A simple theory of motor protein kinetics and energetics

Nonequilibrium Theoretical Framework and Universal Design Principles of Oscillation-Driven Catalysis

At stationary environmental conditions, a catalyst's reaction kinetics may be restricted by its available designs and thermodynamic laws. Thus, its stationary performances may experience practical or theoretical restraints (e.g., catalysts cannot invert the spontaneous direction of a chemical reaction). However, many works have reported that if environments change rapidly, catalysts can be driven away from stationary states and exhibit anomalous performance. We present a general geometric nonequilibrium theory to explain anomalous catalytic behaviors driven by rapidly oscillating environments where stationary-environment restraints are broken. It leads to a universal design principle of novel catalysts with oscillation-pumped performances. Even though a single free energy landscape cannot describe catalytic kinetics at various environmental conditions, we propose a novel control-conjugate landscape to encode the reaction kinetics over a range of control parameters λ, inspired by the Arrhenius form. The control-conjugate landscape significantly simplifies the design principle applicable to large-amplitude environmental oscillations.

Carnot, Stirling, and Ericsson stochastic heat engines: Efficiency at maximum power

This work uses the low-dissipation strategy to obtain efficiency at maximum power from a stochastic heat engine performing Carnot-, Stirling- and Ericsson-like cycles at finite time. The heat engine consists of a colloidal particle trapped by optical tweezers, in contact with two thermal baths at different temperatures, namely hot (T_{h}) and cold (T_{c}). The particle dynamics is characterized by a Langevin equation with time-dependent control parameters bounded to a harmonic potential trap. In a low-dissipation approach, the equilibrium properties of the system are required, which in our case, can be calculated through a statelike equation for the mean value 〈x^{2}〉_{eq} coming from a macroscopic expression associated with the Langevin equation.

Waiting Time Distributions in Hybrid Models of Motor-Bead Assays: A Concept and Tool for Inference

In single-molecule experiments, the dynamics of molecular motors are often observed indirectly by measuring the trajectory of an attached bead in a motor-bead assay. In this work, we propose a method to extract the step size and stalling force for a molecular motor without relying on external control parameters. We discuss this method for a generic hybrid model that describes bead and motor via continuous and discrete degrees of freedom, respectively. Our deductions are solely based on the observation of waiting times and transition statistics of the observable bead trajectory. Thus, the method is non-invasive, operationally accessible in experiments and can, in principle, be applied to any model describing the dynamics of molecular motors. We briefly discuss the relation of our results to recent advances in stochastic thermodynamics on inference from observable transitions. Our results are confirmed by extensive numerical simulations for parameters values of an experimentally realized F1-ATPase assay.

Energy landscape design principle for optimal energy harnessing by catalytic molecular machines

Under temperature oscillation, cyclic molecular machines such as catalysts and enzymes could harness energy from the oscillatory bath and use it to drive other processes. Using an alternative geometrical approach, under fast temperature oscillation, we derive a general design principle for obtaining the optimal catalytic energy landscape that can harness energy from a temperature-oscillatory bath and use it to invert a spontaneous reaction. By driving the reaction against the spontaneous direction, the catalysts convert low free-energy product molecules to high free-energy reactant molecules. The design principle, derived for arbitrary cyclic catalysts, is expressed as a simple quadratic objective function that only depends on the reaction activation energies, and is independent of the temperature protocol. Since the reaction activation energies are directly accessible by experimental measurements, the objective function can be directly used to guide the search for optimal energy-harvesting catalysts.

A chemical thermodynamic model of motor enzymes unifies chemical-Fx and powerstroke models

Molecular motors play a central role in many biological processes, ranging from pumping blood and breathing to growth and wound healing. Through motor-catalyzed chemical reactions, these nanomachines convert the chemical free energy from ATP hydrolysis into two different forms of mechanical work. Motor enzymes perform reversible work, wrev, through an intermediate step in their catalyzed reaction cycle referred to as a working step, and they perform Fx work when they move a distance, x, against a force, F. In a powerstroke model, wrev is performed when the working step stretches a spring within a given motor enzyme. In a chemical-Fx model, wrev is performed in generating a conserved Fx potential defined external to the motor enzyme. It is difficult to find any common ground between these models even though both have been shown to account for mechanochemical measurements of motor enzymes with reasonable accuracy. Here, I show that, by changing one simple assumption in each model, the powerstroke and chemical-Fx model can be reconciled through a chemical thermodynamic model. The formal and experimental justifications for changing these assumptions are presented. The result is a unifying model for mechanochemical coupling in motor enzymes first presented by A.V. Hill in 1938 that is consistent with single-molecule structural and mechanical data.

Reversible catalysis

We describe as 'reversible' a bidirectional catalyst that allows a reaction to proceed at a significant rate in response to even a small departure from equilibrium, resulting in fast and energy-efficient chemical transformation. Examining the relation between reaction rate and thermodynamic driving force is the basis of electrochemical investigations of redox reactions, which can be catalysed by metallic surfaces and biological or synthetic molecular catalysts. This relation has also been discussed in the context of biological energy transduction, regarding the function of biological molecular machines that harness chemical reactions to do mechanical work. This Perspective describes mean-field kinetic modelling of these three types of systems - surface catalysts, molecular catalysts of redox reactions and molecular machines - with the goal of unifying concepts in these different fields. We emphasize that reversibility should be distinguished from other figures of merit, such as rate or directionality, before its design principles can be identified and used to engineer synthetic catalysts.

Nonequilibrium Thermodynamics in Biochemical Systems and Its Application

Living systems are open systems, where the laws of nonequilibrium thermodynamics play the important role. Therefore, studying living systems from a nonequilibrium thermodynamic aspect is interesting and useful. In this review, we briefly introduce the history and current development of nonequilibrium thermodynamics, especially that in biochemical systems. We first introduce historically how people realized the importance to study biological systems in the thermodynamic point of view. We then introduce the development of stochastic thermodynamics, especially three landmarks: Jarzynski equality, Crooks' fluctuation theorem and thermodynamic uncertainty relation. We also summarize the current theoretical framework for stochastic thermodynamics in biochemical reaction networks, especially the thermodynamic concepts and instruments at nonequilibrium steady state. Finally, we show two applications and research paradigms for thermodynamic study in biological systems.

Allostery and Kinetic Proofreading

Kinetic proofreading is an error correction mechanism present in the processes of the central dogma and beyond and typically requires the free energy of nucleotide hydrolysis for its operation. Though the molecular players of many biological proofreading schemes are known, our understanding of how energy consumption is managed to promote fidelity remains incomplete. In our work, we introduce an alternative conceptual scheme called "the piston model of proofreading" in which enzyme activation through hydrolysis is replaced with allosteric activation achieved through mechanical work performed by a piston on regulatory ligands. Inspired by Feynman's ratchet and pawl mechanism, we consider a mechanical engine designed to drive the piston actions powered by a lowering weight, whose function is analogous to that of ATP synthase in cells. Thanks to its mechanical design, the piston model allows us to tune the "knobs" of the driving engine and probe the graded changes and trade-offs between speed, fidelity, and energy dissipation. It provides an intuitive explanation of the conditions necessary for optimal proofreading and reveals the unexpected capability of allosteric molecules to beat the Hopfield limit of fidelity by leveraging the diversity of states available to them. The framework that we have built for the piston model can also serve as a basis for additional studies of driven biochemical systems.

Theory of Nonequilibrium Free Energy Transduction by Molecular Machines

Biomolecular machines are protein complexes that convert between different forms of free energy. They are utilized in nature to accomplish many cellular tasks. As isothermal nonequilibrium stochastic objects at low Reynolds number, they face a distinct set of challenges compared with more familiar human-engineered macroscopic machines. Here we review central questions in their performance as free energy transducers, outline theoretical and modeling approaches to understand these questions, identify both physical limits on their operational characteristics and design principles for improving performance, and discuss emerging areas of research.

Allocating and Splitting Free Energy to Maximize Molecular Machine Flux

Biomolecular machines transduce between different forms of energy. These machines make directed progress and increase their speed by consuming free energy, typically in the form of nonequilibrium chemical concentrations. Machine dynamics are often modeled by transitions between a set of discrete metastable conformational states. In general, the free-energy change associated with each transition can increase the forward rate constant, decrease the reverse rate constant, or both. In contrast to previous optimizations, we find that in general flux is maximized neither by devoting all free-energy changes to increasing forward rate constants nor by solely decreasing reverse rate constants. Instead, the optimal free-energy splitting depends on the detailed dynamics. Extending our analysis to machines with vulnerable states (from which they can break down), in the strong driving corresponding to in vivo cellular conditions, processivity is maximized by reducing the occupation of the vulnerable state.

Effective Thermodynamics for a Marginal Observer

Thermodynamics is usually formulated on the presumption that the observer has complete information about the system he or she deals with: no parasitic current, exact evaluation of the forces that drive the system. For example, the acclaimed fluctuation relation (FR), relating the probability of time-forward and time-reversed trajectories, assumes that the measurable transitions suffice to characterize the process as Markovian (in our case, a continuous-time jump process). However, most often the observer only measures a marginal current. We show that he or she will nonetheless produce an effective description that does not dispense with the fundamentals of thermodynamics, including the FR and the 2nd law. Our results stand on the mathematical construction of a hidden time reversal of the dynamics, and on the physical requirement that the observed current only accounts for a single transition in the configuration space of the system. We employ a simple abstract example to illustrate our results and to discuss the feasibility of generalizations.

Entropy production in mesoscopic stochastic thermodynamics: nonequilibrium kinetic cycles driven by chemical potentials, temperatures, and mechanical forces

Nonequilibrium thermodynamics (NET) investigates processes in systems out of global equilibrium. On a mesoscopic level, it provides a statistical dynamic description of various complex phenomena such as chemical reactions, ion transport, diffusion, thermochemical, thermomechanical and mechanochemical fluxes. In the present review, we introduce a mesoscopic stochastic formulation of NET by analyzing entropy production in several simple examples. The fundamental role of nonequilibrium steady-state cycle kinetics is emphasized. The statistical mechanics of Onsager's reciprocal relations in this context is elucidated. Chemomechanical, thermomechanical, and enzyme-catalyzed thermochemical energy transduction processes are discussed. It is argued that mesoscopic stochastic NET in phase space provides a rigorous mathematical basis of fundamental concepts needed for understanding complex processes in chemistry, physics and biology. This theory is also relevant for nanoscale technological advances.

Thermodynamics of information processing based on enzyme kinetics: An exactly solvable model of an information pump

Motivated by the recent proposed models of the information engine [Proc. Natl. Acad. Sci. USA 109, 11641 (2012)] and the information refrigerator [Phys. Rev. Lett. 111, 030602 (2013)], we propose a minimal model of the information pump and the information eraser based on enzyme kinetics. This device can either pump molecules against the chemical potential gradient by consuming the information to be encoded in the bit stream or (partially) erase the information initially encoded in the bit stream by consuming the Gibbs free energy. The dynamics of this model is solved exactly, and the "phase diagram" of the operation regimes is determined. The efficiency and the power of the information machine is analyzed. The validity of the second law of thermodynamics within our model is clarified. Our model offers a simple paradigm for the investigating of the thermodynamics of information processing involving the chemical potential in small systems.

Statistics and Related Topics in Single-Molecule Biophysics

Since the universal acceptance of atoms and molecules as the fundamental constituents of matter in the early twentieth century, molecular physics, chemistry and molecular biology have all experienced major theoretical breakthroughs. To be able to actually "see" biological macromolecules, one at a time in action, one has to wait until the 1970s. Since then the field of single-molecule biophysics has witnessed extensive growth both in experiments and theory. A distinct feature of single-molecule biophysics is that the motions and interactions of molecules and the transformation of molecular species are necessarily described in the language of stochastic processes, whether one investigates equilibrium or nonequilibrium living behavior. For laboratory measurements following a biological process, if it is sampled over time on individual participating molecules, then the analysis of experimental data naturally calls for the inference of stochastic processes. The theoretical and experimental developments of single-molecule biophysics thus present interesting questions and unique opportunity for applied statisticians and probabilists. In this article, we review some important statistical developments in connection to single-molecule biophysics, emphasizing the application of stochastic-process theory and the statistical questions arising from modeling and analyzing experimental data.

Motor proteins and molecular motors: how to operate machines at the nanoscale

Several classes of biological molecules that transform chemical energy into mechanical work are known as motor proteins or molecular motors. These nanometer-sized machines operate in noisy stochastic isothermal environments, strongly supporting fundamental cellular processes such as the transfer of genetic information, transport, organization and functioning. In the past two decades motor proteins have become a subject of intense research efforts, aimed at uncovering the fundamental principles and mechanisms of molecular motor dynamics. In this review, we critically discuss recent progress in experimental and theoretical studies on motor proteins. Our focus is on analyzing fundamental concepts and ideas that have been utilized to explain the non-equilibrium nature and mechanisms of molecular motors.

Adiabatically driven Brownian pumps

We investigate a Brownian pump which, being powered by a flashing ratchet mechanism, produces net particle transport through a membrane. The extension of the Parrondo's approach developed for reversible Brownian motors [Parrondo, Phys. Rev. E 57, 7297 (1998)] to adiabatically driven pumps is given. We demonstrate that the pumping mechanism becomes especially efficient when the time variation of the potential occurs adiabatically fast or adiabatically slow, in perfect analogy with adiabatically driven Brownian motors which exhibit high efficiency [Rozenbaum et al., Phys. Rev. E 85, 041116 (2012)]. At the same time, the efficiency of the pumping mechanism is shown to be less than that of Brownian motors due to fluctuations of the number of particles in the membrane.

Dissipation, generalized free energy, and a self-consistent nonequilibrium thermodynamics of chemically driven open subsystems

Nonequilibrium thermodynamics of a system situated in a sustained environment with influx and efflux is usually treated as a subsystem in a larger, closed "universe." A question remains with regard to what the minimally required description for the surrounding of such an open driven system is so that its nonequilibrium thermodynamics can be established solely based on the internal stochastic kinetics. We provide a solution to this problem using insights from studies of molecular motors in a chemical nonequilibrium steady state (NESS) with sustained external drive through a regenerating system or in a quasisteady state (QSS) with an excess amount of adenosine triphosphate (ATP), adenosine diphosphate (ADP), and inorganic phosphate (Pi). We introduce the key notion of minimal work that is needed, W(min), for the external regenerating system to sustain a NESS (e.g., maintaining constant concentrations of ATP, ADP and Pi for a molecular motor). Using a Markov (master-equation) description of a motor protein, we illustrate that the NESS and QSS have identical kinetics as well as the second law in terms of the same positive entropy production rate. The heat dissipation of a NESS without mechanical output is exactly the W(min). This provides a justification for introducing an ideal external regenerating system and yields a free-energy balance equation between the net free-energy input F(in) and total dissipation F(dis) in an NESS: F(in) consists of chemical input minus mechanical output; F(dis) consists of dissipative heat, i.e. the amount of useful energy becoming heat, which also equals the NESS entropy production. Furthermore, we show that for nonstationary systems, the F(dis) and F(in) correspond to the entropy production rate and housekeeping heat in stochastic thermodynamics and identify a relative entropy H as a generalized free energy. We reach a new formulation of Markovian nonequilibrium thermodynamics based on only the internal kinetic equation without further reference to the intrinsic degree of freedom within each Markov state. It includes an extended free-energy balance and a second law which are valid for driven stochastic dynamics with an ideal external regenerating system. Our result suggests new ingredients for a generalized thermodynamics of self-organization in driven systems.

Adiabatically slow and adiabatically fast driven ratchets

We revisit two known models of deterministically driven ratchets, which exhibit high energetic efficiency, with the goal to uncover similarities and differences in the principles of their operation. Both the models rely on adiabaticity of the potential change process, however, the adiabaticity that we deal with in the two cases is of different types, slow and fast. It is shown that in the former (latter) case the drift velocity is an even (odd) functional of the potential, with the notable consequence that for the adiabatically slow driven ratchet the necessary symmetry breaking occurs only due to time-dependent parametric perturbations, while the spatial asymmetry of the potential is a mandatory condition for the adiabatically fast driven ratchet to operate. To treat energetic characteristics, the models are restated in terms of traveling potential ratchets. With such an approach, we find that in these cases (i) the conditions of high energetic efficiency to be reached are similar, and (ii) the symmetry properties of the kinetic coefficients are different. Based on our results, a strategy for designing efficient Brownian motors is suggested.

Hill's small systems nanothermodynamics: a simple macromolecular partition problem with a statistical perspective

Using a simple example of biological macromolecules which are partitioned between bulk solution and membrane, we investigate T.L. Hill's phenomenological nanothermodynamics for small systems. By introducing a system size-dependent equilibrium constant for the bulk-membrane partition, we obtain Hill's results on differential and integral chemical potentials μ and [Formula: see text] from computations based on standard Gibbsian equilibrium statistical mechanics. It is shown that their difference can be understood from an equilibrium re-partitioning between bulk and membrane fractions upon a change in the system's size; it is closely related to the system's fluctuations and inhomogeneity. These results provide a better understanding of nanothermodynamics and clarify its logical relation with the theory of statistical mechanics.

Quasiequilibrium directed hopping in a time-dependent two-well periodic potential

We consider the directed motion of a Brownian particle in a two-well periodic potential with time-varying barriers and wells described by arbitrary periodic functions of time, v(t) and u(t), alternating with the period τ. In the framework of the low-temperature kinetic approach, we obtain explicit formulas for the probabilities of finding the particle in potential wells, average velocity of directed motion, input energy P(in) and useful work P(out) against additionally introduced stationary load force f. These formulas are considerably simplified by the assumption of the quasiequilibrium regime of motion corresponding to small values of u(t) and f. It is shown that depending on the same or opposite parity of the functions v(t) and u(t) with respect to time reversal, the motion direction of a Brownian particle is retained or reversed under the reversal of the direction of movement along the (v-u) loop in the phase space of the functions v(t) and u(t), and the nondiagonal kinetic coefficients are mutually symmetric or antisymmetric. In the adiabatic limit τ→∞, the average velocity is proportional to τ(-1) in two cases: (i) the above loop has a nonzero area, (ii) the functions v(t) and u(t) are proportional to each other (zero loop area) and include intervals of fast changes with small durations τ(0) on the period τ of their variations. In both of these cases, the efficiency of energy conversion, η=P(out)/P(in), tends to unity at large variations of the barriers v(t). In the second case, the deviation of η from unity can be split into two contributions: The former decreases exponentially with increasing amplitude v(0) of v(t), while the latter is a small nonadiabatic correction proportional to v(0)(-3/2). It is the nonadiabatic correction that limits high efficiencies at large variations of barriers.

Two-state Brownian motor driven by synchronously fluctuating unbiased forces

As a model of the Brownian motor, we consider a particle moving unidirectionally under the action of two synchronously fluctuating unbiased forces, transverse and longitudinal with respect to the particle track. The former force induces track-normal transitions of the particle between the attached and detached states (with and without a periodic potential, respectively), whereas the latter drives track-parallel motion in either state. Analytical expressions of the current and efficiency are derived for different regimes, with due account of the delayed response of the system to force fluctuations. For a sawtooth potential in the attached state, we reveal several motion regimes affording the maximum current or the maximum efficiency. A special emphasis is placed on the possibility of current reversal. As shown, the interplay between two phase-shifted harmonically varied forces as well as inherent and externally induced asymmetry can lead to the emergence of multiple current reversals, thus enabling the flexible controllability of the motion direction.

Rate theories for biologists

Some of the rate theories that are most useful for modeling biological processes are reviewed. By delving into some of the details and subtleties in the development of the theories, the review will hopefully help the reader gain a more than superficial perspective. Examples are presented to illustrate how rate theories can be used to generate insight at the microscopic level into biomolecular behaviors. An attempt is made to clear up a number of misconceptions in the literature regarding popular rate theories, including the appearance of Planck's constant in the transition-state theory and the Smoluchowski result as an upper limit for protein-protein and protein-DNA association rate constants. Future work in combining the implementation of rate theories through computer simulations with experimental probes of rate processes, and in modeling effects of intracellular environments so that theories can be used for generating rate constants for systems biology studies is particularly exciting.

Interacting molecular motors: efficiency and work fluctuations

We investigate the model of "reversible ratchet" with interacting particles, presented by us earlier [F. Slanina, EPL 84, 50009 (2008)]. We further clarify the effect of efficiency enhancement due to interaction and show that it is of energetic origin, rather than a consequence of reduced fluctuations. We also show complicated structures emerging in the interaction and density dependence of the current and response function. The fluctuation properties of the work and input energy indicate in detail the far-from-equilibrium nature of the dynamics.

Open-system thermodynamic analysis of DNA polymerase fidelity

Replication inside a living cell, carried out by DNA polymerase, has an error rate far below that predicted by equilibrium thermodynamics from the affinities between nucleotides and a polymerase complex. The high fidelity is achieved through several distinctly different molecular mechanisms that include a nucleotide insertion checkpoint and 3'-5' exonuclease activity. The checkpoint mechanism has recently been articulated as a new paradigm for high specificity. A rigorous thermodynamic analysis of the bare DNA polymerization reaction, i.e., in the absence of exonuclease activity and proofreading, is developed in this paper. The analysis (a) reveals the important role of nonequilibrium steady-state (NESS) flux that drives high fidelity, (b) quantifies the error rate of the polymerization reaction as a function of free energy input through sustained non-equilibrium between chemical species, (c) bridges the 'thermodynamic' and 'kinetic' views of specificity and (d) generalizes the theory of kinetic checkpoints and provides it with a sound thermodynamic basis. The underlying mechanism again calls attention to the energy expenditure in heightened biomolecular specificity, a concept first developed by Hopfield and Ninio in the mid-1970s. The mechanism discussed in the present paper is not limited to DNA replication alone; it may be applicable to other biochemical systems.

Properties of tug-of-war model for cargo transport by molecular motors

Molecular motors are essential components for the biophysical functions of the cell. Current quantitative understanding of how multiple motors move along a single track is not complete, even though models and theories for a single motor mechanochemistry abound. Recently, Müller et al. have developed a tug-of-war model to describe the bidirectional movement of the cargo [Proc. Natl. Acad. Sci. U.S.A. 105, 4609 (2008)]. They found that the tug-of-war model exhibits several qualitative different motility regimes, which depend on the precise value of single motor parameters, and they suggested that the sensitivity can be used by a cell to regulate its cargo traffic. In the present paper, we will carry out a detailed theoretical analysis of a special case of tug-of-war model: in which the numbers of the two different motor species which bound to the cargo tend to infinite. Through the analysis, all the stable, i.e., biophysically observable, steady states and their stability domains can be obtained. Depending on values of the several parameters, the tug-of-war model exhibits uni-, bi-, or tristability. The steady-state movement of the cargo, which is transported by two different molecular motor species, is determined by the initial numbers of the motors which bound to the track.

Cooperativity and specificity in enzyme kinetics: a single-molecule time-based perspective

An alternative theoretical approach to enzyme kinetics that is particularly applicable to single-molecule enzymology is presented. The theory, originated by Van Slyke and Cullen in 1914, develops enzyme kinetics from a "time perspective" rather than the traditional "rate perspective" and emphasizes the nonequilibrium steady-state nature of enzymatic reactions and the significance of small copy numbers of enzyme molecules in living cells. Sigmoidal cooperative substrate binding to slowly fluctuating, monomeric enzymes is shown to arise from association pathways with very small probability but extremely long passage time, which would be disregarded in the traditional rate perspective: A single enzyme stochastically takes alternative pathways in serial order rather than different pathways in parallel. The theory unifies dynamic cooperativity and Hopfield-Ninio's kinetic proofreading mechanism for specificity amplification.

Open-system nonequilibrium steady state: statistical thermodynamics, fluctuations, and chemical oscillations

Gibbsian equilibrium statistical thermodynamics is the theoretical foundation for isothermal, closed chemical, and biochemical reaction systems. This theory, however, is not applicable to most biochemical reactions in living cells, which exhibit a range of interesting phenomena such as free energy transduction, temporal and spatial complexity, and kinetic proofreading. In this article, a nonequilibrium statistical thermodynamic theory based on stochastic kinetics is introduced, mainly through a series of examples: single-molecule enzyme kinetics, nonlinear chemical oscillation, molecular motor, biochemical switch, and specificity amplification. The case studies illustrate an emerging theory for the isothermal nonequilibrium steady state of open systems.

Reciprocating Motion on the Nanoscale

This paper analyzes the confined motion of a Brownian particle fluctuating between two conformational states with different potential profiles and different position-dependent rate constants of the transitions, the fluctuations arising from both thermal (equilibrium) and external (nonequilibrium) noise. The model illustrates a mechanism to transduce, on the nanoscale, the energy of nonequilibrium fluctuations into mechanical energy of reciprocating motion. Expressions for the reciprocating velocity and the efficiency of energy conversion are derived. These expressions are treated in more detail in the slow-fluctuation (quasi-equilibrium) regime, by simple perturbation theory arguments, and in the fast fluctuation limit, in terms of the potential of mean force. A notable observation is that the generalized driving force of the reciprocating motion is caused by two sources: the energy contribution due to the difference between the potential profiles of the states and the entropic contribution due to the difference between the position-dependent rate constants. Two illustrative examples are presented, where one of the two sources can be ignored and an exact solution is allowed. Among other aspects, we also discuss the ways to construct a molecular motor based on the reciprocating engine.

Phosphorylation energy hypothesis: open chemical systems and their biological functions

Biochemical systems and processes in living cells generally operate far from equilibrium. This review presents an overview of a statistical thermodynamic treatment for such systems, with examples from several key components in cellular signal transduction. Open-system nonequilibrium steady-state (NESS) models are introduced. The models account quantitatively for the energetics and thermodynamics in phosphorylation-dephosphorylation switches, GTPase timers, and specificity amplification through kinetic proofreading. The chemical energy derived from ATP and GTP hydrolysis establishes the NESS of a cell and makes the cell--a mesoscopic-biochemical reaction system that consists of a collection of thermally driven fluctuating macromolecules--a genetically programmed chemical machine.

The coordination of protein motors and the kinetic behavior of microtubule — A computational study

Utilizing the mechanical energy converted from chemical energy through hydrolysis of ATP, motor proteins drive cytoskeleton filaments to move in various biological systems. Recent technological advance has shown the potential of the motor proteins for powering future nano-bio-mechanical systems. In order to effectively use motor proteins as a biological motor, the interaction between the protein motors and bio-filaments needs to be well clarified, since such interaction is largely influenced by many factors, such as the coordination among the motors, their dynamic behavior, physical properties of microtubules, and the viscosity of solution involved, etc. In this study, a two-dimensional model was proposed to simulate the motion of a microtubule driven by protein motors based on a dissipative particle dynamics (DPD) method with attempt to correlate the microtubule's kinetic behavior to the coordination among protein motors.

Dwell time symmetry in random walks and molecular motors

The statistics of steps and dwell times in reversible molecular motors differ from those of cycle completion in enzyme kinetics. The reason is that a step is only one of several transitions in the mechanochemical cycle. As a result, theoretical results for cycle completion in enzyme kinetics do not apply to stepping data. To allow correct parameter estimation, and to guide data analysis and experiment design, a theoretical treatment is needed that takes this observation into account. In this article, we model the distribution of dwell times and number of forward and backward steps using first passage processes, based on the assumption that forward and backward steps correspond to different directions of the same transition. We extend recent results for systems with a single cycle and consider the full dwell time distributions as well as models with multiple pathways, detectable substeps, and detachments. Our main results are a symmetry relation for the dwell time distributions in reversible motors, and a relation between certain relative step frequencies and the free energy per cycle. We demonstrate our results by analyzing recent stepping data for a bacterial flagellar motor, and discuss the implications for the efficiency and reversibility of the force-generating subunits.

Back-stepping, hidden substeps, and conditional dwell times in molecular motors

Processive molecular motors take more-or-less uniformly sized steps, along spatially periodic tracks, mostly forwards but increasingly backwards under loads. Experimentally, the major steps can be resolved clearly within the noise but one knows biochemically that one or more mechanochemical substeps remain hidden in each enzymatic cycle. In order to properly interpret experimental data for back-to-forward step ratios, mean conditional step-to-step dwell times, etc., a first-passage analysis has been developed that takes account of hidden substeps in N -state sequential models. The explicit, general results differ significantly from previous treatments that identify the observed steps with complete mechanochemical cycles; e.g., the mean dwell times tau(+) and tau(-) prior to forward and back steps, respectively, are normally unequal although the dwell times tau(++) and tau(--) between successive forward and back steps are equal. Illustrative (N=2) -state examples display a wide range of behavior. The formulation extends to the case of two or more detectable transitions in a multistate cycle with hidden substeps.

Generalized Haldane equation and fluctuation theorem in the steady-state cycle kinetics of single enzymes

Enzyme kinetics are cyclic. We study a Markov renewal process model of single-enzyme turnover in nonequilibrium steady state (NESS) with sustained concentrations for substrates and products. We show that the forward and backward cycle times have identical nonexponential distributions: Theta + (t)=Theta_(t). This equation generalizes the Haldane relation in reversible enzyme kinetics. In terms of the probabilities for the forward (p+) and backward (p-) cycles, kBT ln(p+/p-) is shown to be the chemical driving force of the NESS, Delta mu. More interestingly, the moment generating function of the stochastic number of substrate cycle v(t), <e-lambda v(t)> , follows the fluctuation theorem in the form of Kurchan-Lebowitz-Spohn-type symmetry. When lambda=delta mu/kBT, we obtain the Jarzynski-Hatano-Sasa-type equality <e-v(t)Delta mu/kBT> identical with 1 for all t, where v Delta mu is the fluctuating chemical work done for sustaining the NESS. This theory suggests possible methods to experimentally determine the nonequilibrium driving force in situ from turnover data via single-molecule enzymology.

Transport of single molecules along the periodic parallel lattices with coupling

General discrete one-dimensional stochastic models to describe the transport of single molecules along coupled parallel lattices with period N are developed. Theoretical analysis that allows to calculate explicitly the steady-state dynamic properties of single molecules, such as mean velocity V and dispersion D, is presented for N=1 and N=2 models. For the systems with N>2 exact analytic expressions for the large-time dynamic properties are obtained in the limit of strong coupling between the lattices that leads to dynamic equilibrium between two parallel kinetic pathways. It is shown that for all systems dispersion is maximal when the coupling between channels is weak.

Cycle kinetics, steady state thermodynamics and motors-a paradigm for living matter physics

An integration of the stochastic mathematical models for motor proteins with Hill's steady state thermodynamics yields a rather comprehensive theory for molecular motors as open systems in the nonequilibrium steady state. This theory, a natural extension of Gibbs' approach to isothermal molecular systems in equilibrium, is compared with other existing theories with dissipative structures and dynamics. The theory of molecular motors might be considered as an archetype for studying more complex open biological systems such as biochemical reaction networks inside living cells.

Molecular motor traffic in a half-open tube

The traffic of molecular motors which interact through mutual exclusion is studied theoretically for half-open tube-like compartments. These half-open tubes mimic the shapes of axons. The mutual exclusion leads to traffic jams or density plateaus on the filaments. A phase transition is obtained when the motor velocity changes sign. We identify the relevant length scales and characterize the jamming behaviour using both analytical approximations and Monte Carlo simulations of lattice models.

Analytical theory of the stochastic dynamics of the power stroke in nonprocessive motor proteins

Statistical distributions of the structural states of individual molecules of nonprocessive motor complexes such as actomyosins are examined theoretically by considering a two-state stochastic model coupled by chemical reactions along the reaction coordinate representing the internal conformational states of the motor. The use of a conformational reaction coordinate allows for the approximation of taking the rate constants as local in their dependence on the reaction coordinate, and yields a simple analytic solution of the stationary states. The approximation is also tested against numerical solutions with a nonlocal form of rate constants. The theory is well-suited for computational treatments based on atomic structures of protein constituents using free energy molecular dynamics simulations. With empirical sets of free energy functions, stationary distributions of forces exerted by a motor head compare well with known experimental data.

Understanding mechanochemical coupling in kinesins using first-passage-time processes

Kinesins are processive motor proteins that move along microtubules in a stepwise manner, and their motion is powered by the hydrolysis of ATP. Recent experiments have investigated the coupling between the individual steps of single kinesin molecules and ATP hydrolysis, taking explicitly into account forward steps, backward steps, and detachments. A theoretical study of mechanochemical coupling in kinesins, which extends the approach used successfully to describe the dynamics of motor proteins, is presented. The possibility of irreversible detachments of kinesins from the microtubules is explicitly taken into account. Using the method of first-passage times, experimental data on the mechanochemical coupling in kinesins are fully described using the simplest two-state model. It is shown that the dwell times for the kinesin to move one step forward or backward, or to dissociate irreversibly, are the same, although the probabilities of these events are different. It is concluded that the current theoretical view-that only the forward motion of the motor protein molecule is coupled to ATP hydrolysis--is consistent with all available experimental observations for kinesins.

Free energy transduction in a chemical motor model

Motor enzymes catalyse chemical reactions, like the hydrolysis of ATP, and in the process they also perform work. Recent studies indicate that motor enzymes perform work with specific biochemical steps in their catalysed reactions, challenging the classical view that work can only be performed within a biochemical state. To address these studies an alternative class of models, often referred to as chemical motor models, has emerged in which motors perform work with biochemical transitions. In this paper, I develop a novel, self-consistent framework for chemical motor models, which accommodates multiple pathways for free energy transfer, predicts rich behaviors from the simplest multi-motor systems, and provides important new insights into muscle and motor function.

Fluorescence correlation spectroscopy with high-order and dual-color correlation to probe nonequilibrium steady states

In living cells, biochemical reaction networks often function in nonequilibrium steady states. Under these conditions, the networks necessarily have cyclic reaction kinetics that are maintained by sustained constant input and output, i.e., pumping. To differentiate this state from an equilibrium state without flux, we propose a microscopic method based on concentration fluctuation measurements, via fluorescence correlation spectroscopy, and statistical analyses of high-order correlations and cross correlations beyond the standard fluorescence correlation spectroscopy autocorrelation. We show that, for equilibrium systems with time reversibility, the correlation functions possess certain symmetries, the violation of which is a measure of steady-state fluxes in reaction cycles. This result demonstrates the theoretical basis for experimentally measuring reaction fluxes in a biochemical network in situ and the importance of single-molecule measurements in providing fundamental information on nonequilibrium steady-states in biochemistry.

Motor protein with nonequilibrium potential: Its thermodynamics and efficiency

A nonequilibrium potential function is introduced for a motor protein modeled by a rectified Brownian motion. This result provides a concrete case for a class of nonequilibrium systems in steady state with dissipation which possess a potential function. The potential micro is a natural generalization of the chemical potential for isothermal chemical species and micro=const if and only if the system is in an equilibrium. The steady-state flux J proportional, variant - nabla micro, and the total heat dissipation h(d) equals a surface integral integral microJ.dS, representing the energy input. In terms of micro and h(d) the thermodynamic energy conservation in the mesoscopic stochastic system can be rigorously established and various types of motor efficiency are elucidated.

Stoichiometric network theory for nonequilibrium biochemical systems

We introduce the basic concepts and develop a theory for nonequilibrium steady-state biochemical systems applicable to analyzing large-scale complex isothermal reaction networks. In terms of the stoichiometric matrix, we demonstrate both Kirchhoff's flux law sigma(l)J(l)=0 over a biochemical species, and potential law sigma(l) mu(l)=0 over a reaction loop. They reflect mass and energy conservation, respectively. For each reaction, its steady-state flux J can be decomposed into forward and backward one-way fluxes J = J+ - J-, with chemical potential difference deltamu = RT ln(J-/J+). The product -Jdeltamu gives the isothermal heat dissipation rate, which is necessarily non-negative according to the second law of thermodynamics. The stoichiometric network theory (SNT) embodies all of the relevant fundamental physics. Knowing J and deltamu of a biochemical reaction, a conductance can be computed which directly reflects the level of gene expression for the particular enzyme. For sufficiently small flux a linear relationship between J and deltamu can be established as the linear flux-force relation in irreversible thermodynamics, analogous to Ohm's law in electrical circuits.

Fluctuations and randomness of movement of the bead powered by a single kinesin molecule in a force-clamped motility assay: Monte Carlo simulations

The motility assay of K. Visscher, M. J. Schnitzer, and S. M. Block (Nature, 400:184-189, 1999) in which the movement of a bead powered by a single kinesin motor can be measured is a very useful tool in characterizing the force-dependent steps of the mechanochemical cycle of kinesin motors, because in this assay the external force applied to the bead can be controlled (clamped) arbitrarily. However, because the bead is elastically attached to the motor and the response of the clamp is not fast enough to compensate the Brownian motion of the bead, interpretation or analysis of the data obtained from the assay is not trivial. In a recent paper (Y. Chen and B. Yan, Biophys. Chem. 91:79-91, 2001), we showed how to evaluate the mean velocity of the bead and the motor in the motility assay for a given mechanochemical cycle. In this paper we extend the study to the evaluation of the fluctuation or the randomness of the velocity using a Monte Carlo simulation method. Similar to the mean, we found that the randomness of the velocity of the motor is also influenced by the parameters that affect the dynamic behavior of the bead, such as the viscosity of the medium, the size of the bead, the stiffness of the elastic element connecting the bead and the motor, etc. The method presented in this paper should be useful in modeling the kinetic mechanism of any processive motor (such as conventional kinesin and myosin V) based on measured force-clamp motility data.

Conformational change of the actomyosin complex drives the multiple stepping movement

Actin-myosin (actomyosin) generates mechanical force by consuming ATP molecules. We apply the energy landscape perspective to address a controversial issue as to whether the myosin head moves with multiple steps after a single ATP hydrolysis or only a single mechanical event of the lever-arm swinging follows a single ATP hydrolysis. Here we propose a theoretical model in which the refolding of the partially unfolded actomyosin complex and the movement of the myosin head along the actin filament are coupled. A single ATP hydrolysis is followed by the formation of a high free-energy partially unfolded actomyosin complex, which then gradually refolds with a concomitant multiple stepping movement on the way to the lowest free-energy rigor state. The model quantitatively explains the single-molecular observation of the multiple stepping movement and is consistent with structural observations of the disorder in the actomyosin-binding process. The model also explains the observed variety in dwell time before each step, which is not accounted for by previous models, such as the lever-arm or ratchet models.