Reduced-order modelling of biochemical networks: application to the GTPase-cycle signalling module

Proteins as fuzzy controllers: Auto tuning a biological fuzzy inference system to predict protein dynamics in complex biological networks

Biological systems such as mammalian cell cycle are complex systems consisting of a large number of molecular species interacting in ways that produce complex nonlinear systems dynamics. Discrete models such as Boolean models and continuous models such as Ordinary Differential Equations (ODEs) have been widely used to study these systems. Boolean models are simple and can capture qualitative systems behaviour, but they cannot capture the continuous trends of protein concentrations, while ODE models capture continuous trends but require kinetics parameters that are limited. Further, as systems get larger, complexity of these models becomes an issue for parameterization, analysis and interpretation. Also, molecular systems operate under the conditions of uncertainty and noise and our understanding of molecular processes in general is more at a qualitative level characterised by vagueness, imprecision and ambiguity. Hence, as more data are generated, there is a greater need for simpler data driven methods that can approximate continuous system behaviour while representing vagueness and ambiguity without requiring kinetic parameters. Fuzzy inferencing is one such promising method with the ability to work with qualitative vague/imprecise biological knowledge. In this study, we propose a fuzzy inference system for representing continuous behaviour of proteins and apply to some key proteins in the mammalian cell cycle system. The methods we introduced here is novel to protein interaction systems and cell cycle proteins. Our study proposes a three-stage approach to develop fuzzy protein controllers. In stage one, protein system is studied for interactions. We studied some significant core controllers of mammalian cell cycle and their producers and degraders as presented in a published ODE model. Based on the observations from a dataset generated from it, we developed Fuzzy inference systems (FIS) in the second stage, that involved deriving fuzzy IF-THEN rules and their processing, and manually tuned the FIS to predict the dynamics of individual proteins. In stage three, we employed Particle Swarm Optimisation (PSO) for optimising the FIS to further enhance prediction accuracy. Systems dynamics simulation results of the optimised FIS models were in close agreement with the benchmark ODE model results. The results show that the FIS models provide a close approximation to the comprehensive benchmark model in robustly representing continuous protein dynamics while representing the control of protein behavior in an intuitive and transparent format without requiring kinetic parameters. Therefore, FIS models can be an alternative to ODEs in network modelling. Further, FIS models can be assembled to develop large complex systems without losing information or accuracy.

HillTau: A fast, compact abstraction for model reduction in biochemical signaling networks

Signaling networks mediate many aspects of cellular function. The conventional, mechanistically motivated approach to modeling such networks is through mass-action chemistry, which maps directly to biological entities and facilitates experimental tests and predictions. However such models are complex, need many parameters, and are computationally costly. Here we introduce the HillTau form for signaling models. HillTau retains the direct mapping to biological observables, but it uses far fewer parameters, and is 100 to over 1000 times faster than ODE-based methods. In the HillTau formalism, the steady-state concentration of signaling molecules is approximated by the Hill equation, and the dynamics by a time-course tau. We demonstrate its use in implementing several biochemical motifs, including association, inhibition, feedforward and feedback inhibition, bistability, oscillations, and a synaptic switch obeying the BCM rule. The major use-cases for HillTau are system abstraction, model reduction, scaffolds for data-driven optimization, and fast approximations to complex cellular signaling.

Chemical signals mediate many computations in cells, from housekeeping functions in all cells to memory and pattern selectivity in neurons. These signals form complex networks of interactions. Computer models are a powerful way to study how such networks behave, but it is hard to get all the chemical details for typical models, and it is slow to run them with standard numerical approaches to chemical kinetics. We introduce HillTau as a simplified way to model complex chemical networks. HillTau models condense multiple reaction steps into single steps defined by a small number of parameters for activation and settling time. As a result the models are simple, easy to find values for, and they run quickly. Remarkably, they fit the full chemical formulations rather well. We illustrate the utility of HillTau for modeling several signaling network functions, and for fitting complicated signaling networks.

A mean-field approach for modeling the propagation of perturbations in biochemical reaction networks

Often, the time evolution of a biochemical reaction network is crucial for determining the effects of combining multiple pharmaceuticals. Here we illustrate a mathematical framework for modeling the dominant temporal behaviour of a complicated molecular pathway or biochemical reaction network in response to an arbitrary perturbation, such as resulting from the administration of a therapeutic agent. The method enables the determination of the temporal evolution of a target protein as the perturbation propagates through its regulatory network. The mathematical approach is particularly useful when the experimental data that is available for characterizing or parameterizing the regulatory network is limited or incomplete. To illustrate the method, we consider the examples of the regulatory networks for the target proteins c-Myc and Chop, which play an important role in venetoclax resistance in acute myeloid leukemia. First we show how the networks that regulate each target protein can be reduced to a mean-field model by identifying the distinct effects that groups of proteins in the regulatory network have on the target protein. Then we show how limited protein-level data can be used to further simplify the mean-field model to pinpoint the dominant effects of the network perturbation on the target protein. This enables a further reduction in the number of parameters in the model. The result is an ordinary differential equation model that captures the temporal evolution of the expression of a target protein when one or more proteins in its regulatory network have been perturbed. Finally, we show how the dominant effects predicted by the mathematical model agree with RNA sequencing data for the regulatory proteins comprising the molecular network, despite the model not having a priori knowledge of this data. Thus, while the approach gives a simplified model for the expression of the target protein, it allows for the interpretation of the effects of the perturbation on the regulatory network itself. This method can be easily extended to sets of target proteins to model components of a larger systems biology model, and provides an approach for partially integrating RNA sequencing data and protein expression data. Moreover, it is a general approach that can be used to study drug effects on specific protein(s) in any disease or condition.

Inferring phenomenological models of first passage processes

Biochemical processes in cells are governed by complex networks of many chemical species interacting stochastically in diverse ways and on different time scales. Constructing microscopically accurate models of such networks is often infeasible. Instead, here we propose a systematic framework for building phenomenological models of such networks from experimental data, focusing on accurately approximating the time it takes to complete the process, the First Passage (FP) time. Our phenomenological models are mixtures of Gamma distributions, which have a natural biophysical interpretation. The complexity of the models is adapted automatically to account for the amount of available data and its temporal resolution. The framework can be used for predicting behavior of FP systems under varying external conditions. To demonstrate the utility of the approach, we build models for the distribution of inter-spike intervals of a morphologically complex neuron, a Purkinje cell, from experimental and simulated data. We demonstrate that the developed models can not only fit the data, but also make nontrivial predictions. We demonstrate that our coarse-grained models provide constraints on more mechanistically accurate models of the involved phenomena.

A new hierarchical approach to multi-level model abstraction for simplifying ODE models of biological networks and a case study: The G1/S Checkpoint/DNA damage signalling pathways of mammalian cell cycle

Model reduction is an important topic in studies of biological systems. By reducing the complexity of large models through multi-level models while keeping the essence (biological meaning) of the model, model reduction can help answer many important questions about these systems. In this paper, we present a new reduction method based on hierarchical representation and a lumping approach. We used G1/S checkpoint pathway represented in Ordinary Differential Equations (ODE) in Iwamoto et al. (2011) as a case study to present this reduction method. The approach consists of two parts; the first part represents the biological network as a hierarchy (multiple levels) based on protein binding relations, which allowed us to model the biological network at different levels of abstraction. The second part applies different levels (level 1, 2 and 3) of lumping the species together depending on the level of the hierarchy, resulting in a reduced and transformed model for each level. The model at each level is a representation of the whole system and can address questions pertinent to that level. We develop and simulate reduced models for levels-1, 2 and 3 of lumping for the G1/S checkpoint pathway and evaluate the biological plausibility of the proposed method by comparing the results with the original ODE model of Iwamoto et al. (2011). The results for continuous dynamics of the G1/S checkpoint pathway with or without DNA-damage for reduced models of level- 1, 2 and 3 of lumping are in very good agreement and consistent with the original model results and with biological findings. Therefore, the reduced models (level-1, 2 and 3) can be used to study cell cycle progression in G1 and the effects of DNA damage on it. It is suitable for reducing complex ODE biological network models while retaining accurate continuous dynamics of the system. The 3 levels of the reduced models respectively achieved 20%, 26% and 31% reduction of the base model. Moreover, the reduced model is more efficient to run (30%, 44% and 52% time reduction for the three levels) and generate solutions than the original ODE model. Simplification of complex mathematical models is possible and the proposed reduction method has the potential to make an impact across many fields of biomedical research.

Towards abstraction of computational modelling of mammalian cell cycle: Model reduction pipeline incorporating multi-level hybrid petri nets

Cell cycle is a large biochemical network and it is crucial to simplify it to gain a clearer understanding and insights into the cell cycle. This is also true for other biochemical networks. In this study, we present a model abstraction scheme/pipeline to create a minimal abstract model of the whole mammalian cell cycle system from a large Ordinary Differential Equation model of cell cycle we published previously (Abroudi et al., 2017). The abstract model is developed in a way that it captures the main characteristics (dynamics of key controllers), responses (G1-S and G2-M transitions and DNA damage) and the signalling subsystems (Growth Factor, G1-S and G2-M checkpoints, and DNA damage) of the original model (benchmark). Further, our model exploits: (i) separation of time scales (slow and fast reactions), (ii) separation of levels of complexity (high-level and low-level interactions), (iii) cell-cycle stages (temporality), (iv) functional subsystems (as mentioned above), and (v) represents the whole cell cycle - within a Multi-Level Hybrid Petri Net (MLHPN) framework. Although hybrid Petri Nets is not new, the abstraction of interactions and timing we introduced here is new to cell cycle and Petri Nets. Importantly, our models builds on the significant elements, representing the core cell cycle system, found through a novel Global Sensitivity Analysis on the benchmark model, using Self Organising Maps and Correlation Analysis that we introduced in (Abroudi et al., 2017). Taken the two aspects together, our study proposes a 2-stage model reduction pipeline for large systems and the main focus of this paper is on stage 2, Petri Net model, put in the context of the pipeline. With the MLHPN model, the benchmark model with 61 continuous variables (ODEs) and 148 parameters were reduced to 14 variables (4 continuous (Cyc_Cdks - the main controllers of cell cycle) and 10 discrete (regulators of Cyc_Cdks)) and 31 parameters. Additional 9 discrete elements represented the temporal progression of cell cycle. Systems dynamics simulation results of the MLHPN model were in close agreement with the benchmark model with respect to the crucial metrics selected for comparison: order and pattern of Cyc_Cdk activation, timing of G1-S and G2-M transitions with or without DNA damage, efficiency of the two cell cycle checkpoints in arresting damaged cells and passing healthy cells, and response to two types of global parameter perturbations. The results show that the MLHPN provides a close approximation to the comprehensive benchmark model in robustly representing systems dynamics and emergent properties while presenting the core cell cycle controller in an intuitive, transparent and subsystems format.

Evaluating model reduction under parameter uncertainty

BACKGROUND

The dynamics of biochemical networks can be modelled by systems of ordinary differential equations. However, these networks are typically large and contain many parameters. Therefore model reduction procedures, such as lumping, sensitivity analysis and time-scale separation, are used to simplify models. Although there are many different model reduction procedures, the evaluation of reduced models is difficult and depends on the parameter values of the full model. There is a lack of a criteria for evaluating reduced models when the model parameters are uncertain.

RESULTS

We developed a method to compare reduced models and select the model that results in similar dynamics and uncertainty as the original model. We simulated different parameter sets from the assumed parameter distributions. Then, we compared all reduced models for all parameter sets using cluster analysis. The clusters revealed which of the reduced models that were similar to the original model in dynamics and variability. This allowed us to select the smallest reduced model that best approximated the full model. Through examples we showed that when parameter uncertainty was large, the model should be reduced further and when parameter uncertainty was small, models should not be reduced much.

CONCLUSIONS

A method to compare different models under parameter uncertainty is developed. It can be applied to any model reduction method. We also showed that the amount of parameter uncertainty influences the choice of reduced models.

Model reduction in mathematical pharmacology : Integration, reduction and linking of PBPK and systems biology models

In this paper we present a framework for the reduction and linking of physiologically based pharmacokinetic (PBPK) models with models of systems biology to describe the effects of drug administration across multiple scales. To address the issue of model complexity, we propose the reduction of each type of model separately prior to being linked. We highlight the use of balanced truncation in reducing the linear components of PBPK models, whilst proper lumping is shown to be efficient in reducing typically nonlinear systems biology type models. The overall methodology is demonstrated via two example systems; a model of bacterial chemotactic signalling in Escherichia coli and a model of extracellular regulatory kinase activation mediated via the extracellular growth factor and nerve growth factor receptor pathways. Each system is tested under the simulated administration of three hypothetical compounds; a strong base, a weak base, and an acid, mirroring the parameterisation of pindolol, midazolam, and thiopental, respectively. Our method can produce up to an 80% decrease in simulation time, allowing substantial speed-up for computationally intensive applications including parameter fitting or agent based modelling. The approach provides a straightforward means to construct simplified Quantitative Systems Pharmacology models that still provide significant insight into the mechanisms of drug action. Such a framework can potentially bridge pre-clinical and clinical modelling - providing an intermediate level of model granularity between classical, empirical approaches and mechanistic systems describing the molecular scale.

Methods of Model Reduction for Large-Scale Biological Systems: A Survey of Current Methods and Trends

Complex models of biochemical reaction systems have become increasingly common in the systems biology literature. The complexity of such models can present a number of obstacles for their practical use, often making problems difficult to intuit or computationally intractable. Methods of model reduction can be employed to alleviate the issue of complexity by seeking to eliminate those portions of a reaction network that have little or no effect upon the outcomes of interest, hence yielding simplified systems that retain an accurate predictive capacity. This review paper seeks to provide a brief overview of a range of such methods and their application in the context of biochemical reaction network models. To achieve this, we provide a brief mathematical account of the main methods including timescale exploitation approaches, reduction via sensitivity analysis, optimisation methods, lumping, and singular value decomposition-based approaches. Methods are reviewed in the context of large-scale systems biology type models, and future areas of research are briefly discussed.

A review of computational and mathematical modeling contributions to our understanding of Mycobacterium tuberculosis within-host infection and treatment

Tuberculosis (TB) is an ancient and deadly disease characterized by complex host-pathogen dynamics playing out over multiple time and length scales and physiological compartments. Computational modeling can be used to integrate various types of experimental data and suggest new hypotheses, mechanisms, and therapeutic approaches to TB. Here, we offer a first-time comprehensive review of work on within-host TB models that describe the immune response of the host to infection, including the formation of lung granulomas. The models include systems of ordinary and partial differential equations and agent-based models as well as hybrid and multi-scale models that are combinations of these. Many aspects of M. tuberculosis infection, including host dynamics in the lung (typical site of infection for TB), granuloma formation, roles of cytokine and chemokine dynamics, and bacterial nutrient availability have been explored. Finally, we survey applications of these within-host models to TB therapy and prevention and suggest future directions to impact this global disease.

A combined model reduction algorithm for controlled biochemical systems

BACKGROUND

Systems Biology continues to produce increasingly large models of complex biochemical reaction networks. In applications requiring, for example, parameter estimation, the use of agent-based modelling approaches, or real-time simulation, this growing model complexity can present a significant hurdle. Often, however, not all portions of a model are of equal interest in a given setting. In such situations methods of model reduction offer one possible approach for addressing the issue of complexity by seeking to eliminate those portions of a pathway that can be shown to have the least effect upon the properties of interest.

METHODS

In this paper a model reduction algorithm bringing together the complementary aspects of proper lumping and empirical balanced truncation is presented. Additional contributions include the development of a criterion for the selection of state-variable elimination via conservation analysis and use of an 'averaged' lumping inverse. This combined algorithm is highly automatable and of particular applicability in the context of 'controlled' biochemical networks.

RESULTS

The algorithm is demonstrated here via application to two examples; an 11 dimensional model of bacterial chemotaxis in Escherichia coli and a 99 dimensional model of extracellular regulatory kinase activation (ERK) mediated via the epidermal growth factor (EGF) and nerve growth factor (NGF) receptor pathways. In the case of the chemotaxis model the algorithm was able to reduce the model to 2 state-variables producing a maximal relative error between the dynamics of the original and reduced models of only 2.8% whilst yielding a 26 fold speed up in simulation time. For the ERK activation model the algorithm was able to reduce the system to 7 state-variables, incurring a maximal relative error of 4.8%, and producing an approximately 10 fold speed up in the rate of simulation. Indices of controllability and observability are additionally developed and demonstrated throughout the paper. These provide insight into the relative importance of individual reactants in mediating a biochemical system's input-output response even for highly complex networks.

CONCLUSIONS

Through application, this paper demonstrates that combined model reduction methods can produce a significant simplification of complex Systems Biology models whilst retaining a high degree of predictive accuracy. In particular, it is shown that by combining the methods of proper lumping and empirical balanced truncation it is often possible to produce more accurate reductions than can be obtained by the use of either method in isolation.

Driving the Model to Its Limit: Profile Likelihood Based Model Reduction

In systems biology, one of the major tasks is to tailor model complexity to information content of the data. A useful model should describe the data and produce well-determined parameter estimates and predictions. Too small of a model will not be able to describe the data whereas a model which is too large tends to overfit measurement errors and does not provide precise predictions. Typically, the model is modified and tuned to fit the data, which often results in an oversized model. To restore the balance between model complexity and available measurements, either new data has to be gathered or the model has to be reduced. In this manuscript, we present a data-based method for reducing non-linear models. The profile likelihood is utilised to assess parameter identifiability and designate likely candidates for reduction. Parameter dependencies are analysed along profiles, providing context-dependent suggestions for the type of reduction. We discriminate four distinct scenarios, each associated with a specific model reduction strategy. Iterating the presented procedure eventually results in an identifiable model, which is capable of generating precise and testable predictions. Source code for all toy examples is provided within the freely available, open-source modelling environment Data2Dynamics based on MATLAB available at http://www.data2dynamics.org/, as well as the R packages dMod/cOde available at https://github.com/dkaschek/. Moreover, the concept is generally applicable and can readily be used with any software capable of calculating the profile likelihood.

Crosstalks between cytokines and Sonic Hedgehog in Helicobacter pylori infection: a mathematical model

Helicobacter pylori infection of gastric tissue results in an immune response dominated by Th1 cytokines and has also been linked with dysregulation of Sonic Hedgehog (SHH) signaling pathway in gastric tissue. However, since interactions between the cytokines and SHH during H. pylori infection are not well understood, any mechanistic understanding achieved through interpretation of the statistical analysis of experimental results in the context of currently known circuit must be carefully scrutinized. Here, we use mathematical modeling aided by restraints of experimental data to evaluate the consistency between experimental results and temporal behavior of H. pylori activated cytokine circuit model. Statistical analysis of qPCR data from uninfected and H. pylori infected wild-type and parietal cell-specific SHH knockout (PC-SHH^KO) mice for day 7 and 180 indicate significant changes that suggest role of SHH in cytokine regulation. The experimentally observed changes are further investigated using a mathematical model that examines dynamic crosstalks among pro-inflammatory (IL1β, IL-12, IFNγ, MIP-2) cytokines, anti-inflammatory (IL-10) cytokines and SHH during H. pylori infection. Response analysis of the resulting model demonstrates that circuitry, as currently known, is inadequate for explaining of the experimental observations; suggesting the need for additional specific regulatory interactions. A key advantage of a computational model is the ability to propose putative circuit models for in-silico experimentation. We use this approach to propose a parsimonious model that incorporates crosstalks between NFĸB, SHH, IL-1β and IL-10, resulting in a feedback loop capable of exhibiting cyclic behavior. Separately, we show that analysis of an independent time-series GEO microarray data for IL-1β, IFNγ and IL-10 in mock and H. pylori infected mice further supports the proposed hypothesis that these cytokines may follow a cyclic trend. Predictions from the in-silico model provide useful insights for generating new hypothesis and design of subsequent experimental studies.

Tuneable resolution as a systems biology approach for multi-scale, multi-compartment computational models

The use of multi-scale mathematical and computational models to study complex biological processes is becoming increasingly productive. Multi-scale models span a range of spatial and/or temporal scales and can encompass multi-compartment (e.g., multi-organ) models. Modeling advances are enabling virtual experiments to explore and answer questions that are problematic to address in the wet-lab. Wet-lab experimental technologies now allow scientists to observe, measure, record, and analyze experiments focusing on different system aspects at a variety of biological scales. We need the technical ability to mirror that same flexibility in virtual experiments using multi-scale models. Here we present a new approach, tuneable resolution, which can begin providing that flexibility. Tuneable resolution involves fine- or coarse-graining existing multi-scale models at the user's discretion, allowing adjustment of the level of resolution specific to a question, an experiment, or a scale of interest. Tuneable resolution expands options for revising and validating mechanistic multi-scale models, can extend the longevity of multi-scale models, and may increase computational efficiency. The tuneable resolution approach can be applied to many model types, including differential equation, agent-based, and hybrid models. We demonstrate our tuneable resolution ideas with examples relevant to infectious disease modeling, illustrating key principles at work. WIREs Syst Biol Med 2014, 6:225–245. doi:10.1002/wsbm.1270

How to cite this article:WIREs Syst Biol Med 2014, 6:289–309. doi:10.1002/wsbm.1270

A model reduction method for biochemical reaction networks

BACKGROUND

In this paper we propose a model reduction method for biochemical reaction networks governed by a variety of reversible and irreversible enzyme kinetic rate laws, including reversible Michaelis-Menten and Hill kinetics. The method proceeds by a stepwise reduction in the number of complexes, defined as the left and right-hand sides of the reactions in the network. It is based on the Kron reduction of the weighted Laplacian matrix, which describes the graph structure of the complexes and reactions in the network. It does not rely on prior knowledge of the dynamic behaviour of the network and hence can be automated, as we demonstrate. The reduced network has fewer complexes, reactions, variables and parameters as compared to the original network, and yet the behaviour of a preselected set of significant metabolites in the reduced network resembles that of the original network. Moreover the reduced network largely retains the structure and kinetics of the original model.

RESULTS

We apply our method to a yeast glycolysis model and a rat liver fatty acid beta-oxidation model. When the number of state variables in the yeast model is reduced from 12 to 7, the difference between metabolite concentrations in the reduced and the full model, averaged over time and species, is only 8%. Likewise, when the number of state variables in the rat-liver beta-oxidation model is reduced from 42 to 29, the difference between the reduced model and the full model is 7.5%.

CONCLUSIONS

The method has improved our understanding of the dynamics of the two networks. We found that, contrary to the general disposition, the first few metabolites which were deleted from the network during our stepwise reduction approach, are not those with the shortest convergence times. It shows that our reduction approach performs differently from other approaches that are based on time-scale separation. The method can be used to facilitate fitting of the parameters or to embed a detailed model of interest in a more coarse-grained yet realistic environment.

Reduced dynamic models in epithelial transport

Most models developed to represent transport across epithelia assume that the cell interior constitutes a homogeneous compartment, characterized by a single concentration value of the transported species. This conception differs significantly from the current view, in which the cellular compartment is regarded as a highly crowded media of marked structural heterogeneity. Can the finding of relatively simple dynamic properties of transport processes in epithelia be compatible with this complex structural conception of the cell interior? The purpose of this work is to contribute with one simple theoretical approach to answer this question. For this, the techniques of model reduction are utilized to obtain a two-state reduced model from more complex linear models of transcellular transport with a larger number of intermediate states. In these complex models, each state corresponds to the solute concentration in an intermediate intracellular compartment. In addition, the numerical studies reveal that it is possible to approximate a general two-state model under conditions where strict reduction of the complex models cannot be performed. These results contribute with arguments to reconcile the current conception of the cell interior as a highly complex medium with the finding of relatively simple dynamic properties of transport across epithelial cells.

The A, B, Cs of G-protein-coupled receptor pharmacology in assay development for HTS

G-protein-coupled receptors represent one of the most important areas of research in the pharmaceutical industry, being one of the largest druggable gene families. Recognising this fact, manufacturers have developed a huge variety of homogeneous assay technologies that facilitate the quantification of receptor ligand binding events and their downstream signalling cascades. However, while early emphasis was placed on the most sensitive, high-throughput and cost-effective screening technologies to enable identification of the most lead matter for further development, in recent years emphasis has shifted to a focus on maximising the identification of compounds that are new and developing assays that are more biologically/pharmacologically relevant. Therefore, this review provides an overview of the binding and functional techniques available for high-throughput screening, with particular attention on how assay application and configuration can be maximised to ensure their successful identification of relevant chemical matter and thereby optimising project success.

Regulators of G protein signaling proteins as central components of G protein-coupled receptor signaling complexes

The regulators of G protein signaling (RGS) proteins bind directly to G protein alpha (Gα) subunits to regulate the signaling functions of Gα and their linked G protein-coupled receptors (GPCRs). Recent studies indicate that RGS proteins also interact with GPCRs, not just G proteins, to form preferred functional pairs. Interactions between GPCRs and RGS proteins may be direct or indirect (via a linker protein) and are dictated by the receptors, rather than the linked G proteins. Emerging models suggest that GPCRs serve as platforms for assembling an overlapping and distinct constellation of signaling proteins that perform receptor-specific signaling tasks. Compelling evidence now indicates that RGS proteins are central components of these GPCR signaling complexes. This review will outline recent discoveries of GPCR/RGS pairs as well as new data in support of the idea that GPCRs serve as platforms for the formation of multiprotein signaling complexes.

Model reduction of multiscale chemical langevin equations: a numerical case study

Two very important characteristics of biological reaction networks need to be considered carefully when modeling these systems. First, models must account for the inherent probabilistic nature of systems far from the thermodynamic limit. Often, biological systems cannot be modeled with traditional continuous-deterministic models. Second, models must take into consideration the disparate spectrum of time scales observed in biological phenomena, such as slow transcription events and fast dimerization reactions. In the last decade, significant efforts have been expended on the development of stochastic chemical kinetics models to capture the dynamics of biomolecular systems, and on the development of robust multiscale algorithms, able to handle stiffness. In this paper, the focus is on the dynamics of reaction sets governed by stiff chemical Langevin equations, i.e., stiff stochastic differential equations. These are particularly challenging systems to model, requiring prohibitively small integration step sizes. We describe and illustrate the application of a semianalytical reduction framework for chemical Langevin equations that results in significant gains in computational cost.

Mixed-integer nonlinear optimisation approach to coarse-graining biochemical networks

Quantitative modelling and analysis of biochemical networks is challenging because of the inherent complexities and nonlinearities of the system and the limited availability of parameter values. Even if a mathematical model of the network can be developed, the lack of large-scale good-quality data makes accurate estimation of a large number of parameters impossible. Hence, coarse-grained models (CGMs) consisting of essential biochemical mechanisms are more suitable for computational analysis and for studying important systemic functions. The central question in constructing a CGM is which mechanisms should be deemed 'essential' and which can be ignored. Also, how should parameter values be defined when data are sparse? A mixed-integer nonlinear-programming (MINLP) based optimisation approach to coarse-graining is presented. Starting with a detailed biochemical model with associated computational details (reaction network and mathematical description) and data on the biochemical system, the structure and the parameters of a CGM can be determined simultaneously. In this optimisation problem, the authors use a genetic algorithm to simultaneously identify parameter values and remove unimportant reactions. The methodology is exemplified by developing two CGMs for the GTPase-cycle module of M1 muscarinic acetylcholine receptor, Gq, and regulator of G protein signalling 4 [RGS4, a GTPase-activating protein (GAP)] starting from a detailed model of 48 reactions. Both the CGMs have only 17 reactions, fit experimental data well and predict, as does the detailed model, four limiting signalling regimes (LSRs) corresponding to the extremes of receptor and GAP concentration. The authors demonstrate that coarse-graining, in addition to resulting in a reduced-order model, also provides insights into the mechanisms in the network. The best CGM obtained for the GTPase cycle also contains an unconventional mechanism and its predictions explain an old problem in pharmacology, the biphasic (bell-shaped) response to certain drugs. The MINLP methodology is broadly applicable to larger and complex (dense) biochemical modules.

GPCR signaling: understanding the pathway to successful drug discovery

Modulators of G protein-coupled receptors (GPCRs) form a key area for the pharmaceutical industry, representing approximately 27% of all Food and Drug Administration (FDA)-approved drugs. Consequently, there are a wide variety of in vitro plate-based screening technologies that enable the measurement of compound affinity, potency, and efficacy for almost every type of GPCR. However, to maximize success it is prudent to ensure that (i) the most suitable assay formats are identified, (ii) they are configured optimally to detect the desired compound activity, and (iii) that they form a basis for predicting clinical effects. To achieve this, an understanding of the pathways and mechanisms of receptor activation relevant to the disease mechanism, as well as the benefits and/or limitations of the specific techniques, is key.

Dynamical modeling of the cholesterol regulatory pathway with Boolean networks

BACKGROUND

Qualitative dynamics of small gene regulatory networks have been studied in quite some details both with synchronous and asynchronous analysis. However, both methods have their drawbacks: synchronous analysis leads to spurious attractors and asynchronous analysis lacks computational efficiency, which is a problem to simulate large networks. We addressed this question through the analysis of a major biosynthesis pathway. Indeed the cholesterol synthesis pathway plays a pivotal role in dislypidemia and, ultimately, in cancer through intermediates such as mevalonate, farnesyl pyrophosphate and geranyl geranyl pyrophosphate, but no dynamic model of this pathway has been proposed until now.

RESULTS

We set up a computational framework to dynamically analyze large biological networks. This framework associates a classical and computationally efficient synchronous Boolean analysis with a newly introduced method based on Markov chains, which identifies spurious cycles among the results of the synchronous simulation. Based on this method, we present here the results of the analysis of the cholesterol biosynthesis pathway and its physiological regulation by the Sterol Response Element Binding Proteins (SREBPs), as well as the modeling of the action of statins, inhibitor drugs, on this pathway. The in silico experiments show the blockade of the cholesterol endogenous synthesis by statins and its regulation by SREPBs, in full agreement with the known biochemical features of the pathway.

CONCLUSION

We believe that the method described here to identify spurious cycles opens new routes to compute large and biologically relevant models, thanks to the computational efficiency of synchronous simulation. Furthermore, to the best of our knowledge, we present here the first dynamic systems biology model of the human cholesterol pathway and several of its key regulatory control elements, hoping it would provide a good basis to perform in silico experiments and confront the resulting properties with published and experimental data. The model of the cholesterol pathway and its regulation, along with Boolean formulae used for simulation are available on our web site http://Bioinformaticsu613.free.fr. Graphical results of the simulation are also shown online. The SBML model is available in the BioModels database http://www.ebi.ac.uk/biomodels/ with submission ID: MODEL0568648427.

Memory switches in chemical reaction space

Just as complex electronic circuits are built from simple Boolean gates, diverse biological functions, including signal transduction, differentiation, and stress response, frequently use biochemical switches as a functional module. A relatively small number of such switches have been described in the literature, and these exhibit considerable diversity in chemical topology. We asked if biochemical switches are indeed rare and if there are common chemical motifs and family relationships among such switches. We performed a systematic exploration of chemical reaction space by generating all possible stoichiometrically valid chemical configurations up to 3 molecules and 6 reactions and up to 4 molecules and 3 reactions. We used Monte Carlo sampling of parameter space for each such configuration to generate specific models and checked each model for switching properties. We found nearly 4,500 reaction topologies, or about 10% of our tested configurations, that demonstrate switching behavior. Commonly accepted topological features such as feedback were poor predictors of bistability, and we identified new reaction motifs that were likely to be found in switches. Furthermore, the discovered switches were related in that most of the larger configurations were derived from smaller ones by addition of one or more reactions. To explore even larger configurations, we developed two tools: the “bistabilizer,” which converts almost-bistable systems into bistable ones, and frequent motif mining, which helps rank untested configurations. Both of these tools increased the coverage of our library of bistable systems. Thus, our systematic exploration of chemical reaction space has produced a valuable resource for investigating the key signaling motif of bistability.

How does a cell know what type of cell it is supposed to become? How do external chemical signals change the underlying “state” of the cell? How are response pathways triggered on the application of a stress? Such questions of differentiation, signal transduction, and stress response, while seemingly diverse, all pertain to the storage of state information, or “memory,” by biochemical switches. Just as a computer memory unit can store a bit of 0 or 1 through electrical signals, a biochemical switch can be in one of two states, where chemical signals are on or off. This lets the cell record the presence/absence of an environmental stimulus, the level of a signaling molecule, or the result of a cell fate decision. There are a small number of published ways by which a group of chemical reactions come together to realize a switch. We undertook an exhaustive computational exploration to see if chemical switches are indeed rare and found, surprisingly, that they are actually abundant, highly diverse, but related to one another. Our catalog of switches opens up new bioinformatics approaches to understanding cellular decision making and cellular memory.

A top-down approach to mechanistic biological modeling: application to the single-chain antibody folding pathway

A top-down approach to mechanistic modeling of biological systems is presented and exemplified with the development of a hypothesis-driven mathematical model for single-chain antibody fragment (scFv) folding in Saccharomyces cerevisiae by mediators BiP and PDI. In this approach, model development starts with construction of the most basic mathematical model--typically consisting of predetermined or newly-elucidated biological behavior motifs--capable of reproducing desired biological behaviors. From this point, mechanistic detail is added incrementally and systematically, and the effects of each addition are evaluated. This approach follows the typical progression of experimental data availability in that higher-order, lumped measurements are often more prevalent initially than specific, mechanistic ones. It also necessarily provides the modeler with insight into the structural requirements and performance capabilities of the resulting detailed mechanistic model, which facilitates further analysis. The top-down approach to mechanistic modeling identified three such requirements and a branched dependency-degradation competition motif critical for the scFv folding model to reproduce experimentally observed scFv folding dependencies on BiP and PDI and increased production when both species are overexpressed and promoted straightforward prediction of parameter dependencies. It also prescribed modification of the guiding hypothesis to capture BiP and PDI synergy.

Both ligand- and cell-specific parameters control ligand agonism in a kinetic model of g protein-coupled receptor signaling

G protein–coupled receptors (GPCRs) exist in multiple dynamic states (e.g., ligand-bound, inactive, G protein–coupled) that influence G protein activation and ultimately response generation. In quantitative models of GPCR signaling that incorporate these varied states, parameter values are often uncharacterized or varied over large ranges, making identification of important parameters and signaling outcomes difficult to intuit. Here we identify the ligand- and cell-specific parameters that are important determinants of cell-response behavior in a dynamic model of GPCR signaling using parameter variation and sensitivity analysis. The character of response (i.e., positive/neutral/inverse agonism) is, not surprisingly, significantly influenced by a ligand's ability to bias the receptor into an active conformation. We also find that several cell-specific parameters, including the ratio of active to inactive receptor species, the rate constant for G protein activation, and expression levels of receptors and G proteins also dramatically influence agonism. Expressing either receptor or G protein in numbers several fold above or below endogenous levels may result in system behavior inconsistent with that measured in endogenous systems. Finally, small variations in cell-specific parameters identified by sensitivity analysis as significant determinants of response behavior are found to change ligand-induced responses from positive to negative, a phenomenon termed protean agonism. Our findings offer an explanation for protean agonism reported in β₂--adrenergic and α_2A-adrenergic receptor systems.

G protein–coupled receptors (GPCRs) are transmembrane proteins involved in physiological functions ranging from vasodilation and immune response to memory. The binding of both endogenous ligands (e.g., hormones, neurotransmitters) and exogenous ligands (e.g., pharmaceuticals) to these receptors initiates intracellular events that ultimately lead to cell responses. We describe a dynamic model for G protein activation, an immediate outcome of GPCR signaling, and use it together with efficient parameter variation and sensitivity analysis techniques to identify the key cell- and ligand-specific parameters that influence G protein activation. Our results show that although ligand-specific parameters do strongly influence cell response (either causing increases or decreases in G protein activation), cellular parameters may also dictate the magnitude and direction of G protein activation. We apply our findings to describe how protean agonism, a phenomenon in which the same ligand may induce both positive and negative responses, may result from changes in cell-specific parameters. These findings may be used to understand the molecular basis of different responses of cell types and tissues to pharmacological treatment. In addition, these methods may be applied generally to models of cellular signaling and will help guide experimental resources toward further characterization of the key parameters in these networks.

A kinetic model for calcium dynamics in RAW 264.7 cells: 1. Mechanisms, parameters, and subpopulational variability

Calcium (Ca(2+)) is an important second messenger and has been the subject of numerous experimental measurements and mechanistic studies in intracellular signaling. Calcium profile can also serve as a useful cellular phenotype. Kinetic models of calcium dynamics provide quantitative insights into the calcium signaling networks. We report here the development of a complex kinetic model for calcium dynamics in RAW 264.7 cells stimulated by the C5a ligand. The model is developed using the vast number of measurements of in vivo calcium dynamics carried out in the Alliance for Cellular Signaling (AfCS) Laboratories. Ligand binding, phospholipase C-beta (PLC-beta) activation, inositol 1,4,5-trisphosphate (IP(3)) receptor (IP(3)R) dynamics, and calcium exchange with mitochondria and extracellular matrix have all been incorporated into the model. The experimental data include data from both native and knockdown cell lines. Subpopulational variability in measurements is addressed by allowing nonkinetic parameters to vary across datasets. The model predicts temporal response of Ca(2+) concentration for various doses of C5a under different initial conditions. The optimized parameters for IP(3)R dynamics are in agreement with the legacy data. Further, the half-maximal effect concentration of C5a and the predicted dose response are comparable to those seen in AfCS measurements. Sensitivity analysis shows that the model is robust to parametric perturbations.

Systems biology--an engineering perspective

The interdisciplinary field of systems biology has evolved rapidly over the last years. Different disciplines have aided the development of both its experimental and theoretical branches. One field, which has played a significant role is engineering science and, in particular chemical engineering. Here, we review and illustrate some of these contributions, ranging from modeling approaches to model analysis with a special focus on technique which have not yet been substantially exploited but can be potentially useful in the analysis of biochemical systems.

Cellular mechanisms that determine selective RGS protein regulation of G protein-coupled receptor signaling

Regulators of G protein signaling (RGS proteins) bind directly to activated Galpha subunits to inhibit their signaling. However, recent findings show that RGS proteins selectively regulate signaling by certain G protein-coupled receptors (GPCRs) in cells, irrespective of the coupled G protein. New studies support an emerging model that suggests RGS proteins utilize both direct and indirect mechanisms to form stable functional pairs with preferred GPCRs to selectively modulate the signaling functions of those receptors and linked G proteins. Here, we discuss these findings and their implications for established models of GPCR signaling.