A Fast and Robust Poisson-Boltzmann Solver Based on Adaptive Cartesian Grids

An adaptive Cartesian grid (ACG) concept is presented for the fast and robust numerical solution of the 3D Poisson-Boltzmann Equation (PBE) governing the electrostatic interactions of large-scale biomolecules and highly charged multi-biomolecular assemblies such as ribosomes and viruses. The ACG offers numerous advantages over competing grid topologies such as regular 3D lattices and unstructured grids. For very large biological molecules and multi-biomolecule assemblies, the total number of grid-points is several orders of magnitude less than that required in a conventional lattice grid used in the current PBE solvers thus allowing the end user to obtain accurate and stable nonlinear PBE solutions on a desktop computer. Compared to tetrahedral-based unstructured grids, ACG offers a simpler hierarchical grid structure, which is naturally suited to multigrid, relieves indirect addressing requirements and uses fewer neighboring nodes in the finite difference stencils. Construction of the ACG and determination of the dielectric/ionic maps are straightforward, fast and require minimal user intervention. Charge singularities are eliminated by reformulating the problem to produce the reaction field potential in the molecular interior and the total electrostatic potential in the exterior ionic solvent region. This approach minimizes grid-dependency and alleviates the need for fine grid spacing near atomic charge sites. The technical portion of this paper contains three parts. First, the ACG and its construction for general biomolecular geometries are described. Next, a discrete approximation to the PBE upon this mesh is derived. Finally, the overall solution procedure and multigrid implementation are summarized. Results obtained with the ACG-based PBE solver are presented for: (i) a low dielectric spherical cavity, containing interior point charges, embedded in a high dielectric ionic solvent - analytical solutions are available for this case, thus allowing rigorous assessment of the solution accuracy; (ii) a pair of low dielectric charged spheres embedded in a ionic solvent to compute electrostatic interaction free energies as a function of the distance between sphere centers; (iii) surface potentials of proteins, nucleic acids and their larger-scale assemblies such as ribosomes; and (iv) electrostatic solvation free energies and their salt sensitivities - obtained with both linear and nonlinear Poisson-Boltzmann equation - for a large set of proteins. These latter results along with timings can serve as benchmarks for comparing the performance of different PBE solvers.     

Numerical Calculation of the Electrostatic Potential Around an Ionic Micelle with Counter Ion Binding

A numerical solution of the nonlinear Poisson-Boltzmann equation (PBE) is presented for a system of spherical micelles with counterfoil binding. The approach investigates the following effects on ion micelle interactions, (i) total surface charge, (ii) competitions of different counter ions on micellar surfaces and (iii) surface potential determination. The theory is applied to interpret the ion activities in micellar solution as measured by ion-selective electrodes.     

Analytical solution of Poisson–Boltzmann equation for interacting plates of arbitrary potentials and same sign

Efficient calculation of electrostatic interactions in colloidal systems is becoming more important with the advent of such probing techniques as atomic force microscopy. Such practice requires solving the nonlinear Poisson–Boltzmann equation (PBE). Unfortunately, explicit analytical solutions are available only for the weakly charged surfaces. Analysis of arbitrarily charged surfaces is possible only through cumbersome numerical computations. A compact analytical solution of the one-dimensional PBE is presented for two plates interacting in symmetrical electrolytes. The plates can have arbitrary surface potentials at infinite separation as long they have the same sign. Such a condition covers a majority of the colloidal systems encountered. The solution leads to a simple relationship which permits determination of surface potentials, surface charge densities, and electrostatic pressures as a function of plate separation H for different charging scenarios. An analytical expression is also presented for the potential profile between the plates for a given separation. Comparison of these potential profiles with those obtained by numerical analysis shows the validity of the proposed solution.     

MIBPB: A software package for electrostatic analysis

The Poisson–Boltzmann equation (PBE) is an established model for the electrostatic analysis of biomolecules. The development of advanced computational techniques for the solution of the PBE has been an important topic in the past two decades. This article presents a matched interface and boundary (MIB)‐based PBE software package, the MIBPB solver, for electrostatic analysis. The MIBPB has a unique feature that it is the first interface technique‐based PBE solver that rigorously enforces the solution and flux continuity conditions at the dielectric interface between the biomolecule and the solvent. For protein molecular surfaces, which may possess troublesome geometrical singularities, the MIB scheme makes the MIBPB by far the only existing PBE solver that is able to deliver the second‐order convergence, that is, the accuracy increases four times when the mesh size is halved. The MIBPB method is also equipped with a Dirichlet‐to‐Neumann mapping technique that builds a Green's function approach to analytically resolve the singular charge distribution in biomolecules in order to obtain reliable solutions at meshes as coarse as 1 Å — whereas it usually takes other traditional PB solvers 0.25 Å to reach similar level of reliability. This work further accelerates the rate of convergence of linear equation systems resulting from the MIBPB by using the Krylov subspace (KS) techniques. Condition numbers of the MIBPB matrices are significantly reduced by using appropriate KS solver and preconditioner combinations. Both linear and nonlinear PBE solvers in the MIBPB package are tested by protein–solvent solvation energy calculations and analysis of salt effects on protein–protein binding energies, respectively. © 2010 Wiley Periodicals, Inc. J Comput Chem, 2011     

A boundary element method for molecular electrostatics with electrolyte effects

A boundary element method is developed to compute the electrostatic potential inside and around molecules in an electrolyte solution. A set of boundary integral equations are derived based on the integral formulations of the Poisson equation and the linearized Poisson-Boltzmann equation. The boundary integral equations are then solved numerically after discretizing the molecular surface into a number of flat triangular elements. The method is applied to a spherical molecule for which analytical solutions are available. Use is made of both constant and linearly varying unknowns over the boundary elements, and the method is tested for various values of parameters such as the dielectric constant of the molecule, ionic strength, and the location of the interior point charge. The use of the boundary integral method incorporating the nonlinear Poisson-Boltzmann equation is also briefly discussed.     

Adaptive multilevel finite element solution of the Poisson–Boltzmann equation I. Algorithms and examples

This article is the first of two articles on the adaptive multilevel finite element treatment of the nonlinear Poisson–Boltzmann equation (PBE), a nonlinear eliptic equation arising in biomolecular modeling. Fast and accurate numerical solution of the PBE is usually difficult to accomplish, due to the presence of discontinuous coefficients, delta functions, three spatial dimensions, unbounded domain, and rapid (exponential) nonlinearity. In this first article, we explain how adaptive multilevel finite element methods can be used to obtain extremely accurate solutions to the PBE with very modest computational resources, and we present some illustrative examples using two well‐known test problems. The PBE is first discretized with piece‐wise linear finite elements over a very coarse simplex triangulation of the domain. The resulting nonlinear algebraic equations are solved with global inexact Newton methods, which we have described in an article appearing previously in this journal. A posteriori error estimates are then computed from this discrete solution, which then drives a simplex subdivision algorithm for performing adaptive mesh refinement. The discretize–solve–estimate–refine procedure is then repeated, until a nearly uniform solution quality is obtained. The sequence of unstructured meshes is used to apply multilevel methods in conjunction with global inexact Newton methods, so that the cost of solving the nonlinear algebraic equations at each step approaches optimal O(N) linear complexity. All of the numerical procedures are implemented in MANIFOLD CODE (MC), a computer program designed and built by the first author over several years at Caltech and UC San Diego. MC is designed to solve a very general class of nonlinear elliptic equations on complicated domains in two and three dimensions. We describe some of the key features of MC, and give a detailed analysis of its performance for two model PBE problems, with comparisons to the alternative methods. It is shown that the best available uniform mesh‐based finite difference or box‐method algorithms, including multilevel methods, require substantially more time to reach a target PBE solution accuracy than the adaptive multilevel methods in MC. In the second article, we develop an error estimator based on geometric solvent accessibility, and present a series of detailed numerical experiments for several complex biomolecules. © 2000 John Wiley & Sons, Inc. J Comput Chem 21: 1319–1342, 2000     

Calculation of the Maxwell stress tensor and the Poisson-Boltzmann force on a solvated molecular surface using hypersingular boundary integrals

The electrostatic interaction among molecules solvated in ionic solution is governed by the Poisson-Boltzmann equation (PBE). Here the hypersingular integral technique is used in a boundary element method (BEM) for the three-dimensional (3D) linear PBE to calculate the Maxwell stress tensor on the solvated molecular surface, and then the PB forces and torques can be obtained from the stress tensor. Compared with the variational method (also in a BEM frame) that we proposed recently, this method provides an even more efficient way to calculate the full intermolecular electrostatic interaction force, especially for macromolecular systems. Thus, it may be more suitable for the application of Brownian dynamics methods to study the dynamics of protein/protein docking as well as the assembly of large 3D architectures involving many diffusing subunits. The method has been tested on two simple cases to demonstrate its reliability and efficiency, and also compared with our previous variational method used in BEM.     

电毛细管中非线性PB积分方程及其数值解

依据电毛细管非线性Ｐｏｉｓｓｏｎ Ｂｏｌｔｚｍａｎｎ微分方程的物理原理,导出其积分形式的ＰＢ方程．并采用数值迭代法给出相应方程的数值解．数值计算只用到电势Ψ的离散值,不需要Ψ的导数值,从根本上解决了因电势在管壁陡然变化引起数值解法的困难．文中给出的计算实例表明该算法是正确的、有效的和高精度的（相对误差小于０．０１％）,且在ＰＣ机上容易实现．     

A new outer boundary formulation and energy corrections for the nonlinear Poisson-Boltzmann equation

The nonlinear Poisson-Boltzmann equation (PBE) has been successfully used for the prediction of numerous electrostatic properties of highly charged biopolyelectrolytes immersed in aqueous salt solutions. While numerous numerical solvers for the 3D PBE have been developed, the formulation of the outer boundary treatments used in these methods has only been loosely addressed, especially in the nonlinear case. The de facto standard in current nonlinear PBE implementations is to either set the potential at the outer boundaries to zero or estimate it using the (linear) Debye-Hückel (DH) approximation. However, an assessment of how these outer boundary treatments affect the overall solution accuracy does not appear to have been previously made. As will be demonstrated here, both approximations can, under certain conditions, produce completely erroneous estimates of the potential and energy salt dependencies. A related concern for calculations carried out on grids of finite extent (e.g., all current finite difference and finite element implementations) is the contribution to the energy and salt dependence from the exterior region outside the computational grid. This too is shown to be significant, especially at low salt concentration where essentially all of the contributions to the excess osmotic pressure and ion stress energies originate from this exterior region. In this paper the authors introduce a new outer boundary treatment that is valid for both the linear and nonlinear PBE. The authors also formulate energy corrections to account for contributions from outside the computational domain. Finally, the authors also consider the effects of general ion exclusion layers upon biomolecular electrostatics. It is shown that while these layers tend to increase the surface electrostatic potential, under physiological salt conditions and high net charges their effect on the excess osmotic pressure term, which is a measure of the salt dependence of the total electrostatic free energy, is weak. To facilitate presentation and allow very fine resolutions and/or large computational domains to be considered, attention is restricted to the 1D spherically symmetric nonlinear PBE. Though geometrically limited, the modeling principles nevertheless extend to general PBE solvers as discussed in the Appendix. The 1D model can also be used to benchmark and validate the salt effect prediction capabilities of existing PBE solvers.     

A new and simpler approach for the solution of the electrostatic potential differential equation. Enhanced solution for planar, cylindrical and annular geometries

The motivation of the study performed in this project is focused on deriving a more effective, accurate, and mathematically friendly solution for the prediction of the electrostatic potential, commonly used on electrokinetic research and its related applications. In this contribution, based on the Debye-Hückel approximation, a new solution strategy for the differential equations of the electrostatic potential is proposed. In fact, a simple predictor-corrector calculation is developed to achieve more accurate predictions of electrostatic potential profiles. Furthermore, in this study the authors introduce the correction function f(AO) to the inverse Debye length, lambda. The f(AO) function improves the Debye-Hückel approximation and it is a recursive function of the electrical potential. Once the inverse Debye length, lambda, has been corrected by the f(AO) function and introduced in the simplified solution of the Poisson-Boltzmann equation (i.e., the linear approximation, due to Debye and Hückel), the electrostatic potential outcome little differs from the numerical solution of the complete (nonlinear) differential equation. This new approach embraces different geometries of interest, such as planar, cylindrical, and annular, with excellent results in all the cases and for a wide range of electrostatic potential values. This new predicting semi-analytical technique can be a useful tool on electrical field applications such as the separation of a mixture of macromolecules and the removal of contaminants in soil cleaning processes. Illustrative results are presented for the geometries identified above.     

Electrodiffusion: a continuum modeling framework for biomolecular systems with realistic spatiotemporal resolution

A computational framework is presented for the continuum modeling of cellular biomolecular diffusion influenced by electrostatic driving forces. This framework is developed from a combination of state-of-the-art numerical methods, geometric meshing, and computer visualization tools. In particular, a hybrid of (adaptive) finite element and boundary element methods is adopted to solve the Smoluchowski equation (SE), the Poisson equation (PE), and the Poisson-Nernst-Planck equation (PNPE) in order to describe electrodiffusion processes. The finite element method is used because of its flexibility in modeling irregular geometries and complex boundary conditions. The boundary element method is used due to the convenience of treating the singularities in the source charge distribution and its accurate solution to electrostatic problems on molecular boundaries. Nonsteady-state diffusion can be studied using this framework, with the electric field computed using the densities of charged small molecules and mobile ions in the solvent. A solution for mesh generation for biomolecular systems is supplied, which is an essential component for the finite element and boundary element computations. The uncoupled Smoluchowski equation and Poisson-Boltzmann equation are considered as special cases of the PNPE in the numerical algorithm, and therefore can be solved in this framework as well. Two types of computations are reported in the results: stationary PNPE and time-dependent SE or Nernst-Planck equations solutions. A biological application of the first type is the ionic density distribution around a fragment of DNA determined by the equilibrium PNPE. The stationary PNPE with nonzero flux is also studied for a simple model system, and leads to an observation that the interference on electrostatic field of the substrate charges strongly affects the reaction rate coefficient. The second is a time-dependent diffusion process: the consumption of the neurotransmitter acetylcholine by acetylcholinesterase, determined by the SE and a single uncoupled solution of the Poisson-Boltzmann equation. The electrostatic effects, counterion compensation, spatiotemporal distribution, and diffusion-controlled reaction kinetics are analyzed and different methods are compared.     

Long-Range Electrostatic Interaction between a Charged Wall and Two Similarly Charged Colloidal Spheres at Low Surface Potentials

The long-range electrostatic interaction between a pair of similarly charged colloidal spheres and a charged planar wall at low surface potentials is theoretically investigated. The linear Poisson-Boltzmann equation (PBE) and the point charge approximation of the charged sphere are used. The electrical potential distribution in the electrolyte solution is found from the PBE at the constant surface potentials using the image charge method. The electrostatic forces acting on the spheres are then calculated. The results show that the repulsive interaction between a pair of similarly charged colloidal spheres clearly decreases when a charged wall appears nearby, but it is impossible for an attractive force to emerge at the scaled surface potentials less than 1. There is, however, an attractive force between the charged wall and the similarly charged colloidal spheres, when the surface potential zetap on the wall is sufficiently higher than the surface potential zetas on the spheres to make zetap > zetasexp(kappah) (h is the distance from the wall to the sphere center). In this case, there are negative surface charges on the spheres at positive surface potential zetas. It is these negative charges that produce the above attraction. Copyright 1999 Academic Press.     

Accurate solution of multi-region continuum biomolecule electrostatic problems using the linearized Poisson-Boltzmann equation with curved boundary elements

We present a boundary-element method (BEM) implementation for accurately solving problems in biomolecular electrostatics using the linearized Poisson-Boltzmann equation. Motivating this implementation is the desire to create a solver capable of precisely describing the geometries and topologies prevalent in continuum models of biological molecules. This implementation is enabled by the synthesis of four technologies developed or implemented specifically for this work. First, molecular and accessible surfaces used to describe dielectric and ion-exclusion boundaries were discretized with curved boundary elements that faithfully reproduce molecular geometries. Second, we avoided explicitly forming the dense BEM matrices and instead solved the linear systems with a preconditioned iterative method (GMRES), using a matrix compression algorithm (FFTSVD) to accelerate matrix-vector multiplication. Third, robust numerical integration methods were employed to accurately evaluate singular and near-singular integrals over the curved boundary elements. Fourth, we present a general boundary-integral approach capable of modeling an arbitrary number of embedded homogeneous dielectric regions with differing dielectric constants, possible salt treatment, and point charges. A comparison of the presented BEM implementation and standard finite-difference techniques demonstrates that for certain classes of electrostatic calculations, such as determining absolute electrostatic solvation and rigid-binding free energies, the improved convergence properties of the BEM approach can have a significant impact on computed energetics. We also demonstrate that the improved accuracy offered by the curved-element BEM is important when more sophisticated techniques, such as nonrigid-binding models, are used to compute the relative electrostatic effects of molecular modifications. In addition, we show that electrostatic calculations requiring multiple solves using the same molecular geometry, such as charge optimization or component analysis, can be computed to high accuracy using the presented BEM approach, in compute times comparable to traditional finite-difference methods.     

Electrostatics of DNA complexes with cationic lipid membranes

We present the exact solutions of the linear Poisson-Boltzmann equation for several problems relevant to electrostatics of DNA complexes with cationic lipids. We calculate the electrostatic potential and electrostatic energy for lamellar and inverted hexagonal phases, concentrating on the effects of dielectric boundaries. We compare our results for the complex energy with the known results of numerical solution of the nonlinear Poisson-Boltzmann equation. Using the solution for the lamellar phase, we calculate the compressibility modulus and compare our findings with the experimental data available. Also, we treat charge-charge interactions across, along, and between two low-dielectric membranes. We obtain an estimate for the strength of electrostatic interactions of one-dimensional DNA smectic layers across the lipid membrane. We discuss in the end some aspects of two-dimensional DNA condensation and DNA-DNA attraction in the DNA-lipid lamellar phase in the presence of di- and trivalent cations. We analyze the equilibrium DNA-DNA separations in lamellar complexes using the recently developed theory of electrostatic interactions of DNA helical charge motifs.     

Application of Coulson's Contour integral method to linear finite polymers

Coulson's contour integration method has been applied to calculate the charge and bond order matrices and total energies of conjugated systems composed of fragments whose Hückel secular equations have been solved. Integral formulas have been derived for the calculation of these quantities for two coupled conjugated systems and for linear polymers. A rapid method for the numerical evaluation of the integral formulas is presented and applied to a linear finite polyene.     

Rates of ionic reactions with charged nanoparticles in aqueous media

A theory is developed to evaluate the electrostatic correction for the rate of reaction between a small ion and a charged ligand nanoparticle. The particle is assumed to generally consist of an impermeable core and a shell permeable to water and ions. A derivation is proposed for the ion diffusion flux that includes the impact of the equilibrium electrostatic field distribution within and around the shell of the particle. The contribution of the extra- and intraparticulate field is rationalized in terms of a conductive diffusion factor, f(el), that includes the details of the particle geometry (core size and shell thickness), the volume charge density in the shell, and the parameters defining the electrostatic state of the particle core surface. The numerical evaluation of f(el), based on the nonlinear Poisson-Boltzmann equation, is successfully complemented with semianalytical expressions valid under the Debye-Hückel condition in the limits of strong and weak electrostatic screening. The latter limit correctly includes the original result obtained by Debye in his 1942 seminal paper about the effect of electrostatics on the rate of collision between two ions. The significant acceleration and/or retardation possibly experienced by a metal ion diffusing across a soft reactive particle/solution interphase is highlighted by exploring the dependence of f(el) on electrolyte concentration, particle size, particle charge, and particle type (i.e., hard, core/shell, and entirely porous particles).     

Adsorption integral equation via complex approximation with constraints: kernel of general form

For the monolayer adsorption on a homogeneous surface, including arbitrary range lateral interactions, the isotherm can be written as a power series of the Langmuir isotherm. If this isotherm is used as the kernel in the adsorption integral equation, this integral equation can be solved in an analytical form. Because the global isotherm is usually known as a set of experimental values, the use of a numerical method is inevitable. A new numerical method for solving the adsorption integral equation with a kernel of general form is developed. It is based on recent results concerning the structure of the local isotherm and on the ideas of complex approximation with constraints, and allows reduction of the problem under consideration to a linear‐quadratic programming problem. Results of numerical experiments are presented. The method can be useful for the evaluation of the adsorption energy distribution from experimental data. © 2001 John Wiley & Sons, Inc. J Comput Chem 22: 1058–1066, 2001     

Boundary element solution of the linear Poisson-Boltzmann equation and a multipole method for the rapid calculation of forces on macromolecules in solution

The Poisson-Boltzmann equation is widely used to describe the electrostatic potential of molecules in an ionic solution that is treated as a continuous dielectric medium. The linearized form of this equation, applicable to many biologic macromolecules, may be solved using the boundary element method. A single-layer formulation of the boundary element method, which yields simpler integral equations than the direct formulations previously discussed in the literature, is given. It is shown that the electrostatic force and torque on a molecule may be calculated using its boundary element representation and also the polarization charge for two rigid molecules may be rapidly calculated using a noniterative scheme. An algorithm based on a fast adaptive multipole method is introduced to further increase the speed of the calculation. This method is particularly suited for Brownian dynamics or molecular dynamics simulations of large molecules, in which the electrostatic forces must be calculated for many different relative positions and orientations of the molecules. It has been implemented as a set of programs in C++, which are used to study the accuracy and speed of this method for two actin monomers.