Effect of feedback regulation on stochastic gene expression

Noise suppression in stochastic genetic circuits using PID controllers

Inside individual cells, protein population counts are subject to molecular noise due to low copy numbers and the inherent probabilistic nature of biochemical processes. We investigate the effectiveness of proportional, integral and derivative (PID) based feedback controllers to suppress protein count fluctuations originating from two noise sources: bursty expression of the protein, and external disturbance in protein synthesis. Designs of biochemical reactions that function as PID controllers are discussed, with particular focus on individual controllers separately, and the corresponding closed-loop system is analyzed for stochastic controller realizations. Our results show that proportional controllers are effective in buffering protein copy number fluctuations from both noise sources, but this noise suppression comes at the cost of reduced static sensitivity of the output to the input signal. In contrast, integral feedback has no effect on the protein noise level from stochastic expression, but significantly minimizes the impact of external disturbances, particularly when the disturbance comes at low frequencies. Counter-intuitively, integral feedback is found to amplify external disturbances at intermediate frequencies. Next, we discuss the design of a coupled feedforward-feedback biochemical circuit that approximately functions as a derivate controller. Analysis using both analytical methods and Monte Carlo simulations reveals that this derivative controller effectively buffers output fluctuations from bursty stochastic expression, while maintaining the static input-output sensitivity of the open-loop system. In summary, this study provides a systematic stochastic analysis of biochemical controllers, and paves the way for their synthetic design and implementation to minimize deleterious fluctuations in gene product levels.

In the noisy cellular environment, biochemical species such as genes, RNAs and proteins that often occur at low molecular counts, are subject to considerable stochastic fluctuations in copy numbers over time. How cellular biochemical processes function reliably in the face of such randomness is an intriguing fundamental problem. Increasing evidence suggests that random fluctuations (noise) in protein copy numbers play important functional roles, such as driving genetically identical cells to different cell fates. Moreover, many disease states have been attributed to elevated noise levels in specific proteins. Here we systematically investigate design of biochemical systems that function as proportional, integral and derivative-based feedback controllers to suppress protein count fluctuations arising from bursty expression of the protein and external disturbance in protein synthesis. Our results show that different controllers are effective in buffering different noise components, and identify ranges of feedback gain for minimizing deleterious fluctuations in protein levels.

Control strategies for the timing of intracellular events

While the timing of intracellular events is essential for many cellular processes, gene expression inside a single cell can exhibit substantial cell-to-cell variability, raising the question of how cells ensure precision in event timing despite such stochasticity. We address this question by analyzing a biologically reasonable model of gene expression in the context of first passage time (FPT), focusing on two experimentally measurable statistics: mean FPT (MFPT) and timing variability (TV). We show that (1) transcriptional burst size (BS) and burst frequency (BF) can minimize the TV; (2) translational BS monotonically reduces the MFPT to a nonzero low bound; (3) the timescale of promoter kinetics can minimize both the MFPT and the TV, depending on the ratio of the on-switching rate over the off-switching rate; and (4) positive feedback regulation of any form can all minimize the TV, whereas negative feedback regulation of transcriptional BF or BS always enhances the TV. These control strategies can have broad implications for diverse cellular processes relying on precise temporal triggering of events.

The Evolution of Gene-Specific Transcriptional Noise Is Driven by Selection at the Pathway Level

Biochemical reactions within individual cells result from the interactions of molecules, typically in small numbers. Consequently, the inherent stochasticity of binding and diffusion processes generates noise along the cascade that leads to the synthesis of a protein from its encoding gene. As a result, isogenic cell populations display phenotypic variability even in homogeneous environments. The extent and consequences of this stochastic gene expression have only recently been assessed on a genome-wide scale, owing, in particular, to the advent of single-cell transcriptomics. However, the evolutionary forces shaping this stochasticity have yet to be unraveled. Here, we take advantage of two recently published data sets for the single-cell transcriptome of the domestic mouse Mus musculus to characterize the effect of natural selection on gene-specific transcriptional stochasticity. We show that noise levels in the mRNA distributions (also known as transcriptional noise) significantly correlate with three-dimensional nuclear domain organization, evolutionary constraints on the encoded protein, and gene age. However, the position of the encoded protein in a biological pathway is the main factor that explains observed levels of transcriptional noise, in agreement with models of noise propagation within gene networks. Because transcriptional noise is under widespread selection, we argue that it constitutes an important component of the phenotype and that variance of expression is a potential target of adaptation. Stochastic gene expression should therefore be considered together with the mean expression level in functional and evolutionary studies of gene expression.

First-passage time approach to controlling noise in the timing of intracellular events

In the noisy cellular environment, gene products are subject to inherent random fluctuations in copy numbers over time. How cells ensure precision in the timing of key intracellular events despite such stochasticity is an intriguing fundamental problem. We formulate event timing as a first-passage time problem, where an event is triggered when the level of a protein crosses a critical threshold for the first time. Analytical calculations are performed for the first-passage time distribution in stochastic models of gene expression. Derivation of these formulas motivates an interesting question: Is there an optimal feedback strategy to regulate the synthesis of a protein to ensure that an event will occur at a precise time, while minimizing deviations or noise about the mean? Counterintuitively, results show that for a stable long-lived protein, the optimal strategy is to express the protein at a constant rate without any feedback regulation, and any form of feedback (positive, negative, or any combination of them) will always amplify noise in event timing. In contrast, a positive feedback mechanism provides the highest precision in timing for an unstable protein. These theoretical results explain recent experimental observations of single-cell lysis times in bacteriophage [Formula: see text] Here, lysis of an infected bacterial cell is orchestrated by the expression and accumulation of a stable [Formula: see text] protein up to a threshold, and precision in timing is achieved via feedforward rather than feedback control. Our results have broad implications for diverse cellular processes that rely on precise temporal triggering of events.

Decomposition and tunability of expression noise in the presence of coupled feedbacks

Expression noise results in cell-to-cell variability in expression levels, and feedback regulation may complicate the tracing of sources of this noise. Using a representative model of gene expression with feedbacks, we analytically show that the expression noise (or the total noise) is decomposed into three parts: feedback-dependent promoter noise determined by a continuous approximation, birth-death noise determined by a simple Poisson process, and correlation noise induced by feedbacks. We clarify confused relationships between feedback and noise in previous studies, by showing that feedback-regulated noisy sources have different contributions to the total noise in different cases of promoter switching (it is an essential reason resulting in confusions). More importantly, we find that there is a tradeoff between response time and expression noise. In addition, we show that in contrast to single feedbacks, coupled positive and negative feedbacks can perform better in tuning expression noise, controlling expression levels, and maintaining response time. The overall analysis implies that living organisms would utilize coupled positive and negative feedbacks for better survival in complex and fluctuating environments.

Quantifying the contribution of chromatin dynamics to stochastic gene expression reveals long, locus-dependent periods between transcriptional bursts

BACKGROUND

A number of studies have established that stochasticity in gene expression may play an important role in many biological phenomena. This therefore calls for further investigations to identify the molecular mechanisms at stake, in order to understand and manipulate cell-to-cell variability. In this work, we explored the role played by chromatin dynamics in the regulation of stochastic gene expression in higher eukaryotic cells.

RESULTS

For this purpose, we generated isogenic chicken-cell populations expressing a fluorescent reporter integrated in one copy per clone. Although the clones differed only in the genetic locus at which the reporter was inserted, they showed markedly different fluorescence distributions, revealing different levels of stochastic gene expression. Use of chromatin-modifying agents showed that direct manipulation of chromatin dynamics had a marked effect on the extent of stochastic gene expression. To better understand the molecular mechanism involved in these phenomena, we fitted these data to a two-state model describing the opening/closing process of the chromatin. We found that the differences between clones seemed to be due mainly to the duration of the closed state, and that the agents we used mainly seem to act on the opening probability.

CONCLUSIONS

In this study, we report biological experiments combined with computational modeling, highlighting the importance of chromatin dynamics in stochastic gene expression. This work sheds a new light on the mechanisms of gene expression in higher eukaryotic cells, and argues in favor of relatively slow dynamics with long (hours to days) periods of quiet state.

Stochastic analysis of gene expression

In this chapter, stochasticity in gene expression is investigated using Ω-expansion technique. Two theoretical models are considered here, one concern the stochastic fluctuations in a single-gene network with negative feedback regulation, and the other the additivity of noise propagation in a protein cascade. All of these theoretical analyses may provide a basic framework for understanding stochastic gene expression.

Correlated fluctuations carry signatures of gene regulatory network dynamics

The dynamics of transcriptional control involve small numbers of molecules and result in significant fluctuations in protein and mRNA concentrations. The correlations between these intrinsic fluctuations then offer, via the fluctuation dissipation relation, the possibility of capturing the system's response to external perturbations, and hence the nature of the regulatory activity itself. We show that for simple regulatory networks of activators and repressors, the correlated fluctuations between molecular species show distinct characteristics for changes in regulatory mechanism and for changes to the topology of causal influence. Here, we do a stochastic analysis and derive time-dependent correlation functions between molecular species of regulatory networks and present analytical and numerical results on peaks and delays in correlations between proteins within networks. Upon using these values of peaks and delays as a two-dimensional feature space, we find that different regulatory mechanisms separate into distinct clusters. This indicates that experimentally observable pairwise correlations can distinguish between gene regulatory networks.

Counter-intuitive stochastic behavior of simple gene circuits with negative feedback

It has often been taken for granted that negative feedback loops in gene regulation work as homeostatic control mechanisms. If one increases the regulation strength a less noisy signal is to be expected. However, recent theoretical studies have reported the exact contrary, counter-intuitive observation, which has left a question mark over the relationship between negative feedback loops and noise. We explore and systematically analyze several minimal models of gene regulation, where a transcriptional repressor negatively regulates its own expression. For models including a quasi-steady-state assumption, we identify processes that buffer noise change (RNA polymerase binding) or accentuate it (repressor dimerization) alongside increasing feedback strength. Moreover, we show that lumping together transcription and translation in simplified models clearly underestimates the impact of negative feedback strength on the system's noise. In contrast, in systems without a quasi-steady-state assumption, noise always increases with negative feedback strength. Hence, subtle mathematical properties and model assumptions yield different types of noise profiles and, by consequence, previous studies have simultaneously reported decrease, increase or persistence of noise levels with increasing feedback. We discuss our findings in terms of separation of timescales and time correlations between molecular species distributions, extending current theoretical findings on the topic and allowing us to propose what we believe new ways to better characterize noise.

On the spontaneous stochastic dynamics of a single gene: complexity of the molecular interplay at the promoter

BACKGROUND

Gene promoters can be in various epigenetic states and undergo interactions with many molecules in a highly transient, probabilistic and combinatorial way, resulting in a complex global dynamics as observed experimentally. However, models of stochastic gene expression commonly consider promoter activity as a two-state on/off system. We consider here a model of single-gene stochastic expression that can represent arbitrary prokaryotic or eukaryotic promoters, based on the combinatorial interplay between molecules and epigenetic factors, including energy-dependent remodeling and enzymatic activities.

RESULTS

We show that, considering the mere molecular interplay at the promoter, a single-gene can demonstrate an elaborate spontaneous stochastic activity (eg. multi-periodic multi-relaxation dynamics), similar to what is known to occur at the gene-network level. Characterizing this generic model with indicators of dynamic and steady-state properties (including power spectra and distributions), we reveal the potential activity of any promoter and its influence on gene expression. In particular, we can reproduce, based on biologically relevant mechanisms, the strongly periodic patterns of promoter occupancy by transcription factors (TF) and chromatin remodeling as observed experimentally on eukaryotic promoters. Moreover, we link several of its characteristics to properties of the underlying biochemical system. The model can also be used to identify behaviors of interest (eg. stochasticity induced by high TF concentration) on minimal systems and to test their relevance in larger and more realistic systems. We finally show that TF concentrations can regulate many aspects of the stochastic activity with a considerable flexibility and complexity.

CONCLUSIONS

This tight promoter-mediated control of stochasticity may constitute a powerful asset for the cell. Remarkably, a strongly periodic activity that demonstrates a complex TF concentration-dependent control is obtained when molecular interactions have typical characteristics observed on eukaryotic promoters (high mobility, functional redundancy, many alternate states/pathways). We also show that this regime results in a direct and indirect energetic cost. Finally, this model can constitute a framework for unifying various experimental approaches. Collectively, our results show that a gene - the basic building block of complex regulatory networks - can itself demonstrate a significantly complex behavior.

Optimal feedback strength for noise suppression in autoregulatory gene networks

Autoregulatory feedback loops, where the protein expressed from a gene inhibits or activates its own expression are common gene network motifs within cells. In these networks, stochastic fluctuations in protein levels are attributed to two factors: intrinsic noise (i.e., the randomness associated with mRNA/protein expression and degradation) and extrinsic noise (i.e., the noise caused by fluctuations in cellular components such as enzyme levels and gene-copy numbers). We present results that predict the level of both intrinsic and extrinsic noise in protein numbers as a function of quantities that can be experimentally determined and/or manipulated, such as the response time of the protein and the level of feedback strength. In particular, we show that for a fixed average number of protein molecules, decreasing response times leads to attenuation of both protein intrinsic and extrinsic noise, with the extrinsic noise being more sensitive to changes in the response time. We further show that for autoregulatory networks with negative feedback, the protein noise levels can be minimal at an optimal level of feedback strength. For such cases, we provide an analytical expression for the highest level of noise suppression and the amount of feedback that achieves this minimal noise. These theoretical results are shown to be consistent and explain recent experimental observations. Finally, we illustrate how measuring changes in the protein noise levels as the feedback strength is manipulated can be used to determine the level of extrinsic noise in these gene networks.

Additivity of noise propagation in a protein cascade

Stochastic fluctuations in a protein synthetic cascade are investigated using standard Omega-expansion technique. For the steady-state sensitivity, we show the conditions that result in the ultrasensitive "all-or-none" behavior, and for the noise propagation, we show clearly that (i) for any one given protein species in this cascade, the contributions of fluctuations in upstream proteins to its noise should be additive; and (ii) the output noise levels can vary as a function of the input concentrations and cascade length. Our results provide a possible theoretical explanation for the previous experimental studies.