The remotely controlled living robot by ETH Zurich Motivation: - PowerPoint PPT Presentation

The remotely controlled living robot by ETH Zurich

Motivation: Lemmings 2

Engineers’ First Draft 3

Information Processing Information Processing: ex vivo Cell Detection & Microscopy Controlling Cell Tracking Chemotaxis Movement Light switch network Single E. lemming cell: in vivo + in silico 4

Bacterial Movement Information Processing: ex vivo Cell Detection & Microscopy Controlling Cell Tracking Chemotaxis Movement Light switch network Single E. lemming cell: in vivo + in silico 5

Bacterial Movement Directed movement Tumbling (CCW) (CW) 6

Bias Bias := probability of directed movement Large bias Small bias low tumbling frequency large tumbling frequency 7

Modeling of Bacterial Movement transition probabilities bias coordinates directed tumbling movement model calibration from literature: movement behavior bias = bias = 0.85 0.99 bias = 0.69 8

Chemotaxis Network Information Processing: ex vivo Cell Detection & Microscopy Controlling Cell Tracking Chemotaxis Movement Light switch network 9

Molecular Mechanism of Chemotaxis directed movement tumbling CCW CW periplasm flagellar motor cytoplasm MCPs CheW CheA -CH 3 CW +CH 3 CheR CheZ CheB ATP ADP CheY P i P i 10

Modeling of Chemotaxis Network 4 different Chemotaxis network models implemented: Model based on Che Receptor ODEs Parameters Extended species species Spiro et al. (1997) 6 12 18 30 Mello & Tu (2003) 6 15 21 24 Rao et al. (2004) 4 10 14 22 Barkai & Leibler (1997) 2 26 28 22 11

Light switch Information Processing: ex vivo Cell Detection & Microscopy Controlling Cell Tracking Chemotaxis Movement Light switch network Single E. lemming cell: in vivo + in silico 12

Light switch: Two Approaches I: Archeal Light Receptor II: Che Protein Localization P i P i P i P i 13

I: Archeal Light Receptor directed movement tumbling CCW CW periplasm flagellar motor cytoplasm CheW CheA -CH 3 CW +CH 3 CheR CheZ CheB ATP ADP CheY P i P i 14

I: Archeal Light Receptor 0.2 OD at 500 nm (AU) 0.16 0.12 0.08 0.04 Bba_K422002 0 with archeal control light receptor 15

II: Che Protein Localization directed movement tumbling CCW CW periplasm flagellar motor cytoplasm CheW CheA -CH 3 CW +CH 3 Anchor CheR CheY PhyB PIF3 CheZ CheB ATP ADP CheY P i P i PIF3 16

II: Che Protein Localization Actin homologue MreB: Trigger factor TrigA: Tet repressor TetR: Cell Skeleton Ribosome Plasmid DNA # 8,000 / cell # 13,500 / cell # 4,000 / cell 17

II: Che Protein Localization BBF RFC 28: assembly of fusion proteins consisting of three parts in one step AarI 5`CACCTGC TTTT GGAG CCCT TTTT GCAGGTG 5` cheY 3`GTGGACG AAAA CCTC GGGA AAAA CGTCCAC 3` AarI Light sensor Linker Che Protein 81 combinations! 18

II: Che Protein Localization Modeling: Sensitivity Analysis Relative amplitude Anchor protein [ µ M] Anchor sites [ µ M] Che protein Fusion Anchor AP 1. CheY CheY - PhyB 50 µ M 40 µ M 2. CheR trigA – Pif3 3. CheB 19

Information Processing: ex vivo Information Processing: ex vivo Cell Detection & Microscopy Controlling Cell Tracking Chemotaxis Movement Light switch network Single E. lemming cell: in vivo + in silico 20

Live Imaging of the E. lemming Microscopy Cell Detection Cell Tracking • Main challenges: • Main challenges: • Main challenges: • Swimming out of • Fast for real-time • Fast for real-time focus imaging imaging • Swimming out of • Good detection rate • Robust field 21

Live Imaging of the E. lemming Output image Input image In 0.2 seconds! 22

Controller Large bias: Small bias: low tumbling frequency large tumbling frequency 23

Controller Competition Controller Imaging E. Lemming Controlled system System properties: Competition: • highly nonlinear steer the E. lemming on a predefined path, • stochastic process while minimizing the deviation between • noisy reference and current direction • time delay Cost function: 5 Novel Controllers: 1. Threshold optimized controller 24

Closing the Loop: Results Information Processing: ex vivo Cell Detection & Microscopy Controlling Cell Tracking Chemotaxis Movement Light switch network Single E. lemming cell: in vivo + in silico 25

Closing the Loop: Simulation E. coli E. lemming 26

Biological Implementation 27

Angle over Time adaptation directed movement response time of the system 28

Angular Speed over Time 29

Speed over time 30

Achievements The E. lemming MATLAB Toolbox Lemming Game BioBrick Toolbox Closed information processing loop 31

Acknowledgements Sven Panke Jörg Stelling Christoph Hold Vincent Rouilly Mario Marchisio Special
friends:
 Fabian
Rudolf,
Ralph
Streichan,
Nils
Goedecke,
Andreas
Meyer
and
 Christian
Femmer
and
the
E.
lemmings.
 32

Team Thank you for your attention! 33

Questions? 34