On identifiability of nonlinear ODE models and applications in viral dynamics

Ordinary differential equations (ODEs) are a powerful tool for modeling dynamic processes with wide applications in a variety of scientific fields. Over the last two decades, ODEs have also emerged as a prevailing tool in various biomedical research fields, especially in infectious disease modeling. In practice, it is important and necessary to determine unknown parameters in ODE models based on experimental data. Identifiability analysis is the first step in determining unknown parameters in ODE models and such analysis techniques for nonlinear ODE models are still under development. In this article, we review identifiability analysis methodologies for nonlinear ODE models developed in the past couple of decades, including structural identifiability analysis, practical identifiability analysis, and sensitivity-based identifiability analysis. Some advanced topics and ongoing research are also briefly reviewed. Finally, some examples from modeling viral dynamics of HIV and influenza viruses are given to illustrate how to apply these identifiability analysis methods in practice.NIAID/NIH research grants AI055290, AI50020, AI28433, AI078498, RR06555, the University of Rochester Provost Award, and the University of Rochester DCFAR (P30AI078498) Mentoring Award.http://www.siam.org/journals/sirev/53-1/75700.htmlai201

Estimation of constant and time-varying dynamic parameters of HIV infection in a nonlinear differential equation model

Modeling viral dynamics in HIV/AIDS studies has resulted in a deep understanding of pathogenesis of HIV infection from which novel antiviral treatment guidance and strategies have been derived. Viral dynamics models based on nonlinear differential equations have been proposed and well developed over the past few decades. However, it is quite challenging to use experimental or clinical data to estimate the unknown parameters (both constant and time-varying parameters) in complex nonlinear differential equation models. Therefore, investigators usually fix some parameter values, from the literature or by experience, to obtain only parameter estimates of interest from clinical or experimental data. However, when such prior information is not available, it is desirable to determine all the parameter estimates from data. In this paper we intend to combine the newly developed approaches, a multi-stage smoothing-based (MSSB) method and the spline-enhanced nonlinear least squares (SNLS) approach, to estimate all HIV viral dynamic parameters in a nonlinear differential equation model. In particular, to the best of our knowledge, this is the first attempt to propose a comparatively thorough procedure, accounting for both efficiency and accuracy, to rigorously estimate all key kinetic parameters in a nonlinear differential equation model of HIV dynamics from clinical data. These parameters include the proliferation rate and death rate of uninfected HIV-targeted cells, the average number of virions produced by an infected cell, and the infection rate which is related to the antiviral treatment effect and is time-varying. To validate the estimation methods, we verified the identifiability of the HIV viral dynamic model and performed simulation studies.Comment: Published in at http://dx.doi.org/10.1214/09-AOAS290 the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org

Sieve estimation of constant and time-varying coefficients in nonlinear ordinary differential equation models by considering both numerical error and measurement error

This article considers estimation of constant and time-varying coefficients in nonlinear ordinary differential equation (ODE) models where analytic closed-form solutions are not available. The numerical solution-based nonlinear least squares (NLS) estimator is investigated in this study. A numerical algorithm such as the Runge--Kutta method is used to approximate the ODE solution. The asymptotic properties are established for the proposed estimators considering both numerical error and measurement error. The B-spline is used to approximate the time-varying coefficients, and the corresponding asymptotic theories in this case are investigated under the framework of the sieve approach. Our results show that if the maximum step size of the $p$-order numerical algorithm goes to zero at a rate faster than $n^{-1/(p\wedge4)}$, the numerical error is negligible compared to the measurement error. This result provides a theoretical guidance in selection of the step size for numerical evaluations of ODEs. Moreover, we have shown that the numerical solution-based NLS estimator and the sieve NLS estimator are strongly consistent. The sieve estimator of constant parameters is asymptotically normal with the same asymptotic co-variance as that of the case where the true ODE solution is exactly known, while the estimator of the time-varying parameter has the optimal convergence rate under some regularity conditions. The theoretical results are also developed for the case when the step size of the ODE numerical solver does not go to zero fast enough or the numerical error is comparable to the measurement error. We illustrate our approach with both simulation studies and clinical data on HIV viral dynamics.Comment: Published in at http://dx.doi.org/10.1214/09-AOS784 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Optimal Rate of Direct Estimators in Systems of Ordinary Differential Equations Linear in Functions of the Parameters

Many processes in biology, chemistry, physics, medicine, and engineering are modeled by a system of differential equations. Such a system is usually characterized via unknown parameters and estimating their 'true' value is thus required. In this paper we focus on the quite common systems for which the derivatives of the states may be written as sums of products of a function of the states and a function of the parameters. For such a system linear in functions of the unknown parameters we present a necessary and sufficient condition for identifiability of the parameters. We develop an estimation approach that bypasses the heavy computational burden of numerical integration and avoids the estimation of system states derivatives, drawbacks from which many classic estimation methods suffer. We also suggest an experimental design for which smoothing can be circumvented. The optimal rate of the proposed estimators, i.e., their $\sqrt n$-consistency, is proved and simulation results illustrate their excellent finite sample performance and compare it to other estimation approaches

Observability and Structural Identifiability of Nonlinear Biological Systems

Observability is a modelling property that describes the possibility of inferring the internal state of a system from observations of its output. A related property, structural identifiability, refers to the theoretical possibility of determining the parameter values from the output. In fact, structural identifiability becomes a particular case of observability if the parameters are considered as constant state variables. It is possible to simultaneously analyse the observability and structural identifiability of a model using the conceptual tools of differential geometry. Many complex biological processes can be described by systems of nonlinear ordinary differential equations, and can therefore be analysed with this approach. The purpose of this review article is threefold: (I) to serve as a tutorial on observability and structural identifiability of nonlinear systems, using the differential geometry approach for their analysis; (II) to review recent advances in the field; and (III) to identify open problems and suggest new avenues for research in this area.Comment: Accepted for publication in the special issue "Computational Methods for Identification and Modelling of Complex Biological Systems" of Complexit

A dynamic Bayesian nonlinear mixed-effects model of HIV response incorporating medication adherence, drug resistance and covariates

HIV dynamic studies have contributed significantly to the understanding of HIV pathogenesis and antiviral treatment strategies for AIDS patients. Establishing the relationship of virologic responses with clinical factors and covariates during long-term antiretroviral (ARV) therapy is important to the development of effective treatments. Medication adherence is an important predictor of the effectiveness of ARV treatment, but an appropriate determinant of adherence rate based on medication event monitoring system (MEMS) data is critical to predict virologic outcomes. The primary objective of this paper is to investigate the effects of a number of summary determinants of MEMS adherence rates on virologic response measured repeatedly over time in HIV-infected patients. We developed a mechanism-based differential equation model with consideration of drug adherence, interacted by virus susceptibility to drug and baseline characteristics, to characterize the long-term virologic responses after initiation of therapy. This model fully integrates viral load, MEMS adherence, drug resistance and baseline covariates into the data analysis. In this study we employed the proposed model and associated Bayesian nonlinear mixed-effects modeling approach to assess how to efficiently use the MEMS adherence data for prediction of virologic response, and to evaluate the predicting power of each summary metric of the MEMS adherence rates.Comment: Published in at http://dx.doi.org/10.1214/10-AOAS376 the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org

General analytical condition to nonlinear identifiability and its application in viral dynamics

Identifiability describes the possibility of determining the values of the unknown parameters that characterize a dynamic system from the knowledge of its inputs and outputs. This paper finds the general analytical condition that fully characterizes this property. The condition can be applied to any system, regardless of its complexity and type of nonlinearity. In the presence of time varying parameters, it is only required that their time dependence be analytical. In addition, its implementation requires no inventiveness from the user as it simply needs to follow the steps of a systematic procedure that only requires to perform the calculation of derivatives and matrix ranks. Time varying parameters are treated as unknown inputs and their identifiability is based on the very recent analytical solution of the unknown input observability problem. Finally, when a parameter is unidentifiable, the paper also provides an analytical method to determine infinitely many values for this parameter that are indistinguishable from its true value. The condition is used to study the identifiability of two nonlinear models in the field of viral dynamics (HIV and Covid-19). In particular, regarding the former, a very popular HIV ODE model is investigated, and the condition allows us to automatically find a new fundamental result that highlights a serious error in the current state of the art.Comment: This preprint is currently under review on Transaction and Automatic Control. It is a short version of arXiv:2211.13507. It includes the definition of identifiability in the presence of time varying parameters - which is absent in arXiv:2211.1350

Dynamical compensation and structural identifiability: analysis, implications, and reconciliation

The concept of dynamical compensation has been recently introduced to describe the ability of a biological system to keep its output dynamics unchanged in the face of varying parameters. Here we show that, according to its original definition, dynamical compensation is equivalent to lack of structural identifiability. This is relevant if model parameters need to be estimated, which is often the case in biological modelling. This realization prompts us to warn that care should we taken when using an unidentifiable model to extract biological insight: the estimated values of structurally unidentifiable parameters are meaningless, and model predictions about unmeasured state variables can be wrong. Taking this into account, we explore alternative definitions of dynamical compensation that do not necessarily imply structural unidentifiability. Accordingly, we show different ways in which a model can be made identifiable while exhibiting dynamical compensation. Our analyses enable the use of the new concept of dynamical compensation in the context of parameter identification, and reconcile it with the desirable property of structural identifiability