scholarly journals RosENet: Improving binding affinity prediction by leveraging molecular mechanics energies with a 3D Convolutional Neural Network

2020 ◽  
Author(s):  
Hussein Hassan-Harrirou ◽  
Ce Zhang ◽  
Thomas Lemmin

ABSTRACTThe worldwide increase and proliferation of drug resistant microbes, coupled with the lag in new drug development represents a major threat to human health. In order to reduce the time and cost for exploring the chemical search space, drug discovery increasingly relies on computational biology approaches. One key step in these approaches is the need for the rapid and accurate prediction of the binding affinity for potential leads.Here, we present RosENet (Rosetta Energy Neural Network), a three-dimensional (3D) Convolutional Neural Network (CNN), which combines voxelized molecular mechanics energies and molecular descriptors for predicting the absolute binding affinity of protein – ligand complexes. By leveraging the physico-chemical properties captured by the molecular force field, our model achieved a Root Mean Square Error (RMSE) of 1.26 on the PDBBind v2016 core set. We also explored some limitations and the robustness of the PDBBind dataset and our approach, on nearly 500 structures, including structures determined by Nuclear Magnetic Resonance and virtual screening experiments. Our study demonstrated that molecular mechanics energies can be voxelized and used to help improve the predictive power of the CNNs. In the future, our framework can be extended to features extracted from other biophysical and biochemical models, such as molecular dynamics simulations.Availabilityhttps://github.com/DS3Lab/RosENet

2021 ◽  
Author(s):  
Daiki Kato ◽  
Kenya Yoshitugu ◽  
Naoki Maeda ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
...  

Abstract Most industrial robots are taught using the teaching playback method; therefore, they are unsuitable for use in variable production systems. Although offline teaching methods have been developed, they have not been practiced because of the low accuracy of the position and posture of the end-effector. Therefore, many studies have attempted to calibrate the position and posture but have not reached a practical level, as such methods consider the joint angle when the robot is stationary rather than the features during robot motion. Currently, it is easy to obtain servo information under numerical control operations owing to the Internet of Things technologies. In this study, we propose a method for obtaining servo information during robot motion and converting it into images to find features using a convolutional neural network (CNN). Herein, a large industrial robot was used. The three-dimensional coordinates of the end-effector were obtained using a laser tracker. The positioning error of the robot was accurately learned by the CNN. We extracted the features of the points where the positioning error was extremely large. By extracting the features of the X-axis positioning error using the CNN, the joint 1 current is a feature. This indicates that the vibration current in joint 1 is a factor in the X-axis positioning error.


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