Analysis of gene regulatory network models with graded and binary transcriptional responses

A yeast cell cycle pulse generator model shows consistency with multiple oscillatory and checkpoint mutant datasets

Modeling biological systems holds great promise for speeding up the rate of discovery in systems biology by predicting experimental outcomes and suggesting targeted interventions. However, this process is dogged by an identifiability issue, in which network models and their parameters are not sufficiently constrained by coarse and noisy data to ensure unique solutions. In this work, we evaluated the capability of a simplified yeast cell-cycle network model to reproduce multiple observed transcriptomic behaviors under genomic mutations. We matched time-series data from both cycling and checkpoint arrested cells to model predictions using an asynchronous multi-level Boolean approach. We showed that this single network model, despite its simplicity, is capable of exhibiting dynamical behavior similar to the datasets in most cases, and we demonstrated the drop in severity of the identifiability issue that results from matching multiple datasets.

Modeling Transport Regulation in Gene Regulatory Networks

A gene regulatory network summarizes the interactions between a set of genes and regulatory gene products. These interactions include transcriptional regulation, protein activity regulation, and regulation of the transport of proteins between cellular compartments. DSGRN is a network modeling approach that builds on traditions of discrete-time Boolean models and continuous-time switching system models. When all interactions are transcriptional, DSGRN uses a combinatorial approximation to describe the entire range of dynamics that is compatible with network structure. Here we present an extension of the DGSRN approach to transport regulation across a boundary between compartments, such as a cellular membrane. We illustrate our approach by searching a model of the p53-Mdm2 network for the potential to admit two experimentally observed distinct stable periodic cycles.

Multi-parameter exploration of dynamics of regulatory networks

Over the last twenty years advances in systems biology have changed our views on microbial communities and promise to revolutionize treatment of human diseases. In almost all scientific breakthroughs since time of Newton, mathematical modeling has played a prominent role. Regulatory networks emerged as preferred descriptors of how abundances of molecular species depend on each other. However, the central question on how cellular phenotypes emerge from dynamics of these network remains elusive. The principal reason is that differential equation models in the field of biology (while so successful in areas of physics and physical chemistry), do not arise from first principles, and these models suffer from lack of proper parameterization. In response to these challenges, discrete time models based on Boolean networks have been developed. In this review, we discuss an emerging modeling paradigm that combines ideas from differential equations and Boolean models, and has been developed independently within dynamical systems and computer science communities. The result is an approach that can associate a range of potential dynamical behaviors to a network, arrange the descriptors of the dynamics in a searchable database, and allows for multi-parameter exploration of the dynamics akin to bifurcation theory. Since this approach is computationally accessible for moderately sized networks, it allows, perhaps for the first time, to rationally compare different network topologies based on their dynamics.

Global dynamics for switching systems and their extensions by linear differential equations

Switching systems use piecewise constant nonlinearities to model gene regulatory networks. This choice provides advantages in the analysis of behavior and allows the global description of dynamics in terms of Morse graphs associated to nodes of a parameter graph. The parameter graph captures spatial characteristics of a decomposition of parameter space into domains with identical Morse graphs. However, there are many cellular processes that do not exhibit threshold-like behavior and thus are not well described by a switching system. We consider a class of extensions of switching systems formed by a mixture of switching interactions and chains of variables governed by linear differential equations. We show that the parameter graphs associated to the switching system and any of its extensions are identical. For each parameter graph node, there is an order-preserving map from the Morse graph of the switching system to the Morse graph of any of its extensions. We provide counterexamples that show why possible stronger relationships between the Morse graphs are not valid.

Combinatorial representation of parameter space for switching networks

We describe the theoretical and computational framework for the Dynamic Signatures for Genetic Regulatory Network ( DSGRN) database. The motivation stems from urgent need to understand the global dynamics of biologically relevant signal transduction/gene regulatory networks that have at least 5 to 10 nodes, involve multiple interactions, and decades of parameters. The input to the database computations is a regulatory network, i.e. a directed graph with edges indicating up or down regulation. A computational model based on switching networks is generated from the regulatory network. The phase space dimension of this model equals the number of nodes and the associated parameter space consists of one parameter for each node (a decay rate), and three parameters for each edge (low level of expression, high level of expression, and threshold at which expression levels change). Since the nonlinearities of switching systems are piece-wise constant, there is a natural decomposition of phase space into cells from which the dynamics can be described combinatorially in terms of a state transition graph. This in turn leads to a compact representation of the global dynamics called an annotated Morse graph that identifies recurrent and nonrecurrent dynamics. The focus of this paper is on the construction of a natural computable finite decomposition of parameter space into domains where the annotated Morse graph description of dynamics is constant. We use this decomposition to construct an SQL database that can be effectively searched for dynamical signatures such as bistability, stable or unstable oscillations, and stable equilibria. We include two simple 3-node networks to provide small explicit examples of the type of information stored in the DSGRN database. To demonstrate the computational capabilities of this system we consider a simple network associated with p53 that involves 5 nodes and a 29-dimensional parameter space.

Sensitive dependence on initial conditions in gene networks

Active regulation in gene networks poses mathematical challenges that have led to conflicting approaches to analysis. Competing regulation that keeps concentrations of some transcription factors at or near threshold values leads to so-called singular dynamics when steeply sigmoidal interactions are approximated by step functions. An extension, due to Artstein and coauthors, of the classical singular perturbation approach was suggested as an appropriate way to handle the complex situation where non-trivial dynamics, such as a limit cycle, of fast variables occur in switching domains. This non-trivial behaviour can occur when a gene regulates multiple other genes at the same threshold. Here, it is shown that it is possible for nonuniqueness to arise in such a system in the case of limiting step-function interactions. This nonuniqueness is reminiscent of but not identical to the nonuniqueness of Filippov solutions. More realistic gene network models have sigmoidal interactions, however, and in the example considered here, it is shown numerically that the corresponding phenomenon in smooth systems is a sensitivity to initial conditions that leads in the limit to densely interwoven basins of attraction of different fixed point attractors.

Boolean versus continuous dynamics in modules with two feedback loops

We investigate the dynamical behavior of simple networks, namely loops with an additional internal regulating connection. Continuous dynamics for mRNA and protein concentrations is compared to a Boolean model for gene activity. Using a generalized method and within a single framework, we study different continuous models and different types of regulatory functions, and establish conditions under which the system can display stable oscillations or stable fixed points. These conditions depend only on general features such as the degree of cooperativity of the regulating interactions and the logical structure of the interactions. There are no simple rules for deciding when Boolean and continuous dynamics agree with each other, but we identify several relevant criteria.

Multistability and oscillations in genetic control of metabolism

Genetic control of enzyme activity drives metabolic adaptations to environmental changes, and therefore the feedback interaction between gene expression and metabolism is essential to cell fitness. In this paper we develop a new formalism to detect the equilibrium regimes of an unbranched metabolic network under transcriptional feedback from one metabolite. Our results indicate that one-to-all transcriptional feedback can induce a wide range of metabolic phenotypes, including mono-, multistability and oscillatory behavior. The analysis is based on the use of switch-like models for transcriptional control and the exploitation of the time scale separation between metabolic and genetic dynamics. For any combination of activation and repression feedback loops, we derive conditions for the emergence of a specific phenotype in terms of genetic parameters such as enzyme expression rates and regulatory thresholds. We find that metabolic oscillations can emerge under uniform thresholds and, in the case of operon-controlled networks, the analysis reveals how nutrient-induced bistability and oscillations can emerge as a consequence of the transcriptional feedback.

Zebrafish Pou5f1-dependent transcriptional networks in temporal control of early development

The transcription factor POU5f1/OCT4 controls pluripotency in mammalian ES cells, but little is known about its functions in the early embryo. We used time-resolved transcriptome analysis of zebrafish pou5f1 MZspg mutant embryos to identify genes regulated by Pou5f1. Comparison to mammalian systems defines evolutionary conserved Pou5f1 targets. Time-series data reveal many Pou5f1 targets with delayed or advanced onset of expression. We identify two Pou5f1-dependent mechanisms controlling developmental timing. First, several Pou5f1 targets are transcriptional repressors, mediating repression of differentiation genes in distinct embryonic compartments. We analyze her3 gene regulation as example for a repressor in the neural anlagen. Second, the dynamics of SoxB1 group gene expression and Pou5f1-dependent regulation of her3 and foxD3 uncovers differential requirements for SoxB1 activity to control temporal dynamics of activation, and spatial distribution of targets in the embryo. We establish a mathematical model of the early Pou5f1 and SoxB1 gene network to demonstrate regulatory characteristics important for developmental timing. The temporospatial structure of the zebrafish Pou5f1 target networks may explain aspects of the evolution of the mammalian stem cell networks.

Contrasting methods for symbolic analysis of biological regulatory networks

Symbolic dynamics offers a powerful technique to relate the structure and dynamics of complex networks. We contrast the predictions of two methods of symbolic dynamics for the analysis of monotonic networks suggested by models of genetic control systems.

A computational framework for qualitative simulation of nonlinear dynamical models of gene-regulatory networks

Background

Due to the huge amount of information at genomic level made recently available by high-throughput experimental technologies, networks of regulatory interactions between genes and gene products, the so-called gene-regulatory networks, can be uncovered. Most networks of interest are quite intricate because of both the high dimension of interacting elements and the complexity of the kinds of interactions between them. Then, mathematical and computational modeling frameworks are a must to predict the network behavior in response to environmental stimuli. A specific class of Ordinary Differential Equations (ODE) has shown to be adequate to describe the essential features of the dynamics of gene-regulatory networks. But, deriving quantitative predictions of the network dynamics through the numerical simulation of such models is mostly impracticable as they are currently characterized by incomplete knowledge of biochemical reactions underlying regulatory interactions, and of numeric values of kinetic parameters.

Results

This paper presents a computational framework for qualitative simulation of a class of ODE models, based on the assumption that gene regulation is threshold-dependent, i.e. only effective above or below a certain threshold. The simulation algorithm we propose assumes that threshold-dependent regulation mechanisms are modeled by continuous steep sigmoid functions, unlike other simulation tools that considerably simplifies the problem by approximating threshold-regulated response functions by step functions discontinuous in the thresholds. The algorithm results from the interplay between methods to deal with incomplete knowledge and to study phenomena that occur at different time-scales.

Conclusion

The work herein presented establishes the computational groundwork for a sound and a complete algorithm capable to capture the dynamical properties that depend only on the network structure and are invariant for ranges of values of kinetic parameters. At the current state of knowledge, the exploitation of such a tool is rather appropriate and useful to understand how specific activity patterns derive from given network structures, and what different types of dynamical behaviors are possible.

Threshold-dominated regulation hides genetic variation in gene expression networks

Background

In dynamical models with feedback and sigmoidal response functions, some or all variables have thresholds around which they regulate themselves or other variables. A mathematical analysis has shown that when the dose-response functions approach binary or on/off responses, any variable with an equilibrium value close to one of its thresholds is very robust to parameter perturbations of a homeostatic state. We denote this threshold robustness. To check the empirical relevance of this phenomenon with response function steepnesses ranging from a near on/off response down to Michaelis-Menten conditions, we have performed a simulation study to investigate the degree of threshold robustness in models for a three-gene system with one downstream gene, using several logical input gates, but excluding models with positive feedback to avoid multistationarity. Varying parameter values representing functional genetic variation, we have analysed the coefficient of variation (CV) of the gene product concentrations in the stable state for the regulating genes in absolute terms and compared to the CV for the unregulating downstream gene. The sigmoidal or binary dose-response functions in these models can be considered as phenomenological models of the aggregated effects on protein or mRNA expression rates of all cellular reactions involved in gene expression.

Results

For all the models, threshold robustness increases with increasing response steepness. The CVs of the regulating genes are significantly smaller than for the unregulating gene, in particular for steep responses. The effect becomes less prominent as steepnesses approach Michaelis-Menten conditions. If the parameter perturbation shifts the equilibrium value too far away from threshold, the gene product is no longer an effective regulator and robustness is lost. Threshold robustness arises when a variable is an active regulator around its threshold, and this function is maintained by the feedback loop that the regulator necessarily takes part in and also is regulated by. In the present study all feedback loops are negative, and our results suggest that threshold robustness is maintained by negative feedback which necessarily exists in the homeostatic state.

Conclusion

Threshold robustness of a variable can be seen as its ability to maintain an active regulation around its threshold in a homeostatic state despite external perturbations. The feedback loop that the system necessarily possesses in this state, ensures that the robust variable is itself regulated and kept close to its threshold. Our results suggest that threshold regulation is a generic phenomenon in feedback-regulated networks with sigmoidal response functions, at least when there is no positive feedback. Threshold robustness in gene regulatory networks illustrates that hidden genetic variation can be explained by systemic properties of the genotype-phenotype map.