Numerical simulation of endocytosis: Viscous flow driven by membranes with non-uniformly distributed curvature-inducing molecules

A general computational framework for the dynamics of single- and multi-phase vesicles and membranes

The dynamics of thin, membrane-like structures are ubiquitous in nature. They play especially important roles in cell biology. Cell membranes separate the inside of a cell from the outside, and vesicles compartmentalize proteins into functional microregions, such as the lysosome. Proteins and/or lipid molecules also aggregate and deform membranes to carry out cellular functions. For example, some viral particles can induce the membrane to invaginate and form an endocytic vesicle that pulls the virus into the cell. While the physics of membranes has been extensively studied since the pioneering work of Helfrich in the 1970's, simulating the dynamics of large scale deformations remains challenging, especially for cases where the membrane composition is spatially heterogeneous. Here, we develop a general computational framework to simulate the overdamped dynamics of membranes and vesicles. We start by considering a membrane with an energy that is a generalized functional of the shape invariants and also includes line discontinuities that arise due to phase boundaries. Using this energy, we derive the internal restoring forces and construct a level set-based algorithm that can stably simulate the large-scale dynamics of these generalized membranes, including scenarios that lead to membrane fission. This method is applied to solve for shapes of single-phase vesicles using a range of reduced volumes, reduced area differences, and preferred curvatures. Our results match well the experimentally measured shapes of corresponding vesicles. The method is then applied to explore the dynamics of multiphase vesicles, predicting equilibrium shapes and conditions that lead to fission near phase boundaries.

Three-dimensional morphodynamic simulations of macropinocytic cups

Macropinocytosis refers to the non-specific uptake of extracellular fluid, which plays ubiquitous roles in cell growth, immune surveillance, and virus entry. Despite its widespread occurrence, it remains unclear how its initial cup-shaped plasma membrane extensions form without any external solid support, as opposed to the process of particle uptake during phagocytosis. Here, by developing a computational framework that describes the coupling between the bistable reaction-diffusion processes of active signaling patches and membrane deformation, we demonstrated that the protrusive force localized to the edge of the patches can give rise to a self-enclosing cup structure, without further assumptions of local bending or contraction. Efficient uptake requires a balance among the patch size, magnitude of protrusive force, and cortical tension. Furthermore, our model exhibits cyclic cup formation, coexistence of multiple cups, and cup-splitting, indicating that these complex morphologies self-organize via a common mutually-dependent process of reaction-diffusion and membrane deformation.

Diffuso-kinetic membrane budding dynamics

A wide range of proteins are known to create shape transformations of biological membranes, where the remodelling is a coupling between the energetic costs from deforming the membrane, the recruitment of proteins that induce a local spontaneous curvature C₀ and the diffusion of proteins along the membrane. We propose a minimal mathematical model that accounts for these processes to describe the diffuso-kinetic dynamics of membrane budding processes. By deploying numerical simulations we map out the membrane shapes, the time for vesicle formation and the vesicle size as a function of the dimensionless kinetic recruitment parameter K₁ and the proteins sensitivity to mean curvature. We derive a time for scission that follows a power law ∼K₁^-2/3, a consequence of the interplay between the spreading of proteins by diffusion and the kinetic-limited increase of the protein density on the membrane. We also find a scaling law for the vesicle size ∼1/([small sigma, Greek, macron]_avC₀), with [small sigma, Greek, macron]_av the average protein density in the vesicle, which is confirmed in the numerical simulations. Rescaling all the membrane profiles at the time of vesicle formation highlights that the membrane adopts a self-similar shape.

Nonaxisymmetric Shapes of Biological Membranes from Locally Induced Curvature

In various biological processes such as endocytosis and caveolae formation, the cell membrane is locally deformed into curved morphologies. Previous models to study membrane morphologies resulting from locally induced curvature often only consider the possibility of axisymmetric shapes-an indeed unphysical constraint. Past studies predict that the cell membrane buds at low resting tensions and stalls at a flat pit at high resting tensions. In this work, we lift the restriction to axisymmetry to study all possible membrane morphologies. Only if the resting tension of the membrane is low, we reproduce axisymmetric membrane morphologies. When the resting tension is moderate to high, we show that 1) axisymmetric membrane pits are unstable and 2) nonaxisymmetric ridge-shaped structures are energetically favorable. Furthermore, we find the interplay between intramembrane viscous flow and the rate of induced curvature affects the membrane's ability to transition into nonaxisymmetric ridges and axisymmetric buds. In particular, we show that axisymmetric buds are favored when the induced curvature is rapidly increased, whereas nonaxisymmetric ridges are favored when the curvature is slowly increased. Our results hold relevant implications for biological processes such as endocytosis and physical phenomena like phase separation in lipid bilayers.

Efficient simulation of thermally fluctuating biopolymers immersed in fluids on 1-micron, 1-second scales

The combination of fluid-structure interactions with stochasticity, due to thermal fluctuations, remains a challenging problem in computational fluid dynamics. We develop an efficient scheme based on the stochastic immersed boundary method, Stokeslets, and multiple timestepping. We test our method for spherical particles and filaments under purely thermal and deterministic forces and find good agreement with theoretical predictions for Brownian Motion of a particle and equilibrium thermal undulations of a semi-flexible filament. As an initial application, we simulate bio-filaments with the properties of F-actin. We specifically study the average time for two nearby parallel filaments to bundle together. Interestingly, we find a two-fold acceleration in this time between simulations that account for long-range hydrodynamics compared to those that do not, suggesting that our method will reveal significant hydrodynamic effects in biological phenomena.

Hydrodynamics of transient cell-cell contact: The role of membrane permeability and active protrusion length

In many biological settings, two or more cells come into physical contact to form a cell-cell interface. In some cases, the cell-cell contact must be transient, forming on timescales of seconds. One example is offered by the T cell, an immune cell which must attach to the surface of other cells in order to decipher information about disease. The aspect ratio of these interfaces (tens of nanometers thick and tens of micrometers in diameter) puts them into the thin-layer limit, or "lubrication limit", of fluid dynamics. A key question is how the receptors and ligands on opposing cells come into contact. What are the relative roles of thermal undulations of the plasma membrane and deterministic forces from active filopodia? We use a computational fluid dynamics algorithm capable of simulating 10-nanometer-scale fluid-structure interactions with thermal fluctuations up to seconds- and microns-scales. We use this to simulate two opposing membranes, variously including thermal fluctuations, active forces, and membrane permeability. In some regimes dominated by thermal fluctuations, proximity is a rare event, which we capture by computing mean first-passage times using a Weighted Ensemble rare-event computational method. Our results demonstrate a parameter regime in which the time it takes for an active force to drive local contact actually increases if the cells are being held closer together (e.g., by nonspecific adhesion), a phenomenon we attribute to the thin-layer effect. This leads to an optimal initial cell-cell separation for fastest receptor-ligand binding, which could have relevance for the role of cellular protrusions like microvilli. We reproduce a previous experimental observation that fluctuation spatial scales are largely unaffected, but timescales are dramatically slowed, by the thin-layer effect. We also find that membrane permeability would need to be above physiological levels to abrogate the thin-layer effect.

Simulation of Morphogen and Tissue Dynamics

Morphogenesis, the process by which an adult organism emerges from a single cell, has fascinated humans for a long time. Modeling this process can provide novel insights into development and the principles that orchestrate the developmental processes. This chapter focuses on the mathematical description and numerical simulation of developmental processes. In particular, we discuss the mathematical representation of morphogen and tissue dynamics on static and growing domains, as well as the corresponding tissue mechanics. In addition, we give an overview of numerical methods that are routinely used to solve the resulting systems of partial differential equations. These include the finite element method and the Lattice Boltzmann method for the discretization as well as the arbitrary Lagrangian-Eulerian method and the Diffuse-Domain method to numerically treat deforming domains.

Theory and algorithms to compute Helfrich bending forces: a review

Cell membranes are vital to shield a cell's interior from the environment. At the same time they determine to a large extent the cell's mechanical resistance to external forces. In recent years there has been considerable interest in the accurate computational modeling of such membranes, driven mainly by the amazing variety of shapes that red blood cells and model systems such as vesicles can assume in external flows. Given that the typical height of a membrane is only a few nanometers while the surface of the cell extends over many micrometers, physical modeling approaches mostly consider the interface as a two-dimensional elastic continuum. Here we review recent modeling efforts focusing on one of the computationally most intricate components, namely the membrane's bending resistance. We start with a short background on the most widely used bending model due to Helfrich. While the Helfrich bending energy by itself is an extremely simple model equation, the computation of the resulting forces is far from trivial. At the heart of these difficulties lies the fact that the forces involve second order derivatives of the local surface curvature which by itself is the second derivative of the membrane geometry. We systematically derive and compare the different routes to obtain bending forces from the Helfrich energy, namely the variational approach and the thin-shell theory. While both routes lead to mathematically identical expressions, so-called linear bending models are shown to reproduce only the leading order term while higher orders differ. The main part of the review contains a description of various computational strategies which we classify into three categories: the force, the strong and the weak formulation. We finally give some examples for the application of these strategies in actual simulations.

Dynamics of a multicomponent vesicle in shear flow

We study the fully nonlinear, nonlocal dynamics of two-dimensional multicomponent vesicles in a shear flow with matched viscosity of the inner and outer fluids. Using a nonstiff, pseudo-spectral boundary integral method, we investigate dynamical patterns induced by inhomogeneous bending for a two phase system. Numerical results reveal that there exist novel phase-treading and tumbling mechanisms that cannot be observed for a homogeneous vesicle. In particular, unlike the well-known steady tank-treading dynamics characterized by a fixed inclination angle, here the phase-treading mechanism leads to unsteady periodic dynamics with an oscillatory inclination angle. When the average phase concentration is around 1/2, we observe tumbling dynamics even for very low shear rate, and the excess length required for tumbling is significantly smaller than the value for the single phase case. We summarize our results in phase diagrams in terms of the excess length, shear rate, and concentration of the soft phase. These findings go beyond the well known dynamical regimes of a homogeneous vesicle and highlight the level of complexity of vesicle dynamics in a fluid due to heterogeneous material properties.