Propulsion Modeling and Analysis of a Biomimetic Swimmer

<正> We have studied a biomimetic swimmer based on the motion of bacteria such as Escherichia coli (E. coli) theoretically andexperimentally. The swimmer has an ellipsoidal cell body propelled by a helical filament. The performance of this swimmer wasestimated by modeling the dynamics of a swimmer in viscous fluid. We applied the Resistive Force Theory (RFT) on this modelto calculate the linear swimming speed and the efficiency of the model. A parametric study on linear velocity and efficiency tooptimize the design of this swimmer was demonstrated. In order to validate the theoretical results, a biomimetic swimmer wasfabricated and an experiment setup was prepared to measure the swimming speed and thrust force in silicone oil. The experimentalresults agree well with the theoretical values predicted by RFT. In addition, we studied the flow patterns surrounding thefilament with a finite element simulation with different Reynolds number (Re) to understand the mechanism of propulsion. Thesimulation results provide information on the nature of flow patterns generated by swimming filament. Furthermore, the thrustforces from the simulation were compared with the thrust forces from theory. The simulation results are in good agreement withthe theoretical results.     

A Mechanistic View of Collective Filament Motion in Active Nematic Networks

Protein filament networks are structures crucial for force generation and cell shape. A central open question is how collective filament dynamics emerges from interactions between individual network constituents. To address this question, we study a minimal but generic model for a nematic network in which filament sliding is driven by the action of motor proteins. Our theoretical analysis shows how the interplay between viscous drag on filaments and motor-induced forces governs force propagation through such interconnected filament networks. We find that the ratio between these antagonistic forces establishes the range of filament interaction, which determines how the local filament velocity depends on the polarity of the surrounding network. This force-propagation mechanism implies that the polarity-independent sliding observed in Xenopus egg extracts and in vitro experiments with purified components is a consequence of a large force-propagation length. We suggest how our predictions can be tested by tangible in vitro experiments whose feasibility is assessed with the help of simulations and an accompanying theoretical analysis.     

Flagellar hydrodynamics. A comparison between resistive-force theory and slender-body theory.

This paper investigates the accuracy of the resistive-force theory (Gray and Hancock method) which is commonly used for hydrodynamic analysis of swimming flagella. We made a comparison between the forces, bending moments, and shear moments calculated by resistive-force theory and by the more accurate slender-body theory for large-amplitude, planar wave forms computed for a flagellar model. By making an upward empirical adjustment, by about 35%, of the classical drag coefficient values used in the resistive-force theory calculations, we obtained good agreement between the distributions of the forces and moments along the length of the flagellum predicted by the two methods when the flagellum has no cell body attached. After this adjustment, we found the rate of energy expenditure calculated by the two methods for the few typical test cases to be almost identical. The resistive-force theory is thus completely satisfactory for use in analysis of mechanisms for the control of flagellar bending, at the current level of sophistication of this analysis. We also examined the effects of the presence of a cell body attached to one end of the flagellum, which modifies the flow field experienced by the flagellum. This interaction, which is not considered in resistive-force theory, is probably insignificant for small cell bodies, such as the heads of simple spermatozoa, but for larger cell bodies, or cell bodies that have large-amplitude motions transverse to the swimming direction, use of slender-body theory is required for accurate analysis.     

Undulatory locomotion of Caenorhabditis elegans on wet surfaces

The physical and biomechanical principles that govern undulatory movement on wet surfaces have important applications in physiology, physics, and engineering. The nematode Caenorhabditis elegans, with its highly stereotypical and functionally distinct sinusoidal locomotory gaits, is an excellent system in which to dissect these properties. Measurements of the main forces governing the C. elegans crawling gait on lubricated surfaces have been scarce, primarily due to difficulties in estimating the physical features at the nematode-gel interface. Using kinematic data and a hydrodynamic model based on lubrication theory, we calculate both the surface drag forces and the nematode's bending force while crawling on the surface of agar gels within a preexisting groove. We find that the normal and tangential surface drag coefficients during crawling are ～222 and 22, respectively, and the drag coefficient ratio is ～10. During crawling, the calculated internal bending force is time-periodic and spatially complex, exhibiting a phase lag with respect to the nematode's body bending curvature. This phase lag is largely due to viscous drag forces, which are higher during crawling as compared to swimming in an aqueous buffer solution. The spatial patterns of bending force generated during either swimming or crawling correlate well with previously described gait-specific features of calcium signals in muscle. Further, our analysis indicates that one may be able to control the motility gait of C. elegans by judiciously adjusting the magnitude of the surface drag coefficients.     

A continuum theoretical model and finite elements simulation of bacterial flagellar filament phase transition

The Bacterial flagellar filament can undergo a polymorphic phase transition in response to both mechanical and chemical variations in vitro and in vivo environments. Under mechanical stimuli, such as viscous flow or forces induced by motor rotation, the filament changes its phase from left-handed normal (N) to right-handed semi-coiled (SC) via phase nucleation and growth. Our detailed mechanical analysis of existing experiments shows that both torque and bending moment contribute to the filament phase transition. In this paper, we establish a non-convex and non-local continuum model based on the Ginzburg-Landau theory to describe main characteristics of the filament phase transition such as new-phase nucleation, growth, propagation and the merging of neighboring interfaces. The finite element method (FEM) is adopted to simulate the phase transition under a displacement-controlled loading condition (rotation angle and bending deflection). We show that new-phase nucleation corresponds to the maximum torque and bending moment at the stuck end of the filament. The hysteresis loop in the loading and unloading curves indicates energy dissipation. When the new phase grows and propagates, torque and bending moment remain static. We also find that there is a drop in load when the two interfaces merge, indicating a concomitant reduction in the interfacial energy. Finally, the interface thickness is governed by the coefficients of the gradient of order parameters in the non-local interface energy. Our continuum theory and the finite element method provide a method to study the mechanical behavior of such biomaterials.     

Bending-wave propagation by microtubules and flagella

The movement of an elastic filament in a viscous medium can be computed from the fourth-order nonlinear partial differential equation obtained by balancing bending moments at all points along the length of the filament. These bending moments result from active forces, elastic resistance to bending, and viscous resistance to movement through the medium. I have studied numerical solutions obtained for two situations of biological interest: For the movement of individual microtubules, the active force is generated by interaction between the microtubule and the substratum over which it is moving, and is directed along the axis of the microtubule. The computations can reproduce the gliding movement of unrestrained microtubules, and also the periodic bending and bend propagation seen when the leading end of the microtubule is restrained. No modulation of active force is required to generate bending waves. For the movement of flagella, the active forces are generated internally as sliding forces between adjacent members of a cylinder of nine microtubular doublets. Without some additional control assumptions, the forces will be balanced and no bending moments will be generated. The problem faced by investigators of flagellar motility is to determine the control mechanisms that operate to make the system asymmetric, so that active bending moments are generated. Computations with models in which the curvature of the flagellum modulates the active-force generators have indicated that this control specification is sufficient to generate oscillation and bend propagation, but is insufficient to completely determine the movement.     

Computer Simulation of Flagellar Movement: I. Demonstration of Stable Bend Propagation and Bend Initiation by the Sliding Filament Model

A program has been developed for digital computer simulation of the movement of a flagellar model consisting of straight segments connected by joints at which bending occurs. The program finds values for the rate of bending at each joint by solving equations which balance active, viscous, and elastic bending moments at each joint. These bending rates are then used to compute the next position of the model. Stable swimming movements, similar to real flagellar movements, can be generated routinely with a 25-segment model using 16 time steps/beat cycle. These results depend on four assumptions about internal flagellar mechanisms: (a) Bending is generated by a sliding filament process. (b) The active process is controlled locally by the curvature of the flagellum. (c) Nonlinear elastic resistances stabilize the amplitude of the movement. (d) Internal viscous resistances stabilize the wavelength of the movement and explain the relatively low sensitivity of flagellar movement to changes in external viscosity.     

A simulation study of the dynamics of a driven filament in an Aristotelian fluid

We describe a method, based on techniques used in molecular dynamics, for simulating the inertialess dynamics of an elastic filament immersed in a fluid. The model is used to study the "one-armed swimmer". That is, a flexible appendage externally perturbed at one extremity. For small-amplitude motion our simulations confirm theoretical predictions that, for a filament of given length and stiffness, there is a driving frequency that is optimal for both speed and efficiency. However, we find that to calculate absolute values of the swimming speed we need to slightly modify existing theoretical approaches. For the more relevant case of large-amplitude motion we find that while the basic picture remains the same, the dependence of the swimming speed on both frequency and amplitude is substantially modified. For large-amplitudes we show that the one-armed swimmer is comparatively neither inefficient nor slow. This begs the question, why are there little or no one-armed swimmers in nature?     

Movement of turritella spermatozoa: direction of propagation and chirality of flagellar bends.

The marine snail, Turritella communis, produces two types of spermatozoa, named apyrene and eupyrene. Eupyrene spermatozoa are usually paired, but unpaired ones are involved in fertilization. Movements of these spermatozoa were analyzed using a video camera with a high-speed shutter. The eupyrene spermatozoa usually swim with the head foremost but are able to swim flagellum foremost. A reversal of the direction of their swimming was found to be the result of a change in the direction of flagellar bend propagation, which changed with calcium concentration. Reversal of the direction of bend propagation was accompanied by a reversal of direction of the rotational movement of the spermatozoa around their long axis, suggesting that the bending waves keep the sense of their three-dimensional form. The swimming speed of apyrene spermatozoa in natural seawater was about one-eighth of that of the eupyrene ones and remained almost constant in highly viscous medium.The swimming speed of conjugated eupyrene spermatozoa was the same as that of unpaired spermatozoa over a wide viscosity range (<3,000 cP). No advantage of swimming by two spermatozoa could be detected in Turritella spermatozoa.     

Mechanisms of negative membrane curvature sensing and generation by ESCRT III subunit Snf7

Certain proteins have the propensity to bind to negatively curved membranes and generate negative membrane curvature. The mechanism of action of these proteins is much less studied and understood than those that sense and generate positive curvature. In this work, we use implicit membrane modeling to explore the mechanism of an important negative curvature sensing and generating protein: the main ESCRT III subunit Snf7. We find that Snf7 monomers alone can sense negative curvature and that curvature sensitivity increases for dimers and trimers. We have observed spontaneous bending of Snf7 oligomers into circular structures with preferred radius of ~20 nm. The preferred curvature of Snf7 filaments is further confirmed by the simulations of preformed spirals on a cylindrical membrane surface. Snf7 filaments cannot bind with the same interface to flat and curved membranes. We find that even when a filament has the preferred radius, it is always less stable on the flat membrane surface than on the interior cylindrical membrane surface. This provides an additional energy for membrane bending which has not been considered in the spiral spring model. Furthermore, the rings on the cylindrical spirals are bridged together by helix 4 and hence are extra stabilized compared to the spirals on the flat membrane surface.     

The motility of mollicutes

Recent experiments show that the conformation of filament proteins play a role in the motility and morphology of many different types of bacteria. Conformational changes in the protein subunits may produce forces to drive propulsion and cell division. Here we present a molecular mechanism by which these forces can drive cell motion. Coupling of a biochemical cycle, such as ATP hydrolysis, to the dynamics of elastic filaments enable elastic filaments to propagate deformations that generate propulsive forces. We demonstrate this possibility for two classes of wall-less bacteria called mollicutes: the swimming of helical-shaped Spiroplasma, and the gliding motility of Mycoplasma.     

Discrete mechanical model of lamellipodial actin network implements molecular clutch mechanism and generates arcs and microspikes

Mechanical forces, actin filament turnover, and adhesion to the extracellular environment regulate lamellipodial protrusions. Computational and mathematical models at the continuum level have been used to investigate the molecular clutch mechanism, calculating the stress profile through the lamellipodium and around focal adhesions. However, the forces and deformations of individual actin filaments have not been considered while interactions between actin networks and actin bundles is not easily accounted with such methods. We develop a filament-level model of a lamellipodial actin network undergoing retrograde flow using 3D Brownian dynamics. Retrograde flow is promoted in simulations by pushing forces from the leading edge (due to actin polymerization), pulling forces (due to molecular motors), and opposed by viscous drag in cytoplasm and focal adhesions. Simulated networks have densities similar to measurements in prior electron micrographs. Connectivity between individual actin segments is maintained by permanent and dynamic crosslinkers. Remodeling of the network occurs via the addition of single actin filaments near the leading edge and via filament bond severing. We investigated how several parameters affect the stress distribution, network deformation and retrograde flow speed. The model captures the decrease in retrograde flow upon increase of focal adhesion strength. The stress profile changes from compression to extension across the leading edge, with regions of filament bending around focal adhesions. The model reproduces the observed reduction in retrograde flow speed upon exposure to cytochalasin D, which halts actin polymerization. Changes in crosslinker concentration and dynamics, as well as in the orientation pattern of newly added filaments demonstrate the model’s ability to generate bundles of filaments perpendicular (actin arcs) or parallel (microspikes) to the protruding direction.     

Roles of cAMP in regulating microtubule sliding and flagellar bending in demembranated hamster spermatozoa

To understand the mechanism regulating spermatozoa motility, it is important to investigate the mechanism regulating the conversion of microtubule sliding into flagellar bending. Therefore, we analyzed microtubule sliding and its conversion into flagellar bending using a demembranated spermatozoa model in which microtubule sliding and flagellar bending could be analyzed separately by treating the demembranated spermatozoa with and without dithiothreitol, respectively. Using this model, we examined the roles of cAMP and its target molecules in regulating flagellar bending and microtubule sliding. Although flagellar bending did not occur in the absence of cAMP, microtubule extrusion occurred without it, suggesting that cAMP is necessary for the conversion of microtubule sliding into flagellar bending, but not for microtubule sliding itself. The target of cAMP for regulating flagellar bending was not cAMP-dependent protein kinase (PKA), since flagellar bending was still observed in the spermatozoa treated with a PKA-specific inhibitor. Alternatively, the Epac/Rap pathway may be the target. Epac2 and Rap2 were detected in hamster spermatozoa using immunoblotting. Since Rap2 is a GTPase, we investigated the flagellar bending of demembranated spermatozoa treated with GTPgammaS. The treatment markedly increased the beat frequency and bending rate. These results suggest that cAMP activates the Epac/Rap pathway to regulate the conversion of microtubule sliding into flagellar bending.     

Coupling biochemistry and hydrodynamics captures hyperactivated sperm motility in a simple flagellar model

Hyperactivation in mammalian sperm is characterized by highly asymmetrical waveforms and an increase in the amplitude of flagellar bends. It is important for the sperm to be able to achieve hyperactivated motility in order to reach and fertilize the egg. Calcium (Ca²⁺) dynamics are known to play a large role in the initiation and maintenance of hyperactivated motility. Here we present an integrative model that couples the CatSper channel mediated Ca²⁺ dynamics of hyperactivation to a mechanical model of an idealized sperm flagellum in a 3-d viscous, incompressible fluid. The mechanical forces are due to passive stiffness properties and active bending moments that are a function of the local Ca²⁺ concentration along the length of the flagellum. By including an asymmetry in bending moments to reflect an asymmetry in the axoneme's response to Ca²⁺, we capture the transition from activated motility to hyperactivated motility. We examine the effects of elastic properties of the flagellum and the Ca²⁺ dynamics on the overall swimming patterns. The swimming velocities of the model flagellum compare well with data for hyperactivated mouse sperm.     

A dynamical model of kinesin-microtubule motility assays

A two-dimensional stochastic model for the dynamics of microtubules in gliding-assay experiments is presented here, which includes the viscous drag acting on the moving fiber and the interaction with the kinesins. For this purpose, we model kinesin as a spring, and explicitly use parameter values to characterize the model from experimental data. We numerically compute the mean attachment lifetimes of all motors, the total force exerted on the microtubules at all times, the effects of a distribution in the motor speeds, and also the mean velocity of a microtubule in a gliding assay. We find quantitative agreement with the results of J. Howard, A. J. Hudspeth, and R. D. Vale, Nature. 342:154-158. We perform additional numerical analysis of the individual motors, and show how cancellation of the forces exerted by the many motors creates a resultant longitudinal force much smaller than the maximum force that could be exerted by a single motor. We also examine the effects of inhomogeneities in the motor-speeds. Finally, we present a simple theoretical model for microtubules dynamics in gliding assays. We show that the model can be analytically solved in the limit of few motors attached to the microtubule and in the opposite limit of high motor density. We find that the speed of the microtubule goes like the mean speed of the motors in good quantitative agreement with the experimental and numerical results.     

Half-width scaling of electric field autocorrelation functions of light scattered from bull spermatozoa.

The half-width scaling of experimental and model electric field autocorrelation functions of light scattered from normally swimming, defectively swimming, and immotile bull spermatozoa is examined. It is found that a scatter of size 9.0 x 2.3 x 0.45 micrometers is most appropriate for this Rayleigh-Gans-Debye ellipsoid model. In the case of the immotile cells, this model correctly predicts the features seen in the scaling data as well as the absolute value of the data. For the normally swimming and defective populations the model proves to predict correctly the features seen in experimental scaling curves, but not the absolute value of the data. This discrepancy appears to be related to a lack of detail in the model, since the agreement is poorest at large scattering angles.     

A mechanics model of microtubule buckling in living cells

As the most rigid cytoskeletal filaments, microtubules bear compressive forces in living cells, balancing the tensile forces within the cytoskeleton to maintain the cell shape. It is often observed that, in living cells, microtubules under compression severely buckle into short wavelengths. By contrast, when compressed, isolated microtubules in vitro buckle into single long-wavelength arcs. The critical buckling force of the microtubules in vitro is two orders of magnitude lower than that of the microtubules in living cells. To explain this discrepancy, we describe a mechanics model of microtubule buckling in living cells. The model investigates the effect of the surrounding filament network and the cytosol on the microtubule buckling. The results show that, while the buckling wavelength is set by the interplay between the microtubules and the elastic surrounding filament network, the buckling growth rate is set by the viscous cytosol. By considering the nonlinear deformation of the buckled microtubule, the buckling amplitude can be determined at the kinetically constrained equilibrium. The model quantitatively correlates the microtubule bending rigidity, the surrounding filament network elasticity, and the cytosol viscosity with the buckling wavelength, the buckling growth rate, and the buckling amplitude of the microtubules. Such results shed light on designing a unified experimental protocol to measure various critical mechanical properties of subcellular structures in living cells.     

Simulating the Complex Cell Design of Trypanosoma brucei and Its Motility

The flagellate Trypanosoma brucei, which causes the sleeping sickness when infecting a mammalian host, goes through an intricate life cycle. It has a rather complex propulsion mechanism and swims in diverse microenvironments. These continuously exert selective pressure, to which the trypanosome adjusts with its architecture and behavior. As a result, the trypanosome assumes a diversity of complex morphotypes during its life cycle. However, although cell biology has detailed form and function of most of them, experimental data on the dynamic behavior and development of most morphotypes is lacking. Here we show that simulation science can predict intermediate cell designs by conducting specific and controlled modifications of an accurate, nature-inspired cell model, which we developed using information from live cell analyses. The cell models account for several important characteristics of the real trypanosomal morphotypes, such as the geometry and elastic properties of the cell body, and their swimming mechanism using an eukaryotic flagellum. We introduce an elastic network model for the cell body, including bending rigidity and simulate swimming in a fluid environment, using the mesoscale simulation technique called multi-particle collision dynamics. The in silico trypanosome of the bloodstream form displays the characteristic in vivo rotational and translational motility pattern that is crucial for survival and virulence in the vertebrate host. Moreover, our model accurately simulates the trypanosome''s tumbling and backward motion. We show that the distinctive course of the attached flagellum around the cell body is one important aspect to produce the observed swimming behavior in a viscous fluid, and also required to reach the maximal swimming velocity. Changing details of the flagellar attachment generates less efficient swimmers. We also simulate different morphotypes that occur during the parasite''s development in the tsetse fly, and predict a flagellar course we have not been able to measure in experiments so far.     

A model of muscle contraction based on the Langevin equation with actomyosin potentials

We propose a muscle contraction model that is essentially a model of the motion of myosin motors as described by a Langevin equation. This model involves one-dimensional numerical calculations wherein the total force is the sum of a viscous force proportional to the myosin head velocity, a white Gaussian noise produced by random forces and other potential forces originating from the actomyosin structure and intra-molecular charges. We calculate the velocity of a single myosin on an actin filament to be 4.9–49 μm/s, depending on the viscosity between the actomyosin molecules. A myosin filament with a hundred myosin heads is used to simulate the contractions of a half-sarcomere within the skeletal muscle. The force response due to a quick release in the isometric contraction is simulated using a process wherein crossbridges are changed forcibly from one state to another. In contrast, the force response to a quick stretch is simulated using purely mechanical characteristics. We simulate the force–velocity relation and energy efficiency in the isotonic contraction and adenosine triphosphate consumption. The simulation results are in good agreement with the experimental results. We show that the Langevin equation for the actomyosin potentials can be modified statistically to become an existing muscle model that uses Maxwell elements.     

Computer simulation of flagellar movement. VI. Simple curvature-controlled models are incompletely specified.

Computer simulation is used to examine a simple flagellar model that will initiate and propagate bending waves in the absence of viscous resistances. The model contains only an elastic bending resistance and an active sliding mechanism that generates reduced active shear moment with increasing sliding velocity. Oscillation results from a distributed control mechanism that reverses the direction of operation of the active sliding mechanism when the curvature reaches critical magnitudes in either direction. Bend propagation by curvature-controlled flagellar models therefore does not require interaction with the viscous resistance of an external fluid. An analytical examination of moment balance during bend propagation by this model yields a solution curve giving values of frequency and wavelength that satisfy the moment balance equation and give uniform bend propagation, suggesting that the model is underdetermined. At 0 viscosity, the boundary condition of 0 shear rate at the basal end of the flagellum during the development of new bends selects the particular solution that is obtained by computer simulations. Therefore, the details of the pattern of bend initiation at the basal end of a flagellum can be of major significance in determining the properties of propagated bending waves in the distal portion of a flagellum. At high values of external viscosity, the model oscillates at frequencies and wavelengths that give approximately integral numbers of waves on the flagellum. These operating points are selected because they facilitate the balance of bending moments at the ends of the model, where the external viscous moment approaches 0. These mode preferences can be overridden by forcing the model to operate at a predetermined frequency. The strong mode preferences shown by curvature-controlled flagellar models, in contrast to the weak or absent mode preferences shown by real flagella, therefore do not demonstrate the inapplicability of the moment-balance approach to real flagella. Instead, they indicate a need to specify additional properties of real flagella that are responsible for selecting particular operating points.