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Available online 17 April 2013
Keywords:
Synthetic modeling
The Repressilator
Engineering
Integration
Design principles
Network motifs
a b s t r a c t
Synthetic biology is often understood in terms of the pursuit for well-characterized biological parts to
create synthetic wholes. Accordingly, it has typically been conceived of as an engineering dominated
and application oriented eld. We argue that the relationship of synthetic biology to engineering is far
more nuanced than that and involves a sophisticated epistemic dimension, as shown by the recent practice of synthetic modeling. Synthetic models are engineered genetic networks that are implanted in a natural cell environment. Their construction is typically combined with experiments on model organisms as
well as mathematical modeling and simulation. What is especially interesting about this combinational
modeling practice is that, apart from greater integration between these different epistemic activities, it
has also led to the questioning of some central assumptions and notions on which synthetic biology is
based. As a result synthetic biology is in the process of becoming more biology inspired.
2013 Elsevier Ltd. All rights reserved.
When citing this paper, please use the full journal title Studies in History and Philosophy of Biological and Biomedical Sciences
1369-8486/$ - see front matter 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.shpsc.2013.03.011
T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
159
Fig. 1. Cover of the September 2011 issue of Science featuring a special section on
synthetic biology.
One of the authors spent four years in the Elowitz lab at the California Institute of Technology observing the daily research practice in this lab.
Of course, this issue is as old as the mathematical approach to biology; for an overview, see e.g., Kingsland (1985).
4
It deserves to be noted that Hartwell et al. (1999) paint a too reductionist picture of molecular biology also largely ignoring the early attempts to apply engineering concepts
to biologyoften side-by-side with concepts adapted from physics (e.g., Jacob & Monod, 1961).
3
160
T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
See Knuuttila & Loettgers (in press) for use of various analogies and metaphors in synthetic biology.
Christiaan Huygens (16291695) rst observed the phenomenon of coupled oscillators. The pendulum clocks he mounted on the same non-rigid wall synchronized their
oscillations.
7
To what extent biological organisms gain control over their functioning by self-organization arising from interacting oscillations is an open question. Living systems do also
rely on such decoupled controllers as genes (see Bechtel & Abrahamsen, 2011; Bechtel, 2011, for excellent discussions on the role of different oscillations in biological systems).
8
Also thermostats produce temperature oscillations but they are designed so as to keep the temperatures close to the target.
6
T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
161
Fig. 2. Combinational modeling according to Sprinzak and Elowitz (2005). The upper part of the diagram depicts the combinational modeling strategy. The lower part
compares a natural gene regulatory network and a synthetic one.
1. The natural system exhibits a much higher degree of complexity than the synthetic system.
2. The synthetic circuit has been designed by using different genes
and proteins.
Consequently, synthetic models have the advantage of being
less complex than model organisms. On the other hand, in contrast
to mathematical models they are of the same materiality as biological systems (although the Repressilator was constructed from different genetic material than the naturally occurring circadian
clocks, a point to which we will return below). This fact of being
of the same materiality as natural systems is crucial for the epistemic value of synthetic modeling, since synthetic models are expected to work in the same way as biological systems. Due to
their right kind of materiality combined with their tightly constrained nature, synthetic models have led researchers to discover
such features of the functioning of biological systems that were not
anticipated by mathematical modeling or experimentation with
model organisms.10
3.1. From circuit diagrams to mathematical models
The rst step in constructing the Repressilator consisted in
designing a mathematical model used to explore the known basic
biochemical parameters and their interactions through computer
simulations. Synthetic biologists often refer to their mathematical
model as the blueprint for the design and construction of the
synthetic model. What exactly do they mean by that? Is it possible
to say more about the construction of the mathematical model and
how it relates to the synthetic model? Clearly, what is at stake can-
9
The Repressilator and the genetic toggle switch (Gardner et al., 2000) were the two rst synthetic models. They were published in the same issue of Nature independently of
each other.
10
See Nersessian & Chandrasekharan, (2009) for another discussion on analogical reasoning and combinational modeling involving a physical model, its computational model,
and an intermediary, hybrid computational model. Green (this volume) also contains an excellent discussion of the use of multiple models focusing on the work of Uri Alon and
his group.
162
T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
Fig. 3. Two network motifs: b depicts a negative feedback loop and c a positive
feedback loop (Alon, 2007, p. 451).
not simply be called translation due to the manifold of construction decisions and assumptions involved. To get a more informative account of the transition from a mathematical model to a
synthetic model one needs to answer several questions. How was
the mathematical model arrived at? How is the mathematical
model used to inform the construction of the synthetic model?
And what is the contribution of the other tools, including also technological artifacts and methods, for the specic construction of a
synthetic model? Here we try shedding some more light on these
questions by rst taking a closer look at the design of the mathematical model underlying the Repressilator.
In designing the mathematical model Elowitz and Leibler made
use of the body of theoretical work on regulation mechanisms and
their dynamics in theoretical biology. The systems biologist Uri
Alon calls such simple regulation mechanisms network motifs.
They can be depicted by simple diagrams as shown in Fig. 3. The
diagram on the left-hand side shows a negative feedback loop
and on the right-hand side a positive feedback loop.
The challenge consists in giving those diagrams an appropriate
mathematical form. This challenge is twofold: Firstly, such seemingly simple mechanisms are represented mathematically by
nonlinear, coupled differential equations leading to complex
dynamics. Secondly, the attempt to give them more biological content is far from any straightforward procedure. On the one hand,
although there is a large amount of known biochemical details,
most of that knowledge cannot be included in the model for tractability reasons. On the other hand, many crucial mechanisms and
details still remain unknown and the data is often of a wrong kind.
For the kind of dynamic modeling approach of systems and synthetic biology one would need e.g. quantitative time-course data,
which is hard to come by (see e.g., Wolkenhauer, 2007).
What the researchers in the basic-science branch of synthetic
biology are after here are the general design principles of gene regulatory networks. The network motifs of Uri Alon are made up of
such design principles. Alon characterizes network motifs as
recurring circuits of interactions from which the network is built
(Alon, 2007, p. 542). As Alon describes, such network motifs were
rst systematically dened in Escherichia coli, in which they were
detected as patterns that occurred in the transcription network
much more often than would be expected in random networks
(ibid.). A prominent network motif that occurs in about half of
the repressors in E. coli is negative autoregulation, or as it is also
called, a negative feedback loop.
A central point in designing a mathematical model of gene regulation for example consists in translating simple diagrams, as
shown in Fig. 3, to a mathematical model. Regulation via negative
or positive feedback are of such a general character that various
mathematical models can be designed to describe these mechanisms and study their dynamics. A good example of this line of
work is provided by the theoretical biologists Ren Thomas and
Richard dAri, who have been studying general types of regulation
mechanisms describing their architecture, interaction, and dynamics. Their book Biological Feedback (1990)11 develops a formal
methodology for analyzing dynamic systems (see also Thomas,
1998). Although directed primarily to biologists the models
presented can be used in other areas of inquiry. As such these
11
dxi
fi x;
dt
1 i n;
dx1
j1 f x2 c1 x1
dt
dx2
j2 x1 c2 x2 ;
dt
with:
f x2
Hn
n
H xn2
; H > 0:
with:
Thomas and DAris book inspired the construction of the Repressilator; see the end of Section 3.1.
T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
163
Fig. 5. The main components of the Repressilator (left-hand side) and the Reporter
(right-hand side) (Elowitz & Leibler, 2000, p. 336).
dmi
a
mi
a0
dt
1 pnj
dpi
bpi mi
dt
i lacl; tetR; cl
with
j cl; lacl; tetR
In this set of differential equations pi is the concentration of the
proteins suppressing the function of the neighbor genes and mi
(where i is lacI, tetR, or cl) the corresponding concentration of
mRNA. The parameter a0 describes what is called leakiness. Even
in the presence of a saturating amount of proteins suppressing
their own production, a slight increase in mRNA can be observed.
a + a0 describes the maximal production rate in the absence of
any repressors and n is the Hill coefcient. The form of the coupled
set of six differential equations looks different from the general
form introduced before. But it has been already adjusted to the
case of three genes repressing each other via negative feedback.
A further important step in adjusting the general form to the
context of biology consisted in nding values for parameters such
as the Hill coefcient n as well as a and a0. This has been done by
performing computer simulations and exploring the kinds of effects a change of those parameters has on the solution of the differential equations. Elowitz and Leibler did show that there are two
possible types of solutions: The system may converge toward a
stable steady state, or the steady state may become unstable, leading to sustained limit-cycle oscillations (Elowitz & Leibler, 2000, p.
336). The solutions are depicted in Fig. 4. Furthermore, the numerical analysis of the model gave insights into the experimental
parameters showing that [...] oscillations are favoured by strong
promoters coupled to efcient ribosome binding sites, tight
12
13
164
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T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
14
This article appeared in the September 2011 issue of Science, see above.
165
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Fig. 7. The continuum of synthetic biology (Nandagopal & Elowitz, 2011, p. 1244).
program will not change the routine it calls upon, nor the other
way around.
The crucial question is what happens with the assumption of
the respective independent functioning of the synthetic system
and the host cell in the light of the ndings of Hasty and his coworkers? Do these ndings give reason enough to announce the
breaking down of the modular relationship between a synthetic
and a biological systemor, to go one step further, to question
the assumption of a modular organization of biological systems
in general? When discussing the possible consequences of these
ndings, Michael Elowitz stated:
I think its hard to say in general what the implications of these
kinds of interactions are. One way to look at them is as problems that need to be eliminated through good design. Another
way is as opportunities to implement non-canonical designs.
A nal possibility is that these are coupling mechanisms that
are actually used physiologically at least in some cases. Its
interesting in this light that in competence there is a somewhat
analogous mechanism whereby the protease adapter MecA
mediates an effective interaction between two of its substrates,
ComS and ComK.15
It is interesting that synthetic biologists, like Nandagopal and Elowitz, do not rush to question the modularity assumption as such
but instead invoke the idea of integration and the possible ways
of dealing with host cell interactions.16 If there is a coupling between a synthetic system and a host cell, then there are two possible
ways of handling them. Either one has to come up with novel designs that avoid such couplings or, if they turn out to be advantageous, one needs to look for ways to integrate them into the
design of synthetic systems. Nandagopal and Elowitz are clearly opting for a second route. They call for synthetic systems that integrate
more closely with endogenous cellular processes (Nandagopal &
Elowitz, 2011, p. 1244). With this step, they suggest, the eld would
move away from its original aim of designing autonomous genetic
circuits that could function as independently as possible from
endogenous cellular circuits or even functionally replace endogenous circuits (ibid., p. 1244).
Nandagopal and Elowitz use a tri-partite picture (Fig. 7) to depict what they think will be one of the big changes in the practice
15
T. Knuuttila, A. Loettgers / Studies in History and Philosophy of Biological and Biomedical Sciences 44 (2013) 158169
In sum, there are different ways in which one can deal with host
cell interactions. The ndings of Stricker et al. (2008) and Cookson
et al. (2009) can also prompt researchers to perceive natural systems in novel ways and actively search for similar couplings and
mechanisms in biological systems as suggested by the behavior
of the synthetic models. This could lead to some unexpected ndings regarding the organization of biological systems. Thus the discussion on host cell interactions shares some important
similarities with the case of noise. It seems that in synthetic biology the engineering concepts are changing their meanings and
becoming more and more adjusted to biological systemspartly
as a result of the practice of synthetic modeling.
167
18
It would be interesting to study to which extent biological integration (non-modularity, or soft modularity) requires methodological integration. Our hunch is that as
biological integration increases the complexity of biological organization, its study also requires multiple methods due to the fact that each method has its own characteristic
constraints. We wish to thank the anonymous referee for raising this interesting question.
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