Higher-order Lie symmetries in identifiability and predictability analysis of dynamic models

Controllability and accessibility analysis of nonlinear biosystems

BACKGROUND

We address the problem of determining the controllability and accessibility of nonlinear biosystems. We consider models described by affine-in-inputs ordinary differential equations, which are adequate for a wide array of biological processes. Roughly speaking, the controllability of a dynamical system determines the possibility of steering it from an initial state to any point in its neighbourhood; accessibility is a weaker form of controllability.

METHODS

While the methodology for analysing the controllability of linear systems is well established, its generalization to the nonlinear case has proven elusive. Thus, a number of related but different properties - including different versions of accessibility, reachability or weak local controllability - have been defined to approach its study, and several partial results exist in lieu of a general test. Here, leveraging the applicable results from differential geometric control theory, we source sufficient conditions to assess nonlinear controllability, as well as a necessary and sufficient condition for accessibility.

RESULTS

We develop an algorithmic procedure to evaluate these conditions efficiently, and we provide its open source implementation. Using this software tool, we analyse the accessibility and controllability of a number of models of biomedical interest. While some of them are fully controllable, we find others that are not, as is the case of some models of EGF and NFκB signalling networks.

CONCLUSIONS

The contributions in this paper facilitate the accessibility and controllability analysis of nonlinear models, not only in biomedicine but also in other areas in which they have been rarely performed to date.

Distilling identifiable and interpretable dynamic models from biological data

Mechanistic dynamical models allow us to study the behavior of complex biological systems. They can provide an objective and quantitative understanding that would be difficult to achieve through other means. However, the systematic development of these models is a non-trivial exercise and an open problem in computational biology. Currently, many research efforts are focused on model discovery, i.e. automating the development of interpretable models from data. One of the main frameworks is sparse regression, where the sparse identification of nonlinear dynamics (SINDy) algorithm and its variants have enjoyed great success. SINDy-PI is an extension which allows the discovery of rational nonlinear terms, thus enabling the identification of kinetic functions common in biochemical networks, such as Michaelis-Menten. SINDy-PI also pays special attention to the recovery of parsimonious models (Occam's razor). Here we focus on biological models composed of sets of deterministic nonlinear ordinary differential equations. We present a methodology that, combined with SINDy-PI, allows the automatic discovery of structurally identifiable and observable models which are also mechanistically interpretable. The lack of structural identifiability and observability makes it impossible to uniquely infer parameter and state variables, which can compromise the usefulness of a model by distorting its mechanistic significance and hampering its ability to produce biological insights. We illustrate the performance of our method with six case studies. We find that, despite enforcing sparsity, SINDy-PI sometimes yields models that are unidentifiable. In these cases we show how our method transforms their equations in order to obtain a structurally identifiable and observable model which is also interpretable.

Structural identifiability of biomolecular controller motifs with and without flow measurements as model output

Controller motifs are simple biomolecular reaction networks with negative feedback. They can explain how regulatory function is achieved and are often used as building blocks in mathematical models of biological systems. In this paper we perform an extensive investigation into structural identifiability of controller motifs, specifically the so-called basic and antithetic controller motifs. Structural identifiability analysis is a useful tool in the creation and evaluation of mathematical models: it can be used to ensure that model parameters can be determined uniquely and to examine which measurements are necessary for this purpose. This is especially useful for biological models where parameter estimation can be difficult due to limited availability of measureable outputs. Our aim with this work is to investigate how structural identifiability is affected by controller motif complexity and choice of measurements. To increase the number of potential outputs we propose two methods for including flow measurements and show how this affects structural identifiability in combination with, or in the absence of, concentration measurements. In our investigation, we analyze 128 different controller motif structures using a combination of flow and/or concentration measurements, giving a total of 3648 instances. Among all instances, 34% of the measurement combinations provided structural identifiability. Our main findings for the controller motifs include: i) a single measurement is insufficient for structural identifiability, ii) measurements related to different chemical species are necessary for structural identifiability. Applying these findings result in a reduced subset of 1568 instances, where 80% are structurally identifiable, and more complex/interconnected motifs appear easier to structurally identify. The model structures we have investigated are commonly used in models of biological systems, and our results demonstrate how different model structures and measurement combinations affect structural identifiability of controller motifs.

Benchmarking tools for a priori identifiability analysis

MOTIVATION

The theoretical possibility of determining the state and parameters of a dynamic model by measuring its outputs is given by its structural identifiability and its observability. These properties should be analysed before attempting to calibrate a model, but their a priori analysis can be challenging, requiring symbolic calculations that often have a high computational cost. In recent years, a number of software tools have been developed for this task, mostly in the systems biology community. These tools have vastly different features and capabilities, and a critical assessment of their performance is still lacking.

RESULTS

Here, we present a comprehensive study of the computational resources available for analysing structural identifiability. We consider 13 software tools developed in 7 programming languages and evaluate their performance using a set of 25 case studies created from 21 models. Our results reveal their strengths and weaknesses, provide guidelines for choosing the most appropriate tool for a given problem and highlight opportunities for future developments.

AVAILABILITY AND IMPLEMENTATION

https://github.com/Xabo-RB/Benchmarking_files.

Space-charge-limited current density for nonplanar diodes with monoenergetic emission using Lie-point symmetries

Understanding space-charge-limited current density (SCLCD) is fundamentally and practically important for characterizing many high-power and high-current vacuum devices. Despite this, no analytic equations for SCLCD with nonzero monoenergetic initial velocity have been derived for nonplanar diodes from first principles. Obtaining analytic equations for SCLCD for nonplanar geometries is often complicated by the nonlinearity of the problem and over constrained boundary conditions. In this Letter, we use the canonical coordinates obtained by identifying Lie-point symmetries to linearize the governing differential equations to derive SCLCD for any orthogonal diode. Using this method, we derive exact analytic equations for SCLCD with a monoenergetic injection velocity for one-dimensional cylindrical, spherical, tip-to-tip (t-t), and tip-to-plate (t-p) diodes. We specifically demonstrate that the correction factor from zero initial velocity to monoenergetic emission depends only on the initial kinetic and electric potential energies and not on the diode geometry and that SCLCD is universal when plotted as a function of the canonical gap size. We also show that SCLCD for a t-p diode is a factor of four larger than a t-t diode independent of injection velocity. The results reduce to previously derived results for zero initial velocity using variational calculus and conformal mapping.

Improving dynamic predictions with ensembles of observable models

MOTIVATION

Dynamic mechanistic modelling in systems biology has been hampered by the complexity and variability associated with the underlying interactions, and by uncertain and sparse experimental measurements. Ensemble modelling, a concept initially developed in statistical mechanics, has been introduced in biological applications with the aim of mitigating those issues. Ensemble modelling uses a collection of different models compatible with the observed data to describe the phenomena of interest. However, since systems biology models often suffer from a lack of identifiability and observability, ensembles of models are particularly unreliable when predicting non-observable states.

RESULTS

We present a strategy to assess and improve the reliability of a class of model ensembles. In particular, we consider kinetic models described using ordinary differential equations with a fixed structure. Our approach builds an ensemble with a selection of the parameter vectors found when performing parameter estimation with a global optimization metaheuristic. This technique enforces diversity during the sampling of parameter space and it can quantify the uncertainty in the predictions of state trajectories. We couple this strategy with structural identifiability and observability analysis, and when these tests detect possible prediction issues we obtain model reparameterizations that surmount them. The end result is an ensemble of models with the ability to predict the internal dynamics of a biological process. We demonstrate our approach with models of glucose regulation, cell division, circadian oscillations and the JAK-STAT signalling pathway.

AVAILABILITY AND IMPLEMENTATION

The code that implements the methodology and reproduces the results is available at https://doi.org/10.5281/zenodo.6782638.

SUPPLEMENTARY INFORMATION

Supplementary data are available at Bioinformatics online.

Occam's razor gets a new edge: the use of symmetries in model selection

We demonstrate the power of using symmetries for model selection in the context of mechanistic modelling. We analyse two different models called the power law model (PLM) and the immunological model (IM) describing the increase in cancer risk with age, due to mutation accumulation or immunosenescence, respectively. The IM fits several cancer types better than the PLM implying that it would be selected based on minimizing residuals. However, recently a symmetry-based method for model selection has been developed, which has been successfully used in an in silico setting to find the correct model when traditional model fitting has failed. Here, we apply this method in a real-world setting to investigate the mechanisms of carcinogenesis. First, we derive distinct symmetry transformations of the two models and then we select the model which not only fits the original data but is also invariant under transformations by its symmetry. Contrary to the initial conclusion, we conclude that the PLM realistically describes the mechanism underlying the colon cancer dataset. These conclusions agree with experimental knowledge, and this work demonstrates how a model selection criterion based on biological properties can be implemented using symmetries.

Dynamic modeling of Nrf2 pathway activation in liver cells after toxicant exposure

Cells are exposed to oxidative stress and reactive metabolites every day. The Nrf2 signaling pathway responds to oxidative stress by upregulation of antioxidants like glutathione (GSH) to compensate the stress insult and re-establish homeostasis. Although mechanisms describing the interaction between the key pathway constituents Nrf2, Keap1 and p62 are widely reviewed and discussed in literature, quantitative dynamic models bringing together these mechanisms with time-resolved data are limited. Here, we present an ordinary differential equation (ODE) based dynamic model to describe the dynamic response of Nrf2, Keap1, Srxn1 and GSH to oxidative stress caused by the soft-electrophile diethyl maleate (DEM). The time-resolved data obtained by single-cell confocal microscopy of green fluorescent protein (GFP) reporters and qPCR of the Nrf2 pathway components complemented with siRNA knock down experiments, is accurately described by the calibrated mathematical model. We show that the quantitative model can describe the activation of the Nrf2 pathway by compounds with a different mechanism of activation, including drugs which are known for their ability to cause drug induced liver-injury (DILI) i.e., diclofenac (DCF) and omeprazole (OMZ). Finally, we show that our model can reveal differences in the processes leading to altered activation dynamics amongst DILI inducing drugs.

Symmetries in Dynamic Models of Biological Systems: Mathematical Foundations and Implications

Symmetries are ubiquitous in nature. Almost all organisms have some kind of “symmetry”, meaning that their shape does not change under some geometric transformation. This geometrical concept of symmetry is intuitive and easy to recognize. On the other hand, the behavior of many biological systems over time can be described with ordinary differential equations. These dynamic models may also possess “symmetries”, meaning that the time courses of some variables remain invariant under certain transformations. Unlike the previously mentioned symmetries, the ones present in dynamic models are not geometric, but infinitesimal transformations. These mathematical symmetries can be related to certain features of the system’s dynamic behavior, such as robustness or adaptation capabilities. However, they can also arise from questionable modeling choices, which may lead to non-identifiability and non-observability. This paper provides an overview of the types of symmetries that appear in dynamic models, the mathematical tools available for their analyses, the ways in which they are related to system properties, and the implications for biological modeling.

A protocol for dynamic model calibration

Ordinary differential equation models are nowadays widely used for the mechanistic description of biological processes and their temporal evolution. These models typically have many unknown and nonmeasurable parameters, which have to be determined by fitting the model to experimental data. In order to perform this task, known as parameter estimation or model calibration, the modeller faces challenges such as poor parameter identifiability, lack of sufficiently informative experimental data and the existence of local minima in the objective function landscape. These issues tend to worsen with larger model sizes, increasing the computational complexity and the number of unknown parameters. An incorrectly calibrated model is problematic because it may result in inaccurate predictions and misleading conclusions. For nonexpert users, there are a large number of potential pitfalls. Here, we provide a protocol that guides the user through all the steps involved in the calibration of dynamic models. We illustrate the methodology with two models and provide all the code required to reproduce the results and perform the same analysis on new models. Our protocol provides practitioners and researchers in biological modelling with a one-stop guide that is at the same time compact and sufficiently comprehensive to cover all aspects of the problem.

On testing structural identifiability by a simple scaling method: Relying on scaling symmetries can be misleading

A recent paper published in PLOS Computational Biology [1] introduces the Scaling Invariance Method (SIM) for analysing structural local identifiability and observability. These two properties define mathematically the possibility of determining the values of the parameters (identifiability) and states (observability) of a dynamic model by observing its output. In this note we warn that SIM considers scaling symmetries as the only possible cause of non-identifiability and non-observability. We show that other types of symmetries can cause the same problems without being detected by SIM, and that in those cases the method may lead one to conclude that the model is identifiable and observable when it is actually not.

Structural identifiability and observability of compartmental models of the COVID-19 pandemic

The recent coronavirus disease (COVID-19) outbreak has dramatically increased the public awareness and appreciation of the utility of dynamic models. At the same time, the dissemination of contradictory model predictions has highlighted their limitations. If some parameters and/or state variables of a model cannot be determined from output measurements, its ability to yield correct insights - as well as the possibility of controlling the system - may be compromised. Epidemic dynamics are commonly analysed using compartmental models, and many variations of such models have been used for analysing and predicting the evolution of the COVID-19 pandemic. In this paper we survey the different models proposed in the literature, assembling a list of 36 model structures and assessing their ability to provide reliable information. We address the problem using the control theoretic concepts of structural identifiability and observability. Since some parameters can vary during the course of an epidemic, we consider both the constant and time-varying parameter assumptions. We analyse the structural identifiability and observability of all of the models, considering all plausible choices of outputs and time-varying parameters, which leads us to analyse 255 different model versions. We classify the models according to their structural identifiability and observability under the different assumptions and discuss the implications of the results. We also illustrate with an example several alternative ways of remedying the lack of observability of a model. Our analyses provide guidelines for choosing the most informative model for each purpose, taking into account the available knowledge and measurements.

Testing structural identifiability by a simple scaling method

Successful mathematical modeling of biological processes relies on the expertise of the modeler to capture the essential mechanisms in the process at hand and on the ability to extract useful information from empirical data. A model is said to be structurally unidentifiable, if different quantitative sets of parameters provide the same observable outcome. This is typical (but not exclusive) of partially observed problems in which only a few variables can be experimentally measured. Most of the available methods to test the structural identifiability of a model are either too complex mathematically for the general practitioner to be applied, or require involved calculations or numerical computation for complex non-linear models. In this work, we present a new analytical method to test structural identifiability of models based on ordinary differential equations, based on the invariance of the equations under the scaling transformation of its parameters. The method is based on rigorous mathematical results but it is easy and quick to apply, even to test the identifiability of sophisticated highly non-linear models. We illustrate our method by example and compare its performance with other existing methods in the literature.

Finding and Breaking Lie Symmetries: Implications for Structural Identifiability and Observability in Biological Modelling

A dynamic model is structurally identifiable (respectively, observable) if it is theoretically possible to infer its unknown parameters (respectively, states) by observing its output over time. The two properties, structural identifiability and observability, are completely determined by the model equations. Their analysis is of interest for modellers because it informs about the possibility of gaining insight into a model’s unmeasured variables. Here we cast the problem of analysing structural identifiability and observability as that of finding Lie symmetries. We build on previous results that showed that structural unidentifiability amounts to the existence of Lie symmetries. We consider nonlinear models described by ordinary differential equations and restrict ourselves to rational functions. We revisit a method for finding symmetries by transforming rational expressions into linear systems. We extend the method by enabling it to provide symmetry-breaking transformations, which allows for a semi-automatic model reformulation that renders a non-observable model observable. We provide a MATLAB implementation of the methodology as part of the STRIKE-GOLDD toolbox for observability and identifiability analysis. We illustrate the use of the methodology in the context of biological modelling by applying it to a set of problems taken from the literature.

Mathematical modeling of drug-induced receptor internalization in the HER2-positive SKBR3 breast cancer cell-line

About 20% of breast cancer tumors over-express the HER2 receptor. Trastuzumab, an approved drug to treat this type of breast cancer, is a monoclonal antibody directly binding at the HER2 receptor and ultimately inhibiting cancer cell growth. The goal of our study was to understand the early impact of trastuzumab on HER2 internalization and recycling in the HER2-overexpressing breast cancer cell line SKBR3. To this end, fluorescence microscopy, monitoring the amount of HER2 expression in the plasma membrane, was combined with mathematical modeling to derive the flux of HER2 receptors from and to the membrane. We constructed a dynamic multi-compartment model based on ordinary differential equations. To account for cancer cell heterogeneity, a first, dynamic model was expanded to a second model including two distinct cell phenotypes, with implications for different conformational states of HER2, i.e. monomeric or homodimeric. Our mathematical model shows that the hypothesis of fast constitutive HER2 recycling back to the plasma membrane does not match the experimental data. It conclusively describes the experimental observation that trastuzumab induces sustained receptor internalization in cells with membrane ruffles. It is also concluded that for rare, non-ruffled (flat) cells, HER2 internalization occurs three orders of magnitude slower than for the bulk, ruffled cell population.

An easy and efficient approach for testing identifiability

Motivation

The feasibility of uniquely estimating parameters of dynamical systems from observations is a widely discussed aspect of mathematical modelling. Several approaches have been published for analyzing this so-called identifiability of model parameters. However, they are typically computationally demanding, difficult to perform and/or not applicable in many application settings.

Results

Here, an approach is presented which enables quickly testing of parameter identifiability. Numerical optimization with a penalty in radial direction enforcing displacement of the parameters is used to check whether estimated parameters are unique, or whether the parameters can be altered without loss of agreement with the data indicating non-identifiability. This Identifiability-Test by Radial Penalization (ITRP) can be employed for every model where optimization-based parameter estimation like least-squares or maximum likelihood is feasible and is therefore applicable for all typical systems biology models. The approach is illustrated and tested using 11 ordinary differential equation (ODE) models.

Availability and implementation

The presented approach can be implemented without great efforts in any modelling framework. It is available within the free Matlab-based modelling toolbox Data2Dynamics. Source code is available at https://github.com/Data2Dynamics.

Contact

ckreutz@fdm.uni-freiburg.de.

Supplementary information

Supplementary data are available at Bioinformatics online.

Local Riemannian geometry of model manifolds and its implications for practical parameter identifiability

When non-linear models are fitted to experimental data, parameter estimates can be poorly constrained albeit being identifiable in principle. This means that along certain paths in parameter space, the log-likelihood does not exceed a given statistical threshold but remains bounded. This situation, denoted as practical non-identifiability, can be detected by Monte Carlo sampling or by systematic scanning using the profile likelihood method. In contrast, any method based on a Taylor expansion of the log-likelihood around the optimum, e.g., parameter uncertainty estimation by the Fisher Information Matrix, reveals no information about the boundedness at all. In this work, we present a geometric approach, approximating the original log-likelihood by geodesic coordinates of the model manifold. The Christoffel Symbols in the geodesic equation are fixed to those obtained from second order model sensitivities at the optimum. Based on three exemplary non-linear models we show that the information about the log-likelihood bounds and flat parameter directions can already be contained in this local information. Whereas the unbounded case represented by the Fisher Information Matrix is embedded in the geometric framework as vanishing Christoffel Symbols, non-vanishing constant Christoffel Symbols prove to define prototype non-linear models featuring boundedness and flat parameter directions of the log-likelihood. Finally, we investigate if those models could allow to approximate and replace computationally expensive objective functions originating from non-linear models by a surrogate objective function in parameter estimation problems.

Model-based identification of TNFα-induced IKKβ-mediated and IκBα-mediated regulation of NFκB signal transduction as a tool to quantify the impact of drug-induced liver injury compounds

Drug-induced liver injury (DILI) has become a major problem for patients and for clinicians, academics and the pharmaceutical industry. To date, existing hepatotoxicity test systems are only poorly predictive and the underlying mechanisms are still unclear. One of the factors known to amplify hepatotoxicity is the tumor necrosis factor alpha (TNFα), especially due to its synergy with commonly used drugs such as diclofenac. However, the exact mechanism of how diclofenac in combination with TNFα induces liver injury remains elusive. Here, we combined time-resolved immunoblotting and live-cell imaging data of HepG2 cells and primary human hepatocytes (PHH) with dynamic pathway modeling using ordinary differential equations (ODEs) to describe the complex structure of TNFα-induced NFκB signal transduction and integrated the perturbations of the pathway caused by diclofenac. The resulting mathematical model was used to systematically identify parameters affected by diclofenac. These analyses showed that more than one regulatory module of TNFα-induced NFκB signal transduction is affected by diclofenac, suggesting that hepatotoxicity is the integrated consequence of multiple changes in hepatocytes and that multiple factors define toxicity thresholds. Applying our mathematical modeling approach to other DILI-causing compounds representing different putative DILI mechanism classes enabled us to quantify their impact on pathway activation, highlighting the potential of the dynamic pathway model as a quantitative tool for the analysis of DILI compounds.

Profile likelihood-based analyses of infectious disease models

Ordinary differential equation models are frequently applied to describe the temporal evolution of epidemics. However, ordinary differential equation models are also utilized in other scientific fields. We summarize and transfer state-of-the art approaches from other fields like Systems Biology to infectious disease models. For this purpose, we use a simple SIR model with data from an influenza outbreak at an English boarding school in 1978 and a more complex model of a vector-borne disease with data from the Zika virus outbreak in Colombia in 2015-2016. Besides parameter estimation using a deterministic multistart optimization approach, a multitude of analyses based on the profile likelihood are presented comprising identifiability analysis and model reduction. The analyses were performed using the freely available modeling framework Data2Dynamics (data2dynamics.org) which has been awarded as best performing within the DREAM6 parameter estimation challenge and in the DREAM7 network reconstruction challenge.

Dynamical compensation and structural identifiability of biological models: Analysis, implications, and reconciliation

The concept of dynamical compensation has been recently introduced to describe the ability of a biological system to keep its output dynamics unchanged in the face of varying parameters. However, the original definition of dynamical compensation amounts to lack of structural identifiability. This is relevant if model parameters need to be estimated, as is often the case in biological modelling. Care should we taken when using an unidentifiable model to extract biological insight: the estimated values of structurally unidentifiable parameters are meaningless, and model predictions about unmeasured state variables can be wrong. Taking this into account, we explore alternative definitions of dynamical compensation that do not necessarily imply structural unidentifiability. Accordingly, we show different ways in which a model can be made identifiable while exhibiting dynamical compensation. Our analyses enable the use of the new concept of dynamical compensation in the context of parameter identification, and reconcile it with the desirable property of structural identifiability.

A robust behaviour is a desirable feature in many biological systems. The study of mechanisms capable of maintaining the transient response unchanged despite environmental disturbances has recently motivated the introduction of a new concept: Dynamical Compensation (DC). However, the original definition of DC with respect to a parameter amounts to structural unidentifiability of that parameter, which means that it cannot be estimated by measuring the model output. Since most biological models have unknown parameters that need to be estimated, DC can be considered a negative property for the purpose of model identification. In this paper we reconcile these two conflicting views by proposing a new definition of DC that captures its intended biological meaning (i.e. robustness, which should be a systemic property, intrinsic to the dynamics) while making it distinct from structural unidentifiability (which is a modelling property that depends on decisions made by the modeller, such as the choice of model outputs or unknown parameters, and on experimental constraints). Our definition enables a model to have DC with respect to a structurally identifiable parameter, thus increasing the applicability of the concept.

Estimation and Identifiability of Model Parameters in Human Nociceptive Processing Using Yes-No Detection Responses to Electrocutaneous Stimulation

Healthy or pathological states of nociceptive subsystems determine different stimulus-response relations measured from quantitative sensory testing. In turn, stimulus-response measurements may be used to assess these states. In a recently developed computational model, six model parameters characterize activation of nerve endings and spinal neurons. However, both model nonlinearity and limited information in yes-no detection responses to electrocutaneous stimuli challenge to estimate model parameters. Here, we address the question whether and how one can overcome these difficulties for reliable parameter estimation. First, we fit the computational model to experimental stimulus-response pairs by maximizing the likelihood. To evaluate the balance between model fit and complexity, i.e., the number of model parameters, we evaluate the Bayesian Information Criterion. We find that the computational model is better than a conventional logistic model regarding the balance. Second, our theoretical analysis suggests to vary the pulse width among applied stimuli as a necessary condition to prevent structural non-identifiability. In addition, the numerically implemented profile likelihood approach reveals structural and practical non-identifiability. Our model-based approach with integration of psychophysical measurements can be useful for a reliable assessment of states of the nociceptive system.

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.

Fast integration-based prediction bands for ordinary differential equation models

MOTIVATION

To gain a deeper understanding of biological processes and their relevance in disease, mathematical models are built upon experimental data. Uncertainty in the data leads to uncertainties of the model's parameters and in turn to uncertainties of predictions. Mechanistic dynamic models of biochemical networks are frequently based on nonlinear differential equation systems and feature a large number of parameters, sparse observations of the model components and lack of information in the available data. Due to the curse of dimensionality, classical and sampling approaches propagating parameter uncertainties to predictions are hardly feasible and insufficient. However, for experimental design and to discriminate between competing models, prediction and confidence bands are essential. To circumvent the hurdles of the former methods, an approach to calculate a profile likelihood on arbitrary observations for a specific time point has been introduced, which provides accurate confidence and prediction intervals for nonlinear models and is computationally feasible for high-dimensional models.

RESULTS

In this article, reliable and smooth point-wise prediction and confidence bands to assess the model's uncertainty on the whole time-course are achieved via explicit integration with elaborate correction mechanisms. The corresponding system of ordinary differential equations is derived and tested on three established models for cellular signalling. An efficiency analysis is performed to illustrate the computational benefit compared with repeated profile likelihood calculations at multiple time points.

AVAILABILITY AND IMPLEMENTATION

The integration framework and the examples used in this article are provided with the software package Data2Dynamics, which is based on MATLAB and freely available at http://www.data2dynamics.org

CONTACT

helge.hass@fdm.uni-freiburg.de

SUPPLEMENTARY INFORMATION

Supplementary data are available at Bioinformatics online.