Yutaka Hori

Yongqiang Wang, Yutaka Hori, Shinji Hara et al. · meta-ai

Many biological oscillators are arranged in networks composed of many inter-coupled cellular oscillators. However, results are still lacking on the collective oscillation period of inter-coupled gene regulatory oscillators, which, as has been reported, may be different from the oscillation period of an autonomous cellular oscillator. Based on the Goodwin oscillator, we analyze the collective oscillation pattern of coupled cellular oscillator networks. First we give a condition under which the oscillator network exhibits oscillatory and synchronized behavior, then we estimate the collective oscillation period based on a multivariable harmonic balance technique. Analytical results are derived in terms of biochemical parameters, thus giving insight into the basic mechanism of biological oscillation and providing guidance in synthetic biology design. Simulation results are given to confirm the theoretical predictions.

Yutaka Hori, Hiroki Miyazako, Soichiro Kumagai et al.

This paper proposes a control theoretic framework to model and analyze the self-organized pattern formation of molecular concentrations in biomolecular communication networks, emerging applications in synthetic biology. In biomolecular communication networks, bionanomachines, or biological cells, communicate with each other using a cell-to-cell communication mechanism mediated by a diffusible signaling molecule, thereby the dynamics of molecular concentrations are approximately modeled as a reaction-diffusion system with a single diffuser. We first introduce a feedback model representation of the reaction-diffusion system and provide a systematic local stability/instability analysis tool using the root locus of the feedback system. The instability analysis then allows us to analytically derive the conditions for the self-organized spatial pattern formation, or Turing pattern formation, of the bionanomachines. We propose a novel synthetic biocircuit motif called activator-repressor-diffuser system and show that it is one of the minimum biomolecular circuits that admit self-organized patterns over cell population.

Yutaka Hori, Shinji Hara

This paper is concerned with stochastic reaction-diffusion kinetics governed by the reaction-diffusion master equation. Specifically, the primary goal of this paper is to provide a mechanistic basis of Turing pattern formation that is induced by intrinsic noise. To this end, we first derive an approximate reaction-diffusion system by using linear noise approximation. We show that the approximated system has a certain structure that is associated with a coupled dynamic multi-agent system. This observation then helps us derive an efficient computation tool to examine the spatial power spectrum of the intrinsic noise. We numerically demonstrate that the result is quite effective to analyze noise-induced Turing pattern. Finally, we illustrate the theoretical mechanism behind the noise-induced pattern formation with a H2 norm interpretation of the multi-agent system.

Yutaka Hori, Shinji Hara

Oscillatory chemical reactions often serve as a timing clock of cellular processes in living cells. The temporal dynamics of protein concentration levels is thus of great interest in biology. Here we propose a theoretical framework to analyze the frequency, phase and amplitude of oscillatory protein concentrations in gene regulatory networks with negative cyclic feedback. We first formulate the analysis framework of oscillation profiles based on multivariable harmonic balance. With this framework, the frequency, phase and amplitude are obtained analytically in terms of kinetic constants of the reactions despite the nonlinearity of the dynamics. These results are demonstrated with the Pentilator and Hes7 self-repression network, and it is shown that the developed analysis method indeed predicts the profiles of the oscillations. A distinctive feature of the presented result is that the waveform of oscillations is analytically obtained for a broad class of biochemical systems. Thus, it is easy to see how the waveform is determined from the system's parameters and structures. We present general biological insights that are applicable for any gene regulatory networks with negative cyclic feedback.

Masaaki Takada, Yutaka Hori, Shinji Hara

This paper is concerned with conditions for the existence of oscillations in gene regulatory networks with negative cyclic feedback, where time delays in transcription, translation and translocation process are explicitly considered. The primary goal of this paper is to propose systematic analysis tools that are useful for a broad class of cyclic gene regulatory networks, and to provide novel biological insights. To this end, we adopt a simplified model that is suitable for capturing the essence of a large class of gene regulatory networks. It is first shown that local instability of the unique equilibrium state results in oscillations based on a Poincare-Bendixson type theorem. Then, a graphical existence condition, which is equivalent to the local instability of a unique equilibrium, is derived. Based on the graphical condition, the existence condition is analytically presented in terms of biochemical parameters. This allows us to find the dimensionless parameters that primarily affect the existence of oscillations, and to provide biological insights. The analytic conditions and biological insights are illustrated with two existing biochemical networks, Repressilator and the Hes7 gene regulatory networks.

Yuta Sakurai, Yutaka Hori

Model-based prediction of stochastic noise in biomolecular reactions often resorts to approximation with unknown precision. As a result, unexpected stochastic fluctuation causes a headache for the designers of biomolecular circuits. This paper proposes a convex optimization approach to quantifying the steady state moments of molecular copy counts with theoretical rigor. We show that the stochastic moments lie in a convex semi-algebraic set specified by linear matrix inequalities. Thus, the upper and the lower bounds of some moments can be computed by a semidefinite program. Using a protein dimerization process as an example, we demonstrate that the proposed method can precisely predict the mean and the variance of the copy number of the monomer protein.

Yuta Sakurai, Yutaka Hori

The predictive ability of stochastic chemical reactions is currently limited by the lack of closed form solutions to the governing chemical master equation. To overcome this limitation, this paper proposes a computational method capable of predicting mathematically rigorous upper and lower bounds of transient moments for reactions governed by the law of mass action. We first derive an equation that transient moments must satisfy based on the moment equation. Although this equation is underdetermined, we introduce a set of semidefinite constraints known as moment condition to narrow the feasible set of the variables in the equation. Using these conditions, we formulate a semidefinite program that efficiently and rigorously computes the bounds of transient moment dynamics. The proposed method is demonstrated with illustrative numerical examples and is compared with related works to discuss advantages and limitations.

Tomoki Sadatoshi, Antonis Papachristodoulou, Yutaka Hori

Moment dynamics in stochastic chemical kinetics often involve an infinite chain of coupled equations, where lower-order moments depend on higher-order ones, making them analytically intractable. Moment bounding via semidefinite programming provides guaranteed upper and lower bounds on stationary moments. However, this formulation suffers from the rapidly growing size of semidefinite constraints due to the combinatorial growth of moments with the number of molecular species. In this paper, we propose a sparsity-exploiting matrix decomposition method for semidefinite constraints in stationary moment bounding problems to reduce the computational cost of the resulting semidefinite programs. Specifically, we characterize the sparsity structure of moment equations, where each reaction involves only a subset of variables determined by its reactants, and exploit this structure to decompose the semidefinite constraints into smaller ones. We demonstrate that the resulting formulation reduces the computational cost of the optimization problem while providing practically useful bounds.

Takeyuki Iwasaki, Yutaka Hori

Stochastic chemical reaction networks (SRNs) in cellular systems are commonly modeled as continuous-time Markov chains (CTMCs) describing the dynamics of molecular copy numbers. The exact evaluation of transient copy number statistics is, however, often hindered by a non-closed hierarchy of moment equations. In this paper, we propose a method for computing theoretically guaranteed upper and lower bounds on transient moments based on the Kolmogorov's backward equation, which provides a dual representation of the CME, the governing equation for the probability distribution of the CTMC. This dual formulation avoids the moment closure problem by shifting the source of infinite dimensionality to the dependence on the initial state. We show that, this dual formulation, combined with the monotonicity of the CTMC generator, leads to a finite-dimensional linear time-invariant system that provides bounds on transient moments. The resulting system enables efficient evaluation of moment bounds across multiple initial conditions by simple inner-product operations without recomputing the bounding system. Further, for certain classes of SRNs, the bounding ODEs admit explicit construction from the reaction model, providing a systematic and constructive framework for computing provable bounds.

G. Q. Bao Tran, Yutaka Hori, Shinji Hara

We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error, leveraging the concept of generalized frequency variables. A separation principle for networks is then established, showing that the observer and controller can be designed independently and combined to achieve a stable output feedback. Our results are illustrated via a highly unstable, oscillatory network of locally actuated pendulums on carts. Finally, necessary conditions for controllability and observability -- derived from agent properties and network structure -- are established and discussed.

Mei Minami, Yuka Masumoto, Yoshihiro Okawa et al.

In many practical control applications, the performance level of a closed-loop system degrades over time due to the change of plant characteristics. Thus, there is a strong need for redesigning a controller without going through the system modeling process, which is often difficult for closed-loop systems. Reinforcement learning (RL) is one of the promising approaches that enable model-free redesign of optimal controllers for nonlinear dynamical systems based only on the measurement of the closed-loop system. However, the learning process of RL usually requires a considerable number of trial-and-error experiments using the poorly controlled system that may accumulate wear on the plant. To overcome this limitation, we propose a model-free two-step design approach that improves the transient learning performance of RL in an optimal regulator redesign problem for unknown nonlinear systems. Specifically, we first design a linear control law that attains some degree of control performance in a model-free manner, and then, train the nonlinear optimal control law with online RL by using the designed linear control law in parallel. We introduce an offline RL algorithm for the design of the linear control law and theoretically guarantee its convergence to the LQR controller under mild assumptions. Numerical simulations show that the proposed approach improves the transient learning performance and efficiency in hyperparameter tuning of RL.