An Estimation Algorithm for General Linear Single Particle Tracking Models with Time-Varying Parameters

Synthetic Stochastic Motion Platform for Testing Single Particle Tracking Microscopes

We describe the design and implementation of a control system for testing the performance of single particle tracking microscopes with the method of synthetic motion. Single particle tracking (SPT) has become a common and powerful tool in the study of biomolecular transport in cellular biology, providing the ability to track individual biological macromolecules in their native environment. Existing methods for testing SPT techniques rely on physical simulations and there is a clear need for experimental-based schemes for both comparing different approaches and for characterizing the accuracy and precision of techniques on particular experimental setups. Synthetic motion, that is, using an actuator such as a nanopositioning stage to drive a particle along a known ground-truth trajectory, is a means for achieving these ends. However, the resolution, accuracy, and flexibility of this method is limited by the actuator static and dynamic characteristics. In this work we apply system identification and model inverse feedforward control to increase actuator bandwidth and address some common actuator nonlinearities, develop a set of dimensionless numbers that describe system limitations, and provide a set of guidelines for the practical use of synthetic motion in SPT.

Real-Time Feedback-Driven Single-Particle Tracking: A Survey and Perspective

Real-time feedback-driven single-particle tracking (RT-FD-SPT) is a class of techniques in the field of single-particle tracking that uses feedback control to keep a particle of interest in a detection volume. These methods provide high spatiotemporal resolution on particle dynamics and allow for concurrent spectroscopic measurements. This review article begins with a survey of existing techniques and of applications where RT-FD-SPT has played an important role. Each of the core components of RT-FD-SPT are systematically discussed in order to develop an understanding of the trade-offs that must be made in algorithm design and to create a clear picture of the important differences, advantages, and drawbacks of existing approaches. These components are feedback tracking and control, ranging from simple proportional-integral-derivative control to advanced nonlinear techniques, estimation to determine particle location from the measured data, including both online and offline algorithms, and techniques for calibrating and characterizing different RT-FD-SPT methods. Then a collection of metrics for RT-FD-SPT is introduced to help guide experimentalists in selecting a method for their particular application and to help reveal where there are gaps in the techniques that represent opportunities for further development. Finally, this review is concluded with a discussion on future perspectives in the field.

Model Segmentation in Single Particle Tracking

In this paper, we implement and compare two different change detection techniques applied to determining the time points in Single Particle Tracking (SPT) data where the particle changes the dynamic model of motion. The goal is to use this change detection to segment the data in order to estimate the relevant parameters of such models. We consider two well-known statistics commonly used for change detection: the likelihood ratio test (LRT) and the Kullback-Leibler divergence (KLD). We assume that our time-varying system is subject to step-like changes in the parameters that drive the process. The techniques are then applied to experimental data acquired on a microscope under controlled settings to validate our results.

Three-dimensional localization refinement and motion model parameter estimation for confined single particle tracking under low-light conditions

Confined diffusion is an important model for describing the motion of biological macromolecules moving in the crowded, three-dimensional environment of the cell. In this work we build upon the technique known as sequential Monte Carlo - expectation maximization (SMC-EM) to simultaneously localize the particle and estimate the motion model parameters from single particle tracking data. We extend SMC-EM to handle the double-helix point spread function (DH-PSF) for encoding the three-dimensional position of the particle in the two-dimensional image plane of the camera. SMC-EM can handle a wide range of camera models and here we assume the data was acquired using a scientific CMOS (sCMOS) camera. The sensitivity and speed of these cameras make them well suited for SPT, though the pixel-dependent nature of the camera noise presents a challenge for analysis. We focus on the low signal setting and compare our method through simulation to more standard approaches that use the paradigm of localize-then-estimate. To localize the particle under the standard paradigm, we use both a Gaussian fit and a maximum likelihood estimator (MLE) that accounts for both the DH-PSF and the pixel-dependent noise of the camera. Model estimation is then carried out either by fitting the model to the mean squared displacement (MSD) curve, or through an optimal estimation approach. Our results indicate that in the low signal regime, the SMC-EM approach outperforms the other methods while at higher signal-to-background levels, SMC-EM and the MLE-based methods perform equally well and both are significantly better than fitting to the MSD. In addition our results indicate that at smaller confinement lengths where the nonlinearities dominate the motion model, the SMC-EM approach is superior to the alternative approaches.

Local Analysis of Heterogeneous Intracellular Transport: Slow and Fast Moving Endosomes

Trajectories of endosomes inside living eukaryotic cells are highly heterogeneous in space and time and diffuse anomalously due to a combination of viscoelasticity, caging, aggregation and active transport. Some of the trajectories display switching between persistent and anti-persistent motion, while others jiggle around in one position for the whole measurement time. By splitting the ensemble of endosome trajectories into slow moving subdiffusive and fast moving superdiffusive endosomes, we analyzed them separately. The mean squared displacements and velocity auto-correlation functions confirm the effectiveness of the splitting methods. Applying the local analysis, we show that both ensembles are characterized by a spectrum of local anomalous exponents and local generalized diffusion coefficients. Slow and fast endosomes have exponential distributions of local anomalous exponents and power law distributions of generalized diffusion coefficients. This suggests that heterogeneous fractional Brownian motion is an appropriate model for both fast and slow moving endosomes. This article is part of a Special Issue entitled: "Recent Advances In Single-Particle Tracking: Experiment and Analysis" edited by Janusz Szwabiński and Aleksander Weron.

Expectation maximization based framework for joint localization and parameter estimation in single particle tracking from segmented images

Single Particle Tracking (SPT) is a well known class of tools for studying the dynamics of biological macromolecules moving inside living cells. In this paper, we focus on the problem of localization and parameter estimation given a sequence of segmented images. In the standard paradigm, the location of the emitter inside each frame of a sequence of camera images is estimated using, for example, Gaussian fitting (GF), and these locations are linked to provide an estimate of the trajectory. Trajectories are then analyzed by using Mean Square Displacement (MSD) or Maximum Likelihood Estimation (MLE) techniques to determine motion parameters such as diffusion coefficients. However, the problems of localization and parameter estimation are clearly coupled. Motivated by this, we have created an Expectation Maximization (EM) based framework for simultaneous localization and parameter estimation. We demonstrate this framework through two representative methods, namely, Sequential Monte Carlo combined with Expectation Maximization (SMC-EM) and Unscented Kalman Filter combined with Expectation Maximization (U-EM). Using diffusion in two-dimensions as a prototypical example, we conduct quantitative investigations on localization and parameter estimation performance across a wide range of signal to background ratios and diffusion coefficients and compare our methods to the standard techniques based on GF-MSD/MLE. To demonstrate the flexibility of the EM based framework, we do comparisons using two different camera models, an ideal camera with Poisson distributed shot noise but no readout noise, and a camera with both shot noise and the pixel-dependent readout noise that is common to scientific complementary metal-oxide semiconductor (sCMOS) camera. Our results indicate our EM based methods outperform the standard techniques, especially at low signal levels. While U-EM and SMC-EM have similar accuracy, U-EM is significantly more computationally efficient, though the use of the Unscented Kalman Filter limits U-EM to lower diffusion rates.