Identifying robust hysteresis in networks

Lattice structures that parameterize regulatory network dynamics

We consider two types of models of regulatory network dynamics: Boolean maps and systems of switching ordinary differential equations. Our goal is to construct all models in each category that are compatible with the directed signed graph that describe the network interactions. This leads to consideration of lattice of monotone Boolean functions (MBF), poset of non-degenerate MBFs, and a lattice of chains in these sets. We describe explicit inductive construction of these posets where the induction is on the number of inputs in MBF. Our results allow enumeration of potential dynamic behavior of the network for both model types, subject to practical limitation imposed by the size of the lattice of MBFs described by the Dedekind number.

Quantifying robustness of the gap gene network

Early development of Drosophila melanogaster (fruit fly) facilitated by the gap gene network has been shown to be incredibly robust, and the same patterns emerge even when the process is seriously disrupted. We investigate this robustness using a previously developed computational framework called DSGRN (Dynamic Signatures Generated by Regulatory Networks). Our mathematical innovations include the conceptual extension of this established modeling technique to enable modeling of spatially monotone environmental effects, as well as the development of a collection of graph theoretic robustness scores for network models. This allows us to rank order the robustness of network models of cellular systems where each cell contains the same genetic network topology but operates under a parameter regime that changes continuously from cell to cell. We demonstrate the power of this method by comparing the robustness of two previously introduced network models of gap gene expression along the anterior-posterior axis of the fruit fly embryo, both to each other and to a random sample of networks with same number of nodes and edges. We observe that there is a substantial difference in robustness scores between the two models. Our biological insight is that random network topologies are in general capable of reproducing complex patterns of expression, but that using measures of robustness to rank order networks permits a large reduction in hypothesis space for highly conserved systems such as developmental networks.

A yeast cell cycle pulse generator model shows consistency with multiple oscillatory and checkpoint mutant datasets

Modeling biological systems holds great promise for speeding up the rate of discovery in systems biology by predicting experimental outcomes and suggesting targeted interventions. However, this process is dogged by an identifiability issue, in which network models and their parameters are not sufficiently constrained by coarse and noisy data to ensure unique solutions. In this work, we evaluated the capability of a simplified yeast cell-cycle network model to reproduce multiple observed transcriptomic behaviors under genomic mutations. We matched time-series data from both cycling and checkpoint arrested cells to model predictions using an asynchronous multi-level Boolean approach. We showed that this single network model, despite its simplicity, is capable of exhibiting dynamical behavior similar to the datasets in most cases, and we demonstrated the drop in severity of the identifiability issue that results from matching multiple datasets.

Assessing biological network dynamics: comparing numerical simulations with analytical decomposition of parameter space

Mathematical modeling of the emergent dynamics of gene regulatory networks (GRN) faces a double challenge of (a) dependence of model dynamics on parameters, and (b) lack of reliable experimentally determined parameters. In this paper we compare two complementary approaches for describing GRN dynamics across unknown parameters: (1) parameter sampling and resulting ensemble statistics used by RACIPE (RAndom CIrcuit PErturbation), and (2) use of rigorous analysis of combinatorial approximation of the ODE models by DSGRN (Dynamic Signatures Generated by Regulatory Networks). We find a very good agreement between RACIPE simulation and DSGRN predictions for four different 2- and 3-node networks typically observed in cellular decision making. This observation is remarkable since the DSGRN approach assumes that the Hill coefficients of the models are very high while RACIPE assumes the values in the range 1-6. Thus DSGRN parameter domains, explicitly defined by inequalities between systems parameters, are highly predictive of ODE model dynamics within a biologically reasonable range of parameters.

Experimental guidance for discovering genetic networks through hypothesis reduction on time series

Large programs of dynamic gene expression, like cell cyles and circadian rhythms, are controlled by a relatively small "core" network of transcription factors and post-translational modifiers, working in concerted mutual regulation. Recent work suggests that system-independent, quantitative features of the dynamics of gene expression can be used to identify core regulators. We introduce an approach of iterative network hypothesis reduction from time-series data in which increasingly complex features of the dynamic expression of individual, pairs, and entire collections of genes are used to infer functional network models that can produce the observed transcriptional program. The culmination of our work is a computational pipeline, Iterative Network Hypothesis Reduction from Temporal Dynamics (Inherent dynamics pipeline), that provides a priority listing of targets for genetic perturbation to experimentally infer network structure. We demonstrate the capability of this integrated computational pipeline on synthetic and yeast cell-cycle data.

Modeling Transport Regulation in Gene Regulatory Networks

A gene regulatory network summarizes the interactions between a set of genes and regulatory gene products. These interactions include transcriptional regulation, protein activity regulation, and regulation of the transport of proteins between cellular compartments. DSGRN is a network modeling approach that builds on traditions of discrete-time Boolean models and continuous-time switching system models. When all interactions are transcriptional, DSGRN uses a combinatorial approximation to describe the entire range of dynamics that is compatible with network structure. Here we present an extension of the DGSRN approach to transport regulation across a boundary between compartments, such as a cellular membrane. We illustrate our approach by searching a model of the p53-Mdm2 network for the potential to admit two experimentally observed distinct stable periodic cycles.

The partition representation of enzymatic reaction networks and its application for searching bi-stable reaction systems

The signal transduction system, which is known as a regulatory mechanism for biochemical reaction systems in the cell, has been the subject of intensive research in recent years, and its design methods have become necessary from the viewpoint of synthetic biology. We proposed the partition representation of enzymatic reaction networks consisting of post-translational modification reactions such as phosphorylation, which is an important basic component of signal transduction systems, and attempted to find enzymatic reaction networks with bistability to demonstrate the effectiveness of the proposed representation method. The partition modifiers can be naturally introduced into the partition representation of enzymatic reaction networks when applied to search. By randomly applying the partition modifiers as appropriate, we searched for bistable and resettable enzymatic reaction networks consisting of four post-translational modification reactions. The proposed search algorithm worked well and we were able to find various bistable enzymatic reaction networks, including a typical bistable enzymatic reaction network with positive auto-feedbacks and mutually negative regulations. Since the search algorithm is divided into an evaluation function specific to the characteristics of the enzymatic reaction network to be searched and an independent algorithm part, it may be applied to search for dynamic properties such as biochemical adaptation, the ability to reset the biochemical state after responding to a stimulus, by replacing the evaluation function with one for other characteristics.

Rational design of complex phenotype via network models

We demonstrate a modeling and computational framework that allows for rapid screening of thousands of potential network designs for particular dynamic behavior. To illustrate this capability we consider the problem of hysteresis, a prerequisite for construction of robust bistable switches and hence a cornerstone for construction of more complex synthetic circuits. We evaluate and rank most three node networks according to their ability to robustly exhibit hysteresis where robustness is measured with respect to parameters over multiple dynamic phenotypes. Focusing on the highest ranked networks, we demonstrate how additional robustness and design constraints can be applied. We compare our results to more traditional methods based on specific parameterization of ordinary differential equation models and demonstrate a strong qualitative match at a small fraction of the computational cost.

A major challenge in the domains of systems and synthetic biology is an inability to efficiently predict function(s) of complex networks. This work demonstrates a modeling and computational framework that allows for a mathematically justifiable rigorous screening of thousands of potential network designs for a wide variety of dynamical behavior. We screen all 3-node genetic networks and rank them based on their ability to act as an inducible bistable switch. Our results are summarized in a searchable database that can be used to construct robust switches. The ability to quickly screen thousands of designs significantly reduces the set of viable designs and allows synthetic biologists to focus their experimental and more traditional modeling tools to this much smaller set.

Mapping parameter spaces of biological switches

Since the seminal 1961 paper of Monod and Jacob, mathematical models of biomolecular circuits have guided our understanding of cell regulation. Model-based exploration of the functional capabilities of any given circuit requires systematic mapping of multidimensional spaces of model parameters. Despite significant advances in computational dynamical systems approaches, this analysis remains a nontrivial task. Here, we use a nonlinear system of ordinary differential equations to model oocyte selection in Drosophila, a robust symmetry-breaking event that relies on autoregulatory localization of oocyte-specification factors. By applying an algorithmic approach that implements symbolic computation and topological methods, we enumerate all phase portraits of stable steady states in the limit when nonlinear regulatory interactions become discrete switches. Leveraging this initial exact partitioning and further using numerical exploration, we locate parameter regions that are dense in purely asymmetric steady states when the nonlinearities are not infinitely sharp, enabling systematic identification of parameter regions that correspond to robust oocyte selection. This framework can be generalized to map the full parameter spaces in a broad class of models involving biological switches.

Identification of qualitatively different regimes in models of biomolecular switches is essential for understanding dynamics of complex biological processes, including symmetry breaking in cells and cell networks. We demonstrate how topological methods, symbolic computation, and numerical simulations can be combined for systematic mapping of symmetry-broken states in a mathematical model of oocyte specification in Drosophila, a leading experimental system of animal oogenesis. Our algorithmic framework reveals global connectedness of parameter domains corresponding to robust oocyte specification and enables systematic navigation through multidimensional parameter spaces in a large class of biomolecular switches.

Multi-parameter exploration of dynamics of regulatory networks

Over the last twenty years advances in systems biology have changed our views on microbial communities and promise to revolutionize treatment of human diseases. In almost all scientific breakthroughs since time of Newton, mathematical modeling has played a prominent role. Regulatory networks emerged as preferred descriptors of how abundances of molecular species depend on each other. However, the central question on how cellular phenotypes emerge from dynamics of these network remains elusive. The principal reason is that differential equation models in the field of biology (while so successful in areas of physics and physical chemistry), do not arise from first principles, and these models suffer from lack of proper parameterization. In response to these challenges, discrete time models based on Boolean networks have been developed. In this review, we discuss an emerging modeling paradigm that combines ideas from differential equations and Boolean models, and has been developed independently within dynamical systems and computer science communities. The result is an approach that can associate a range of potential dynamical behaviors to a network, arrange the descriptors of the dynamics in a searchable database, and allows for multi-parameter exploration of the dynamics akin to bifurcation theory. Since this approach is computationally accessible for moderately sized networks, it allows, perhaps for the first time, to rationally compare different network topologies based on their dynamics.

Multistability in the epithelial-mesenchymal transition network

BACKGROUND

The transitions between epithelial (E) and mesenchymal (M) cell phenotypes are essential in many biological processes like tissue development and cancer metastasis. Previous studies, both modeling and experimental, suggested that in addition to E and M states, the network responsible for these phenotypes exhibits intermediate phenotypes between E and M states. The number and importance of such states is subject to intense discussion in the epithelial-mesenchymal transition (EMT) community.

RESULTS

Previous modeling efforts used traditional bifurcation analysis to explore the number of the steady states that correspond to E, M and intermediate states by varying one or two parameters at a time. Since the system has dozens of parameters that are largely unknown, it remains a challenging problem to fully describe the potential set of states and their relationship across all parameters. We use the computational tool DSGRN (Dynamic Signatures Generated by Regulatory Networks) to explore the intermediate states of an EMT model network by computing summaries of the dynamics across all of parameter space. We find that the only attractors in the system are equilibria, that E and M states dominate across parameter space, but that bistability and multistability are common. Even at extreme levels of some of the known inducers of the transition, there is a certain proportion of the parameter space at which an E or an M state co-exists with other stable steady states.

CONCLUSIONS

Our results suggest that the multistability is broadly present in the EMT network across parameters and thus response of cells to signals may strongly depend on the particular cell line and genetic background.