Autonomous microrobots in blood vessels could enable minimally invasive therapies, but navigation is challenged by dense, moving obstacles. We propose a real-time path planning framework that couples an analytic geometry global planner (AGP) with two reactive local escape controllers, one based on rules and one based on reinforcement learning, to handle sudden moving obstacles. Using real-time imaging, the system estimates the positions of the microrobot, obstacles, and targets and computes collision-free motions. In simulation, AGP yields shorter paths and faster planning than weighted A* (WA*), particle swarm optimization (PSO), and rapidly exploring random trees (RRT), while maintaining feasibility and determinism. We extend AGP from 2D to 3D without loss of speed. In both simulations and experiments, the combined global planner and local controllers reliably avoid moving obstacles and reach targets. The average planning time is 40 ms per frame, compatible with 25 fps image acquisition and real-time closed-loop control. These results advance autonomous microrobot navigation and targeted drug delivery in vascular environments.
We survey and introduce concepts and tools located at the intersection of information theory and network biology. We show that Shannon's information entropy, compressibility and algorithmic complexity quantify different local and global aspects of synthetic and biological data. We show examples such as the emergence of giant components in Erdos-Renyi random graphs, and the recovery of topological properties from numerical kinetic properties simulating gene expression data. We provide exact theoretical calculations, numerical approximations and error estimations of entropy, algorithmic probability and Kolmogorov complexity for different types of graphs, characterizing their variant and invariant properties. We introduce formal definitions of complexity for both labeled and unlabeled graphs and prove that the Kolmogorov complexity of a labeled graph is a good approximation of its unlabeled Kolmogorov complexity and thus a robust definition of graph complexity.
This article frames the relation between biology and physics by characterizing the former as a subdiscipline rather than a special case of the latter. To do this, we posit biological physics as the science of living matter in contrast to classic biophysics, the study of organismal properties by physical techniques. At the scale of the individual cell, living matter is nonunitary, i.e., not composed of aggregated subunits, and has features (e.g., intracellular organizational arrangements and biomolecular condensates) that are unlike any materials of the nonliving world. In transiently or constitutively multicellular forms (social microorganisms, animals, plants), living matter sustains physical processes that are generic (shared with nonliving matter, e.g., subunit communication by molecular diffusion in cellular slime molds), biogeneric (analogous to nonliving matter but realized through cellular activities, e.g., subunit demixing in animal embryos) or nongeneric (pertaining to sui generis materials, e.g., budding of active solids in plants). This "forms of matter" perspective is philosophically situated in the dialectical materialism of Engels and Hessen and the multilevel physica
Understanding the biological mechanisms of disease is crucial for medicine, and in particular, for drug discovery. AI-powered analysis of genome-scale biological data holds great potential in this regard. The increasing availability of single-cell RNA sequencing data has enabled the development of large foundation models for disease biology. However, existing foundation models only modestly improve over task-specific models in downstream applications. Here, we explored two avenues for improving single-cell foundation models. First, we scaled the pre-training data to a diverse collection of 116 million cells, which is larger than those used by previous models. Second, we leveraged the availability of large-scale biological annotations as a form of supervision during pre-training. We trained the \model family of models comprising six transformer-based state-of-the-art single-cell foundation models with 70 million, 160 million, and 400 million parameters. We vetted our models on several downstream evaluation tasks, including identifying the underlying disease state of held-out donors not seen during training, distinguishing between diseased and healthy cells for disease conditions and
We developed a theory showing that under appropriate normalizations and rescalings, temperature response curves show a remarkably regular behavior and follow a general, universal law. The impressive universality of temperature response curves remained hidden due to various curve-fitting models not well-grounded in first principles. In addition, this framework has the potential to explain the origin of different scaling relationships in thermal performance in biology, from molecules to ecosystems. Here, we summarize the background, principles and assumptions, predictions, implications, and possible extensions of this theory.
Advances in biology have mostly relied on theories that were subsequently revised, expanded or eventually refuted using experimental and other means. Theoretical biology used to primarily provide a basis to rationally examine the frameworks within which biological experiments were carried out and to shed light on overlooked gaps in understanding. Today, however, theoretical biology has generally become synonymous with computational and mathematical biology. This could in part be explained by a relatively recent tendency in which a "data first", rather than a "theory first", approach is preferred. Moreover, generating hypotheses has at times become procedural rather than theoretical. This situation leaves our understanding enmeshed in data, which should be disentangled from much noise. Given the many unresolved questions in biology and medicine, it seems apt to revive the role of pure theory in the biological sciences. This paper makes the case for a "philosophical biology" (philbiology), distinct from but quite complementary to philosophy of biology (philobiology), which would entail biological investigation through philosophical approaches. Philbiology would thus be a reincarnatio
Cellular biology exists embedded in a world dominated by random dynamics and chance. Many vital molecules and pieces of cellular machinery diffuse within cells, moving along random trajectories as they collide with the other biomolecular inhabitants of the cell. Cellular components may block each other's progress, be produced or degraded at random times, and become unevenly separated as cells grow and divide. Cellular behaviour, including important features of stem cells, tumours and infectious bacteria, is profoundly influenced by the chaos which is the environment within the cell walls. Here we will look at some important causes and effects of randomness in cellular biology, and some ways in which researchers, helped by the vast amounts of data that are now flowing in, have made progress in describing the randomness of nature.
Recent tumor genome sequencing confirmed that one tumor often consists of multiple cell subpopulations (clones) which bear different, but related, genetic profiles such as mutation and copy number variation profiles. Thus far, one tumor has been viewed as a whole entity in cancer functional studies. With the advances of genome sequencing and computational analysis, we are able to quantify and computationally dissect clones from tumors, and then conduct clone-based analysis. Emerging technologies such as single-cell genome sequencing and RNA-Seq could profile tumor clones. Thus, we should reconsider how to conduct cancer systems biology studies in the genome sequencing era. We will outline new directions for conducting cancer systems biology by considering that genome sequencing technology can be used for dissecting, quantifying and genetically characterizing clones from tumors. Topics discussed in Part 1 of this review include computationally quantifying of tumor subpopulations; clone-based network modeling, cancer hallmark-based networks and their high-order rewiring principles and the principles of cell survival networks of fast-growing clones.
In this paper, we propose and study several inverse problems of determining unknown parameters in nonlocal nonlinear coupled PDE systems, including the potentials, nonlinear interaction functions and time-fractional orders. In these coupled systems, we enforce non-negativity of the solutions, aligning with realistic scenarios in biology and ecology. There are several salient features of our inverse problem study: the drastic reduction in measurement/observation data due to averaging effects, the nonlinear coupling between multiple equations, and the nonlocality arising from fractional-type derivatives. These factors present significant challenges to our inverse problem, and such inverse problems have never been explored in previous literature. To address these challenges, we develop new and effective schemes. Our approach involves properly controlling the injection of different source terms to obtain multiple sets of mean flux data. This allows us to achieve unique identifiability results and accurately determine the unknown parameters. Finally, we establish a connection between our study and practical applications in biology, further highlighting the relevance of our work in real-
I believe an atomic biology is needed to supplement present day molecular biology, if we are to design and understand proteins, as well as define, make, and use them. Topics in the paper are molecular biology and atomic biology. Electrodiffusion in the open channel. Electrodiffusion in mixed electrolytes. Models of permeation. State Models of Permeation are Inconsistent with the Electric Field. Making models in atomic biology. Molecular dynamics. Temporal Limitations; Spatial Limitations; Periodic boundary conditions. Hierarchy of models of the open channel. Stochastic Motion of the Channel. Langevin Dynamics. Simulations of the Reaction Path: the Permion. Chemical reactions. What was wrong? Back to the hierarchy: Occam's razor can slit your throat. Poisson-Nernst-Planck PNP Models Flux Ratios; Pumping by Field Coupling. Gating in channels of one conformation. Gating by Field Switching; Gating Current; Gating in Branched Channels; Blocking. Back to the hierarchy: Linking levels. Is there a theory? At what level will the adaptation be found? Simplicity, evolution, and natural function.
The last decade has witnessed a rapid growth in understanding of the pivotal roles of mechanical stresses and physical forces in cell biology. As a result an integrated view of cell biology is evolving, where genetic and molecular features are scrutinized hand in hand with physical and mechanical characteristics of cells. Physics of liquid crystals has emerged as a burgeoning new frontier in cell biology over the past few years, fueled by an increasing identification of orientational order and topological defects in cell biology, spanning scales from subcellular filaments to individual cells and multicellular tissues. Here, we provide an account of most recent findings and developments together with future promises and challenges in this rapidly evolving interdisciplinary research direction.
This technical monograph provides a comprehensive overview of the field of quantum biology. It approaches quantum biology from a physical perspective with core quantum mechanical concepts presented foremost to provide a theoretical foundation for the field. An extensive body of research is covered to clarify the significance of quantum biology as a scientific field, outlining the field's long-standing importance in the historical development of quantum theory. This lays the essential groundwork to enable further advances in nanomedicine and biotechnology. Written for academics, biological science researchers, physicists, biochemists, medical technologists, and students of quantum mechanics, this text brings clarity to fundamental advances being made in the emerging science of quantum biology.
It is often stated that there are no laws in biology, where everything is contingent and could have been otherwise, being solely the result of historical accidents. Furthermore, the customary introduction of fundamental biological entities such as individual organisms, cells, genes, catalysts and motors remains largely descriptive; constructive approaches involving deductive reasoning appear, in comparison, almost absent. As a consequence, both the logical content and principles of biology need to be reconsidered. The present article describes an inquiry into the foundations of biology. The foundations of biology are built in terms of elements, logic and principles, using both the language and the general methods employed in other disciplines. This approach assumes the existence of a certain unity of human knowledge that transcends discipline boundaries. Leibniz's principle of sufficient reason is revised through the introduction of the complementary concepts of symmetry and asymmetry and of necessity and contingency. This is used to explain how these four concepts are involved in the elaboration of theories or laws of nature. Four fundamental theories of biology are then identifie
A tumor often consists of multiple cell subpopulations (clones). Current chemo-treatments often target one clone of a tumor. Although the drug kills that clone, other clones overtake it and the tumor reoccurs. Genome sequencing and computational analysis allows to computational dissection of clones from tumors, while singe-cell genome sequencing including RNA-Seq allows to profiling of these clones. This opens a new window for treating a tumor as a system in which clones are evolving. Future cancer systems biology studies should consider a tumor as an evolving system with multiple clones. Therefore, topics discussed in Part 2 of this review include evolutionary dynamics of clonal networks, early-warning signals for formation of fast-growing clones, dissecting tumor heterogeneity, and modeling of clone-clone-stroma interactions for drug resistance. The ultimate goal of the future systems biology analysis is to obtain a whole-system understanding of a tumor and therefore provides a more efficient and personalized management strategies for cancer patients.
In a recent paper, Wilmes et al. demonstrated a qualitative integration of omics data streams to gain a mechanistic understanding of cyclosporine A toxicity. One of their major conclusions was that cyclosporine A strongly activates the nuclear factor (erythroid-derived 2)-like 2 pathway (Nrf2) in renal proximal tubular epithelial cells exposed in vitro. We pursue here the analysis of those data with a quantitative integration of omics data with a differential equation model of the Nrf2 pathway. That was done in two steps: (i) Modeling the in vitro pharmacokinetics of cyclosporine A (exchange between cells, culture medium and vial walls) with a minimal distribution model. (ii) Modeling the time course of omics markers in response to cyclosporine A exposure at the cell level with a coupled PK-systems biology model. Posterior statistical distributions of the parameter values were obtained by Markov chain Monte Carlo sampling. Data were well simulated, and the known in vitro toxic effect EC50 was well matched by model predictions. The integration of in vitro pharmacokinetics and systems biology modeling gives us a quantitative insight into mechanisms of cyclosporine A oxidative-stress
Symmetries play a major role in physics, in particular since the work by E. Noether and H. Weyl in the first half of last century. Herein, we briefly review their role by recalling how symmetry changes allow to conceptually move from classical to relativistic and quantum physics. We then introduce our ongoing theoretical analysis in biology and show that symmetries play a radically different role in this discipline, when compared to those in current physics. By this comparison, we stress that symmetries must be understood in relation to conservation and stability properties, as represented in the theories. We posit that the dynamics of biological organisms, in their various levels of organization, are not "just" processes, but permanent (extended, in our terminology) critical transitions and, thus, symmetry changes. Within the limits of a relative structural stability (or interval of viability), variability is at the core of these transitions.
Building circuits and studying their behavior in cells is a major goal of systems and synthetic biology. Synthetic biology enables the precise control of cellular states for systems studies, the discovery of novel parts, control strategies, and interactions for the design of robust synthetic systems. To the best of our knowledge,there are no literature reports for the synthetic circuit construction for protozoan parasites. This paper describes the construction of genetic circuit for the targeted enzyme inositol phosphorylceramide synthase belonging to the protozoan parasite Leishmania. To explore the dynamic nature of the circuit designed, simulation was done followed by circuit validation by qualitative and quantitative approaches. The genetic circuit designed for inositol phosphorylceramide synthase shows responsiveness, oscillatory and bistable behavior, together with intrinsic robustness.
Biological systems are generally complicated and/or complex. In the former approach, one sets up a model with a large number of parameters to describe the system in detail. The latter approach focuses on understanding the universal aspects of biological systems. In this case, an appropriate simple model represents a universality class. The extraction of universal properties is supported by evolutionary robustness and the reduction of dimensionality in high-dimensional states. Integrating the data-driven omics approach with the universality approach is an important step in systems biology.
Possibilities for using geometry and topology to analyze statistical problems in biology raise a host of novel questions in geometry, probability, algebra, and combinatorics that demonstrate the power of biology to influence the future of pure mathematics. This expository article is a tour through some biological explorations and their mathematical ramifications. The article starts with evolution of novel topological features in wing veins of fruit flies, which are quantified using the algebraic structure of multiparameter persistent homology. The statistical issues involved highlight mathematical implications of sampling from moduli spaces. These lead to geometric probability on stratified spaces, including the sticky phenomenon for Frechet means and the origin of this mathematical area in the reconstruction of phylogenetic trees.
In this paper, we present a survey of the use of graph theoretical techniques in Biology. In particular, we discuss recent work on identifying and modelling the structure of bio-molecular networks, as well as the application of centrality measures to interaction networks and research on the hierarchical structure of such networks and network motifs. Work on the link between structural network properties and dynamics is also described, with emphasis on synchronization and disease propagation.