10.1007/s11693-011-9079-2) contains supplementary material, which is available to authorized users.

Bistability, probability transition rate and first-passage time in an autoactivating positive-feedback loop

A hallmark of positive-feedback regulation is bistability, which gives rise to distinct cellular states with high and low expression levels, and that stochasticity in gene expression can cause random transitions between two states, yielding bimodal population distribution (Kaern et al., 2005, Nat Rev Genet 6: 451-464). In this paper, the probability transition rate and first-passage time in an autoactivating positive-feedback loop with bistability are investigated, where the gene expression is assumed to be disturbed by both additive and multiplicative external noises, the bimodality in the stochastic gene expression is due to the bistability, and the bistability determines that the potential of the Fokker-Planck equation has two potential wells. Our main goal is to illustrate how the probability transition rate and first-passage time are affected by the maximum transcriptional rate, the intensities of additive and multiplicative noises, and the correlation of additive and multiplicative noises. Our main results show that (i) the increase of the maximum transcription rate will be useful for maintaining a high gene expression level; (ii) the probability transition rate from one potential well to the other one will increase with the increase of the intensity of additive noise; (iii) the increase of multiplicative noise strength will increase the amount of probability in the left potential well; and (iv) positive (or negative) cross-correlation between additive and multiplicative noises will increase the amount of probability in the left (or right) potential well.

Synthetic in vitro transcriptional oscillators

The construction of synthetic biochemical circuits from simple components illuminates how complex behaviors can arise in chemistry and builds a foundation for future biological technologies. A simplified analog of genetic regulatory networks, in vitro transcriptional circuits, provides a modular platform for the systematic construction of arbitrary circuits and requires only two essential enzymes, bacteriophage T7 RNA polymerase and Escherichia coli ribonuclease H, to produce and degrade RNA signals. In this study, we design and experimentally demonstrate three transcriptional oscillators in vitro. First, a negative feedback oscillator comprising two switches, regulated by excitatory and inhibitory RNA signals, showed up to five complete cycles. To demonstrate modularity and to explore the design space further, a positive-feedback loop was added that modulates and extends the oscillatory regime. Finally, a three-switch ring oscillator was constructed and analyzed. Mathematical modeling guided the design process, identified experimental conditions likely to yield oscillations, and explained the system's robust response to interference by short degradation products. Synthetic transcriptional oscillators could prove valuable for systematic exploration of biochemical circuit design principles and for controlling nanoscale devices and orchestrating processes within artificial cells.

Modeling oscillatory control in NF-κB, p53 and Wnt signaling

Oscillations are commonly observed in cellular behavior and span a wide range of timescales, from seconds in calcium signaling to 24 hours in circadian rhythms. In between lie oscillations with time periods of 1-5 hours seen in NF-κB, p53 and Wnt signaling, which play key roles in the immune system, cell growth/death and embryo development, respectively. In the first part of this article, we provide a brief overview of simple deterministic models of oscillations. In particular, we explain the mechanism of saturated degradation that has been used to model oscillations in the NF-κB, p53 and Wnt systems. The second part deals with the potential physiological role of oscillations. We use the simple models described earlier to explore whether oscillatory signals can encode more information than steady-state signals. We then discuss a few simple genetic circuits that could decode information stored in the average, amplitude or frequency of oscillations. The presence of frequency-detector circuit downstream of NF-κB or p53 would be a strong clue that oscillations are important for the physiological response of these signaling systems.

A comparative analysis of synthetic genetic oscillators

Synthetic biology is a rapidly expanding discipline at the interface between engineering and biology. Much research in this area has focused on gene regulatory networks that function as biological switches and oscillators. Here we review the state of the art in the design and construction of oscillators, comparing the features of each of the main networks published to date, the models used for in silico design and validation and, where available, relevant experimental data. Trends are apparent in the ways that network topology constrains oscillator characteristics and dynamics. Also, noise and time delay within the network can both have constructive and destructive roles in generating oscillations, and stochastic coherence is commonplace. This review can be used to inform future work to design and implement new types of synthetic oscillators or to incorporate existing oscillators into new designs.

Avoiding transcription factor competition at promoter level increases the chances of obtaining oscillation

Background

The ultimate goal of synthetic biology is the conception and construction of genetic circuits that are reliable with respect to their designed function (e.g. oscillators, switches). This task remains still to be attained due to the inherent synergy of the biological building blocks and to an insufficient feedback between experiments and mathematical models. Nevertheless, the progress in these directions has been substantial.

Results

It has been emphasized in the literature that the architecture of a genetic oscillator must include positive (activating) and negative (inhibiting) genetic interactions in order to yield robust oscillations. Our results point out that the oscillatory capacity is not only affected by the interaction polarity but by how it is implemented at promoter level. For a chosen oscillator architecture, we show by means of numerical simulations that the existence or lack of competition between activator and inhibitor at promoter level affects the probability of producing oscillations and also leaves characteristic fingerprints on the associated period/amplitude features.

Conclusions

In comparison with non-competitive binding at promoters, competition drastically reduces the region of the parameters space characterized by oscillatory solutions. Moreover, while competition leads to pulse-like oscillations with long-tail distribution in period and amplitude for various parameters or noisy conditions, the non-competitive scenario shows a characteristic frequency and confined amplitude values. Our study also situates the competition mechanism in the context of existing genetic oscillators, with emphasis on the Atkinson oscillator.

Simple molecular networks that respond optimally to time-periodic stimulation

Background

Bacteria or cells receive many signals from their environment and from other organisms. In order to process this large amount of information, Systems Biology shows that a central role is played by regulatory networks composed of genes and proteins. The objective of this paper is to present and to discuss simple regulatory network motifs having the property to maximize their responses under time-periodic stimulations. In elucidating the mechanisms underlying these responses through simple networks the goal is to pinpoint general principles which optimize the oscillatory responses of molecular networks.

Results

We took a look at basic network motifs studied in the literature such as the Incoherent Feedforward Loop (IFFL) or the interlerlocked negative feedback loop. The former is also generalized to a diamond pattern, with network components being either purely genetic or combining genetic and signaling pathways. Using standard mathematics and numerical simulations, we explain the types of responses exhibited by the IFFL with respect to a train of periodic pulses. We show that this system has a non-vanishing response only if the inter-pulse interval is above a threshold. A slight generalisation of the IFFL (the diamond) is shown to work as an ideal pass-band filter. We next show a mechanism by which average of oscillatory response can be maximized by bursting temporal patterns. Finally we study the interlerlocked negative feedback loop, i.e. a 2-gene motif forming a loop where the nodes respectively activate and repress each other, and show situations where this system possesses a resonance under periodic stimulation.

Conclusion

We present several simple motif designs of molecular networks producing optimal output in response to periodic stimulations of the system. The identified mechanisms are simple and based on known network motifs in the literature, so that that they could be embodied in existing organisms, or easily implementable by means of synthetic biology. Moreover we show that these designs can be studied in different contexts of molecular biology, as for example in genetic networks or in signaling pathways.

Robustness analysis of cellular memory in an autoactivating positive feedback system

Cellular memory is a ubiquitous phenomenon in cell biology. Using numerical simulation and theoretical analysis, we explored the robustness of cellular memory to intrinsic noise in a transcriptional positive feedback system. Without noise, the system could create two stable steady states and function as a memory module. Memory robustness index and mean first-passage time were used to quantify the robustness of memory. Large cell size and strong cooperativity in binding enhanced memory storage remarkably. Adding a second positive feedback loop improved persistent memory significantly, whereas including a negative one destabilized memory storage. These are consistent with experimental observations. We interpret why positive feedback loops are actively involved in epigenetic memory from a dynamical systems perspective.

Robust, tunable biological oscillations from interlinked positive and negative feedback loops

A simple negative feedback loop of interacting genes or proteins has the potential to generate sustained oscillations. However, many biological oscillators also have a positive feedback loop, raising the question of what advantages the extra loop imparts. Through computational studies, we show that it is generally difficult to adjust a negative feedback oscillator's frequency without compromising its amplitude, whereas with positive-plus-negative feedback, one can achieve a widely tunable frequency and near-constant amplitude. This tunability makes the latter design suitable for biological rhythms like heartbeats and cell cycles that need to provide a constant output over a range of frequencies. Positive-plus-negative oscillators also appear to be more robust and easier to evolve, rationalizing why they are found in contexts where an adjustable frequency is unimportant.