Recursive Backtracking in Go for Bioinformatics Applications: 2. Generating Variations

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This is the second in a series of three blog posts describing our solution to a bioinformatics problem from Rosalind.info, Problem BA1(i) (Find most frequent words with mismatches in a string). To solve this problem and generate variations of a DNA string as required, we implemented a recursive backtracking method in the Go programming language.



Table of Contents



Problem Description

The task at hand is to take a given input strand of DNA, and generate variations from it that have up to \(d\) differences (a Hamming distance of \(d\)) in the codons (base pairs).

In part 1 of this series, we walk through the construction of an analytical formula to count the number of variations of a given DNA string that can be generated, given the constraints of the problem.

In part 2 of this series, we cover several techniques to generate variations on a DNA string, and present pseudocode for the recursive backtracking method that we use here.

In part 3 of this series, we will cover our implementation of the recursive backtracking method in the Go programming language.

Permutations vs Combinations vs Variations

Before covering generation of variations of a DNA string, we should cover some terminology for clarification.

If we were to use the term permutations, as in, we are counting (or generating) permutations of the input DNA string, that would imply that we were doing some kind of rearrangement of the elements of the input DNA string (for example, swapping two codons). This is not the problem that we are solving, and requires different formulas. (See Permutations entry on Wolfram MathWorld.)

The variations that we are referring to are not exactly combinations, either, though. If we were to use the term combinations, it would imply that we were choosing a set of \(k\) integers from a set of \(d\) integers \({1, 2, \dots, d}\).

The variations that we are counting are similar to combinations, but with the additional act of swapping out each codon at the position (integer) selected with three other possible codons, so there are more variations than combinations (and many more permutations than variations).

Transforming the Problem Space

A surprisingly large variety of problems in combinatorics can be transformed into an equivalent problem involving binary numbers, which are usually easier to think about.

To generate variations, we can break up the process of producing a variation into two steps, or choices, and then convert these choices (and the process of making them) into an equivalent problem in terms of binary numbers.

We can decompose the cration of a DNA string variation into the first step of choosing which codons (indices) to edit, and the second step of cycling through every possible codon (ATGC) at the selected indices.

To translate this into an equivalent binary number problem, consider the input string of DNA "AAAAA" and let the Hamming distance that we are considering be \(d = 1\). Then we can code each index with a 0 (not chosen) or a 1 (chosen) and turn the problem into cycling throgh all binary numbers with 1 bit:

00001
00010
00100
01000
10000

The second step is to cycle through each alternate codon at the given position, so that 00001 would generate the variations:

AAAAC
AAAAG
AAAAT

and so on.

We saw this two-part technique already when counting the total number of variations that could be created in Part 1: Counting Variations. It resulted in a counting formula with two terms, a binomial term for step 1 and an exponential term for step 2.

We can think of the problem as forming a tree with several decision nodes that need to be explored; this type of problem structure is ideal for a recursive backtracking algorithm.

We will cover the use of recursive backtracking to actually explore the entire tree of possible outcomes (not just count it), starting with some review and background on recursive backtracking and how it works.

Recursion

Recursion is a common pattern to use for problems that require exploring a large problem space that requires us to make several selections.

A recursive backtracking algorithm is analogous to exploring a maze but laying out a rope as you go, so tht you can revisit each possible route. In this case, we are using backtracking to make the choice of which indices of the input DNA string to modify. We want to explore all possible choices to generate all possible variations of the input DNA string, and backtracking gives us the framework to do that.

For example, if we wanted to recursively generate codon choices for the case of an input DNA string like "AAAAA" and \(d = 2\), we would call a recursive method twice; the first time through, we would choose one of the five indices, and mark it as picked; then we would call the method again, and choose a second index (different from the first) and mark it as picked.

When unrolled, this is equivalent to a nested for loop,

for i in range( 0 .. len(dna_string) ):
    for j in range( 0 .. len(dna_string) ):
        if (i != j):
            Start with the binary number 00000
            Set the digit at index i to 1
            Set the digit at index j to 1

Recursive Backtracking Pseudocode

Basic pseudocode for a backtracking method:

explore method:
    base case:
        visit this solution
    recursive case:
        for each available choice:
            make a choice
            explore outcomes
            unmake the choice
            move on to the next choice

Applying to DNA Variations

There are actually two places where we need to apply backtracking to our problem.

Generating Visits with Binary Numbers

The first application of recursive backtracking is to carry out step 1, choosing indices in the original DNA string to modify or cycle through altnerate codons. We showed above how generating variations on a kmer of length \(k\) at a distance \(d\) from the original kmer was equivalent to generating binary numbers with \(d\) bits set to 1.

We can use recursive backtracking to generate these numbers. By creating a method that recursively selects an index to switch to 1, and passing that (and all prior choices) on to further recursive calls, the function can recurse to a given depth \(d\) and visit all possible binary numbers with \(d\) bits set to 1.

The base case of this recursive method would be reached when all \(d\) choices had been made and \(d\) bits were set to 1. Then the choice of indices to swap out with alternate codons would be passed on to a recursive method that would carry out Step 2 (see below).

For example, to generate variations of the 5-mer AAAAA, we would start by selecting a Hamming distance \(d\), then generate a binary number with \(d\) bits set to 1 to select indices to modify. Suppose \(d = 2\); then the first few binary numbers are:

AAAAA
11000
10100
10010
10001
...

To expand on the pseudocode a bit more, to generate a binary number with \(d\) bits flipped to 1 we will want to call a recursive method with a depth of \(d\), making a choice at each recursive call of which index to set to 1 next.

The \(n^{th}\) recursive call picks the \(n^{th}\) index for 1. Each index can only be chosen once in the stack of recursive calls, and the indices that have been chosen by prior recursive function calls are passed along.

Thus we need a minimum of two parameters: an integer indicating the depth level of this recursive function call, and an integer array of index choices.

function generate_binary_numbers( depth, choices[], ... ):

    if depth is 0,
        base case
        no more choices left to make
        choices[] is full
        pass along choices[] to assemble the variations

    else,
        recursive case
        for each possible index,
            if this index is not already in choices,
                add this index to choices
                generate_binary_numbers( depth+1, choices[] )
                remove this index from choices

Assembling the Variation

Each binary number is then turned into variations by substituting every combination of 3 codons in every position with a 1 possible, so the first binary number for \(d=2\) would generate the variations:

AAAAA
11000
-----
CCAAA
GCAAA
TCAAA
CGAAA
GGAAA
TGAAA
CTAAA
GTAAA
TTAAA

This would be repeated for all Hamming distances up to the maximum specified Hamming distance.

Like the generation of binary numbers, the substitution of all possible combinations of codons at these positions is a task conducive to a recursive backtracking algorithm.

Like the prior task's recursive method, this task's recursive method will have one parameter for depth (number of choices left to make) and a range of choices to try (codons).

function assemble_variations( depth, choices[], ... ):

    if depth is 0,
        base case
        no more choices left to make
        choices[] is full
        pass along choices[] to assemble the variations

    else,
        recursive case
        for each possible index,
            if this index is not already in choices,
                add this index to choices
                generate_binary_numbers( depth+1, choices[] )
                remove this index from choices

In the final part, Part 3, of this blog post, we will cover the actual Go implementation of these functions.

Tags:    go    golang    rosalind    bioinformatics    recursion    backtracking    strings    combinatorics