Modular bond‐graph modelling and analysis of biomolecular systems

Bond graphs can be used to build thermodynamically‐compliant hierarchical models of biomolecular systems. As bond graphs have been widely used to model, analyse and synthesise engineering systems, this study suggests that they can play the same rôle in the modelling, analysis and synthesis of biomolecular systems. The particular structure of bond graphs arising from biomolecular systems is established and used to elucidate the relation between thermodynamically closed and open systems. Block diagram representations of the dynamics implied by these bond graphs are used to reveal implicit feedback structures and are linearised to allow the application of control‐theoretical methods. Two concepts of modularity are examined: computational modularity where physical correctness is retained and behavioural modularity where module behaviour (such as ultrasensitivity) is retained. As well as providing computational modularity, bond graphs provide a natural formulation of behavioural modularity and reveal the sources of retroactivity. A bond graph approach to reducing retroactivity, and thus inter‐module interaction, is shown to require a power supply such as that provided by the ATP ⇌ ADP + Pi reaction. The mitogen‐activated protein kinase cascade (Raf–MEK–ERK pathway) is used as an illustrative example.Inspec keywords: molecular biophysics, bond graphs, hierarchical systems, thermodynamics, enzymes, physiological models, biology computingOther keywords: signalling networks, behavioural modularity, Michaelis‐Menten kinetics, Raf‐MEK‐ERK pathway, mitogen‐activated protein kinase cascade, ATP⇌ADP + Pi reaction, intermodule interaction, retroactivity, computational modularity, block diagram representations, thermodynamically‐compliant hierarchical models, biomolecular systems, modular bond‐graph modelling     

M‐matrix‐based stability conditions for genetic regulatory networks with time‐varying delays and noise perturbations

Stability is essential for designing and controlling any dynamic systems. Recently, the stability of genetic regulatory networks has been widely studied by employing linear matrix inequality (LMI) approach, which results in checking the existence of feasible solutions to high‐dimensional LMIs. In the previous study, the authors present several stability conditions for genetic regulatory networks with time‐varying delays, based on M ‐matrix theory and using the non‐smooth Lyapunov function, which results in determining whether a low‐dimensional matrix is a non‐singular M ‐matrix. However, the previous approach cannot be applied to analyse the stability of genetic regulatory networks with noise perturbations. Here, the authors design a smooth Lyapunov function quadratic in state variables and employ M ‐matrix theory to derive new stability conditions for genetic regulatory networks with time‐varying delays. Theoretically, these conditions are less conservative than existing ones in some genetic regulatory networks. Then the results are extended to genetic regulatory networks with time‐varying delays and noise perturbations. For genetic regulatory networks with n genes and n proteins, the derived conditions are to check if an n × n matrix is a non‐singular M ‐matrix. To further present the new theories proposed in this study, three example regulatory networks are analysed.Inspec keywords: genetics, linear matrix inequalities, Lyapunov matrix equations, molecular biophysics, noise, proteinsOther keywords: M‐matrix‐based stability condition, genetic regulatory networks, time‐varying delays, noise perturbations, linear matrix inequality approach, high‐dimensional LMI, Lyapunov function, state variables, M‐matrix theory, proteins, nonsingular M‐matrix     

Algorithm to identify the optimal perturbation based on the net basin‐of‐state of perturbed states in Boolean network

Boolean networks are widely used to model gene regulatory networks and to design therapeutic intervention strategies to affect the long‐term behavior of systems. Here, the authors investigate the 1 bit perturbation, which falls under the category of structural intervention. The authors’ idea is that, if and only if a perturbed state evolves from a desirable attractor to an undesirable attractor or from an undesirable attractor to a desirable attractor, then the size of basin of attractor of a desirable attractor may decrease or increase. In this case, if the authors obtain the net BOS of the perturbed states, they can quickly obtain the optimal 1 bit perturbation by finding the maximum value of perturbation gain. Results from both synthetic and real biological networks show that the proposed algorithm is not only simpler and but also performs better than the previous basin‐of‐states (BOS)‐based algorithm by Hu et al..Inspec keywords: perturbation theory, genetics, Boolean functionsOther keywords: optimal perturbation, perturbed states, Boolean network, gene regulatory networks, basin‐of‐states‐based algorithm, state‐transition diagram, structural intervention, perturbation gain, synthetic biological networks, real biological networks, 1 bit perturbation     

Detecting small attractors of large Boolean networks by function‐reduction‐based strategy

Boolean networks (BNs) are widely used to model gene regulatory networks and to design therapeutic intervention strategies to affect the long‐term behaviour of systems. A central aim of Boolean‐network analysis is to find attractors that correspond to various cellular states, such as cell types or the stage of cell differentiation. This problem is NP‐hard and various algorithms have been used to tackle it with considerable success. The idea is that a singleton attractor corresponds to n consistent subsequences in the truth table. To find these subsequences, the authors gradually reduce the entire truth table of Boolean functions by extending a partial gene activity profile (GAP). Not only does this process delete inconsistent subsequences in truth tables, it also directly determines values for some nodes not extended, which means it can abandon the partial GAPs that cannot lead to an attractor as early as possible. The results of simulation show that the proposed algorithm can detect small attractors with length p = 4 in BNs of up to 200 nodes with average indegree K = 2.Inspec keywords: Boolean functions, genetics, cellular biophysicsOther keywords: detecting small attractors, function‐reduction‐based strategy, model gene regulatory networks, therapeutic intervention strategies, Boolean‐network analysis, cellular states, NP‐hard, singleton attractor, Boolean functions, partial gene activity profile, cell differentiation     

Non‐normality can facilitate pulsing in biomolecular circuits

Non‐normality can underlie pulse dynamics in many engineering contexts. However, its role in pulses generated in biomolecular contexts is generally unclear. Here, the authors address this issue using the mathematical tools of linear algebra and systems theory on simple computational models of biomolecular circuits. They find that non‐normality is present in standard models of feedforward loops. They used a generalised framework and pseudospectrum analysis to identify non‐normality in larger biomolecular circuit models, finding that it correlates well with pulsing dynamics. Finally, they illustrate how these methods can be used to provide analytical support to numerical screens for pulsing dynamics as well as provide guidelines for design.Inspec keywords: linear algebra, feedforward, eigenvalues and eigenfunctions, network analysis, molecular biophysicsOther keywords: nonnormality, biomolecular circuits, pulse dynamics, engineering contexts, biomolecular contexts, linear algebra, systems theory, simple computational models, standard models, larger biomolecular circuit models     

Experimental evidence for constraints in amplitude‐timescale co‐variation of a biomolecular pulse generating circuit design

Understanding constraints on the functional properties of biomolecular circuit dynamics, such as the possible variations of amplitude and timescale of a pulse, is an important part of biomolecular circuit design. While the amplitude‐timescale co‐variations of the pulse in an incoherent feedforward loop have been investigated computationally using mathematical models, experimental support for any such constraints is relatively unclear. Here, the authors address this using experimental measurement of an existing pulse generating incoherent feedforward loop circuit realisation in the context of a standard mathematical model. They characterise the trends of co‐variation in the pulse amplitude and rise time computationally by randomly exploring the parameter space. They experimentally measured the co‐variation by varying inducers and found that larger amplitude pulses have a slower rise time. They discuss the gap between the experimental measurements and predictions of the standard model, highlighting model additions and other biological factors that might bridge the gap.Inspec keywords: pulse generators, molecular electronics, integrated circuit designOther keywords: biomolecular pulse, functional properties, biomolecular circuit dynamics, biomolecular circuit design, incoherent feedforward loop, loop circuit realisation, pulse amplitude, amplitude‐timescale covariation, biomolecular pulse generating circuit, biological factors     

Small RNA‐mediated switch‐like regulation in bacterial quorum sensing

Quorum sensing (QS) is a signalling mechanism by which bacteria produce, release and then detect and respond to changes in their density and biosignals called autoinducers (AIs). There are multiple feedback loops in the QS system of Vibrio harveyi. However, how these feedback loops function to control signal processing remains unclear. In this study, the authors present a computational model for the switch‐like regulation of signal transduction by small regulatory RNA‐mediated QS based on intertwined network involving AIs, LuxO, LuxU, Qrr sRNAs and LuxR. In agreement with experimental observations, the model suggests that different feedbacks play critical roles in the switch‐like regulation. The authors results reveal that V. harveyi uses multiple feedbacks to precisely control signal transduction.Inspec keywords: biocommunications, biocontrol, biology computing, cellular biophysics, physiological models, RNAOther keywords: RNA‐mediated switch‐like regulation, bacterial quorum sensing, signaling mechanism, autoinducers, Vibrio harveyi, feedback loops function, signal processing control, switch‐like regulation     

Adaptive modelling of gene regulatory network using Bayesian information criterion‐guided sparse regression approach

Inferring gene regulatory networks (GRNs) from microarray expression data are an important but challenging issue in systems biology. In this study, the authors propose a Bayesian information criterion (BIC)‐guided sparse regression approach for GRN reconstruction. This approach can adaptively model GRNs by optimising the l ₁ ‐norm regularisation of sparse regression based on a modified version of BIC. The use of the regularisation strategy ensures the inferred GRNs to be as sparse as natural, while the modified BIC allows incorporating prior knowledge on expression regulation and thus avoids the overestimation of expression regulators as usual. Especially, the proposed method provides a clear interpretation of combinatorial regulations of gene expression by optimally extracting regulation coordination for a given target gene. Experimental results on both simulation data and real‐world microarray data demonstrate the competent performance of discovering regulatory relationships in GRN reconstruction.Inspec keywords: genetics, Bayes methods, genomics, regression analysis, inference mechanisms, bioinformaticsOther keywords: adaptive modelling, gene regulatory network, Bayesian information criterion‐guided sparse regression approach, GRN, microarray expression data, systems biology, GRN reconstruction, optimisation, l₁ ‐norm regularisation     

Period–amplitude co‐variation in biomolecular oscillators

The period and amplitude of biomolecular oscillators are functionally important properties in multiple contexts. For a biomolecular oscillator, the overall constraints in how tuning of amplitude affects period, and vice versa, are generally unclear. Here, the authors investigate this co‐variation of the period and amplitude in mathematical models of biomolecular oscillators using both simulations and analytical approximations. The authors computed the amplitude–period co‐variation of 11 benchmark biomolecular oscillators as their parameters were individually varied around a nominal value, classifying the various co‐variation patterns such as a simultaneous increase/decrease in period and amplitude. Next, the authors repeated the classification using a power norm‐based amplitude metric, to account for the amplitudes of the many biomolecular species that may be part of the oscillations, finding largely similar trends. Finally, the authors calculate ‘scaling laws’ of period–amplitude co‐variation for a subset of these benchmark oscillators finding that as the approximated period increases, the upper bound of the amplitude increases, or reaches a constant value. Based on these results, the authors discuss the effect of different parameters on the type of period–amplitude co‐variation as well as the difficulty in achieving an oscillation with large amplitude and small period.Inspec keywords: molecular biophysics, oscillations, biology computing, circadian rhythmsOther keywords: period‐amplitude co‐variation, biomolecular oscillators, mathematical models, analytical approximations, co‐variation patterns, power norm‐based amplitude metric, scaling laws     

Overlapping functional modules detection in PPI network with pair‐wise constrained non‐negative matrix tri‐factorisation

A large amount of available protein–protein interaction (PPI) data has been generated by high‐throughput experimental techniques. Uncovering functional modules from PPI networks will help us better understand the underlying mechanisms of cellular functions. Numerous computational algorithms have been designed to identify functional modules automatically in the past decades. However, most community detection methods (non‐overlapping or overlapping types) are unsupervised models, which cannot incorporate the well‐known protein complexes as a priori. The authors propose a novel semi‐supervised model named pairwise constrains nonnegative matrix tri‐factorisation (PCNMTF), which takes full advantage of the well‐known protein complexes to find overlapping functional modules based on protein module indicator matrix and module correlation matrix simultaneously from PPI networks. PCNMTF determinately models and learns the mixed module memberships of each protein by considering the correlation among modules simultaneously based on the non‐negative matrix tri‐factorisation. The experiment results on both synthetic and real‐world biological networks demonstrate that PCNMTF gains more precise functional modules than that of state‐of‐the‐art methods.Inspec keywords: proteins, molecular biophysics, cellular biophysics, matrix algebraOther keywords: overlapping functional module detection, PPI network, pair‐wise constrained nonnegative matrix trifactorisation, protein–protein interaction data, cellular functions, protein complexes, real‐world biological networks, synthetic biological networks     

Gaussian graphical model for identifying significantly responsive regulatory networks from time course high‐throughput data

With rapid accumulation of functional relationships between biological molecules, knowledge‐based networks have been constructed and stocked in many databases. These networks provide curated and comprehensive information for functional linkages among genes and proteins, whereas their activities are highly related with specific phenotypes and conditions. To evaluate a knowledge‐based network in a specific condition, the consistency between its structure and conditionally specific gene expression profiling data are an important criterion. In this study, the authors propose a Gaussian graphical model to evaluate the documented regulatory networks by the consistency between network architectures and time course gene expression profiles. They derive a dynamic Bayesian network model to evaluate gene regulatory networks in both simulated and true time course microarray data. The regulatory networks are evaluated by matching network structure with gene expression to achieve consistency measurement. To demonstrate the effectiveness of the authors method, they identify significant regulatory networks in response to the time course of circadian rhythm. The knowledge‐based networks are screened and ranked by their structural consistencies with dynamic gene expression profiling.Inspec keywords: Bayes methods, biology computing, circadian rhythms, Gaussian processes, genetics, genomics, graphs, molecular biophysics, proteinsOther keywords: Gaussian graphical model, responsive regulatory networks, time course high‐throughput data, biological molecules, dynamic gene expression proflling, circadian rhythm, consistency measurement, matching network structure, simulated time course microarray data, true time course microarray data, dynamic Bayesian network model, time course gene expression proflles, network architectures, documented regulatory networks, speciflc gene expression proflling data, phenotypes, proteins, functional linkages, databases, knowledge‐based networks     

Properties of sparse penalties on inferring gene regulatory networks from time‐course gene expression data

Genes regulate each other and form a gene regulatory network (GRN) to realise biological functions. Elucidating GRN from experimental data remains a challenging problem in systems biology. Numerous techniques have been developed and sparse linear regression methods become a promising approach to infer accurate GRNs. However, most linear methods are either based on steady‐state gene expression data or their statistical properties are not analysed. Here, two sparse penalties, adaptive least absolute shrinkage and selection operator and smoothly clipped absolute deviation, are proposed to infer GRNs from time‐course gene expression data based on an auto‐regressive model and their Oracle properties are proved under mild conditions. The effectiveness of those methods is demonstrated by applications to in silico and real biological data.Inspec keywords: genetics, autoregressive processesOther keywords: sparse penalties, gene regulatory networks, time‐course gene expression data, GRN, biological functions, systems biology, sparse linear regression methods, steady‐state gene expression data, adaptive least absolute shrinkage, selection operator, smoothly clipped absolute deviation, autoregressive model, Oracle properties     

Describing function‐based approximations of biomolecular systems

Mathematical methods provide useful framework for the analysis and design of complex systems. In newer contexts such as biology, however, there is a need to both adapt existing methods as well as to develop new ones. Using a combination of analytical and computational approaches, the authors adapt and develop the method of describing functions to represent the input–output responses of biomolecular signalling systems. They approximate representative systems exhibiting various saturating and hysteretic dynamics in a way that is better than the standard linearisation. Furthermore, they develop analytical upper bounds for the computational error estimates. Finally, they use these error estimates to augment the limit cycle analysis with a simple and quick way to bound the predicted oscillation amplitude. These results provide system approximations that can add more insight into the local behaviour of these systems than standard linearisation, compute responses to other periodic inputs and to analyse limit cycles.Inspec keywords: molecular biophysics, physiological models, approximation theoryOther keywords: describing‐function‐based approximations, mathematical methods, computational approaches, biomolecular signalling systems, hysteretic dynamics, saturating dynamics, analytical upper bounds, computational error estimates, oscillation amplitude     

Multi‐scale approach for simulating time‐delay biochemical reaction systems

This study presents a multi‐scale approach for simulating time‐delay biochemical reaction systems when there are wide ranges of molecular numbers. The authors construct a new efficient approach based on partitioning into slow and fast subsets in conjunction with predictor–corrector methods. This multi‐scale approach is shown to be much more efficient than existing methods such as the delay stochastic simulation algorithm and the modified next reaction method. Numerical testing on several important problems in systems biology confirms the accuracy and computational efficiency of this approach.Inspec keywords: biochemistry, delays, biological techniques, predictor‐corrector methodsOther keywords: multiscale approach, time‐delay biochemical reaction systems, predictor–corrector methods, delay stochastic simulation algorithm, modified next reaction method, numerical testing, systems biology, method accuracy, computational efficiency