An investigation of the sources of nonuniqueness in deterministic identifiability

While a choice of techniques exists for checking the deterministic (structural) identifiability of a specific linear, time-invariant model from a specific experiment, and some progress has been made towards topological criteria for identifiability, no method at present available allows quick and reliable checking of a range of models for globally unique identifiability from a range of experiments. Even individual cases are sometimes difficult and tedious to check. The reasons are examined by exhaustive case-by-case analysis of single-input experiments on all possible three-compartment models. All patterns of loss to the environment are covered, and all combinations of observed compartments. Catalogues of minimal observation sets for globally unique identifiability, and of nonuniquely identifiable cases, are presented. The structural causes of nonuniqueness are discussed by reference to examples from the latter catalogue. Methods are given for shortening the derivation of the structural equations giving rise to nonunique parameters. From the diversity of behavior found, it is concluded that the prospects of obtaining a comprehensive set of necessary and sufficient structural conditions for globally unique identifiability are poor.     

Alternative to Ritt's pseudodivision for finding the input-output equations of multi-output models

Differential algebra approaches to structural identifiability analysis of a dynamic system model in many instances heavily depend upon Ritt’s pseudodivision at an early step in analysis. The pseudodivision algorithm is used to find the characteristic set, of which a subset, the input-output equations, is used for identifiability analysis. A simpler algorithm is proposed for this step, using Gröbner Bases, along with a proof of the method that includes a reduced upper bound on derivative requirements. Efficacy of the new algorithm is illustrated with several biosystem model examples.     

Review: To be or not to be an identifiable model. Is this a relevant question in animal science modelling?

What is a good (useful) mathematical model in animal science? For models constructed for prediction purposes, the question of model adequacy (usefulness) has been traditionally tackled by statistical analysis applied to observed experimental data relative to model-predicted variables. However, little attention has been paid to analytic tools that exploit the mathematical properties of the model equations. For example, in the context of model calibration, before attempting a numerical estimation of the model parameters, we might want to know if we have any chance of success in estimating a unique best value of the model parameters from available measurements. This question of uniqueness is referred to as structural identifiability; a mathematical property that is defined on the sole basis of the model structure within a hypothetical ideal experiment determined by a setting of model inputs (stimuli) and observable variables (measurements). Structural identifiability analysis applied to dynamic models described by ordinary differential equations (ODEs) is a common practice in control engineering and system identification. This analysis demands mathematical technicalities that are beyond the academic background of animal science, which might explain the lack of pervasiveness of identifiability analysis in animal science modelling. To fill this gap, in this paper we address the analysis of structural identifiability from a practitioner perspective by capitalizing on the use of dedicated software tools. Our objectives are (i) to provide a comprehensive explanation of the structural identifiability notion for the community of animal science modelling, (ii) to assess the relevance of identifiability analysis in animal science modelling and (iii) to motivate the community to use identifiability analysis in the modelling practice (when the identifiability question is relevant). We focus our study on ODE models. By using illustrative examples that include published mathematical models describing lactation in cattle, we show how structural identifiability analysis can contribute to advancing mathematical modelling in animal science towards the production of useful models and, moreover, highly informative experiments via optimal experiment design. Rather than attempting to impose a systematic identifiability analysis to the modelling community during model developments, we wish to open a window towards the discovery of a powerful tool for model construction and experiment design.     

Decomposition-based qualitative experiment design algorithms for a class of compartmental models.

Qualitative experiment design, to determine experimental input/output configurations that provide identifiability for specific parameters of interest, can be extremely difficult if the number of unknown parameters and the number of compartments are relatively large. However, the problem can be considerably simplified if the parameters can be divided into several groups for separate identification and the model can be decomposed into smaller submodels for separate experiment design. Model decomposition-based experiment design algorithms are proposed for a practical class of large-scale compartmental models representative of biosystems characterized by multiple input sources and unidirectional interconnectivity among subsystems. The model parameters are divided into three types, each of which is identified consecutively, in three stages, using simpler submodel experiment designs. Several practical examples are presented. Necessary and sufficient conditions for identifiability using the algorithm are also discussed.     

Counterexamples of a sufficient condition for local identifiability in a linear compartment system

The problem of the structural identifiability of biological compartment systems, i.e., the question of the possibility of estimating all their unknown parameters by an input-output experiment, is very important. Delforge studied a structural condition for local identifiability in a linear compartment system. Unfortunately, he made a mistake in the principal result of his paper: the proposed condition is not sufficient, but only necessary. This paper shows some counterexamples to the condition.     

Identifiability from parameter bounds. Structural and numerical aspects

Some a priori and a posteriori aspects of the identifiability problem for unidentifiable models are discussed. It is argued that the nation of identifiability from parameter bounds has a minor a priori structural relevance. The parameter bounds rationale may prove a useful a posteriori numerical notion. However, its practical potentiality needs careful evaluation, as the use of point estimates automatically builds into the model some hidden structural constraints. Examples are given.     

Differential algebra methods for the study of the structural identifiability of rational function state-space models in the biosciences

In this paper methods from differential algebra are used to study the structural identifiability of biological and pharmacokinetics models expressed in state-space form and with a structure given by rational functions. The focus is on the examples presented and on the application of efficient, automatic methods to test for structural identifiability for various input-output experiments. Differential algebra methods are coupled with Gr?bner bases, Lie derivatives and the Taylor series expansion in order to obtain efficient algorithms. In particular, an upper bound on the number of derivatives needed for the Taylor series approach for a structural identifiability analysis of rational function models is given.     

Structural identifiability of systems biology models: a critical comparison of methods

Analysing the properties of a biological system through in silico experimentation requires a satisfactory mathematical representation of the system including accurate values of the model parameters. Fortunately, modern experimental techniques allow obtaining time-series data of appropriate quality which may then be used to estimate unknown parameters. However, in many cases, a subset of those parameters may not be uniquely estimated, independently of the experimental data available or the numerical techniques used for estimation. This lack of identifiability is related to the structure of the model, i.e. the system dynamics plus the observation function. Despite the interest in knowing a priori whether there is any chance of uniquely estimating all model unknown parameters, the structural identifiability analysis for general non-linear dynamic models is still an open question. There is no method amenable to every model, thus at some point we have to face the selection of one of the possibilities. This work presents a critical comparison of the currently available techniques. To this end, we perform the structural identifiability analysis of a collection of biological models. The results reveal that the generating series approach, in combination with identifiability tableaus, offers the most advantageous compromise among range of applicability, computational complexity and information provided.     

Structural identifiability of a model for the acetic acid fermentation process

Modelling has proved an essential tool for addressing research into biotechnological processes, particularly with a view to their optimization and control. Parameter estimation via optimization approaches is among the major steps in the development of biotechnology models. In fact, one of the first tasks in the development process is to determine whether the parameters concerned can be unambiguously determined and provide meaningful physical conclusions as a result. The analysis process is known as 'identifiability' and presents two different aspects: structural or theoretical identifiability and practical identifiability. While structural identifiability is concerned with model structure alone, practical identifiability takes into account both the quantity and quality of experimental data. In this work, we discuss the theoretical identifiability of a new model for the acetic acid fermentation process and review existing methods for this purpose.     

Metabolic isotopomer labeling systems. Part II: structural flux identifiability analysis

Metabolic flux analysis using carbon labeling experiments (CLEs) is an important tool in metabolic engineering where the intracellular fluxes have to be computed from the measured extracellular fluxes and the partially measured distribution of 13C labeling within the intracellular metabolite pools. The relation between unknown fluxes and measurements is described by an isotopomer labeling system (ILS) (see Part I [Math. Biosci. 169 (2001) 173]). Part II deals with the structural flux identifiability of measured ILSs in the steady state. The central question is whether the measured data contains sufficient information to determine the unknown intracellular fluxes. This question has to be decided a priori, i.e. before the CLE is carried out. In structural identifiability analysis the measurements are assumed to be noise-free. A general theory of structural flux identifiability for measured ILSs is presented and several algorithms are developed to solve the identifiability problem. In the particular case of maximal measurement information, a symbolical algorithm is presented that decides the identifiability question by means of linear methods. Several upper bounds of the number of identifiable fluxes are derived, and the influence of the chosen inputs is evaluated. By introducing integer arithmetic this algorithm can even be applied to large networks. For the general case of arbitrary measurement information, identifiability is decided by a local criterion. A new algorithm based on integer arithmetic enables an a priori local identifiability analysis to be performed for networks of arbitrary size. All algorithms have been implemented and flux identifiability is investigated for the network of the central metabolic pathways of a microorganism. Moreover, several small examples are worked out to illustrate the influence of input metabolite labeling and the paradox of information loss due to network simplification.     

Identifiability and interval identifiability of mammillary and catenary compartmental models with some known rate constants

The identifiability problem is addressed for n-compartment linear mammillary and catenary models, for the common case of input and output in the first compartment and prior information about one or more model rate constants. We first define the concept of independent constraints and show that n-compartment linear mammillary or catenary models are uniquely identifiable under n-1 independent constraints. Closed-form algorithms for bounding the constrained parameter space are then developed algebraically, and their validity is confirmed using an independent approach, namely joint estimation of the parameters of all uniquely identifiable submodels of the original multicompartmental model. For the noise-free (deterministic) case, the major effects of additional parameter knowledge are to narrow the bounds of rate constants that remain unidentifiable, as well as to possibly render others identifiable. When noisy data are considered, the means of the bounds of rate constants that remain unidentifiable are also narrowed, but the variances of some of these bound estimates increase. This unexpected result was verified by Monte Carlo simulation of several different models, using both normally and lognormally distributed data assumptions. Extensions and some consequences of this analysis useful for model discrimination and experiment design applications are also noted.     

Finding identifiable parameter combinations in nonlinear ODE models and the rational reparameterization of their input-output equations

When examining the structural identifiability properties of dynamic system models, some parameters can take on an infinite number of values and yet yield identical input-output data. These parameters and the model are then said to be unidentifiable. Finding identifiable combinations of parameters with which to reparameterize the model provides a means for quantitatively analyzing the model and computing solutions in terms of the combinations. In this paper, we revisit and explore the properties of an algorithm for finding identifiable parameter combinations using Gröbner Bases and prove useful theoretical properties of these parameter combinations. We prove a set of M algebraically independent identifiable parameter combinations can be found using this algorithm and that there exists a unique rational reparameterization of the input-output equations over these parameter combinations. We also demonstrate application of the procedure to a nonlinear biomodel.     

The structural identifiability and parameter estimation of a multispecies model for the transmission of mastitis in dairy cows.

A structural identifiability analysis is performed on a mathematical model for the coupled transmission of two classes of pathogen. The pathogens, classified as major and minor, are aetiological agents of mastitis in dairy cows that interact directly and via the immunological reaction in their hosts. Parameter estimates are available from experimental data for all but four of the parameters in the model. Data from a longitudinal study of infection are used to estimate these unknown parameters. A novel approach and application of structural identifiability analysis is combined in this paper with the estimation of cross-protection parameters using epidemiological data.     

On a systematic procedure for the predetermination of macroscopic reaction schemes

Macroscopic modeling of biological cell cultures involves two major steps: (a) the selection of a reaction scheme and (b) the determination of the reaction kinetics. The first step is usually accomplished based on prior knowledge, experimental investigation and trials and errors. This procedure can be time consuming, and more importantly, can lead to the selection of a reaction scheme omitting some important reaction pathways, or at the opposite, incorporating too many details (at least considering the data at hand and the modeling objectives). This paper addresses this modeling problem, and aims at the development of a method for systematically evaluating (i.e. setting up and comparing) all potential reaction schemes, based on a set of measured components, and satisfying structural identifiability properties. One of the main features of the method is that the yield (or pseudo-stoichiometric) coefficients can be estimated independently of the kinetics. The method is illustrated with simulation results and an experimental case study.     

Unique features of myosin VI: a structural view

Myosin VI is the only known molecular motor for the transportation of cargo vesicles from the plus end to the minus end of actin filaments. Thus, myosin VI possesses several unique features to distinguish it from other myosin family motors, such as the ability to move in a reverse direction, the unusual large walking step size, and the cargo-mediated dimerization. Recent structural studies of myosin VI have provided mechanistic insights into these unique features. On the basis of the resolved structures of myosin VI each domains (i.e., the structures of the N-terminal motor domain, the C-terminal cargo binding domain, and the region in the middle), the unique features of myosin VI will be reviewed here from a structural perspective. The structural studies of myosin VI definitely provide some answers about the unique features of myosin VI, but also raise significant questions on how myosin VI functions as a special motor both for directional cargo transport and for structural anchoring.     

Complete parameter bounds and quasiidentifiability conditions for a class of unidentifiable linear systems

Lack of unique structural identifiability for parameters of dynamic system models is a very common situation with practical experimental schemes, particularly when studying biological systems. However, for well-structured (e.g., multicompartmental) models, it is often possible to localize unidentifiable parameters between finite limits (“interval identifiability”), using the same data base, and under certain conditions these limits nearly coincide. Two new results in this area are presented: (1) The smallest ranges on all unidentifiable rate constants and pool sizes of the most general n-compartment mammillary system are derived, in an easy-to-program algorithmic form, for the common case of input forcing and output measurements in the central pool only. From these results we see why elimination rate constants (“leaks”) are difficult to distinguish from zero, whereas exchange rate constants between pools, and pool sizes, may be bounded very tightly in certain circumstances. (2) The notion of quasiidentifiability, or sufficient identifiability for practical purposes, is introduced to quantify these circumstances. Each of the rate constants between central and peripheral pools, and all pool sizes, are quasiidentifiable if the magnitude of the ratio of the coefficient to the eigenvalue of the slowest mode is very much greater than the largest coefficient in the sum-of-exponentials response function. Also quasiidentifiability is a necessary condition for applicability of noncompartmental analysis to estimate pool sizes and residence times of mammillary systems with “leaky” noncentral pools.     

Structural identifiability of compartmental systems with respect to data obtained from constant-infusion tracer experiments

The problem of structural identifiability of compartmental systems receiving constant input rates of tracer material is studied, and the relationship between this steady-state problem and that of identification using the impulse response is sought. Input connectability of the compartmental system allows exogenous inputs to produce arbitrary steady-state values anywhere in state space, resulting in sufficient conditions for the structural identifiability of the system when direct measurements can be made for every compartment. Because of the steady-state nature of the problem, the systems concept of output connectability is shown to play no role in this identification scheme. The importance of constant-infusion tracer experiments is demonstrated for a compartment model describing volatile fatty acid production and conversion in ruminants.     

Identifiability and retrievability of unique parameters describing intrinsic Andrews kinetics

A key factor contributing to the variability in the microbial kinetic parameters reported from batch assays is parameter identifiability, i.e., the ability of the mathematical routine used for parameter estimation to provide unique estimates of the individual parameter values. This work encompassed a three-part evaluation of the parameter identifiability of intrinsic kinetic parameters describing the Andrews growth model that are obtained from batch assays. First, a parameter identifiability analysis was conducted by visually inspecting the sensitivity equations for the Andrews growth model. Second, the practical retrievability of the parameters in the presence of experimental error was evaluated for the parameter estimation routine used. Third, the results of these analyses were tested using an example data set from the literature for a self-inhibitory substrate. The general trends from these analyses were consistent and indicated that it is very difficult, if not impossible, to simultaneously obtain a unique set of estimates of intrinsic kinetic parameters for the Andrews growth model using data from a single batch experiment.     

Exploration of the intercellular heterogeneity of topotecan uptake into human breast cancer cells through compartmental modelling

A mathematical multi-cell model for the in vitro kinetics of the anti-cancer agent topotecan (TPT) following administration into a culture medium containing a population of human breast cancer cells (MCF-7 cell line) is described. This non-linear compartmental model is an extension of an earlier single-cell type model and has been validated using experimental data obtained using two-photon laser scanning microscopy (TPLSM). A structural identifiability analysis is performed prior to parameter estimation to test whether the unknown parameters within the model are uniquely determined by the model outputs. The full model has 43 compartments, with 107 unknown parameters, and it was found that the structural identifiability result could not be established even when using the latest version of the symbolic computation software Mathematica. However, by assuming that a priori knowledge is available for certain parameters, it was possible to reduce the number of parameters to 81, and it was found that this (Stage Two) model was globally (uniquely) structurally identifiable. The identifiability analysis demonstrated how valuable symbolic computation is in this context, as the analysis is far too lengthy and difficult to be performed by hand.     

Structural properties of compartmental models

This article treats structural properties of the inverse of a compartmental matrix and how they relate to properties of coefficients of the transfer function of the compartmental system. Newly formulated conditions are presented for certain of these parameters to be zero or positive. Also results are given on the interdependence of transfer function coefficients and how this relates to the identifiability problem. Answers to some questions raised in the recent literature about coefficient dependence are discussed.