A mechanistic model for eukaryotic gradient sensing: spontaneous and induced phosphoinositide polarization

Spatiotemporal Coordination of Rac1 and Cdc42 at the Whole Cell Level during Cell Ruffling

Rho-GTPases are central regulators within a complex signaling network that controls cytoskeletal organization and cell movement. The network includes multiple GTPases, such as the most studied Rac1, Cdc42, and RhoA, along with their numerous effectors that provide mutual regulation through feedback loops. Here we investigate the temporal and spatial relationship between Rac1 and Cdc42 during membrane ruffling, using a simulation model that couples GTPase signaling with cell morphodynamics and captures the GTPase behavior observed with FRET-based biosensors. We show that membrane velocity is regulated by the kinetic rate of GTPase activation rather than the concentration of active GTPase. Our model captures both uniform and polarized ruffling. We also show that cell-type specific time delays between Rac1 and Cdc42 activation can be reproduced with a single signaling motif, in which the delay is controlled by feedback from Cdc42 to Rac1. The resolution of our simulation output matches those of time-lapsed recordings of cell dynamics and GTPase activity. Our data-driven modeling approach allows us to validate simulation results with quantitative precision using the same pipeline for the analysis of simulated and experimental data.

Spatiotemporal coordination of Rac1 and Cdc42 at the whole cell level during cell ruffling

Rho-GTPases are central regulators within a complex signaling network that controls the cytoskeletal organization and cell movement. This network includes multiple GTPases, such as the most studied Rac1, Cdc42, and RhoA, and their numerous effectors that provide mutual regulation and feedback loops. Here we investigate the temporal and spatial relationship between Rac1 and Cdc42 during membrane ruffling using a simulation model which couples GTPase signaling with cell morphodynamics to capture the GTPase behavior observed with FRET-based biosensors. We show that membrane velocity is regulated by the kinetic rate of GTPase activation rather than the concentration of active GTPase. Our model captures both uniform and polarized ruffling. We also show that cell-type specific time delays between Rac1 and Cdc42 activation can be reproduced with a single signaling motif, in which the delay is controlled by feedback from Cdc42 to Rac1. The resolution of our simulation output matches those of the time-lapsed recordings of cell dynamics and GTPase activity. This approach allows us to validate simulation results with quantitative precision using the same pipeline for the analysis of simulated and experimental data.

Oscillations and bifurcation structure of reaction-diffusion model for cell polarity formation

We investigate the oscillatory dynamics and bifurcation structure of a reaction-diffusion system with bistable nonlinearity and mass conservation, which was proposed by (Otsuji et al., PLoS Comp Biol 3:e108, 2007). The system is a useful model for understanding cell polarity formation. We show that this model exhibits four different spatiotemporal patterns including two types of oscillatory patterns, which can be regarded as cell polarity oscillations with the reversal and non-reversal of polarity, respectively. The trigger causing these patterns is a diffusion-driven (Turing-like) instability. Moreover, we investigate the effects of extracellular signals on the cell polarity oscillations.

On the influence of cell shape on dynamic reaction-diffusion polarization patterns

The distribution of signaling molecules following mechanical or chemical stimulation of a cell defines cell polarization, with regions of high active Cdc42 at the front and low active Cdc42 at the rear. As reaction-diffusion phenomena between signaling molecules, such as Rho GTPases, define the gradient dynamics, we hypothesize that the cell shape influences the maintenance of the “front-to-back” cell polarization patterns. We investigated the influence of cell shape on the Cdc42 patterns using an established computational polarization model. Our simulation results showed that not only cell shape but also Cdc42 and Rho-related (in)activation parameter values affected the distribution of active Cdc42. Despite an initial Cdc42 gradient, the in silico results showed that the maximal Cdc42 concentration shifts in the opposite direction, a phenomenon we propose to call “reverse polarization”. Additional in silico analyses indicated that “reverse polarization” only occurred in a particular parameter value space that resulted in a balance between inactivation and activation of Rho GTPases. Future work should focus on a mathematical description of the underpinnings of reverse polarization, in combination with experimental validation using, for example, dedicated FRET-probes to spatiotemporally track Rho GTPase patterns in migrating cells. In summary, the findings of this study enhance our understanding of the role of cell shape in intracellular signaling.

Mechanistic models of PLC/PKC signaling implicate phosphatidic acid as a key amplifier of chemotactic gradient sensing

Chemotaxis of fibroblasts and other mesenchymal cells is critical for embryonic development and wound healing. Fibroblast chemotaxis directed by a gradient of platelet-derived growth factor (PDGF) requires signaling through the phospholipase C (PLC)/protein kinase C (PKC) pathway. Diacylglycerol (DAG), the lipid product of PLC that activates conventional PKCs, is focally enriched at the up-gradient leading edge of fibroblasts responding to a shallow gradient of PDGF, signifying polarization. To explain the underlying mechanisms, we formulated reaction-diffusion models including as many as three putative feedback loops based on known biochemistry. These include the previously analyzed mechanism of substrate-buffering by myristoylated alanine-rich C kinase substrate (MARCKS) and two newly considered feedback loops involving the lipid, phosphatidic acid (PA). DAG kinases and phospholipase D, the enzymes that produce PA, are identified as key regulators in the models. Paradoxically, increasing DAG kinase activity can enhance the robustness of DAG/active PKC polarization with respect to chemoattractant concentration while decreasing their whole-cell levels. Finally, in simulations of wound invasion, efficient collective migration is achieved with thresholds for chemotaxis matching those of polarization in the reaction-diffusion models. This multi-scale modeling framework offers testable predictions to guide further study of signal transduction and cell behavior that affect mesenchymal chemotaxis.

Cell movement directed by external gradients of chemical composition is critical for immune responses, wound healing, and development. Although theoretical concepts explaining how shallow external gradients might definitively polarize a cell’s motility have been offered over the past two decades, mathematical models cast in terms of defined molecules and mechanisms are uncommon in this context. Based on both recent and older insights from the literature, we offer mechanistic models that are able to explain experimentally observed polarization of signal transduction elicited by shallow attractant gradients. A novel insight of our models is the implicated role of phosphatidic acid, a membrane lipid produced by at least two enzymatic pathways, in two positive feedback loops that amplify signal transduction locally. In separate simulations, we explored the implications of polarization for efficient cell invasion during wound healing. We expected that the ability to polarize in response to shallow gradients would enhance the speed of wound invasion, but an unexpected finding is that this property can promote intermittent polarization throughout the wound.

A Reaction-Diffusion Model Explains Amplification of the PLC/PKC Pathway in Fibroblast Chemotaxis

During the proliferative phase of cutaneous wound healing, dermal fibroblasts are recruited into the clotted wound by a concentration gradient of platelet-derived growth factor (PDGF), together with other spatial cues. Despite the importance of this chemotactic process, the mechanisms controlling the directed migration of slow-moving mesenchymal cells such as fibroblasts are not well understood. Here, we develop and analyze a reaction-diffusion model of phospholipase C/protein kinase C (PKC) signaling, which was recently identified as a requisite PDGF-gradient-sensing pathway, with the goal of identifying mechanisms that can amplify its sensitivity in the shallow external gradients typical of chemotaxis experiments. We show that phosphorylation of myristoylated alanine-rich C kinase substrate by membrane-localized PKC constitutes a positive feedback that is sufficient for local pathway amplification. The release of phosphorylated myristoylated alanine-rich C kinase substrate and its subsequent diffusion and dephosphorylation in the cytosol also serves to suppress the pathway in down-gradient regions of the cell. By itself, this mechanism only weakly amplifies signaling in a shallow PDGF gradient, but it synergizes with other feedback mechanisms to enhance amplification. This model offers a framework for a mechanistic understanding of phospholipase C/PKC signaling in chemotactic gradient sensing and can guide the design of experiments to assess the roles of putative feedback loops.

Multi-phasic bi-directional chemotactic responses of the growth cone

The nerve growth cone is bi-directionally attracted and repelled by the same cue molecules depending on the situations, while other non-neural chemotactic cells usually show uni-directional attraction or repulsion toward their specific cue molecules. However, how the growth cone differs from other non-neural cells remains unclear. Toward this question, we developed a theory for describing chemotactic response based on a mathematical model of intracellular signaling of activator and inhibitor. Our theory was first able to clarify the conditions of attraction and repulsion, which are determined by balance between activator and inhibitor, and the conditions of uni- and bi-directional responses, which are determined by dose-response profiles of activator and inhibitor to the guidance cue. With biologically realistic sigmoidal dose-responses, our model predicted tri-phasic turning response depending on intracellular Ca²⁺ level, which was then experimentally confirmed by growth cone turning assays and Ca²⁺ imaging. Furthermore, we took a reverse-engineering analysis to identify balanced regulation between CaMKII (activator) and PP1 (inhibitor) and then the model performance was validated by reproducing turning assays with inhibitions of CaMKII and PP1. Thus, our study implies that the balance between activator and inhibitor underlies the multi-phasic bi-directional turning response of the growth cone.

Interaction of motility, directional sensing, and polarity modules recreates the behaviors of chemotaxing cells

Chemotaxis involves the coordinated action of separable but interrelated processes: motility, gradient sensing, and polarization. We have hypothesized that these are mediated by separate modules that account for these processes individually and that, when combined, recreate most of the behaviors of chemotactic cells. Here, we describe a mathematical model where the modules are implemented in terms of reaction-diffusion equations. Migration and the accompanying changes in cellular morphology are demonstrated in simulations using a mechanical model of the cell cortex implemented in the level set framework. The central module is an excitable network that accounts for random migration. The response to combinations of uniform stimuli and gradients is mediated by a local excitation, global inhibition module that biases the direction in which excitability is directed. A polarization module linked to the excitable network through the cytoskeleton allows unstimulated cells to move persistently and, for cells in gradients, to gradually acquire distinct sensitivity between front and back. Finally, by varying the strengths of various feedback loops in the model we obtain cellular behaviors that mirror those of genetically altered cell lines.

Chemotaxis is the movement of cells in response to spatial gradients of chemical cues. While single-celled organisms rely on sensing and responding to chemical gradients to search for nutrients, chemotaxis is also an essential component of the mammalian immune system. However, chemotaxis can also be deleterious, since chemotactic tumor cells can lead to metastasis. Due to its importance, understanding the process by which cells sense and respond to chemical gradients has attracted considerable interest. Moreover, because of the complexity of chemotactic signaling, which includes multiple feedback loops and redundant pathways, this has been a research area in which computational models have had a significant impact in understanding experimental findings. Here, we propose a modular description of the signaling network that regulates chemotaxis. The modules describe different processes that are observed in chemotactic cells. In addition to accounting for these behaviors individually, we show that the overall system recreates many features of the directed motion of migrating cells. The signaling described by our modules is implemented as a series of equations, whereas movement and the accompanying cellular deformations are simulated using a mechanical model of the cell and implemented using level set methods, a method that allows simulations of cells as they change morphology.

Membrane tension maintains cell polarity by confining signals to the leading edge during neutrophil migration

Little is known about how neutrophils and other cells establish a single zone of actin assembly during migration. A widespread assumption is that the leading edge prevents formation of additional fronts by generating long-range diffusible inhibitors or by sequestering essential polarity components. We use morphological perturbations, cell-severing experiments, and computational simulations to show that diffusion-based mechanisms are not sufficient for long-range inhibition by the pseudopod. Instead, plasma membrane tension could serve as a long-range inhibitor in neutrophils. We find that membrane tension doubles during leading-edge protrusion, and increasing tension is sufficient for long-range inhibition of actin assembly and Rac activation. Furthermore, reducing membrane tension causes uniform actin assembly. We suggest that tension, rather than diffusible molecules generated or sequestered at the leading edge, is the dominant source of long-range inhibition that constrains the spread of the existing front and prevents the formation of secondary fronts.

Phosphoinositides in chemotaxis

Phosphatidylinositol lipids generated through the action of phosphinositide 3-kinase (PI3K) are key mediators of a wide array of biological responses. In particular, their role in the regulation of cell migration has been extensively studied and extends to amoeboid as well as mesenchymal migration. Through the emergence of fluorescent probes that target PI3K products as well as the use of specific inhibitors and knockout technologies, the spatio-temporal distribution of PI3K products in chemotaxing cells has been shown to represent a key anterior polarity signal that targets downstream effectors to actin polymerization. In addition, through intricate cross-talk networks PI3K products have been shown to regulate signals that control posterior effectors. Yet, in more complex environments or in conditions where chemoattractant gradients are steep, a variety of cell types can still chemotax in the absence of PI3K signals. Indeed, parallel signal transduction pathways have been shown to coordinately regulate cell polarity and directed movement. In this chapter, we will review the current role PI3K products play in the regulation of directed cell migration in various cell types, highlight the importance of mathematical modeling in the study of chemotaxis, and end with a brief overview of other signaling cascades known to also regulate chemotaxis.

A density-dependent switch drives stochastic clustering and polarization of signaling molecules

Positive feedback plays a key role in the ability of signaling molecules to form highly localized clusters in the membrane or cytosol of cells. Such clustering can occur in the absence of localizing mechanisms such as pre-existing spatial cues, diffusional barriers, or molecular cross-linking. What prevents positive feedback from amplifying inevitable biological noise when an un-clustered "off" state is desired? And, what limits the spread of clusters when an "on" state is desired? Here, we show that a minimal positive feedback circuit provides the general principle for both suppressing and amplifying noise: below a critical density of signaling molecules, clustering switches off; above this threshold, highly localized clusters are recurrently generated. Clustering occurs only in the stochastic regime, suggesting that finite sizes of molecular populations cannot be ignored in signal transduction networks. The emergence of a dominant cluster for finite numbers of molecules is partly a phenomenon of random sampling, analogous to the fixation or loss of neutral mutations in finite populations. We refer to our model as the "neutral drift polarity model." Regulating the density of signaling molecules provides a simple mechanism for a positive feedback circuit to robustly switch between clustered and un-clustered states. The intrinsic ability of positive feedback both to create and suppress clustering is a general mechanism that could operate within diverse biological networks to create dynamic spatial organization.

Mathematical analysis of steady-state solutions in compartment and continuum models of cell polarization

Cell polarization, in which substances previously uniformly distributed become asymmetric due to external or/and internal stimulation, is a fundamental process underlying cell mobility, cell division, and other polarized functions. The yeast cell S. cerevisiae has been a model system to study cell polarization. During mating, yeast cells sense shallow external spatial gradients and respond by creating steeper internal gradients of protein aligned with the external cue. The complex spatial dynamics during yeast mating polarization consists of positive feedback, degradation, global negative feedback control, and cooperative effects in protein synthesis. Understanding such complex regulations and interactions is critical to studying many important characteristics in cell polarization including signal amplification, tracking dynamic signals, and potential trade-off between achieving both objectives in a robust fashion. In this paper, we study some of these questions by analyzing several models with different spatial complexity: two compartments, three compartments, and continuum in space. The step-wise approach allows detailed characterization of properties of the steady state of the system, providing more insights for biological regulations during cell polarization. For cases without membrane diffusion, our study reveals that increasing the number of spatial compartments results in an increase in the number of steady-state solutions, in particular, the number of stable steady-state solutions, with the continuum models possessing infinitely many steady-state solutions. Through both analysis and simulations, we find that stronger positive feedback, reduced diffusion, and a shallower ligand gradient all result in more steady-state solutions, although most of these are not optimally aligned with the gradient. We explore in the different settings the relationship between the number of steady-state solutions and the extent and accuracy of the polarization. Taken together these results furnish a detailed description of the factors that influence the tradeoff between a single correctly aligned but poorly polarized stable steady-state solution versus multiple more highly polarized stable steady-state solutions that may be incorrectly aligned with the external gradient.

A comparison of mathematical models for polarization of single eukaryotic cells in response to guided cues

Polarization, a primary step in the response of an individual eukaryotic cell to a spatial stimulus, has attracted numerous theoretical treatments complementing experimental studies in a variety of cell types. While the phenomenon itself is universal, details differ across cell types, and across classes of models that have been proposed. Most models address how symmetry breaking leads to polarization, some in abstract settings, others based on specific biochemistry. Here, we compare polarization in response to a stimulus (e.g., a chemoattractant) in cells typically used in experiments (yeast, amoebae, leukocytes, keratocytes, fibroblasts, and neurons), and, in parallel, responses of several prototypical models to typical stimulation protocols. We find that the diversity of cell behaviors is reflected by a diversity of models, and that some, but not all models, can account for amplification of stimulus, maintenance of polarity, adaptation, sensitivity to new signals, and robustness.

ASYMPTOTIC AND BIFURCATION ANALYSIS OF WAVE-PINNING IN A REACTION-DIFFUSION MODEL FOR CELL POLARIZATION

We describe and analyze a bistable reaction-diffusion (RD) model for two interconverting chemical species that exhibits a phenomenon of wave-pinning: a wave of activation of one of the species is initiated at one end of the domain, moves into the domain, decelerates, and eventually stops inside the domain, forming a stationary front. The second ("inactive") species is depleted in this process. This behavior arises in a model for chemical polarization of a cell by Rho GTPases in response to stimulation. The initially spatially homogeneous concentration profile (representative of a resting cell) develops into an asymmetric stationary front profile (typical of a polarized cell). Wave-pinning here is based on three properties: (1) mass conservation in a finite domain, (2) nonlinear reaction kinetics allowing for multiple stable steady states, and (3) a sufficiently large difference in diffusion of the two species. Using matched asymptotic analysis, we explain the mathematical basis of wave-pinning, and predict the speed and pinned position of the wave. An analysis of the bifurcation of the pinned front solution reveals how the wave-pinning regime depends on parameters such as rates of diffusion and total mass of the species. We describe two ways in which the pinned solution can be lost depending on the details of the reaction kinetics: a saddle-node or a pitchfork bifurcation.

A conceptual molecular network for chemotactic behaviors characterized by feedback of molecules cycling between the membrane and the cytosol

Cell chemotaxis has been characterized as the formation of a front-back axis that is triggered by a gradient of chemoattractant; however, chemotaxis is accompanied by more complicated behaviors. These include migration in a straight line with a stable axis [the stable single-axis (SSA) pattern] and repeated splitting of the leading edge of the cell into two regions, followed by the "choice" of one of these as the new leading edge [the split and choice (S&C) pattern]. Indeed, transition between these two behaviors can be observed in individual cells. However, the conceptual framework of the network of signaling molecules that generates these patterns remains to be clarified. We confirmed theoretically that a system that has positive and negative feedback loops involving the reciprocal cycling between the membrane and the cytosol of molecules that promote membrane protrusion or retraction generates SSA and S&C patterns of migratory behavior under similar conditions. We also predicted properties of the instabilities of such a system, which are essential for the generation of these behaviors, and we verified their existence in chemotaxing cells. Our research provides a simple model of network structure for chemotactic behaviors, including cell polarization.

Reaction-diffusion systems in intracellular molecular transport and control

Chemical reactions make cells work only if the participating chemicals are delivered to desired locations in a timely and precise fashion. Most research to date has focused on active-transport mechanisms, although passive diffusion is often equally rapid and energetically less costly. Capitalizing on these advantages, cells have developed sophisticated reaction-diffusion (RD) systems that control a wide range of cellular functions-from chemotaxis and cell division, through signaling cascades and oscillations, to cell motility. These apparently diverse systems share many common features and are "wired" according to "generic" motifs such as nonlinear kinetics, autocatalysis, and feedback loops. Understanding the operation of these complex (bio)chemical systems requires the analysis of pertinent transport-kinetic equations or, at least on a qualitative level, of the characteristic times of the constituent subprocesses. Therefore, in reviewing the manifestations of cellular RD, we also describe basic theory of reaction-diffusion phenomena.

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.

Immunostaining evidence for PI(4,5)P2 localization at the leading edge of chemoattractant-stimulated HL-60 cells

It is well known that in fMLP-stimulated neutrophils, phosphatidyl inositol 3,4,5-trisphosphate [PI(3,4,5)P3] localizes at the leading edge of the cells. However, no effort has been made to study the PI 4,5-bisphosphate [PI(4,5)P2] distribution in these cells. In fact, it has been suggested that PI(4,5)P2 is unlikely to localize, as its basal level is orders of magnitude higher than that of PI(3,4,5)P3. We developed an optimized immunostaining protocol for studying the endogenous distribution of PI(4,5)P2 in neutrophil-like HL-60 cells. We show that PI(4,5)P2 localizes sharply at the leading edge with an intensity gradient similar to that for PI(3,4,5)P3. The enzymes for the production of PI(4,5)P2, namely, PI5KIalpha and PI5KIgamma, were also found to localize at the leading edge, further supporting our finding that PI(4,5)P2 localizes at the leading edge. These results imply that complementary regulation of PI3K and phosphate and tensin homolog (PTEN) is not the sole or dominant mechanism of PI(3,4,5)P3 polarization in HL-60 cells.

Directional sensing during chemotaxis

Cells have the innate ability to sense and move towards a variety of chemoattractants. We investigate the pathways by which cells sense and respond to chemoattractant gradients. We focus on the model system Dictyostelium and compare our understanding of chemotaxis in this system with recent advances made using neutrophils and other mammalian cell types, which share many molecular components and signaling pathways with Dictyostelium. This review also examines models that have been proposed to explain how cells are able to respond to small differences in ligand concentrations between the anterior leading edge and posterior of the cell. In addition, we highlight the overlapping functions of many signaling components in diverse processes beyond chemotaxis, including random cell motility and cell division.

Wave-pinning and cell polarity from a bistable reaction-diffusion system

Motile eukaryotic cells polarize in response to external signals. Numerous mechanisms have been suggested to account for this symmetry breaking and for the ensuing robust polarization. Implicated in this process are various proteins that are recruited to the plasma membrane and segregate at an emergent front or back of the polarizing cell. Among these are PI3K, PTEN, and members of the Rho family GTPases such as Cdc42, Rac, and Rho. Many such proteins, including the Rho GTPases, cycle between active membrane-bound forms and inactive cytosolic forms. In previous work, we have shown that this property, together with appropriate crosstalk, endows a biochemical circuit (Cdc42, Rac, and Rho) with the property of inherent polarizability. Here we show that this property is present in an even simpler system comprised of a single active/inactive protein pair with positive feedback to its own activation. The simplicity of this minimal system also allows us to explain the mechanism using insights from mathematical analysis. The basic idea resides in a well-known property of reaction-diffusion systems with bistable kinetics, namely, propagation of fronts. However, it crucially depends on exchange between active and inactive forms of the chemicals with unequal rates of diffusion, and overall conservation to pin the waves into a stable polar distribution. We refer to these dynamics as wave-pinning and we show that this phenomenon is distinct from Turing-instability-generated pattern formation that occurs in reaction-diffusion systems that appear to be very similar. We explain the mathematical basis of the phenomenon, relate it to spatial segregation of Rho GTPases, and show how it can account for spatial amplification and maintenance of polarity, as well as sensitivity to new stimuli typical in polarization of eukaryotic cells.

A mass conserved reaction-diffusion system captures properties of cell polarity

Cell polarity is a general cellular process that can be seen in various cell types such as migrating neutrophils and Dictyostelium cells. The Rho small GTP(guanosine 5′-tri phosphate)ases have been shown to regulate cell polarity; however, its mechanism of emergence has yet to be clarified. We first developed a reaction–diffusion model of the Rho GTPases, which exhibits switch-like reversible response to a gradient of extracellular signals, exclusive accumulation of Cdc42 and Rac, or RhoA at the maximal or minimal intensity of the signal, respectively, and tracking of changes of a signal gradient by the polarized peak. The previous cell polarity models proposed by Subramanian and Narang show similar behaviors to our Rho GTPase model, despite the difference in molecular networks. This led us to compare these models, and we found that these models commonly share instability and a mass conservation of components. Based on these common properties, we developed conceptual models of a mass conserved reaction–diffusion system with diffusion–driven instability. These conceptual models retained similar behaviors of cell polarity in the Rho GTPase model. Using these models, we numerically and analytically found that multiple polarized peaks are unstable, resulting in a single stable peak (uniqueness of axis), and that sensitivity toward changes of a signal gradient is specifically restricted at the polarized peak (localized sensitivity). Although molecular networks may differ from one cell type to another, the behaviors of cell polarity in migrating cells seem similar, suggesting that there should be a fundamental principle. Thus, we propose that a mass conserved reaction–diffusion system with diffusion-driven instability is one of such principles of cell polarity.

Eukaryotic cells such as neutrophils and Dictyostelium cells respond to temporal and spatial gradients of extracellular signals with directional movements. In a migrating cell, specific molecular events take place at the front and back edges. The spatially distinctive molecular accumulation inside cells is known as cell polarity. Despite numerous experimental and theoretical studies, its mechanism of emergence has yet to be clarified. We first developed a mathematical model of the Rho small GTP(guanosine 5′-tri phosphate)ases that cooperatively regulate cell polarity, and showed that the model generates specific spatial accumulation of the molecules. Based on our Rho GTPases model and other models, we further established a conceptual model, a mass conserved reaction–diffusion system, and showed that diffusion-driven instability and a mass conservation of molecules that have active and inactive states are sufficient for polarity formation. We numerically and analytically found that molecular accumulations at multiple sites are unstable, resulting in a single stable front–back axis, and that sensitivity toward changes of a signal gradient is specifically restricted at the front of a polarized cell. We propose that a mass conserved reaction–diffusion system is one of the fundamental principles of cell polarity.

Mathematical model for spatial segregation of the Rho-family GTPases based on inhibitory crosstalk

Cdc42, Rac, and Rho are small GTPases known to play a central role in signal transduction to the actin cytoskeleton. These proteins regulate cell motility, by affecting nucleation, uncapping, and depolymerization of actin filaments, and acto-myosin contractility. Studies of crosstalk and mutual feedbacks in these three proteins have led to a number of proposals for their interaction. At the same time, observations of the spatio-temporal dynamics of Rho-family proteins give evidence of spatial polarization and mutual exclusion between Cdc42/Rac and Rho. In this paper, we formulate a mathematical model to account for such observations, based on the known underlying biology of these proteins. We first investigate which of the crosstalk schemes proposed in the literature is consistent with observed dynamics, and then derive a simple model that can correctly describe these dynamics (assuming crosstalk is mediated via Rho GEFs). We show that cooperativity is an essential ingredient in the interactions of the proteins. The co-occurrence of a stable rest state with the possibility of fast spatial segregation can be related to bistability in a set of underlying ODEs in which the inactive forms of these proteins are fixed at a constant level. We show that the fast diffusion of the inactive forms is essential for stabilizing the transition fronts in the PDE formulation of the model, leading to robust spatial polarization, rather than traveling waves.

Bias in the gradient-sensing response of chemotactic cells

We apply linear stability theory and perform perturbation studies to better characterize, and to generate new experimental predictions from, a model of chemotactic gradient sensing in eukaryotic cells. The model uses reaction-diffusion equations to describe 3(') phosphoinositide signaling and its regulation at the plasma membrane. It demonstrates a range of possible gradient-sensing mechanisms and captures such characteristic behaviors as strong polarization in response to static gradients, adaptation to differing mean levels of stimulus, and plasticity in response to changing gradients. An analysis of the stability of polarized steady-state solutions indicates that the model is most sensitive to off-axis perturbations. This biased sensitivity is also reflected in responses to localized external stimuli, and leads to a clear experimental prediction, namely, that a cell which is polarized in a background gradient will be most sensitive to transient point-source stimuli lying within a range of angles that are oblique with respect to the polarization axis. Stimuli at angles below this range will elicit responses whose directions overshoot the stimulus angle, while responses to stimuli applied at larger angles will undershoot the stimulus angle. We argue that such a bias is likely to be a general feature of gradient sensing in highly motile cells, particularly if they are optimized to respond to small gradients. Finally, an angular bias in gradient sensing might lead to preferred turn angles and zigzag movements of cells moving up chemotactic gradients, as has been noted under certain experimental conditions.

A mathematical model for neutrophil gradient sensing and polarization

Directed cell migration in response to chemical cues, also known as chemotaxis, is an important physiological process involved in wound healing, foraging, and the immune response. Cell migration requires the simultaneous formation of actin polymers at the leading edge and actomyosin complexes at the sides and back of the cell. An unresolved question in eukaryotic chemotaxis is how the same chemoattractant signal determines both the cell's front and back. Recent experimental studies have begun to reveal the biochemical mechanisms necessary for this polarized cellular response. We propose a mathematical model of neutrophil gradient sensing and polarization based on experimentally characterized biochemical mechanisms. The model demonstrates that the known dynamics for Rho GTPase and phosphatidylinositol-3-kinase (PI3K) activation are sufficient for both gradient sensing and polarization. In particular, the model demonstrates that these mechanisms can correctly localize the “front” and “rear” pathways in response to both uniform concentrations and gradients of chemical attractants, including in actin-inhibited cells. Furthermore, the model predictions are robust to the values of many parameters. A key result of the model is the proposed coincidence circuit involving PI3K and Ras that obviates the need for the “global inhibitors” proposed, though never experimentally verified, in many previous mathematical models of eukaryotic chemotaxis. Finally, experiments are proposed to (in)validate this model and further our understanding of neutrophil chemotaxis.

Neutrophils target sites of infection and inflammation by sensing chemical signals produced by damaged tissue and infecting microbes and then move in the direction where their concentration is greatest. An open question is how neutrophils integrate this information to determine the direction of motility. We present a mathematical model for the intracellular signaling network regulating polarization and chemotaxis in neutrophils. We demonstrate how the activation of two antagonizing pathways robustly establishes the front and back of the migrating cell. The model is able to reproduce a number of experimental studies, and new experiments are proposed to test different aspects of the model. A key result is the characterization of a coincidence circuit involving phosphatidylinositol-3-kinase (PI3K) and Ras. We demonstrate that this circuit plays a critical role in selectively localizing F-actin to the front of the cell and actomyosin complexes to the rear. As directed motility in response to chemical cues is critical in a number of processes including wound healing and tumor metastasis, the results and insights gained from the model may be applicable to other cell types and organisms.

Transient and steady state of mass-conserved reaction-diffusion systems

Reaction-diffusion systems with mass conservation are studied. In such systems, abrupt decays of stripes follow quasistationary states in sequence generally. We give a stability condition of steady state which the system reaches after long transient time. It is also shown that there exist systems in which a single-stripe pattern is solely steady state for an arbitrary size of the systems. The applicability to cell biology is discussed.

Phosphoinositides and Rho proteins spatially regulate actin polymerization to initiate and maintain directed movement in a one-dimensional model of a motile cell

Gradient sensing, polarization, and chemotaxis of motile cells involve the actin cytoskeleton, and regulatory modules, including the phosphoinositides (PIs), their kinases/phosphatases, and small GTPases (Rho proteins). Here we model their individual components (PIP1, PIP2, PIP3; PTEN, PI3K, PI5K; Cdc42, Rac, Rho; Arp2/3, and actin), their interconversions, interactions, and modular functions in the context of a one-dimensional dynamic model for protrusive cell motility, with parameter values derived from in vitro and in vivo studies. In response to a spatially graded stimulus, the model produces stable amplified internal profiles of regulatory components, and initiates persistent motility (consistent with experimental observations). By connecting the modules, we find that Rho GTPases work as a spatial switch, and that the PIs filter noise, and define the front versus back. Relatively fast PI diffusion also leads to selection of a unique pattern of Rho distribution from a collection of possible patterns. We use the model to explore the importance of specific hypothesized interactions, to explore mutant phenotypes, and to study the role of actin polymerization in the maintenance of the PI asymmetry. We also suggest a mechanism to explain the spatial exclusion of Cdc42 and PTEN and the inability of cells lacking active Cdc42 to properly detect chemoattractant gradients.

Receptor-mediated and intrinsic polarization and their interaction in chemotaxing cells

Polarization--the clear and persistent localization of different signaling molecules to opposite ends of the cell-is critical for effective chemotaxis in eukaryotic systems. In many systems, polarization can also occur without an externally imposed chemical gradient. We build a modeling framework to study the relationship between the intrinsic capacity for polarization, and that induced by an external gradient. Working within this framework, we analyze different scenarios for the interaction of these pathways. The models are qualitatively simplified, motivated by known properties of the signaling pathways. We also examine the possible role of nonlinear transitions occurring in the polarization pathways. The modeling framework generates testable predictions regarding the relationship between intrinsic polarization and that induced during chemotaxis, and is the first step toward a systematic analysis of the interaction between these pathways.

Directional sensing in eukaryotic chemotaxis: a balanced inactivation model

Many eukaryotic cells, including Dictyostelium discoideum amoebae, fibroblasts, and neutrophils, are able to respond to chemoattractant gradients with high sensitivity. Recent studies have demonstrated that, after the introduction of a chemoattractant gradient, several chemotaxis pathway components exhibit a subcellular reorganization that cannot be described as a simple amplification of the external gradient. Instead, this reorganization has the characteristics of a switch, leading to a well defined front and back. Here, we propose a directional sensing mechanism in which two second messengers are produced at equal rates. The diffusion of one of them, coupled with an inactivation scheme, ensures a switch-like response to external gradients for a large range of gradient steepness and average concentration. Furthermore, our model is able to reverse the subcellular organization rapidly, and its response to multiple simultaneous chemoattractant sources is in good agreement with recent experimental results. Finally, we propose that the dynamics of a heterotrimeric G protein might allow for a specific biochemical realization of our model.

Spontaneous polarization in eukaryotic gradient sensing: a mathematical model based on mutual inhibition of frontness and backness pathways

A key problem of eukaryotic cell motility is the signaling mechanism of chemoattractant gradient sensing. Recent experiments have revealed the molecular correlate of gradient sensing: Frontness molecules, such as PI3P and Rac, localize at the front end of the cell, and backness molecules, such as Rho and myosin II, accumulate at the back of the cell. Importantly, this frontness-backness polarization occurs spontaneously even if the cells are exposed to uniform chemoattractant profiles. The spontaneous polarization suggests that the gradient sensing machinery undergoes a Turing bifurcation. This has led to several classical activator-inhibitor and activator-substrate models which identify the frontness molecules with the activator. Conspicuously absent from these models is any accounting of the backness molecules. This stands in sharp contrast to experiments which show that the backness pathways inhibit the frontness pathways. Here, we formulate a model based on the mutually inhibitory interaction between the frontness and backness pathways. The model builds upon the mutual inhibition model proposed by Bourne and coworkers [Xu et al., 2003. Divergent signals and cytoskeletal assemblies regulate self-organizing polarity in neutrophils. Cell 114, 201-214.]. We show that mutual inhibition alone, without the help of any positive feedback (autocatalysis), can trigger spontaneous polarization of the frontness and backness pathways. The spatial distribution of the frontness and backness molecules in response to inhibition and activation of the frontness and backness pathways are consistent with those observed in experiments. Furthermore, depending on the parameter values, the model yields spatial distributions corresponding to chemoattraction (frontness pathways in-phase with the external gradient) and chemorepulsion (frontness pathways out-of-phase with the external gradient). Analysis of the model suggests a mechanism for the chemorepulsion-to-chemoattraction transition observed in neurons.

Quantitative elucidation of a distinct spatial gradient-sensing mechanism in fibroblasts

Migration of eukaryotic cells toward a chemoattractant often relies on their ability to distinguish receptor-mediated signaling at different subcellular locations, a phenomenon known as spatial sensing. A prominent example that is seen during wound healing is fibroblast migration in platelet-derived growth factor (PDGF) gradients. As in the well-characterized chemotactic cells Dictyostelium discoideum and neutrophils, signaling to the cytoskeleton via the phosphoinositide 3-kinase pathway in fibroblasts is spatially polarized by a PDGF gradient; however, the sensitivity of this process and how it is regulated are unknown. Through a quantitative analysis of mathematical models and live cell total internal reflection fluorescence microscopy experiments, we demonstrate that PDGF detection is governed by mechanisms that are fundamentally different from those in D. discoideum and neutrophils. Robust PDGF sensing requires steeper gradients and a much narrower range of absolute chemoattractant concentration, which is consistent with a simpler system lacking the feedback loops that yield signal amplification and adaptation in amoeboid cells.

A modelling framework describing the enzyme regulation of membrane lipids underlying gradient perception in Dictyostelium cells II: input-output analysis

Spatial sensing in Dictyostelium involves localization of the phosphoinositide lipids PI(3,4,5)P3 and PI(3,4)P2 at the leading edge of the cell in response to an external gradient. We have previously proposed a modelling framework describing the regulation of these lipids by the enzymes PI3K and PTEN. In this paper we analyse this regulation from an input-output perspective. When the inputs are homogeneous, we obtain explicit analytical expressions for the lipid concentrations as a function of enzyme concentrations and model parameters. We also show that the system can be cast as an open-loop bilinear control system, and employ control engineering tools to show that a local three-dimensional region in the four-dimensional phase space can be accessed by temporally varying either or both enzyme concentrations. For spatially graded enzyme profiles, we show that diffusion limits the extent to which lipid profiles can be manipulated by enzymes. However, we also demonstrate that for certain ranges of network parameters, increasing lipid diffusion can lead to an increase in steady-state leading-edge concentrations of PI(3,4,5)P3 or PI(3,4)P2, even though all lipid diffusion coefficients are equal. Finally, in order to determine the extent to which lipid profiles can be regulated by the enzymes, we formulate and solve inverse problems, where we determine the enzyme profiles required to realize particular lipid profiles at steady state.

Distinguishing modes of eukaryotic gradient sensing

We develop a mathematical model of phosphoinositide-mediated gradient sensing that can be applied to chemotactic behavior in highly motile eukaryotic cells such as Dictyostelium and neutrophils. We generate four variants of our model by adjusting parameters that control the strengths of coupled positive feedbacks and the importance of molecules that translocate from the cytosol to the membrane. Each variant exhibits a qualitatively different mode of gradient sensing. Simulations of characteristic behaviors suggest that differences between the variants are most evident at transitions between efficient gradient detection and failure. Based on these results, we propose criteria to distinguish between possible modes of gradient sensing in real cells, where many biochemical parameters may be unknown. We also identify constraints on parameters required for efficient gradient detection. Finally, our analysis suggests how a cell might transition between responsiveness and nonresponsiveness, and between different modes of gradient sensing, by adjusting its biochemical parameters.

Spatial analysis of 3' phosphoinositide signaling in living fibroblasts, III: influence of cell morphology and morphological Polarity

Activation of phosphoinositide (PI) 3-kinase is a required signaling pathway in fibroblast migration directed by platelet-derived growth factor. The pattern of 3' PI lipids in the plasma membrane, integrating local PI 3-kinase activity as well as 3' PI diffusion and turnover, influences the spatiotemporal regulation of the cytoskeleton. In fibroblasts stimulated uniformly with platelet-derived growth factor, visualized using total internal reflection fluorescence microscopy, we consistently observed localized regions with significantly higher or lower 3' PI levels than adjacent regions (hot and cold spots, respectively). A typical cell contained multiple hot spots, coinciding with apparent leading edge structures, and at most one cold spot at the rear. Using a framework for finite-element modeling with actual cell contact area geometries, we find that although the 3' PI pattern is affected by irregular contact area shape, cell morphology alone cannot explain the presence of hot or cold spots. Our results and analysis instead suggest that these regions reflect different local 3' PI dynamics, specifically through a combination of mechanisms: enhanced PI 3-kinase activity, reduced 3' PI turnover, and possibly slow/constrained 3' PI diffusion. The morphological polarity of the cell may thus bias 3' PI signaling to promote persistent migration in fibroblasts.