Multi-criteria optimization of regulation in metabolic networks

Using optimal control to understand complex metabolic pathways

BACKGROUND

Optimality principles have been used to explain the structure and behavior of living matter at different levels of organization, from basic phenomena at the molecular level, up to complex dynamics in whole populations. Most of these studies have assumed a single-criteria approach. Such optimality principles have been justified from an evolutionary perspective. In the context of the cell, previous studies have shown how dynamics of gene expression in small metabolic models can be explained assuming that cells have developed optimal adaptation strategies. Most of these works have considered rather simplified representations, such as small linear pathways, or reduced networks with a single branching point, and a single objective for the optimality criteria.

RESULTS

Here we consider the extension of this approach to more realistic scenarios, i.e. biochemical pathways of arbitrary size and structure. We first show that exploiting optimality principles for these networks poses great challenges due to the complexity of the associated optimal control problems. Second, in order to surmount such challenges, we present a computational framework which has been designed with scalability and efficiency in mind, including mechanisms to avoid the most common pitfalls. Third, we illustrate its performance with several case studies considering the central carbon metabolism of S. cerevisiae and B. subtilis. In particular, we consider metabolic dynamics during nutrient shift experiments.

CONCLUSIONS

We show how multi-objective optimal control can be used to predict temporal profiles of enzyme activation and metabolite concentrations in complex metabolic pathways. Further, we also show how to consider general cost/benefit trade-offs. In this study we have considered metabolic pathways, but this computational framework can also be applied to analyze the dynamics of other complex pathways, such as signal transduction or gene regulatory networks.

System-level analysis of metabolic trade-offs during anaerobic photoheterotrophic growth in Rhodopseudomonas palustris

BACKGROUND

Living organisms need to allocate their limited resources in a manner that optimizes their overall fitness by simultaneously achieving several different biological objectives. Examination of these biological trade-offs can provide invaluable information regarding the biophysical and biochemical bases behind observed cellular phenotypes. A quantitative knowledge of a cell system's critical objectives is also needed for engineering of cellular metabolism, where there is interest in mitigating the fitness costs that may result from human manipulation.

RESULTS

To study metabolism in photoheterotrophs, we developed and validated a genome-scale model of metabolism in Rhodopseudomonas palustris, a metabolically versatile gram-negative purple non-sulfur bacterium capable of growing phototrophically on various carbon sources, including inorganic carbon and aromatic compounds. To quantitatively assess trade-offs among a set of important biological objectives during different metabolic growth modes, we used our new model to conduct an 8-dimensional multi-objective flux analysis of metabolism in R. palustris. Our results revealed that phototrophic metabolism in R. palustris is light-limited under anaerobic conditions, regardless of the available carbon source. Under photoheterotrophic conditions, R. palustris prioritizes the optimization of carbon efficiency, followed by ATP production and biomass production rate, in a Pareto-optimal manner. To achieve maximum carbon fixation, cells appear to divert limited energy resources away from growth and toward CO2 fixation, even in the presence of excess reduced carbon. We also found that to achieve the theoretical maximum rate of biomass production, anaerobic metabolism requires import of additional compounds (such as protons) to serve as electron acceptors. Finally, we found that production of hydrogen gas, of potential interest as a candidate biofuel, lowers the cellular growth rates under all circumstances.

CONCLUSIONS

Photoheterotrophic metabolism of R. palustris is primarily regulated by the amount of light it can absorb and not the availability of carbon. However, despite carbon's secondary role as a regulating factor, R. palustris' metabolism strives for maximum carbon efficiency, even when this increased efficiency leads to slightly lower growth rates.

Extreme pathway analysis reveals the organizing rules of metabolic regulation

Cellular systems shift metabolic states by adjusting gene expression and enzyme activities to adapt to physiological and environmental changes. Biochemical and genetic studies are identifying how metabolic regulation affects the selection of metabolic phenotypes. However, how metabolism influences its regulatory architecture still remains unexplored. We present a new method of extreme pathway analysis (the minimal set of conically independent metabolic pathways) to deduce regulatory structures from pure pathway information. Applying our method to metabolic networks of human red blood cells and Escherichia coli, we shed light on how metabolic regulation are organized by showing which reactions within metabolic networks are more prone to transcriptional or allosteric regulation. Applied to a human genome-scale metabolic system, our method detects disease-associated reactions. Thus, our study deepens the understanding of the organizing principle of cellular metabolic regulation and may contribute to metabolic engineering, synthetic biology, and disease treatment.

Modelling digestive hydrolysis of nutrients in fish using factorial designs and desirability function

Models simulating the in vitro digestive hydrolysis of nutrients by different animal species are frequently used to obtain a better understanding of factors affecting this process. Optimization algorithm of a model may be used to prospect the more favourable combination of selected factors resulting in the higher performance. This study was conducted to determine the combination of factors (pH, enzyme:substrate ratio, and reaction time) leading to highest bioavailability of proteins and carbohydrates in the gilthead seabream gastrointestinal tract. Besides, a novel multi-objective algorithm, desirability function, was introduced for optimization of the digestive hydrolysis of nutrients within the simulated gut of the species, using models based on the Response Surface Methodology. Design of experiment was defined based on the physiology and culture conditions of the species, and in vitro assays were performed in a two-phase (stomach ad intestine) digestion process, using the species-specific enzyme extract. According to results, intestinal phase of digestion makes the major contribution to the total protein hydrolysis, being the efficiency of the process directly correlated to all the three studied factors. In contrast, the efficiency of carbohydrate hydrolysis was directly correlated to the amount of substrate and inversely to the pH, while reaction time did not exert a significant effect. The physiological range of the factors studied in the assays favoured the hydrolysis of proteins over carbohydrates, a similar scenario to that observed in the live fish. Results from the mathematical models and their simultaneous optimization obtained from this work may have practical applications in design of feeds for this species.

Suboptimal community growth mediated through metabolite crossfeeding promotes species diversity in the gut microbiota

The gut microbiota represent a highly complex ecosystem comprised of approximately 1000 species that forms a mutualistic relationship with the human host. A critical attribute of the microbiota is high species diversity, which provides system robustness through overlapping and redundant metabolic capabilities. The gradual loss of bacterial diversity has been associated with a broad array of gut pathologies and diseases including malnutrition, obesity, diabetes and inflammatory bowel disease. We formulated an in silico community model of the gut microbiota by combining genome-scale metabolic reconstructions of 28 representative species to explore the relationship between species diversity and community growth. While the individual species offered a broad range of metabolic capabilities, communities optimized for maximal growth on simulated Western and high-fiber diets had low diversities and imbalances in short-chain fatty acid (SCFA) synthesis characterized by acetate overproduction. Community flux variability analysis performed with the 28-species model and a reduced 20-species model suggested that enhanced species diversity and more balanced SCFA production were achievable at suboptimal growth rates. We developed a simple method for constraining species abundances to sample the growth-diversity tradeoff and used the 20-species model to show that tradeoff curves for Western and high-fiber diets resembled Pareto-optimal surfaces. Compared to maximal growth solutions, suboptimal growth solutions were characterized by higher species diversity, more balanced SCFA synthesis and lower exchange rates of crossfed metabolites between more species. We hypothesized that modulation of crossfeeding relationships through host-microbiota interactions could be an important means for maintaining species diversity and suggest that community metabolic modeling approaches that allow multiobjective optimization of growth and diversity are needed for more realistic simulation of complex communities.

Automated Design Framework for Synthetic Biology Exploiting Pareto Optimality

In this work we consider Pareto optimality for automated design in synthetic biology. We present a generalized framework based on a mixed-integer dynamic optimization formulation that, given design specifications, allows the computation of Pareto optimal sets of designs, that is, the set of best trade-offs for the metrics of interest. We show how this framework can be used for (i) forward design, that is, finding the Pareto optimal set of synthetic designs for implementation, and (ii) reverse design, that is, analyzing and inferring motifs and/or design principles of gene regulatory networks from the Pareto set of optimal circuits. Finally, we illustrate the capabilities and performance of this framework considering four case studies. In the first problem we consider the forward design of an oscillator. In the remaining problems, we illustrate how to apply the reverse design approach to find motifs for stripe formation, rapid adaption, and fold-change detection, respectively.

Design Principles of Biological Oscillators through Optimization: Forward and Reverse Analysis

From cyanobacteria to human, sustained oscillations coordinate important biological functions. Although much has been learned concerning the sophisticated molecular mechanisms underlying biological oscillators, design principles linking structure and functional behavior are not yet fully understood. Here we explore design principles of biological oscillators from a multiobjective optimization perspective, taking into account the trade-offs between conflicting performance goals or demands. We develop a comprehensive tool for automated design of oscillators, based on multicriteria global optimization that allows two modes: (i) the automatic design (forward problem) and (ii) the inference of design principles (reverse analysis problem). From the perspective of synthetic biology, the forward mode allows the solution of design problems that mimic some of the desirable properties appearing in natural oscillators. The reverse analysis mode facilitates a systematic exploration of the design space based on Pareto optimality concepts. The method is illustrated with two case studies: the automatic design of synthetic oscillators from a library of biological parts, and the exploration of design principles in 3-gene oscillatory systems.

Dynamic optimization of biological networks under parametric uncertainty

BACKGROUND

Micro-organisms play an important role in various industrial sectors (including biochemical, food and pharmaceutical industries). A profound insight in the biochemical reactions inside micro-organisms enables an improved biochemical process control. Biological networks are an important tool in systems biology for incorporating microscopic level knowledge. Biochemical processes are typically dynamic and the cells have often more than one objective which are typically conflicting, e.g., minimizing the energy consumption while maximizing the production of a specific metabolite. Therefore multi-objective optimization is needed to compute trade-offs between those conflicting objectives. In model-based optimization, one of the inherent problems is the presence of uncertainty. In biological processes, this uncertainty can be present due to, e.g., inherent biological variability. Not taking this uncertainty into account, possibly leads to the violation of constraints and erroneous estimates of the actual objective function(s). To account for the variance in model predictions and compute a prediction interval, this uncertainty should be taken into account during process optimization. This leads to a challenging optimization problem under uncertainty, which requires a robustified solution.

RESULTS

Three techniques for uncertainty propagation: linearization, sigma points and polynomial chaos expansion, are compared for the dynamic optimization of biological networks under parametric uncertainty. These approaches are compared in two case studies: (i) a three-step linear pathway model in which the accumulation of intermediate metabolites has to be minimized and (ii) a glycolysis inspired network model in which a multi-objective optimization problem is considered, being the minimization of the enzymatic cost and the minimization of the end time before reaching a minimum extracellular metabolite concentration. A Monte Carlo simulation procedure has been applied for the assessment of the constraint violations. For the multi-objective case study one Pareto point has been considered for the assessment of the constraint violations. However, this analysis can be performed for any Pareto point.

CONCLUSIONS

The different uncertainty propagation strategies each offer a robustified solution under parametric uncertainty. When making the trade-off between computation time and the robustness of the obtained profiles, the sigma points and polynomial chaos expansion strategies score better in reducing the percentage of constraint violations. This has been investigated for a normal and a uniform parametric uncertainty distribution. The polynomial chaos expansion approach allows to directly take prior knowledge of the parametric uncertainty distribution into account.

Multicriteria global optimization for biocircuit design

Background

One of the challenges in Synthetic Biology is to design circuits with increasing levels of complexity. While circuits in Biology are complex and subject to natural tradeoffs, most synthetic circuits are simple in terms of the number of regulatory regions, and have been designed to meet a single design criterion.

Results

In this contribution we introduce a multiobjective formulation for the design of biocircuits. We set up the basis for an advanced optimization tool for the modular and systematic design of biocircuits capable of handling high levels of complexity and multiple design criteria. Our methodology combines the efficiency of global Mixed Integer Nonlinear Programming solvers with multiobjective optimization techniques. Through a number of examples we show the capability of the method to generate non intuitive designs with a desired functionality setting up a priori the desired level of complexity.

Conclusions

The methodology presented here can be used for biocircuit design and also to explore and identify different design principles for synthetic gene circuits. The presence of more than one competing objective provides a realistic design setting where every solution represents an optimal trade-off between different criteria.

Electronic supplementary material

The online version of this article (doi:10.1186/s12918-014-0113-3) contains supplementary material, which is available to authorized users.

MEIGO: an open-source software suite based on metaheuristics for global optimization in systems biology and bioinformatics

Background

Optimization is the key to solving many problems in computational biology. Global optimization methods, which provide a robust methodology, and metaheuristics in particular have proven to be the most efficient methods for many applications. Despite their utility, there is a limited availability of metaheuristic tools.

Results

We present MEIGO, an R and Matlab optimization toolbox (also available in Python via a wrapper of the R version), that implements metaheuristics capable of solving diverse problems arising in systems biology and bioinformatics. The toolbox includes the enhanced scatter search method (eSS) for continuous nonlinear programming (cNLP) and mixed-integer programming (MINLP) problems, and variable neighborhood search (VNS) for Integer Programming (IP) problems. Additionally, the R version includes BayesFit for parameter estimation by Bayesian inference. The eSS and VNS methods can be run on a single-thread or in parallel using a cooperative strategy. The code is supplied under GPLv3 and is available at http://www.iim.csic.es/~gingproc/meigo.html. Documentation and examples are included. The R package has been submitted to BioConductor. We evaluate MEIGO against optimization benchmarks, and illustrate its applicability to a series of case studies in bioinformatics and systems biology where it outperforms other state-of-the-art methods.

Conclusions

MEIGO provides a free, open-source platform for optimization that can be applied to multiple domains of systems biology and bioinformatics. It includes efficient state of the art metaheuristics, and its open and modular structure allows the addition of further methods.

Microbial metabolism: optimal control of uptake versus synthesis

Microbes require several complex organic molecules for growth. A species may obtain a required factor by taking up molecules released by other species or by synthesizing the molecule. The patterns of uptake and synthesis set a flow of resources through the multiple species that create a microbial community. This article analyzes a simple mathematical model of the tradeoff between uptake and synthesis. Key factors include the influx rate from external sources relative to the outflux rate, the rate of internal decay within cells, and the cost of synthesis. Aspects of demography also matter, such as cellular birth and death rates, the expected time course of a local resource flow, and the associated lifespan of the local population. Spatial patterns of genetic variability and differentiation between populations may also strongly influence the evolution of metabolic regulatory controls of individual species and thus the structuring of microbial communities. The widespread use of optimality approaches in recent work on microbial metabolism has ignored demography and genetic structure.

Elucidating the adaptation and temporal coordination of metabolic pathways using in-silico evolution

Cellular metabolism, the interconversion of small molecules by chemical reactions, is a tightly coordinated process that requires integration of diverse environmental and intracellular cues. While for many organisms the topology of the network of metabolic reactions is increasingly known, the regulatory principles that shape the network's adaptation to diverse and changing environments remain largely elusive. To investigate the principles of metabolic adaptation and regulation in metabolic pathways, we propose a computational approach based on in-silico evolution. Rather than analyzing existing regulatory schemes, we let a population of minimal, prototypical metabolic cells evolve rate constants and appropriate regulatory schemes that allow for optimal growth in static and fluctuating environments. Applying our approach to a small, but already sufficiently complex, minimal system reveals intricate transitions between metabolic modes. These results have implications for trade-offs in resource allocation. Going from static to varying environments, we show that for fluctuating nutrient availability, active metabolic regulation results in a significantly increased overall rate of metabolism.

Global dynamic optimization approach to predict activation in metabolic pathways

Background

During the last decade, a number of authors have shown that the genetic regulation of metabolic networks may follow optimality principles. Optimal control theory has been succesfully used to compute optimal enzyme profiles considering simple metabolic pathways. However, applying this optimal control framework to more general networks (e.g. branched networks, or networks incorporating enzyme production dynamics) yields problems that are analytically intractable and/or numerically very challenging. Further, these previous studies have only considered a single-objective framework.

Results

In this work we consider a more general multi-objective formulation and we present solutions based on recent developments in global dynamic optimization techniques. We illustrate the performance and capabilities of these techniques considering two sets of problems. First, we consider a set of single-objective examples of increasing complexity taken from the recent literature. We analyze the multimodal character of the associated non linear optimization problems, and we also evaluate different global optimization approaches in terms of numerical robustness, efficiency and scalability. Second, we consider generalized multi-objective formulations for several examples, and we show how this framework results in more biologically meaningful results.

Conclusions

The proposed strategy was used to solve a set of single-objective case studies related to unbranched and branched metabolic networks of different levels of complexity. All problems were successfully solved in reasonable computation times with our global dynamic optimization approach, reaching solutions which were comparable or better than those reported in previous literature. Further, we considered, for the first time, multi-objective formulations, illustrating how activation in metabolic pathways can be explained in terms of the best trade-offs between conflicting objectives. This new methodology can be applied to metabolic networks with arbitrary topologies, non-linear dynamics and constraints.

Evolutionary tradeoffs between economy and effectiveness in biological homeostasis systems

Biological regulatory systems face a fundamental tradeoff: they must be effective but at the same time also economical. For example, regulatory systems that are designed to repair damage must be effective in reducing damage, but economical in not making too many repair proteins because making excessive proteins carries a fitness cost to the cell, called protein burden. In order to see how biological systems compromise between the two tasks of effectiveness and economy, we applied an approach from economics and engineering called Pareto optimality. This approach allows calculating the best-compromise systems that optimally combine the two tasks. We used a simple and general model for regulation, known as integral feedback, and showed that best-compromise systems have particular combinations of biochemical parameters that control the response rate and basal level. We find that the optimal systems fall on a curve in parameter space. Due to this feature, even if one is able to measure only a small fraction of the system's parameters, one can infer the rest. We applied this approach to estimate parameters in three biological systems: response to heat shock and response to DNA damage in bacteria, and calcium homeostasis in mammals.

Many systems in the cell work to keep homeostasis, or balance. For example, damage repair systems make special repair proteins to resolve damage. These systems typically have many biochemical parameters such as biochemical rate constants, and it is not clear how much of the huge parameter space is filled by actual biological systems. We examined how natural selection acts on these systems when there are two important tasks: effectiveness – rapidly repairing damage, and economy – avoiding excessive production of repair proteins. We find that this multi-task optimization situation leads to natural selection of circuits that lie on a curve in parameter space. Thus, most of parameter space is empty. Estimating only a few parameters of the circuit is enough to predict the rest. This approach allowed us to estimate parameters for bacterial heat shock and DNA repair systems, and for a mammalian hormone system responsible for calcium homeostasis.

Pareto optimality in organelle energy metabolism analysis

In low and high eukaryotes, energy is collected or transformed in compartments, the organelles. The rich variety of size, characteristics, and density of the organelles makes it difficult to build a general picture. In this paper, we make use of the Pareto-front analysis to investigate the optimization of energy metabolism in mitochondria and chloroplasts. Using the Pareto optimality principle, we compare models of organelle metabolism on the basis of single- and multiobjective optimization, approximation techniques (the Bayesian Automatic Relevance Determination), robustness, and pathway sensitivity analysis. Finally, we report the first analysis of the metabolic model for the hydrogenosome of Trichomonas vaginalis, which is found in several protozoan parasites. Our analysis has shown the importance of the Pareto optimality for such comparison and for insights into the evolution of the metabolism from cytoplasmic to organelle bound, involving a model order reduction. We report that Pareto fronts represent an asymptotic analysis useful to describe the metabolism of an organism aimed at maximizing concurrently two or more metabolite concentrations.