Bacterial microprocessing

Chemical Source Searching by Controlling a Wheeled Mobile Robot to Follow an Online Planned Route in Outdoor Field Environments

In this paper, we present an estimation-based route planning (ERP) method for chemical source searching using a wheeled mobile robot and validate its effectiveness with outdoor field experiments. The ERP method plans a dynamic route for the robot to follow to search for a chemical source according to time-varying wind and an estimated chemical-patch path (C-PP), where C-PP is the historical trajectory of a chemical patch detected by the robot, and normally different from the chemical plume formed by the spatial distribution of all chemical patches previously released from the source. Owing to the limitations of normal gas sensors and actuation capability of ground mobile robots, it is quite hard for a single robot to directly trace the intermittent and rapidly swinging chemical plume resulting from the frequent and random changes of wind speed and direction in outdoor field environments. In these circumstances, tracking the C-PP originating from the chemical source back could help the robot approach the source. The proposed ERP method was tested in two different outdoor fields using a wheeled mobile robot. Experimental results indicate that the robot adapts to the time-varying airflow condition, arriving at the chemical source with an average success rate and approaching effectiveness of about 90% and 0.4~0.6, respectively.

Genetic control of morphogenesis in Dictyostelium

Cells grow, move, expand, shrink and die in the process of generating the characteristic shapes of organisms. Although the structures generated during development of the social amoeba Dictyostelium discoideum look nothing like the structures seen in metazoan embryogenesis, some of the morphogenetic processes used in their making are surprisingly similar. Recent advances in understanding the molecular basis for directed cell migration, cell type specific sorting, differential adhesion, secretion of matrix components, pattern formation, regulation and terminal differentiation are reviewed. Genes involved in Dictyostelium aggregation, slug formation, and culmination of fruiting bodies are discussed.

From Birds to Bacteria: Generalised Velocity Jump Processes with Resting States

There are various cases of animal movement where behaviour broadly switches between two modes of operation, corresponding to a long-distance movement state and a resting or local movement state. Here, a mathematical description of this process is formulated, adapted from Friedrich et al. (Phys Rev E, 74:041103, 2006b). The approach allows the specification any running or waiting time distribution along with any angular and speed distributions. The resulting system of integro-partial differential equations is tumultuous, and therefore, it is necessary to both simplify and derive summary statistics. An expression for the mean squared displacement is derived, which shows good agreement with experimental data from the bacterium Escherichia coli and the gull Larus fuscus. Finally, a large time diffusive approximation is considered via a Cattaneo approximation (Hillen in Discrete Continuous Dyn Syst Ser B, 5:299–318, 2003). This leads to the novel result that the effective diffusion constant is dependent on the mean and variance of the running time distribution but only on the mean of the waiting time distribution.

Excitation and adaptation in bacteria-a model signal transduction system that controls taxis and spatial pattern formation

The machinery for transduction of chemotactic stimuli in the bacterium E. coli is one of the most completely characterized signal transduction systems, and because of its relative simplicity, quantitative analysis of this system is possible. Here we discuss models which reproduce many of the important behaviors of the system. The important characteristics of the signal transduction system are excitation and adaptation, and the latter implies that the transduction system can function as a "derivative sensor" with respect to the ligand concentration in that the DC component of a signal is ultimately ignored if it is not too large. This temporal sensing mechanism provides the bacterium with a memory of its passage through spatially- or temporally-varying signal fields, and adaptation is essential for successful chemotaxis. We also discuss some of the spatial patterns observed in populations and indicate how cell-level behavior can be embedded in population-level descriptions.

Plume mapping via hidden Markov methods

This paper addresses the problem of mapping likely locations of a chemical source using an autonomous vehicle operating in a fluid flow. The paper reviews biological plume-tracing concepts, reviews previous strategies for vehicle-based plume tracing, and presents a new plume mapping approach based on hidden Markov methods (HMM). HMM provide efficient algorithms for predicting the likelihood of odor detection versus position, the likelihood of source location versus position, the most likely path taken by the odor to a given location, and the path between two points most likely to result in odor detection. All four are useful for solving the odor source localization problem using an autonomous vehicle. The vehicle is assumed to be capable of detecting above threshold chemical concentration and sensing the fluid flow velocity at the vehicle location. The fluid flow is assumed to vary with space and time, and to have a high Reynolds number (Re>10).

Collective odor source estimation and search in time-variant airflow environments using mobile robots

This paper addresses the collective odor source localization (OSL) problem in a time-varying airflow environment using mobile robots. A novel OSL methodology which combines odor-source probability estimation and multiple robots' search is proposed. The estimation phase consists of two steps: firstly, the separate probability-distribution map of odor source is estimated via Bayesian rules and fuzzy inference based on a single robot's detection events; secondly, the separate maps estimated by different robots at different times are fused into a combined map by way of distance based superposition. The multi-robot search behaviors are coordinated via a particle swarm optimization algorithm, where the estimated odor-source probability distribution is used to express the fitness functions. In the process of OSL, the estimation phase provides the prior knowledge for the searching while the searching verifies the estimation results, and both phases are implemented iteratively. The results of simulations for large-scale advection-diffusion plume environments and experiments using real robots in an indoor airflow environment validate the feasibility and robustness of the proposed OSL method.

Chemical plume source localization

This paper addresses the problem of estimating a likelihood map for the location of the source of a chemical plume using an autonomous vehicle as a sensor probe in a fluid flow. The fluid flow is assumed to have a high Reynolds number. Therefore, the dispersion of the chemical is dominated by turbulence, resulting in an intermittent chemical signal. The vehicle is capable of detecting above-threshold chemical concentration and sensing the fluid flow velocity at the vehicle location. This paper reviews instances of biological plume tracing and reviews previous strategies for a vehicle-based plume tracing. The main contribution is a new source-likelihood mapping approach based on Bayesian inference methods. Using this Bayesian methodology, the source-likelihood map is propagated through time and updated in response to both detection and nondetection events. Examples are included that use data from in-water testing to compare the mapping approach derived herein with the map derived using a previously existing technique.

Olfactory search at high Reynolds number

Locating the source of odor in a turbulent environment-a common behavior for living organisms-is nontrivial because of the random nature of mixing. Here we analyze the statistical physics aspects of the problem and propose an efficient strategy for olfactory search that can work in turbulent plumes. The algorithm combines the maximum likelihood inference of the source position with an active search. Our approach provides the theoretical basis for the design of olfactory robots and the quantitative tools for the analysis of the observed olfactory search behavior of living creatures (e.g., odor-modulated optomotor anemotaxis of moths).

Engineering aspects of enzymatic signal transduction: photoreceptors in the retina

Identifying the basic module of enzymatic amplification as an irreversible cycle of messenger activation/deactivation by a "push-pull" pair of opposing enzymes, we analyze it in terms of gain, bandwidth, noise, and power consumption. The enzymatic signal transduction cascade is viewed as an information channel, the design of which is governed by the statistical properties of the input and the noise and dynamic range constraints of the output. With the example of vertebrate phototransduction cascade we demonstrate that all of the relevant engineering parameters are controlled by enzyme concentrations and, from functional considerations, derive bounds on the required protein numbers. Conversely, the ability of enzymatic networks to change their response characteristics by varying only the abundance of different enzymes illustrates how functional diversity may be built from nearly conserved molecular components.

Scalar turbulence

The advection of a passive substance by a turbulent flow is important in many natural and engineering settings. The concentration of such a substance can exhibit complex dynamic behaviour that shows many phenomenological parallels with the behaviour of the turbulent velocity field. Yet the statistical properties of this so-called 'passive scalar' turbulence are decoupled from those of the underlying velocity field. Passive scalar turbulence has recently yielded to mathematical analysis, and such progress may ultimately lead to a better understanding of the still intractable problem of fluid turbulence itself.

A molecular network that produces spontaneous oscillations in excitable cells of Dictyostelium

A network of interacting proteins has been found that can account for the spontaneous oscillations in adenylyl cyclase activity that are observed in homogenous populations of Dictyostelium cells 4 h after the initiation of development. Previous biochemical assays have shown that when extracellular adenosine 3',5'-cyclic monophosphate (cAMP) binds to the surface receptor CAR1, adenylyl cyclase and the MAP kinase ERK2 are transiently activated. A rise in the internal concentration of cAMP activates protein kinase A such that it inhibits ERK2 and leads to a loss-of-ligand binding by CAR1. ERK2 phosphorylates the cAMP phosphodiesterase REG A that reduces the internal concentration of cAMP. A secreted phosphodiesterase reduces external cAMP concentrations between pulses. Numerical solutions to a series of nonlinear differential equations describing these activities faithfully account for the observed periodic changes in cAMP. The activity of each of the components is necessary for the network to generate oscillatory behavior; however, the model is robust in that 25-fold changes in the kinetic constants linking the activities have only minor effects on the predicted frequency. Moreover, constant high levels of external cAMP lead to attenuation, whereas a brief pulse of cAMP can advance or delay the phase such that interacting cells become entrained.

Chimeric chemoreceptors in Escherichia coli: signaling properties of Tar-Tap and Tap-Tar hybrids

The Tap (taxis toward peptides) receptor and the periplasmic dipeptide-binding protein (DBP) of Escherichia coli together mediate chemotactic responses to dipeptides. Tap is a low-abundance receptor. It is present in 5- to 10-fold-fewer copies than high-abundance receptors like Tar and Tsr. Cells expressing Tap as the sole receptor, even from a multicopy plasmid at 5- to 10-fold-overexpressed levels, do not generate sufficient clockwise (CW) signal to tumble and thus swim exclusively smoothly (run). To study the signaling properties of Tap in detail, we constructed reciprocal hybrids between Tap and Tar fused in the linker region between the periplasmic and cytoplasmic domains. The Tapr hybrid senses dipeptides and is a good CW-signal generator, whereas the Tarp hybrid senses aspartate but is a poor CW-signal generator. Thus, the poor CW signaling of Tap is a property of its cytoplasmic domain. Eighteen residues at the carboxyl terminus of high-abundance receptors, including the NWETF sequence that binds the CheR methylesterase, are missing in Tap. The Tart protein, created by removing these 18 residues from Tar, has diminished CW-signaling ability. The Tapl protein, made by adding the last 18 residues of Tar to the carboxyl terminus of Tap, also does not support CW flagellar rotation. However, Tart and Tapl cross-react well with antibody directed against the conserved cytoplasmic region of Tsr, whereas Tap does not cross-react with this antibody. Tap does cross-react, however, with antibody directed against the low-abundance chemoreceptor Trg. The hybrid, truncated, and extended receptors exhibit various levels of methylation. However, Tar and Tapl, which contain a consensus CheR-binding motif (NWETF) at their carboxyl termini, exhibit the highest basal levels of methylation, as expected. We conclude that no simple correlation exists between the abundance of a receptor, its methylation level, and its CW-signaling ability.

A model of excitation and adaptation in bacterial chemotaxis

Bacterial chemotaxis is widely studied because of its accessibility and because it incorporates processes that are important in a number of sensory systems: signal transduction, excitation, adaptation, and a change in behavior, all in response to stimuli. Quantitative data on the change in behavior are available for this system, and the major biochemical steps in the signal transduction/processing pathway have been identified. We have incorporated recent biochemical data into a mathematical model that can reproduce many of the major features of the intracellular response, including the change in the level of chemotactic proteins to step and ramp stimuli such as those used in experimental protocols. The interaction of the chemotactic proteins with the motor is not modeled, but we can estimate the degree of cooperativity needed to produce the observed gain under the assumption that the chemotactic proteins interact directly with the motor proteins.

Complex patterns formed by motile cells of Escherichia coli

When chemotactic strains of the bacterium Escherichia coli are inoculated on semi-solid agar containing mixtures of amino acids or sugars, the cells swarm outwards in a series of concentric rings: they respond to spatial gradients of attractants generated by uptake and catabolism. Cells also drift up gradients generated artificially, for example by diffusion from the tip of a capillary tube or by mixing. Here we describe conditions under which cells aggregate in response to gradients of attractant which they excrete themselves. When cells are grown in semi-solid agar on intermediates of the tricarboxylic acid cycle, they form symmetrical arrays of spots or stripes that arise sequentially. When cells in a thin layer of liquid culture are exposed to these compounds, spots appear synchronously, more randomly arrayed. In either case, the patterns are stationary. The attractant is a chemical sensed by the aspartate receptor. Its excretion can be triggered by oxidative stress. As oxygen is limiting at high cell densities, aggregation might serve as a mechanism for collective defence.