Identification of nonlinear models of biological membranes by the method of fixed voltage

A mathematical substantiation of the method suggested by Hodkin and Huxley in 1952 for the identification of nonlinear systems is presented. A procedure for the application of this method was developed, which involves creating the structure of a mathematical model, carrying out a series of tests with specially chosen signals, and finding the unknown parameters. The basic requirements to admissible sets of entrance and target signals and the operator of the system were determined. It was shown that it should be quite continuous, the minimal number of unknown parameters and the minimal complexity of structure of the operator should provide the required quality of approximation. The merits and demerits of the mathematical models of Hodkin-Huxley and Noble, and the procedures used for their creation are discussed. The structure of the operator for the identification of mathematical models of excitable membranes when a large number of membrane currents is considered is offered. It was found that nonlinear electric properties of biological membranes can be identified using tests with other kinds of "fixed" parameters, for example, the method of "fixed" current, the fixed linearly increasing voltage, and others.     

Full-state tracking control of a mobile robot using neural networks

In this paper a nonholonomic mobile robot with completely unknown dynamics is discussed. A mathematical model has been considered and an efficient neural network is developed, which ensures guaranteed tracking performance leading to stability of the system. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. No assumptions relating to the boundedness is placed on the unmodeled disturbances. It is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow the desired trajectories. The proposed approach resolves speed jump problem existing in some previous tracking controllers. Further, this neural network does not require offline training procedures. Lyapunov theory has been used to prove system stability. The practicality and effectiveness of the proposed tracking controller are demonstrated by simulation and comparison results.     

Conceptual, methodological and computational issues concerning the compartmental modeling of a complex biological system: Postprandial inter-organ metabolism of dietary nitrogen in humans

A multi-compartmental model has been developed to describe dietary nitrogen (N) postprandial distribution and metabolism in humans. This paper details the entire process of model development, including the successive steps of its construction, parameter estimation and validation. The model was built using experimental data on dietary N kinetics in certain accessible pools of the intestine, blood and urine in healthy adults fed a [15N]-labeled protein meal. A 13-compartment, 21-parameter model was selected from candidate models of increasing order as being the minimum structure able to properly fit experimental data for all sampled compartments. Problems of theoretical identifiability and numerical identification of the model both constituted mathematical challenges that were difficult to solve because of the large number of unknown parameters and the few experimental data available. For this reason, new robust and reliable methods were applied, which enabled (i) a check that all model parameters could theoretically uniquely be determined and (ii) an estimation of their numerical values with satisfactory precision from the experimental data. Finally, model validation was completed by first verifying its a posteriori identifiability and then carrying out external validation.     

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.     

The differential evolution entirely parallel method for model adaptation in systems biology

Biophysics - The differential evolution entirely parallel method has been developed to enable the identification of unknown parameters of mathematical models by minimization of the deviation of the...     

A continuous optimization approach for inferring parameters in mathematical models of regulatory networks

Background

The advances of systems biology have raised a large number of sophisticated mathematical models for describing the dynamic property of complex biological systems. One of the major steps in developing mathematical models is to estimate unknown parameters of the model based on experimentally measured quantities. However, experimental conditions limit the amount of data that is available for mathematical modelling. The number of unknown parameters in mathematical models may be larger than the number of observation data. The imbalance between the number of experimental data and number of unknown parameters makes reverse-engineering problems particularly challenging.

Results

To address the issue of inadequate experimental data, we propose a continuous optimization approach for making reliable inference of model parameters. This approach first uses a spline interpolation to generate continuous functions of system dynamics as well as the first and second order derivatives of continuous functions. The expanded dataset is the basis to infer unknown model parameters using various continuous optimization criteria, including the error of simulation only, error of both simulation and the first derivative, or error of simulation as well as the first and second derivatives. We use three case studies to demonstrate the accuracy and reliability of the proposed new approach. Compared with the corresponding discrete criteria using experimental data at the measurement time points only, numerical results of the ERK kinase activation module show that the continuous absolute-error criteria using both function and high order derivatives generate estimates with better accuracy. This result is also supported by the second and third case studies for the G1/S transition network and the MAP kinase pathway, respectively. This suggests that the continuous absolute-error criteria lead to more accurate estimates than the corresponding discrete criteria. We also study the robustness property of these three models to examine the reliability of estimates. Simulation results show that the models with estimated parameters using continuous fitness functions have better robustness properties than those using the corresponding discrete fitness functions.

Conclusions

The inference studies and robustness analysis suggest that the proposed continuous optimization criteria are effective and robust for estimating unknown parameters in mathematical models.

Electronic supplementary material

The online version of this article (doi:10.1186/1471-2105-15-256) contains supplementary material, which is available to authorized users.     

Combining model structure identification and hybrid modelling for photo-production process predictive simulation and optimisation

Integrating physical knowledge and machine learning is a critical aspect of developing industrially focused digital twins for monitoring, optimisation, and design of microalgal and cyanobacterial photo-production processes. However, identifying the correct model structure to quantify the complex biological mechanism poses a severe challenge for the construction of kinetic models, while the lack of data due to the time-consuming experiments greatly impedes applications of most data-driven models. This study proposes the use of an innovative hybrid modelling approach that consists of a simple kinetic model to govern the overall process dynamic trajectory and a data-driven model to estimate mismatch between the kinetic equations and the real process. An advanced automatic model structure identification strategy is adopted to simultaneously identify the most physically probable kinetic model structure and minimum number of data-driven model parameters that can accurately represent multiple data sets over a broad spectrum of process operating conditions. Through this hybrid modelling and automatic structure identification framework, a highly accurate mathematical model was constructed to simulate and optimise an algal lutein production process. Performance of this hybrid model for long-term predictive modelling, optimisation, and online self-calibration is demonstrated and thoroughly discussed, indicating its significant potential for future industrial application.     

Unequally spaced longitudinal data with AR(1) serial correlation

This paper discusses longitudinal data analysis when each subject is observed at different unequally spaced time points. Observations within subjects are assumed to be either uncorrelated or to have a continuous-time first-order autoregressive structure, possibly with observation error. The random coefficients are assumed to have an arbitrary between-subject covariance matrix. Covariates can be included in the fixed effects part of the model. Exact maximum likelihood estimates of the unknown parameters are computed using the Kalman filter to evaluate the likelihood, which is then maximized with a nonlinear optimization program. An example is presented where a large number of subjects are each observed at a small number of observation times. Hypothesis tests for selecting the best model are carried out using Wald's test on contrasts or likelihood ratio tests based on fitting full and restricted models.     

An Effective Automatic Procedure for Testing Parameter Identifiability of HIV/AIDS Models

Realistic HIV models tend to be rather complex and many recent models proposed in the literature could not yet be analyzed by traditional identifiability testing techniques. In this paper, we check a priori global identifiability of some of these nonlinear HIV models taken from the recent literature, by using a differential algebra algorithm based on previous work of the author. The algorithm is implemented in a software tool, called DAISY (Differential Algebra for Identifiability of SYstems), which has been recently released (DAISY is freely available on the web site ). The software can be used to automatically check global identifiability of (linear and) nonlinear models described by polynomial or rational differential equations, thus providing a general and reliable tool to test global identifiability of several HIV models proposed in the literature. It can be used by researchers with a minimum of mathematical background.     

A general model of reaction kinetics in biological systems

Dynamic mathematical models in biotechnology require, besides the information about the stoichiometry of the biological reaction system, knowledge about the reaction kinetics. Modulation phenomena like limitation, inhibition and activation occur in different forms of competition with the key enzymes responsible for the respective metabolic reaction steps. The identification of a priori unknown reaction kinetics is often a critical task due to the non-linearity and (over-) parameterization of the model equations introduced to account for all the possible modulation phenomena. The contribution of this paper is to propose a general formulation of reaction kinetics, as an extension of the Michaelis-Menten kinetics, which allows limitation/activation and inhibition effects to be described with a reduced number of parameters. The versatility of the new model structure is demonstrated with application examples.     

Individualized performance prediction of sleep-deprived individuals with the two-process model.

We present a new method for developing individualized biomathematical models that predict performance impairment for individuals restricted to total sleep loss. The underlying formulation is based on the two-process model of sleep regulation, which has been extensively used to develop group-average models. However, in the proposed method, the parameters of the two-process model are systematically adjusted to account for an individual's uncertain initial state and unknown trait characteristics, resulting in individual-specific performance prediction models. The method establishes the initial estimates of the model parameters using a set of past performance observations, after which the parameters are adjusted as each new observation becomes available. Moreover, by transforming the nonlinear optimization problem of finding the best estimates of the two-process model parameters into a set of linear optimization problems, the proposed method yields unique parameter estimates. Two distinct data sets are used to evaluate the proposed method. Results of simulated data (with superimposed noise) show that the model parameters asymptotically converge to their true values and the model prediction accuracy improves as the number of performance observations increases and the amount of noise in the data decreases. Results of a laboratory study (82 h of total sleep loss), for three sleep-loss phenotypes, suggest that individualized models are consistently more accurate than group-average models, yielding as much as a threefold reduction in prediction errors. In addition, we show that the two-process model of sleep regulation is capable of representing performance data only when the proposed individualized model is used.     

Identifying heterogeneous anisotropic properties in cerebral aneurysms: a pointwise approach

The traditional approaches of estimating heterogeneous properties in a soft tissue structure using optimization-based inverse methods often face difficulties because of the large number of unknowns to be simultaneously determined. This article proposes a new method for identifying the heterogeneous anisotropic nonlinear elastic properties in cerebral aneurysms. In this method, the local properties are determined directly from the pointwise stress–strain data, thus avoiding the need for simultaneously optimizing for the property values at all points/regions in the aneurysm. The stress distributions needed for a pointwise identification are computed using an inverse elastostatic method without invoking the material properties in question. This paradigm is tested numerically through simulated inflation tests on an image-based cerebral aneurysm sac. The wall tissue is modeled as an eight-ply laminate whose constitutive behavior is described by an anisotropic hyperelastic strain energy function containing four parameters. The parameters are assumed to vary continuously in the sac. Deformed configurations generated from forward finite element analysis are taken as input to inversely establish the parameter distributions. The delineated and the assigned distributions are in excellent agreement. A forward verification is conducted by comparing the displacement solutions obtained from the delineated and the assigned material parameters at a different pressure. The deviations in nodal displacements are found to be within 0.2% in most part of the sac. The study highlights some distinct features of the proposed method, and demonstrates the feasibility of organ level identification of the distributive anisotropic nonlinear properties in cerebral aneurysms.     

A New Method for Nonlinear Dynamic Analysis of the Multi-kinetics Neural Mass Model

ObjectiveThe aim was to use a new method to analyze the nonlinear dynamic characteristics of the multi-kinetics neural mass model. We hope that this new method can be as an auxiliary judgment tool for the diagnosis of brain diseases and the identification of brain activity states.MethodsWe apply the Lorenz plot to analyze the nonlinear dynamic characteristics of electroencephalogram (EEG) signals from the multi-kinetics neural mass models. The standard deviations in two orthogonal directions of the Lorenz plot are further used to quantify the nonlinear dynamic characteristics of EEG signals.ResultsThe results show that the normalized signal frequency power spectrum may not be able to distinguish normal EEG signals and epileptiform spikes, but the Lorenz plot can distinguish the normal EEG signals and epileptiform spikes effectively. For EEG signals with multi-rhythms, the Lorenz plot of all the simulated signals are oval, but the value of SD1/SD2 increases monotonically when the multi-rhythm EEG signals change from low frequency to high frequency.ConclusionThe Lorenz plot of EEG signals with different rhythms presents different distribution. It is an effective nonlinear analysis method for EEG signals.     

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.     

Application of a new method of nonlinear dynamical system identification to biochemical problems

The system identification method for a variety of nonlinear dynamic models is elaborated. The problem of identification of an original nonlinear model presented as a system of ordinary differential equations in the Cauchy explicit form with a polynomial right part reduces to the solution of the system of linear equations for the constants of the dynamical model. In other words, to construct an integral model of the complex system (phenomenon), it is enough to collect some data array characterizing the time-course of dynamical parameters of the system. Collection of such a data array has always been a problem. However difficulties emerging are, as a rule, not principal and may be overcome almost without exception. The potentialities of the method under discussion are demonstrated by the example of the test problem of multiparametric nonlinear oscillator identification. The identification method proposed may be applied to the study of different biological systems and in particular the enzyme kinetics of complex biochemical reactions.     

Identification of Hammerstein model for bioreactors with input multiplicities

A closed loop identification method of Hammerstein model for continuous bioreactor with input multiplicity is proposed. Hammerstein model consists of nonlinear steady-state gain followed by a unity gain linear system. The method consists of first getting local first order plus time delay (FOPTD) models around the two input multiplicity values of the substrate feed concentration. The model parameters of the FOPTD is identified by a least square optimization method. The initial guess for the model parameters are obtained from the settling time, the initial delay in the closed loop servo response and using a simple proportional controller formula. From the local process gain values obtained for the several step changes around the two operating conditions, the nonlinear gain portion of the Hammerstein is then obtained. The actual nonlinear gain and the identified nonlinear gain is compared.     

Observer-based techniques for the identification and analysis of avascular tumor growth

Cancer represents one of the most challenging issues for the biomedical research, due its large impact on the public health state. For this reason, many mathematical methods have been proposed to forecast the time evolution of cancer size and invasion. In this paper, we study how to apply the Gompertz’s model to describe the growth of an avascular tumor in a realistic setting. To this aim, we introduce mathematical techniques to discretize the model, an important requirement when discrete-time measurements are available. Additionally, we describe observed-based techniques, borrowed from the field of automation theory, as a tool to estimate the model unknown parameters. This identification approach is a promising alternative to traditional statistical methods, and it can be easily extended to other models of cancer growth as well as to the evaluation of not measurable variables, on the basis of the available measurements. We show an application of this method to the analysis of solid tumor growth and parameters estimation in presence of a chemotherapy agent.