Mutually synchronized relaxation oscillators as prototypes of oscillating systems in biology

Summary This paper discusses the analogy between phenomena in populations of coupled biological oscillators and the behaviour of systems of synchronized mathematical oscillators. Frequency entrainment in a set of coupled relaxation oscillators is investigated with perturbation methods. This analysis leads to quantitative results for entrainment and explains phenomena such as travelling waves in systems of spatially distributed oscillators.     

Phase computations and phase models for discrete molecular oscillators

Background

Biochemical oscillators perform crucial functions in cells, e.g., they set up circadian clocks. The dynamical behavior of oscillators is best described and analyzed in terms of the scalar quantity, phase. A rigorous and useful definition for phase is based on the so-called isochrons of oscillators. Phase computation techniques for continuous oscillators that are based on isochrons have been used for characterizing the behavior of various types of oscillators under the influence of perturbations such as noise.

Results

In this article, we extend the applicability of these phase computation methods to biochemical oscillators as discrete molecular systems, upon the information obtained from a continuous-state approximation of such oscillators. In particular, we describe techniques for computing the instantaneous phase of discrete, molecular oscillators for stochastic simulation algorithm generated sample paths. We comment on the accuracies and derive certain measures for assessing the feasibilities of the proposed phase computation methods. Phase computation experiments on the sample paths of well-known biological oscillators validate our analyses.

Conclusions

The impact of noise that arises from the discrete and random nature of the mechanisms that make up molecular oscillators can be characterized based on the phase computation techniques proposed in this article. The concept of isochrons is the natural choice upon which the phase notion of oscillators can be founded. The isochron-theoretic phase computation methods that we propose can be applied to discrete molecular oscillators of any dimension, provided that the oscillatory behavior observed in discrete-state does not vanish in a continuous-state approximation. Analysis of the full versatility of phase noise phenomena in molecular oscillators will be possible if a proper phase model theory is developed, without resorting to such approximations.     

An oscillator network exhibiting a long-lasting response to an external signal

This study proposes an oscillator network to model the long-lasting responses observed in neural circuits. The responses of the proposed network model are represented by the temporal synchronization of the oscillators. The response duration does not depend on the natural frequency of the oscillators, which allows the responses to last much longer than the oscillation period of the oscillators. We can control the response duration by tuning the connection strengths between the oscillators and the external signal that triggers the responses. It is possible to break and restart the responses regardless of the way in which the oscillators are connected.     

Rapid synchronization through fast threshold modulation

Synchronization properties of locally coupled neural oscillators were investigated analytically and by computer simulation. When coupled in a manner that mimics excitatory chemical synapses, oscillators having more than one time scale (relaxation oscillators) are shown to approach synchrony using mechanisms very different from that of oscillators with a more sinusoidal waveform. The relaxation oscillators make critical use of fast modulations of their thresholds, leading to a rate of synchronization relatively independent of coupling strength within some basin of attraction; this rate is faster for oscillators that have conductance-based features than for neural caricatures such as the FitzHugh-Nagumo equations that lack such features. Computer simulations of one-dimensional arrays show that oscillators in the relaxation regime synchronize much more rapidly than oscillators with the same equations whose parameters have been modulated to yield a more sinusoidal waveform. We present a heuristic explanation of this effect based on properties of the coupling mechanisms that can affect the way the synchronization scales with array length. These results suggest that the emergent synchronization behavior of oscillating neural networks can be dramatically influenced by the intrinsic properties of the network components. Possible implications for perceptual feature binding and attention are discussed.Supported in part by NASA (NGT-50497)Supported in part by NSF (DMS-8901913), and NIMH-47150 Present address and address for correspondence: Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, E25-618, Cambridge, MA 02139, USA     

Interaction of coupled nonlinear oscillators having different intrinsic resting levels

The interaction among coupled oscillators is governed by oscillator properties (intrinsic frequency and amplitude) and coupling mechanisms. This study considers another oscillator property, the intrinsic resting level, and evaluates its role in governing oscillator interactions. The results of computer experiments on a chain of either three or five bidirectionally coupled nonlinear oscillators, suggest that an intrinsic resting level gradient, if present, is one of the factors governing the interaction between coupled oscillators. If there is no intrinsic frequency gradient, then an intrinsic resting level gradient is sufficient to produce many features of interaction among coupled oscillators. If both intrinsic frequency and intrinsic resting level gradients are present, then both of them determine the manner in which the coupled oscillators interact with each other.     

一端受外力的交联振荡器链中的内部传输

本文研究了二类一端受外力的交联振荡器链：最邻近多相位交联振荡器链,以及多重交联振荡器链,讨论了它们产生内部传输,即各振荡器与外力具有相同频率的现象。文中近似相位差方程、指数二分性理论和中心流形理论被应用于系统的渐近近似。研究。本文得到了更符合于实际情况的神经网络CPG链动态特性分析结论。     

The mathematical modeling of entrained biological oscillators

In this paper perturbation methods are used for the mathematical analysis of coupled relaxation oscillators. This study covers entrainment by an external periodic stimulus as well as mutual entrainment of coupled oscillators with different limit cycles. The oscillators are of a type one meets in the modeling of biological oscillators by chemical reactions and electronic circuits. Special attention is given to entrainment different from 1∶1. The results relate to phenomena occurring in physiological experiments, such as the periodic stimulation of neural and cardiac cells, and in the non-regular functioning of organs and organisms, such as the AV-block in the heart.     

Synchronization in a neural network of phase oscillators with the central element

A neural network model is considered which is designed as a system of phase oscillators and contains the central oscillator and peripheral oscillators which interact via the central oscillator. The regime of partial synchronization was studied when current frequencies of the central oscillator and one group of peripheral oscillators are near to each other while current frequencies of other peripheral oscillators are far from being synchronized with the central oscillator. Approximation formulas for the average frequency of the central oscillator in the regime of partial synchronization are derived, and results of computation experiments are presented which characterize the accuracy of the approximation.     

Pulse coupled oscillators and the phase resetting curve

Limit cycle oscillators that are coupled in a pulsatile manner are referred to as pulse coupled oscillators. In these oscillators, the interactions take the form of brief pulses such that the effect of one input dies out before the next is received. A phase resetting curve (PRC) keeps track of how much an input advances or delays the next spike in an oscillatory neuron depending upon where in the cycle the input is applied. PRCs can be used to predict phase locking in networks of pulse coupled oscillators. In some studies of pulse coupled oscillators, a specific form is assumed for the interactions between oscillators, but a more general approach is to formulate the problem assuming a PRC that is generated using a perturbation that approximates the input received in the real biological network. In general, this approach requires that circuit architecture and a specific firing pattern be assumed. This allows the construction of discrete maps from one event to the next. The fixed points of these maps correspond to periodic firing modes and are easier to locate and analyze for stability compared to locating and analyzing periodic modes in the original network directly. Alternatively, maps based on the PRC have been constructed that do not presuppose a firing order. Specific circuits that have been analyzed under the assumption of pulsatile coupling include one to one lockings in a periodically forced oscillator or an oscillator forced at a fixed delay after a threshold event, two bidirectionally coupled oscillators with and without delays, a unidirectional N-ring of oscillators, and N all-to-all networks.     

Engineering entrainment and adaptation in limit cycle systems

Periodic behavior is key to life and is observed in multiple instances and at multiple time scales in our metabolism, our natural environment, and our engineered environment. A natural way of modeling or generating periodic behavior is done by using oscillators, i.e., dynamical systems that exhibit limit cycle behavior. While there is extensive literature on methods to analyze such dynamical systems, much less work has been done on methods to synthesize an oscillator to exhibit some specific desired characteristics. The goal of this article is twofold: (1) to provide a framework for characterizing and designing oscillators and (2) to review how classes of well-known oscillators can be understood and related to this framework. The basis of the framework is to characterize oscillators in terms of their fundamental temporal and spatial behavior and in terms of properties that these two behaviors can be designed to exhibit. This focus on fundamental properties is important because it allows us to systematically compare a large variety of oscillators that might at first sight appear very different from each other. We identify several specifications that are useful for design, such as frequency-locking behavior, phase-locking behavior, and specific output signal shape. We also identify two classes of design methods by which these specifications can be met, namely offline methods and online methods. By relating these specifications to our framework and by presenting several examples of how oscillators have been designed in the literature, this article provides a useful methodology and toolbox for designing oscillators for a wide range of purposes. In particular, the focus on synthesis of limit cycle dynamical systems should be useful both for engineering and for computational modeling of physical or biological phenomena.     

Synchronization of coupled nonidentical genetic oscillators

The study of the collective dynamics of synchronization among genetic oscillators is essential for the understanding of the rhythmic phenomena of living organisms at both molecular and cellular levels. Genetic oscillators are biochemical networks, which can generally be modelled as nonlinear dynamic systems. We show in this paper that many genetic oscillators can be transformed into Lur'e form by exploiting the special structure of biological systems. By using a control theory approach, we provide a theoretical method for analysing the synchronization of coupled nonidentical genetic oscillators. Sufficient conditions for the synchronization as well as the estimation of the bound of the synchronization error are also obtained. To demonstrate the effectiveness of our theoretical results, a population of genetic oscillators based on the Goodwin model are adopted as numerical examples.     

Temporal and spatial oscillations in bacteria

Oscillations pervade biological systems at all scales. In bacteria, oscillations control fundamental processes, including gene expression, cell cycle progression, cell division, DNA segregation and cell polarity. Oscillations are generated by biochemical oscillators that incorporate the periodic variation in a parameter over time to generate an oscillatory output. Temporal oscillators incorporate the periodic accumulation or activity of a protein to drive temporal cycles such as the cell and circadian cycles. Spatial oscillators incorporate the periodic variation in the localization of a protein to define subcellular positions such as the site of cell division and the localization of DNA. In this Review, we focus on the mechanisms of oscillators and discuss the design principles of temporal and spatial oscillatory systems.     

Sensitivity of basic oscillatory mechanisms for pattern generation and detection

 Intrinsic oscillators are the basic building blocks of central pattern generators, which model the neural circuits underlying pattern generation. Coupled intrinsic oscillators have been shown to synchronize their oscillatory frequencies and to maintain a characteristic pattern of phase relationships. Recently, oscillatory neurons have also been identified in sensory systems that are involved in decoding phase information. It has been hypothesized that the neural oscillators are part of neural circuits that implement phase-locked loops (PLLs), which are well-known electrical circuits for temporal decoding. Thus, there is evidence that intrinsic neural oscillators participate in both temporal pattern generation and temporal pattern decoding. The present paper investigates the dynamics underlying forced oscillators and forced PLLs, using a single framework, and compares both their stability and sensitivity characteristics. In particular, a method for assessing whether an oscillatory neuron is forced directly or indirectly, as part of a PLL, is developed and applied to published data. Received: 17 July 2000 / Accepted in revised form: 14 March 2001     

Modeling synthetic gene oscillators

Genetic oscillators have long held the fascination of experimental and theoretical synthetic biologists alike. From an experimental standpoint, the creation of synthetic gene oscillators represents a yardstick by which our ability to engineer synthetic gene circuits can be measured. For theorists, synthetic gene oscillators are a playground in which to test mathematical models for the dynamics of gene regulation. Historically, mathematical models of synthetic gene circuits have varied greatly. Often, the differences are determined by the level of biological detail included within each model, or which approximation scheme is used. In this review, we examine, in detail, how mathematical models of synthetic gene oscillators are derived and the biological processes that affect the dynamics of gene regulation.     

Characteristics of Food-Entrained Orcadian Rhythms in Rats During Long-Term Exposure to Constant Light

Rats possess a system of circadian oscillators that permit entrainment of circadian activity rhythms independently to 24 hr cycles of light-dark and food access. The nature of interactions between food- and light-entrainable oscillators was examined by observing the generation and persistence of food-entrained circadian rhythms in rats whose light-entrainable rhythms were eliminated by long-term exposure to constant light. Most of these rats showed a delayed generation of food-entrained rhythms and only one of eight animals showed persistence of food associated rhythms during a 4-day food deprivation test. Rats whose light-entrainable rhythms are eliminated by suprachiasmatic nuclei ablation show, in contrast, normal generation and persistence of food-entrained rhythms. The results suggested a disruptive influence of constant light on non-photic entrainment, possibly due to coupling forces between damped light-entrainable oscillators and the food-entrainable oscillators.     

Characteristics of Food-Entrained Orcadian Rhythms in Rats During Long-Term Exposure to Constant Light

Rats possess a system of circadian oscillators that permit entrainment of circadian activity rhythms independently to 24 hr cycles of light-dark and food access. The nature of interactions between food- and light-entrainable oscillators was examined by observing the generation and persistence of food-entrained circadian rhythms in rats whose light-entrainable rhythms were eliminated by long-term exposure to constant light. Most of these rats showed a delayed generation of food-entrained rhythms and only one of eight animals showed persistence of food associated rhythms during a 4-day food deprivation test. Rats whose light-entrainable rhythms are eliminated by suprachiasmatic nuclei ablation show, in contrast, normal generation and persistence of food-entrained rhythms. The results suggested a disruptive influence of constant light on non-photic entrainment, possibly due to coupling forces between damped light-entrainable oscillators and the food-entrainable oscillators.     

Transitory behaviors in diffusively coupled nonlinear oscillators

We study collective behaviors of diffusively coupled oscillators which exhibit out-of-phase synchrony for the case of weakly interacting two oscillators. In large populations of such oscillators interacting via one-dimensionally nearest neighbor couplings, there appear various collective behaviors depending on the coupling strength, regardless of the number of oscillators. Among others, we focus on an intermittent behavior consisting of the all-synchronized state, a weakly chaotic state and some sorts of metachronal waves. Here, a metachronal wave means a wave with orderly phase shifts of oscillations. Such phase shifts are produced by the dephasing interaction which produces the out-of-phase synchronized states in two coupled oscillators. We also show that the abovementioned intermittent behavior can be interpreted as in-out intermittency where two saddles on an invariant subspace, the all-synchronized state and one of the metachronal waves play an important role.     

Synchronization-induced rhythmicity of circadian oscillators in the suprachiasmatic nucleus

The suprachiasmatic nuclei (SCN) host a robust, self-sustained circadian pacemaker that coordinates physiological rhythms with the daily changes in the environment. Neuronal clocks within the SCN form a heterogeneous network that must synchronize to maintain timekeeping activity. Coherent circadian output of the SCN tissue is established by intercellular signaling factors, such as vasointestinal polypeptide. It was recently shown that besides coordinating cells, the synchronization factors play a crucial role in the sustenance of intrinsic cellular rhythmicity. Disruption of intercellular signaling abolishes sustained rhythmicity in a majority of neurons and desynchronizes the remaining rhythmic neurons. Based on these observations, the authors propose a model for the synchronization of circadian oscillators that combines intracellular and intercellular dynamics at the single-cell level. The model is a heterogeneous network of circadian neuronal oscillators where individual oscillators are damped rather than self-sustained. The authors simulated different experimental conditions and found that: (1) in normal, constant conditions, coupled circadian oscillators quickly synchronize and produce a coherent output; (2) in large populations, such oscillators either synchronize or gradually lose rhythmicity, but do not run out of phase, demonstrating that rhythmicity and synchrony are codependent; (3) the number of oscillators and connectivity are important for these synchronization properties; (4) slow oscillators have a higher impact on the period in mixed populations; and (5) coupled circadian oscillators can be efficiently entrained by light–dark cycles. Based on these results, it is predicted that: (1) a majority of SCN neurons needs periodic synchronization signal to be rhythmic; (2) a small number of neurons or a low connectivity results in desynchrony; and (3) amplitudes and phases of neurons are negatively correlated. The authors conclude that to understand the orchestration of timekeeping in the SCN, intracellular circadian clocks cannot be isolated from their intercellular communication components.