Degradation Rate Uniformity Determines Success of Oscillations in Repressive Feedback Regulatory Net- Works
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Degradation rate uniformity determines success of oscillations in repressive feedback regulatory net- works Karen M. Page1 & Ruben Perez-Carrasco1 1 Department of Mathematics, University College London, Gower Street, WC1E 6BT, London, UK October 9, 2018 Summary the nuclear factor κB localization [Hoffmann et al., 2002]. Ring oscillators are biochemical circuits consisting Due to their range of utilities, different oscillatory of a ring of interactions capable of sustained oscil- gene regulatory circuits have been synthetically en- lations. The non-linear interactions between genes gineered [Purcell et al., 2010]. In particular, lot of hinder the analytical insight into their function, attention has been focused on the engineering of ring usually requiring computational exploration. Here oscillators consisting of a set of genes interacting with we show that, despite the apparent complexity, the each other sequentially and forming a repressive feed- stability of the unique steady state in an incoher- back loop. This work was initiated by the synthesis of ent feedback ring depends only on the degradation the 3-gene repressilator [Elowitz and Leibler, 2000], rates and a single parameter summarizing the feed- that has been further refined to improve its oscillation back of the circuit. Concretely, we show that the properties (e.g. [Stricker et al., 2008, Niederholtmeyer range of regulatory parameters that yield oscilla- et al., 2015]). Consequently, the theoretical and nu- tory behaviour, is maximized when the degradation merical analysis of the working of ring oscillators has rates are equal. Strikingly, this results holds inde- also received substantial attention. Such work was pio- pendently of the regulatory functions used or num- neered by Fraser and Tiwari [Fraser and Tiwari, 1974] ber of genes. We also derive properties of the oscil- who performed numerical simulations. Subsequent lations as a function of the degradation rates and analysis showed that for sufficiently strong repression, number of nodes forming the ring. Finally, we ex- oscillations arise due to a Hopf bifurcation, relating the plore the role of mRNA dynamics by applying the genetic oscillatory behaviour with dynamical systems generic results to the specific case with two natu- theory [Smith, 1987], which has lead to many different rally different degradation time scales. studies delving into dynamical properties of the oscilla- tions (e.g. [Buşe et al., 2009, Buşe et al., 2010,Müller et al., 2006,Garcia-Ojalvo et al., 2004,Pigolotti et al., Introduction 2007]) These analytical and numerical studies of biochem- Genetic regulatory networks (GRNs), consisting of the ical circuits require insight into a set of simultane- arXiv:1802.05946v1 [q-bio.MN] 16 Feb 2018 interactions between a set of genes, are core to the reg- ous non-linear feedback interactions between multiple ulation of the temporal genetic expression profiles re- genes usually analyzed as a set of ordinary differential quired for various cellular processes, ranging from cell equations (ODEs). Determining the role of different fate determination during embryogenesis to cellular parameters in the solutions to these equations poses homesotasis [Davidson and Levine, 2005,Levine and enormous analytical complexity that hinders quantita- Davidson, 2005, Panovska-Griffiths et al., 2013, Olson, tive studies. For this reason, computational and ana- 2006, Sauka-Spengler and Bronner-Fraser, 2008, De- lytical studies are often reduced to tackling relatively quéant et al., 2006]. GRNs are capable of many dy- small networks, and, even in such cases, to a reduced namical functions, including oscillatory gene expres- parameter set or certain simplified regulatory func- sion [Monk, 2003], as has been observed in somito- tions. This can constrain the range of application of the genesis [Hirata et al., 2002], circadian clocks [Reddy results found [Estrada et al., 2016]. Even in the case and Rey, 2014], the activity of the p53 tumor suppres- of the repressilator, the dynamical complexity can be sor [Bar-Or et al., 2000, Michael and Oren, 2003]) or huge [Potapov et al., 2015] and restrictive assumptions Degradation rate uniformity determines success of oscillations in repressive feedback regulatory networks within the quantitative model again become unavoid- able. This highlights the necessity to develop tools x_ = δ (f (x ) − x ) capable of understanding dynamical properties of the 1 1 1 3 1 system independently of the regulatory functions used. x_ 2 = δ2(f2(x1) − x2) A useful assumption, present in the vast majority of x_ 3 = δ3(f3(x2) − x3); studies, is that the degradation rates of proteins are where f ; f and f describe the repressive interactions identical for different genes. However, due to the high 1 2 3 between genes and are therefore decreasing, positive span of protein structures and mechanisms controlling functions. f can be thought of as the maximal ex- degradation rates, such as ubiquitination [Bachmair i pression level of gene i multiplied by the probability et al., 1986,Dice, 1987], the turnover rate can range that its repressor is inactive. At any given steady state orders of magnitude in the proteome of a single sys- (x∗; x∗; x∗) given by x_ =x _ =x _ = 0, the repressi- tem [Belle et al., 2006, Christiano et al., 2014]. Since 1 2 3 1 2 3 lator follows the relationship x∗ = f (f (f (x∗))) ≡ oscillations in a network are generated by an ongoing 3 3 2 1 3 F (x∗), where the function F captures the overall neg- imbalance between the production and degradation of 3 ative feedback. Since F (x) is a decreasing, positive the different species, it is expected that degradation function, there is a unique possible value of x∗, which rates play a determinant role in the behavior of oscilla- 3 yields unique values x∗ = f (x∗) and x∗ = f (x∗). The tory circuits. Particuarly, simulations of a repressilator 1 1 3 2 2 1 stability of the protein levels dictated by this steady model showed that oscillations are favoured for com- state, can be computed through the eigenvalues of its parable values of the degradation of the protein and Jacobian matrix mRNA [Elowitz and Leibler, 2000], and, more gener- 0 0 ∗ 1 ally, a certain level of symmetry around the ring [Tuttle −δ1 0 δ1f1(x3) 0 ∗ et al., 2005]. Nevertheless, there is no analytical study J = @ δ2f2(x1) −δ2 0 A : (1) 0 ∗ that gives insight into the role of degradation rates for 0 δ3f3(x2) −δ3 general ring oscillators independent of the regulatory These eigenvalues λ satisfy the characteristic equa- functions used. tion To gain insight into the role of degradation rates in oscillatory networks, dynamical system theory and (λ + δ1)(λ + δ2)(λ + δ3) + Aδ1δ2δ3 = 0; (2) bifurcation theory have proven to be essential tools. where A ≡ −f 0 (x∗)f 0 (x∗)f 0 (x∗) = −F 0(x∗) is the These allow us to categorise different possible dynam- 1 3 2 1 3 2 3 modulus of the slope of the composite repression func- ical responses of oscillatory networks [Smith, 1987, tion at the steady state. Interestingly, the parameter Strelkowa and Barahona, 2010,K. et al., 2015,Monk, A contains all the details of the interactions of the 2003]. Using bifurcation theory we aim to obtain infor- network necessary to solve the characteristic equation mation on the role of degradation rates in oscillatory (2). This means that the eigenvalues of the character- networks, making these results as general as possible istic equation and so the stability of the steady protein and using minimal details of the regulatory functions. levels will depend only on A and on the degradation Specifically, we show how relevant information on the rates. This allows us to perform the stability analysis interactions between different genes can be captured without any further information on the explicit form with a single parameter. We show how this parame- of the repressive interactions. Concretely, since F (x) ter controls the appearance of oscillations through a is a monotonically decreasing function (A > 0) the Hopf bifurcation. First we develop our methodology product of the eigenvalues of J will always be negative, for the repressilator, expanding the theory in the fol- lowing sections to negative feedback rings oscillators λ λ λ = det J = −δ δ δ (1 + A) < 0: (3) with an arbitrary number of species. Finally we study 1 2 3 1 2 3 the case in which the species are categorized as mRNAs Therefore, the repressive ring forbids any eigenvalue to and proteins, which have distinct degradation rates, be zero. As a result, a change in stability of the steady giving insight in the role of mRNA dynamics in the state can only occur through a Hopf bifurcation, in performance of ring oscillators. which a pair of complex conjugate eigenvalues crosses the imaginary axis. We write this pair λe2 = iα and λe3 = −iα, where α is the angular velocity of the sus- Results tained oscillations that appear at the Hopf bifurcation. Following Equation(3), the other eigenvalue λ1 must Three-gene repressilator be real and negative, everywhere, and in particular at the Hopf bifurcation (λe1 < 0). The classic general form of the repressilator consists of Introducing the purely imaginary eigenvalues λe2 and three genes repressing each other sequentially [Elowitz λe3 in the characteristic equation (2), expressions for and Leibler, 2000] (Fig.1a). In the simple case in α and A~ (value of A at the bifurcation) are obtained which mRNA dynamics are considered fast compared that only depend on the degradation rates, with protein dynamics, the dynamical evolution of the p system can be described as a set of ODEs α = δ1δ2 + δ2δ3 + δ3δ1: (4) Page 2 of 17 Degradation rate uniformity determines success of oscillations in repressive feedback regulatory networks a) X c) X X X X X X X b) X 1000 gene gene t t expression expression expression expression 300 100 30 10 steady states steady gene expression ~ Figure 1: Oscillatory behaviour of the repressilator a) Schematic of the repressilator b) Bifurcation diagram schematic shows how the oscillations appear and disappear through a Hopf bifurcation depending on the magnitude A that summarizes the negative feedback strength of the circuit.