Abstract
Optical tweezers have enabled important insights into intracellular transport through the investigation of motor proteins, with their ability to manipulate particles at the microscale, affording femto newton force resolution. Its use to realize a constant force clamp has enabled vital insights into the behavior of motor proteins under different load conditions. However, the varying nature of disturbances and the effect of thermal noise pose key challenges to force regulation. Furthermore, often the main aim of many studies is to determine the motion of the motor and the statistics related to the motion, which can be at odds with the force regulation objective. In this paper, we propose a mixed objective H-2/H∞ optimization framework using a model-based design, that achieves the dual goals of force regulation and real-time motion estimation with quantifiable guarantees. Here, we minimize the H∞ norm for the force regulation and error in step estimation while maintaining the H2 norm of the noise on step estimate within user specified bounds. We demonstrate the efficacy of the framework through extensive simulations and an experimental implementation using an optical tweezer setup with live samples of the motor protein 'kinesin', where regulation of forces below 1 piconewton with errors below 10 is obtained while simultaneously providing real-time estimates of motor motion.
| Original language | English (US) |
|---|---|
| Article number | 8401903 |
| Pages (from-to) | 1532-1542 |
| Number of pages | 11 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 23 |
| Issue number | 4 |
| DOIs | |
| State | Published - Aug 1 2018 |
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Keywords
- Acousto-optic deflector (AOD)
- intracellular transport
- kinesin motility assay
- mixed objective H2/H∞ optimization
- molecular motor proteins
- optical force clamp
- optical trapping
- system identification
Cite this
Single Molecule Studies Enabled by Model-Based Controller Design. / Bhaban, Shreyas; Talukdar, Saurav; Li, Min-Gang; Hays, Tom S; Seiler Jr, Peter J; salapaka, murti v.
In: IEEE/ASME Transactions on Mechatronics, Vol. 23, No. 4, 8401903, 01.08.2018, p. 1532-1542.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Single Molecule Studies Enabled by Model-Based Controller Design
AU - Bhaban, Shreyas
AU - Talukdar, Saurav
AU - Li, Min-Gang
AU - Hays, Tom S
AU - Seiler Jr, Peter J
AU - salapaka, murti v
PY - 2018/8/1
Y1 - 2018/8/1
N2 - Optical tweezers have enabled important insights into intracellular transport through the investigation of motor proteins, with their ability to manipulate particles at the microscale, affording femto newton force resolution. Its use to realize a constant force clamp has enabled vital insights into the behavior of motor proteins under different load conditions. However, the varying nature of disturbances and the effect of thermal noise pose key challenges to force regulation. Furthermore, often the main aim of many studies is to determine the motion of the motor and the statistics related to the motion, which can be at odds with the force regulation objective. In this paper, we propose a mixed objective H-2/H∞ optimization framework using a model-based design, that achieves the dual goals of force regulation and real-time motion estimation with quantifiable guarantees. Here, we minimize the H∞ norm for the force regulation and error in step estimation while maintaining the H2 norm of the noise on step estimate within user specified bounds. We demonstrate the efficacy of the framework through extensive simulations and an experimental implementation using an optical tweezer setup with live samples of the motor protein 'kinesin', where regulation of forces below 1 piconewton with errors below 10 is obtained while simultaneously providing real-time estimates of motor motion.
AB - Optical tweezers have enabled important insights into intracellular transport through the investigation of motor proteins, with their ability to manipulate particles at the microscale, affording femto newton force resolution. Its use to realize a constant force clamp has enabled vital insights into the behavior of motor proteins under different load conditions. However, the varying nature of disturbances and the effect of thermal noise pose key challenges to force regulation. Furthermore, often the main aim of many studies is to determine the motion of the motor and the statistics related to the motion, which can be at odds with the force regulation objective. In this paper, we propose a mixed objective H-2/H∞ optimization framework using a model-based design, that achieves the dual goals of force regulation and real-time motion estimation with quantifiable guarantees. Here, we minimize the H∞ norm for the force regulation and error in step estimation while maintaining the H2 norm of the noise on step estimate within user specified bounds. We demonstrate the efficacy of the framework through extensive simulations and an experimental implementation using an optical tweezer setup with live samples of the motor protein 'kinesin', where regulation of forces below 1 piconewton with errors below 10 is obtained while simultaneously providing real-time estimates of motor motion.
KW - Acousto-optic deflector (AOD)
KW - intracellular transport
KW - kinesin motility assay
KW - mixed objective H2/H∞ optimization
KW - molecular motor proteins
KW - optical force clamp
KW - optical trapping
KW - system identification
UR - http://www.scopus.com/inward/record.url?scp=85049316908&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049316908&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2018.2852367
DO - 10.1109/TMECH.2018.2852367
M3 - Article
VL - 23
SP - 1532
EP - 1542
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 4
M1 - 8401903
ER -