Robot team forming of membrane proteins in crystallization

A robotic theory is presented to explain the process of protein crystallization. The theory employs the approach of path planning for robot team formation, but imposes two constraints-simplicity and locality because proteins do not have the intelligence to plan complex paths in a global manner. Based on the two constraints, we develop three rules which govern the development of a successful path. The path defines the direction and speed of the motion for all the proteins in forming the crystal. Physical analysis at the molecular level is conducted to verify that the hypothesized motion for crystallization is achievable. Computer simulation and experimental results are presented to show the promise of the new approach in the study of protein crystallization.