Link between truncated fractals and coupled oscillators in biological systems

This article aims at providing a new theoretical insight into the fundamental question of the origin of truncated fractals in biological systems. It is well known that fractal geometry is one of the characteristics of living organisms. However, contrary to mathematical fractals which are self-similar at all scales, the biological fractals are truncated, i.e. their self-similarity extends at most over a few orders of magnitude of separation. We show that nonlinear coupled oscillators, modeling one of the basic features of biological systems, may generate truncated fractals: a truncated fractal pattern for basin boundaries appears in a simple mathematical model of two coupled nonlinear oscillators with weak dissipation. This fractal pattern can be considered as a particular hidden fractal property. At the level of sufficiently fine precision technique the truncated fractality acts as a simple structure, leading to predictability, but at a lower level of precision it is effectively fractal, limiting the predictability of the long-term behavior of biological systems. We point out to the generic nature of our result.     

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.     

Modelling periodic oscillation in gene regulatory networks by cyclic feedback systems

In this paper, we develop a new methodology to analyze and design periodic oscillators of biological networks, in particular gene regulatory networks with multiple genes, proteins and time delays, by using negative cyclic feedback systems. We show that negative cyclic feedback networks have no stable equilibria but stable periodic orbits when certain conditions are satisfied. Specifically, we first prove the basic properties of the biological networks composed of cyclic feedback loops, and then extend our results to general cyclic feedback network with less restriction, thereby making our theoretical analysis and design of oscillators easy to implement, even for large-scale systems. Finally, we use one circadian network formed by a period protein (PER) and per mRNA, and one biologically plausible synthetic gene network, to demonstrate the theoretical results. Since there is less restriction on the network structure, the results of this paper can be expected to apply to a wide variety of areas on modelling, analyzing and designing of biological systems.     

The Impact of Time Delays on the Robustness of Biological Oscillators and the Effect of Bifurcations on the Inverse Problem

Differential equation models for biological oscillators are often not robust with respect to parameter variations. They are based on chemical reaction kinetics, and solutions typically converge to a fixed point. This behavior is in contrast to real biological oscillators, which work reliably under varying conditions. Moreover, it complicates network inference from time series data. This paper investigates differential equation models for biological oscillators from two perspectives. First, we investigate the effect of time delays on the robustness of these oscillator models. In particular, we provide sufficient conditions for a time delay to cause oscillations by destabilizing a fixed point in two-dimensional systems. Moreover, we show that the inclusion of a time delay also stabilizes oscillating behavior in this way in larger networks. The second part focuses on the inverse problem of estimating model parameters from time series data. Bifurcations are related to nonsmoothness and multiple local minima of the objective function.     

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     

Transient resetting: a novel mechanism for synchrony and its biological examples

The study of synchronization in biological systems is essential for the understanding of the rhythmic phenomena of living organisms at both molecular and cellular levels. In this paper, by using simple dynamical systems theory, we present a novel mechanism, named transient resetting, for the synchronization of uncoupled biological oscillators with stimuli. This mechanism not only can unify and extend many existing results on (deterministic and stochastic) stimulus-induced synchrony, but also may actually play an important role in biological rhythms. We argue that transient resetting is a possible mechanism for the synchronization in many biological organisms, which might also be further used in the medical therapy of rhythmic disorders. Examples of the synchronization of neural and circadian oscillators as well as a chaotic neuron model are presented to verify our hypothesis.     

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.     

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.     

Autogenous Formation of Spiral Waves by Coupled Chaotic Attractors

When large arrays of strange attractors are coupled diffusively through one of the variables, chaotic systems become periodic and form large archimedean spirals or concentric bands. This observation may have importance for many applications in the field of deterministic chaos and seems particularly relevant to the question of the formal temporal structure of the biological clock in metazoan organisms. In particular, although individual cellular oscillators, as manifested in the cell cycle, may have deep basins of attraction and appear to be more or less periodic, we suggest that cells oscillate with chaotic dynamics in the ultradian domain. Only when large aggregates of these cells are tightly coupled can a precise circadian clock emerge. For changing coupling strength or parameter values, period increase occurs through quantal or integral multiple increments of the fundamental. All calculations were implemented on a 386AT, using a Mercury MC6400 floating point processor.     

Autogenous Formation of Spiral Waves by Coupled Chaotic Attractors

When large arrays of strange attractors are coupled diffusively through one of the variables, chaotic systems become periodic and form large archimedean spirals or concentric bands. This observation may have importance for many applications in the field of deterministic chaos and seems particularly relevant to the question of the formal temporal structure of the biological clock in metazoan organisms. In particular, although individual cellular oscillators, as manifested in the cell cycle, may have deep basins of attraction and appear to be more or less periodic, we suggest that cells oscillate with chaotic dynamics in the ultradian domain. Only when large aggregates of these cells are tightly coupled can a precise circadian clock emerge. For changing coupling strength or parameter values, period increase occurs through quantal or integral multiple increments of the fundamental. All calculations were implemented on a 386AT, using a Mercury MC6400 floating point processor.     

Integer-ratio entrainment in mutually-coupled non-linear oscillators

In recent years entrainment conditions for mutually-coupled, non-linear oscillators have been studied for a number of biomedical applications and using different analytical methods. The emphasis has been on entrainment between oscillators of similar frequencies. In this paper entrainment conditions are considered for oscillators having intrinsic frequency ratio of about 3:1 and which exhibit integer-ratio synchronization. This condition has application in the study of blood pressure regulation particularly in relation to respiratory effects. Coupling has been observed between respiration and the vasomotor activity associated with the baroreceptor reflex, which has an intrinsic 0·1 Hz component. At normal breathing frequencies the frequency ratio of the respiratory and vasomotor components is in the region of 3:1 hence integer-ratio entrainment is feasible. Using a coupled van der Pol model the entrainment zones for different parameters are described. The parameters considered allow for varying amounts of output, output rate and delay in the intercoupling structure. In particular, it is shown that the entrainment regions are strongly affected by the nature of the coupling. Within these zones the harmonic balance method is developed to provide an analytical solution to frequency, amplitudes and phase conditions. The assumed solution is valid only for certain regions of the stability zones and the reason for this is demonstrated and the means whereby this can be overcome are indicated.     

谐波分析在遗传学中的应用探讨

本文以油菜籽粒蛋白质和油分的积累过程为例,探讨了谐波分析描述生物指标量变过程的可能性。通过分解出指标动态变化过程中的遗传分量,了解特定指标表现型过程的遗传规律。初步认为油菜籽粒蛋白质和油份积累的过程中,有两个显著优势的简谐波,并表现一定的遗传特点。表明谐波分析对于揭示生物指标表现型过程的遗传规律,将有一定的实际意义和提供了一种新的探索途径。     

Robust Concentration and Frequency Control in Oscillatory Homeostats

Homeostatic and adaptive control mechanisms are essential for keeping organisms structurally and functionally stable. Integral feedback is a control theoretic concept which has long been known to keep a controlled variable robustly (i.e. perturbation-independent) at a given set-point by feeding the integrated error back into the process that generates . The classical concept of homeostasis as robust regulation within narrow limits is often considered as unsatisfactory and even incompatible with many biological systems which show sustained oscillations, such as circadian rhythms and oscillatory calcium signaling. Nevertheless, there are many similarities between the biological processes which participate in oscillatory mechanisms and classical homeostatic (non-oscillatory) mechanisms. We have investigated whether biological oscillators can show robust homeostatic and adaptive behaviors, and this paper is an attempt to extend the homeostatic concept to include oscillatory conditions. Based on our previously published kinetic conditions on how to generate biochemical models with robust homeostasis we found two properties, which appear to be of general interest concerning oscillatory and homeostatic controlled biological systems. The first one is the ability of these oscillators (“oscillatory homeostats”) to keep the average level of a controlled variable at a defined set-point by involving compensatory changes in frequency and/or amplitude. The second property is the ability to keep the period/frequency of the oscillator tuned within a certain well-defined range. In this paper we highlight mechanisms that lead to these two properties. The biological applications of these findings are discussed using three examples, the homeostatic aspects during oscillatory calcium and p53 signaling, and the involvement of circadian rhythms in homeostatic regulation.     

Stability analysis of an artificial biomolecular oscillator with non-cooperative regulatory interactions

Oscillators are essential to fuel autonomous behaviours in molecular systems. Artificial oscillators built with programmable biological molecules such as DNA and RNA are generally easy to build and tune, and can serve as timers for biological computation and regulation. We describe a new artificial nucleic acid biochemical reaction network, and we demonstrate its capacity to exhibit oscillatory solutions. This network can be built in vitro using nucleic acids and three bacteriophage enzymes, and has the potential to be implemented in cells. Numerical simulations suggest that oscillations occur in a realistic range of reaction rates and concentrations.     

Modelling periodic oscillation of biological systems with multiple timescale networks

In this paper, we aim to develop a new methodology to model and design periodic oscillators of biological networks, in particular gene regulatory networks with multiple genes, proteins and time delays, by using multiple timescale networks (MTN). Fast reactions constitute a positive feedback-loop network (PFN), while slow reactions consist of a cyclic feedback-loop network (CFN), in MTN. Multiple timescales are exploited to simplify models according to singular perturbation theory. We show that a MTN has no stable equilibrium but stable periodic orbits when certain conditions are satisfied. Specifically, we first prove the basic properties of MTNs with only one PFN, and then generalise the result to MTNs with multiple PFNs. Finally, we design a biologically plausible gene regulatory network by the cI and Lac genes, to demonstrate the theoretical results. Since there is less restriction on the network structure of a MTN, it can be expected to apply to a wide variety of areas on the modelling, analysing and designing of biological systems.     

Nonlinear dynamics and bifurcations of a coupled oscillator model for calling behavior of Japanese tree frogs (Hyla japonica)

Synchronization has been observed in various systems, including living beings. In a previous study, we reported a new phenomenon with antisynchronization in calling behavior of two interacting Japanese tree frogs. In this paper, we theoretically analyse nonlinear dynamics in a system of three coupled oscillators, which models three interacting frogs, where the oscillators of each pair have the property of antisynchronization; in particular, we perform bifurcation analysis and Lyapunov function analysis.     

A group-theoretic approach to rings of coupled biological oscillators

In this paper, a general approach for studying rings of coupled biological oscillators is presented. This approach, which is group-theoretic in nature, is based on the finding that symmetric ring networks of coupled non-linear oscillators possess generic patterns of phaselocked oscillations. The associated analysis is independent of the mathematical details of the oscillators' intrinsic dynamics and the nature of the coupling between them. The present approach thus provides a framework for distinguishing universal dynamic behaviour from that which depends upon further structure. In this study, the typical oscillation patterns for the general case of a symmetric ring of n coupled non-linear oscillators and the specific cases of three- and five-membered rings are considered. Transitions between different patterns of activity are modelled as symmetry-breaking bifurcations. The effects of one-way coupling in a ring network and the differences between discrete and continuous systems are discussed. The theoretical predictions for symmetric ring networks are compared with physiological observations and numerical simulations. This comparison is limited to two examples: neuronal networks and mammalian intestinal activity. The implications of the present approach for the development of physiologically meaningful oscillator models are discussed.     

Nonlinear dynamics and bifurcations of a coupled oscillator model for calling behavior of Japanese tree frogs (Hyla japonica)

Synchronization has been observed in various systems, including living beings. In a previous study, we reported a new phenomenon with antisynchronization in calling behavior of two interacting Japanese tree frogs. In this paper, we theoretically analyse nonlinear dynamics in a system of three coupled oscillators, which models three interacting frogs, where the oscillators of each pair have the property of antisynchronization; in particular, we perform bifurcation analysis and Lyapunov function analysis.