Difference between revisions of "Team:TokyoTech/Experiment/TraI Assay"

 
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     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Introduction</b></h1><!-- 小見出し -->
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Introduction</b></h1><!-- 小見出し -->
 
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     <p style="font-size: 16px; text-indent:1em">Quorum sensing is the cell-to-cell communication system used by a variety of bacteria to detect the population of cells around them. The system consists of three procedure: production of signal molecules, sensing the molecules, and responding to the signals. 3OC6HSL (C6), derived from <span style="font-style: italic">Vibrio fischeri</span>, and 3OC8HSL (C8), derived from <span style="font-style: italic">Agrobacterium fumigatus</span>, are the most used signal molecules in the system and produced by LuxI and TraI proteins, respectively. C6 and C8 are the compounds called acyl-homoserine lactone (AHL) and chemical structures of these molecules are shown in Fig. 1.  
In this section we confirmed that E.coli containing Trail genes (we call it Seder E.coli) truly produce signal molecule, AHL(Acyl Homoserine Lactone).
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<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
At first to detect small amount of AHL we made reporter E.coli which respond to AHL and produce GFP. Then we studied AHL concentration dependence of reporter’s fluorescent intensity.
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<figure>
At last, we mix supernatant of Sender E.coli media with culture in which reporter grow and measure intensity of fluorescence and confirmed E.coli produce AHL.
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    <img src="https://static.igem.org/mediawiki/2017/d/df/T--TokyoTech--TraIstructure.jpg" style="max-width:50%">
 
+
    <figcaption style="font-size: 16px">Fig. 1 Chemical structures of AHL-type signal molecules </figcaption>
 +
    </figure>
 +
</div>
 +
    <p style="font-size: 16px; text-indent:1em">The production of C6 by LuxI is constitutive and C6 can be sensed by an intracellular receptor, LuxR, in other cells. The complex of LuxR and C6 forms the homodimer and promotes the activation of corresponding promoter, <span style="font-style: italic">lux</span> promoter, and the transcription of downstream genes. It should be noted that LuxI is encoded by one of those genes, meaning that the production of C6 molecules is promoted by receiving C6 molecules. Therefore, as the population of bacteria grows, the production of C6 is amplified and the expression of the target genes will increase exponentially. As a consequence, bacterial cells can sense their population density and carry out cell-density specific behaviors such as luminescence emission and pathogenicity exerting.</p>
 +
<p style="font-size: 16px; text-indent:1em">A similar mechanism presents for C8 molecule, and in this case, the TraR protein is the receptor of the molecule.</p>
 +
<div style="margin-top:16px">
 +
<p style="text-indent:1em">
 +
<p style="font-size: 16px; text-indent:1em">In a previous study, an AHL-inducible eukaryotic gene expression system was developed based on TraR (1). In this system, expression from the eukaryotic promoter (CMV minimal promoter) is induced only in the presence of C8. Therefore, we here chose C8 as a signal molecule and tried to engineer <span style="font-style: italic">E. coli</span> cells to produce C8.  
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<div class="w3-container" id="overview" style="margin-top:20px"><!-- この箱の中にテキストや画像をまとめる -->
 
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     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Summary of experiment</b></h1><!-- 小見出し -->
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Summary of experiment</b></h1><!-- 小見出し -->
 
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     <p style="font-size: 16px; text-indent:1em">
We use following plasmids and induced into E.coli.
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In this section, we investigated whether <span style="font-style: italic">E. coli</span> cells expressing TraI protein produce a practical amount of C8. <br>
LuxR and Plux is Lux system Receptor and Promorter.
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To this end, two <span style="font-style: italic">E. coli</span> strains were constructed; one is the “Sender” strain which produces C8 and the other is the “Reporter” strain which expresses GFP in the presence of C8.<br>
 +
To begin with, it was investigated whether the “Reporter” cells expressed GFP when cultured in the medium containing various concentrations of C8 (0.1 nM -1000 nM).<br>
 +
In the previous similar experiment, the intensities of GFP fluorescence (Relative Fluorescence Units; RFU) have shown to follow Hill's equation (2). Therefore, in this study, the parameters of Hill's equation were obtained from the data and the concentrations of AHL were calculated from the values of RFU. <br>
 +
Then, the ability of the Sender to produce AHL was analyzed. The supernatant of the Sender was mixed with the actively growing culture of the Reporter, and the production of AHL was evaluated by observing the expression of GFP.<br>
 +
<br>
 +
The following plasmids were introduced into <span style="font-style: italic">E. coli</span>. <br>
 +
Reporter <span style="font-style: italic">E. coli</span><br>
 +
By introducing the plasmids shown in Fig. 2, <span style="font-style: italic">E. coli</span> cells are expected to produce GFP in response to C8 and C6. Note that Ptet is the constitutive promoter. Also, note that LuxR can accept C8 as well as the natural ligand, C6 (3); we here employed LuxR, but not TraR, because LuxR had been characterized far better than TraR in the preceding iGEM projects.
 +
<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
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<figure>
 +
    <img src="https://static.igem.org/mediawiki/2017/5/51/Fig2_structure_of_the_plasmid.png" style="max-width:75%">
 +
    <figcaption style="font-size: 16px">Fig. 2 Structure of the plasmids used for creating the “Reporter”</figcaption>
 +
    </figure>
 +
</div>
 +
    <p style="font-size: 16px; text-indent:1em">
 +
<br>
 +
Sender <span style="font-style: italic">E.coli</span> <br>
 +
We created the Sender by introducing the plasmid shown in Fig. 3.<br>
 +
The Sender is expected to produce C8 constantly, because the <span style="font-style: italic">traI</span> gene is placed at downstream of the constitutive promoter, Ptet.
 +
<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
 +
<figure>
 +
    <img src="https://static.igem.org/mediawiki/2017/2/23/Fig3_construction_of_TraI_gene3.png" style="max-width:50%">
 +
    <figcaption style="font-size: 16px">Fig. 3 Construction of TraI gene</figcaption>
 +
    </figure>
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     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Results</b></h1><!-- 小見出し -->
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Results</b></h1><!-- 小見出し -->
 
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    <p style="font-family: Poppins;font-size: 16px">LuxR is Receptor gene for C6 signals. But it is known LuxR bind to other AHL such as C10 and cause crosstalk.
+
    <p style="font-size: 16px; text-indent:1em">
We confirmed LuxR respond to C8 signals and have almost same sensitibvity in the case of C6 signals.
+
Assay using reagent AHLs<br>
Receiver E.coli’s RFU (Reletive Fluoroscent Units) in each concentration (1μM,100nM,10nM…) is shown in Figure .  
+
In order to analyze the ability of the Reporter to receive AHLs and to express GFP depending on AHL, defined concentrations of reagent AHLs were added to growing culture of the Reporter. It was confirmed that LuxR responded to C8 in a similar level to C6. RFU of the Reporter at various AHL concentrations (0.1 nM - 1000 nM) is shown in Fig. 4. Detection limit was over 10 nM for both cases. The C8 concentration 0 means adding DMSO (solvent for AHLs is DMSO).
Error bar have a same width as standard deviation (n=3).
+
</p>
Detection limit is over 10nM in case of C6 and C8.
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<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
RFU values are almost same over 100nM.
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<figure>
    </p>
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     <img src="https://static.igem.org/mediawiki/2017/9/95/T--TokyoTech--TraIfigure1.jpg" style="max-width:100%">
    <div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
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     <figcaption style="font-size: 16px">Fig. 4 Concentration dependance of Reletive Fluoroscent Units </figcaption>
    <figure>
+
     <img src="https://static.igem.org/mediawiki/2017/f/f8/T--TokyoTech--Concentration_dependance_of_RFU.jpg" style="max-width:50%">
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     <figcaption style="font-family: Poppins;font-size: 16px">Fig. 画像タイトル</figcaption>
+
 
     </figure>
 
     </figure>
    </div>
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</div>
  <p style="font-family: Poppins;font-size: 16px">Supernatant Assay
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    <p style="font-size: 16px; text-indent:1em">
 
+
The data are presented as mean ± SD from triplicate experiments.<br>
    </p>
+
<br>
 
+
Based on the data which is shown in Fig. 4, parameter was obtained to fit Hill’s equation.<br>
    <p style="font-family: Poppins;font-size: 16px">
+
Hill’s equation is shown in Eq. 1
  Temperature dependence of AHL production.
+
</p>
    </p>
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<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
    <p style="font-family: Poppins;font-size: 16px">
+
<figure>
We found that Amount of C8 production is depend on culture temperature. RFU is 14 folds larger than DH5α.  
+
     <img src="https://static.igem.org/mediawiki/2017/f/f8/T--TokyoTech--TraIimprove10.png" style="max-width:100%">
    </p>
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     <figcaption style="font-size: 16px">Eq.1 Hill's equation  </figcaption>
        <div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
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    <figure>
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     <img src="https://static.igem.org/mediawiki/2017/f/f8/T--TokyoTech--Concentration_dependance_of_RFU.jpg" style="max-width:50%">
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     <figcaption style="font-family: Poppins;font-size: 16px">Fig. 画像タイトル2</figcaption>
+
 
     </figure>
 
     </figure>
     </div>
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</div>
 
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<p style="font-size: 16px; text-indent:1em">
 
+
The values of parameters are shown in Table. 1<br>
 
+
The parameter “a” represents leakiness of the GFP expression in the Reporter. Even in the absence of AHL, it is known that downstream genes below Plux are transcribed slightly. The parameter “b” is the value of RFU when AHL binds to all receptors and is completely induced. The parameter “n“ is the Hill coefficient, and when this value is 1 or more, it is said that there are multiple binding sites. “Km” is the AHL concentration where half of the receptor molecules are bound to the AHL molecules, and this value represent the detection sensitivity of the Reporter. It was found that both AHLs can be detected with a sensitivity of order 10 nM. <br>
 
+
</p>
 +
<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
 +
<figure>
 +
     <figcaption style="font-size: 16px">Table. 1 Parameters of Hill’s equation </figcaption>
 +
<img src="https://static.igem.org/mediawiki/2017/1/1c/T--TokyoTech--Table1000.png" style="max-width:75%">
 +
    </figure>
 +
</div>
 +
<p style="font-size: 16px; text-indent:1em">
 +
The values of parameters are shown in Table. 1<br>
 +
The parameter “a” represents leakiness of the GFP expression in the Reporter. Even in the absence of AHL, it is known that downstream genes of Plux are transcribed slightly. The parameter “b” is the value of RFU when AHL binds to all receptors and is completely induced. The parameter “n“ is the Hill coefficient, and when this value is 1 or more, it is said that there are multiple binding sites. “Km” is the AHL concentration where half of the receptor molecules is bound to the AHL molecules, and this value represent the detection sensitivity of the Reporter. It was found that both AHLs can be detected with a sensitivity of order 10 nM. <br>
 +
</p>
 +
<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">
 +
<figure>
 +
    <img src="https://static.igem.org/mediawiki/2017/a/a7/T--TokyoTech--TraIfigure2.jpg" style="max-width:50%">
 +
     <figcaption style="font-size: 16px">Fig. 5 Actual measurement value and Theoretical formula </figcaption>
 +
    </figure>
 +
</div>
 +
    <p style="font-size: 16px; text-indent:1em">
 +
<br>
 +
Supernatant Assay <br>
 +
Temperature dependence of AHL production. <br>
 +
During the trial-and-error process for increasing the productivity of AHL in the Sender, we found that the amount of C8 was higher when the Sender was grown at a lower temperature; the RFU value was 14-fold higher. <br>
 +
<span style="font-style: italic">E. coli</span> introduced an empty vector was used as Negative Control.<br>
 +
C8 concentrations were calculated from the RFU values using calibration curve, 34 nM of C8 was produced in the 37℃ culture, whereas C8 concentration exceeded the detection limit in the 25℃ culture.
 +
</p>
 +
<div class="w3-xxxlarge" style="padding-bottom: 10px;padding-top: 10px;text-align: center">   
 +
<figure>
 +
    <img src="https://static.igem.org/mediawiki/2017/4/46/T--TokyoTech--TraIfigure3.jpg" style="max-width:50%">
 +
    <figcaption style="font-size: 16px">Fig. 6 Temperature dependency of C8 production</figcaption>
 +
    </figure>
 +
</div>
 +
</p>
 
   </div>
 
   </div>
 +
<hr>
  
<hr>
 
  
 
<div class="w3-container" id="results" style="margin-top:20px">
 
<div class="w3-container" id="results" style="margin-top:20px">
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Discussion</b></h1>
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Discussion</b></h1>
 
     <hr style="width:50px;border:5px solid red" class="w3-round">
 
     <hr style="width:50px;border:5px solid red" class="w3-round">
    <p style="font-family: Poppins;font-size: 16px">To send a molecular signal AHL to mammalian cells, our goal is 20μM of C8 production.
+
  <p style="font-size: 16px; text-indent:1em">
Receiver E.coli’s sensitivity is enough to detect such a small amount of AHL. But Sender E.coli’s C8 production is not enough to send AHL.
+
We confirmed that <span style="font-style: italic">E. coli</span> cells produces over 200 nM of C8. However, as shown in other wiki pages (Read <a href="https://2017.igem.org/Team:TokyoTech/Description">Project Description</a> page and Read <a href="https://2017.igem.org/Team:TokyoTech/Experiment/Chimeric_Transcription_Factor">Chimeric Transcription Factor Assay</a> page), the final objective of our project is inducing gene expression with C8 in human cells. From the <a href=https://2017.igem.org/Team:TokyoTech/Model>Simulation</a>, more C8 was required to do so. Therefore, we need to improve the production amount of C8 further. <br>
TraI is derived from soil microorganism A. Tumefaciens.
+
The result in Fig. 5 shows that temperature dependency of C8 production. This result may reflect that the <span style="font-style: italic">traI</span> gene is derived from a soil bacterium <span style="font-style: italic">A. tumefaciens</span>; in nature, the temperature of soil hardly reaches  37 ℃, and the TraI protein may be unstable at 37℃. Indeed, growth of <span style="font-style: italic">A. tumefaciens</span> occurs optimally at 28°C, and at above 30°C, <span style="font-style: italic">A. tumefaciens</span> becomes heat-shock state (5).<br>
It is rarely happen that Temperature of the soil rise above 37 ℃.
+
Therefore It is considered that TraI gene does not work properly above 37℃ of culture temperature.
+
 
+
 
     </p>
 
     </p>
 
 
</div>
 
</div>
 +
  
 
<hr>
 
<hr>
 +
 +
 +
  <div id="mtt" class="w3-container" id="overview" style="margin-top:20px">
 +
    <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b> Appendix: Material and Method</b></h2>
 +
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 +
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<hr>
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<div class="w3-container" id="results" style="margin-top:20px">
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Reference</b></h1>
 
     <h1 class="w3-xxxlarge w3-text-red" style="padding-bottom: 10px;padding-top: 10px"><b>Reference</b></h1>
 
     <hr style="width:50px;border:5px solid red" class="w3-round">
 
     <hr style="width:50px;border:5px solid red" class="w3-round">
     <p style="font-family: Poppins;font-size: 16px">参考文献
+
     <p style="font-size: 16px">
 +
(1). Neddermann P1, Gargioli C, Muraglia E, Sambucini S, Bonelli F, De Francesco R, Cortese R (2003) A novel, inducible, eukaryotic gene expression system based on the quorum-sensing transcription factor TraR. EMBO Rep. 2003 Feb;4(2):159-65.<br>
 +
(2). https://2014.igem.org/Team:ETH_Zurich/modeling/qs<br>
 +
(3). https://2016.igem.org/Team:Tokyo_Tech/AHL_Assay/AHL_Reporter_Assay <br>
 +
(4). Elise R. Morton and Clay Fuqua (2012) UNIT 3D.1 Laboratory Maintenance of Agrobacterium. Curr Protoc Microbiol. 2012 Feb; CHAPTER: Unit3D.1.<br>
 +
 
 
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Latest revision as of 00:11, 2 November 2017

<!DOCTYPE html> Coli Sapiens

iGEM Tokyo Tech

TraI Assay


Introduction


Quorum sensing is the cell-to-cell communication system used by a variety of bacteria to detect the population of cells around them. The system consists of three procedure: production of signal molecules, sensing the molecules, and responding to the signals. 3OC6HSL (C6), derived from Vibrio fischeri, and 3OC8HSL (C8), derived from Agrobacterium fumigatus, are the most used signal molecules in the system and produced by LuxI and TraI proteins, respectively. C6 and C8 are the compounds called acyl-homoserine lactone (AHL) and chemical structures of these molecules are shown in Fig. 1.

Fig. 1 Chemical structures of AHL-type signal molecules

The production of C6 by LuxI is constitutive and C6 can be sensed by an intracellular receptor, LuxR, in other cells. The complex of LuxR and C6 forms the homodimer and promotes the activation of corresponding promoter, lux promoter, and the transcription of downstream genes. It should be noted that LuxI is encoded by one of those genes, meaning that the production of C6 molecules is promoted by receiving C6 molecules. Therefore, as the population of bacteria grows, the production of C6 is amplified and the expression of the target genes will increase exponentially. As a consequence, bacterial cells can sense their population density and carry out cell-density specific behaviors such as luminescence emission and pathogenicity exerting.

A similar mechanism presents for C8 molecule, and in this case, the TraR protein is the receptor of the molecule.

In a previous study, an AHL-inducible eukaryotic gene expression system was developed based on TraR (1). In this system, expression from the eukaryotic promoter (CMV minimal promoter) is induced only in the presence of C8. Therefore, we here chose C8 as a signal molecule and tried to engineer E. coli cells to produce C8.


Summary of experiment


In this section, we investigated whether E. coli cells expressing TraI protein produce a practical amount of C8.
To this end, two E. coli strains were constructed; one is the “Sender” strain which produces C8 and the other is the “Reporter” strain which expresses GFP in the presence of C8.
To begin with, it was investigated whether the “Reporter” cells expressed GFP when cultured in the medium containing various concentrations of C8 (0.1 nM -1000 nM).
In the previous similar experiment, the intensities of GFP fluorescence (Relative Fluorescence Units; RFU) have shown to follow Hill's equation (2). Therefore, in this study, the parameters of Hill's equation were obtained from the data and the concentrations of AHL were calculated from the values of RFU.
Then, the ability of the Sender to produce AHL was analyzed. The supernatant of the Sender was mixed with the actively growing culture of the Reporter, and the production of AHL was evaluated by observing the expression of GFP.

The following plasmids were introduced into E. coli.
Reporter E. coli
By introducing the plasmids shown in Fig. 2, E. coli cells are expected to produce GFP in response to C8 and C6. Note that Ptet is the constitutive promoter. Also, note that LuxR can accept C8 as well as the natural ligand, C6 (3); we here employed LuxR, but not TraR, because LuxR had been characterized far better than TraR in the preceding iGEM projects.

Fig. 2 Structure of the plasmids used for creating the “Reporter”


Sender E.coli
We created the Sender by introducing the plasmid shown in Fig. 3.
The Sender is expected to produce C8 constantly, because the traI gene is placed at downstream of the constitutive promoter, Ptet.

Fig. 3 Construction of TraI gene


Results


Assay using reagent AHLs
In order to analyze the ability of the Reporter to receive AHLs and to express GFP depending on AHL, defined concentrations of reagent AHLs were added to growing culture of the Reporter. It was confirmed that LuxR responded to C8 in a similar level to C6. RFU of the Reporter at various AHL concentrations (0.1 nM - 1000 nM) is shown in Fig. 4. Detection limit was over 10 nM for both cases. The C8 concentration 0 means adding DMSO (solvent for AHLs is DMSO).

Fig. 4 Concentration dependance of Reletive Fluoroscent Units

The data are presented as mean ± SD from triplicate experiments.

Based on the data which is shown in Fig. 4, parameter was obtained to fit Hill’s equation.
Hill’s equation is shown in Eq. 1

Eq.1 Hill's equation

The values of parameters are shown in Table. 1
The parameter “a” represents leakiness of the GFP expression in the Reporter. Even in the absence of AHL, it is known that downstream genes below Plux are transcribed slightly. The parameter “b” is the value of RFU when AHL binds to all receptors and is completely induced. The parameter “n“ is the Hill coefficient, and when this value is 1 or more, it is said that there are multiple binding sites. “Km” is the AHL concentration where half of the receptor molecules are bound to the AHL molecules, and this value represent the detection sensitivity of the Reporter. It was found that both AHLs can be detected with a sensitivity of order 10 nM.

Table. 1 Parameters of Hill’s equation

The values of parameters are shown in Table. 1
The parameter “a” represents leakiness of the GFP expression in the Reporter. Even in the absence of AHL, it is known that downstream genes of Plux are transcribed slightly. The parameter “b” is the value of RFU when AHL binds to all receptors and is completely induced. The parameter “n“ is the Hill coefficient, and when this value is 1 or more, it is said that there are multiple binding sites. “Km” is the AHL concentration where half of the receptor molecules is bound to the AHL molecules, and this value represent the detection sensitivity of the Reporter. It was found that both AHLs can be detected with a sensitivity of order 10 nM.

 
Fig. 5 Actual measurement value and Theoretical formula


Supernatant Assay
Temperature dependence of AHL production.
During the trial-and-error process for increasing the productivity of AHL in the Sender, we found that the amount of C8 was higher when the Sender was grown at a lower temperature; the RFU value was 14-fold higher.
E. coli introduced an empty vector was used as Negative Control.
C8 concentrations were calculated from the RFU values using calibration curve, 34 nM of C8 was produced in the 37℃ culture, whereas C8 concentration exceeded the detection limit in the 25℃ culture.

Fig. 6 Temperature dependency of C8 production


Discussion


We confirmed that E. coli cells produces over 200 nM of C8. However, as shown in other wiki pages (Read Project Description page and Read Chimeric Transcription Factor Assay page), the final objective of our project is inducing gene expression with C8 in human cells. From the Simulation, more C8 was required to do so. Therefore, we need to improve the production amount of C8 further.
The result in Fig. 5 shows that temperature dependency of C8 production. This result may reflect that the traI gene is derived from a soil bacterium A. tumefaciens; in nature, the temperature of soil hardly reaches 37 ℃, and the TraI protein may be unstable at 37℃. Indeed, growth of A. tumefaciens occurs optimally at 28°C, and at above 30°C, A. tumefaciens becomes heat-shock state (5).


Appendix: Material and Method



Reference


(1). Neddermann P1, Gargioli C, Muraglia E, Sambucini S, Bonelli F, De Francesco R, Cortese R (2003) A novel, inducible, eukaryotic gene expression system based on the quorum-sensing transcription factor TraR. EMBO Rep. 2003 Feb;4(2):159-65.
(2). https://2014.igem.org/Team:ETH_Zurich/modeling/qs
(3). https://2016.igem.org/Team:Tokyo_Tech/AHL_Assay/AHL_Reporter_Assay
(4). Elise R. Morton and Clay Fuqua (2012) UNIT 3D.1 Laboratory Maintenance of Agrobacterium. Curr Protoc Microbiol. 2012 Feb; CHAPTER: Unit3D.1.