Know the Single-Receptor Sensing Limit? Think Again

E. coli do not count single molecules

Organisms must perform sensory-motor behaviors to survive. What bounds or constraints limit behavioral performance? Previously, we found that the gradient-climbing speed of a chemotaxing Escherichia coli is near a bound set by the limited information they acquire from their chemical environments (1). Here we ask what limits their sensory accuracy. Past theoretical analyses have shown that the stochasticity of single molecule arrivals sets a fundamental limit on the precision of chemical sensing (2). Although it has been argued that bacteria approach this limit, direct evidence is lacking. Here, using information theory and quantitative experiments, we find that E. coli's chemosensing is not limited by the physics of particle counting. First, we derive the physical limit on the behaviorally-relevant information that any sensor can get about a changing chemical concentration, assuming that every molecule arriving at the sensor is recorded. Then, we derive and measure how much information E. coli's signaling pathway encodes during chemotaxis. We find that E. coli encode two orders of magnitude less information than an ideal sensor limited only by shot noise in particle arrivals. These results strongly suggest that constraints other than particle arrival noise limit E. coli's sensory fidelity.

Learning optimal integration of spatial and temporal information in noisy chemotaxis

We investigate the boundary between chemotaxis driven by spatial estimation of gradients and chemotaxis driven by temporal estimation. While it is well known that spatial chemotaxis becomes disadvantageous for small organisms at high noise levels, it is unclear whether there is a discontinuous switch of optimal strategies or a continuous transition exists. Here, we employ deep reinforcement learning to study the possible integration of spatial and temporal information in an a priori unconstrained manner. We parameterize such a combined chemotactic policy by a recurrent neural network and evaluate it using a minimal theoretical model of a chemotactic cell. By comparing with constrained variants of the policy, we show that it converges to purely temporal and spatial strategies at small and large cell sizes, respectively. We find that the transition between the regimes is continuous, with the combined strategy outperforming in the transition region both the constrained variants as well as models that explicitly integrate spatial and temporal information. Finally, by utilizing the attribution method of integrated gradients, we show that the policy relies on a nontrivial combination of spatially and temporally derived gradient information in a ratio that varies dynamically during the chemotactic trajectories.

Single-cell directional sensing from just a few receptor binding events

Identifying the directionality of signaling sources from noisy input to membrane receptors is an essential task performed by many cell types. A variety of models have been proposed to explain directional sensing in cells. However, many of these require significant computational and memory capacities for the cell. We propose and analyze a simple mechanism in which a cell adopts the direction associated with the first few membrane binding events. This model yields an accurate angular estimate to the source long before steady state is reached in biologically relevant scenarios. Our proposed mechanism allows for reliable estimates of the directionality of external signals using temporal information and assumes minimal computational capacities of the cell.

Size limits the sensitivity of kinetic schemes

Living things benefit from exquisite molecular sensitivity in many of their key processes, including DNA replication, transcription and translation, chemical sensing, and morphogenesis. At thermodynamic equilibrium, the basic biophysical mechanism for sensitivity is cooperative binding, for which it can be shown that the Hill coefficient, a sensitivity measure, cannot exceed the number of binding sites. Generalizing this fact, we find that for any kinetic scheme, at or away from thermodynamic equilibrium, a very simple structural quantity, the size of the support of a perturbation, always limits the effective Hill coefficient. We show how this bound sheds light on and unifies diverse sensitivity mechanisms, including kinetic proofreading and a nonequilibrium Monod-Wyman-Changeux (MWC) model proposed for the E. coli flagellar motor switch, representing in each case a simple, precise bridge between experimental observations and the models we write down. In pursuit of mechanisms that saturate the support bound, we find a nonequilibrium binding mechanism, nested hysteresis, with sensitivity exponential in the number of binding sites, with implications for our understanding of models of gene regulation and the function of biomolecular condensates.

Using transcription-based detectors to emulate the behavior of sequential probability ratio-based concentration detectors

The sequential probability ratio test (SPRT) from statistics is known to have the least mean decision time compared to other sequential or fixed-time tests for given error rates. In some circumstances, cells need to make decisions accurately and quickly, therefore it has been suggested that the SPRT may be used to understand the speed-accuracy tradeoff in cellular decision-making. It is generally thought that in order for cells to make use of the SPRT, it is necessary to find biochemical circuits that can compute the log-likelihood ratio needed for the SPRT. However, this paper takes a different approach. We recognize that the high-level behavior of the SPRT is defined by its positive detection or hit rate, and the computation of the log-likelihood ratio is just one way to realize this behavior. In this paper, we will present a method in which a transcription-based detector is used to emulate the hit rate of the SPRT without computing the exact log-likelihood ratio. We consider the problem of using a promoter with multiple binding sites to accurately and quickly detect whether the concentration of a transcription factor is above a target level. We show that it is possible to find binding and unbinding rates of the transcription factor to the promoter's binding sites so that the probability that the amount of mRNA produced will be higher than a threshold is approximately equal to the hit rate of the SPRT detector. Moreover, we show that the average time that this transcription-based detector needs to make a positive detection is less than or equal to that of the SPRT for a wide range of concentrations. We remark that the last statement does not contradict Wald's optimality result because our transcription-based detector uses an open-ended test.

Computational methods and diffusion theory in triangulation sensing to model neuronal navigation

Computational methods are now recognized as powerful and complementary approaches in various applied sciences such as biology. These computing methods are used to explore the gap between scales such as the one between molecular and cellular. Here we present recent progress in the development of computational approaches involving diffusion modeling, asymptotic analysis of the model partial differential equations, hybrid methods and simulations in the generic context of cell sensing and guidance via external gradients. Specifically, we highlight the reconstruction of the location of a point source in two and three dimensions from the steady-state diffusion fluxes arriving to narrow windows located on the cell. We discuss cases in which these windows are located on the boundary of a two-dimensional plane or three-dimensional half-space, on a disk in free space or inside a two-dimensional corridor, or a ball in three dimensions. The basis of this computational approach is explicit solutions of the Neumann-Green's function for the mentioned geometry. This analysis can be used to design hybrid simulations where Brownian paths are generated only in small regions in which the local spatial organization is relevant. Particle trajectories outside of this region are only implicitly treated by generating exit points at the boundary of this domain of interest. This greatly accelerates the simulation time by avoiding the explicit computation of Brownian paths in an infinite domain and serves to generate statistics, without following all trajectories at the same time, a process that can become numerically expensive quickly. Moreover, these computational approaches are used to reconstruct a point source and estimating the uncertainty in the source reconstruction due to an additive noise perturbation present in the fluxes. We also discuss the influence of various window configurations (cluster vs uniform distributions) on recovering the source position. Finally, the applications in developmental biology are formulated into computational principles that could underly neuronal navigation in the brain.

Revising Berg-Purcell for finite receptor kinetics

From nutrient uptake to chemoreception to synaptic transmission, many systems in cell biology depend on molecules diffusing and binding to membrane receptors. Mathematical analysis of such systems often neglects the fact that receptors process molecules at finite kinetic rates. A key example is the celebrated formula of Berg and Purcell for the rate that cell surface receptors capture extracellular molecules. Indeed, this influential result is only valid if receptors transport molecules through the cell wall at a rate much faster than molecules arrive at receptors. From a mathematical perspective, ignoring receptor kinetics is convenient because it makes the diffusing molecules independent. In contrast, including receptor kinetics introduces correlations between the diffusing molecules because, for example, bound receptors may be temporarily blocked from binding additional molecules. In this work, we present a modeling framework for coupling bulk diffusion to surface receptors with finite kinetic rates. The framework uses boundary homogenization to couple the diffusion equation to nonlinear ordinary differential equations on the boundary. We use this framework to derive an explicit formula for the cellular uptake rate and show that the analysis of Berg and Purcell significantly overestimates uptake in some typical biophysical scenarios. We confirm our analysis by numerical simulations of a many-particle stochastic system.

A mechanism for hunchback promoters to readout morphogenetic positional information in less than a minute

Cell fate decisions in the fly embryo are rapid: hunchback genes decide in minutes whether nuclei follow the anterior/posterior developmental blueprint by reading out positional information in the Bicoid morphogen. This developmental system is a prototype of regulatory decision processes that combine speed and accuracy. Traditional arguments based on fixed-time sampling of Bicoid concentration indicate that an accurate readout is impossible within the experimental times. This raises the general issue of how speed-accuracy tradeoffs are achieved. Here, we compare fixed-time to on-the-fly decisions, based on comparing the likelihoods of anterior/posterior locations. We found that these more efficient schemes complete reliable cell fate decisions within the short embryological timescales. We discuss the influence of promoter architectures on decision times and error rates, present concrete examples that rapidly readout the morphogen, and predictions for new experiments. Lastly, we suggest a simple mechanism for RNA production and degradation that approximates the log-likelihood function.

Energy consumption and cooperation for optimal sensing

The reliable detection of environmental molecules in the presence of noise is an important cellular function, yet the underlying computational mechanisms are not well understood. We introduce a model of two interacting sensors which allows for the principled exploration of signal statistics, cooperation strategies and the role of energy consumption in optimal sensing, quantified through the mutual information between the signal and the sensors. Here we report that in general the optimal sensing strategy depends both on the noise level and the statistics of the signals. For joint, correlated signals, energy consuming (nonequilibrium), asymmetric couplings result in maximum information gain in the low-noise, high-signal-correlation limit. Surprisingly we also find that energy consumption is not always required for optimal sensing. We generalise our model to incorporate time integration of the sensor state by a population of readout molecules, and demonstrate that sensor interaction and energy consumption remain important for optimal sensing.

Cells exhibit exceptional chemical sensitivity, yet we haven’t fully understood how they achieve it. Here the authors consider the mutual information between signals and two coupled sensors as a proxy for sensing performance and show its optimisation depending on noise level and signal statistics.

Physical Limit to Concentration Sensing in a Changing Environment

Cells adapt to changing environments by sensing ligand concentrations using specific receptors. The accuracy of sensing is ultimately limited by the finite number of ligand molecules bound by receptors. Previously derived physical limits to sensing accuracy largely have assumed that the concentration was constant and ignored its temporal fluctuations. We formulate the problem of concentration sensing in a strongly fluctuating environment as a nonlinear field-theoretic problem, for which we find an excellent approximate Gaussian solution. We derive a new physical bound on the relative error in concentration c which scales as δc/c∼(Dacτ)^{-1/4} with ligand diffusivity D, receptor cross section a, and characteristic fluctuation timescale τ, in stark contrast to the usual Berg and Purcell bound δc/c∼(DacT)^{-1/2} for a perfect receptor sensing concentration during time T. We show how the bound can be achieved by a biochemical network downstream of the receptor that adapts the kinetics of signaling as a function of the square root of the sensed concentration.

Receptor crosstalk improves concentration sensing of multiple ligands

Cells need to reliably sense external ligand concentrations to achieve various biological functions such as chemotaxis or signaling. The molecular recognition of ligands by surface receptors is degenerate in many systems, leading to crosstalk between ligand-receptor pairs. Crosstalk is often thought of as a deviation from optimal specific recognition, as the binding of noncognate ligands can interfere with the detection of the receptor's cognate ligand, possibly leading to a false triggering of a downstream signaling pathway. Here we quantify the optimal precision of sensing the concentrations of multiple ligands by a collection of promiscuous receptors. We demonstrate that crosstalk can improve precision in concentration sensing and discrimination tasks. To achieve superior precision, the additional information about ligand concentrations contained in short binding events of the noncognate ligand should be exploited. We present a proofreading scheme to realize an approximate estimation of multiple ligand concentrations that reaches a precision close to the derived optimal bounds. Our results help rationalize the observed ubiquity of receptor crosstalk in molecular sensing.

Behavioral Variability and Phenotypic Diversity in Bacterial Chemotaxis

Living cells detect and process external signals using signaling pathways that are affected by random fluctuations. These variations cause the behavior of individual cells to fluctuate over time (behavioral variability) and generate phenotypic differences between genetically identical individuals (phenotypic diversity). These two noise sources reduce our ability to predict biological behavior because they diversify cellular responses to identical signals. Here, we review recent experimental and theoretical advances in understanding the mechanistic origin and functional consequences of such variation in Escherichia coli chemotaxis-a well-understood model of signal transduction and behavior. After briefly summarizing the architecture and logic of the chemotaxis system, we discuss determinants of behavior and chemotactic performance of individual cells. Then, we review how cell-to-cell differences in protein abundance map onto differences in individual chemotactic abilities and how phenotypic variability affects the performance of the population. We conclude with open questions to be addressed by future research.

Mixed analytical-stochastic simulation method for the recovery of a Brownian gradient source from probability fluxes to small windows

Is it possible to recover the position of a source from the steady-state fluxes of Brownian particles to small absorbing windows located on the boundary of a domain? To address this question, we develop a numerical procedure to avoid tracking Brownian trajectories in the entire infinite space. Instead, we generate particles near the absorbing windows, computed from the analytical expression of the exit probability. When the Brownian particles are generated by a steady-state gradient at a single point, we compute asymptotically the fluxes to small absorbing holes distributed on the boundary of half-space and on a disk in two dimensions, which agree with stochastic simulations. We also derive an expression for the splitting probability between small windows using the matched asymptotic method. Finally, when there are more than two small absorbing windows, we show how to reconstruct the position of the source from the diffusion fluxes. The present approach provides a computational first principle for the mechanism of sensing a gradient of diffusing particles, a ubiquitous problem in cell biology.

Reconstructing the gradient source position from steady-state fluxes to small receptors

Recovering the position of a source from the fluxes of diffusing particles through small receptors allows a biological cell to determine its relative position, spatial localization and guide it to a final target. However, how a source can be recovered from point fluxes remains unclear. Using the Narrow Escape approach for an open domain, we compute the diffusion fluxes of Brownian particles generated by a steady-state gradient from a single source through small holes distributed on a surface in two dimensions. We find that the location of a source can be recovered when there are at least 3 receptors and the source is positioned no further than 10 cell radii away, but this condition is not necessary in a narrow strip. The present approach provides a computational basis for the first step of direction sensing of a gradient at a single cell level.

Optimal inference strategies and their implications for the linear noise approximation

We study the information loss of a class of inference strategies that is solely based on time averaging. For an array of independent binary sensors (e.g., receptors, single electron transistors) measuring a weak random signal (e.g., ligand concentration, gate voltage) this information loss is up to 0.5  bit per measurement irrespective of the number of sensors. We derive a condition related to the local detailed balance relation that determines whether or not such a loss of information occurs. Specifically, if the free-energy difference arising from the signal is symmetrically distributed among the forward and backward rates, time integration mechanisms will capture the full information about the signal. As an implication, for the linear noise approximation, we can identify the same loss of information, arising from its inherent simplification of the dynamics.