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Towards a Rapid Model Prototyping
 Strategy for Systems & Synthetic Biology

                                     Natalio Krasnogor
                 ASAP - Interdisciplinary Optimisation Laboratory
                 School of Computer Science


                 Centre for Integrative Systems Biology
                 School of Biology


                 Centre for Healthcare Associated Infections
                 Institute of Infection, Immunity & Inflammation

                                       University of Nottingham


BEACON, Michigan State University, July 2010   1 /82
Outline
  •Conceptual Viewpoint & CAD tools
  •Model Specification Framework
  •Examples of Modeling for Top Down SB
  • In Silico Model Evolution
  •Conclusions


BEACON, Michigan State University, July 2010   2 /82
A (Proto)Cell as an Information
                  Processing Device




                 LeDuc et al. Towards an in vivo biologically inspired nanofactory. Nature (2007)


BEACON, Michigan State University, July 2010   3 /82
Functional Entities
                                                 Container
       • A boundary defining self/non-self (symmetry breaking).
       • Maintain concentration gradients and avoid environmental damage.

                                                Metabolism

       • Energy utilisation
       • Confining raw materials to be processed.
       • Maintenance of internal structures (autopoiesis).


                                                Information

       • Sensing environmental signals / release of signals.
       • Genetic information

BEACON, Michigan State University, July 2010   4 /82
The Cell as an Intelligent (Evolved)
                   Machine
        •The Cell senses the environment and its own
        internal states
        •Makes Plans, Takes Decisions and Acts
        •Evolution is the master programmer
                              Environmental Inputs




                                               Internal States


                                                       Cell
                                                                 Actions




     Amir Mitchell, et al., Adaptive prediction of environmental changes by microorganisms. Nature June 2009.
BEACON, Michigan State University, July 2010      5 /82
The Cell as an Intelligent (Evolved)
                   Machine
        •The Cell senses the environment and its own
        internal states
        •Makes Plans, Takes Decisions and Acts
        •Evolution is the master programmer
                              Environmental Inputs




                                               Internal States


                                                       Cell
                                                                 Actions


                Wikimedia Commons


     Amir Mitchell, et al., Adaptive prediction of environmental changes by microorganisms. Nature June 2009.
BEACON, Michigan State University, July 2010      5 /82
Network Motifs: Evolution’s Preferred Circuits
   •Biological networks are complex and vast
   •To understand their functionality in a scalable way one must
   choose the correct abstraction

       “Patterns that occur in the real network significantly
       more often than in randomized networks are called
       network motifs”    Shai S. Shen-Orr et al., Network motifs in the transcriptional regulation
                                               network of Escherichia coli. Nature Genetics 31, 64 - 68 (2002)



   •Moreover, these patterns are organised in non-trivial/non-
   random hierarchies                           Radu Dobrin et al., Aggregation of topological motifs in the Escherichia
                                                coli transcriptional regulatory network. BMC Bioinformatics. 2004; 5: 10.




   •Each network motif carries out a specific information-
   processing function

BEACON, Michigan State University, July 2010      6 /82
Y positively        Negative                 Positive
      regulates X         autoregulation           autoregulation

 Shai S. Shen-Orr et al., Network motifs in the transcriptional regulation
 network of Escherichia coli. Nature Genetics 31, 64 - 68 (2002)




  The C1-FFL is a ‘sign-sensitive delay’ element and a persistence detector.
  The I1-FFL is a pulse generator and response accelerator
  U. Alon. Network motifs: theory and experimental approaches. Nature Reviews Genetics (2007) vol. 8 (6) pp. 450-461
BEACON, Michigan State University, July 2010     7 /82
BEACON, Michigan State University, July 2010   8 /82
BEACON, Michigan State University, July 2010   8 /82
•Cells (and most
    biologists) don’t do
    differential calculus!
    •P systems are a
    executable specifications
    that closely mimic
    biological reality.
    •These are programs
    that explicitly mimic the
    internal behavior of cell
    systems.
    •These programs are
    executed in a virtual
    machine that captures
    the intrinsic
    stochasticity inherent in
    biology
BEACON, Michigan State University, July 2010   8 /82
Modelling Frameworks
 •Denotational Semantics Models:
 Set of equations showing relationships between molecular
 quantities and how they change over time.
 They are approximated numerically.
 (I.e. Ordinary Differential Equations, PDEs, etc)

 •Operational Semantics Models:
 Algorithm (list of instructions) executable by an abstract machine
 whose computation resembles the behaviour of the system under
 study. (i.e. Finite State Machine)
 D. Harel, "A Grand Challenge for Computing: Full Reactive Modeling of a Multi-Cellular Animal", Bulletin of the
         EATCS , European Association for Theoretical Computer Science, no. 81, 2003, pp. 226-235

   A. Regev, E. Shapiro. The π-calculus as an abstraction for biomolecular systems. Modelling in Molecular
                                Biology., pages 1–50. Springer Berlin., 2004.

   Jasmin Fisher and Thomas Henzinger. Executable cell biology. Nature Biotechnology, 25, 11, 1239-1249
                                             9 /82
                                                   (2008)
BEACON, Michigan State University, July 2010
Properties of Petri Net Models
          •A readable language but still a formal language with unambiguous
          semantics
          •Close to graphical depictions of metabolic networks normally used
          by biologists


  Erythrocyte cell’s
  glycolytic and pentose
  phospate pathway from
  [Reddy et al., Comput.
  Biol. Med., 1996]




BEACON, Michigan State University, July 2010   10 /82
Properties of Petri Net Models
          •A readable language but still a formal language with unambiguous
          semantics
          •Close to graphical depictions of metabolic networks normally used
          by biologists


  Erythrocyte cell’s
  glycolytic and pentose
  phospate pathway from
  [Reddy et al., Comput.
  Biol. Med., 1996]




BEACON, Michigan State University, July 2010   10 /82
Some Limitations
        •Not designed to handle spatial events or
        spatial processes such as diffusion, mechanical
        transduction, Brownian motion, collisions,
        transport, etc.
        •Stochasticity is loaded onto W, i.e. it is not a
        property of rules or interactions
        •Although very elegant computing invariants and
        other properties can really only be done for small
        systems.
        •Although due to composability, to certain extent,
        you can “divide & conquer”


BEACON, Michigan State University, July 2010   11 /82
Elementary Concepts in π-calculus
        •A program specifies a network of interacting
        processes
        •Processes are defined by their potential
        communication activities
        •Communication occurs on complementary
        channels, identified by names
        •Message content: Channel name
                     Biological reactions are thus
                    abstracted as communications.
BEACON, Michigan State University, July 2010   12 /82
π-calculus
                                                    syntax
  Process expressions
  P ::=    0              a null process
            π.P
           P+P      mutually exclusive processes
           P|P      concurrent processes
           (νx)P    new channel x in P
           !P             create a copy of P

  Action prefixes
  π ::=      x? (y)                   receive y along x
             x! <y>                   send y along x
                     τ 
              unobservable (internal) action
BEACON, Michigan State University, July 2010   13 /82
π-calculus
                                                    syntax
  Process expressions                         a molecule / domain
  P ::=    0              a null process
            π.P
           P+P      mutually exclusive processes
           P|P      concurrent processes
           (νx)P    new channel x in P
           !P             create a copy of P

  Action prefixes
  π ::=      x? (y)                   receive y along x
             x! <y>                   send y along x
                     τ 
              unobservable (internal) action
BEACON, Michigan State University, July 2010   13 /82
π-calculus
                                                    syntax
  Process expressions                         a molecule / domain
  P ::=    0              a null process
            π.P
           P+P      mutually exclusive processes
           P|P      concurrent processes
                                                    A set of
           (νx)P    new channel x in P              molecules /
                                                    domains
           !P             create a copy of P

  Action prefixes
  π ::=      x? (y)                   receive y along x
             x! <y>                   send y along x
                     τ 
              unobservable (internal) action
BEACON, Michigan State University, July 2010   13 /82
π-calculus
                                                    syntax
  Process expressions                         a molecule / domain
  P ::=    0              a null process
            π.P
           P+P      mutually exclusive processes
           P|P      concurrent processes
                                                    A set of
           (νx)P    new channel x in P              molecules /
                                                    domains
           !P             create a copy of P

  Action prefixes
  π ::=      x? (y)                   receive y along x              a capability to do
             x! <y>                   send y along x                something
                                                                    (e.g. phosporilate,
                     τ 
              unobservable (internal)   action
                                                                    cleave, etc)

BEACON, Michigan State University, July 2010   13 /82
π-calculus
                                                    syntax
  Process expressions                           a molecule / domain
  P ::=         0           a null process
                 π.P
  This process
  (enzyme)
                P+P   mutually exclusive processes
  knows how to  P|P   concurrent processes
  do action π                                         A set of
  (e.g. ligate) (νx)P new channel x in P              molecules /
                                                      domains
                !P          create a copy of P

  Action prefixes
  π ::=      x? (y)                   receive y along x              a capability to do
             x! <y>                   send y along x                something
                                                                    (e.g. phosporilate,
                     τ 
              unobservable (internal)   action
                                                                    cleave, etc)

BEACON, Michigan State University, July 2010   13 /82
Some Limitations
        •Non-mobile/mobile approaches offer a tradeoff
        between relevance and utility.
        •Computational problem: each molecule is an
        instance of a process.
        •Some abstraction are obscure:
           •private channels for compartments is cumbersome,
           requires multi-step encoding of the formation of
           complexes, not really a nature encoding of proximity
           and biochemical complementarity.
        •Communication always involves exactly two
        processes.


BEACON, Michigan State University, July 2010   14 /82
Biochemical Process Calculi
                                           based on π-calculus

            π-calculus (Stochastic, Causal)
            BioAmbients (mobile compartments)
            Brane calculi (membranes, Projective)
            Beta Binders (dynamic compartments)

                                                                increasing emphasis
                                                        on intracellular organisation


BEACON, Michigan State University, July 2010   15 /82
Tools Suitability and Cost
      •From [D.E Goldberg, 2002] (adapted):
       “Since science and math are in the description
       business, the model is the thing…The engineer
       or inventor has much different motives. The
       engineered object is the thing”    ε, error



                                                          BU/TD Synthetic & Systems Biologist


                                                              Computer Scientist/Engineer

                                                                              Mathematician


                                                              C, cost of modelling

BEACON, Michigan State University, July 2010         16 /82
InfoBiotics Workbench and Dashboard www.infobiotics.net
                                                              Management


                     Specification




                                                                                                 Optimisation
        Simulation




                                                                                               Verification
                                                            Analysis




BEACON, Michigan State University, July 2010       17 /82
Outline
  •Conceptual Viewpoint & CAD tools
  •Model Specification Framework
  •Examples of Modeling for Top Down SB
  • In Silico Model Evolution
  •Conclusions


BEACON, Michigan State University, July 2010   18 /82
InfoBiotics Workbench and Dashboard




BEACON, Michigan State University, July 2010   19 /82
InfoBiotics Workbench and Dashboard




             Specification




BEACON, Michigan State University, July 2010   19 /82
Model Specification with P systems
     •Field of membrane computing initiated by
     Gheorghe Păun in 2000
     •Inspired by the hierarchical membrane
     structure of eukaryotic cells
     •A formal language: precisely defined and
     machine processable
     •An executable biology methodology
    G. Paun. Computing with membranes. Journal of Computer and System Sciences, 61(1):108–143, 2000

    F. J. Romero-Campero, J. Twycross, M. Camara, M. Bennett, M. Gheorghe, and N. Krasnogor. Modular
  assembly of cell systems biology models using p systems. International Journal of Foundations of Computer
                                       Science, 20(3):427-442, 2009
BEACON, Michigan State University, July 2010   20 /82
Distributed and parallel rewritting systems in
 What is a P Systems?                           compartmentalised hierarchical structures.



                                                                               Objects




Compartments

                                                                                Rewriting Rules


                     •   Computational universality and efficiency.

                     •   Modelling Framework
BEACON, Michigan State University, July 2010   21 /82
P-Systems’ Principal Entities
 Molecules (ATP, ADP, Letters (objects) from an
 OHL, etc)            alphabet
 Structured Molecules                            Strings in the alphabet
 (DNA, RNA,Proteins,
 etc)
 Molecules in “bulk”                             Multisets of objects/strings
 Membranes/                                      Membrane
 organelles
 Biochemical activity  Rules
 Biochemical transport Communication rules
BEACON, Michigan State University, July 2010   22 /82
Rewriting Rules




   used by Multi-volume Gillespie’s algorithm

BEACON, Michigan State University, July 2010   23 /82
Molecular Interactions
                                   Comprehensive and relevant rule-based schema
                                    for the most common molecular interactions taking
                                    place in living cells.

                                                  Transformation/Degradation
                                                  Complex Formation and Dissociation
                                                  Diffusion in / out
                                                  Binding and Debinding
                                                  Recruitment and Releasing
                                                  Transcription Factor Binding/Debinding
                                                  Transcription/Translation




BEACON, Michigan State University, July 2010   24 /82
Compartments / Cells
                                        Compartments and regions are explicitly
                                         specified using membrane structures.




BEACON, Michigan State University, July 2010   25 /82
Colonies / Tissues
                                     Colonies and tissues are representing as a
                                      collection of P systems distributed over a lattice.


                                     Objects can travel around the lattice through
                                      translocation rules.




                                                   v




BEACON, Michigan State University, July 2010   26 /82
Molecular Interactions
                      Inside Compartments




BEACON, Michigan State University, July 2010   27 /82
Passive Diffusion of Molecules




BEACON, Michigan State University, July 2010   28 /82
Specification of Transcriptional
                Regulatory Networks




BEACON, Michigan State University, July 2010   29 /82
Post-Transcriptional Processes
        For each protein in the system, post-transcriptional processes like
         translational initiation, messenger and protein degradation, protein
         dimerisation, signal sensing, signal diffusion etc are represented using
         modules of rules.
        Modules may also have (as parameters) the stochastic kinetic constants
         associated with the corresponding rules in order to allow us to explore
         possible mutations in the promoters and ribosome binding sites in order to
         optimise the behaviour of the system.




BEACON, Michigan State University, July 2010   30 /82
Scalability through Modularity

       • Cellular functions arise from orchestrated
             interactions between motifs consisting of
             many molecular interacting species.

         A P System model is a set of modules of
          rules representing molecular interactions
          (network) motifs that appear in many cellular
          systems.

BEACON, Michigan State University, July 2010   31 /82
Basic P System Modules Used




BEACON, Michigan State University, July 2010   32 /82
Characterisation/Encapsulation of Cellular
                Parts: Gene Promoters
  A modeling language for
 the design of synthetic
 bacterial colonies.


  A module, set of rules
 describing the molecular
 interactions involving a
 cellular part, provides
 encapsulation and
 abstraction.

  Collection or libraries of
 reusable cellular parts and
 reusable models.

         E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and
                                            Evolution, Elsevier

BEACON, Michigan State University, July 2010   33 /82   21
Characterisation/Encapsulation of Cellular
                Parts: Gene Promoters
  A modeling language for
 the design of synthetic
 bacterial colonies.
                                               01101110100001010100011110001011101010100011010100

  A module, set of rules
 describing the molecular
 interactions involving a
 cellular part, provides
 encapsulation and
 abstraction.

  Collection or libraries of
 reusable cellular parts and
 reusable models.

         E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and
                                            Evolution, Elsevier

BEACON, Michigan State University, July 2010     33 /82   21
Characterisation/Encapsulation of Cellular
                Parts: Gene Promoters
  A modeling language for
 the design of synthetic
 bacterial colonies.


  A module, set of rules
 describing the molecular
 interactions involving a
 cellular part, provides
 encapsulation and
 abstraction.

  Collection or libraries of
 reusable cellular parts and
 reusable models.

         E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and
                                            Evolution, Elsevier

BEACON, Michigan State University, July 2010   33 /82   21
Characterisation/Encapsulation of Cellular
                Parts: Gene Promoters
                                                      AHL
                                                   LuxR                                 CI
  A modeling language for
 the design of synthetic
 bacterial colonies.


  A module, set of rules
 describing the molecular
 interactions involving a
 cellular part, provides
 encapsulation and
 abstraction.

  Collection or libraries of
 reusable cellular parts and
 reusable models.

         E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and
                                            Evolution, Elsevier

BEACON, Michigan State University, July 2010   33 /82   21
Characterisation/Encapsulation of Cellular
                Parts: Gene Promoters
                                                      AHL
                                                   LuxR                                       CI
  A modeling language for
 the design of synthetic
 bacterial colonies.
                                    PluxOR1({X},{c1, c2, c3, c4, c5, c6, c7, c8, c9},{l}) = {
  A module, set of rules              type: promoter
 describing the molecular
                                       sequence: ACCTGTAGGATCGTACAGGTTTACGCAAGAA
 interactions involving a
                                       ATGGTTTGTATAGTCGAATACCTCTGGCGGTGATA
 cellular part, provides
 encapsulation and                     rules:
 abstraction.                             r1: [ LuxR2 + PluxPR.X ]_l -c1-> [ PluxPR.LuxR2.X ]_l
                                          r2: [ PluxPR.LuxR2.X ]_l -c2-> [ LuxR2 + PluxPR.X ]_l
                                                                 ...
  Collection or libraries of             r5: [ CI2 + PluxPR.X ]_l -c5-> [ PluxPR.CI2.X ]_l
 reusable cellular parts and              r6: [ PluxPR.CI2.X ]_l -c6-> [ CI2 + PluxPR.X ]_l
 reusable models.                                                ...
                                          r9: [ PluxPR.LuxR2.X ]_l -c9-> [ PluxPR.LuxR2.X + RNAP.X ]_l
                                 }
         E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and
                                            Evolution, Elsevier

BEACON, Michigan State University, July 2010   33 /82   21
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=tetR})




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=GFP})




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=GFP})




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=GFP})
      Directed evolution: Variables for stochastic constants can be instantiated with specific
       values.




BEACON, Michigan State University, July 2010   34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=GFP})
      Directed evolution: Variables for stochastic constants can be instantiated with specific
       values.

                                               A




BEACON, Michigan State University, July 2010       34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=GFP})
      Directed evolution: Variables for stochastic constants can be instantiated with specific
       values.

                                               A

                             PluxOR1({X=GFP},{...,c4=10,...})




BEACON, Michigan State University, July 2010       34 /82   22
Module Variables: Recombinant DNA, Directed
                Evolution, Chassis selection
      Recombinant DNA: Objects variables can be instantiated with the name of specific
       genes.



                                        PluxOR1({X=GFP})
      Directed evolution: Variables for stochastic constants can be instantiated with specific
       values.

                                               A

                             PluxOR1({X=GFP},{...,c4=10,...})
       Chassis Selection: The variable for the label can be instantiated with the name of a
        chassis.
                   PluxOR1({X=GFP},{...,c4=10,...},{l=DH5α })



BEACON, Michigan State University, July 2010       34 /82   22
Characterisation/Encapsulation of Cellular
                  Parts: Riboswitches
   A riboswitch is a piece of RNA that folds in different ways depending on the
  presence of absence of specific molecules regulating translation.

                                               ToppRibo({X},{c1, c2, c3, c4, c5, c6},{l}) = {

                                                    type: riboswitch

                                                    sequence:GGTGATACCAGCATCGTCTTGATGCCCTTGG
                                                                CAGCACCCCGCTGCAAGACAACAAGATG
                                                     rules:
                                                        r1: [ RNAP.ToppRibo.X ]_l -c1-> [ ToppRibo.X ]_l
                                                        r2: [ ToppRibo.X ]_l -c2-> [ ]_l
                                                        r3: [ ToppRibo.X + theop ]_l –c3-> [ ToppRibo*.X ]_l
                                                        r4: [ ToppRibo*.X ]_l –c4-> [ ToppRibo.X + theop ]_l
                                                        r5: [ ToppRibo*.X ]_l –c5-> [ ]_l
                                                        r6: [ ToppRibo*.X ]_l –c6-> [ToppRibo*.X + Rib.X ]_l
                                               }




BEACON, Michigan State University, July 2010       35 /82   23
Characterisation/Encapsulation of Cellular
                Parts: Degradation Tags
  Degradation tags are amino acid sequences recognised by proteases. Once the
 corresponding DNA sequence is fused to a gene the half life of the protein is
 reduced considerably.
                                               degLVA({X},{c1, c2},{l}) = {

                                                    type: degradation tag

                                                    sequence: CAGCAAACGACGAAAACTACGCTTTAGTAGCT

                                                    rules:
                                                       r1: [ Rib.X.degLVA ]_l -c1-> [ X.degLVA ]_l
                                                       r2: [ X.degLVA ]_l -c2-> [ ]_l
                                               }




BEACON, Michigan State University, July 2010       36 /82    24
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})
   ToppRibo({X=geneX.degLVA},{...},{l=DH5α})




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})
   ToppRibo({X=geneX.degLVA},{...},{l=DH5α})
   degLVA({X},{...},{l=DH5α})




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})
   ToppRibo({X=geneX.degLVA},{...},{l=DH5α})
   degLVA({X},{...},{l=DH5α})
}




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})
   ToppRibo({X=geneX.degLVA},{...},{l=DH5α})         X=GFP
   degLVA({X},{...},{l=DH5α})
}




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})
   ToppRibo({X=geneX.degLVA},{...},{l=DH5α})         X=GFP
   degLVA({X},{...},{l=DH5α})
}




BEACON, Michigan State University, July 2010   37 /82   25
Higher Order Modules: Building Synthetic
                     Gene Circuits
   PluxOR1         ToppRibo                                  geneX   degLVA


3OC6_repressible_sensor({X}) = {
   PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α})
   ToppRibo({X=geneX.degLVA},{...},{l=DH5α})         X=GFP
   degLVA({X},{...},{l=DH5α})
}

Plux({X=ToppRibo.geneCI.degLVA},{...},{l=DH5α})
ToppRibo({X=geneCI.degLVA},{...},{l=DH5α})
degLVA({CI},{...},{l=DH5α})

 PtetR({X=ToppRibo.geneLuxR.degLVA},{...},{l=DH5α})
 Weiss_RBS({X=LuxR},{...},{l=DH5α})
 Deg({X=LuxR},{...},{l=DH5α})



BEACON, Michigan State University, July 2010   37 /82   25
AHL
                                     Specification of Multi-cellular
                                        Systems: LPP systems
                   AHL
                                          GFP                                         AHL
                LuxR


Pconst                   PluxOR1
         luxR                       gfp                                        LuxI   AHL


                               CI                              Pconst   luxI
                 Plux
                          cI




BEACON, Michigan State University, July 2010    38 /82
Infobiotics: An Integrated Framework
                        http://www.infobiotics.org/infobiotics-workbench/


    Cellular                      Synthetic                    Single           Synthetic Multi-
     Parts                         Circuits                    Cells            cellular Systems


  Libraries of                    Module                      P systems          LPP systems
   Modules                      Combinations



                                               A compiler based on
                                                a BNF grammar



         Multi Compartmental                      Spatio-temporal           Automatic Design of
         Stochastic Simulations                 Dynamics Analysis             Synthetic Gene
          based on Gillespie’s                 using Model Checking       Regulatory Circuits using
               algorithm                       with PRISM and MC2         Evolutionary Algorithms



BEACON, Michigan State University, July 2010   39 /82    29
Stochastic P Systems Are
                 Executable Programs

    The virtual machine running these programs is a “Gillespie
    Algorithm (SSA)”. It generates trajectories of a stochastic system:

           A stochastic constant is associated with each rule.
           A propensity is computed for each rule by multiplying the
           stochastic constant by the number of distinct possible
           combinations of the elements on the left hand side of the rule.


           F. J. Romero-Campero, J. Twycross, M. Camara, M. Bennett, M. Gheorghe, and N. Krasnogor.
           Modular assembly of cell systems biology models using p systems. International Journal of
           Foundations of Computer Science, 2009




BEACON, Michigan State University, July 2010   40 /82
•Using P systems modules one can model a large variety of
     commonly occurring BRN:

        •Gene Regulatory Networks
        •Signaling Networks
        •(Metabolic Networks)

     •This can be done in an incremental way.
        F.J. Romero-Campero, J. Twycross, M. Camara, M. Bennett, M. Gheorghe, N.
        Krasnogor. Modular Assembly of Cell Systems Biology Models Using P Systems.
        Internatnional Journal of Foundations of Computer Science, 20(3):427-442,
        2009.

        Degano P., Prandi D., Priami C., and Quaglia P. Beta-binders for biological quantitative experiments.
        ENTCS, 164:101-117, 2006. Proc. 4th Workshop on Quantitative Aspects of Programming
        Languages, QAPL 2006.

BEACON, Michigan State University, July 2010   41 /82
Outline
  •Conceptual Viewpoint & CAD tools
  •Model Specification Framework
  •Examples of Modeling for Top Down SB
  • In Silico Model Evolution
  •Conclusions


BEACON, Michigan State University, July 2010   42 /82
InfoBiotics Workbench and Dashboard




             Specification




BEACON, Michigan State University, July 2010   43 /82
InfoBiotics Workbench and Dashboard




                     Specification
        Simulation




                                                        Analysis




BEACON, Michigan State University, July 2010   43 /82
An example: Ron Weiss' Pulse Generator

      Two different bacterial strains carrying specific synthetic
       gene regulatory networks are used.

      The first strain produces a diffusible signal AHL.

      The second strain possesses a synthetic gene regulatory
       network which produces a pulse of GFP after AHL sensing.

      These two bacterial strains and their respective synthetic
       networks are modelled as a combination of modules.

        S. Basu, R. Mehreja, et al. (2004) Spatiotemporal control of gene expression with pulse generating
                                         networks, PNAS, 101, 6355-6360



BEACON, Michigan State University, July 2010   44 /82
An example: Ron Weiss' Pulse Generator

                                                            Pulse Generator
    Signal Sender
                                                                               AHL
                            AHL
                                                                               AHL            GFP
                                                                        LuxR
                                                                                     PluxOR
                  LuxI      AHL                         Pconst                                gfp
                                                                 luxR
 Pconst
           luxI
                                                                        Plux
                                                                                     cI        CI
 Pconst({X = luxI },…)
 PostTransc({X=LuxI},{c1=3.2,…})                          Pconst({X=luxR},…)
 Diff({X=AHL},{c=0.1})                                    PluxOR1({X=gfp},…)
                                                          Plux({X=cI},…) …


BEACON, Michigan State University, July 2010   45 /82
AHL
                                   Spatial Distribution of Senders
                                        and Pulse Generators
                   AHL
                                          GFP                                         AHL
                LuxR


Pconst                   PluxOR1
         luxR                       gfp                                        LuxI   AHL



                                                               Pconst   luxI
                               CI
                 Plux
                          cI




BEACON, Michigan State University, July 2010    46 /82
Pulse propagation - simulation I




                                               Simulation I




BEACON, Michigan State University, July 2010   47 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL
                   LuxR                                 GFP


                                    PluxOR1
   Pconst                                           gfp
               luxR


                                               CI



                            Plux
                                        cI




BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL
                   LuxR                                 GFP


                                    PluxOR1
   Pconst                                           gfp
               luxR


     Plux                                      CI
                luxI

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP


                                    PluxOR1
   Pconst                                           gfp
               luxR


     Plux                                      CI
                luxI

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP
                                                              PluxOR1({X=gfp},…)
                                    PluxOR1
   Pconst                                           gfp
               luxR


     Plux                                      CI
                luxI

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP
                                                              PluxOR1({X=gfp},…)
                                    PluxOR1                   Plux({X=cI},…)
   Pconst                                           gfp
               luxR


     Plux                                      CI
                luxI

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP
                                                              PluxOR1({X=gfp},…)
                                    PluxOR1                   Plux({X=cI},…)
   Pconst                                           gfp
               luxR
                                                                    …

     Plux                                      CI
                luxI

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP
                                                              PluxOR1({X=gfp},…)
                                    PluxOR1                   Plux({X=cI},…)
   Pconst                                           gfp
               luxR
                                                                    …
                                                                   …
     Plux                                      CI
                luxI

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP
                                                              PluxOR1({X=gfp},…)
                                    PluxOR1                   Plux({X=cI},…)
   Pconst                                           gfp
               luxR
                                                                    …
                                                                   …
     Plux                                      CI
                luxI                                          Diff({X=AHL},…)

                 LuxI
                            Plux
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse Generating Cells
                           With Relay
                         AHL


                       AHL                                    Pconst({X=luxR},…)
                   LuxR                                 GFP
                                                              PluxOR1({X=gfp},…)
                                    PluxOR1                   Plux({X=cI},…)
   Pconst                                           gfp
               luxR
                                                                     …
                                                                   …
     Plux                                      CI
                luxI                                          Diff({X=AHL},…)

                 LuxI
                            Plux                              Plux({X=luxI},…)
                                        cI

                 AHL


BEACON, Michigan State University, July 2010   48 /82
Pulse propagation & Rely-
                            simulation II



                                               Simulation II




BEACON, Michigan State University, July 2010    49 /82   36
A Signal Translator
                       for Pattern Formation

                                       Pact1
                                                 FP1

 Prep2                         Pact1                     Prep1          Prep3
              act1                         rep1                  rep3           I2



 Prep1                          Pact2                    Prep2          Prep4
              act2                             rep2              rep4           I1
                                         Pact2
                                                  FP2




BEACON, Michigan State University, July 2010    50 /82
Uniform Spatial Distribution of
            Signal Translators for Pattern Formation




BEACON, Michigan State University, July 2010   51 /82
Pattern Formation in
              synthetic bacterial colonies



                                               Simulation III




BEACON, Michigan State University, July 2010    52 /82
Si
                                                   Spatial Distribution of Signal
                                                   Translators and propagators
                     Si
                 LuxR                        GFP



Pconst                      PluxOR1
         luxR                          gfp



 Plux                             CI
         luxI
                     Plux
                             cI
          LuxI


                Si




BEACON, Michigan State University, July 2010            53 /82
Alternating signal pulses in
                   synthetic bacterial colonies



                                               Simulation IV




BEACON, Michigan State University, July 2010    54 /82
Outline
  •Conceptual Viewpoint & CAD tools
  •Model Specification Framework
  •Examples of Modeling for Top Down SB
  • In Silico Model Evolution
  •Conclusions


BEACON, Michigan State University, July 2010   55 /82
Automated Model Synthesis and Optimisation

    • Modeling is an intrinsically difficult process

    • It involves “feature selection” and disambiguation

    • Model Synthesis requires
       • design the topology or structure of the
               system in terms of molecular interactions
       •       estimate the kinetic parameters associated
               with each molecular interaction

    • All the above iterated
BEACON, Michigan State University, July 2010   56 /82
Large Literature on Model Synthesis
 •       Mason et al. use a random Local Search (LS) as the mutation to
         evolve electronic networks with desired dynamics

 •       Chickarmane et al. use a standard GA to optimize the kinetic
         parameters of a population of ODE-based reaction networks having
         the desired topology.

 •       Spieth et al. propose a Memetic Algorithm to find gene regulatory
         networks from experimental DNA microarray data where the network
         structure is optimized with a GA and the parameters are optimized
         with an Evolution Strategy (ES).

 •       Jaramillo et al. use Simulated Annealing as the main search strategy
         for model inference based on (O)DEs



BEACON, Michigan State University, July 2010   57 /82
Multi-Objective Optimisation in
               Morphogenesis


                                                        Rui Dilão, Daniele Muraro, Miguel Nicolau, Marc
                                                        Schoenauer. Validation of a morphogenesis model of
                                                        Drosophila early development by a multi-objective
                                                        evolutionary optimization algorithm.     Proc. 7th
                                                        European Conference on Evolutionary Computation,
                                                        ML and Data Mining in BioInformatics (EvoBIO'09),
                                                        April 2009




BEACON, Michigan State University, July 2010   58 /82
Parameter Optimisation in
                       Metabolic Models

                                                        A. Drager et al. (2009).
                                                        Modeling metabolic networks
                                                        in C. glutamicum: a
                                                        comparison of rate laws in
                                                        combination with various
                                                        parameter optimization
                                                        strategies. BMC Systems Biol
                                                        ogy 2009, 3:5




BEACON, Michigan State University, July 2010   59 /82
Evolutionary Algorithms for Automated
         Model Synthesis and Optimisation
         EA are potentially very useful for AMSO
       • There’s a substantial amount of work on:
             •        using GP-like systems to evolve executable
                     structures
             •       using EAs for continuous/discrete
                     optimisation
       • An EA population represents alternative
               models (could lead to different experimental
               setups)
       •       EAs have the potential to capture
               evolvability of models/network motifs
BEACON, Michigan State University, July 2010   60 /82
Nested EA for Model Synthesis
                                                              F. Romero-Campero, H.Cao, M.
                                                              Camara, and N. Krasnogor.
                                                              Structure and parameter
                                                              estimation for cell systems
                                                              biology models. Proceedings of
                                                              the Genetic and Evolutionary
                                                              Computation Conference
                                                              (GECCO-2008), pages
                                                              331-338. ACM Publisher, 2008.
                                                              (Best Paper award at the
                                                              Bioinformatics track.)



                                                              H. Cao, F.J. Romero-Campero,
                                                              S. Heeb, M. Camara, and N.
                                                              Krasnogor. Evolving cell models
                                                              for systems and synthetic
                                                              biology. Systems and Synthetic
                                                              Biology, 4(1), 2010.


                                                             C. Garcia-Martinez, C. Lima, J.
                                                             Twycross, M. Lozano, N.
                                                             Krasnogor. P System Model
                                                             Optimisation by Means of
                                                             Evolutionary Based Search
                                                             Algorithms. Proceedings of the
                                                             2010 Genetic and Evolutionary
                                                             Computation Conference
                                                             (GECCO-2010). (Nominated for
                                                             best paper award at the
                                                             Bioinformatics track.)
BEACON, Michigan State University, July 2010   61 /82
Fitness Evaluation




BEACON, Michigan State University, July 2010   62 /82
The Fitness Function
                                                                                          • Multiple time-series
                                                                                          per target

                                                                                          • Different time series
                                                                                          have very different
                                                                                          profiles, e.g., maxima
                                                                                          occur at different
                                                                                          times/places

                                                                                          • Transient states
                                                                                          (sometimes) as
                                                                                          important as steady
                                                                                          states

                                                                                          •RMSE not the only
                                                                                          possibility

    H. Cao, F.J. Romero-Campero, S. Heeb, M. Camara, and N. Krasnogor. Evolving cell models for systems and synthetic
    biology. Systems and Synthetic Biology, 4(1), 2010.
BEACON, Michigan State University, July 2010     63 /82
Some Case Studies




BEACON, Michigan State University, July 2010   64 /82
Problem Specification




BEACON, Michigan State University, July 2010   65 /82
Results Study Case 4




BEACON, Michigan State University, July 2010   66 /82
BEACON, Michigan State University, July 2010   67 /82
BEACON, Michigan State University, July 2010   68 /82
BEACON, Michigan State University, July 2010   69 /82
BEACON, Michigan State University, July 2010   70 /82
Target




BEACON, Michigan State University, July 2010   71 /82
Target




BEACON, Michigan State University, July 2010   72 /82
The fact that this algorithm produces alternative models for a
    specific biological signature is very encouraging as it could
    help biologists to design new experiments to discriminate
    among competing hypothesis (models).

    Alternative models can be formally analysed and compared
    based on other than “fitness” criteria:

       ★Sensitivity analysis / Robustness
       ★Average properties (model checking)
       ★Parsimony
    Comparing results by only using elementary modules or by
    adding newly found modules to the library shows the obvious
    advantage of the incremental methodology with modules.

BEACON, Michigan State University, July 2010   73 /82
Outline
  •Conceptual Viewpoint & CAD tools
  •Model Specification Framework
  •Examples of Modeling for Top Down SB
  • In Silico Model Evolution
  •Conclusions


BEACON, Michigan State University, July 2010   74 /82
Management


                    Specification




                                                                                 Optimisation
       Simulation




                                                                                Verification
                                                  Analysis




BEACON, Michigan State University, July InfoBiotics Workbench
                                         2010  75 /82           and Dashboard
TAKE HOME MESSAGE

• P systems are a handy way of specifying discrete and stochastic
   rule-based compartmental models.

• Modularity in P systems as a design principle for synthetic
   networks that enables reusability, hierarchical abstraction and
   standardisation.

• Can be linked to DPD-type simulations.
• Model Checking for the formal analysis of our models.
• Automated explorations (evolutionary search) on models’
   structure and parameters.

• Computer Aided analysis of modular and alternative designs (e.g.
   synthetic network functionality).

BEACON, Michigan State University, July 2010   76 /82
An Important Difference with “Normal” Programs:
                a GP challenge?
   •Executable Stochastic P systems are not programs
   with stochastic behavior
            function f1(p1,p2,p3,p4)                    function f1(p1,p2,p3,p4)
            {                                           {
            if (p1<p2) and (rand<0.5)                   if (p1<p2)                 RND
                 print p3                                    print p3              RND
            else                                        else                       RND
                 print p4                                    print p4              RND
            }                                           }



   •A cell is a living example of distributed stochastic
   computing.

   •How does this impact GP techniques? can they
   cope? scale? are they parsimonious?
BEACON, Michigan State University, July 2010   77 /82
Crazy Idea: Evolution by Natural Selection
              as a Search Algorithm
   •Three Key Ingredients
    •Inheritable traits
    •Variation
    •Selection Pressure




BEACON, Michigan State University, July 2010   78 /82
Crazy Idea: Evolution by Natural Selection
              as a Search Algorithm
   •Three Key Ingredients
    •Inheritable traits
    •Variation
    •Selection Pressure




BEACON, Michigan State University, July 2010   78 /82
A More Fundamental Question
•Fundamental CS results: Averaged over all
problems, all search methods perform equally well
(or rather bad).     Wolpert, D.H., Macready, W.G. (1997), "No Free Lunch Theorems for
                                           Optimization," IEEE Transactions on Evolutionary Computation 1, 67



•So why does Nature use Evolution as its search
mechanism? why not other methods?

•In Synt Bio people worry a lot about evolvability
(cellularity scale video)

•Can we engineer in vivo new search mechanism?
e.g. a biological Variable Neighborhood Search?
BEACON, Michigan State University, July 2010   79 /82
Could, e.g., an in vivo VNS “defeat”
          Evolution? in which environments?




    • Perhaps SB rather than trying to stop evolution should try to
    outsmart/outpace it!
BEACON, Michigan State University, July 2010   80 /82
Could, e.g., an in vivo VNS “defeat”
          Evolution? in which environments?




    • Perhaps SB rather than trying to stop evolution should try to
    outsmart/outpace it!
BEACON, Michigan State University, July 2010   80 /82
Could, e.g., an in vivo VNS “defeat”
          Evolution? in which environments?




    • Perhaps SB rather than trying to stop evolution should try to
    outsmart/outpace it!
BEACON, Michigan State University, July 2010   80 /82
Could, e.g., an in vivo VNS “defeat”
          Evolution? in which environments?




    • Perhaps SB rather than trying to stop evolution should try to
    outsmart/outpace it!
BEACON, Michigan State University, July 2010   80 /82
Acknowledgements
    Members of my team working on SB2
                                                                                               EP/E017215/1
      •Jonathan Blake              Infobiotics Dashboard, Integrated Environment
                                                                                               EP/D021847/1

      •Claudio Lima               Infobiotics Workbench Machine Learning & Optimisation   BB/F01855X/1
                                                                                          BB/D019613/1
      •Francisco Romero-Campero                Infobiotics Modeling & Model Checking


      •James Smaldon                Infobiotics Dissipative Particle Dynamics


      •Jamie Twycross              Infobiotics Stochastic Simulations


      •Karima Righetti
                                     Molecular Micro-Biology

                                                                 • Prof. M. Camara (CBS, UoN)
                                                                 • Prof. C. Alexander (Pharmacy , UoN)
                                                                 • Dr. S. Heeb (CBS, UoN)
                                                                 • Dr. G. Rampioni (CBS, UoN)
BEACON, Michigan State University, July 2010     81 /82
BEACON, Michigan State University, July 2010   82 /82
BEACON, Michigan State University, July 2010   82 /82

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Towards a Rapid Model Prototyping Strategy for Systems & Synthetic Biology

  • 1. Towards a Rapid Model Prototyping Strategy for Systems & Synthetic Biology Natalio Krasnogor ASAP - Interdisciplinary Optimisation Laboratory School of Computer Science Centre for Integrative Systems Biology School of Biology Centre for Healthcare Associated Infections Institute of Infection, Immunity & Inflammation University of Nottingham BEACON, Michigan State University, July 2010 1 /82
  • 2. Outline •Conceptual Viewpoint & CAD tools •Model Specification Framework •Examples of Modeling for Top Down SB • In Silico Model Evolution •Conclusions BEACON, Michigan State University, July 2010 2 /82
  • 3. A (Proto)Cell as an Information Processing Device LeDuc et al. Towards an in vivo biologically inspired nanofactory. Nature (2007) BEACON, Michigan State University, July 2010 3 /82
  • 4. Functional Entities Container • A boundary defining self/non-self (symmetry breaking). • Maintain concentration gradients and avoid environmental damage. Metabolism • Energy utilisation • Confining raw materials to be processed. • Maintenance of internal structures (autopoiesis). Information • Sensing environmental signals / release of signals. • Genetic information BEACON, Michigan State University, July 2010 4 /82
  • 5. The Cell as an Intelligent (Evolved) Machine •The Cell senses the environment and its own internal states •Makes Plans, Takes Decisions and Acts •Evolution is the master programmer Environmental Inputs Internal States Cell Actions Amir Mitchell, et al., Adaptive prediction of environmental changes by microorganisms. Nature June 2009. BEACON, Michigan State University, July 2010 5 /82
  • 6. The Cell as an Intelligent (Evolved) Machine •The Cell senses the environment and its own internal states •Makes Plans, Takes Decisions and Acts •Evolution is the master programmer Environmental Inputs Internal States Cell Actions Wikimedia Commons Amir Mitchell, et al., Adaptive prediction of environmental changes by microorganisms. Nature June 2009. BEACON, Michigan State University, July 2010 5 /82
  • 7. Network Motifs: Evolution’s Preferred Circuits •Biological networks are complex and vast •To understand their functionality in a scalable way one must choose the correct abstraction “Patterns that occur in the real network significantly more often than in randomized networks are called network motifs” Shai S. Shen-Orr et al., Network motifs in the transcriptional regulation network of Escherichia coli. Nature Genetics 31, 64 - 68 (2002) •Moreover, these patterns are organised in non-trivial/non- random hierarchies Radu Dobrin et al., Aggregation of topological motifs in the Escherichia coli transcriptional regulatory network. BMC Bioinformatics. 2004; 5: 10. •Each network motif carries out a specific information- processing function BEACON, Michigan State University, July 2010 6 /82
  • 8. Y positively Negative Positive regulates X autoregulation autoregulation Shai S. Shen-Orr et al., Network motifs in the transcriptional regulation network of Escherichia coli. Nature Genetics 31, 64 - 68 (2002) The C1-FFL is a ‘sign-sensitive delay’ element and a persistence detector. The I1-FFL is a pulse generator and response accelerator U. Alon. Network motifs: theory and experimental approaches. Nature Reviews Genetics (2007) vol. 8 (6) pp. 450-461 BEACON, Michigan State University, July 2010 7 /82
  • 9. BEACON, Michigan State University, July 2010 8 /82
  • 10. BEACON, Michigan State University, July 2010 8 /82
  • 11. •Cells (and most biologists) don’t do differential calculus! •P systems are a executable specifications that closely mimic biological reality. •These are programs that explicitly mimic the internal behavior of cell systems. •These programs are executed in a virtual machine that captures the intrinsic stochasticity inherent in biology BEACON, Michigan State University, July 2010 8 /82
  • 12. Modelling Frameworks •Denotational Semantics Models: Set of equations showing relationships between molecular quantities and how they change over time. They are approximated numerically. (I.e. Ordinary Differential Equations, PDEs, etc) •Operational Semantics Models: Algorithm (list of instructions) executable by an abstract machine whose computation resembles the behaviour of the system under study. (i.e. Finite State Machine) D. Harel, "A Grand Challenge for Computing: Full Reactive Modeling of a Multi-Cellular Animal", Bulletin of the EATCS , European Association for Theoretical Computer Science, no. 81, 2003, pp. 226-235 A. Regev, E. Shapiro. The π-calculus as an abstraction for biomolecular systems. Modelling in Molecular Biology., pages 1–50. Springer Berlin., 2004. Jasmin Fisher and Thomas Henzinger. Executable cell biology. Nature Biotechnology, 25, 11, 1239-1249 9 /82 (2008) BEACON, Michigan State University, July 2010
  • 13. Properties of Petri Net Models •A readable language but still a formal language with unambiguous semantics •Close to graphical depictions of metabolic networks normally used by biologists Erythrocyte cell’s glycolytic and pentose phospate pathway from [Reddy et al., Comput. Biol. Med., 1996] BEACON, Michigan State University, July 2010 10 /82
  • 14. Properties of Petri Net Models •A readable language but still a formal language with unambiguous semantics •Close to graphical depictions of metabolic networks normally used by biologists Erythrocyte cell’s glycolytic and pentose phospate pathway from [Reddy et al., Comput. Biol. Med., 1996] BEACON, Michigan State University, July 2010 10 /82
  • 15. Some Limitations •Not designed to handle spatial events or spatial processes such as diffusion, mechanical transduction, Brownian motion, collisions, transport, etc. •Stochasticity is loaded onto W, i.e. it is not a property of rules or interactions •Although very elegant computing invariants and other properties can really only be done for small systems. •Although due to composability, to certain extent, you can “divide & conquer” BEACON, Michigan State University, July 2010 11 /82
  • 16. Elementary Concepts in π-calculus •A program specifies a network of interacting processes •Processes are defined by their potential communication activities •Communication occurs on complementary channels, identified by names •Message content: Channel name Biological reactions are thus abstracted as communications. BEACON, Michigan State University, July 2010 12 /82
  • 17. π-calculus syntax Process expressions P ::= 0 a null process π.P P+P mutually exclusive processes P|P concurrent processes (νx)P new channel x in P !P create a copy of P Action prefixes π ::= x? (y) receive y along x x! <y> send y along x τ unobservable (internal) action BEACON, Michigan State University, July 2010 13 /82
  • 18. π-calculus syntax Process expressions a molecule / domain P ::= 0 a null process π.P P+P mutually exclusive processes P|P concurrent processes (νx)P new channel x in P !P create a copy of P Action prefixes π ::= x? (y) receive y along x x! <y> send y along x τ unobservable (internal) action BEACON, Michigan State University, July 2010 13 /82
  • 19. π-calculus syntax Process expressions a molecule / domain P ::= 0 a null process π.P P+P mutually exclusive processes P|P concurrent processes A set of (νx)P new channel x in P molecules / domains !P create a copy of P Action prefixes π ::= x? (y) receive y along x x! <y> send y along x τ unobservable (internal) action BEACON, Michigan State University, July 2010 13 /82
  • 20. π-calculus syntax Process expressions a molecule / domain P ::= 0 a null process π.P P+P mutually exclusive processes P|P concurrent processes A set of (νx)P new channel x in P molecules / domains !P create a copy of P Action prefixes π ::= x? (y) receive y along x a capability to do x! <y> send y along x something (e.g. phosporilate, τ unobservable (internal) action cleave, etc) BEACON, Michigan State University, July 2010 13 /82
  • 21. π-calculus syntax Process expressions a molecule / domain P ::= 0 a null process π.P This process (enzyme) P+P mutually exclusive processes knows how to P|P concurrent processes do action π A set of (e.g. ligate) (νx)P new channel x in P molecules / domains !P create a copy of P Action prefixes π ::= x? (y) receive y along x a capability to do x! <y> send y along x something (e.g. phosporilate, τ unobservable (internal) action cleave, etc) BEACON, Michigan State University, July 2010 13 /82
  • 22. Some Limitations •Non-mobile/mobile approaches offer a tradeoff between relevance and utility. •Computational problem: each molecule is an instance of a process. •Some abstraction are obscure: •private channels for compartments is cumbersome, requires multi-step encoding of the formation of complexes, not really a nature encoding of proximity and biochemical complementarity. •Communication always involves exactly two processes. BEACON, Michigan State University, July 2010 14 /82
  • 23. Biochemical Process Calculi based on π-calculus  π-calculus (Stochastic, Causal)  BioAmbients (mobile compartments)  Brane calculi (membranes, Projective)  Beta Binders (dynamic compartments) increasing emphasis on intracellular organisation BEACON, Michigan State University, July 2010 15 /82
  • 24. Tools Suitability and Cost •From [D.E Goldberg, 2002] (adapted): “Since science and math are in the description business, the model is the thing…The engineer or inventor has much different motives. The engineered object is the thing” ε, error BU/TD Synthetic & Systems Biologist Computer Scientist/Engineer Mathematician C, cost of modelling BEACON, Michigan State University, July 2010 16 /82
  • 25. InfoBiotics Workbench and Dashboard www.infobiotics.net Management Specification Optimisation Simulation Verification Analysis BEACON, Michigan State University, July 2010 17 /82
  • 26. Outline •Conceptual Viewpoint & CAD tools •Model Specification Framework •Examples of Modeling for Top Down SB • In Silico Model Evolution •Conclusions BEACON, Michigan State University, July 2010 18 /82
  • 27. InfoBiotics Workbench and Dashboard BEACON, Michigan State University, July 2010 19 /82
  • 28. InfoBiotics Workbench and Dashboard Specification BEACON, Michigan State University, July 2010 19 /82
  • 29. Model Specification with P systems •Field of membrane computing initiated by Gheorghe Păun in 2000 •Inspired by the hierarchical membrane structure of eukaryotic cells •A formal language: precisely defined and machine processable •An executable biology methodology G. Paun. Computing with membranes. Journal of Computer and System Sciences, 61(1):108–143, 2000 F. J. Romero-Campero, J. Twycross, M. Camara, M. Bennett, M. Gheorghe, and N. Krasnogor. Modular assembly of cell systems biology models using p systems. International Journal of Foundations of Computer Science, 20(3):427-442, 2009 BEACON, Michigan State University, July 2010 20 /82
  • 30. Distributed and parallel rewritting systems in What is a P Systems? compartmentalised hierarchical structures. Objects Compartments Rewriting Rules • Computational universality and efficiency. • Modelling Framework BEACON, Michigan State University, July 2010 21 /82
  • 31. P-Systems’ Principal Entities Molecules (ATP, ADP, Letters (objects) from an OHL, etc) alphabet Structured Molecules Strings in the alphabet (DNA, RNA,Proteins, etc) Molecules in “bulk” Multisets of objects/strings Membranes/ Membrane organelles Biochemical activity Rules Biochemical transport Communication rules BEACON, Michigan State University, July 2010 22 /82
  • 32. Rewriting Rules used by Multi-volume Gillespie’s algorithm BEACON, Michigan State University, July 2010 23 /82
  • 33. Molecular Interactions  Comprehensive and relevant rule-based schema for the most common molecular interactions taking place in living cells. Transformation/Degradation Complex Formation and Dissociation Diffusion in / out Binding and Debinding Recruitment and Releasing Transcription Factor Binding/Debinding Transcription/Translation BEACON, Michigan State University, July 2010 24 /82
  • 34. Compartments / Cells  Compartments and regions are explicitly specified using membrane structures. BEACON, Michigan State University, July 2010 25 /82
  • 35. Colonies / Tissues  Colonies and tissues are representing as a collection of P systems distributed over a lattice.  Objects can travel around the lattice through translocation rules. v BEACON, Michigan State University, July 2010 26 /82
  • 36. Molecular Interactions Inside Compartments BEACON, Michigan State University, July 2010 27 /82
  • 37. Passive Diffusion of Molecules BEACON, Michigan State University, July 2010 28 /82
  • 38. Specification of Transcriptional Regulatory Networks BEACON, Michigan State University, July 2010 29 /82
  • 39. Post-Transcriptional Processes  For each protein in the system, post-transcriptional processes like translational initiation, messenger and protein degradation, protein dimerisation, signal sensing, signal diffusion etc are represented using modules of rules.  Modules may also have (as parameters) the stochastic kinetic constants associated with the corresponding rules in order to allow us to explore possible mutations in the promoters and ribosome binding sites in order to optimise the behaviour of the system. BEACON, Michigan State University, July 2010 30 /82
  • 40. Scalability through Modularity • Cellular functions arise from orchestrated interactions between motifs consisting of many molecular interacting species.  A P System model is a set of modules of rules representing molecular interactions (network) motifs that appear in many cellular systems. BEACON, Michigan State University, July 2010 31 /82
  • 41. Basic P System Modules Used BEACON, Michigan State University, July 2010 32 /82
  • 42. Characterisation/Encapsulation of Cellular Parts: Gene Promoters  A modeling language for the design of synthetic bacterial colonies.  A module, set of rules describing the molecular interactions involving a cellular part, provides encapsulation and abstraction.  Collection or libraries of reusable cellular parts and reusable models. E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and Evolution, Elsevier BEACON, Michigan State University, July 2010 33 /82 21
  • 43. Characterisation/Encapsulation of Cellular Parts: Gene Promoters  A modeling language for the design of synthetic bacterial colonies. 01101110100001010100011110001011101010100011010100  A module, set of rules describing the molecular interactions involving a cellular part, provides encapsulation and abstraction.  Collection or libraries of reusable cellular parts and reusable models. E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and Evolution, Elsevier BEACON, Michigan State University, July 2010 33 /82 21
  • 44. Characterisation/Encapsulation of Cellular Parts: Gene Promoters  A modeling language for the design of synthetic bacterial colonies.  A module, set of rules describing the molecular interactions involving a cellular part, provides encapsulation and abstraction.  Collection or libraries of reusable cellular parts and reusable models. E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and Evolution, Elsevier BEACON, Michigan State University, July 2010 33 /82 21
  • 45. Characterisation/Encapsulation of Cellular Parts: Gene Promoters AHL LuxR CI  A modeling language for the design of synthetic bacterial colonies.  A module, set of rules describing the molecular interactions involving a cellular part, provides encapsulation and abstraction.  Collection or libraries of reusable cellular parts and reusable models. E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and Evolution, Elsevier BEACON, Michigan State University, July 2010 33 /82 21
  • 46. Characterisation/Encapsulation of Cellular Parts: Gene Promoters AHL LuxR CI  A modeling language for the design of synthetic bacterial colonies. PluxOR1({X},{c1, c2, c3, c4, c5, c6, c7, c8, c9},{l}) = {  A module, set of rules type: promoter describing the molecular sequence: ACCTGTAGGATCGTACAGGTTTACGCAAGAA interactions involving a ATGGTTTGTATAGTCGAATACCTCTGGCGGTGATA cellular part, provides encapsulation and rules: abstraction. r1: [ LuxR2 + PluxPR.X ]_l -c1-> [ PluxPR.LuxR2.X ]_l r2: [ PluxPR.LuxR2.X ]_l -c2-> [ LuxR2 + PluxPR.X ]_l ...  Collection or libraries of r5: [ CI2 + PluxPR.X ]_l -c5-> [ PluxPR.CI2.X ]_l reusable cellular parts and r6: [ PluxPR.CI2.X ]_l -c6-> [ CI2 + PluxPR.X ]_l reusable models. ... r9: [ PluxPR.LuxR2.X ]_l -c9-> [ PluxPR.LuxR2.X + RNAP.X ]_l } E. Davidson (2006) The Regulatory Genome, Gene Regulation Networks in Development and Evolution, Elsevier BEACON, Michigan State University, July 2010 33 /82 21
  • 47. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection BEACON, Michigan State University, July 2010 34 /82 22
  • 48. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. BEACON, Michigan State University, July 2010 34 /82 22
  • 49. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. BEACON, Michigan State University, July 2010 34 /82 22
  • 50. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=tetR}) BEACON, Michigan State University, July 2010 34 /82 22
  • 51. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. BEACON, Michigan State University, July 2010 34 /82 22
  • 52. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=GFP}) BEACON, Michigan State University, July 2010 34 /82 22
  • 53. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=GFP}) BEACON, Michigan State University, July 2010 34 /82 22
  • 54. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=GFP})  Directed evolution: Variables for stochastic constants can be instantiated with specific values. BEACON, Michigan State University, July 2010 34 /82 22
  • 55. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=GFP})  Directed evolution: Variables for stochastic constants can be instantiated with specific values. A BEACON, Michigan State University, July 2010 34 /82 22
  • 56. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=GFP})  Directed evolution: Variables for stochastic constants can be instantiated with specific values. A PluxOR1({X=GFP},{...,c4=10,...}) BEACON, Michigan State University, July 2010 34 /82 22
  • 57. Module Variables: Recombinant DNA, Directed Evolution, Chassis selection  Recombinant DNA: Objects variables can be instantiated with the name of specific genes. PluxOR1({X=GFP})  Directed evolution: Variables for stochastic constants can be instantiated with specific values. A PluxOR1({X=GFP},{...,c4=10,...})  Chassis Selection: The variable for the label can be instantiated with the name of a chassis. PluxOR1({X=GFP},{...,c4=10,...},{l=DH5α }) BEACON, Michigan State University, July 2010 34 /82 22
  • 58. Characterisation/Encapsulation of Cellular Parts: Riboswitches  A riboswitch is a piece of RNA that folds in different ways depending on the presence of absence of specific molecules regulating translation. ToppRibo({X},{c1, c2, c3, c4, c5, c6},{l}) = { type: riboswitch sequence:GGTGATACCAGCATCGTCTTGATGCCCTTGG CAGCACCCCGCTGCAAGACAACAAGATG rules: r1: [ RNAP.ToppRibo.X ]_l -c1-> [ ToppRibo.X ]_l r2: [ ToppRibo.X ]_l -c2-> [ ]_l r3: [ ToppRibo.X + theop ]_l –c3-> [ ToppRibo*.X ]_l r4: [ ToppRibo*.X ]_l –c4-> [ ToppRibo.X + theop ]_l r5: [ ToppRibo*.X ]_l –c5-> [ ]_l r6: [ ToppRibo*.X ]_l –c6-> [ToppRibo*.X + Rib.X ]_l } BEACON, Michigan State University, July 2010 35 /82 23
  • 59. Characterisation/Encapsulation of Cellular Parts: Degradation Tags  Degradation tags are amino acid sequences recognised by proteases. Once the corresponding DNA sequence is fused to a gene the half life of the protein is reduced considerably. degLVA({X},{c1, c2},{l}) = { type: degradation tag sequence: CAGCAAACGACGAAAACTACGCTTTAGTAGCT rules: r1: [ Rib.X.degLVA ]_l -c1-> [ X.degLVA ]_l r2: [ X.degLVA ]_l -c2-> [ ]_l } BEACON, Michigan State University, July 2010 36 /82 24
  • 60. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA BEACON, Michigan State University, July 2010 37 /82 25
  • 61. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { BEACON, Michigan State University, July 2010 37 /82 25
  • 62. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) BEACON, Michigan State University, July 2010 37 /82 25
  • 63. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) ToppRibo({X=geneX.degLVA},{...},{l=DH5α}) BEACON, Michigan State University, July 2010 37 /82 25
  • 64. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) ToppRibo({X=geneX.degLVA},{...},{l=DH5α}) degLVA({X},{...},{l=DH5α}) BEACON, Michigan State University, July 2010 37 /82 25
  • 65. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) ToppRibo({X=geneX.degLVA},{...},{l=DH5α}) degLVA({X},{...},{l=DH5α}) } BEACON, Michigan State University, July 2010 37 /82 25
  • 66. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) ToppRibo({X=geneX.degLVA},{...},{l=DH5α}) X=GFP degLVA({X},{...},{l=DH5α}) } BEACON, Michigan State University, July 2010 37 /82 25
  • 67. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) ToppRibo({X=geneX.degLVA},{...},{l=DH5α}) X=GFP degLVA({X},{...},{l=DH5α}) } BEACON, Michigan State University, July 2010 37 /82 25
  • 68. Higher Order Modules: Building Synthetic Gene Circuits PluxOR1 ToppRibo geneX degLVA 3OC6_repressible_sensor({X}) = { PluxOR1({X=ToppRibo.geneX.degLVA},{...},{l=DH5α}) ToppRibo({X=geneX.degLVA},{...},{l=DH5α}) X=GFP degLVA({X},{...},{l=DH5α}) } Plux({X=ToppRibo.geneCI.degLVA},{...},{l=DH5α}) ToppRibo({X=geneCI.degLVA},{...},{l=DH5α}) degLVA({CI},{...},{l=DH5α}) PtetR({X=ToppRibo.geneLuxR.degLVA},{...},{l=DH5α}) Weiss_RBS({X=LuxR},{...},{l=DH5α}) Deg({X=LuxR},{...},{l=DH5α}) BEACON, Michigan State University, July 2010 37 /82 25
  • 69. AHL Specification of Multi-cellular Systems: LPP systems AHL GFP AHL LuxR Pconst PluxOR1 luxR gfp LuxI AHL CI Pconst luxI Plux cI BEACON, Michigan State University, July 2010 38 /82
  • 70. Infobiotics: An Integrated Framework http://www.infobiotics.org/infobiotics-workbench/ Cellular Synthetic Single Synthetic Multi- Parts Circuits Cells cellular Systems Libraries of Module P systems LPP systems Modules Combinations A compiler based on a BNF grammar Multi Compartmental Spatio-temporal Automatic Design of Stochastic Simulations Dynamics Analysis Synthetic Gene based on Gillespie’s using Model Checking Regulatory Circuits using algorithm with PRISM and MC2 Evolutionary Algorithms BEACON, Michigan State University, July 2010 39 /82 29
  • 71. Stochastic P Systems Are Executable Programs The virtual machine running these programs is a “Gillespie Algorithm (SSA)”. It generates trajectories of a stochastic system: A stochastic constant is associated with each rule. A propensity is computed for each rule by multiplying the stochastic constant by the number of distinct possible combinations of the elements on the left hand side of the rule. F. J. Romero-Campero, J. Twycross, M. Camara, M. Bennett, M. Gheorghe, and N. Krasnogor. Modular assembly of cell systems biology models using p systems. International Journal of Foundations of Computer Science, 2009 BEACON, Michigan State University, July 2010 40 /82
  • 72. •Using P systems modules one can model a large variety of commonly occurring BRN: •Gene Regulatory Networks •Signaling Networks •(Metabolic Networks) •This can be done in an incremental way. F.J. Romero-Campero, J. Twycross, M. Camara, M. Bennett, M. Gheorghe, N. Krasnogor. Modular Assembly of Cell Systems Biology Models Using P Systems. Internatnional Journal of Foundations of Computer Science, 20(3):427-442, 2009. Degano P., Prandi D., Priami C., and Quaglia P. Beta-binders for biological quantitative experiments. ENTCS, 164:101-117, 2006. Proc. 4th Workshop on Quantitative Aspects of Programming Languages, QAPL 2006. BEACON, Michigan State University, July 2010 41 /82
  • 73. Outline •Conceptual Viewpoint & CAD tools •Model Specification Framework •Examples of Modeling for Top Down SB • In Silico Model Evolution •Conclusions BEACON, Michigan State University, July 2010 42 /82
  • 74. InfoBiotics Workbench and Dashboard Specification BEACON, Michigan State University, July 2010 43 /82
  • 75. InfoBiotics Workbench and Dashboard Specification Simulation Analysis BEACON, Michigan State University, July 2010 43 /82
  • 76. An example: Ron Weiss' Pulse Generator  Two different bacterial strains carrying specific synthetic gene regulatory networks are used.  The first strain produces a diffusible signal AHL.  The second strain possesses a synthetic gene regulatory network which produces a pulse of GFP after AHL sensing.  These two bacterial strains and their respective synthetic networks are modelled as a combination of modules. S. Basu, R. Mehreja, et al. (2004) Spatiotemporal control of gene expression with pulse generating networks, PNAS, 101, 6355-6360 BEACON, Michigan State University, July 2010 44 /82
  • 77. An example: Ron Weiss' Pulse Generator Pulse Generator Signal Sender AHL AHL AHL GFP LuxR PluxOR LuxI AHL Pconst gfp luxR Pconst luxI Plux cI CI Pconst({X = luxI },…) PostTransc({X=LuxI},{c1=3.2,…}) Pconst({X=luxR},…) Diff({X=AHL},{c=0.1}) PluxOR1({X=gfp},…) Plux({X=cI},…) … BEACON, Michigan State University, July 2010 45 /82
  • 78. AHL Spatial Distribution of Senders and Pulse Generators AHL GFP AHL LuxR Pconst PluxOR1 luxR gfp LuxI AHL Pconst luxI CI Plux cI BEACON, Michigan State University, July 2010 46 /82
  • 79. Pulse propagation - simulation I Simulation I BEACON, Michigan State University, July 2010 47 /82
  • 80. Pulse Generating Cells With Relay AHL AHL LuxR GFP PluxOR1 Pconst gfp luxR CI Plux cI BEACON, Michigan State University, July 2010 48 /82
  • 81. Pulse Generating Cells With Relay AHL AHL LuxR GFP PluxOR1 Pconst gfp luxR Plux CI luxI LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 82. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1 Pconst gfp luxR Plux CI luxI LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 83. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1({X=gfp},…) PluxOR1 Pconst gfp luxR Plux CI luxI LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 84. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1({X=gfp},…) PluxOR1 Plux({X=cI},…) Pconst gfp luxR Plux CI luxI LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 85. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1({X=gfp},…) PluxOR1 Plux({X=cI},…) Pconst gfp luxR … Plux CI luxI LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 86. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1({X=gfp},…) PluxOR1 Plux({X=cI},…) Pconst gfp luxR … … Plux CI luxI LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 87. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1({X=gfp},…) PluxOR1 Plux({X=cI},…) Pconst gfp luxR … … Plux CI luxI Diff({X=AHL},…) LuxI Plux cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 88. Pulse Generating Cells With Relay AHL AHL Pconst({X=luxR},…) LuxR GFP PluxOR1({X=gfp},…) PluxOR1 Plux({X=cI},…) Pconst gfp luxR … … Plux CI luxI Diff({X=AHL},…) LuxI Plux Plux({X=luxI},…) cI AHL BEACON, Michigan State University, July 2010 48 /82
  • 89. Pulse propagation & Rely- simulation II Simulation II BEACON, Michigan State University, July 2010 49 /82 36
  • 90. A Signal Translator for Pattern Formation Pact1 FP1 Prep2 Pact1 Prep1 Prep3 act1 rep1 rep3 I2 Prep1 Pact2 Prep2 Prep4 act2 rep2 rep4 I1 Pact2 FP2 BEACON, Michigan State University, July 2010 50 /82
  • 91. Uniform Spatial Distribution of Signal Translators for Pattern Formation BEACON, Michigan State University, July 2010 51 /82
  • 92. Pattern Formation in synthetic bacterial colonies Simulation III BEACON, Michigan State University, July 2010 52 /82
  • 93. Si Spatial Distribution of Signal Translators and propagators Si LuxR GFP Pconst PluxOR1 luxR gfp Plux CI luxI Plux cI LuxI Si BEACON, Michigan State University, July 2010 53 /82
  • 94. Alternating signal pulses in synthetic bacterial colonies Simulation IV BEACON, Michigan State University, July 2010 54 /82
  • 95. Outline •Conceptual Viewpoint & CAD tools •Model Specification Framework •Examples of Modeling for Top Down SB • In Silico Model Evolution •Conclusions BEACON, Michigan State University, July 2010 55 /82
  • 96. Automated Model Synthesis and Optimisation • Modeling is an intrinsically difficult process • It involves “feature selection” and disambiguation • Model Synthesis requires • design the topology or structure of the system in terms of molecular interactions • estimate the kinetic parameters associated with each molecular interaction • All the above iterated BEACON, Michigan State University, July 2010 56 /82
  • 97. Large Literature on Model Synthesis • Mason et al. use a random Local Search (LS) as the mutation to evolve electronic networks with desired dynamics • Chickarmane et al. use a standard GA to optimize the kinetic parameters of a population of ODE-based reaction networks having the desired topology. • Spieth et al. propose a Memetic Algorithm to find gene regulatory networks from experimental DNA microarray data where the network structure is optimized with a GA and the parameters are optimized with an Evolution Strategy (ES). • Jaramillo et al. use Simulated Annealing as the main search strategy for model inference based on (O)DEs BEACON, Michigan State University, July 2010 57 /82
  • 98. Multi-Objective Optimisation in Morphogenesis Rui Dilão, Daniele Muraro, Miguel Nicolau, Marc Schoenauer. Validation of a morphogenesis model of Drosophila early development by a multi-objective evolutionary optimization algorithm. Proc. 7th European Conference on Evolutionary Computation, ML and Data Mining in BioInformatics (EvoBIO'09), April 2009 BEACON, Michigan State University, July 2010 58 /82
  • 99. Parameter Optimisation in Metabolic Models A. Drager et al. (2009). Modeling metabolic networks in C. glutamicum: a comparison of rate laws in combination with various parameter optimization strategies. BMC Systems Biol ogy 2009, 3:5 BEACON, Michigan State University, July 2010 59 /82
  • 100. Evolutionary Algorithms for Automated Model Synthesis and Optimisation EA are potentially very useful for AMSO • There’s a substantial amount of work on: • using GP-like systems to evolve executable structures • using EAs for continuous/discrete optimisation • An EA population represents alternative models (could lead to different experimental setups) • EAs have the potential to capture evolvability of models/network motifs BEACON, Michigan State University, July 2010 60 /82
  • 101. Nested EA for Model Synthesis F. Romero-Campero, H.Cao, M. Camara, and N. Krasnogor. Structure and parameter estimation for cell systems biology models. Proceedings of the Genetic and Evolutionary Computation Conference (GECCO-2008), pages 331-338. ACM Publisher, 2008. (Best Paper award at the Bioinformatics track.) H. Cao, F.J. Romero-Campero, S. Heeb, M. Camara, and N. Krasnogor. Evolving cell models for systems and synthetic biology. Systems and Synthetic Biology, 4(1), 2010. C. Garcia-Martinez, C. Lima, J. Twycross, M. Lozano, N. Krasnogor. P System Model Optimisation by Means of Evolutionary Based Search Algorithms. Proceedings of the 2010 Genetic and Evolutionary Computation Conference (GECCO-2010). (Nominated for best paper award at the Bioinformatics track.) BEACON, Michigan State University, July 2010 61 /82
  • 102. Fitness Evaluation BEACON, Michigan State University, July 2010 62 /82
  • 103. The Fitness Function • Multiple time-series per target • Different time series have very different profiles, e.g., maxima occur at different times/places • Transient states (sometimes) as important as steady states •RMSE not the only possibility H. Cao, F.J. Romero-Campero, S. Heeb, M. Camara, and N. Krasnogor. Evolving cell models for systems and synthetic biology. Systems and Synthetic Biology, 4(1), 2010. BEACON, Michigan State University, July 2010 63 /82
  • 104. Some Case Studies BEACON, Michigan State University, July 2010 64 /82
  • 105. Problem Specification BEACON, Michigan State University, July 2010 65 /82
  • 106. Results Study Case 4 BEACON, Michigan State University, July 2010 66 /82
  • 107. BEACON, Michigan State University, July 2010 67 /82
  • 108. BEACON, Michigan State University, July 2010 68 /82
  • 109. BEACON, Michigan State University, July 2010 69 /82
  • 110. BEACON, Michigan State University, July 2010 70 /82
  • 111. Target BEACON, Michigan State University, July 2010 71 /82
  • 112. Target BEACON, Michigan State University, July 2010 72 /82
  • 113. The fact that this algorithm produces alternative models for a specific biological signature is very encouraging as it could help biologists to design new experiments to discriminate among competing hypothesis (models). Alternative models can be formally analysed and compared based on other than “fitness” criteria: ★Sensitivity analysis / Robustness ★Average properties (model checking) ★Parsimony Comparing results by only using elementary modules or by adding newly found modules to the library shows the obvious advantage of the incremental methodology with modules. BEACON, Michigan State University, July 2010 73 /82
  • 114. Outline •Conceptual Viewpoint & CAD tools •Model Specification Framework •Examples of Modeling for Top Down SB • In Silico Model Evolution •Conclusions BEACON, Michigan State University, July 2010 74 /82
  • 115. Management Specification Optimisation Simulation Verification Analysis BEACON, Michigan State University, July InfoBiotics Workbench 2010 75 /82 and Dashboard
  • 116. TAKE HOME MESSAGE • P systems are a handy way of specifying discrete and stochastic rule-based compartmental models. • Modularity in P systems as a design principle for synthetic networks that enables reusability, hierarchical abstraction and standardisation. • Can be linked to DPD-type simulations. • Model Checking for the formal analysis of our models. • Automated explorations (evolutionary search) on models’ structure and parameters. • Computer Aided analysis of modular and alternative designs (e.g. synthetic network functionality). BEACON, Michigan State University, July 2010 76 /82
  • 117. An Important Difference with “Normal” Programs: a GP challenge? •Executable Stochastic P systems are not programs with stochastic behavior function f1(p1,p2,p3,p4) function f1(p1,p2,p3,p4) { { if (p1<p2) and (rand<0.5) if (p1<p2) RND print p3 print p3 RND else else RND print p4 print p4 RND } } •A cell is a living example of distributed stochastic computing. •How does this impact GP techniques? can they cope? scale? are they parsimonious? BEACON, Michigan State University, July 2010 77 /82
  • 118. Crazy Idea: Evolution by Natural Selection as a Search Algorithm •Three Key Ingredients •Inheritable traits •Variation •Selection Pressure BEACON, Michigan State University, July 2010 78 /82
  • 119. Crazy Idea: Evolution by Natural Selection as a Search Algorithm •Three Key Ingredients •Inheritable traits •Variation •Selection Pressure BEACON, Michigan State University, July 2010 78 /82
  • 120. A More Fundamental Question •Fundamental CS results: Averaged over all problems, all search methods perform equally well (or rather bad). Wolpert, D.H., Macready, W.G. (1997), "No Free Lunch Theorems for Optimization," IEEE Transactions on Evolutionary Computation 1, 67 •So why does Nature use Evolution as its search mechanism? why not other methods? •In Synt Bio people worry a lot about evolvability (cellularity scale video) •Can we engineer in vivo new search mechanism? e.g. a biological Variable Neighborhood Search? BEACON, Michigan State University, July 2010 79 /82
  • 121. Could, e.g., an in vivo VNS “defeat” Evolution? in which environments? • Perhaps SB rather than trying to stop evolution should try to outsmart/outpace it! BEACON, Michigan State University, July 2010 80 /82
  • 122. Could, e.g., an in vivo VNS “defeat” Evolution? in which environments? • Perhaps SB rather than trying to stop evolution should try to outsmart/outpace it! BEACON, Michigan State University, July 2010 80 /82
  • 123. Could, e.g., an in vivo VNS “defeat” Evolution? in which environments? • Perhaps SB rather than trying to stop evolution should try to outsmart/outpace it! BEACON, Michigan State University, July 2010 80 /82
  • 124. Could, e.g., an in vivo VNS “defeat” Evolution? in which environments? • Perhaps SB rather than trying to stop evolution should try to outsmart/outpace it! BEACON, Michigan State University, July 2010 80 /82
  • 125. Acknowledgements Members of my team working on SB2 EP/E017215/1 •Jonathan Blake Infobiotics Dashboard, Integrated Environment EP/D021847/1 •Claudio Lima Infobiotics Workbench Machine Learning & Optimisation BB/F01855X/1 BB/D019613/1 •Francisco Romero-Campero Infobiotics Modeling & Model Checking •James Smaldon Infobiotics Dissipative Particle Dynamics •Jamie Twycross Infobiotics Stochastic Simulations •Karima Righetti Molecular Micro-Biology • Prof. M. Camara (CBS, UoN) • Prof. C. Alexander (Pharmacy , UoN) • Dr. S. Heeb (CBS, UoN) • Dr. G. Rampioni (CBS, UoN) BEACON, Michigan State University, July 2010 81 /82
  • 126. BEACON, Michigan State University, July 2010 82 /82
  • 127. BEACON, Michigan State University, July 2010 82 /82