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Exact Analytical Formulation
for coordinated motions
in Polypeptide Chains
Vageli Coutsias*, Chaok Seok** and Ken Dill**
with applications to:
Fast Exact Loop Closure in Homology Modeling
Monte Carlo Minimization for Conformational Search
Small Peptide Ring Efficient Conformational Search
* Department of Mathematics and Statistics, University of New Mexico
** Department of Pharmaceutical Chemistry, UCSF
C1
C2
C3
N3N2
N1
C’1
C’2
C’3
δ
LOOP CLOSURE: find all configurations with two end-bonds fixedThe angle between the planes N1-C1-C3 and C1-C3-C’3 is given,the orientation of the two fixed bonds (N1-C1 and C3-C’3) wrt the plane C1-C2-C3 can assume several values (at most 8 solutions are possible)
nP1.32
114
1231.47
1.53
3.80
1nC
122
119
1.24
1.
nN
nH
'1nC
1nO
A Canonical Peptide unit (trans configuration) in the body frame (after Flory)
nC
31.2
70
07.1
54.1
nn
onnn
OH
CCN
HC
CC
o2.13o2.22
50.2
82.2
)0(
1
1
nn
nn
HH
HO
1nC
1nC
nC
With the base andthe lengths of the two peptidevirtual bonds fixed, the vertex is constrained to lie ona circle.
11 nn CC
nC
Tripeptide Loop Closure N
C
'C
Bond vectorsfixed in space
Fixed distance
1nC
nC
1nC
In the body frame of thethree carbons, the anchor bonds lie in cones about the fixed base.
C
Given the distance and angle
constraints, three types of virtual
motions are encountered in the
body frame
C1
C2
C3
N3N2
N1
C’1
C’2
C’3
δ
Transferred motions in the body frame of three contiguous C carbon units: In this frame the C carbons resemble spherical 4-bar linkage joints
nC
z
y
1nC
Motion type 1: peptide axis rotationWith the two end carbons fixed in space, the peptide unit can rotate about the virtual bond
C
nC
1nC
x
y
z
nn
p
p
R
Motion type 2: Coordinated rotation at junction of 2 rotatable bonds (the angle between the two bonds remains fixed as each rotates about its own peptide virtual axis).
4
3
2
1
R
1nC
1
1
1
1a2a
3a4a
3x
2x
1x1R
4R
1z
4z 1s
4s
3G
2GCrank
Follower
Two-revolute, two-spheric-pair mechanism
z
d
R
R
p
p
x
y
1t
2t
1s2s
r
r
),,,;( F
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.50
0.5
1
1.5
2
2.5
3
RR , are constrainedto lie on the circles
d fixed
The use of intrinsic coordinates distinguishes our method from otherexact loop closure methods (Wedemeyer & Scheraga ‘00, Dinner ‘01)
sinsincoscoscossinsin
sinsincossincossinsin
coscoscos
Brickard (1897): convert to polynomial form via
2
1tan
2
1tan
v
u
y
z
x
R1 R2
4
3
2
1
A complete cycle through the allowed values for (dihedral(R1,R2) -(L1,R1) )and (dihedral (R1,R2)-(L2,R2))
L1
L2
Differential equations for the reciprocal angles, and . Fixed angle between the two bonds, CN and CC’:
)cossinsincos(cos
)sinsin(sincos
21
1221
RRF
1,
,,
222/122
dt
d
dt
dFF
F
dt
dF
dt
d
0 2 4 6 8 10 12-3
-2
-1
0
1
2
3
y1, y
2
=.81=2
t
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.50
0.5
1
1.5
2
2.5
3
y1
y 2
flywheel equations
A stressed peptide in the body frame of the virtual bonds P(n-1)—P(n)
1nPnC
1nN
1nH
nC
nO
1n
n
)( 111
)0(111
nnnnn
nnnn
NCCCdih
nn
np
n)0(1n
nz
1nz
ny
1ny
1n1np
1nC
Motion type 1:Peptide axis Rotation (rigid)
22
21
1
1
21 cos)(coscostan
tRtR
pR
tR
tR
nC
1nC
x
y
z
nn
p
p1
R
Motion type 2: Coordinated rotation at junctionof 2 rotatable bonds
Definitions
,,,;:cos
tan
cos)(cos
;;
sincos)(cos
sincoscoscos
sincoscoscos
,sin
,sin
,1,1
1
1
2221
21
21
21
121
121
FD
C
A
B
pRC
BADtRBtRA
tRtRpRRR
ttprpR
ssprpR
spses
tptet
pp
ppepp
Z
Z
Z
Solution
1,0;cos
1,0;cos
1,0;cos
2
3331
333
223
2221
222
112
1111
111
0,110,1
Closure requires: 313
Label: 123 24 l
Branch present if 1,, 321
The transformation 3 coupled polynomials:2
tan 1iz
3,2,1,),( 1
2
0,
)(,1
izzpzzP k
iji
kj
ikjii
Common (real) zeros give feasible solutions.
14 zz
Method of resultants gives an equivalent 16th degree
polynomial for a single variable
Numerical evidence that at most 8 real solutions exist.
Must be related to parameter values:
the similar problem of the 6R linkage in a
multijointed robot arm is known to possess 16
solutions for certain ranges of parameter values
(Wampler and Morgan ’87; Lee and Liang ‘’89).
)3,2,1(, izi
Methods of determining all zeros:
(1) carry out resultant elimination twice; derive univariate polynomial of degree 16 solve using Sturm chains and deflation(2) carry out resultant elimination once convert matrix polynomial to a generalized eigenproblem of size 24(3) work directly with trigonometric version; use geometry to define feasible intervals and exhaustively search.
It is important to allow flexibility in some degrees of freedom
input coeff sturm coord tot
8 0.067 0.253 3.814 0.442 4.576
0 0.084 0.253 0.141 0.478
4 0.085 0.252 6.513 0.218 7.068
4 0.088 0.252 3.392 0.228 3.960
0 0.066 0.296 0.138 0.500
2 0.066 0.293 0.356 0.115 0.830
2 0.085 0.253 0.411 0.124 0.873
4 0.067 0.253 1.957 0.227 2.504
4 0.067 0.252 0.582 0.219 1.120
2 0.067 0.251 1.803 0.114 2.235
2 0.066 0.253 0.438 0.141 0.898
6 0.067 0.257 2.041 0.321 2.686
6 0.066 0.254 2.131 0.322 2.773
2 0.066 0.251 0.336 0.115 0.768
2 0.067 0.252 1.726 0.115 2.160
2 0.068 0.250 0.332 0.115 0.765
2 0.067 0.251 1.678 0.115 2.111
0 0.067 0.251 0.138 0.456
4 0.066 0.252 6.360 0.218 6.896
4 0.068 0.253 1.870 0.219 2.410
Timings for loop closureby reduction to 16th degreepolynomial; zero localizationvia Sturm’s method. Successively solve loopclosure by successivelyremoving the two peptide units adjacent to eachCcarbon in a chain ofknown conformation. Loop closure should reproduceoriginal, however offcanonical structures doabound. Zero solutionsindicate that the closure was not possible with canonicallyconfigured backbone, i.e.there was a deformation ofsome bond angles or dihedrals in the originalstrucure.
input matr gen_e coord tot
8 0.067 0.069 1.096 0.431 1.663
0 0.067 0.069 3.748 3.884
4 0.067 0.068 2.036 0.221 2.392
4 0.067 0.069 2.741 0.223 3.100
0 0.067 0.069 3.735 3.871
2 0.067 0.068 3.690 0.118 3.943
2 0.067 0.069 3.711 0.119 3.966
4 0.067 0.068 3.656 0.220 4.011
4 0.066 0.069 2.032 0.225 2.392
2 0.068 0.068 3.206 0.119 3.461
2 0.065 0.069 3.710 0.118 3.962
6 0.067 0.068 1.984 0.329 2.448
6 0.066 0.069 1.710 0.326 2.171
2 0.067 0.073 3.215 0.118 3.473
2 0.069 0.068 3.700 0.117 3.954
2 0.068 0.069 2.789 0.116 3.042
2 0.067 0.069 2.785 0.119 3.040
0 0.067 0.068 3.760 3.895
4 0.067 0.068 2.373 0.219 2.727
4 0.067 0.069 2.033 0.220 2.389
Timings for loopclosure via reduction to24x24 generalizedeigenproblem.
Application to loop sampling
No. of loops Numerical closure Analytical closure
generated
(best RMSD)
151 (1.61) 40,000 (1.23)
accepted
(best RMSD)
1 (6.75) 1,374 (1.58)
Analytical closure of the two arms of a loop in the middle
Comparison: 10 residue loop sampling (Matt Jacobson)
The 3 fixed points/3 virtual axes transform can be found among any three Ca atoms, anywhere along the chain
n
~
l
l~
Motion type 3:Dihedral rotation(actual move,length changing;not limited to - type dihedrals)
~
~
,~ cqcqc
b
bq 2/sin,2/cos
,~~1 cbal
al
al
cl
cl~
~~cos,~~
~~~
cos
c
ba
c~
(quaternion notation)
2 2~
1
2
3
length
fixed
23321 ,,,,
:
changed
Altering an internal dihedral leads to a“nearby” loop closure problem. A sequenceof small changes results in a continuous family of deformations (shown here as applied to the deformationof a disulfide bridge).
1.0
3
3
2
2
1
1
32
2
1
2
3
2
21
sinsinsin
2sin
lll
ll
lll
2.0
,~ cqcqc
b
bq 2/sin,2/cos
,~~1 cbal
al
al
cl
cl
1
13
1
12 ~
~~cos,~~
~~~
cos
Refinement of 8 residue loop (84-91) of
turkey egg white lysozyme
Native structure (red)and initial structure (blue)
Baysal, C. and Meirovitch, H., J. Phys. Chem. A, 1997, 101, 2185
The continuous move: given a state assume D2b, D4a fixed, but D3 variable tau2sigma4 determined by D3
(1) tau1sigma2, tau4sigma5 trivial
(2) alpha1, alpha5 variable but depend only on vertices as do lengths (lengths 1-2, 1-5, 4-5 are fixed) Given these sigma1tau1, sigma5tau5 known (sigma1tau5 given)
(3) Dihedral (2-1-5-4) fixes remainder: alpha2, alpha4 determined (sigma2tau2, sigma4tau4 known)
21
3
BA
C
Designing a 9-peptide ring
pep virtual bond
3-pep bridge
design triangle
cysteine bridge 9-pepring
ModelingR. Larson’s9-peptide
o
d 7.4min
o
d 3.7max
3 peptide units are placed at the vertices of a triangle with random orientations, and they are connected by exact loop closure. The max and min values of the 3-pep bridge set the limits for the sides of the triangle.
Designing a 9-peptide ring
In designing a 9-peptide ring, the known parameters of 2-pep bridges (and those of the S2 bridge, if present)are incorporated in the choice of the foundation triangle,with vertices A,B,C (3 DOF)
1l 2l
3lB A
Cmax1min lll
3d
1l 2l3l
B A
C
1d2d
peptide virtual bond (3 dof for placement)x3=9
2-pep virtual bond (at most 8 solutions)
design triangle sides (3 dof )
8-2-4 4-6-2
4-2-4 4-2-2
Cyclic 9-peptide backbone design
Numbers denote alternativeloop closure solutions at each
side of the brace triangle
Using backbone kinematics in combination with efficient (clever) placement of sidechains can beused in a “rational approach for exploringconformation space.
The 3 fixed points/3 virtual axes transform can be used as a means of enforcing constraints (such as loop closure).It can be used to generate minimum-Distortion moves for Monte Carloenergy minimization. Generalizations where one pairis disjointed are also possible with a simple solution as well.
THANK YOU!
Visits to UCSF where much of the work was performed supported in part by a NIH grant to Ken DillCyclic peptide modeling: inspired by conversations with Michael Wester, R. Larson Animations: Raemon Gurule, Carl Mittendorff, Heather Paulsen and Marshall Thompson (math. 375, Spring 02 class project)
ReferencesAnalytical loop closure Wedemeyer and Scheraga J Comput Chem 1999 Go and Scheraga Macromolecules 1978 Dinner J Comput Chem 2000 Bruccoleri and Karplus Macromolecules, 1985 Coutsias, Seok, Jacobson and Dill (preprint) 2003
Mechanisms Hartenberg and Denavit 1964 Hunt Oxford 1990 Duffy 1980
Numerical Methods Manocha, Appl. of Comput. Alg. Geom., AMS,1997 Wampler and Morgan Mech Mach Theory 1991 Lee and Liang Mech Mach Theory 1988