Stochastic fluctuations in gene expression far from equilibrium: Ω expansion and linear noise approximation

A modified variational approach to noisy cell signaling

Signaling in cells is full of noise and, hence, described with stochastic biochemical models. Thus, an efficient computation algorithm for these fluctuating reactions is much needed. Apart from the very popular Monte Carlo simulation, methods based on probability distributions are frequently desired due to their analytical tractability and possible numerical advantages in diverse circumstances, among which the variational approach is the most notable. In this paper, new basis functions are proposed to better depict possibly complex distribution profiles, and an extra regularization scheme is supplied to the variational equation to remove occasional degeneracy-induced singularities during the evolution. The new extension is applied to four typical biochemical reaction models and restores the Gillespie results accurately but with greatly reduced simulation time. This modified variational approach is expected to work in a wide range of cell signaling networks.

DYVIPAC: an integrated analysis and visualisation framework to probe multi-dimensional biological networks

Biochemical networks are dynamic and multi-dimensional systems, consisting of tens or hundreds of molecular components. Diseases such as cancer commonly arise due to changes in the dynamics of signalling and gene regulatory networks caused by genetic alternations. Elucidating the network dynamics in health and disease is crucial to better understand the disease mechanisms and derive effective therapeutic strategies. However, current approaches to analyse and visualise systems dynamics can often provide only low-dimensional projections of the network dynamics, which often does not present the multi-dimensional picture of the system behaviour. More efficient and reliable methods for multi-dimensional systems analysis and visualisation are thus required. To address this issue, we here present an integrated analysis and visualisation framework for high-dimensional network behaviour which exploits the advantages provided by parallel coordinates graphs. We demonstrate the applicability of the framework, named "Dynamics Visualisation based on Parallel Coordinates" (DYVIPAC), to a variety of signalling networks ranging in topological wirings and dynamic properties. The framework was proved useful in acquiring an integrated understanding of systems behaviour.

The influence of Ca²⁺ buffers on free [Ca²⁺] fluctuations and the effective volume of Ca²⁺ microdomains

Intracellular calcium (Ca(2+)) plays a significant role in many cell signaling pathways, some of which are localized to spatially restricted microdomains. Ca(2+) binding proteins (Ca(2+) buffers) play an important role in regulating Ca(2+) concentration ([Ca(2+)]). Buffers typically slow [Ca(2+)] temporal dynamics and increase the effective volume of Ca(2+) domains. Because fluctuations in [Ca(2+)] decrease in proportion to the square-root of a domain's physical volume, one might conjecture that buffers decrease [Ca(2+)] fluctuations and, consequently, mitigate the significance of small domain volume concerning Ca(2+) signaling. We test this hypothesis through mathematical and computational analysis of idealized buffer-containing domains and their stochastic dynamics during free Ca(2+) influx with passive exchange of both Ca(2+) and buffer with bulk concentrations. We derive Langevin equations for the fluctuating dynamics of Ca(2+) and buffer and use these stochastic differential equations to determine the magnitude of [Ca(2+)] fluctuations for different buffer parameters (e.g., dissociation constant and concentration). In marked contrast to expectations based on a naive application of the principle of effective volume as employed in deterministic models of Ca(2+) signaling, we find that mobile and rapid buffers typically increase the magnitude of domain [Ca(2+)] fluctuations during periods of Ca(2+) influx, whereas stationary (immobile) Ca(2+) buffers do not. Also contrary to expectations, we find that in the absence of Ca(2+) influx, buffers influence the temporal characteristics, but not the magnitude, of [Ca(2+)] fluctuations. We derive an analytical formula describing the influence of rapid Ca(2+) buffers on [Ca(2+)] fluctuations and, importantly, identify the stochastic analog of (deterministic) effective domain volume. Our results demonstrate that Ca(2+) buffers alter the dynamics of [Ca(2+)] fluctuations in a nonintuitive manner. The finding that Ca(2+) buffers do not suppress intrinsic domain [Ca(2+)] fluctuations raises the intriguing question of whether or not [Ca(2+)] fluctuations are a physiologically significant aspect of local Ca(2+) signaling.

Combined model of intrinsic and extrinsic variability for computational network design with application to synthetic biology

Biological systems are inherently variable, with their dynamics influenced by intrinsic and extrinsic sources. These systems are often only partially characterized, with large uncertainties about specific sources of extrinsic variability and biochemical properties. Moreover, it is not yet well understood how different sources of variability combine and affect biological systems in concert. To successfully design biomedical therapies or synthetic circuits with robust performance, it is crucial to account for uncertainty and effects of variability. Here we introduce an efficient modeling and simulation framework to study systems that are simultaneously subject to multiple sources of variability, and apply it to make design decisions on small genetic networks that play a role of basic design elements of synthetic circuits. Specifically, the framework was used to explore the effect of transcriptional and post-transcriptional autoregulation on fluctuations in protein expression in simple genetic networks. We found that autoregulation could either suppress or increase the output variability, depending on specific noise sources and network parameters. We showed that transcriptional autoregulation was more successful than post-transcriptional in suppressing variability across a wide range of intrinsic and extrinsic magnitudes and sources. We derived the following design principles to guide the design of circuits that best suppress variability: (i) high protein cooperativity and low miRNA cooperativity, (ii) imperfect complementarity between miRNA and mRNA was preferred to perfect complementarity, and (iii) correlated expression of mRNA and miRNA--for example, on the same transcript--was best for suppression of protein variability. Results further showed that correlations in kinetic parameters between cells affected the ability to suppress variability, and that variability in transient states did not necessarily follow the same principles as variability in the steady state. Our model and findings provide a general framework to guide design principles in synthetic biology.

The slow-scale linear noise approximation: an accurate, reduced stochastic description of biochemical networks under timescale separation conditions

BACKGROUND

It is well known that the deterministic dynamics of biochemical reaction networks can be more easily studied if timescale separation conditions are invoked (the quasi-steady-state assumption). In this case the deterministic dynamics of a large network of elementary reactions are well described by the dynamics of a smaller network of effective reactions. Each of the latter represents a group of elementary reactions in the large network and has associated with it an effective macroscopic rate law. A popular method to achieve model reduction in the presence of intrinsic noise consists of using the effective macroscopic rate laws to heuristically deduce effective probabilities for the effective reactions which then enables simulation via the stochastic simulation algorithm (SSA). The validity of this heuristic SSA method is a priori doubtful because the reaction probabilities for the SSA have only been rigorously derived from microscopic physics arguments for elementary reactions.

RESULTS

We here obtain, by rigorous means and in closed-form, a reduced linear Langevin equation description of the stochastic dynamics of monostable biochemical networks in conditions characterized by small intrinsic noise and timescale separation. The slow-scale linear noise approximation (ssLNA), as the new method is called, is used to calculate the intrinsic noise statistics of enzyme and gene networks. The results agree very well with SSA simulations of the non-reduced network of elementary reactions. In contrast the conventional heuristic SSA is shown to overestimate the size of noise for Michaelis-Menten kinetics, considerably under-estimate the size of noise for Hill-type kinetics and in some cases even miss the prediction of noise-induced oscillations.

CONCLUSIONS

A new general method, the ssLNA, is derived and shown to correctly describe the statistics of intrinsic noise about the macroscopic concentrations under timescale separation conditions. The ssLNA provides a simple and accurate means of performing stochastic model reduction and hence it is expected to be of widespread utility in studying the dynamics of large noisy reaction networks, as is common in computational and systems biology.

Regulation of oscillation dynamics in biochemical systems with dual negative feedback loops

Feedback controls are central to cellular regulation. Negative-feedback mechanisms are well known to underline oscillatory dynamics. However, the presence of multiple negative-feedback mechanisms is common in oscillatory cellular systems, raising intriguing questions of how they cooperate to regulate oscillations. In this work, we studied the dynamical properties of a set of general biochemical motifs with dual, nested negative-feedback structures. We showed analytically and then confirmed numerically that, in these motifs, each negative-feedback loop exhibits distinctly different oscillation-controlling functions. The longer, outer feedback loop was found to promote oscillations, whereas the short, inner loop suppresses and can even eliminate oscillations. We found that the position of the inner loop within the coupled motifs affects its repression strength towards oscillatory dynamics. Bifurcation analysis indicated that emergence of oscillations may be a strict parametric requirement and thus evolutionarily tricky. Investigation of the quantitative features of oscillations (i.e. frequency, amplitude and mean value) revealed that coupling negative feedback provides robust tuning of the oscillation dynamics. Finally, we demonstrated that the mitogen-activated protein kinase (MAPK) cascades also display properties seen in the general nested feedback motifs. The findings and implications in this study provide novel understanding of biochemical negative-feedback regulation in a mixed wiring context.

Information theory and the ethylene genetic network

The original aim of the Information Theory (IT) was to solve a purely technical problem: to increase the performance of communication systems, which are constantly affected by interferences that diminish the quality of the transmitted information. That is, the theory deals only with the problem of transmitting with the maximal precision the symbols constituting a message. In Shannon's theory messages are characterized only by their probabilities, regardless of their value or meaning. As for its present day status, it is generally acknowledged that Information Theory has solid mathematical foundations and has fruitful strong links with Physics in both theoretical and experimental areas. However, many applications of Information Theory to Biology are limited to using it as a technical tool to analyze biopolymers, such as DNA, RNA or protein sequences. The main point of discussion about the applicability of IT to explain the information flow in biological systems is that in a classic communication channel, the symbols that conform the coded message are transmitted one by one in an independent form through a noisy communication channel, and noise can alter each of the symbols, distorting the message; in contrast, in a genetic communication channel the coded messages are not transmitted in the form of symbols but signaling cascades transmit them. Consequently, the information flow from the emitter to the effector is due to a series of coupled physicochemical processes that must ensure the accurate transmission of the message. In this review we discussed a novel proposal to overcome this difficulty, which consists of the modeling of gene expression with a stochastic approach that allows Shannon entropy (H) to be directly used to measure the amount of uncertainty that the genetic machinery has in relation to the correct decoding of a message transmitted into the nucleus by a signaling pathway. From the value of H we can define a function I that measures the amount of information content in the input message that the cell's genetic machinery is processing during a given time interval. Furthermore, combining Information Theory with the frequency response analysis of dynamical systems we can examine the cell's genetic response to input signals with varying frequencies, amplitude and form, in order to determine if the cell can distinguish between different regimes of information flow from the environment. In the particular case of the ethylene signaling pathway, the amount of information managed by the root cell of Arabidopsis can be correlated with the frequency of the input signal. The ethylene signaling pathway cuts off very low and very high frequencies, allowing a window of frequency response in which the nucleus reads the incoming message as a varying input. Outside of this window the nucleus reads the input message as an approximately non-varying one. This frequency response analysis is also useful to estimate the rate of information transfer during the transport of each new ERF1 molecule into the nucleus. Additionally, application of Information Theory to analysis of the flow of information in the ethylene signaling pathway provides a deeper insight in the form in which the transition between auxin and ethylene hormonal activity occurs during a circadian cycle. An ambitious goal for the future would be to use Information Theory as a theoretical foundation for a suitable model of the information flow that runs at each level and through all levels of biological organization.

Stochastic approaches in systems biology

The discrete and random occurrence of chemical reactions far from thermodynamic equilibrium, and low copy numbers of chemical species, in systems biology necessitate stochastic approaches. This review is an effort to give the reader a flavor of the most important stochastic approaches relevant to systems biology. Notions of biochemical reaction systems and the relevant concepts of probability theory are introduced side by side. This leads to an intuitive and easy-to-follow presentation of a stochastic framework for modeling subcellular biochemical systems. In particular, we make an effort to show how the notion of propensity, the chemical master equation (CME), and the stochastic simulation algorithm arise as consequences of the Markov property. Most stochastic modeling reviews focus on stochastic simulation approaches--the exact stochastic simulation algorithm and its various improvements and approximations. We complement this with an outline of an analytical approximation. The most common formulation of stochastic models for biochemical networks is the CME. Although stochastic simulations are a practical way to realize the CME, analytical approximations offer more insight into the influence of randomness on system's behavior. Toward that end, we cover the chemical Langevin equation and the related Fokker-Planck equation and the two-moment approximation (2MA). Throughout the text, two pedagogical examples are used to key illustrate ideas. With extensive references to the literature, our goal is to clarify key concepts and thereby prepare the reader for more advanced texts.

Fluctuations in gene regulatory networks as Gaussian colored noise

The study of fluctuations in gene regulatory networks is extended to the case of Gaussian colored noise. First, the solution of the corresponding Langevin equation with colored noise is expressed in terms of an Ito integral. Then, two important lemmas concerning the variance of an Ito integral and the covariance of two Ito integrals are shown. Based on the lemmas, we give the general formulas for the variances and covariance of molecular concentrations for a regulatory network near a stable equilibrium explicitly. Two examples, the gene autoregulatory network and the toggle switch, are presented in details. In general, it is found that the finite correlation time of noise reduces the fluctuations and enhances the correlation between the fluctuations of the molecular components.

Investigating the two-moment characterisation of subcellular biochemical networks

While ordinary differential equations (ODEs) form the conceptual framework for modelling many cellular processes, specific situations demand stochastic models to capture the influence of noise. The most common formulation of stochastic models for biochemical networks is the chemical master equation (CME). While stochastic simulations are a practical way to realise the CME, analytical approximations offer more insight into the influence of noise. Towards that end, the two-moment approximation (2MA) is a promising addition to the established analytical approaches including the chemical Langevin equation (CLE) and the related linear noise approximation (LNA). The 2MA approach directly tracks the mean and (co)variance which are coupled in general. This coupling is not obvious in CME and CLE and ignored by LNA and conventional ODE models. We extend previous derivations of 2MA by allowing (a) non-elementary reactions and (b) relative concentrations. Often, several elementary reactions are approximated by a single step. Furthermore, practical situations often require the use of relative concentrations. We investigate the applicability of the 2MA approach to the well-established fission yeast cell cycle model. Our analytical model reproduces the clustering of cycle times observed in experiments. This is explained through multiple resettings of M-phase promoting factor (MPF), caused by the coupling between mean and (co)variance, near the G2/M transition.

On the functional diversity of dynamical behaviour in genetic and metabolic feedback systems

Background

Feedback regulation plays crucial roles in the robust control and maintenance of many cellular systems. Negative feedbacks are found to underline both stable and unstable, often oscillatory, behaviours. We explore the dynamical characteristics of systems with single as well as coupled negative feedback loops using a combined approach of analytical and numerical techniques. Particularly, we emphasise how the loop's characterising factors (strength and cooperativity levels) affect system dynamics and how individual loops interact in the coupled-loop systems.

Results

We develop an analytical bifurcation analysis based on the stability and the Routh- Hurwitz theorem for a common negative feedback system and a variety of its variants. We demonstrate that different combinations of the feedback strengths of individual loops give rise to different dynamical behaviours. Moreover, incorporating more negative feedback loops always tend to enhance system stability. We show that two mechanisms, in addition to the lengthening of pathway, can lower the Hill coefficient to a biologically plausible level required for sustained oscillations. These include loops coupling and end-product utilisation. We find that the degradation rates solely affect the threshold Hill coefficient for sustained oscillation, while the synthesis rates have more significant roles in determining the threshold feedback strength. Unbalancing the degradation rates between the system species is found as a way to improve stability.

Conclusion

The analytical methods and insights presented in this study demonstrate that reallocation of the feedback loop may or may not make the system more stable; the specific effect is determined by the degradation rates of the newly inhibited molecular species. As the loop moves closer to the end of the pathway, the minimum Hill coefficient for oscillation is reduced. Furthermore, under general (unequal) values of the degradation rates, system extension becomes more stable only when the added species degrades slower than it is being produced; otherwise the system is more prone to oscillation. The coupling of loops significantly increases the richness of dynamical bifurcation characteristics. The likelihood of having oscillatory behaviour is directly determined by the loops' strength: stronger loops always result in smaller oscillatory regions.

Noise-induced effective oscillation in oil-water membrane oscillator

Noise-induced oscillation (NIO) was investigated in a model of an oil-water membrane oscillator. First, we analyzed an unexcitable region and an excitable region of the system by proposing a critical threshold of NIO appearance and found a linearlike relation between the critical threshold and noise intensity. Then the phenomenon of noise-induced coherence resonance was investigated by calculating the signal-to-noise ratio. Furthermore, it was found that an optimal noise intensity range could most improve the appearance of effective oscillation (EO). The presence of EO regions made the stochastic model show EO at a more extended region than the deterministic description.

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.

A variational approach to the stochastic aspects of cellular signal transduction

Cellular signaling networks have evolved to cope with intrinsic fluctuations, coming from the small numbers of constituents, and the environmental noise. Stochastic chemical kinetics equations govern the way biochemical networks process noisy signals. The essential difficulty associated with the master equation approach to solving the stochastic chemical kinetics problem is the enormous number of ordinary differential equations involved. In this work, we show how to achieve tremendous reduction in the dimensionality of specific reaction cascade dynamics by solving variationally an equivalent quantum field theoretic formulation of stochastic chemical kinetics. The present formulation avoids cumbersome commutator computations in the derivation of evolution equations, making the physical significance of the variational method more transparent. We propose novel time-dependent basis functions which work well over a wide range of rate parameters. We apply the new basis functions to describe stochastic signaling in several enzymatic cascades and compare the results so obtained with those from alternative solution techniques. The variational Ansatz gives probability distributions that agree well with the exact ones, even when fluctuations are large and discreteness and nonlinearity are important. A numerical implementation of our technique is many orders of magnitude more efficient computationally compared with the traditional Monte Carlo simulation algorithms or the Langevin simulations.

The interplay between discrete noise and nonlinear chemical kinetics in a signal amplification cascade

We used various analytical and numerical techniques to elucidate signal propagation in a small enzymatic cascade which is subjected to external and internal noises. The nonlinear character of catalytic reactions, which underlie protein signal transduction cascades, renders stochastic signaling dynamics in cytosol biochemical networks distinct from the usual description of stochastic dynamics in gene regulatory networks. For a simple two-step enzymatic cascade which underlies many important protein signaling pathways, we demonstrated that the commonly used techniques such as the linear noise approximation and the Langevin equation become inadequate when the number of proteins becomes too low. Consequently, we developed a new analytical approximation, based on mixing the generating function and distribution function approaches, to the solution of the master equation that describes nonlinear chemical signaling kinetics for this important class of biochemical reactions. Our techniques work in a much wider range of protein number fluctuations than the methods used previously. We found that under certain conditions the burst phase noise may be injected into the downstream signaling network dynamics, resulting possibly in unusually large macroscopic fluctuations. In addition to computing first and second moments, which is the goal of commonly used analytical techniques, our new approach provides the full time-dependent probability distributions of the colored non-Gaussian processes in a nonlinear signal transduction cascade.

Living with noisy genes: how cells function reliably with inherent variability in gene expression

Within a population of genetically identical cells there can be significant variation, or noise, in gene expression. Yet even with this inherent variability, cells function reliably. This review focuses on our understanding of noise at the level of both single genes and genetic regulatory networks, emphasizing comparisons between theoretical models and experimental results whenever possible. To highlight the importance of noise, we particularly emphasize examples in which a stochastic description of gene expression leads to a qualitatively different outcome than a deterministic one.

Stochastic cooperativity in non-linear dynamics of genetic regulatory networks

Two major approaches are known in the field of stochastic dynamics of genetic regulatory networks (GRN). The first one, referred here to as the Markov Process Paradigm (MPP), places the focus of attention on the fact that many biochemical constituents vitally important for the network functionality are present only in small quantities within the cell, and therefore the regulatory process is essentially discrete and prone to relatively big fluctuations. The Master Equation of Markov Processes is an appropriate tool for the description of this kind of stochasticity. The second approach, the Non-linear Dynamics Paradigm (NDP), treats the regulatory process as essentially continuous. A natural tool for the description of such processes are deterministic differential equations. According to NDP, stochasticity in such systems occurs due to possible bistability and oscillatory motion within the limit cycles. The goal of this paper is to outline a third scenario of stochasticity in the regulatory process. This scenario is only conceivable in high-dimensional, highly non-linear systems, and thus represents an adequate framework for conceptually modeling the GRN. We refer to this framework as the Stochastic Cooperativity Paradigm (SCP). In this approach, the focus of attention is placed on the fact that in systems with the size and link density of GRN ( approximately 25000 and approximately 100, respectively), the confluence of all the factors which are necessary for gene expression is a comparatively rare event, and only massive redundancy makes such events sufficiently frequent. An immediate consequence of this rareness is 'burstiness' in mRNA and protein concentrations, a well known effect in intracellular dynamics. We demonstrate that a high-dimensional non-linear system, despite the absence of explicit mechanisms for suppressing inherent instability, may nevertheless reside in a state of stationary pseudo-random fluctuations which for all practical purposes may be regarded as a stochastic process. This type of stochastic behavior is an inherent property of such systems and requires neither an external random force as in the Langevin approach, nor the discreteness of the process as in MPP, nor highly specialized conditions of bistability as in NDP, nor bifurcations with transition to chaos as in low-dimensional chaotic maps.

Effect of feedback regulation on stochastic gene expression

Stochastic noise in gene expression arises as a result of species in small copy number undergoing transitions between discrete chemical states. Here the noise in a single gene network is investigated using the Omega-expansion techniques. We show that the linear noise approximation implies an invariant relationship between the normalized variances and normalized covariance in steady-state statistics. This invariant relationship provides an exactly statistical interpretation for why the stochastic noise in gene expression should be measured by the normalized variance. The nature of the normalized variance reveals the basic relationship between the stochasticity and system size in gene expression. The linear noise approximation implies also that for both mRNA and protein, the total noise can be decomposed into two basic components, one concerns the contribution of average number of molecules, and other the contribution of interactions between mRNA and protein. For the situation with linear feedback, our results clearly show that for two genes with the same average number of protein molecules, the gene with negative feedback will have a small protein noise, i.e., the negative feedback will reduce the protein noise. For the effect of the burst size on the protein noise, we show also that the protein intrinsic noise will decrease with the increase of the burst size, but the protein extrinsic noise is independent of the burst size.

Stochastic fluctuations through intrinsic noise in evolutionary game dynamics

A one-step (birth-death) process is used to investigate stochastic noise in an elementary two-phenotype evolutionary game model based on a payoff matrix. In this model, we assume that the population size is finite but not fixed and that all individuals have, in addition to the frequency-dependent fitness given by the evolutionary game, the same background fitness that decreases linearly in the total population size. Although this assumption guarantees population extinction is a globally attracting absorbing barrier of the Markov process, sample trajectories do not illustrate this result even for relatively small carrying capacities. Instead, the observed persistent transient behavior can be analyzed using the steady-state statistics (i.e., mean and variance) of a stochastic model for intrinsic noise that assumes the population does not go extinct. It is shown that there is good agreement between the theory of these statistics and the simulation results. Furthermore, the ESS of the evolutionary game can be used to predict the mean steady state.

External noise and feedback regulation: steady-state statistics of auto-regulatory genetic network

The steady-state statistics of a single gene auto-regulatory genetic network with the additive external Gaussian white noises is investigated. The main result shows that the negative feedback will result in that the mRNA noise has a positive contribution to the protein noise, but the positive feedback will result in that the mRNA noise has a negative contribution to the protein noise. If there is no feed back, then the contribution of mRNA noise to protein noise is always positive. On the other hand, the analysis and numerical simulations of linear and nonlinear feedback show that it is possible that the negative feedback increases, but the positive feedback decreases, the protein noise.

Stochastic Transcriptional Regulatory Systems with Time Delays: A Mean-Field Approximation

Modeling transcriptional regulation with time delays is an important problem of computational cell biology. In this paper, we propose a computational tool for studying transcriptional regulation in single cells based on a mean-field approximation method. The main idea is to replace the occurrence probabilities of the underlying transcriptional events by their mean values and use appropriately chosen additive noise terms to model statistical variations not accounted by this approximation. The proposed methodology allows us to characterize the transient and steady-state behavior of transcriptional regulation. Moreover, it provides a rather simple and computationally attractive tool for rapid statistical characterization of the dynamic behavior of a nonlinear transcriptional regulatory system with time delays.