Scalable steady state analysis of Boolean biological regulatory networks

Necessary and Sufficient Conditions for Event-Triggered Set Stabilizability of Markovian Jump Logical Networks

This technical paper utilizes the Lyapunov theory to characterize the event-triggered set stabilizability of Markovian jump logical control networks (MJLCNs). Whereas the existing result for checking the set stabilizability of MJLCNs is only sufficient, this technical paper further establishes its necessary and sufficient condition. First, the Lyapunov function is established to describe the set stabilizability of MJLCNs necessarily and sufficiently by combining recurrent switching modes and desired state set. Then, the triggering condition and the input updating mechanism are designed regarding the value change of the Lyapunov function. Finally, the effectiveness of theoretical results is demonstrated by a biological example concerning the lac operon in Escherichia coli.

Logical computation with self-assembling electric circuits

Inspired by self-assembled biological growth, the Circuit Tile Assembly Model (cTAM) was developed to provide insights into signal propagation, information processing, and computation in bioelectric networks. The cTAM is an abstract model that produces a family of circuits of different sizes that is amenable to exact analysis. Here, the cTAM is extended to the Boolean Circuit Tile Assembly Model (bcTAM) that implements a computationally complete set of Boolean gates through self-assembled and self-controlled growth. The proposed model approximates axonal growth in neural networks and thus, investigates the computational capability of dynamic biological networks, for example, in growing networks of axons. Thus, the bcTAM models the effect of electrical activity on growth and shows how that growth might implement Boolean computations. In this sense, given a set of input voltages, the bcTAM is a system that is able to monitor and make decisions about its own growth.

FPGA Accelerated Analysis of Boolean Gene Regulatory Networks

Boolean models are a powerful abstraction for qualitative modeling of gene regulatory networks. With the recent availability of advanced high-throughput technologies, Boolean models have increasingly grown in size and complexity, posing a challenge for existing software simulation tools that have not scaled at the same speed. Field Programmable Gate Arrays (FPGAs) are powerful reconfigurable integrated circuits that can offer massive performance improvements. Due to their highly parallel nature, FPGAs are well suited to simulate complex molecular networks. We present here a new simulation framework for Boolean models, which first converts the model to Verilog, a standardized hardware description language, and then connects it to an execution core that runs on an FPGA coherently attached to a POWER8 processor. We report an order of magnitude speedup over a multi-threaded software simulation tool running on the same processor on a selection of Boolean models. Analysis on a T-cell large granular lymphocyte leukemia (T-LGL) demonstrates that our framework achieves consistent performance improvements resulting in new biological insights. In addition, we show that our solution allows to perform attractor detection at an unprecedented speed, exhibiting a speedup ranging from one to three orders of magnitude compared to alternative software solutions.

Output Feedback Control for Set Stabilization of Boolean Control Networks

In this paper, the output feedback set stabilization problem for Boolean control networks (BCNs) is investigated with the help of the semi-tensor product (STP) tool. The concept of output feedback control invariant (OFCI) subset is introduced, and novel methods are developed to obtain the OFCI subsets. Based on the OFCI subsets, a technique, named spanning tree method, is further introduced to calculate all possible output feedback set stabilizers. An example concerning lac operon for the bacterium Escherichia coli is given to illustrate the effectiveness of the proposed method. This technique can also be used to solve the state feedback (set) stabilization problem for BCNs. Compared with the existing results, our method can dramatically reduce the computational cost when designing all possible state feedback stabilizers for BCNs.

An Algorithm for Finding the Singleton Attractors and Pre-Images in Strong-Inhibition Boolean Networks

The detection of the singleton attractors is of great significance for the systematic study of genetic regulatory network. In this paper, we design an algorithm to compute the singleton attractors and pre-images of the strong-inhibition Boolean networks which is a biophysically plausible gene model. Our algorithm can not only identify accurately the singleton attractors, but also find easily the pre-images of the network. Based on extensive computational experiments, we show that the computational time of the algorithm is proportional to the number of the singleton attractors, which indicates the algorithm has much advantage in finding the singleton attractors for the networks with high average degree and less inhibitory interactions. Our algorithm may shed light on understanding the function and structure of the strong-inhibition Boolean networks.

Control of Large-Scale Boolean Networks via Network Aggregation

A major challenge to solve problems in control of Boolean networks is that the computational cost increases exponentially when the number of nodes in the network increases. We consider the problem of controllability and stabilizability of Boolean control networks, address the increasing cost problem by partitioning the network graph into several subnetworks, and analyze the subnetworks separately. Easily verifiable necessary conditions for controllability and stabilizability are proposed for a general aggregation structure. For acyclic aggregation, we develop a sufficient condition for stabilizability. It dramatically reduces the computational complexity if the number of nodes in each block of the acyclic aggregation is small enough compared with the number of nodes in the entire Boolean network.

ASP-G: an ASP-based method for finding attractors in genetic regulatory networks

MOTIVATION

Boolean network models are suitable to simulate GRNs in the absence of detailed kinetic information. However, reducing the biological reality implies making assumptions on how genes interact (interaction rules) and how their state is updated during the simulation (update scheme). The exact choice of the assumptions largely determines the outcome of the simulations. In most cases, however, the biologically correct assumptions are unknown. An ideal simulation thus implies testing different rules and schemes to determine those that best capture an observed biological phenomenon. This is not trivial because most current methods to simulate Boolean network models of GRNs and to compute their attractors impose specific assumptions that cannot be easily altered, as they are built into the system.

RESULTS

To allow for a more flexible simulation framework, we developed ASP-G. We show the correctness of ASP-G in simulating Boolean network models and obtaining attractors under different assumptions by successfully recapitulating the detection of attractors of previously published studies. We also provide an example of how performing simulation of network models under different settings help determine the assumptions under which a certain conclusion holds. The main added value of ASP-G is in its modularity and declarativity, making it more flexible and less error-prone than traditional approaches. The declarative nature of ASP-G comes at the expense of being slower than the more dedicated systems but still achieves a good efficiency with respect to computational time.

AVAILABILITY AND IMPLEMENTATION

The source code of ASP-G is available at http://bioinformatics.intec.ugent.be/kmarchal/Supplementary_Information_Musthofa_2014/asp-g.zip.

Composing problem solvers for simulation experimentation: a case study on steady state estimation

Simulation experiments involve various sub-tasks, e.g., parameter optimization, simulation execution, or output data analysis. Many algorithms can be applied to such tasks, but their performance depends on the given problem. Steady state estimation in systems biology is a typical example for this: several estimators have been proposed, each with its own (dis-)advantages. Experimenters, therefore, must choose from the available options, even though they may not be aware of the consequences. To support those users, we propose a general scheme to aggregate such algorithms to so-called synthetic problem solvers, which exploit algorithm differences to improve overall performance. Our approach subsumes various aggregation mechanisms, supports automatic configuration from training data (e.g., via ensemble learning or portfolio selection), and extends the plugin system of the open source modeling and simulation framework James II. We show the benefits of our approach by applying it to steady state estimation for cell-biological models.

Detection of attractors of large Boolean networks via exhaustive enumeration of appropriate subspaces of the state space

BACKGROUND

Boolean models are increasingly used to study biological signaling networks. In a Boolean network, nodes represent biological entities such as genes, proteins or protein complexes, and edges indicate activating or inhibiting influences of one node towards another. Depending on the input of activators or inhibitors, Boolean networks categorize nodes as either active or inactive. The formalism is appealing because for many biological relationships, we lack quantitative information about binding constants or kinetic parameters and can only rely on a qualitative description of the type "A activates (or inhibits) B". A central aim of Boolean network analysis is the determination of attractors (steady states and/or cycles). This problem is known to be computationally complex, its most important parameter being the number of network nodes. Various algorithms tackle it with considerable success. In this paper we present an algorithm, which extends the size of analyzable networks thanks to simple and intuitive arguments.

RESULTS

We present lnet, a software package which, in fully asynchronous updating mode and without any network reduction, detects the fixed states of Boolean networks with up to 150 nodes and a good part of any present cycles for networks with up to half the above number of nodes. The algorithm goes through a complete enumeration of the states of appropriately selected subspaces of the entire network state space. The size of these relevant subspaces is small compared to the full network state space, allowing the analysis of large networks. The subspaces scanned for the analyses of cycles are larger, reducing the size of accessible networks. Importantly, inherent in cycle detection is a classification scheme based on the number of non-frozen nodes of the cycle member states, with cycles characterized by fewer non-frozen nodes being easier to detect. It is further argued that these detectable cycles are also the biologically more important ones. Furthermore, lnet also provides standard Boolean analysis features such as node loop detection.

CONCLUSIONS

lnet is a software package that facilitates the analysis of large Boolean networks. Its intuitive approach helps to better understand the network in question.

Detection of attractors of large Boolean networks via exhaustive enumeration of appropriate subspaces of the state space

BACKGROUND

Boolean models are increasingly used to study biological signaling networks. In a Boolean network, nodes represent biological entities such as genes, proteins or protein complexes, and edges indicate activating or inhibiting influences of one node towards another. Depending on the input of activators or inhibitors, Boolean networks categorize nodes as either active or inactive. The formalism is appealing because for many biological relationships, we lack quantitative information about binding constants or kinetic parameters and can only rely on a qualitative description of the type "A activates (or inhibits) B". A central aim of Boolean network analysis is the determination of attractors (steady states and/or cycles). This problem is known to be computationally complex, its most important parameter being the number of network nodes. Various algorithms tackle it with considerable success. In this paper we present an algorithm, which extends the size of analyzable networks thanks to simple and intuitive arguments.

RESULTS

We present lnet, a software package which, in fully asynchronous updating mode and without any network reduction, detects the fixed states of Boolean networks with up to 150 nodes and a good part of any present cycles for networks with up to half the above number of nodes. The algorithm goes through a complete enumeration of the states of appropriately selected subspaces of the entire network state space. The size of these relevant subspaces is small compared to the full network state space, allowing the analysis of large networks. The subspaces scanned for the analyses of cycles are larger, reducing the size of accessible networks. Importantly, inherent in cycle detection is a classification scheme based on the number of non-frozen nodes of the cycle member states, with cycles characterized by fewer non-frozen nodes being easier to detect. It is further argued that these detectable cycles are also the biologically more important ones. Furthermore, lnet also provides standard Boolean analysis features such as node loop detection.

CONCLUSIONS

lnet is a software package that facilitates the analysis of large Boolean networks. Its intuitive approach helps to better understand the network in question.

Second order optimization for the inference of gene regulatory pathways

With the increasing availability of experimental data on gene interactions, modeling of gene regulatory pathways has gained special attention. Gradient descent algorithms have been widely used for regression and classification applications. Unfortunately, results obtained after training a model by gradient descent are often highly variable. In this paper, we present a new second order learning rule based on the Newton's method for inferring optimal gene regulatory pathways. Unlike the gradient descent method, the proposed optimization rule is independent of the learning parameter. The flow vectors are estimated based on biomass conservation. A set of constraints is formulated incorporating weighting coefficients. The method calculates the maximal expression of the target gene starting from a given initial gene through these weighting coefficients. Our algorithm has been benchmarked and validated on certain types of functions and on some gene regulatory networks, gathered from literature. The proposed method has been found to perform better than the gradient descent learning. Extensive performance comparison with the extreme pathway analysis method has underlined the effectiveness of our proposed methodology.

An efficient algorithm for computing attractors of synchronous and asynchronous Boolean networks

Biological networks, such as genetic regulatory networks, often contain positive and negative feedback loops that settle down to dynamically stable patterns. Identifying these patterns, the so-called attractors, can provide important insights for biologists to understand the molecular mechanisms underlying many coordinated cellular processes such as cellular division, differentiation, and homeostasis. Both synchronous and asynchronous Boolean networks have been used to simulate genetic regulatory networks and identify their attractors. The common methods of computing attractors are that start with a randomly selected initial state and finish with exhaustive search of the state space of a network. However, the time complexity of these methods grows exponentially with respect to the number and length of attractors. Here, we build two algorithms to achieve the computation of attractors in synchronous and asynchronous Boolean networks. For the synchronous scenario, combing with iterative methods and reduced order binary decision diagrams (ROBDD), we propose an improved algorithm to compute attractors. For another algorithm, the attractors of synchronous Boolean networks are utilized in asynchronous Boolean translation functions to derive attractors of asynchronous scenario. The proposed algorithms are implemented in a procedure called geneFAtt. Compared to existing tools such as genYsis, geneFAtt is significantly faster in computing attractors for empirical experimental systems.

NeuroDNet - an open source platform for constructing and analyzing neurodegenerative disease networks

Background

Genetic networks control cellular functions. Aberrations in normal cellular function are caused by mutations in genes that disrupt the fine tuning of genetic networks and cause disease or disorder. However, the large number of signalling molecules, genes and proteins that constitute such networks, and the consequent complexity of interactions, has restrained progress in research elucidating disease mechanisms. Hence, carrying out a systematic analysis of how diseases alter the character of these networks is important. We illustrate this through our work on neurodegenerative disease networks. We created a database, NeuroDNet, which brings together relevant information about signalling molecules, genes and proteins, and their interactions, for constructing neurodegenerative disease networks.

Description

NeuroDNet is a database with interactive tools that enables the creation of interaction networks for twelve neurodegenerative diseases under one portal for interrogation and analyses. It is the first of its kind, which enables the construction and analysis of neurodegenerative diseases through protein interaction networks, regulatory networks and Boolean networks. The database has a three-tier architecture - foundation, function and interface. The foundation tier contains the human genome data with 23857 protein-coding genes linked to more than 300 genes reported in clinical studies of neurodegenerative diseases. The database architecture was designed to retrieve neurodegenerative disease information seamlessly through the interface tier using specific functional information. Features of this database enable users to extract, analyze and display information related to a disease in many different ways.

Conclusions

The application of NeuroDNet was illustrated using three case studies. Through these case studies, the construction and analyses of a PPI network for angiogenin protein in amyotrophic lateral sclerosis, a signal-gene-protein interaction network for presenilin protein in Alzheimer's disease and a Boolean network for a mammalian cell cycle was demonstrated. NeuroDNet is accessible at http://bioschool.iitd.ac.in/NeuroDNet/.

Integrated systems view on networking by hormones in Arabidopsis immunity reveals multiple crosstalk for cytokinin

Phytohormones signal and combine to maintain the physiological equilibrium in the plant. Pathogens enhance host susceptibility by modulating the hormonal balance of the plant cell. Unlike other plant hormones, the detailed role of cytokinin in plant immunity remains to be fully elucidated. Here, extensive data mining, including of pathogenicity factors, host regulatory proteins, enzymes of hormone biosynthesis, and signaling components, established an integrated signaling network of 105 nodes and 163 edges. Dynamic modeling and system analysis identified multiple cytokinin-mediated regulatory interactions in plant disease networks. This includes specific synergism between cytokinin and salicylic acid pathways and previously undiscovered aspects of antagonism between cytokinin and auxin in plant immunity. Predicted interactions and hormonal effects on plant immunity are confirmed in subsequent experiments with Pseudomonas syringae pv tomato DC3000 and Arabidopsis thaliana. Our dynamic simulation is instrumental in predicting system effects of individual components in complex hormone disease networks and synergism or antagonism between pathways.

Digital clocks: simple Boolean models can quantitatively describe circadian systems

The gene networks that comprise the circadian clock modulate biological function across a range of scales, from gene expression to performance and adaptive behaviour. The clock functions by generating endogenous rhythms that can be entrained to the external 24-h day–night cycle, enabling organisms to optimally time biochemical processes relative to dawn and dusk. In recent years, computational models based on differential equations have become useful tools for dissecting and quantifying the complex regulatory relationships underlying the clock's oscillatory dynamics. However, optimizing the large parameter sets characteristic of these models places intense demands on both computational and experimental resources, limiting the scope of in silico studies. Here, we develop an approach based on Boolean logic that dramatically reduces the parametrization, making the state and parameter spaces finite and tractable. We introduce efficient methods for fitting Boolean models to molecular data, successfully demonstrating their application to synthetic time courses generated by a number of established clock models, as well as experimental expression levels measured using luciferase imaging. Our results indicate that despite their relative simplicity, logic models can (i) simulate circadian oscillations with the correct, experimentally observed phase relationships among genes and (ii) flexibly entrain to light stimuli, reproducing the complex responses to variations in daylength generated by more detailed differential equation formulations. Our work also demonstrates that logic models have sufficient predictive power to identify optimal regulatory structures from experimental data. By presenting the first Boolean models of circadian circuits together with general techniques for their optimization, we hope to establish a new framework for the systematic modelling of more complex clocks, as well as other circuits with different qualitative dynamics. In particular, we anticipate that the ability of logic models to provide a computationally efficient representation of system behaviour could greatly facilitate the reverse-engineering of large-scale biochemical networks.

SubMAP: aligning metabolic pathways with subnetwork mappings

We consider the problem of aligning two metabolic pathways. Unlike traditional approaches, we do not restrict the alignment to one-to-one mappings between the molecules (nodes) of the input pathways (graphs). We follow the observation that, in nature, different organisms can perform the same or similar functions through different sets of reactions and molecules. The number and the topology of the molecules in these alternative sets often vary from one organism to another. With the motivation that an accurate biological alignment should be able to reveal these functionally similar molecule sets across different species, we develop an algorithm that first measures the similarities between different nodes using a mixture of homology and topological similarity. We combine the two metrics by employing an eigenvalue formulation. We then search for an alignment between the two input pathways that maximizes a similarity score, evaluated as the sum of the similarities of the mapped subnetworks of size at most a given integer k, and also does not contain any conflicting mappings. Here we prove that this maximization is NP-hard by a reduction from the maximum weight independent set (MWIS) problem. We then convert our problem to an instance of MWIS and use an efficient vertex-selection strategy to extract the mappings that constitute our alignment. We name our algorithm SubMAP (Subnetwork Mappings in Alignment of Pathways). We evaluate its accuracy and performance on real datasets. Our empirical results demonstrate that SubMAP can identify biologically relevant mappings that are missed by traditional alignment methods. Furthermore, we observe that SubMAP is scalable for metabolic pathways of arbitrary topology, including searching for a query pathway of size 70 against the complete KEGG database of 1,842 pathways. Implementation in C++ is available at http://bioinformatics.cise.ufl.edu/SubMAP.html.

Constructing biological pathways by a two-step counting approach

Networks are widely used in biology to represent the relationships between genes and gene functions. In Boolean biological models, it is mainly assumed that there are two states to represent a gene: on-state and off-state. It is typically assumed that the relationship between two genes can be characterized by two kinds of pairwise relationships: similarity and prerequisite. Many approaches have been proposed in the literature to reconstruct biological relationships. In this article, we propose a two-step method to reconstruct the biological pathway when the binary array data have measurement error. For a pair of genes in a sample, the first step of this approach is to assign counting numbers for every relationship and select the relationship with counting number greater than a threshold. The second step is to calculate the asymptotic p-values for hypotheses of possible relationships and select relationships with a large p-value. This new method has the advantages of easy calculation for the counting numbers and simple closed forms for the p-value. The simulation study and real data example show that the two-step counting method can accurately reconstruct the biological pathway and outperform the existing methods. Compared with the other existing methods, this two-step method can provide a more accurate and efficient alternative approach for reconstructing the biological network.

A systems biology perspective on plant-microbe interactions: biochemical and structural targets of pathogen effectors

Plants have biochemical defences against stresses from predators, parasites and pathogens. In this review we discuss the interaction of plant defences with microbial pathogens such as bacteria, fungi and oomycetes, and viruses. We examine principles of complex dynamic networks that allow identification of network components that are differentially and predictably sensitive to perturbation, thus making them likely effector targets. We relate these principles to recent developments in our understanding of known effector targets in plant-pathogen systems, and propose a systems-level framework for the interpretation and modelling of host-microbe interactions mediated by effectors. We describe this framework briefly, and conclude by discussing useful experimental approaches for populating this framework.

A network model for plant-pollinator community assembly

Community assembly models, usually constructed for food webs, are an important component of our understanding of how ecological communities are formed. However, models for mutualistic community assembly are still needed, especially because these communities are experiencing significant anthropogenic disturbances that affect their biodiversity. Here, we present a unique network model that simulates the colonization and extinction process of mutualistic community assembly. We generate regional source pools of species interaction networks on the basis of statistical properties reported in the literature. We develop a dynamic synchronous Boolean framework to simulate, with few free parameters, the dynamics of new mutualistic community formation from the regional source pool. This approach allows us to deterministically map out every possible trajectory of community formation. This level of detail is rarely observed in other analytic approaches and allows for thorough analysis of the dynamical properties of community formation. As for food web assembly, we find that the number of stable communities is quite low, and the composition of the source pool influences the abundance and nature of community outcomes. However, in contrast to food web assembly, stable mutualistic communities form rapidly. Small communities with minor fluctuations in species presence/absence (self-similar limit cycles) are the most common community outcome. The unique application of this Boolean network approach to the study of mutualistic community assembly offers a great opportunity to improve our understanding of these critical communities.