3D Numerical simulations of vesicle and inextensible capsule dynamics

published in Journal of Computational PhysicsInternational audienceVesicles are locally-inextensible fluid membranes while inextensible capsules are in addition endowed with in-plane shear elasticity mimicking the cytoskeleton of red blood cells (RBCs). Boundary integral (BI) methods based on the Green's function techniques are used to describe their dynamics, that falls into the category of highly nonlinear and nonlocal dynamics. Numerical solutions raise several obstacles and challenges that strongly impact the results. Of particular complexity is (i) the membrane inextensibility, (ii) the mesh stability and (iii) numerical precisions for evaluation of the boundary integral equations. Despite intense research these questions are still a matter of debate. We regularize the single layer integral by subtraction of exact identities for the terms involving the normal and the tangential components of the force. In addition, the regularized kernel remains explicitly self-adjoint. The stability and precision of BI calculation is enhanced by taking advantage of additional quadrature nodes located in vertices of an auxiliary mesh, constructed by a standard refinement procedure from the main mesh. We extend the partition of unity technique to boundary integral calculation on triangular meshes: We split the calculation of the boundary integral between the original and the auxiliary mesh using a smooth weight function, which takes the distance between the source and the target as the argument and falls to zero beyond a certain cut-off distance. We provide an efficient lookup algorithm that allows us to discard most of the vertices of the auxiliary mesh lying beyond the cut-off distance from a given point without actually calculating the distances to them. The proposed algorithm offers the same treatment of near-singular integration regardless if the source and the target points belong to the same surface or not. Additional innovations are used to increase the stability and precision of the method: The bending forces are calculated by differential geometry expressions using local coordinates defined in vicinity of each vertex. The approximation of the surface in vicinity of a vertex is obtained by fitting with a second-degree polynomial of local coordinates. We solve for the Lagrange multiplier associated with membrane incompressibility using two penalization parameters per suspended entity: one for deviation of the global area from prescribed value and another for the sum of squares of local strains defined on each vertex. The proposed advancement is to vary the penalization parameters at each time step in such a way, that the global area of each membrane be conserved and the sum of squares of local strains be at minimum. This optimization is achieved by solving a linear system of rank three times the number of entities involved in the simulation. If no auxiliary mesh is used, the method reduces to steepest descent method thanks to the explicit self-adjointness of the regularized single-layer kernel in the boundary integral equation. Inextensible capsules, a model of RBC, are studied by storing the position in the reference configuration for each vertex. The elastic force is then calculated by direct variation of the elastic energy. Various nonequilibrium physical examples on vesicles and capsules will be presented and the convergence and precision tests highlighted. Overall, a good convergence is observed with numerical error inversely proportional to the number of vertices used for surface discretization, the highest order of convergence allowed by piece-wise linear interpolation of the surface

Viscoelastic transient of confined red blood cells

We present the results of a study of the transient startup time of red blood cells confined in microchannels. We show that this response time depends on the imposed flow velocity and offer a theoretical model to explain this dependence. Our model allows us to determine the effective viscosity as well as the elastic modulus involved in the phenomenon. The experimental results and the theoretical model are validated by numerical simulations which we use to obtain the value of the viscosity of the membrane-cytoskeleton complex

Myosin-independent amoeboid cell motility

Mammalian cell polarization and motility are important processes involved in many physiological and pathological phenomena, such as embryonic development, wound healing, and cancer metastasis. The traditional view of mammalian cell motility suggests that molecular motors, adhesion, and cell deformation are all necessary components for mammalian cell movement. However, experiments on the immune cell system have shown that the inhibition of molecular motors does not significantly affect cell motility. We present a new theory and simulations demonstrating that actin polymerization alone is sufficient to induce spontaneously cell polarity accompanied by the retrograde flow. These findings provide a new understanding of the fundamental mechanisms of cell movement and at the same time provide a simple mechanism for cell motility in diverse configurations, e.g. on an adherent substrate, in a non-adherent matrix, or in liquids

Numerical-experimental observation of shape bistability of red blood cells flowing in a microchannel

Red blood cells flowing through capillaries assume a wide variety of different shapes owing to their high deformability. Predicting the realized shapes is a complex field as they are determined by the intricate interplay between the flow conditions and the membrane mechanics. In this work we construct the shape phase diagram of a single red blood cell with a physiological viscosity ratio flowing in a microchannel. We use both experimental in-vitro measurements as well as 3D numerical simulations to complement the respective other one. Numerically, we have easy control over the initial starting configuration and natural access to the full 3D shape. With this information we obtain the phase diagram as a function of initial position, starting shape and cell velocity. Experimentally, we measure the occurrence frequency of the different shapes as a function of the cell velocity to construct the experimental diagram which is in good agreement with the numerical observations. Two different major shapes are found, namely croissants and slippers. Notably, both shapes show coexistence at low (<1 mm/s) and high velocities (>3 mm/s) while in-between only croissants are stable. This pronounced bistability indicates that RBC shapes are not only determined by system parameters such as flow velocity or channel size, but also strongly depend on the initial conditions.Comment: 13 pages, 9 figures (main text). 13 pages, 31 figures (SI

On the bending algorithms for soft objects in flows

International audienceOne of the most challenging aspects in the accurate simulation of three-dimensional soft objects such as vesicles or biological cells is the computation of membrane bending forces. The origin of this difficulty stems from the need to numerically evaluate a fourth order derivative on the discretized surface geometry. Here we investigate six different algorithms to compute membrane bending forces, including regularly used methods as well as novel ones. All are based on the same physical model (due to Canham and Helfrich) and start from a surface discretization with flat triangles. At the same time, they differ substantially in their numerical approach. We start by comparing the numerically obtained mean curvature, the Laplace-Beltrami operator of the mean curvature and finally the surface force density to analytical results for the discocyte resting shape of a red blood cell. We find that none of the considered algorithms converges to zero error at all nodes and that for some algorithms the error even diverges. There is furthermore a pronounced influence of the mesh structure: Discretizations with more irregular triangles and node connectivity present serious difficulties for most investigated methods. To assess the behavior of the algorithms in a realistic physical application, we investigate the deformation of an initially spherical capsule in a linear shear flow at small Reynolds numbers. To exclude any influence of the flow solver, two conceptually very different solvers are employed: the Lattice-Boltzmann and the Boundary Integral Method. Despite the largely different quality of the bending algorithms when applied to the static red blood cell, we find that in the actual flow situation most algorithms give consistent results for both hydrodynamic solvers. Even so, a short review of earlier works reveals a wide scattering of reported results for, e.g., the Taylor deformation parameter. Besides the presented application to biofluidic systems, the investigated algorithms are also of high relevance to the computer graphics and numerical mathematics communities

Hydrodynamic Diffuse Interface Models for Cell Morphology and Motility

In this thesis, we study mathematical models that describe the morphology of a generalized biological cell in equilibrium or under the influence of external forces. Within these models, the cell is considered as a thermodynamic system, where streaming effects in the cell bulk and the surrounding are coupled with a Helfrich-type model for the cell membrane. The governing evolution equations for the cell given in a continuum formulation are derived using an energy variation approach. Such two-phase flow problems that combine streaming effects with a free boundary problem that accounts for bending and surface tension can be described effectively by a diffuse interface approach. An advantage of the diffuse interface approach is that models for e.g. different biophysical processes can easily be combined. That makes this method suitable to describe complex phenomena such as cell motility and multi-cell dynamics. Within the first model for cell motility, we combine a biological network for GTPases with the hydrodynamic Helfrich-type model. This model allows to account for cell motility driven by membrane protrusion as a result of actin polymerization. Within the second model, we moreover extend the Helfrich-type model by an active gel theory to account for the actin filaments in the cell bulk. Caused by contractile stress within the actin-myosin solution, a spontaneous symmetry breaking event occurs that lead to cell motility. In this thesis, we further study the dynamics of multiple cells which is of wide interest since it reveals rich non-linear behavior. To apply the diffuse interface framework, we introduce several phase field variables to account for several cells that are coupled by a local interaction potential. In a first application, we study white blood cell margination, a biological phenomenon that results from the complex relation between collisions, different mechanical properties and lift forces of red blood cells and white blood cells within the vascular system. Here, it is shown that inertial effects, which can become of relevance in various parts of the cardiovascular system, lead to a decreasing tendency for margination with increasing Reynolds number. Finally, we combine the active polar gel theory and the multi-cell approach that is capable of studying collective migration of cells. This hydrodynamic approach predicts that collective migration emerges spontaneously forming coherently-moving clusters as a result of the mutual alignment of the velocity vectors during inelastic collisions. We further observe that hydrodynamics heavily influence those systems. However, a complete suppression of the onset of collective migration cannot be confirmed. Moreover, we give a brief insight how such highly coupled systems can be treated numerically using finite elements and how the numerical costs can be limited using operator splitting approaches and problem parallelization with OPENMP.Diese Dissertation beschäftigt sich mit mathematischen Modellen zur Beschreibung von Gleichgewichts- und dynamischen Zuständen von verallgemeinerten biologischen Zellen. Die Zellen werden dabei als thermodynamisches System aufgefasst, bei dem Strömungseffekte innerhalb und außerhalb der Zelle zusammen mit einem Helfrich-Modell für Zellmembranen kombiniert werden. Schließlich werden durch einen Energie-Variations-Ansatz die Evolutionsgleichungen für die Zelle hergeleitet. Es ergeben sie dabei Mehrphasen-Systeme, die Strömungseffekte mit einem freien Randwertproblem, das zusätzlich physikalischen Einflüssen wie Biegung und Oberflächenspannung unterliegt, vereinen. Um solche Probleme effizient zu lösen, wird in dieser Arbeit die Diffuse-Interface-Methode verwendet. Ein Vorteil dieser Methode ist, dass es sehr einfach möglich ist, Modelle, die verschiedenste Prozesse beschreiben, miteinander zu vereinen. Dies erlaubt es, komplexe biologische Phänomene, wie zum Beispiel Zellmotilität oder auch die kollektive Bewegung von Zellen, zu beschreiben. In den Modellen für Zellmotilität wird ein biologisches Netzwerk-Modell für GTPasen oder auch ein Active-Polar-Gel-Modell, das die Aktinfilamente im Inneren der Zellen als Flüssigkristall auffasst, mit dem Multi-Phasen-Modell kombiniert. Beide Modelle erlauben es, komplexe Vorgänge bei der selbst hervorgerufenen Bewegung von Zellen, wie das Vorantreiben der Zellmembran durch Aktinpolymerisierung oder auch die Kontraktionsbewegung des Zellkörpers durch kontraktile Spannungen innerhalb des Zytoskelets der Zelle, zu verstehen. Weiterhin ist die kollektive Bewegung von vielen Zellen von großem Interesse, da sich hier viele nichtlineare Phänomene zeigen. Um das Diffuse-Interface-Modell für eine Zelle auf die Beschreibung mehrerer Zellen zu übertragen, werden mehrere Phasenfelder eingeführt, die die Zellen jeweils kennzeichnen. Schließlich werden die Zellen durch ein lokales Abstoßungspotential gekoppelt. Das Modell wird angewendet, um White blood cell margination, das die Annäherung von Leukozyten an die Blutgefäßwand bezeichnet, zu verstehen. Dieser Prozess wird dabei bestimmt durch den komplexen Zusammenhang zwischen Kollisionen, den jeweiligen mechanischen Eigenschaften der Zellen, sowie deren Auftriebskraft innerhalb der Adern. Die Simulationen zeigen, dass diese Annäherung sich in bestimmten Gebieten des kardiovaskulären Systems stark vermindert, in denen die Blutströmung das Stokes-Regime verlässt. Schließlich wird das Active-Polar-Gel-Modell mit dem Modell für die kollektive Bewegung vom Zellen kombiniert. Dies macht es möglich, die kollektive Bewegung der Zellen und den Einfluss von Hydrodynamik auf diese Bewegung zu untersuchen. Es zeigt sich dabei, dass der Zustand der kollektiven gerichteten Bewegung sich spontan aus der Neuausrichtung der jeweiligen Zellen durch inelastische Kollisionen ergibt. Obwohl die Hydrodynamik einen großen Einfluss auf solche Systeme hat, deuten die Simulationen nicht daraufhin, dass Hydrodynamik die kollektive Bewegung vollständig unterdrückt. Weiterhin wird in dieser Arbeit gezeigt, wie die stark gekoppelten Systeme numerisch gelöst werden können mit Hilfe der Finiten-Elemente-Methode und wie die Effizienz der Methode gesteigert werden kann durch die Anwendung von Operator-Splitting-Techniken und Problemparallelisierung mittels OPENMP