Computing Protein Structures from Electron Density Maps : The Missing Loop Problem

Rapid protein structure determination relies greatly on the availability of software that can automatically generate a protein model from an experimental electron density map. Tremendous advances in this area have been achieved recently. In favorable cases, available software can build over 90% of the final model. However, in less favorable circumstances, particularly at medium-low resolution, only about 2/3 completeness is attained. Manual completion of these partial models is usually feasible but time-consuming. The electron density in areas of missing fragments is often of poorer quality, especially for flexible loops, making manual interpretation particularly difficult. Except for the beginning and end of the protein chain, the end points of each missing fragment are known from the partial model. Thanks to the kinematic chain structure of the protein backbone, loop completion can be approached as an inverse kinematics problem. A fast, two-stage inverse kinematics algorithm is presented that fits a protein chain of known sequence to the electron density map between two anchor points. Our approach first samples a large set of candidates that meet the closure constraint and then refines the most promising candidates to improve the fit. The algorithm has been tested and used to aid protein model completion in areas of poor density, closing loops of up to 12 residues to within 0.25Å RMSD of the final refined structure. It has also been used to close missing loops of the same length in partial models built at medium-low resolution

[1]  N. Metropolis,et al.  Equation of State Calculations by Fast Computing Machines , 1953, Resonance.

[2]  N. Go,et al.  Ring Closure and Local Conformational Deformations of Chain Molecules , 1970 .

[3]  R. Diamond A real-space refinement procedure for proteins , 1971 .

[4]  C. D. Gelatt,et al.  Optimization by Simulated Annealing , 1983, Science.

[5]  W. Braun,et al.  Rapid calculation of first and second derivatives of conformational energy with respect to dihedral angles for proteins general recurrent equations , 1984, Comput. Chem..

[6]  T. A. Jones,et al.  Using known substructures in protein model building and crystallography. , 1986, The EMBO journal.

[7]  J. Moult,et al.  An algorithm for determining the conformation of polypeptide segments in proteins by systematic search , 1986, Proteins.

[8]  C. Levinthal,et al.  Predicting antibody hypervariable loop conformations II: Minimization and molecular dynamics studies of MCPC603 from many randomly generated loop conformations , 1986, Proteins.

[9]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[10]  C. Levinthal,et al.  Predicting antibody hypervariable loop conformation. I. Ensembles of random conformations for ringlike structures , 1987, Biopolymers.

[11]  H. Scheraga,et al.  Monte Carlo-minimization approach to the multiple-minima problem in protein folding. , 1987, Proceedings of the National Academy of Sciences of the United States of America.

[12]  M. Karplus,et al.  Prediction of the folding of short polypeptide segments by uniform conformational sampling , 1987, Biopolymers.

[13]  Joel W. Burdick,et al.  On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[14]  R. Huber,et al.  Accurate Bond and Angle Parameters for X-ray Protein Structure Refinement , 1991 .

[15]  Bernard Roth,et al.  Kinematic analysis of the 6R manipulator of general geometry , 1991 .

[16]  Chih-Cheng Chen,et al.  A combined optimization method for solving the inverse kinematics problems of mechanical manipulators , 1991, IEEE Trans. Robotics Autom..

[17]  Ian D. Walker,et al.  A consistent null-space based approach to inverse kinematics of redundant robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[18]  Gregory S. Chirikjian,et al.  General methods for computing hyper-redundant manipulator inverse kinematics , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[19]  J. Garnier,et al.  Modeling of protein loops by simulated annealing , 1993, Protein science : a publication of the Protein Society.

[20]  R. Abagyan,et al.  Biased probability Monte Carlo conformational searches and electrostatic calculations for peptides and proteins. , 1994, Journal of molecular biology.

[21]  K. Fidelis,et al.  Comparison of systematic search and database methods for constructing segments of protein structure. , 1994, Protein engineering.

[22]  Dinesh Manocha,et al.  Efficient inverse kinematics for general 6R manipulators , 1994, IEEE Trans. Robotics Autom..

[23]  Dinesh Manocha,et al.  Kinematic Manipulation of Molecular Chains Subject to Rigid Constraint , 1994, ISMB.

[24]  J. Drenth Principles of protein x-ray crystallography , 1994 .

[25]  H. Stanley,et al.  Statistical physics of macromolecules , 1995 .

[26]  Michael S. Chapman,et al.  Restrained real-space macromolecular atomic refinement using a new resolution-dependent electron-density function , 1995 .

[27]  Dinesh Manocha,et al.  Conformational analysis of molecular chains using nano-kinematics , 1995, Comput. Appl. Biosci..

[28]  A. Kirfel,et al.  New analytical scattering‐factor functions for free atoms and ions , 1995 .

[29]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[30]  V S Lamzin,et al.  wARP: improvement and extension of crystallographic phases by weighted averaging of multiple-refined dummy atomic models. , 1997, Acta crystallographica. Section D, Biological crystallography.

[31]  G. Murshudov,et al.  Refinement of macromolecular structures by the maximum-likelihood method. , 1997, Acta crystallographica. Section D, Biological crystallography.

[32]  T A Jones,et al.  Electron-density map interpretation. , 1997, Methods in enzymology.

[33]  M. Karplus,et al.  PDB-based protein loop prediction: parameters for selection and methods for optimization. , 1997, Journal of molecular biology.

[34]  Harold A. Scheraga,et al.  Exact analytical loop closure in proteins using polynomial equations , 1999, J. Comput. Chem..

[35]  Peter Adams,et al.  The EMMIX software for the fitting of mixtures of normal and t-components , 1999 .

[36]  Kamal K. Gupta,et al.  The kinematic roadmap: a motion planning based global approach for inverse kinematics of redundant robots , 1999, IEEE Trans. Robotics Autom..

[37]  C. Deane,et al.  A novel exhaustive search algorithm for predicting the conformation of polypeptide segments in proteins , 2000, Proteins.

[38]  Oussama Khatib,et al.  Operational space dynamics: efficient algorithms for modeling and control of branching mechanisms , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[39]  Nancy M. Amato,et al.  A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems , 2001 .

[40]  T. N. Bhat,et al.  The Protein Data Bank , 2000, Nucleic Acids Res..

[41]  A. Sali,et al.  Modeling of loops in protein structures , 2000, Protein science : a publication of the Protein Society.

[42]  R. Kretsinger Principles of protein X-ray crystallography (2nd edition). By Jan Drenth. Heidelberg: Springer–Verlag, 1999, pp. xv + 341. Price DM129.00. ISBN 0 387 98587 5. , 2001 .

[43]  D. Levitt,et al.  A new software routine that automates the fitting of protein X-ray crystallographic electron-density maps. , 2001, Acta crystallographica. Section D, Biological crystallography.

[44]  T J Oldfield,et al.  A number of real-space torsion-angle refinement techniques for proteins, nucleic acids, ligands and solvent. , 2001, Acta crystallographica. Section D, Biological crystallography.

[45]  Lydia E. Kavraki,et al.  Randomized path planning for linkages with closed kinematic chains , 2001, IEEE Trans. Robotics Autom..

[46]  Jeffrey C. Trinkle,et al.  Complete Path Planning for Closed Kinematic Chains with Spherical Joints , 2002, Int. J. Robotics Res..

[47]  Ming Zhang,et al.  A New Method for Fast and Accurate Derivation of Molecular Conformations , 2002, J. Chem. Inf. Comput. Sci..

[48]  Thierry Siméon,et al.  A random loop generator for planning the motions of closed kinematic chains using PRM methods , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[49]  Lydia E. Kavraki,et al.  Finding Solutions of the Inverse Kinematics Problems in Computer-aided Drug Design , 2002 .

[50]  Adam Godzik,et al.  Structural genomics of the Thermotoga maritima proteome implemented in a high-throughput structure determination pipeline , 2002, Proceedings of the National Academy of Sciences of the United States of America.

[51]  Thomas C. Terwilliger,et al.  Electronic Reprint Biological Crystallography Automated Main-chain Model Building by Template Matching and Iterative Fragment Extension , 2022 .

[52]  Ronald M Levy,et al.  Have we seen all structures corresponding to short protein fragments in the Protein Data Bank? An update. , 2003, Protein engineering.

[53]  Thomas R Ioerger,et al.  TEXTAL system: artificial intelligence techniques for automated protein model building. , 2003, Methods in enzymology.

[54]  Adrian A Canutescu,et al.  Cyclic coordinate descent: A robotics algorithm for protein loop closure , 2003, Protein science : a publication of the Protein Society.

[55]  M. DePristo,et al.  Ab initio construction of polypeptide fragments: Efficient generation of accurate, representative ensembles , 2003, Proteins.

[56]  J. Badger,et al.  An evaluation of automated model-building procedures for protein crystallography. , 2003, Acta crystallographica. Section D, Biological crystallography.

[57]  Ian W. Davis,et al.  Structure validation by Cα geometry: ϕ,ψ and Cβ deviation , 2003, Proteins.

[58]  Nancy M. Amato,et al.  A kinematics-based probabilistic roadmap method for high DOF closed chain systems , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[59]  Chaok Seok,et al.  A kinematic view of loop closure , 2004, J. Comput. Chem..

[60]  Oussama Khatib,et al.  Whole-Body Dynamic Behavior and Control of Human-like Robots , 2004, Int. J. Humanoid Robotics.

[61]  Thierry Siméon,et al.  Geometric algorithms for the conformational analysis of long protein loops , 2004, J. Comput. Chem..

[62]  Leonidas J. Guibas,et al.  Inverse Kinematics in Biology: The Protein Loop Closure Problem , 2005, Int. J. Robotics Res..