Nonlinear PI controllers for continuous bioreactors using population balance models

Continuous bioreactors are critical unit operations in many biological systems, but the unique modeling is very complicated due to the underlying biochemical reactions and the distributed properties of cell population. The scope of this paper considers a popular modeling method for microbial cell cultures by population balance equation models, and the control objective aims to attenuate undesired oscillations appeared in the nonlinear distributed parameter system. In view of pursuing the popular/practical control configuration and the lack of on-line sensors, an approximate technique by exploiting the “pseudo-steady-state” approach constructs a simple nonlinear control model. Through an off-line estimation mechanism for the system having self-oscillating behavior, two kinds of nonlinear PI configurations are developed. Closed-loop simulation results have confirmed that the regulatory and tracking performances of the control system proposed are good.     

Birfurcation theory applied to a simple model of a biochemical oscillator

Some results are presented relating to the question whether self-sustained oscillations are possible in a sequence of biochemical reactions with end- point inhibition. The model used has a single nonlinear ordinary differential equation coupled to a set of linear equations, with all coefficients in the linear terms equal. The explicit algebraic form of the Hopf-Friedrich bifurcation theory is used to show that when the number of coupled equations is large enough this model has a stable periodic solution when the equilibrium point of the equations has just become unstable.     

A case of apparent active transport. I

When an experimenter determines the “internal concentration” of a substance in a cell (or cell suspension) it is in general the average concentration (quantity of substance divided by cell volume or volume of cell water) which is measured. When this concentration is less than that in the ambient medium but there is either no flow into the cell or flow from the cell into the medium, then (under the usually tacit assumption of spatial uniformity in the cell) the possibility of active transport is considered. The possibility that lack of spatial uniformity could lead to apparent active transport was early proposed by A. Bierman and later examined quantitatively by N. Rashevsky for a special case. In this paper spherical cells are treated but under quite general conditions regarding the metabolic aspects of the problem. It is shown that apparent active transport can result for a metabolite which is a reactant in one set of reactions and a product in another provided the sites of these sets of reactions are spatially separated in the cell.     

Fast subsystem bifurcations in strongly coupled heterogeneous collections of excitable cells

A continuum model for a heterogeneous collection of excitable cells electrically coupled through gap junctions is introduced and analysed using spatial averaging, asymptotic and numerical techniques. Heterogeneity is modelled by imposing a spatial dependence on parameters which define the single cell model and a diffusion term is used to model the gap junction coupling. For different parameter values, single cell models can exhibit bursting, beating and a myriad of other complex oscillations. A procedure for finding asymptotic estimates of the thresholds between these (synchronous) behaviors in the cellular aggregates is described for the heterogeneous case where the coupling strength is strong. This procedure is tested on a model of a strongly coupled heterogeneous collection of bursting and beating cells. Since isolated pancreatic β-cells have been observed to both burst and beat, this test of the spatial averaging techniques provides a possible explanation to measured discrepancies between the electrical activities of isolated β-cells and coupled collections (islets) of β-cells. This work was supported by the National Science Foundation Grant DMS-97-04-966.     

A framework for whole-cell mathematical modeling

The default framework for modeling biochemical processes is that of a constant-volume reactor operating under steady-state conditions. This is satisfactory for many applications, but not for modeling growth and division of cells. In this study, a whole-cell modeling framework is developed that assumes expanding volumes and a cell-division cycle. A spherical newborn cell is designed to grow in volume during the growth phase of the cycle. After 80% of the cycle period, the cell begins to divide by constricting about its equator, ultimately affording two spherical cells with total volume equal to twice that of the original. The cell is partitioned into two regions or volumes, namely the cytoplasm (Vcyt) and membrane (Vmem), with molecular components present in each. Both volumes change during the cell cycle; Vcyt changes in response to osmotic pressure changes as nutrients enter the cell from the environment, while Vmem changes in response to this osmotic pressure effect such that membrane thickness remains invariant. The two volumes change at different rates; in most cases, this imposes periodic or oscillatory behavior on all components within the cell. Since the framework itself rather than a particular set of reactions and components is responsible for this behavior, it should be possible to model various biochemical processes within it, affording stable periodic solutions without requiring that the biochemical process itself generates oscillations as an inherent feature. Given that these processes naturally occur in growing and dividing cells, it is reasonable to conclude that the dynamics of component concentrations will be more realistic than when modeled within constant-volume and/or steady-state frameworks. This approach is illustrated using a symbolic whole cell model.     

Kinetics of a multistate enzyme in a large oscillating field.

A simple, general, and efficient method for calculating the response of a set of coupled first-order (or pseudo-first-order) chemical reactions to an arbitrarily large periodic field is described. The method is applied to a four-state membrane transport enzyme that is electroconformationally coupled to an ac field, i.e., the enzyme has electric charges that move concomitantly with a conformational transition. The calculation is done both for enzymes in a planar membrane and for enzymes in the spherical membrane of a cell or vesicle in suspension.     

Memory switches in chemical reaction space

Just as complex electronic circuits are built from simple Boolean gates, diverse biological functions, including signal transduction, differentiation, and stress response, frequently use biochemical switches as a functional module. A relatively small number of such switches have been described in the literature, and these exhibit considerable diversity in chemical topology. We asked if biochemical switches are indeed rare and if there are common chemical motifs and family relationships among such switches. We performed a systematic exploration of chemical reaction space by generating all possible stoichiometrically valid chemical configurations up to 3 molecules and 6 reactions and up to 4 molecules and 3 reactions. We used Monte Carlo sampling of parameter space for each such configuration to generate specific models and checked each model for switching properties. We found nearly 4,500 reaction topologies, or about 10% of our tested configurations, that demonstrate switching behavior. Commonly accepted topological features such as feedback were poor predictors of bistability, and we identified new reaction motifs that were likely to be found in switches. Furthermore, the discovered switches were related in that most of the larger configurations were derived from smaller ones by addition of one or more reactions. To explore even larger configurations, we developed two tools: the “bistabilizer,” which converts almost-bistable systems into bistable ones, and frequent motif mining, which helps rank untested configurations. Both of these tools increased the coverage of our library of bistable systems. Thus, our systematic exploration of chemical reaction space has produced a valuable resource for investigating the key signaling motif of bistability.     

Neural mechanisms potentially contributing to the intersegmental phase lag in lamprey

Most previous models of the spinal central pattern generator (CPG) underlying locomotion in the lamprey have relied on reciprocal inhibition between the left and right side for oscillations to be produced. Here, we have explored the consequences of using self-oscillatory hemisegments. Within a single hemisegment, the oscillations are produced by a network of recurrently coupled excitatory neurons (E neurons) that by themselves are not oscillatory but when coupled together through N-methyl-d-aspartate (NMDA) and α-amino-3-hydroxy-5-methyl-4-isoxazolepropionicacid (AMPA)/kainate transmission can produce oscillations. The bursting mechanism relies on intracellular accumulation of calcium that activates Ca²⁺-dependent K⁺. The intracellular calcium is modeled by two different intracellular calcium pools, one of which represents the calcium entry following the action potential, Ca_AP pool, and the other represents the calcium inflow through the NMDA channels, Ca_NMDA pool. The Ca²⁺-dependent K⁺ activated by these two calcium pools are referred to as K_CaAP and K_CaNMDA, respectively, and their relative conductances are modulated and increase with the background activation of the network. When changing the background stimulation, the bursting activity in this network can be made to cover a frequency range of 0.5–5.5 Hz with reasonable burst proportions if the adaptation is modulated with the activity. When a chain of such hemisegments are coupled together, a phase lag along the chain can be produced. The local oscillations as well as the phase lag is dependent on the axonal conduction delay as well as the types of excitatory coupling that are assumed, i.e. AMPA/kainate and/or NMDA. When the caudal excitatory projections are extended further than the rostral ones, and assumed to be of approximately equal strength, this kind of network is capable of reproducing several experimental observations such as those occurring during strychnine blockade of the left-right reciprocal inhibition. Addition of reciprocally coupled inhibitory neurons in such a network gives rise to antiphasic activity between the left and right side, but not necessarily to any change of the frequency if the burst proportion of the hemisegmental bursts is well below 50%. Prolongation of the C neuron projection in the rostrocaudal direction restricts the phase lag produced by only the excitatory hemisegmental network by locking together the interburst intervals at different levels of the spinal cord. Received: 29 September 1998 Accepted in Revised Form: 26 March 1999     

Oscillating reactions in open systems

The probable existence of oscillating chemical reactions has been attracting some interest in recent years for their possible role in explaining certain biological phenomena. Perhaps the simplest model of oscillating reactions is that of Lotka (1910), which consists of a chain of autocatalytic reactions. Two “reactor systems” in which such a chain of reactions could take place are considered in this work and are called homogeneous and compartmental models, respectively. The differential equations governing the temporal behavior of the reacting species are solved on an analog computer, and the conditions under which sustained oscillations occur are obtained and discussed. Comparisons of the solution obtained in the two models are discussed.     

Collective oscillations in developing cells: insights from simple systems

From hormonal secretion to gene expression, multicellular dynamics are rich in oscillatory regulation. When organized in space and time, periodic cell-cell signaling can give rise to long-range coordination of gene expression and cell movement in tissues. Lack of synchrony of the oscillations on the other hand can serve as a source of initial divergence of cell fate in stem cells. How properties of individual cells can account for collective rhythmic behaviors at the tissue level remains elusive in most cases. Recently, studies in chemical reactions, synthetic gene circuits, yeast and social amoeba Dictyostelium have greatly enhanced our view of collective oscillations in cell populations. From these relatively simple systems, a unified view of how excitable and oscillatory regulations could be tuned and coupled to give rise to tissue-level oscillations is emerging. The review focuses on recent progress in cyclic adenosine monophosphate oscillations in Dictyostelium and highlights similarities and differences with other systems. We will see that the autonomy of single-cell level oscillations and different ways in which cells are coupled influence how group-level information can be encoded in collective oscillations.     

A 3D Motile Rod-Shaped Monotrichous Bacterial Model

We introduce a 3D model for a motile rod-shaped bacterial cell with a single polar flagellum which is based on the configuration of a monotrichous type of bacteria such as Pseudomonas aeruginosa. The structure of the model bacterial cell consists of a cylindrical body together with the flagellar forces produced by the rotation of a helical flagellum. The rod-shaped cell body is composed of a set of immersed boundary points and elastic links. The helical flagellum is assumed to be rigid and modeled as a set of discrete points along the helical flagellum and flagellar hook. A set of flagellar forces are applied along this helical curve as the flagellum rotates. An additional set of torque balance forces are applied on the cell body to induce counter-rotation of the body and provide torque balance. The three-dimensional Navier–Stokes equations for incompressible fluid are used to describe the fluid dynamics of the coupled fluid–microorganism system using Peskin’s immersed boundary method. A study of numerical convergence is presented along with simulations of a single swimming cell, the hydrodynamic interaction of two cells, and the interaction of a small cluster of cells.     

Dynamics and bifurcations of two coupled neural oscillators with different connection types

In this paper we present an oscillatory neural network composed of two coupled neural oscillators of the Wilson-Cowan type. Each of the oscillators describes the dynamics of average activities of excitatory and inhibitory populations of neurons. The network serves as a model for several possible network architectures. We study how the type and the strength of the connections between the oscillators affect the dynamics of the neural network. We investigate, separately from each other, four possible connection types (excitatory→excitatory, excitatory→inhibitory, inhibitory→excitatory, and inhibitory→inhibitory) and compute the corresponding bifurcation diagrams. In case of weak connections (small strength), the connection of populations of different types lead to periodicin-phase oscillations, while the connection of populations of the same type lead to periodicanti-phase oscillations. For intermediate connection strengths, the networks can enter quasiperiodic or chaotic regimes, and can also exhibit multistability. More generally, our analysis highlights the great diversity of the response of neural networks to a change of the connection strength, for different connection architectures. In the discussion, we address in particular the problem of information coding in the brain using quasiperiodic and chaotic oscillations. In modeling low levels of information processing, we propose that feature binding should be sought as a temporally coherent phase-locking of neural activity. This phase-locking is provided by one or more interacting convergent zones and does not require a central “top level” subcortical circuit (e.g. the septo-hippocampal system). We build a two layer model to show that although the application of a complex stimulus usually leads to different convergent zones with high frequency oscillations, it is nevertheless possible to synchronize these oscillations at a lower frequency level using envelope oscillations. This is interpreted as a feature binding of a complex stimulus.     

Mathematical theory of biological periodicities II. Effect of active transport

A previous study (Bull. Math. Biophysics,30, 735–749) is generalized to the case of active transport, which acts together in general with ordinary diffusion. The basic results obtained are the same except for an additional important conclusion. In principle it is possible to obtain sustained oscillations even when the secretions of the different glands do not affect the rates of formation or decay of each other at all, but affect the “molecular pumps,” which are responsible for the active transports in various parts of the system. Thus no biochemical interactions need necessarily take place between then-metabolites to make sustained oscillations possible in principle. This is an addition to a previous finding (Bull. Math. Biophysics,30, 751–760) that due to effects of the secreted hormones on target organs, non-linearity of biochemical interactions is not needed for production of sustained oscillations.     

Electric potential in three-dimensional electrically syncytial tissues

The problem of calculating the potential induced in an electrical syncytium by a point source of current is studied. The interiors of the many interconnected cells are treated as one continuum with resistivity ρ _i . The interdigitated extracellular space is treated as a second continuum of resistivity ρ _e , occupying the same overall volume, coupled to the first via the resistanceR _m and capacitanceC _m of the cell membranes. The intra- and extracellular potentials are then solutions to a pair of coupled partial differential equations. The equations are uncoupled, yielding a cable equation for the transmembrane potential and a Poisson equation for a second auxiliary potential. For an unbounded syncytium the potential for a step function source is obtained in terms of error functions. For a spherical syncytium of radiusa, bounded by a membrane with surface resistanceR _a, and capacitanceC _a, expansions are obtained in spherical harmonics and spherical Bessel functions. For ɛ=ρ _{ia/R a} and β=ρ _i /ρ _e small, an asymptotic expansion of the potential is developed. The results are compared to earlier results for a spherical cell as well as to microelectrode measurements of the lens of the eye.     

Deep modulation of a high-current relativistic electron beam in a system of coupled cavities

The excitation of inphase (0-type) and antiphase (π-type) electromagnetic oscillations by a relativistic electron beam in a system of identical coupled cavities is considered. It is shown that, in the case of excitation of antiphase oscillations, instability develops in a shorter system of cavities than it does when inphase oscillations are excited. In the nonlinear stage of the excitation of antiphase oscillations in a system of coupled cavities, a virtual cathode forms that breaks the initially uniform relativistic electron beam into a periodic sequence of spatially separated short bunches.     

Hysteresis phenomena between periodic and stationary solutions in a model of pacemaker and nonpacemaker coupled cardiac cells

We were interested in investigating the behaviour of a cardiac electrophysiological model including coupled pacemaker (PM) and nonpacemaker (NPM) cells. To this aim, a modified version of the model of Van Capelle and Durrer was used. First, few discrete values were assigned to coupling resistance (CR) and respective cell sizes and numerical simulations versus time showed three possible kinds of response pattern: sustained rhythmic activity, subthreshold oscillations, and complete inhibition. Then, after setting a fixed value to PM cell size, we undertake a thorough study of the system by using bifurcation-continuation techniques and CR was chosen as the continuation parameter. On the maximum action potential — CR plane representation, we could describe five behavioural zones: complete inhibition, coexistence of complete inhibition and NPM large oscillations, NPM large oscillations, coexistence of NPM large oscillations and subthreshold oscillations, subthreshold oscillations. Within the zones of qualitatively different coexisting solutions, a detailed exploration clearly demonstrated the presence of hysteresis cycles. Indeed, the status of the system depended on its immediate previous story within narrow ranges of CR values. Such a coexistence of stable solutions for identical values of CR may suggest an explanation of the intermittant activity elicited from abnormal ectopic foci observed in certain ventricular rhythm disturbances. In addition, a Hopf bifurcation point, from which emerged stationary and periodic solutions, was followed on the PM cell size — CR plane and from this representation we could deduce that the smaller the PM cell, the higher the CR must be for the PM cell to escape from the NPM cell inhibition.     

Temporal variability in a system of coupled mitotic timers

 Cell proliferation is considered a periodic process governed by a relaxation timer. The collective behavior of a system composed of three identical relaxation oscillators in numerically studied under the condition that diffusion of the slow mode dominates. We demonstrate: (1) the existence of three periodic regimes with different periods and phase relations and an unsymmetrical, stable steady-state (USSS); (2) the coexistence of in-phase oscillations and USSS; (3) the coexistence of periodic attractors; and (4) the emergence of a two-loop limit cycle coexisting with both in-phase oscillations and a stable steady-state. The qualitative reasons for such a diversitiy and its possible role in the generation of cell cycle variability are discussed. Received: 18 March 1992/Accepted in revised form: 16 April 1994     

Whole-cell modeling framework in which biochemical dynamics impact aspects of cellular geometry

A mathematical framework for modeling biological cells from a physicochemical perspective is described. Cells modeled within this framework consist of at least two regions, including a cytosolic volume encapsulated by a membrane surface. The cytosol is viewed as a well-stirred chemical reactor capable of changing volume while the membrane is assumed to be an oriented 2-D surface capable of changing surface area. Two physical properties of the cell, namely volume and surface area, are determined by (and determine) the reaction dynamics generated from a set of chemical reactions designed to be occurring in the cell. This framework allows the modeling of complex cellular behaviors, including self-replication. This capability is illustrated by constructing two self-replicating prototypical whole-cell models. One protocell was designed to be of minimal complexity; the other to incorporate a previously reported well-known mechanism of the eukaryotic cell cycle. In both cases, self-replicative behavior was achieved by seeking stable physically possible oscillations in concentrations and surface-to-volume ratio, and by synchronizing the period of such oscillations to the doubling of cytosolic volume and membrane surface area. Rather than being enforced externally or artificially, growth and division occur naturally as a consequence of the assumed chemical mechanism operating within the framework.     

Shaping bursting by electrical coupling and noise

Gap-junctional coupling is an important way of communication between neurons and other excitable cells. Strong electrical coupling synchronizes activity across cell ensembles. Surprisingly, in the presence of noise synchronous oscillations generated by an electrically coupled network may differ qualitatively from the oscillations produced by uncoupled individual cells forming the network. A prominent example of such behavior is the synchronized bursting in islets of Langerhans formed by pancreatic β-cells, which in isolation are known to exhibit irregular spiking (Sherman and Rinzel, Biophys J 54:411–425, 1988; Sherman and Rinzel, Biophys J 59:547–559, 1991). At the heart of this intriguing phenomenon lies denoising, a remarkable ability of electrical coupling to diminish the effects of noise acting on individual cells. In this paper, building on an earlier analysis of denoising in networks of integrate-and-fire neurons (Medvedev, Neural Comput 21 (11):3057–3078, 2009) and our recent study of spontaneous activity in a closely related model of the Locus Coeruleus network (Medvedev and Zhuravytska, The geometry of spontaneous spiking in neuronal networks, submitted, 2012), we derive quantitative estimates characterizing denoising in electrically coupled networks of conductance-based models of square wave bursting cells. Our analysis reveals the interplay of the intrinsic properties of the individual cells and network topology and their respective contributions to this important effect. In particular, we show that networks on graphs with large algebraic connectivity (Fiedler, Czech Math J 23(98):298–305, 1973) or small total effective resistance (Bollobas, Modern graph theory, Graduate Texts in Mathematics, vol. 184, Springer, New York, 1998) are better equipped for implementing denoising. As a by-product of the analysis of denoising, we analytically estimate the rate with which trajectories converge to the synchronization subspace and the stability of the latter to random perturbations. These estimates reveal the role of the network topology in synchronization. The analysis is complemented by numerical simulations of electrically coupled conductance-based networks. Taken together, these results explain the mechanisms underlying synchronization and denoising in an important class of biological models.