design of digital logic by genetic regulatory networks ron weiss department of electrical...
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Design of Digital Logic by Genetic Regulatory Networks
Ron Weiss
Department of Electrical Engineering
Princeton University
Computing Beyond Silicon Summer School, Caltech, Summer 2002
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E. coli
Diffusing signal
Programming Cell Communities
proteins
Program cells to perform various tasks using:• Intra-cellular circuits
– Digital & analog components• Inter-cellular communication
– Control outgoing signals, process incoming signals
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Programmed Cell Applications
analytesource
Analyte source detection
Reporterrings
Pattern formation
• Biomedical– combinatorial gene regulation with few inputs; tissue engineering
• Environmental sensing and effecting– recognize and respond to complex environmental conditions
• Engineered crops– toggle switches control expression of growth hormones, pesticides
• Cellular-scale fabrication– cellular robots that manufacture complex scaffolds
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Outline
• In-vivo logic circuits
• Intercellular communications
• Signal processing and analog circuits
• Programming cell aggregates
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A Genetic Circuit Building Block
Digital Inverter Threshold Detector
Amplifier Delay
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Logic Circuits based on Inverters
• Proteins are the wires/signals• Promoter + decay implement the gates• NAND gate is a universal logic element:
– any (finite) digital circuit can be built!
X
Y
R1 Z
R1
R1X
Y
Z= gene
gene
gene
NAND NOT
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Why Digital?
• We know how to program with it– Signal restoration + modularity = robust complex
circuits
• Cells do it– Phage λ cI repressor: Lysis or Lysogeny?
[Ptashne, A Genetic Switch, 1992]– Circuit simulation of phage λ
[McAdams & Shapiro, Science, 1995]
• Also working on combining analog &digital circuitry
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BioCircuit Computer-Aided Design
SPICE BioSPICE
steady state dynamics intercellular
• BioSPICE: a prototype biocircuit CAD tool– simulates protein and chemical concentrations– intracellular circuits, intercellular communication– single cells, small cell aggregates
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Genetic Circuit Elements
inputmRNA ribosome
promoter
outputmRNA ribosome
operator
translation
transcription
RNAp
RBS RBS
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Modeling a Biochemical Inverter
input
output
repressor
promoter
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A BioSPICE Inverter Simulation
input
output
repressor
promoter
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“Proof of Concept” Circuits• Work in BioSPICE simulations [Weiss, Homsy, Nagpal, 1998]
• They work in vivo – Flip-flop [Gardner & Collins, 2000]– Ring oscillator [Elowitz & Leibler, 2000]
• However, cells are very complex environments– Current modeling techniques poorly predict behavior
time (x100 sec)
[A]
[C]
[B]
B_S
_R
A
_[R]
[B]
_[S]
[A]
time (x100 sec)
time (x100 sec)
RS-Latch (“flip-flop”) Ring oscillator
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The IMPLIES Gate
• Inducers that inactivate repressors:– IPTG (Isopropylthio-ß-galactoside) Lac repressor
– aTc (Anhydrotetracycline) Tet repressor
• Use as a logical Implies gate: (NOT R) OR I
operatorpromoter gene
RNAP
activerepressor
operatorpromoter gene
RNAP
inactiverepressor
inducerno transcription transcription
Repressor Inducer Output
0 0 10 1 11 0 01 1 1
RepressorInducer
Output
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The Toggle Switch[Gardner & Collins, 2000]
pIKE = lac/tetpTAK = lac/cIts
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Actual Behavior of Toggle Switch[Gardner & Collins, 2000]
promoter
protein coding sequence
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The Ring Oscillator[Elowitz, Leibler 2000]
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Example of Oscillation
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Evaluation of the Ring Oscillator
Reliable long-term oscillation doesn’t work yet: Will matching gates help? Need to better understand noise Need better models for circuit design
[Elowitz & Leibler, 2000]
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A Ring Oscillator with Mismatched Inverters
A = original cI/λP(R)
B = repressor binding 3X weaker
C = transcription 2X stronger
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Device Physics in Steady State
Transfer curve: gain (flat,steep,flat) adequate noise margins
[input]
“gain”
0 1
[output]
• Curve can be achieved with certain dna-binding proteins• Inverters with these properties can be used to build complex circuits
“Ideal” inverter
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Measuring a Transfer Curve
• Construct a circuit that allows:– Control and observation of input protein levels– Simultaneous observation of resulting output levels
“drive” gene output gene
R YFPCFP
inverter
• Also, need to normalize CFP vs YFP
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Flow Cytometry (FACS)
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Drive Input Levels by Varying Inducer
0
100
1000
IPTG
YFP
lacI[high]
0(Off) P(lac)
P(lacIq)
lacIP(lacIq)
YFPP(lac)
IPTG
IPTG (uM)
promoter
protein coding sequence
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1.00
10.00
100.00
1,000.00
0.1 1.0 10.0 100.0 1,000.0 10,000.0
IPTG (uM)
FL
1 pINV-112-R1
pINV-102
Also use for CFP/YFP calibration
Controlling Input Levels
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Cell Population Behavior
Red = pPROLARRest = pINV-102 with IPTG (0.1 to 1000 uM)
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CFP: a Weak Fluorescent Protein
Induction of CFP expression
IPTG
Fluorescence
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Measuring a Transfer Curve for lacI/p(lac)
aTc
YFPlacICFP
tetR[high]0
(Off) P(LtetO-1)
P(R)
P(lac)
measure TC
tetRP(R)
P(Ltet-O1)
aTcYFPP(lac)
lacI CFP
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Transfer Curve Data Points
01 10
1 ng/ml aTc
0
200
400
600
800
1,000
1,200
1,400
1 10 100 1,000 10,000
Fluorescence (FL1)
Eve
nts
undefined
10 ng/ml aTc 100 ng/ml aTc
0
200
400
600
800
1,000
1,200
1,400
1 10 100 1,000 10,000
Fluorescence (FL1)
Eve
nts
0
200
400
600
800
1,000
1,200
1,400
1 10 100 1,000 10,000
Fluorescence (FL1)
Eve
nts
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1
10
100
1000
1 10 100 1000
Input (Normalized CFP)
Ou
tpu
t (Y
FP)
lacI/p(lac) Transfer Curve
aTc
YFPlacICFP
tetR[high]0
(Off) P(LtetO-1)
P(R)
P(lac)
gain = 4.72gain = 4.72
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Evaluating the Transfer Curve
• Noise margins:
0
200
400
600
800
1,000
1,200
1,400
1 10 100 1,000
Fluorescence
Eve
nts
30 ng/mlaTc
3 ng/mlaTc
1
10
100
1,000
0.1 1.0 10.0 100.0
aTc (ng/ml)
Flu
ore
scen
ce
• Gain / Signal restoration:
high gainhigh gain
* note: graphing vs. aTc (i.e. transfer curve of 2 gates)
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10
1
102
103
100
101
102
100
101
102
103
IPTG (mM)
aTc (ng/ml)
Me
dia
n F
LR
Transfer Curve of Implies
YFPlacI
aTcIPTG
tetR[high]
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The Cellular Gate LibraryAdd the cI/P(R) Inverter
OR1OR2 structural gene
P(R-O12)
• cI is a highly efficient repressorcooperative
binding
IPTG
YFPcI
CFPlacI[high]0
(Off) P(R)P(lac)
• Use lacI/p(lac) as driver
highgain
cI bound to DNA
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Initial Transfer Curve for cI/P(R)
lacIP(lacIq)
P(lac)
IPTGYFPP(R)
cI CFP
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Recall Inverter Components
inputmRNA ribosome
promoter
outputmRNA ribosome
operator
translation
transcription
RNAp
RBS RBS
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Functional Composition of an Inverter
“clean” signal digital inversionscale input invert signal
translation
0 10 1
0 1
+ + =
“gain”
0 1
+ + =
cooperativebinding
transcription inversion
input mRNA
input protein
bound operators
output mRNA
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Genetic Process Engineering I:Reducing Ribosome Binding Site Efficiency
RBS
translation
start
Orig: ATTAAAGAGGAGAAATTAAGCATG strongRBS-1: TCACACAGGAAACCGGTTCGATG RBS-2: TCACACAGGAAAGGCCTCGATGRBS-3: TCACACAGGACGGCCGGATG weak
translationstage
Inversion
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1.00
10.00
100.00
1,000.00
0.1 1.0 10.0 100.0 1,000.0
IPTG (uM)
Ou
tpu
t (Y
FP
)
pINV-107/pINV-112-R1
pINV-107/pINV-112-R2
pINV-107/pINV-112-R3
Experimental Results forcI/P(R) Inverter with Modified RBS
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Genetic Process Engineering II:Mutating the P(R) operator
BioSPICE Simulation
orig: TACCTCTGGCGGTGATAmut4: TACATCTGGCGGTGATAmut5: TACATATGGCGGTGATAmut6 TACAGATGGCGGTGATA
OR1
cooperativebinding
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Experimental Results for Mutating P(R)
1.00
10.00
100.00
1,000.00
0.1 1.0 10.0 100.0 1,000.0
IPTG (uM)
Ou
tpu
t (Y
FP
)
pINV-107-mut4/pINV-112-R3
pINV-107-mut5/pINV-112-R3
pINV-107-mut6/pINV-112-R3
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Genetic Process Engineering
• Genetic modifications required to make circuit work
• Need to understand “device physics” of gates– enables construction of complex circuits
1.00
10.00
100.00
1,000.00
0.1 1.0 10.0 100.0 1,000.0
IPTG (uM)
Ou
tpu
t (Y
FP
)
modifyRBS
mutateoperator
RBS
#1: modify RBS
#2: mutate operator
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Self-perfecting Genetic Circuits[Arnold, Yokobayashi, Weiss]
optical micrograph of the μFACS device
• Use directed evolution to optimize circuits• Screening criteria based on transfer curve• Initial results are promising
Lab-on-a-chip: μFACS [Quake]
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Molecular Evolution of the Circuit
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Prediction of Circuit Behavior
1
10
100
1,000
0.1 1.0 10.0 100.0
1
10
100
1,000
0.1 1.0 10.0 100.0
=?
Outputsignal
Inputsignal
1
10
100
1,000
0.1 1.0 10.0 100.0
Can the behavior of a complex circuit be predicted using only
the behavior of its parts?
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Prediction of Circuit Behaviorpreliminary results
YFP
aTc#
cells
tetRP(bla)
P(tet)
aTccIP(lac)
lacI CFP YFPP(R)