A proposal for using the ensemble approach to understand genetic regulatory networks

Understanding the genetic regulatory network comprising genes, RNA, proteins and the network connections and dynamical control rules among them, is a major task of contemporary systems biology. I focus here on the use of the ensemble approach to find one or more well-defined ensembles of model networks whose statistical features match those of real cells and organisms. Such ensembles should help explain and predict features of real cells and organisms. More precisely, an ensemble of model networks is defined by constraints on the "wiring diagram" of regulatory interactions, and the "rules" governing the dynamical behavior of regulated components of the network. The ensemble consists of all networks consistent with those constraints. Here I discuss ensembles of random Boolean networks, scale free Boolean networks, "medusa" Boolean networks, continuous variable networks, and others. For each ensemble, M statistical features, such as the size distribution of avalanches in gene activity changes unleashed by transiently altering the activity of a single gene, the distribution in distances between gene activities on different cell types, and others, are measured. This creates an M-dimensional space, where each ensemble corresponds to a cluster of points or distributions. Using current and future experimental techniques, such as gene arrays, these M properties are to be measured for real cells and organisms, again yielding a cluster of points or distributions in the M-dimensional space. The procedure then finds ensembles close to those of real cells and organisms, and hill climbs to attempt to match the observed M features. Thus obtains one or more ensembles that should predict and explain many features of the regulatory networks in cells and organisms.     

Stabilizing patterning in the Drosophila segment polarity network by selecting models in silico

The segmentation of Drosophila is a prime model to study spatial patterning during embryogenesis. The spatial expression of segment polarity genes results from a complex network of interacting proteins whose expression products are maintained after successful segmentation. This prompted us to investigate the stability and robustness of this process using a dynamical model for the segmentation network based on Boolean states. The model consists of intra-cellular as well as inter-cellular interactions between adjacent cells in one spatial dimension. We quantify the robustness of the dynamical segmentation process by a systematic analysis of mutations. Our starting point consists in a previous Boolean model for Drosophila segmentation. We define mathematically the notion of dynamical robustness and show that the proposed model exhibits limited robustness in gene expression under perturbations. We applied in silico evolution (mutation and selection) and discover two classes of modified gene networks that have a more robust spatial expression pattern. We verified that the enhanced robustness of the two new models is maintained in differential equations models. By comparing the predicted model with experiments on mutated flies, we then discuss the two types of enhanced models. Drosophila patterning can be explained by modelling the underlying network of interacting genes. Here we demonstrate that simple dynamical considerations and in silico evolution can enhance the model to robustly express the expected pattern, helping to elucidate the role of further interactions.     

Diversity of temporal correlations between genes in models of noisy and noiseless gene networks

Gene regulatory networks (GRNs) are parallel information processing systems, binding past events to future actions. Since cell types stably remain in restricted subsets of the possible states of the GRN, they are likely the dynamical attractors of the GRN. These attractors differ in which genes are active and in the amount of information propagating within the network. Using mutual information (I) as a measure of information propagation between genes in a GRN, modeled as finite-sized Random Boolean Networks (RBN), we study how the dynamical regime of the GRN affects I within attractors (I(A)). The spectra of I(A) of individual RBNs are found to be scattered and diverse, and distributions of I(A) of ensembles are non-trivial and change shape with mean connectivity. Mean and diversity of I(A) values maximize in the chaotic near-critical regime, whereas ordered near-critical networks are the best at retaining the distinctiveness of each attractor's I(A) with noise. The results suggest that selection likely favors near-critical GRNs as these both maximize mean and diversity of I(A), and are the most robust to noise. We find similar I(A) distributions in delayed stochastic models of GRNs. For a particular stochastic GRN, we show that both mean and variance of I(A) have local maxima as its connectivity and noise levels are varied, suggesting that the conclusions for the Boolean network models may be generalizable to more realistic models of GRNs.     

Robustness in phenotypic plasticity and heterogeneity patterns enabled by EMT networks

Epithelial-mesenchymal plasticity (EMP) is a key arm of cancer metastasis and is observed across many contexts. Cells undergoing EMP can reversibly switch between three classes of phenotypes: epithelial (E), mesenchymal (M), and hybrid E/M. While a large number of multistable regulatory networks have been identified to be driving EMP in various contexts, the exact mechanisms and design principles that enable robustness in driving EMP across contexts are not yet fully understood. Here, we investigated dynamic and structural robustness in EMP networks with regard to phenotypic heterogeneity and plasticity. We use two different approaches to simulate these networks: a computationally inexpensive, parameter-independent continuous state space Boolean model, and an ODE-based parameter-agnostic framework (RACIPE), both of which yielded similar phenotypic distributions. While the latter approach is useful for measurements of plasticity, the former model enabled us to extensively investigate robustness in phenotypic heterogeneity. Using perturbations to network topology and by varying network parameters, we show that multistable EMP networks are structurally and dynamically more robust compared with their randomized counterparts, thereby highlighting their topological hallmarks. These features of robustness are governed by a balance of positive and negative feedback loops embedded in these networks. Using a combination of the number of negative and positive feedback loops weighted by their lengths, we identified a metric that can explain the structural and dynamical robustness of these networks. This metric enabled us to compare networks across multiple sizes, and the network principles thus obtained can be used to identify fragilities in large networks without simulating their dynamics. Our analysis highlights a network topology-based approach to quantify robustness in the phenotypic heterogeneity and plasticity emergent from EMP networks.     

Perturbation avalanches and criticality in gene regulatory networks

Boolean networks are simplified models of gene regulatory networks. We derive an approximation of the size distribution of perturbation avalanches in Boolean networks based on known results in the theory of branching processes. We show numerically that the approximation works well for different kinds of Boolean networks. It has been suggested that gene regulatory networks may be dynamically critical. To study this, as an application of the presented theory we present a novel method for estimating an order parameter from microarray data. According to the available data and our method, we find that gene regulatory networks appear to be stable and reside near the phase transition between order and chaos.     

On the long-run sensitivity of probabilistic Boolean networks

Boolean networks and, more generally, probabilistic Boolean networks, as one class of gene regulatory networks, model biological processes with the network dynamics determined by the logic-rule regulatory functions in conjunction with probabilistic parameters involved in network transitions. While there has been significant research on applying different control policies to alter network dynamics as future gene therapeutic intervention, we have seen less work on understanding the sensitivity of network dynamics with respect to perturbations to networks, including regulatory rules and the involved parameters, which is particularly critical for the design of intervention strategies. This paper studies this less investigated issue of network sensitivity in the long run. As the underlying model of probabilistic Boolean networks is a finite Markov chain, we define the network sensitivity based on the steady-state distributions of probabilistic Boolean networks and call it long-run sensitivity. The steady-state distribution reflects the long-run behavior of the network and it can give insight into the dynamics or momentum existing in a system. The change of steady-state distribution caused by possible perturbations is the key measure for intervention. This newly defined long-run sensitivity can provide insight on both network inference and intervention. We show the results for probabilistic Boolean networks generated from random Boolean networks and the results from two real biological networks illustrate preliminary applications of sensitivity in intervention for practical problems.     

A Boolean Model of the Pseudomonas syringae hrp Regulon Predicts a Tightly Regulated System

The Type III secretion system (TTSS) is a protein secretion machinery used by certain gram-negative bacterial pathogens of plants and animals to deliver effector molecules to the host and is at the core of the ability to cause disease. Extensive molecular and biochemical study has revealed the components and their interactions within this system but reductive approaches do not consider the dynamical properties of the system as a whole. In order to gain a better understanding of these dynamical behaviours and to create a basis for the refinement of the experimentally derived knowledge we created a Boolean model of the regulatory interactions within the hrp regulon of Pseudomonas syringae pathovar tomato strain DC3000 Pseudomonas syringae. We compared simulations of the model with experimental data and found them to be largely in accordance, though the hrpV node shows some differences in state changes to that expected. Our simulations also revealed interesting dynamical properties not previously predicted. The model predicts that the hrp regulon is a biologically stable two-state system, with each of the stable states being strongly attractive, a feature indicative of selection for a tightly regulated and responsive system. The model predicts that the state of the GacS/GacA node confers control, a prediction that is consistent with experimental observations that the protein has a role as master regulator. Simulated gene “knock out” experiments with the model predict that HrpL is a central information processing point within the network.     

Maximum Number of Fixed Points in Regulatory Boolean Networks

Boolean networks (BNs) have been extensively used as mathematical models of genetic regulatory networks. The number of fixed points of a BN is a key feature of its dynamical behavior. Here, we study the maximum number of fixed points in a particular class of BNs called regulatory Boolean networks, where each interaction between the elements of the network is either an activation or an inhibition. We find relationships between the positive and negative cycles of the interaction graph and the number of fixed points of the network. As our main result, we exhibit an upper bound for the number of fixed points in terms of minimum cardinality of a set of vertices meeting all positive cycles of the network, which can be applied in the design of genetic regulatory networks.     

On the robustness of update schedules in Boolean networks

Deterministic Boolean networks have been used as models of gene regulation and other biological networks. One key element in these models is the update schedule, which indicates the order in which states are to be updated. We study the robustness of the dynamical behavior of a Boolean network with respect to different update schedules (synchronous, block-sequential, sequential), which can provide modelers with a better understanding of the consequences of changes in this aspect of the model. For a given Boolean network, we define equivalence classes of update schedules with the same dynamical behavior, introducing a labeled graph which helps to understand the dependence of the dynamics with respect to the update, and to identify interactions whose timing may be crucial for the presence of a particular attractor of the system. Several other results on the robustness of update schedules and of dynamical cycles with respect to update schedules are presented. Finally, we prove that our equivalence classes generalize those found in sequential dynamical systems.     

A publish-subscribe model of genetic networks

We present a simple model of genetic regulatory networks in which regulatory connections among genes are mediated by a limited number of signaling molecules. Each gene in our model produces (publishes) a single gene product, which regulates the expression of other genes by binding to regulatory regions that correspond (subscribe) to that product. We explore the consequences of this publish-subscribe model of regulation for the properties of single networks and for the evolution of populations of networks. Degree distributions of randomly constructed networks, particularly multimodal in-degree distributions, which depend on the length of the regulatory sequences and the number of possible gene products, differed from simpler Boolean NK models. In simulated evolution of populations of networks, single mutations in regulatory or coding regions resulted in multiple changes in regulatory connections among genes, or alternatively in neutral change that had no effect on phenotype. This resulted in remarkable evolvability in both number and length of attractors, leading to evolved networks far beyond the expectation of these measures based on random distributions. Surprisingly, this rapid evolution was not accompanied by changes in degree distribution; degree distribution in the evolved networks was not substantially different from that of randomly generated networks. The publish-subscribe model also allows exogenous gene products to create an environment, which may be noisy or stable, in which dynamic behavior occurs. In simulations, networks were able to evolve moderate levels of both mutational and environmental robustness.     

Robustness and topology of the yeast cell cycle Boolean network

Yeast cell cycle Boolean network was used as a case study of robustness to protein noise. Robustness was interpreted as involving stability of G1 steady state and sequence of gene expression from cell cycle START to stationary G1. A robustness measure to evaluate robustness strength of a network was proposed. Robust putative networks corresponding to the same steady state and sequence of gene expression of wild-type network were sampled. Architecture of wild-type yeast cell cycle network can be revealed by average topology profile of sampled robust putative networks.     

From Genes to Flower Patterns and Evolution: Dynamic Models of Gene Regulatory Networks

Genes and proteins form complex dynamical systems or gene regulatory networks (GRN) that can reach several steady states (attractors). These may be associated with distinct cell types. In plants, the ABC combinatorial model establishes the necessary gene combinations for floral organ cell specification. We have developed dynamic gene regulatory network (GRN) models to understand how the combinatorial selection of gene activity is established during floral organ primordia specification as a result of the concerted action of ABC and non-ABC genes. Our analyses have shown that the floral organ specification GRN reaches six attractors with gene configurations observed in primordial cell types during early stages of flower development and four that correspond to regions of the inflorescence meristem. This suggests that it is the overall GRN dynamics rather than precise signals that underlie the ABC model. Furthermore, our analyses suggest that the steady states of the GRN are robust to random alterations of the logical functions that define the gene interactions. Here we have updated the GRN model and have systematically altered the outputs of all the logical functions and addressed in which cases the original attractors are recovered. We then reduced the original three-state GRN to a two-state (Boolean) GRN and performed the same systematic perturbation analysis. Interestingly, the Boolean GRN reaches the same number and type of attractors as reached by the three-state GRN, and it responds to perturbations in a qualitatively identical manner as the original GRN. These results suggest that a Boolean model is sufficient to capture the dynamical features of the floral network and provide additional support for the robustness of the floral GRN. These findings further support that the GRN model provides a dynamical explanation for the ABC model and that the floral GRN robustness could be behind the widespread conservation of the floral plan among eudicotyledoneous plants. Other aspects of evolution of flower organ arrangement and ABC gene expression patterns are discussed in the context of the approach proposed here. álvaro Chaos, Max Aldana and Elena Alvarez-Buylla contributed equally to this work.     

Dynamic properties of network motifs contribute to biological network organization

Biological networks, such as those describing gene regulation, signal transduction, and neural synapses, are representations of large-scale dynamic systems. Discovery of organizing principles of biological networks can be enhanced by embracing the notion that there is a deep interplay between network structure and system dynamics. Recently, many structural characteristics of these non-random networks have been identified, but dynamical implications of the features have not been explored comprehensively. We demonstrate by exhaustive computational analysis that a dynamical property—stability or robustness to small perturbations—is highly correlated with the relative abundance of small subnetworks (network motifs) in several previously determined biological networks. We propose that robust dynamical stability is an influential property that can determine the non-random structure of biological networks.     

Robustness and Evolvability of the Human Signaling Network

Biological systems are known to be both robust and evolvable to internal and external perturbations, but what causes these apparently contradictory properties? We used Boolean network modeling and attractor landscape analysis to investigate the evolvability and robustness of the human signaling network. Our results show that the human signaling network can be divided into an evolvable core where perturbations change the attractor landscape in state space, and a robust neighbor where perturbations have no effect on the attractor landscape. Using chemical inhibition and overexpression of nodes, we validated that perturbations affect the evolvable core more strongly than the robust neighbor. We also found that the evolvable core has a distinct network structure, which is enriched in feedback loops, and features a higher degree of scale-freeness and longer path lengths connecting the nodes. In addition, the genes with high evolvability scores are associated with evolvability-related properties such as rapid evolvability, low species broadness, and immunity whereas the genes with high robustness scores are associated with robustness-related properties such as slow evolvability, high species broadness, and oncogenes. Intriguingly, US Food and Drug Administration-approved drug targets have high evolvability scores whereas experimental drug targets have high robustness scores.     

Subtle interplay of stochasticity and deterministic dynamics pervades an evolutionary plausible genetic circuit for Bacillus subtilis competence

Here we study the interplay of stochastic and deterministic dynamics in an evolutionary plausible candidate core genetic circuit for Bacillus subtilis competence. We find that high noise would not necessarily be detrimental to the circuit’s ability to deliver the phenotype, due to an unexpected built-in robustness that we further investigate. Also, we find that seemingly subtle deterministic dynamical features of the regulation, unstable and stable limit cycles, while in the presence of biochemical noise, would result in a distinctive new observable in the phenotype. We conduct mathematical analyses of the system’s stability at the fixed points and derive some general model-independent consequences. We also show how imperfect time-scale separation in the system would result in observables detrimental to the phenotype, that nature could have harnessed for selection.