Inferring robust gene networks from expression data by a sensitivity-based incremental evolution method

<p>Abstract</p> <p>Background</p> <p>Reconstructing gene regulatory networks (GRNs) from expression data is one of the most important challenges in systems biology research. Many computational models and methods have been proposed to automate the process of network reconstruction. Inferring robust networks with desired behaviours remains challenging, however. This problem is related to network dynamics but has yet to be investigated using network modeling.</p> <p>Results</p> <p>We propose an incremental evolution approach for inferring GRNs that takes network robustness into consideration and can deal with a large number of network parameters. Our approach includes a sensitivity analysis procedure to iteratively select the most influential network parameters, and it uses a swarm intelligence procedure to perform parameter optimization. We have conducted a series of experiments to evaluate the external behaviors and internal robustness of the networks inferred by the proposed approach. The results and analyses have verified the effectiveness of our approach.</p> <p>Conclusions</p> <p>Sensitivity analysis is crucial to identifying the most sensitive parameters that govern the network dynamics. It can further be used to derive constraints for network parameters in the network reconstruction process. The experimental results show that the proposed approach can successfully infer robust GRNs with desired system behaviors.</p

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Metal Cations in Protein Force Fields: From Data Set Creation and Benchmarks to Polarizable Force Field Implementation and Adjustment

Metal cations are essential to life. About one-third of all proteins require metal cofactors to accurately fold or to function. Computer simulations using empirical parameters and classical molecular mechanics models (force fields) are the standard tool to investigate proteins’ structural dynamics and functions in silico. Despite many successes, the accuracy of force fields is limited when cations are involved. The focus of this thesis is the development of tools and strategies to create system-specific force field parameters to accurately describe cation-protein interactions. The accuracy of a force field mainly relies on (i) the parameters derived from increasingly large quantum chemistry or experimental data and (ii) the physics behind the energy formula. The first part of this thesis presents a large and comprehensive quantum chemistry data set on a consistent computational footing that can be used for force field parameterization and benchmarking. The data set covers dipeptides of the 20 proteinogenic amino acids with different possible side chain protonation states, 3 divalent cations (Ca2+, Mg2+, and Ba2+), and a wide relative energy range. Crucial properties related to force field development, such as partial charges, interaction energies, etc., are also provided. To make the data available, the data set was uploaded to the NOMAD repository and its data structure was formalized in an ontology. Besides a proper data basis for parameterization, the physics covered by the terms of the additive force field formulation model impacts its applicability. The second part of this thesis benchmarks three popular non-polarizable force fields and the polarizable Drude model against a quantum chemistry data set. After some adjustments, the Drude model was found to reproduce the reference interaction energy substantially better than the non-polarizable force fields, which showed the importance of explicitly addressing polarization effects. Tweaking of the Drude model involved Boltzmann-weighted fitting to optimize Thole factors and Lennard-Jones parameters. The obtained parameters were validated by (i) their ability to reproduce reference interaction energies and (ii) molecular dynamics simulations of the N-lobe of calmodulin. This work facilitates the improvement of polarizable force fields for cation-protein interactions by quantum chemistry-driven parameterization combined with molecular dynamics simulations in the condensed phase. While the Drude model exhibits its potential simulating cation-protein interactions, it lacks description of charge transfer effects, which are significant between cation and protein. The CTPOL model extends the classical force field formulation by charge transfer (CT) and polarization (POL). Since the CTPOL model is not readily available in any of the popular molecular-dynamics packages, it was implemented in OpenMM. Furthermore, an open-source parameterization tool, called FFAFFURR, was implemented that enables the (system specific) parameterization of OPLS-AA and CTPOL models. Following the method established in the previous part, the performance of FFAFFURR was evaluated by its ability to reproduce quantum chemistry energies and molecular dynamics simulations of the zinc finger protein. In conclusion, this thesis steps towards the development of next-generation force fields to accurately describe cation-protein interactions by providing (i) reference data, (ii) a force field model that includes charge transfer and polarization, and (iii) a freely-available parameterization tool.Metallkationen sind für das Leben unerlässlich. Etwa ein Drittel aller Proteine benötigen Metall-Cofaktoren, um sich korrekt zu falten oder zu funktionieren. Computersimulationen unter Verwendung empirischer Parameter und klassischer Molekülmechanik-Modelle (Kraftfelder) sind ein Standardwerkzeug zur Untersuchung der strukturellen Dynamik und Funktionen von Proteinen in silico. Trotz vieler Erfolge ist die Genauigkeit der Kraftfelder begrenzt, wenn Kationen beteiligt sind. Der Schwerpunkt dieser Arbeit liegt auf der Entwicklung von Werkzeugen und Strategien zur Erstellung systemspezifischer Kraftfeldparameter zur genaueren Beschreibung von Kationen-Protein-Wechselwirkungen. Die Genauigkeit eines Kraftfelds hängt hauptsächlich von (i) den Parametern ab, die aus immer größeren quantenchemischen oder experimentellen Daten abgeleitet werden, und (ii) der Physik hinter der Kraftfeld-Formel. Im ersten Teil dieser Arbeit wird ein großer und umfassender quantenchemischer Datensatz auf einer konsistenten rechnerischen Grundlage vorgestellt, der für die Parametrisierung und das Benchmarking von Kraftfeldern verwendet werden kann. Der Datensatz umfasst Dipeptide der 20 proteinogenen Aminosäuren mit verschiedenen möglichen Seitenketten-Protonierungszuständen, 3 zweiwertige Kationen (Ca2+, Mg2+ und Ba2+) und einen breiten relativen Energiebereich. Wichtige Eigenschaften für die Entwicklung von Kraftfeldern, wie Wechselwirkungsenergien, Partialladungen usw., werden ebenfalls bereitgestellt. Um die Daten verfügbar zu machen, wurde der Datensatz in das NOMAD-Repository hochgeladen und seine Datenstruktur wurde in einer Ontologie formalisiert. Neben einer geeigneten Datenbasis für die Parametrisierung beeinflusst die Physik, die von den Termen des additiven Kraftfeld-Modells abgedeckt wird, dessen Anwendbarkeit. Der zweite Teil dieser Arbeit vergleicht drei populäre nichtpolarisierbare Kraftfelder und das polarisierbare Drude-Modell mit einem Datensatz aus der Quantenchemie. Nach einigen Anpassungen stellte sich heraus, dass das Drude-Modell die Referenzwechselwirkungsenergie wesentlich besser reproduziert als die nichtpolarisierbaren Kraftfelder, was zeigt, wie wichtig es ist, Polarisationseffekte explizit zu berücksichtigen. Die Anpassung des Drude-Modells umfasste eine Boltzmann-gewichtete Optimierung der Thole-Faktoren und Lennard-Jones-Parameter. Die erhaltenen Parameter wurden validiert durch (i) ihre Fähigkeit, Referenzwechselwirkungsenergien zu reproduzieren und (ii) Molekulardynamik-Simulationen des Calmodulin-N-Lobe. Diese Arbeit demonstriert die Verbesserung polarisierbarer Kraftfelder für Kationen-Protein-Wechselwirkungen durch quantenchemisch gesteuerte Parametrisierung in Kombination mit Molekulardynamiksimulationen in der kondensierten Phase. Während das Drude-Modell sein Potenzial bei der Simulation von Kation - Protein - Wechselwirkungen zeigt, fehlt ihm die Beschreibung von Ladungstransfereffekten, die zwischen Kation und Protein von Bedeutung sind. Das CTPOL-Modell erweitert die klassische Kraftfeldformulierung um den Ladungstransfer (CT) und die Polarisation (POL). Da das CTPOL-Modell in keinem der gängigen Molekulardynamik-Pakete verfügbar ist, wurde es in OpenMM implementiert. Außerdem wurde ein Open-Source-Parametrisierungswerkzeug namens FFAFFURR implementiert, welches die (systemspezifische) Parametrisierung von OPLS-AA und CTPOL-Modellen ermöglicht. In Anlehnung an die im vorangegangenen Teil etablierte Methode wurde die Leistung von FFAFFURR anhand seiner Fähigkeit, quantenchemische Energien und Molekulardynamiksimulationen des Zinkfingerproteins zu reproduzieren, bewertet. Zusammenfassend lässt sich sagen, dass diese Arbeit einen Schritt in Richtung der Entwicklung von Kraftfeldern der nächsten Generation zur genauen Beschreibung von Kationen-Protein-Wechselwirkungen darstellt, indem sie (i) Referenzdaten, (ii) ein Kraftfeldmodell, das Ladungstransfer und Polarisation einschließt, und (iii) ein frei verfügbares Parametrisierungswerkzeug bereitstellt

Optimal Grading for Strength and Functionality of Parts Made of Interpenetrating Polymer Networks: Load Capacity Enhancement

Uniform parts with stress concentrations or singularities are prone to failure under relatively small loads, which motivates researchers to seek methods to enhance the strength of these parts. This dissertation studies the optimization of material grading to design parts made of functionally graded interpenetrating polymer networks (FG-IPNs) to improve their load capacity. An acrylate/epoxy IPN with variations of elastic Young’s modulus, Poisson’s ratio, and ultimate stress at failure is used for optimization of a plate with stress concentration. The grading is optimized by attaching the finite element method (FEM) solver to a general purpose bound-constrained optimizer. Two examples, a plate with a hole and a bent bracket, show more than 100% improvement in the part’s load capacity when compared to the uniform IPNs. Parts with stress singularities are studied using a PMMA/PU IPN system. For this system, we have the elastic modulus and the critical stress intensity factor KIC as a function of the concentration of the components. A material mesh is utilized to control the grading near the crack tip and uniform material is assumed outside the tip area. The displacement correlation technique (DCT) is used to calculate stress intensity factors and the maximum hoop stress criterion is selected as the fracture criterion. Parts with edge cracks, interior cracks and interacting cracks under tension are considered. For the PMMA/PU IPN system, improvements in load capacity in the order of one hundred percent were commonly obtained through grading the region around the crack tip, compared to both optimal uniform plates, and plates with simple toughening of the region around the crack. In addition, in FEM modelling of FGM part with graded elements, the polynomial interpolations used in such elements can be prone to oscillations that can result in regions of negative elastic modulus, even with only positive nodal values of elastic moduli. The result of these negative modulus regions, even if the region is small, can be unexpected singularities in the solution. To avoid this potential problem, conditions for robust higher order materially graded elements were developed. Advisor: Mehrdad Negahba