Nonlinear neuronal mode analysis of action potential encoding in the cockroach tactile spine neuron

 Neuronal mode analysis is a recently developed technique for modelling the behavior of nonlinear systems whose outputs consist of action potentials. The system is modelled as a set of parallel linear filters, or modes, which feed into a multi-input threshold. The characteristics of the principal modes and the multi-input threshold device can be derived from Laguerre function expansions of the computed first- and second-order Volterra kernels when the system is stimulated with a randomly varying input. Neuronal mode analysis was used to model the encoder properties of the cockroach tactile spine neuron, a nonlinear, rapidly adapting, sensory neuron with reliable behavior. The analysis found two principal modes, one rapid and excitatory, the other slower and inhibitory. The two modes have analogies to two of the pathways in a block-structured model of the encoder that was developed from previous physiological investigations of the neuron. These results support the block-structured model and offer a new approach to identifying the components responsible for the nonlinear dynamic properties of this neuronal encoder. Received: 30 December 1994/Accepted in revised form: 25 April 1995     

Dimensionality Reduction of Bistable Biological Systems

Time hierarchies, arising as a result of interactions between system’s components, represent a ubiquitous property of dynamical biological systems. In addition, biological systems have been attributed switch-like properties modulating the response to various stimuli across different organisms and environmental conditions. Therefore, establishing the interplay between these features of system dynamics renders itself a challenging question of practical interest in biology. Existing methods are suitable for systems with one stable steady state employed as a well-defined reference. In such systems, the characterization of the time hierarchies has already been used for determining the components that contribute to the dynamics of biological systems. However, the application of these methods to bistable nonlinear systems is impeded due to their inherent dependence on the reference state, which in this case is no longer unique. Here, we extend the applicability of the reference-state analysis by proposing, analyzing, and applying a novel method, which allows investigation of the time hierarchies in systems exhibiting bistability. The proposed method is in turn used in identifying the components, other than reactions, which determine the systemic dynamical properties. We demonstrate that in biological systems of varying levels of complexity and spanning different biological levels, the method can be effectively employed for model simplification while ensuring preservation of qualitative dynamical properties (i.e., bistability). Finally, by establishing a connection between techniques from nonlinear dynamics and multivariate statistics, the proposed approach provides the basis for extending reference-based analysis to bistable systems.     

Automated refinement and inference of analytical models for metabolic networks

The reverse engineering of metabolic networks from experimental data is traditionally a labor-intensive task requiring a priori systems knowledge. Using a proven model as a test system, we demonstrate an automated method to simplify this process by modifying an existing or related model--suggesting nonlinear terms and structural modifications--or even constructing a new model that agrees with the system's time series observations. In certain cases, this method can identify the full dynamical model from scratch without prior knowledge or structural assumptions. The algorithm selects between multiple candidate models by designing experiments to make their predictions disagree. We performed computational experiments to analyze a nonlinear seven-dimensional model of yeast glycolytic oscillations. This approach corrected mistakes reliably in both approximated and overspecified models. The method performed well to high levels of noise for most states, could identify the correct model de novo, and make better predictions than ordinary parametric regression and neural network models. We identified an invariant quantity in the model, which accurately derived kinetics and the numerical sensitivity coefficients of the system. Finally, we compared the system to dynamic flux estimation and discussed the scaling and application of this methodology to automated experiment design and control in biological systems in real time.     

Coupled multi-component systems: A simple membrane model

We present initial results regarding the existence, stability and interactionof linear and nonlinear vibrational modes in a system of two coupled, onedimensional lattices with unequal numbers of masses. The effects on thesenonlinear modes of coupling a near continuum system to a discrete systemusing a nonlinear coupling are examined. This numerical model is a firststep towards investigating the dynamical behavior of a flexible sheetcoupled nonlinearly to a semi-rigid support, a system which couldconceivably represent a biological cell membrane with a supporting proteinnetwork. General implications for the dynamical behavior of continuumsystems coupled nonlinearly to discrete systems are introduced.     

Spectral methods for parametric sensitivity in stochastic dynamical systems

Stochastic dynamical systems governed by the chemical master equation find use in the modeling of biological phenomena in cells, where they provide more accurate representations than their deterministic counterparts, particularly when the levels of molecular population are small. The analysis of parametric sensitivity in such systems requires appropriate methods to capture the sensitivity of the system dynamics with respect to variations of the parameters amid the noise from inherent internal stochastic effects. We use spectral polynomial chaos expansions to represent statistics of the system dynamics as polynomial functions of the model parameters. These expansions capture the nonlinear behavior of the system statistics as a result of finite-sized parametric perturbations. We obtain the normalized sensitivity coefficients by taking the derivative of this functional representation with respect to the parameters. We apply this method in two stochastic dynamical systems exhibiting bimodal behavior, including a biologically relevant viral infection model.     

An Efficient, Nonlinear Stability Analysis for Detecting Pattern Formation in Reaction Diffusion Systems

Reaction diffusion systems are often used to study pattern formation in biological systems. However, most methods for understanding their behavior are challenging and can rarely be applied to complex systems common in biological applications. I present a relatively simple and efficient, nonlinear stability technique that greatly aids such analysis when rates of diffusion are substantially different. This technique reduces a system of reaction diffusion equations to a system of ordinary differential equations tracking the evolution of a large amplitude, spatially localized perturbation of a homogeneous steady state. Stability properties of this system, determined using standard bifurcation techniques and software, describe both linear and nonlinear patterning regimes of the reaction diffusion system. I describe the class of systems this method can be applied to and demonstrate its application. Analysis of Schnakenberg and substrate inhibition models is performed to demonstrate the methods capabilities in simplified settings and show that even these simple models have nonlinear patterning regimes not previously detected. The real power of this technique, however, is its simplicity and applicability to larger complex systems where other nonlinear methods become intractable. This is demonstrated through analysis of a chemotaxis regulatory network comprised of interacting proteins and phospholipids. In each case, predictions of this method are verified against results of numerical simulation, linear stability, asymptotic, and/or full PDE bifurcation analyses.     

Insight into the transfer function,gain, and oscillation onset for the pupil light reflex using nonlinear delay-differential equations

Analogies are drawn between a physiologically relevant nonlinear delay-differential equation (DDE) model for the pupil light reflex and servo control analytic approaches. This DDE is shown to be consistent with the measured open loop transfer function and hence physiological insight can be obtained into the gain of the reflex and its properties. A Hopf bifurcation analysis of the DDE shows that a limit cycle oscillation in pupil area occurs when the first mode of the characteristic equation becomes unstable. Its period agrees well with experimental measurements. Beyond the point of instability onset, more modes become unstable corresponding to multiple encirclings of (-1, 0) on the Nyquist plot. These modes primarily influence the shape of the oscillation. Techniques from dynamical systems theory, e.g. bifurcation analysis, can augment servo control analytic methods for the study of oscillations produced by nonlinear neural feedback mechanisms.     

Solving Volterra-Lotka systems with diffusion by monotone iteration

In this paper we first present a theorem for a monotone iteration method, where the conditions for the considered operators are affine invariant. Then we apply this method to systems of nonlinear elliptic differential equations arising from the Volterra-Lotka model with diffusion. Finally an extended predator-prey system is considered. One numerical example is given.     

Stochastic noise interferes coherently with a model biological clock and produces specific dynamic behaviour.

The influence of noise is unavoidable in all living systems. Its impact on a model of a biological clock, normally running in regular oscillating modes, is examined. It is shown that in a specific system in which endogenous rhythmicity is produced by a beat oscillator acting on a feedback coupled metabolic pool system, noise can act coherently to produce unexpected dynamic behaviour, running from regular over pseudo-regular to irregular time-structures. If the biological system consists of a set of identical weakly coupled cells, stochasticity may lead to phase decoupling producing irregular spatio-temporal patterns. Synchronization via phase resetting can be achieved by external short-time temperature pulses. Explicit results are obtained for the well-studied circadian photosynthesis oscillations in plants performing crassulacean acid metabolism. Because of the generic structure of the underlying nonlinear dynamics they can, however, be regarded as a general property of the influence of noise on nonlinear excitable systems with fixed points occuring close to limit cycles.     

Evolutionary optimization with data collocation for reverse engineering of biological networks

MOTIVATION: Modern experimental biology is moving away from analyses of single elements to whole-organism measurements. Such measured time-course data contain a wealth of information about the structure and dynamic of the pathway or network. The dynamic modeling of the whole systems is formulated as a reverse problem that requires a well-suited mathematical model and a very efficient computational method to identify the model structure and parameters. Numerical integration for differential equations and finding global parameter values are still two major challenges in this field of the parameter estimation of nonlinear dynamic biological systems. RESULTS: We compare three techniques of parameter estimation for nonlinear dynamic biological systems. In the proposed scheme, the modified collocation method is applied to convert the differential equations to the system of algebraic equations. The observed time-course data are then substituted into the algebraic system equations to decouple system interactions in order to obtain the approximate model profiles. Hybrid differential evolution (HDE) with population size of five is able to find a global solution. The method is not only suited for parameter estimation but also can be applied for structure identification. The solution obtained by HDE is then used as the starting point for a local search method to yield the refined estimates.     

A new method of identifying a systems based on the minimal quadratic discrepancy criterion for biophysics problems

A wide range of biophysical systems are described by nonlinear dynamic models mathematically presented as a set of ordinary differential equations in the Cauchy explicit form: [formula: see text] Fij(X1(t),..,XN(t),t), (i = 1,...,N, j = 1,...,M), where Fij (X1(t), ..., XN(t), t) is a set of basis functions satisfying the Lipschitz condition. We investigate the problem of evaluation of model constants aij (the system identification) using experimental data about the time dependence of the dynamic parameters of the system Xi(t). A new method of system identification for the class of similar nonlinear dynamic models is proposed. It is shown that the problem of identifying an initial nonlinear model can be reduced to the solution of a system of linear equations for the matrix of the dynamic model constants [aj]i. It is proposed to determine the set of dynamic model constants aij using the criterion of minimal quadratic discrepancy for the time dependence of the set of dynamic parameters Xi(t). An important special case of the nonlinear model, the quadratic model, is considered. Test problems of identification using this method are presented for two nonlinear systems: the Van der Pol type multiparametric nonlinear oscillator and the strange attractor of Ressler, a widely known example of dynamic systems showing the stochastic behavior.     

A system identification analysis of neural adaptation dynamics and nonlinear responses in the local reflex control of locust hind limbs

Nonlinear type system identification models coupled with white noise stimulation provide an experimentally convenient and quick way to investigate the often complex and nonlinear interactions between the mechanical and neural elements of reflex limb control systems. Previous steady state analysis has allowed the neurons in such systems to be categorised by their sensitivity to position, velocity or acceleration (dynamics) and has improved our understanding of network function. These neurons, however, are known to adapt their output amplitude or spike firing rate during repetitive stimulation and this transient response may be more important than the steady state response for reflex control. In the current study previously used system identification methods are developed and applied to investigate both steady state and transient dynamic and nonlinear changes in the neural circuit responsible for controlling reflex movements of the locust hind limbs. Through the use of a parsimonious model structure and Monte Carlo simulations we conclude that key system dynamics remain relatively unchanged during repetitive stimulation while output amplitude adaptation is occurring. Whilst some evidence of a significant change was found in parts of the systems nonlinear response, the effect was small and probably of little physiological relevance. Analysis using biologically more realistic stimulation reinforces this conclusion.     

Nonlinear PCA: characterizing interactions between modes of brain activity

This paper presents a nonlinear principal component analysis (PCA) that identifies underlying sources causing the expression of spatial modes or patterns of activity in neuroimaging time-series. The critical aspect of this technique is that, in relation to conventional PCA, the sources can interact to produce (second-order) spatial modes that represent the modulation of one (first-order) spatial mode by another. This nonlinear PCA uses a simple neural network architecture that embodies a specific form for the nonlinear mixing of sources that cause observed data. This form is motivated by a second-order approximation to any general nonlinear mixing and emphasizes interactions among pairs of sources. By introducing these nonlinearities principal components obtain with a unique rotation and scaling that does not depend on the biologically implausible constraints adopted by conventional PCA. The technique is illustrated by application to functional (positron emission tomography and functional magnetic resonance imaging) imaging data where the ensuing first- and second-order modes can be interpreted in terms of distributed brain systems. The interactions among sources render the expression of any one mode context-sensitive, where that context is established by the expression of other modes. The examples considered include interactions between cognitive states and time (i.e. adaptation or plasticity in PET data) and among functionally specialized brain systems (using a fMRI study of colour and motion processing).     

Computation of a Stabilizing Set of Feedback Matrices bf a Large-scale Nonlinear Musculoskeletal Dynamic Model

The purpose of this study is to present a general mathematical framework to compute a set of feedback matrices which stabilize an unstable nonlinear anthropomorphic musculoskeletal dynamic model. This method is activity specific and involves four fundamental stages. First, from muscle activation data (input) and motion degrees-of-freedom (output) a dynamic experimental model is obtained using system identification schemes. Second, a nonlinear musculoskeletal dynamic model which contains the same number of muscles and degrees-of-freedom and best represents the activity being considered is proposed. Third, the nonlinear musculoskeletal model (anthropomorphic model) is replaced by a family of linear systems, parameterized by the same set of input/ output data (nominal points) used in the identification of the experimental model. Finally, a set of stabilizing output feedback matrices, parameterized again by the same set of nominal points, is computed such that when combined with the anthropomorphic model, the combined system resembles the structural form of the experimental model. The method is illustrated in regard to the human squat activity.     

Computation of a stabilizing set of feedback matrices of a large-scale nonlinear musculoskeletal dynamic model

The purpose of this study is to present a general mathematical framework to compute a set of feedback matrices which stabilize an unstable nonlinear anthropomorphic musculoskeletal dynamic model. This method is activity specific and involves four fundamental stages. First, from muscle activation data (input) and motion degrees-of-freedom (output) a dynamic experimental model is obtained using system identification schemes. Second, a nonlinear musculoskeletal dynamic model which contains the same number of muscles and degrees-of-freedom and best represents the activity being considered is proposed. Third, the nonlinear musculoskeletal model (anthropomorphic model) is replaced by a family of linear systems, parameterized by the same set of input/output data (nominal points) used in the identification of the experimental model. Finally, a set of stabilizing output feedback matrices, parameterized again by the same set of nominal points, is computed such that when combined with the anthropomorphic model, the combined system resembles the structural form of the experimental model. The method is illustrated in regard to the human squat activity.     

Feedback identification of continuous microbial growth systems

The fundamental problem of dynamic modeling of continuous culture systems for process control and optimization is addressed. Forcing a system to bifurcation via feedback control is a very promising method for model discrimination and identification. Dynamic information is obtained by using this technique, the dynamic behavior of the chemostat as predicted by unstructured models, the model with delay, and a structured model has been analyzed. The method exposes significant differences in the nonlinear dynamic structure of the various models and can be implemented to discriminate between various possible models for a continuous culture system.     

Systematic Computation of Nonlinear Cellular and Molecular Dynamics with Low-Power CytoMimetic Circuits: A Simulation Study

This paper presents a novel method for the systematic implementation of low-power microelectronic circuits aimed at computing nonlinear cellular and molecular dynamics. The method proposed is based on the Nonlinear Bernoulli Cell Formalism (NBCF), an advanced mathematical framework stemming from the Bernoulli Cell Formalism (BCF) originally exploited for the modular synthesis and analysis of linear, time-invariant, high dynamic range, logarithmic filters. Our approach identifies and exploits the striking similarities existing between the NBCF and coupled nonlinear ordinary differential equations (ODEs) typically appearing in models of naturally encountered biochemical systems. The resulting continuous-time, continuous-value, low-power CytoMimetic electronic circuits succeed in simulating fast and with good accuracy cellular and molecular dynamics. The application of the method is illustrated by synthesising for the first time microelectronic CytoMimetic topologies which simulate successfully: 1) a nonlinear intracellular calcium oscillations model for several Hill coefficient values and 2) a gene-protein regulatory system model. The dynamic behaviours generated by the proposed CytoMimetic circuits are compared and found to be in very good agreement with their biological counterparts. The circuits exploit the exponential law codifying the low-power subthreshold operation regime and have been simulated with realistic parameters from a commercially available CMOS process. They occupy an area of a fraction of a square-millimetre, while consuming between 1 and 12 microwatts of power. Simulations of fabrication-related variability results are also presented.     

Superposition of modes in a caricature of a model for morphogenesis

In a model proposed for cell pattern formation by Nagorcka et al. (J. Theor. Biol. 1987) linear analysis revealed the possibility of an initially spatially uniform cell density going unstable to perturbations of two distinct spatial modes. Here we examine a simple one-dimensional caricature of their model which exhibits similar linear behaviour and present a nonlinear analysis which shows the possibility of superposition of modes subject to appropriate parameter values and initial conditions.