Stochastic oscillations induced by intrinsic fluctuations in a self-repressing gene

Biochemical reaction networks are subjected to large fluctuations attributable to small molecule numbers, yet underlie reliable biological functions. Thus, it is important to understand how regularity can emerge from noise. Here, we study the stochastic dynamics of a self-repressing gene with arbitrarily long or short response time. We find that when the mRNA and protein half-lives are approximately equal to the gene response time, fluctuations can induce relatively regular oscillations in the protein concentration. To gain insight into this phenomenon at the crossroads of determinism and stochasticity, we use an intermediate theoretical approach, based on a moment-closure approximation of the master equation, which allows us to take into account the binary character of gene activity. We thereby obtain differential equations that describe how nonlinearity can feed-back fluctuations into the mean-field equations to trigger oscillations. Finally, our results suggest that the self-repressing Hes1 gene circuit exploits this phenomenon to generate robust oscillations, inasmuch as its time constants satisfy precisely the conditions we have identified.

Solution of Chemical Master Equations for Nonlinear Stochastic Reaction Networks

Stochasticity in the dynamics of small reacting systems requires discrete-probabilistic models of reaction kinetics instead of traditional continuous-deterministic ones. The master probability equation is a complete model of randomly evolving molecular populations. Because of its ambitious character, the master equation remained unsolved for all but the simplest of molecular interaction networks. With the first solution of chemical master equations, a wide range of experimental observations of small-system interactions may be mathematically conceptualized.

A continuum approximation to an off-lattice individual-cell based model of cell migration and adhesion

Cell-cell adhesion plays a key role in the collective migration of cells and in determining correlations in the relative cell positions and velocities. Recently, it was demonstrated that off-lattice individual cell based models (IBMs) can accurately capture the correlations observed experimentally in a migrating cell population. However, IBMs are often computationally expensive and difficult to analyse mathematically. Traditional continuum-based models, in contrast, are amenable to mathematical analysis and are computationally less demanding, but typically correspond to a mean-field approximation of cell migration and so ignore cell-cell correlations. In this work, we address this problem by using an off-lattice IBM to derive a continuum approximation which does take into account correlations. We furthermore show that a mean-field approximation of the off-lattice IBM leads to a single partial integro-differential equation of the same form as proposed by Sherratt and co-workers to model cell adhesion. The latter is found to be only effective at approximating the ensemble averaged cell number density when mechanical interactions between cells are weak. In contrast, the predictions of our novel continuum model for the time-evolution of the ensemble cell number density distribution and of the density-density correlation function are in close agreement with those obtained from the IBM for a wide range of mechanical interaction strengths. In particular, we observe 'front-like' propagation of cells in simulations using both our IBM and our continuum model, but not in the continuum model simulations obtained using the mean-field approximation.

An effective method for computing the noise in biochemical networks

We present a simple yet effective method, which is based on power series expansion, for computing exact binomial moments that can be in turn used to compute steady-state probability distributions as well as the noise in linear or nonlinear biochemical reaction networks. When the method is applied to representative reaction networks such as the ON-OFF models of gene expression, gene models of promoter progression, gene auto-regulatory models, and common signaling motifs, the exact formulae for computing the intensities of noise in the species of interest or steady-state distributions are analytically given. Interestingly, we find that positive (negative) feedback does not enlarge (reduce) noise as claimed in previous works but has a counter-intuitive effect and that the multi-OFF (or ON) mechanism always attenuates the noise in contrast to the common ON-OFF mechanism and can modulate the noise to the lowest level independently of the mRNA mean. Except for its power in deriving analytical expressions for distributions and noise, our method is programmable and has apparent advantages in reducing computational cost.

A closure scheme for chemical master equations

Probability reigns in biology, with random molecular events dictating the fate of individual organisms, and propelling populations of species through evolution. In principle, the master probability equation provides the most complete model of probabilistic behavior in biomolecular networks. In practice, master equations describing complex reaction networks have remained unsolved for over 70 years. This practical challenge is a reason why master equations, for all their potential, have not inspired biological discovery. Herein, we present a closure scheme that solves the master probability equation of networks of chemical or biochemical reactions. We cast the master equation in terms of ordinary differential equations that describe the time evolution of probability distribution moments. We postulate that a finite number of moments capture all of the necessary information, and compute the probability distribution and higher-order moments by maximizing the information entropy of the system. An accurate order closure is selected, and the dynamic evolution of molecular populations is simulated. Comparison with kinetic Monte Carlo simulations, which merely sample the probability distribution, demonstrates this closure scheme is accurate for several small reaction networks. The importance of this result notwithstanding, a most striking finding is that the steady state of stochastic reaction networks can now be readily computed in a single-step calculation, without the need to simulate the evolution of the probability distribution in time.

First passage times in homogeneous nucleation and self-assembly

Motivated by nucleation and molecular aggregation in physical, chemical, and biological settings, we present a thorough analysis of the general problem of stochastic self-assembly of a fixed number of identical particles in a finite volume. We derive the backward Kolmogorov equation (BKE) for the cluster probability distribution. From the BKE, we study the distribution of times it takes for a single maximal cluster to be completed, starting from any initial particle configuration. In the limits of slow and fast self-assembly, we develop analytical approaches to calculate the mean cluster formation time and to estimate the first assembly time distribution. We find, both analytically and numerically, that faster detachment can lead to a shorter mean time to first completion of a maximum-sized cluster. This unexpected effect arises from a redistribution of trajectory weights such that upon increasing the detachment rate, paths that take a shorter time to complete a cluster become more likely.

Combined model of intrinsic and extrinsic variability for computational network design with application to synthetic biology

Biological systems are inherently variable, with their dynamics influenced by intrinsic and extrinsic sources. These systems are often only partially characterized, with large uncertainties about specific sources of extrinsic variability and biochemical properties. Moreover, it is not yet well understood how different sources of variability combine and affect biological systems in concert. To successfully design biomedical therapies or synthetic circuits with robust performance, it is crucial to account for uncertainty and effects of variability. Here we introduce an efficient modeling and simulation framework to study systems that are simultaneously subject to multiple sources of variability, and apply it to make design decisions on small genetic networks that play a role of basic design elements of synthetic circuits. Specifically, the framework was used to explore the effect of transcriptional and post-transcriptional autoregulation on fluctuations in protein expression in simple genetic networks. We found that autoregulation could either suppress or increase the output variability, depending on specific noise sources and network parameters. We showed that transcriptional autoregulation was more successful than post-transcriptional in suppressing variability across a wide range of intrinsic and extrinsic magnitudes and sources. We derived the following design principles to guide the design of circuits that best suppress variability: (i) high protein cooperativity and low miRNA cooperativity, (ii) imperfect complementarity between miRNA and mRNA was preferred to perfect complementarity, and (iii) correlated expression of mRNA and miRNA--for example, on the same transcript--was best for suppression of protein variability. Results further showed that correlations in kinetic parameters between cells affected the ability to suppress variability, and that variability in transient states did not necessarily follow the same principles as variability in the steady state. Our model and findings provide a general framework to guide design principles in synthetic biology.

Simulation of stochastic kinetic models

A growing realization of the importance of stochasticity in cell and molecular processes has stimulated the need for statistical models that incorporate intrinsic (and extrinsic) variability. In this chapter we consider stochastic kinetic models of reaction networks leading to a Markov jump process representation of a system of interest. Traditionally, the stochastic model is characterized by a chemical master equation. While the intractability of such models can preclude a direct analysis, simulation can be straightforward and may present the only practical approach to gaining insight into a system's dynamics. We review exact simulation procedures before considering some efficient approximate alternatives.

Efficient Moment Matrix Generation for Arbitrary Chemical Networks

As stochastic simulations become increasingly common in biological research, tools for analysis of such systems are in demand. The deterministic analogue to stochastic models, a set of probability moment equations equivalent to the Chemical Master Equation (CME), offers the possibility of a priori analysis of systems without the need for computationally costly Monte Carlo simulations. Despite the drawbacks of the method, in particular non-linearity in even the simplest of cases, the use of moment equations combined with moment-closure techniques has been used effectively in many fields. The techniques currently available to generate moment equations rely upon analytical expressions that are not efficient upon scaling. Additionally, the resulting moment-dependent matrix is lower diagonal and demands massive memory allocation in extreme cases. Here it is demonstrated that by utilizing factorial moments and the probability generating function (the Z-transform of the probability distribution) a recursive algorithm is produced. The resulting method is scalable and particularly efficient when high-order moments are required. The matrix produced is banded and often demands substantially less memory resources.

Towards uncertainty quantification and inference in the stochastic SIR epidemic model

In this paper we address the problem of estimating the parameters of Markov jump processes modeling epidemics and introduce a novel method to conduct inference when data consists on partial observations in one of the state variables. We take the classical stochastic SIR model as a case study. Using the inverse-size expansion of van Kampen we obtain approximations for the first and second moments of the state variables. These approximate moments are in turn matched to the moments of an inputed Generic Discrete distribution aimed at generating an approximate likelihood that is valid both for low count or high count data. We conduct a full Bayesian inference using informative priors. Estimations and predictions are obtained both in a synthetic data scenario and in two Dengue fever case studies.

Macroscopic limits of individual-based models for motile cell populations with volume exclusion

Partial differential equation models are ubiquitous in studies of motile cell populations, giving a phenomenological description of events which can be analyzed and simulated using a wide range of existing tools. However, these models are seldom derived from individual cell behaviors and so it is difficult to accurately include biological hypotheses on this spatial scale. Moreover, studies which do attempt to link individual- and population-level behavior generally employ lattice-based frameworks in which the artifacts of lattice choice at the population level are unclear. In this work we derive limiting population-level descriptions of a motile cell population from an off-lattice, individual-based model (IBM) and investigate the effects of volume exclusion on the population-level dynamics. While motility with excluded volume in on-lattice IBMs can be accurately described by Fickian diffusion, we demonstrate that this is not the case off lattice. We show that the balance between two key parameters in the IBM (the distance moved in one step and the radius of an individual) determines whether volume exclusion results in enhanced or slowed diffusion. The magnitude of this effect is shown to increase with the number of cells and the rate of their movement. The method we describe is extendable to higher-dimensional and more complex systems and thereby provides a framework for deriving biologically realistic, continuum descriptions of motile populations.

Moment fitting for parameter inference in repeatedly and partially observed stochastic biological models

The inference of reaction rate parameters in biochemical network models from time series concentration data is a central task in computational systems biology. Under the assumption of well mixed conditions the network dynamics are typically described by the chemical master equation, the Fokker Planck equation, the linear noise approximation or the macroscopic rate equation. The inverse problem of estimating the parameters of the underlying network model can be approached in deterministic and stochastic ways, and available methods often compare individual or mean concentration traces obtained from experiments with theoretical model predictions when maximizing likelihoods, minimizing regularized least squares functionals, approximating posterior distributions or sequentially processing the data. In this article we assume that the biological reaction network can be observed at least partially and repeatedly over time such that sample moments of species molecule numbers for various time points can be calculated from the data. Based on the chemical master equation we furthermore derive closed systems of parameter dependent nonlinear ordinary differential equations that predict the time evolution of the statistical moments. For inferring the reaction rate parameters we suggest to not only compare the sample mean with the theoretical mean prediction but also to take the residual of higher order moments explicitly into account. Cost functions that involve residuals of higher order moments may form landscapes in the parameter space that have more pronounced curvatures at the minimizer and hence may weaken or even overcome parameter sloppiness and uncertainty. As a consequence both deterministic and stochastic parameter inference algorithms may be improved with respect to accuracy and efficiency. We demonstrate the potential of moment fitting for parameter inference by means of illustrative stochastic biological models from the literature and address topics for future research.

Intrinsic noise analyzer: a software package for the exploration of stochastic biochemical kinetics using the system size expansion

The accepted stochastic descriptions of biochemical dynamics under well-mixed conditions are given by the Chemical Master Equation and the Stochastic Simulation Algorithm, which are equivalent. The latter is a Monte-Carlo method, which, despite enjoying broad availability in a large number of existing software packages, is computationally expensive due to the huge amounts of ensemble averaging required for obtaining accurate statistical information. The former is a set of coupled differential-difference equations for the probability of the system being in any one of the possible mesoscopic states; these equations are typically computationally intractable because of the inherently large state space. Here we introduce the software package intrinsic Noise Analyzer (iNA), which allows for systematic analysis of stochastic biochemical kinetics by means of van Kampen's system size expansion of the Chemical Master Equation. iNA is platform independent and supports the popular SBML format natively. The present implementation is the first to adopt a complementary approach that combines state-of-the-art analysis tools using the computer algebra system Ginac with traditional methods of stochastic simulation. iNA integrates two approximation methods based on the system size expansion, the Linear Noise Approximation and effective mesoscopic rate equations, which to-date have not been available to non-expert users, into an easy-to-use graphical user interface. In particular, the present methods allow for quick approximate analysis of time-dependent mean concentrations, variances, covariances and correlations coefficients, which typically outperforms stochastic simulations. These analytical tools are complemented by automated multi-core stochastic simulations with direct statistical evaluation and visualization. We showcase iNA's performance by using it to explore the stochastic properties of cooperative and non-cooperative enzyme kinetics and a gene network associated with circadian rhythms. The software iNA is freely available as executable binaries for Linux, MacOSX and Microsoft Windows, as well as the full source code under an open source license.

Stochastic simulation of chemically reacting systems using multi-core processors

In recent years, computer simulations have become increasingly useful when trying to understand the complex dynamics of biochemical networks, particularly in stochastic systems. In such situations stochastic simulation is vital in gaining an understanding of the inherent stochasticity present, as these models are rarely analytically tractable. However, a stochastic approach can be computationally prohibitive for many models. A number of approximations have been proposed that aim to speed up stochastic simulations. However, the majority of these approaches are fundamentally serial in terms of central processing unit (CPU) usage. In this paper, we propose a novel simulation algorithm that utilises the potential of multi-core machines. This algorithm partitions the model into smaller sub-models. These sub-models are then simulated, in parallel, on separate CPUs. We demonstrate that this method is accurate and can speed-up the simulation by a factor proportional to the number of processors available.

Correction factors for boundary diffusion in reaction-diffusion master equations

The reaction-diffusion master equation (RDME) has been widely used to model stochastic chemical kinetics in space and time. In recent years, RDME-based trajectorial approaches have become increasingly popular. They have been shown to capture spatial detail at moderate computational costs, as compared to fully resolved particle-based methods. However, finding an appropriate choice for the discretization length scale is essential for building a reasonable RDME model. Moreover, it has been recently shown [R. Erban and S. J. Chapman, Phys. Biol. 4, 16 (2007); R. Erban and S. J. Chapman, Phys. Biol. 6, 46001 (2009); D. Fange, O. G. Berg, P. Sjöberg, and J. Elf, Proc. Natl. Acad. Sci. U.S.A. 107, 46 (2010)] that the reaction rates commonly used in RDMEs have to be carefully reassessed when considering reactive boundary conditions or binary reactions, in order to avoid inaccurate--and possibly unphysical--results. In this paper, we present an alternative approach for deriving correction factors in RDME models with reactive or semi-permeable boundaries. Such a correction factor is obtained by solving a closed set of equations based on the moments at steady state, as opposed to modifying probabilities for absorption or reflection. Lastly, we briefly discuss existing correction mechanisms for bimolecular reaction rates both in the limit of fast and slow diffusion, and argue why our method could also be applied for such purpose.

A survey on methods for modeling and analyzing integrated biological networks

Understanding how cellular systems build up integrated responses to their dynamically changing environment is one of the open questions in Systems Biology. Despite their intertwinement, signaling networks, gene regulation and metabolism have been frequently modeled independently in the context of well-defined subsystems. For this purpose, several mathematical formalisms have been developed according to the features of each particular network under study. Nonetheless, a deeper understanding of cellular behavior requires the integration of these various systems into a model capable of capturing how they operate as an ensemble. With the recent advances in the "omics" technologies, more data is becoming available and, thus, recent efforts have been driven toward this integrated modeling approach. We herein review and discuss methodological frameworks currently available for modeling and analyzing integrated biological networks, in particular metabolic, gene regulatory and signaling networks. These include network-based methods and Chemical Organization Theory, Flux-Balance Analysis and its extensions, logical discrete modeling, Petri Nets, traditional kinetic modeling, Hybrid Systems and stochastic models. Comparisons are also established regarding data requirements, scalability with network size and computational burden. The methods are illustrated with successful case studies in large-scale genome models and in particular subsystems of various organisms.

Moment closure approximations for stochastic kinetic models with rational rate laws

Stochastic models are often used when modelling chemical species that have low numbers of molecules. However, as these models become large, it can become computationally expensive to simulate even a single realisation of the system since even efficient simulation techniques have a high computational cost. One possible technique to approximate the stochastic system is moment closure. The moment closure approximation is used to provide analytic approximations to non-linear stochastic models. Until now, this approximation has only been applied to models with polynomial rate laws. In this paper we extend the moment closure method to cover models with rational rate laws.

Analytical Derivation of Moment Equations in Stochastic Chemical Kinetics

The master probability equation captures the dynamic behavior of a variety of stochastic phenomena that can be modeled as Markov processes. Analytical solutions to the master equation are hard to come by though because they require the enumeration of all possible states and the determination of the transition probabilities between any two states. These two tasks quickly become intractable for all but the simplest of systems. Instead of determining how the probability distribution changes in time, we can express the master probability distribution as a function of its moments, and, we can then write transient equations for the probability distribution moments. In 1949, Moyal defined the derivative, or jump, moments of the master probability distribution. These are measures of the rate of change in the probability distribution moment values, i.e. what the impact is of any given transition between states on the moment values. In this paper we present a general scheme for deriving analytical moment equations for any N-dimensional Markov process as a function of the jump moments. Importantly, we propose a scheme to derive analytical expressions for the jump moments for any N-dimensional Markov process. To better illustrate the concepts, we focus on stochastic chemical kinetics models for which we derive analytical relations for jump moments of arbitrary order. Chemical kinetics models are widely used to capture the dynamic behavior of biological systems. The elements in the jump moment expressions are a function of the stoichiometric matrix and the reaction propensities, i.e the probabilistic reaction rates. We use two toy examples, a linear and a non-linear set of reactions, to demonstrate the applicability and limitations of the scheme. Finally, we provide an estimate on the minimum number of moments necessary to obtain statistical significant data that would uniquely determine the dynamics of the underlying stochastic chemical kinetic system. The first two moments only provide limited information, especially when complex, non-linear dynamics are involved.

Stochastic hybrid systems for studying biochemical processes

Many protein and mRNA species occur at low molecular counts within cells, and hence are subject to large stochastic fluctuations in copy numbers over time. Development of computationally tractable frameworks for modelling stochastic fluctuations in population counts is essential to understand how noise at the cellular level affects biological function and phenotype. We show that stochastic hybrid systems (SHSs) provide a convenient framework for modelling the time evolution of population counts of different chemical species involved in a set of biochemical reactions. We illustrate recently developed techniques that allow fast computations of the statistical moments of the population count, without having to run computationally expensive Monte Carlo simulations of the biochemical reactions. Finally, we review different examples from the literature that illustrate the benefits of using SHSs for modelling biochemical processes.

A danger of low copy numbers for inferring incorrect cooperativity degree

BACKGROUND

A dose-response curve depicts the fraction of bound proteins as a function of unbound ligands. Dose-response curves are used to measure the cooperativity degree of a ligand binding process. Frequently, the Hill function is used to fit the experimental data. The Hill function is parameterized by the value of the dissociation constant and the Hill coefficient, which describes the cooperativity degree. The use of Hill's model and the Hill function has been heavily criticised in this context, predominantly the assumption that all ligands bind at once, which resulted in further refinements of the model. In this work, the validity of the Hill function has been studied from an entirely different point of view. In the limit of low copy numbers the dynamics of the system becomes noisy. The goal was to asses the validity of the Hill function in this limit, and to see in what ways the effects of the fluctuations change the form of the dose-response curves.

RESULTS

Dose-response curves were computed taking into account effects of fluctuations. The effects of fluctuations were described at the lowest order (the second moment of the particle number distribution) by using the previously developed Pair Approach Reaction Noise EStimator (PARNES) method. The stationary state of the system is described by nine equations with nine unknowns. To obtain fluctuation-corrected dose-response curves the equations have been investigated numerically.

CONCLUSIONS

The Hill function cannot describe dose-response curves in a low particle limit. First, dose-response curves are not solely parameterized by the dissociation constant and the Hill coefficient. In general, the shape of a dose-response curve depends on the variables that describe how an experiment (ensemble) is designed. Second, dose-response curves are multi-valued in a rather non-trivial way.

STOCHASTIC KINETIC MODELS: DYNAMIC INDEPENDENCE, MODULARITY AND GRAPHS

The dynamic properties and independence structure of stochastic kinetic models (SKMs) are analyzed. An SKM is a highly multivariate jump process used to model chemical reaction networks, particularly those in biochemical and cellular systems. We identify SKM subprocesses with the corresponding counting processes and propose a directed, cyclic graph (the kinetic independence graph or KIG) that encodes the local independence structure of their conditional intensities. Given a partition [A, D, B] of the vertices, the graphical separation A ⊥ B|D in the undirected KIG has an intuitive chemical interpretation and implies that A is locally independent of B given A ∪ D. It is proved that this separation also results in global independence of the internal histories of A and B conditional on a history of the jumps in D which, under conditions we derive, corresponds to the internal history of D. The results enable mathematical definition of a modularization of an SKM using its implied dynamics. Graphical decomposition methods are developed for the identification and efficient computation of nested modularizations. Application to an SKM of the red blood cell advances understanding of this biochemical system.