An optimal number of molecules for signal amplification and discrimination in a chemical cascade

Spatiotemporal Regulation of Signaling: Focus on T Cell Activation and the Immunological Synapse

In a signaling network, not only the functions of molecules are important but when (temporal) and where (spatial) those functions are exerted and orchestrated is what defines the signaling output. To temporally and spatially modulate signaling events, cells generate specialized functional domains with variable lifetime and size that concentrate signaling molecules, enhancing their transduction potential. The plasma membrane is a key in this regulation, as it constitutes a primary signaling hub that integrates signals within and across the membrane. Here, we examine some of the mechanisms that cells exhibit to spatiotemporally regulate signal transduction, focusing on the early events of T cell activation from triggering of T cell receptor to formation and maturation of the immunological synapse.

Spatio-temporal dynamics of a cell signal pathway with negative feedbacks: the MAPK/ERK pathway

We studied the spatio-temporal dynamics of a cell signal cascade with negative feedback that quantitatively emulates the regulative process that occurs in the Mitogen Activated Protein Kinase/Extracellular Regulated Kinase (MAPK/ERK) pathway. The model consists of a set of six coupled reaction-diffusion equations that describes the dynamics of the six-module pathway. In the basic module the active form of the protein transmits the signal to the next pathway’s module. As suggested by experiments, the model considers that the fifth module's kinase down-regulates the first and third modules. The feedback parameter is defined as, μ(r)( j)= k(kin)5/k(kin)(j), (j = 1, 3). We analysed the pathway's dynamics for μ(r)( j) = 0.10, 1.0, and 10 in the kinetic regimes: i) saturation of both kinases and phosphatases, ii) saturation of the phosphatases and iii) saturation of the kinases. For a regulated pathway the Total Activated Protein Profiles (TAPPs) as a function of time develop a maximum during the transient stage in the three kinetic regimes. These maxima become higher and their positions shift to longer times downstream. This scenario also applies to the TAPP's regulatory kinase that sums up its inhibitory action to that of the phosphatases leading to a maximum. Nevertheless, when μ(r)(j)= 1.0 , the TAPPs develop two maxima, with the second maximum being almost imperceptible. These results are in qualitative agreement with experimental data obtained from NIH 3T3 mouse fibroblasts. In addition, analyses of the stationary states as a function of position indicate that in the kinetic regime i) which is of physiological interest, signal transduction occurs with a relatively large propagation length for the three values of the regulative parameter. However, for μ(r)(j)= 0.10 , the sixth module concentration profile is transmitted with approximately 45% of its full value. The results obtained for μ(r)(j) = 10 , indicate that the first five concentration profiles are small with a short propagation length; nonetheless, the last concentration profile, c6, attains more than 90% of its full value with a relatively large propagation length as an indication of signal transduction. Signal transduction also occurred favourably in the kinetic regimes ii) and iii), but the signal was longer-ranged in the regime ii).

Mosaic physiology from developmental noise: within-organism physiological diversity as an alternative to phenotypic plasticity and phenotypic flexibility

A key problem in organismal biology is to explain the origins of functional diversity. In the context of organismal biology, functional diversity describes the set of phenotypes, across scales of biological organization and through time, that a single genotype, or genome, or organism, can produce. Functional diversity encompasses many phenomena: differences in cell types within organisms; physiological and morphological differences among tissues and organs; differences in performance; morphological shifts in external phenotype; and changes in behavior. How can single genomes produce so many different phenotypes? Modern biology proposes two general mechanisms. The first is developmental programs, by which single cells and their single genomes diversify, via relatively deterministic processes, into the sets of cell types, tissues and organs that we see in most multicellular organisms. The second general mechanism is phenotypic modification stemming from interactions between organisms and their environments – modifications known either as phenotypic plasticity or as phenotypic flexibility, depending on the time scale of the response and the degree of reversibility. These two diversity-generating mechanisms are related because phenotypic modifications may sometimes arise as a consequence of environments influencing developmental programs. Here, I propose that functional diversity also arises via a third fundamental mechanism: stochastic developmental events giving rise to mosaics of physiological diversity within individual organisms. In biological systems, stochasticity stems from the inherently random actions of small numbers of molecules interacting with one another. Although stochastic effects occur in many biological contexts, available evidence suggests that they can be especially important in gene networks, specifically as a consequence of low transcript numbers in individual cells. I briefly review known mechanisms by which organisms control such stochasticity, and how they may use it to create adaptive functional diversity. I then fold this idea into modern thinking on phenotypic plasticity and flexibility, proposing that multicellular organisms exhibit ‘mosaic physiology’. Mosaic physiology refers to sets of diversified phenotypes, within individual organisms, that carry out related functions at the same time, but that are distributed in space. Mosaic physiology arises from stochasticity-driven differentiation of cells, early during cell diversification, which is then amplified by cell division and growth into macroscopic phenotypic modules (cells, tissues, organs) making up the physiological systems of later life stages. Mosaic physiology provides a set of standing, diversified phenotypes, within single organisms, that raise the likelihood of the organism coping well with novel environmental challenges. These diversified phenotypes can be distinct, akin to polyphenisms at the organismal level; or they can be continuously distributed, creating a kind of standing, simultaneously expressed reaction norm of physiological capacities.

Information decoding in microscopic biological processes

The cellular and intracellular dynamics are intrinsically stochastic and dynamic. However, whole biological system such as a cell or our body can function very robustly and stably even though they are composed of these stochastic reactions. To account for this riddling relation between macroscopic robustness and microscopic stochasticity, I propose a mechanism that information relevant for stable and reliable operation of a biological system is embedded in apparently stochastic and noisy behavior of their components. To show validity of this possibility, I demonstrates that information can actually be decoded from apparently noisy signal when it is processed by an appropriate dynamics derived by Bayes' rule. Next, I investigate biological relevance of this possibility by showing that several intracellular networks can implement this decoding dynamics. Finally, by focusing its dynamical properties, I show the mechanism how the derived dynamics can separate information and noise.

Theoretical aspects of cellular decision-making and information-processing

Microscopic biological processes have extraordinary complexity and variety at the sub-cellular, intra-cellular, and multi-cellular levels. In dealing with such complex phenomena, conceptual and theoretical frameworks are crucial, which enable us to understand seemingly different intra- and inter-cellular phenomena from unified viewpoints. Decision-making is one such concept that has attracted much attention recently. Since a number of cellular behavior can be regarded as processes to make specific actions in response to external stimuli, decision-making can cover and has been used to explain a broad range of different cellular phenomena [Balázsi et al. (Cell 144(6):910, 2011), Zeng et al. (Cell 141(4):682, 2010)]. Decision-making is also closely related to cellular information-processing because appropriate decisions cannot be made without exploiting the information that the external stimuli contain. Efficiency of information transduction and processing by intra-cellular networks determines the amount of information obtained, which in turn limits the efficiency of subsequent decision-making. Furthermore, information-processing itself can serve as another concept that is crucial for understanding of other biological processes than decision-making. In this work, we review recent theoretical developments on cellular decision-making and information-processing by focusing on the relation between these two concepts.

OPTIMAL CONTROL OF STOCHASTIC FLUCTUATIONS IN BIOCHEMICAL REACTIONS

Different experimental conditions can give rise to changes in rate constants of biochemical reactions, thus resulting in different stochastic fluctuations in the numbers of chemical species molecules. A naturally arising question is how to choose a set of reaction rate constants such that experiment-depending stochastic fluctuations can be optimally controlled. In this paper, we determine the optimal rate constants by optimally controlling stochastic fluctuations in the numbers of chemical species molecules based on the theory of continuous-time Markov decision processes. Specifically, we first propose a stochastic model for a coupled set of biochemical reactions, then solve an optimality problem for rate constants with the mean-maximal numbers of chemical species molecules, and finally find, using a policy iteration algorithm of the continuous-time Markov decision processes, optimal rate constants with the variance-minimal molecule numbers over all possible sets of the rate constants with the maximal-mean molecule numbers obtained.

Dynamics of intracellular information decoding

A variety of cellular functions are robust even to substantial intrinsic and extrinsic noise in intracellular reactions and the environment that could be strong enough to impair or limit them. In particular, of substantial importance is cellular decision-making in which a cell chooses a fate or behavior on the basis of information conveyed in noisy external signals. For robust decoding, the crucial step is filtering out the noise inevitably added during information transmission. As a minimal and optimal implementation of such an information decoding process, the autocatalytic phosphorylation and autocatalytic dephosphorylation (aPadP) cycle was recently proposed. Here, we analyze the dynamical properties of the aPadP cycle in detail. We describe the dynamical roles of the stationary and short-term responses in determining the efficiency of information decoding and clarify the optimality of the threshold value of the stationary response and its information-theoretical meaning. Furthermore, we investigate the robustness of the aPadP cycle against the receptor inactivation time and intrinsic noise. Finally, we discuss the relationship among information decoding with information-dependent actions, bet-hedging and network modularity.

Amplification and detection of single-molecule conformational fluctuation through a protein interaction network with bimodal distributions

A protein undergoes conformational dynamics with multiple time scales, which results in fluctuating enzyme activities. Recent studies in single-molecule enzymology have observe this "age-old" dynamic disorder phenomenon directly. However, the single-molecule technique has its limitation. To be able to observe this molecular effect with real biochemical functions in situ, we propose to couple the fluctuations in enzymatic activity to noise propagations in small protein interaction networks such as a zeroth-order ultrasensitive phosphorylation-dephosphorylation cycle. We show that enzyme fluctuations can indeed be amplified by orders of magnitude into fluctuations in the level of substrate phosphorylation, a quantity of wide interest in cellular biology. Enzyme conformational fluctuations sufficiently slower than the catalytic reaction turnover rate result in a bimodal concentration distribution of the phosphorylated substrate. In return, this network-amplified single-enzyme fluctuation can be used as a novel biochemical "reporter" for measuring single-enzyme conformational fluctuation rates.

Accuracy of positional information provided by multiple morphogen gradients with correlated noise

Normal development of multicellular organisms requires cells to respond properly according to their positions. Positional information is often provided to cells as concentrations of diffusive chemicals called morphogens with spatial gradients. However, the spatial profiles of their concentrations include various kinds of noises, making positional information unreliable. In many developmental systems, multiple morphogen gradients are adopted to specify the spatial position along a single axis, presumably to achieve a sufficiently high precision of information on the location of each cell. In this paper, we ask how the precision of positional information depends on the number of morphogens. We derive a formula for the limit of precision when each cell adopts the maximum-likelihood estimation of the "true" position from noisy inputs. The precision increases with the number of morphogens and interestingly it also depends on the correlation of noises. The positional specification can be made more precisely if their gradients are of the opposite (same) direction when noises of the two morphogens are positively (negatively) correlated. The formula also tells us a minimum number of morphogens needed to achieve a given precision of positional information. We illustrate the theory by analyzing experimental data for the gradients of two diffusive chemicals, Bicoid and Caudal, in the early development of Drosophila embryo. The analysis suggests that combined information provided by the two chemicals is able to give accurate positional information in the middle part of the embryo, where the embryo segmentation occurs in later stages, much more than near both ends.

The effects of cascade length, kinetics and feedback loops on biological signal transduction dynamics in a simplified cascade model

How intracellular signals are propagated with appropriate strength, duration and fidelity over time is poorly understood. To address these issues, intracellular signal transduction was studied both analytically and numerically using a simplified cascade model. The main observations can be summarized as follows: when the response kinetics is of the Michaelis-Menten type, the signal strength will always reach the same magnitude as the cascade length increases, regardless of the type of stimulus applied (i.e. either continuous or unitary pulse). However, when the response kinetics is of the Hill type (Hill coefficient >1), there exists a stimulation threshold. If the stimulus is below the threshold, the signal decays toward zero; in contrast, if the stimulus is above the threshold, the signal amplitude reaches a nonzero steady state. The time taken for the signal to proceed through the cascade increases as the half-maximum point, or Hill coefficient, increases, whereas the duration of the output signal at the end of the cascade decreases as the half-maximum point increases. In the presence of positive feedback, the stimulation threshold increases; under these conditions, the feedback strength necessary for bistability changes (with power-law characteristics) inversely related to the length of the cascade. In the presence of negative feedback, oscillations are induced when the Hill coefficient is greater than 1 and the cascade has more than two steps. Likewise, the feedback strength required to generate oscillations changes (again with power-law characteristics) inversely with the length of the cascade.

Stochastic control of spontaneous signal generation for gradient sensing in chemotaxis

Chemotaxis is characterized by spontaneous cellular behavior. This spontaneity results, in part, from the stochasticity of intracellular reactions. Spontaneous and random migration of chemotactic cells is regulated by spontaneously generated signals, namely transient local increases in the level of phosphoinositol-3,4,5-triphosphate (PIP3 pulses). In this study, we attempted to elucidate the mechanisms that generate these PIP3 pulses and how the pulses contribute to gradient sensing during chemotaxis. To this end, we constructed a simple biophysical model of intracellular signal transduction consisting of an inositol phospholipid signaling pathway and small GTPases. Our theoretical analysis revealed that an excitable system can emerge from the non-linear dynamics of the model, and that stochastic reactions allow the system to spontaneously become excited, which was corresponded to the PIP3 pulses. Based on these results, we framed a hypothesis of the gradient sensing; a chemical gradient spatially modifies a potential barrier for excitation and then PIP3 pulses are preferentially generated on the side of the cell exposed to the higher chemical concentration. We then validated our hypothesis using stochastic simulations of the signal transduction.

Multiplicative-noise-induced coherence resonance via two different mechanisms in bistable neural models

The bistable FitzHugh-Nagumo (FHN) neural model driven by two multiplicative noises and one additive noise is investigated. Two different potential mechanisms for enhancing coherence of bistable FHN model are presented, that is, the first multiplicative noise changes the system from the bistable to the oscillatory regime, and the second multiplicative noise can enhance the symmetry of two stable states of the system. The two mechanisms are analytically or numerically explained. At any level of the second multiplicative noise, a maximal coherence have been found at some intermediate noise intensity of the first multiplicative noise. Only when the first multiplicative noise intensity is less than 0.0001 can a maximal coherence be obtained at some intermediate noise intensity of the second multiplicative noise. These coherence resonance phenomena have been understood in terms of the presented mechanisms.

The effects of reversibility and noise on stochastic phosphorylation cycles and cascades

The phosphorylation-dephosphorylation cycle is a common motif in cellular signaling networks. Previous work has revealed that, when driven by a noisy input signal, these cycles may exhibit bistable behavior. Here, a recently introduced theorem on network bistability is applied to prove that the existence of bistability is dependent on the stochastic nature of the system. Furthermore, the thermodynamics of simple cycles and cascades is investigated in the stochastic setting. Because these cycles are driven by the ATP hydrolysis potential, they may operate far from equilibrium. It is shown that sufficient high ATP hydrolysis potential is necessary for the existence of a bistable steady state. For the single-cycle system, the ensemble average behavior follows the ultrasensitive response expected from analysis of the corresponding deterministic system, but with significant fluctuations. For the two-cycle cascade, the average behavior begins to deviate from the expected response of the deterministic system. Examination of a two-cycle cascade reveals that the bistable steady state may be either propagated or abolished along a cascade, depending on the parameters chosen. Likewise, the variance in the response can be maximized or minimized by tuning the number of enzymes in the second cycle.

The Goldbeter-Koshland switch in the first-order region and its response to dynamic disorder

In their classical work (Proc. Natl. Acad. Sci. USA, 1981, 78:6840-6844), Goldbeter and Koshland mathematically analyzed a reversible covalent modification system which is highly sensitive to the concentration of effectors. Its signal-response curve appears sigmoidal, constituting a biochemical switch. However, the switch behavior only emerges in the 'zero-order region', i.e. when the signal molecule concentration is much lower than that of the substrate it modifies. In this work we showed that the switching behavior can also occur under comparable concentrations of signals and substrates, provided that the signal molecules catalyze the modification reaction in cooperation. We also studied the effect of dynamic disorders on the proposed biochemical switch, in which the enzymatic reaction rates, instead of constant, appear as stochastic functions of time. We showed that the system is robust to dynamic disorder at bulk concentration. But if the dynamic disorder is quasi-static, large fluctuations of the switch response behavior may be observed at low concentrations. Such fluctuation is relevant to many biological functions. It can be reduced by either increasing the conformation interconversion rate of the protein, or correlating the enzymatic reaction rates in the network.

Optimal placement of multiple morphogen sources

During development, cells grow, differentiate, divide, and die according to their spatial positions, yet the positional information given to cells by morphogens (diffusive chemicals) includes considerable noises from various origins. In this paper, we examine a relationship between fluctuations in morphogen concentrations that the cells receive and the precision of positional specification by the morphogens in multidimensional space. As a method to quantify the precision, we introduce a measure of "ambiguity of positional information," based on the information entropy. We discover that the location of morphogen sources crucially affects the ambiguity, and that the ambiguity becomes minimum when the angle made by gradient vectors of different morphogens cross at a right angle in a target region under a given organ geometry (orthogonality principle). We conjecture that morphogen sources in development might be placed at the nearly optimal position that minimizes the ambiguity of positional information. This is supported by experimental data on the configurations of two major sources of spatial patterning, the apical ectodermal ridge (AER) and the zone of polarizing activity (ZPA), in vertebrate limb development. Indeed, their predicted configuration agrees very well with the one observed in experiments. We believe that the placement of morphogen sources to minimize the ambiguity of positional information is a basic principle in development of multicellular organisms beyond this particular example.

Optimal enumeration of state space of finitely buffered stochastic molecular networks and exact computation of steady state landscape probability

BACKGROUND

Stochasticity plays important roles in many molecular networks when molecular concentrations are in the range of 0.1 muM to 10nM (about 100 to 10 copies in a cell). The chemical master equation provides a fundamental framework for studying these networks, and the time-varying landscape probability distribution over the full microstates, i.e., the combination of copy numbers of molecular species, provide a full characterization of the network dynamics. A complete characterization of the space of the microstates is a prerequisite for obtaining the full landscape probability distribution of a network. However, there are neither closed-form solutions nor algorithms fully describing all microstates for a given molecular network.

RESULTS

We have developed an algorithm that can exhaustively enumerate the microstates of a molecular network of small copy numbers under the condition that the net gain in newly synthesized molecules is smaller than a predefined limit. We also describe a simple method for computing the exact mean or steady state landscape probability distribution over microstates. We show how the full landscape probability for the gene networks of the self-regulating gene and the toggle-switch in the steady state can be fully characterized. We also give an example using the MAPK cascade network. Data and server will be available at URL: http://scsb.sjtu.edu.cn/statespace.

CONCLUSION

Our algorithm works for networks of small copy numbers buffered with a finite copy number of net molecules that can be synthesized, regardless of the reaction stoichiometry, and is optimal in both storage and time complexity. The algorithm can also be used to calculate the rates of all transitions between microstates from given reactions and reaction rates. The buffer size is limited by the available memory or disk storage. Our algorithm is applicable to a class of biological networks when the copy numbers of molecules are small and the network is closed, or the network is open but the net gain in newly synthesized molecules does not exceed a predefined buffer capacity. For these networks, our method allows full stochastic characterization of the mean landscape probability distribution, and the steady state when it exists.

Intrinsic fluctuations, robustness, and tunability in signaling cycles

Covalent modification cycles (e.g., phosphorylation-dephosphorylation) underlie most cellular signaling and control processes. Low molecular copy number, arising from compartmental segregation and slow diffusion between compartments, potentially renders these cycles vulnerable to intrinsic chemical fluctuations. How can a cell operate reliably in the presence of this inherent stochasticity? How do changes in extrinsic parameters lead to variability of response? Can cells exploit these parameters to tune cycles to different ranges of stimuli? We study the dynamics of an isolated phosphorylation cycle. Our model shows that the cycle transmits information reliably if it is tuned to an optimal parameter range, despite intrinsic fluctuations and even for small input signal amplitudes. At the same time, the cycle is sensitive to changes in the concentration and activity of kinases and phosphatases. This sensitivity can lead to significant cell-to-cell response variability. It also provides a mechanism to tune the cycle to transmit signals in various amplitude ranges. Our results show that signaling cycles possess a surprising combination of robustness and tunability. This combination makes them ubiquitous in eukaryotic signaling, optimizing signaling in the presence of fluctuations using their inherent flexibility. On the other hand, cycles tuned to suppress intrinsic fluctuations can be vulnerable to changes in the number and activity of kinases and phosphatases. Such trade-offs in robustness to intrinsic and extrinsic fluctuations can influence the evolution of signaling cascades, making them the weakest links in cellular circuits.

An optimal algorithm for enumerating state space of stochastic molecular networks with small copy numbers of molecules

Stochasticity plays central role in molecular networks of small copy numbers, including those important in protein synthesis and gene regulation. The combination of copy numbers of molecular species defines the microscopic state of molecular interactions. With this formulation, nonlinear reactions can be effectively modeled through chemical master equations. However, currently little is known about the state space associated with stochastic networks, other than the defeatist admission that it is exponentially large. There is neither closed-form solution nor computational algorithm that can effectively characterize the state space of molecular networks. Such a characterization is a prerequisite for directly solving the chemical master equation. In this study, we describe an algorithm that can exhaustively characterize all possible states of a molecular networks with small copy numbers of species for a given initial condition. Our algorithm works for networks of arbitrary stoichiometry, and is optimal in both storage and time complexity. It allows the approach of solving chemical master equation to be applicable to a larger class of stochastic molecular networks. We show an example of application of our method to the MAPK cascade network.

From fluctuations to phenotypes: the physiology of noise

There are fundamental physical reasons why biochemical processes might be subject to noise and stochastic fluctuations. Indeed, it has long been understood that random molecular-scale mechanisms, such as those that drive genetic mutation, lie at the heart of population-scale evolutionary dynamics. What we can now appreciate is how stochastic fluctuations inherent in biochemical processes contribute to cellular and organismal phenotypes. Advancements in techniques for empirically measuring single cells and in corresponding theoretical methods have enabled the rigorous design and interpretation of experiments that provide incontrovertible proof that there are important endogenous sources of stochasticity that drive biological processes at the scale of individual organisms. Recently, some studies have progressed beyond merely ascertaining the presence of noise in biological systems; they trace its role in cellular physiology as it is passed through and processed by the biomolecular pathways-from the underlying origins of stochastic fluctuations in random biomolecular interactions to their ultimate manifestations in characteristic species phenotypes. These emerging results suggest new biological network design principles that account for a constructive role played by noise in defining the structure, function, and fitness of biological systems. They further show that stochastic mechanisms open novel classes of regulatory, signaling, and organizational choices that can serve as efficient and effective biological solutions to problems that are more complex, less robust, or otherwise suboptimal to deal with in the context of purely deterministic systems. Research in Drosophila melanogaster eye color-vision development and Bacillus subtilis competence induction has elegantly traced the role of noise in vital physiological processes from fluctuations to phenotypes, and is used here to highlight these developments.