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. 2022 May 19;12(3):927–945. doi: 10.1007/s12668-022-00990-2

Current Flow in a Cylindrical Nanopore with an Object–Implications for Virus Sensing

Mohammad Tajparast 1, Mladen Glavinovic 2,
PMCID: PMC9117592  PMID: 35607652

Abstract

Interest is growing in nanopores as real-time, low-cost, label-free virus size sensors. To optimize their performance, we evaluate how external electric field and ion concentrations and pore wall charges influence currents and object (disk) radius-current relationship using simulations. The physics was described using the Poisson-Nernst-Planck and Navier–Stokes equations. In a charged cylindrical nanopore with a charged disk, elevated external electric field produces higher (and polarity independent) ion concentrations and greater ion current (largely migratory). Elevated external ion concentrations also lead to higher concentrations (mainly away from the pore wall), greater axial electric field especially in the disk-pore wall space, and finally larger current. At low concentrations, current is disk radius independent. The current rises as concentrations increase. Interestingly, the rise is greater for larger disks (except when the pore is blocked mechanically). Smaller cross-sectional area for current flow or volume exclusion of electrolyte by object thus cannot be universally accepted as explanations of current blockage. Ion current rises when pore wall charge density increases, but its direction is independent of charge sign. Current-disk radius relationship is also independent of pore wall charge sign. If the pore wall and disk charges have the same sign, larger current with bigger disk is due to higher counter-ion accumulation in the object-pore wall space. However, if their signs are opposite, it is largely due to elevated axial electric field in the object-pore wall space. Finally in uncharged nanopores, current diminishes when disk radius increases making them better sensors of virus size.

Keywords: Virus detection, Ion current, Pathogens, Cylindrical nanopore, Poisson-Nernst-Planck, Navier–Stokes

Introduction

Micropores have been used for a long time for rapid estimation of cell numbers, size, and “dwell time” (Coulter counter; [1, 2]). Interest in using pores as low-cost, rapid, and label-free estimators of properties of pathogens (such as viruses) is large and growing. However, viruses are smaller than cells and vary in size greatly (from several to several hundred nanometers [3]). Estimating their size–an important descriptor in their classification [4]–thus often requires nanopores. We classify the pore size on a logarithmic scale (with base 10; [5]). If the pore size ranges from 0.1 to 100 nm, it is considered a nanopore, and if it ranges from 0.1 to 100 µm, it is considered a micropore [5]. Nanopores are already used as sensors of single molecules–DNA [69], proteins [1012], peptides [13, 14], and amino acids [15, 16], and solid-state nanopores as diagnostic tools for infectious diseases [17].

In all cases, the “object” size is estimated from a transient and discrete ionic current blockage during its translocation through the pore–the larger the object (and the smaller the cross-sectional area for current flow) the larger the current blockage. This “resistive-pulse method” [18] based on the size-exclusion principle [2] can also yield the shape of objects if pores with irregularities (a pore is considered irregular if its radius changes axially) are used [19, 20]. When an object passes through a pore, it often rotates. If the object is non-spherical, the cross-sectional area for the current flow changes and this leads to current fluctuations that contain information about how non-spherical the object is [21]. When a spherical object rotates, the cross-sectional area for the current flow does not change. Although this method is now used for size and shape characterization of larger viruses [4, 20, 22, 23], it is unclear whether it would be suitable for characterization of smaller viruses using nanopores. However, shape is a powerful descriptor of viruses that vary in their shape greatly and can be globular (coronaviruses), oval shaped (poxviruses), rod-like (as many plant viruses), or head and tail like (bacteriophages) [24].

What is critically important is to understand the relationship between the cross-sectional area for current flow and current. Presently, the “size-exclusion principle” is the most widely held view. Expanding on this notion, it has been argued that the volume exclusion of electrolyte solution by the object also contributes to the current decrease during its translocation [25, 26]. In this study, we challenge these notions as a general explanation of current blockage because ions are as a rule not uniformly distributed within charged pores. Screening charges formed to counterbalance surface charges are concentrated near the pore wall [2729]. Given such charges’ distribution, the current-object size dependence cannot be one of progressive linear decrease, but it is unclear what the relationship is, and what influences it.

The object if charged also induces screening charges within nanopore. It has been suggested that this leads to larger current, partially counterbalancing the current decrease caused by smaller cross-sectional area for current flow and volume exclusion of electrolyte solution by the object, finally producing multi-level current changes [26]. This is an interesting, but a simplistic proposition because charged disk surfaces that may induce such currents will also largely block them mechanically. However, a charged object will affect the electric field (both its radial and axial components) within the nanopore (especially if the disk and the pore wall are charged differently). The radial electric field controls the radial migratory current around the disk and may change the overall axial migratory current in the disk-pore wall space, but it is unclear how and how much. Finally, even an uncharged object changes the electrostatics (and thus electro-kinetics) within the nanopore because it is a low permittivity material (εr,d = 2; [30]) within a highly polarizable core of the nanopore (εr,w = 80; [30]).

The presence of two charged surfaces in close proximity can change ion currents and conductivity greatly. Even a “simple” charge non-uniformity at the pore walls can lead to pronounced changes of ion fluxes [31], pore conductance [32], and current rectification [27, 3235]. In engineering, such nanopores are used as ionic diodes and transistors [3639] or serve as ion filters [29]. A systematic evaluation of how external factors and pore parameters influence the current in a charged cylindrical nanopore with a charged disk is clearly needed.

We evaluate how external electric field and ion concentrations and pore wall charges influence ion currents and disk radius-current relationship. The transport of K+ and Cl was simulated using the Poisson–Nernst–Planck (PNP) equations [40] and was coupled to the transport of water using the Navier–Stokes (NS) equation [41, 42]. The electrostatic-electro-kinetic-hydrodynamic variables (potential, mobile charge density and ion currents) were subsequently evaluated.

Methods

Geometry of Simulation Domain, Parameters, Constants, and Boundary Conditions

Figure 1 gives the simulation space which consists of a cylindrical nanopore, two compartments flanking the nanopore, and a piece of membrane separating the compartments. All subdomains and boundaries are enumerated, and their dimensions are given (Fig. 1A). Figure 1B depicts meshing of the simulation space and Fig. 1C shows its 3D representation. Table 1 lists the electrostatics, electro-kinetics, and fluidics boundary conditions implemented in this study and Table 2 details the parameters and physical constants used. Note that the Poisson equation (i.e., electrostatics) was implemented in all subdomains, whereas the Nernst-Planck equation (i.e., electro-kinetics) and the Navier–Stokes equation (i.e., hydrodynamics) were only defined in subdomain 1 (i.e., electrolyte solution). The finite element method system was used to solve coupled PNP-NS equations (see below). In all simulations, diffusion constants of ions (K+ and Cl) are known [56], but it is not so clear what the values may be in the confined space of the nanopore, where the electrostatic and non-electrostatic interactions with its walls [54] restrict their movement. To simplify the computation, we assumed that both diffusion constants (but also the dielectric constant of water and its viscosity) are homogeneous, isotropic, and the same as in the aqueous solution.

Fig. 1.

Fig. 1

Model geometry. a Hemi-section of the simulation space consisting of 3 subdomains–a cylindrical nanopore, one compartment on each side and a membrane patch separating them. In total, the model has 14 boundaries. Disk was positioned 1.5 nm above the nanopore center; its thickness was 0.5 nm, whereas its radius (ro; subdomain S3) ranged from 0.5 to 3.25 nm. Radius of cylindrical nanopore was 3.5 nm. Other dimensions are given on the figure. The 3D-model is generated by the rotation of the hemi-section about central axis by 360°. All boundary conditions are given in Table 1. b Simulation space meshing. c 3D representation of the simulation space

Table 1.

Boundary conditions

Boundary Hydrodynamics Electrostatics (Poisson’s eqn.) Electrostatics (Laplace’s eqn.) Electro-kinetics
B1, B10 Axial symmetry Axial symmetry Axial symmetry Axial symmetry
B2 and B3 Pressure (pu = 0 Pa); no viscous stress Electric potential Vu (0 V) Electric potential Vu (as specified) K+-Cl (400 mM or as specified)
B4 Not applicable (not in contact with water; NS equation does not apply) Zero charge symmetry (i.e., n·D = 0, D is an electrical displacement vector)a Zero charge symmetry (i.e., n·D = 0, D is an electrical displacement vector)a Not applicable (not in contact with liquid electrolyte; PNP equations do not apply)
B5 and B6 Pressure (pd = 0 Pa); No viscous stress Electric potential Vd (0 V) Electric potential Vd (0 V) K+-Cl (400 mM or as specified)
B7 and B9 No slip Surface charge density σ = 0 C/m2 Not applicableb No flux
B8 No slip Surface charge density σw Not applicableb No flux
B11 Not applicable (not in contact with water; NS equation does not apply) Axial symmetry Axial symmetry Not applicable (not in contact with liquid electrolyte; PNP equations do not apply)
B12-B14 No slip Surface charge density σo Not applicableb No flux

aZero charge symmetry (i.e., n·D = 0) signifies that the normal component of the electric displacement on a given boundary is zero and that there is only a tangential component. Note that D = ε0E + P, where ε0 is permittivity of vacuum, E is electric field and P is polarization

bLaplace’s equation (∇2ϕ = 0) calculates the electric potential (ϕ) due to external electric field. The electric field due to charges (mobile or fixed) is not considered, and relative permittivities play no role. To solve this equation for ϕ, the external electric fields at the upper and lower boundaries (i.e., B2, B3, B5, and B6) are defined, whereas the electric potentials at the internal boundaries (i.e., B7, B8, B9, and B12-B14) are not required. No boundaries effectively exist there when solving Laplace’s equation

Table 2.

Model parameters and physical constants

Params Values Unit Description Refs
T 300.0 K Temperature
R 8.314 J/(mol·K) Universal gas constant [30]
e 1.602 × 10−19 C Elementary charge [30]
DK 1.960 × 10−9 m2/s Diffusion coefficient of K+ ions [56]
DCl 2.030 × 10−9 m2/s Diffusion coefficient of Cl ions [56]
ρ 1.0 × 103 kg/m3 Fluid density [30]
μ 1.0 × 10−3 Pa s Fluid viscosity [30]
ε0 8.854 × 10−12 F/m Permittivity of vacuum [30]
εr,w 80.0 Dimensionless Relative permittivity of water [30]
εr,m 2.0 Dimensionless Relative permittivity of membrane [30]
εr,d 2.0 Dimensionless Relative permittivity of object (disk) [30]

General Formulation of Mathematical Simulations

We used the Nernst-Planck equation to calculate ionic fluxes within a nanopore for both K+ and Cl ions. The Poisson equation was used to compute the electric potential (ψ) due to mobile charges (inside the nanopore and in two compartments flanking it) and fixed charges (on the pore and disk walls; Eq. (1)), while the Laplace’s equation (Eq. (2) calculates the electric potential (ϕ) due to applied external electric field (i.e., the potential difference between the upper and lower controlling edges) as follows:

-ε0εrψ=ρe 1
2ϕ=0 2

where ε0 is the permittivity of vacuum, εr is the relative dielectric constant of a chosen subdomain (as shown in Fig. 1 there are three subdomains in the model; their εrs are given in Table 2), and is the gradient operator. The charge density ρe (mobile) was calculated as follows:

ρe=Fzaca=ezana 3

Note that ca is the molar concentration of each ion in [mol/m3], za is the valence of ion a, na is the number density of ion a, and F is the Faraday constant (9.648 × 104 C/mol). The contribution of fixed charges (σw–pore wall charge density and σo–disk charge density) is included through electrostatic boundary conditions (Table 1). The International System of Units (SI) is used in all simulations, and mol/m3 thus equals to mmol/liter (or simply mM).

The movement (convection–diffusion-migration) of ions in the electrolytic fluid was defined by the Nernst-Planck equation as follows:

Ja=uca-Daca-mazaFcaΦ 4

where Ja is the molar flux in mol/(m2·s), whereas u denotes the fluid velocity calculated by the NS equation. Da and ma represent diffusivity and mobility of ion a, which are related by ma = Da/(RT). R and T account for the universal gas constant (R = 8.314 J/(mol·K)) and absolute temperature in Kelvin, respectively. Finally, Φ denotes the total electric potential, which is the sum of ϕ and ψ.

Equation (5) gives the conservation of ionic mass in a steady-state situation.

Ja=0 5

The Navier–Stokes equation (at steady-state condition), in the presence of external forces, was applied to model fluid velocity as follows:

ρuu=-p+μu+uT+Fe 6
u=0 7

Equation (6) describes the conservation of momentum, whereas Eq. (7) accounts for the conservation of mass. The ρ, μ, and p stand for fluid density, viscosity, and pressure (defined as the isotropic part of the fluidic stress tensor), respectively. The vector u denotes the fluid velocity. Finally, Fe accounts for the electric force per unit volume, calculated as Fe=-ρeΦ.

At nanoscales, the Reynolds number is expected to be very low and fluid flow laminar with negligible inertial effects [43]. Indeed, we find that the Reynolds number is < 0.01, even for the highest water velocity within the nanopore (i.e., very low ensuring that the flow is laminar). Moreover, the nanopore size and the Debye length [44] are comparable. We thus used no-slip condition in all simulations, but a slip condition may be a better choice when the surfaces are strongly hydrophobic. Finally, our choice of a no-slip boundary condition enables us to resolve the flow inside the electric double layer.

Mathematical Model in the Cylindrical Coordinate System

This study uses the cylindrical coordinate system (the 2D r-z plane). The simplified Navier–Stokes equation (note that the velocity and its gradient in the θ−direction are ignored, and there is an axial symmetry in the z−direction) in terms of components of the stress tensor τ are thus as follows:

r-component:ρuur+vuz=-pr-1rrrτrr+τrzz+Fe-r 8
z-component:ρuvr+vvz=-pz-1rrrτrz+τzzz+Fe-z 9

The u and v are the r- and z-components of the fluid velocity, respectively. The τij are the ij-th components of the viscous stress tensor τ, which for the Newtonian fluids in 2D r-z plane (in the cylindrical coordinate system) are defined as:

τrr=-μ2ur-23u 10
τzz=-μ2vz-23u 11
τrz=-μvr+uz 12
whereu=1rrru+vz 13

The electrostatic force is defined as Fe=-ρeΦ, whereas the gradient operator in the cylindrical coordinate system is given by:

Φr=Φr,Φz=Φz 14

When the components of the stress tensor (given in Eqs. (10)–(14)) are substituted into Eqs. (8) and (9) with constants ρ and μ, we obtain Eqs. (15) and (16) describing the Navier–Stokes equation in terms of velocity gradients.

r-component:ρuur+vuz=-pr+μr1rrru+2uz2-ρeΦr 15
z-component:ρuvr+vvz=-pz+μ1rrrvr+2vz2-ρeΦz 16

Finally, note that the divergence operator in Eqs. (1) and (5) is defined as:

J=1rrrJr+Jzz 17

The Jr and Jz are the r- and z- components of vector J.

The system of coupled PNP and NS equations was solved using a finite element method based on a commercial software package COMSOL Multiphysics 4.3 (COMSOL, Burlington, MA, USA), whereas the postprocessing was performed using a MATLAB software package for scientific and engineering computation (MathWorks, Natick, MA, USA).

Results

Effect of External Electric Field on Ion Currents in a Charged Nanopore with a Charged Disk

The color-coded 2D distributions shown on top depict the effect of external axial electric field (Eex) on the axial electric field (Eax), K+ and Cl concentrations (coK and coCl) within the nanopore (Fig. 2). To test whether the mesh sizes are adequately small (note that the mesh size differs depending on the location and is smaller near the disk and close to the edges; Fig. 1), we made some simulations where size was 100% bigger. In each set of 2D distributions, the results with double size mesh are shown as third panels (their Vu was +1 V). This change did not affect the 2D distributions of the Eax, coK, and coCl (Fig. 2). Mesh size is thus adequately fine.

Fig. 2.

Fig. 2

Effect of external electric field on electric field and ion concentrations within a nanopore. External axial electric field (Eex) alters axial electric field (Eax) within a cylindrical nanopore with charged walls and an object (a disk), but also K+ and Cl concentrations (coK and coCl). Disk radius (ro) was 3 nm, charge density at the pore wall (σw) was −160 mC/m2 (this is equivalent to 1 e/nm2), and at the disk (σo), it was +160 mC/m2. Ion concentrations (K+ and Cl) at the controlling edges of the upper (cou) and lower (cod) compartment were 400 mM. The color coded 2D distributions of Eax, coK and coCl are given on top for the voltage at upper controlling edges (Vu) with Vu = −1 V (left panels), +1 V (middle panels) and +1 V but with mesh doubled in size (right panels). In this case and throughout the text the potential (Vd) at the lower controlling edges was 0 V, whereas the pressure at both upper and lower controlling edges was 0 Pa (see Table 1). The calibration bars are as indicated. A, B Radial profiles of K+ concentrations at z = 4 nm (i.e., 2.25 nm above the disk upper surface and from pore center to the wall; coK,u), or at z = 1.5 nm (i.e., from the axial center of the disk to the pore wall; coK,o) and corresponding Cl concentrations (coCl,u and coCl,o). C Radial profiles of Eax,u and Eax,o. D, E Vu dependence of coK,u (and coK,o) and coCl,u (and coCl,o) near the pore wall and in the pore center. F Vu dependence of Eax,u and Eax,o

Radial profiles of the Eax, coK, and coCl above the object-disk (at z = 4 nm which is indicated by the upper horizontal line; Eax,u, coK,u and coCl,u) and in the disk-pore wall space (at the disk’s axial mid-point; i.e., at z = 1.5 nm; Eax,o, coK,o and coCl,o), which are critical for understanding how current is generated and controlled, are also shown. Lower horizontal line depicts the axial midpoint (i.e., z = 0 nm). The coK,u is high in a very narrow space near the (negatively) charged pore wall. In the pore center it is low, but significantly above the value at the controlling edges (upper or lower). The coK,o is similar in value near the pore wall, but is near zero close to the (positively charged) disk. Given that in between the pore and disk walls it differs significantly from the coK,u, there is a significant coK axial gradient in small space near the disk tip. The coCl,u is low near the pore wall and rises towards its center, whereas the coCl,o (also low near the wall) rises to high values near the (positively) charged disk.

Neither the coK,u (and coK,o) nor coCl,u (and coCl,o) radial profiles change significantly, if the Eex is reversed (Fig. 2A, B). However, as can be seen from 2D distributions the panels of cK (and cCl) are not identical if Vu is reversed. The coK,u (and coK,o) and coCl,u (and coCl,o) radial profiles should reveal some differences if different axial positions are chosen. The Eax,u and Eax,o radial profiles (which are quite uniform) change with the Eex reversal. The Eax,o profiles change too but more so (Fig. 2C). Complete Vu dependence reveals that the coK and coCl (near the pore wall and in the pore center) are both qualitatively similar–high at very positive and negative Vus, and low at zero Vu (Fig. 2D, E). The Eax,us however depend on the Vu linearly, but the Eax,os are higher and more Vu-dependent than the Eax,us (Fig. 2F).

All axial current densities–migratory (σI,mig), diffusive (σI,diff) and convective (σI,conv)–are affected by the Eex (Fig. 3). Figure 3A-D show their radial profiles and those of the total current density (σI,tot) for two extreme Vus. The σI,conv,u is confined largely to the spaces near the pore wall (being zero near pore center)–a consequence of the presence of Eax and elevated ion (counter-ion) concentration there that drive the water flow. When water flow changes direction with the Eax reversal the σI,conv,u changes direction too. The σI,diff,u is also prominent near the pore wall and this is due to large coK and coCl axial gradients there (see the difference of coK,u and coK,o (and coCl,u and coCl,o) radial profiles (Fig. 2A, B)). The σI,diff,u profiles do not change significantly if the Eex is reversed, and this is not surprising because the coK and coCl radial profiles do not change either. The σI,mig,u (the largest of all) is however non-zero at any radial distance, and its radial profiles are reversed with Eax reversal. Two factors explain σI,mig,u profiles–non-zero and constant Eax at any radial distance, whose values reverse with Eax reversal, and coK and coCl radial profiles that are essentially insensitive to the Eex reversal (Fig. 2A, B).

Fig. 3.

Fig. 3

Effect of external electric field on ion currents. The color-coded 2D distributions of ion current densities (convective–σI,conv, diffusive–σI,diff, migratory–σI,mig, and total–σI,tot) are given on top for the Vu = −1 V (a; upper panels) or +1 V (b; lower panels; the same simulations as in Fig. 2). The K+ and Cl contributions and their sum are shown separately. The σI,mig is clearly affected and to a lesser extent the σI,conv by Vu change. AD Radial profiles of σI,conv,u, σI,diff,u, σI,mig,u, and σI,tot,u, and σI,conv,o, σI,diff,o, σI,mig,o, and σI,tot for the Vu as indicated. The σI,mig clearly dominates and largely determines the amplitude and the shape of the σI,tot. The Vu-dependence of Iconv,u and Iconv,o (E), Idiff,u and Idiff,o (F), and Imig,u and Imig,o (together with their K+ and Cl contributions; G), and Itot (H). Vu-dependence of the Iconv,u, Idiff,u, Imig,u, and Itot,u in the absence of a disk is also given (as indicated)

The Vu-dependence plots of the Is summarize these findings. The migratory currents (Imig,u and Imig,o), which are the greatest at all Vus, depend linearly on the Vu (Fig. 3E-H). Given that neither the coKs nor coCls change greatly with the Vu (and thus the Eax,u and Eax,o) reversal, and the fact that the Eax changes linearly with the Eex, linear dependence of Imigs is as expected. The K+ contributes the most to the Imig, and this is also as expected–K+ is a counter-ion to the negatively charged pore wall. Note that the Iconv,u and Iconv,o also depend linearly on Vu, unlike the Idiff,u and Idiff,o that do not. Finally, note that if there is no disk the Iconv,u becomes more Vu-dependent whereas the Imig,u and Itot,u become less so. Small and largely Vu-independent Idiff,u becomes even smaller and less Vu-dependent.

Effect of External Ion Concentrations on Currents

If the external K+ and Cl concentrations (they are identical at both sides of the nanopore throughout this study) change, the coK and coCl will also change. How large the change is and where, is important as it influences the Eax and ultimately the current–its all three components. In the presence of an object the change may be difficult to predict. DNA translocation reduces the current compared to the baseline current at high concentration, but at low concentration it increases it [45]. As Fig. 4 shows the effect on the coKs and coCls is qualitatively as expected. The coK,u near (negatively charged) pore wall is high, but changes only moderately. In the pore center it is low but depends more on the external concentrations. Interestingly, it is above the external value (Fig. 4A, D). The coK,o is also low (but not as low as the coK,u) near the pore wall (the disk is positively charged), but rises more as external concentrations increase.

Fig. 4.

Fig. 4

Effect of external ion concentrations on concentrations and electric field within nanopore. Color-coded 2D distributions depict the effect of external ion concentrations on the coK, coCl and Eex within nanopore. The Vu was 1 V, the σw was −160 mC/m2, and the σo was +160 mC/m2. Radial profiles of coK,u and coK,o (A), coCl,u and coCl,o (B), and Eax (C) at external coK and coCl as indicated. Concentration dependence of coK,u and coK,o (D) coCl,u and coCl,o (E) and Eax,u and Eax,o (F) near the pore wall, and in the pore center (or near the disk wall)

The coCl,u and coCl,o are also as expected near zero close to the pore wall, especially when the external concentrations are low. In the pore center, the coCl,u is above the external values (the disk is positively charged) and higher at high external concentrations. Finally, the coCl,o is quite high near the disk and very dependent on external concentration (Fig. 4B, E). In general thus the coCls also rise as the external concentrations increase but those that are the largest (the coCl,o near the disk and the coCl,u near the pore center) rise the most (Fig. 4E). It is intuitively not very obvious how the Eax,u or Eax,o radial profiles may be influenced by the external coK and coCl. As these simulations show they both become more negative at high external K+ and Cl concentration especially in the pore wall-disk space (Fig. 4C, F).

What should σI profiles be given such coK, coCl, and Eax radial profiles? The σI,conv,u which is small and negative near the pore center (but zero at the pore or disk walls; see Sect. 2) has a negative peak near the pore wall. The σI,conv,o peak is also negative but is larger. They both become more negative at higher external concentrations (Fig. 5A). Elevated K+ concentration near positively charged pore wall and positive Vu lead to negative Itot, that drives negative water flow (not shown) and thus negative Iconv, which becomes more negative at high external concentrations, and this remains the case regardless of axial position. The σI,diff,u is positive and elevated near the pore wall but very insensitive to the external concentration change, whereas the σI,diff,o is negative and small but depends on external concentration (Fig. 5B). Positive σI,diff,u is not surprising due to an axial K+ concentration gradient induced by the positive Vu, but it is more difficult to predict what the σI,diff,o would be because of complex cK and cCl distributions in disk-pore wall space. Finally, the σI,mig,u is near zero in the pore center and negative near the pore wall at low concentrations. It becomes negative even in the pore center but especially near the pore wall at high concentrations. This is due to the significantly greater coCl,u throughout nanopore and negative and larger Eax (Fig. 4). The σI,mig,o is negative in the disk-pore wall space at low or high concentrations. This becomes much more so at elevated external concentrations near both the disk and pore wall. Given that the σI,mig is the largest it determines the σI,tot profile (Fig. 5C, D). Finally, note that with no disk the Iconv,u becomes more concentration dependent whereas the Imig,u and Itot,u become less so. Small Idiff,u becomes smaller and essentially concentration independent.

Fig. 5.

Fig. 5

Effect of external ion concentrations on current densities within nanopore. The σI,conv and σI,mig depend significantly on external ion concentrations, but changing the relative error needed to terminate simulations led to no visible change (see text;. see 2D color-coded distributions on top with external concentrations as indicated). Third panels indicate results with relative error reduced by ten times (the same simulations as in Fig. 4). Radial profiles of σI,conv,u, σI,conv,o (A), σI,diff,u and σI,diff,o (B), σI,mig,u and σI,mig,o (C) and σI,tot,u and σI,tot,o (D). Concentration dependence of Iconv,u and Iconv,o (E), Idiff,u and Idiff,o (F) and Imig,u and Imig,o (G) and Itot (H) with K+ and Cl contributions for the selected loci as indicated. Concentration dependence of the Iconv,u, Idiff,u, Imig,u and Itot,u with no disk within nanopore is also shown (as indicated)

How Is depend on external concentrations is sometimes easy to predict, but not always. The total Iconv,u and Iconv,o are small but increasing as the external concentrations rise. They are carried largely by K+ ions concentrated near the negatively charged pore wall (Fig. 5E). The total Idiff,u is small, positive (carried by K+ ions and increasing modestly as the external concentration rises). Interestingly, the total Idiff,o which is even smaller is negative and carried by the Cl ions (Fig. 5F). The Imig,u and Imig,o (the largest at any concentration and which determine the Itot,u and Itot,o), which are negative and almost identical, increase as external concentrations rise (Fig. 5G, H). Finally, we show the 2D distributions with relative error needed to terminate simulations reduced by ten times (third panel in each case). This did not lead to any visible change demonstrating that the chosen relative error is adequately small.

Effect of Pore Wall Charges on Ion Currents

How much do the pore wall charges affect coK and coCl within the nanopore with a charged disk, and what are the consequences for ion currents passing through? If the σw changes from −160 to 0 mC/m2 to +160 mC/m2, the coK and coCl change greatly throughout the nanopore. The changes near the pore wall are as expected. Away from the pore wall, the coK changes little above the disk when σw changes from −160 to 0 mC/m2 but increases significantly when the σw rises to +160 mC/m2. Below the disk the coK decreases to very low levels before rising, but very modestly. Interestingly, the coCl changes similarly both above and below the disk. The σw influences the Eax too but the effect is confined to or near the disk (Fig. 6).

Fig. 6.

Fig. 6

Effect of pore wall charges on concentrations and electric field within nanopore. The coK, coCl, and Eax are all σw dependent (see 2D color-coded distributions on top). The Vu was 1 V, the external coK and coCl were 400 mM, and the σo was +160 mC/m2. Radial profiles of coK,u and coK,o (A), coCl,u and coCl,o (B). C Radial profiles of Eax,u and Eax,o. C1 Radial profiles of Erad with the σw being −160 mC/m2, 0 mC/m2, and +160 mC/m2. The σw dependence of coK,u and coK,o (D), coCl,u and coCl,o (E) and Eax,u and Eax,o at selected loci as indicated

The radial profiles confirm visual impressions. Near the pore wall, the coK,u and coK,o are either high (negative σw), the same as the coK,u in the pore center (zero σw) or low (positive σw). In the pore center, the coK,u is in all cases above the external value but is especially elevated for positive σw–probably an effect of positive Vu (Fig. 6A). The coCl,u near the pore wall is also easy to predict–high near positive wall, zero if it is negative and the same as in the pore center if the σw is zero. In the pore center, it is always above its external value, but higher for positive σw. It is high near the (positively charged) disk but is still influenced by the σw (Fig. 6B). The effect of σw on the Eax is interesting. Whereas the Eax,u is always negative (with flat radial profile), it is more negative for negative σw. Finally, the Eax,o is both much more negative, and much more σw dependent (Fig. 6C). We also evaluated the Erad. If σw changes the Erad,u should also change, and it does from being very near zero at radial distances below 2 nm to very significantly positive beyond (if the σw is negative) or similarly significantly negative (positive σw). If σw is zero, the Erad,u rises to positive but small values (Fig. 6C1).

The σw dependence of coK, coCl, and Eax provides some additional insights. As the σw changes from negative to positive, the coK,u and coK,o decrease from very high to low values near the pore wall, whereas in the pore center the coK,u rises from low values, and near the disk the coK,o remains low (Fig. 6D). In contrast, the coCl,o rises greatly near the disk and pore walls, whereas the coCl,u rises similarly near the pore wall but its rise in the pore center is less pronounced (Fig. 6E). Finally, the Eax,u is negative and not very σw dependent, whereas the Eax,o is much more negative and its σw dependence is complex (Fig. 6F).

The σw effect on σIs is pronounced but some changes are surprising (Fig. 7). The σI,conv,u (zero in the pore center) is negative near the pore wall regardless of σw sign, but more so if the σw is negative. The σI,conv,o is more negative than σI,conv,u for similarly charged pore wall and disk. However, it is positive near the disk and negative near the wall if the σo and σw differ in sign (Fig. 7A). This is not surprising because water movement drives positive and negative ions in the same direction. What the σI,diff radial profiles should be is intuitively less obvious, owing to the spatial complexity of coK and coCl near the disk and pore walls. The σI,diff,u is zero in the pore center, negative near positively charged pore wall, but positive if it is negative. As already discussed this is likely due to the Vu that affects K+ and Cl differently. The σI,diff,o is positive near positively charged pore wall, but negative and small if it is negatively charged (in both cases the disk was positively charged; Fig. 7B). The σI,mig,u is negative at any radial distance but more so near the pore wall (especially if the σw is negative), as is the σI,mig,o which is larger and negative near both the disk and the pore walls regardless of the sign of their charges (Fig. 7C). Negative σI,migs are not surprising given the positive Vu. As expected the σI,tot is similar to that of σI,mig (the σI,conv and σI,diff are much smaller; Fig. 7D).

Fig. 7.

Fig. 7

Effect of pore wall surface charge density (σw) on migratory and convective current densities is significant. See 2D color-coded distributions on top (the same simulations as in Fig. 6). Radial profiles of σI,conv,u and σI,conv,o (A), σI,diff,u and σI,diff,o (B), σI,mig,u and σI,mig,o (C), and σI,tot,u and σI,tot,o (D). The σw and axial distance z were as indicated. Radial profiles of σI,rad,diff (B1), σI,rad,mig (C1) and σI,rad,tot (D1). The σw and axial distance z were as indicated. The σw-dependence of Iconv,u and Iconv,o (E), Idiff,u and Idiff,o(F), Imig,u and Imig,o(G), and Itot (H) at selected loci as indicated. Dependence of the Iconv,u, Idiff,u, Imig,u, and Itot,u on σw in the absence of a disk is also depicted (as indicated)

The radial current densities (σI,rads) just above the upper disk surface (0.25 nm above) were also estimated. If the radial currents are significant, they may contribute to the axial currents in the disk-pore wall space. The σI,rad,convs are small (not shown). The σI,rad,diffs are indeed comparable to σI,diffs. If the σw is negative, the σI,rad,diff is present even at short radial distances and gradually increases near the disk’s tip. If the σw is positive, the σI,rad,diff is smaller and negative up to the disk’s tip, but then it rises to significant and positive values. Interestingly, if the σw is zero, the σI,rad,diff remains significant and negative near the tip (Fig. 7 B1). The σI,rad,migs are also elevated and high near the tip, but they oppose the σI,rad,diffs (Fig. 7 C1). Finally, the σI,rad,tots are moderate, present at any radial distance, rise near the tip, and are insensitive of the σw sign (Fig. 7 D1).

The Imig,u and Imig,o are the largest of all Is and very similar–negative (especially for high σw) and essentially independent of σw sign (Fig. 7G). Both the Iconv,u and Iconv,o are small and depend differently on σw (Fig. 7E), and the same is true for Idiff,u and Idiff,o (Fig. 7F). The Itot,u and Itot,o overlap completely (Fig. 7H). If no disk is present within nanopore, the Iconv,u becomes more σw-dependent. The Imig,u and Itot,u become not only less σw-dependent, but also smaller in value at higher σw regardless of its sign. Finally, the Idiff,u becomes near zero at any σw.

In an Uncharged Nanopore, the Current Magnitude Diminishes as the Disk Size Increases

As already stated, the Itot is the smallest if the σw is near zero. Interestingly in such a case, the ro dependence is qualitatively different. The 2D distributions shown on top compare the σIs, Eax, and coCl for a short and long disk when the σw is zero or positive and significant (i.e., 0 or +160 mC/m2; Fig. 8). It is not evident based on visual observations whether or how Idiffs will differ, when the σw is +160 mC/m2 instead of 0 mC/m2 regardless of disk radius. Both the Iconv and Imig are clearly more negative when the σw is +160 mC/m2 instead of 0 mC/m2 especially near the pore wall. The coCl and Eax distributions are also shown as they illustrate complex coCl (especially near the pore wall) and Eax (in the pore interior) changes that influence different currents. The Cl is depicted because it is a dominant ion within the nanopore (either both the σw and σo are positive or the σo is positive and the σw is zero; Fig. 8).

Fig. 8.

Fig. 8

In a nanopore with an uncharged wall greater disk radius (ro) leads to smaller total ion current. The color-coded 2D distributions of ion current densities (ro was either 0.5 or 3.0 nm) and Cl concentration and Eax (for a disk whose ro was 3.0 nm) are shown on top. The Vu was +1 V, the σo was +160 mC/m2, the external coK and coCl were 400 mM, and the σw was as indicated. A Axial profiles of Eax at 0.25 nm distance from the pore wall. B Corresponding axial profiles of Cl concentration. The ro-dependence of Iconv (C), Idiff (D), Imig (E), and Itot (F) for the σw as indicated

Figure 8A and B give the Eax and coCl axial profiles at the radial mid-point of the disk-pore wall space (i.e., with the rd of 2 nm or 3.25 nm and from z = 1.25 nm to z = 1.75 nm). If the disk is small (ro = 0.5 nm) the axial profiles of both Eax and coCl are constant. Interestingly even in this case their values depend on the σw. If the σw is 0 mC/m2, the Eax is clearly more negative and the coCl is lower. With large disk (ro = 3.0 nm), the Eax is more negative at the lower end especially when the σw is 0 mC/m2but is almost zero at the higher end regardless of the σw. The coCl also changes. It is lower when the σw is 0 mC/m2 especially at the lower end. The Eax and coCl are thus both affected by the σw changes even when the disk is small, but if it is large, they also change significantly axially.

The currents depend also on σw and at all disk radii, but there are important differences. If the σw is zero, the Iconv is also near zero and is largely ro-independent. If the σw is positive, it is negative (having the most negative value for ro of 2 nm). There is very little ion accumulation near uncharged pore wall, but if the wall is positively charged Cl accumulates. Given that the Vu is positive, water will move upwards (not shown) producing a negative Iconv. The Iconv decreases eventually when very large disk blocks almost completely mechanically the water flow and Iconv (Fig. 8C). The Idiffro-dependence is influenced differently by the σw. The Idiff is near zero for small ro regardless of the σw. It rises as the ro increases but more when the σw is 0 mC/m2 (Fig. 8D). Although the coCl is higher when the σw is large and positive, it changes more axially when the σw is 0 mC/m2. When the ro is small, the coCl is not only low but changes very little axially (Fig. 8B). The Imig is negative (and the largest of all Is) if the σw is 0 mC/m2and diminishes in amplitude (as does the Itot) as ro increases (Fig. 8E). It is difficult to give a simple explanation for this change–the Eax does not change overall but becomes highly non-uniform axially and the coCl in fact increases. When the σw is positive (+ 160 mC/m2), the Imig and Itot become more negative with greater ro (except when the disk comes very near the wall; Fig. 8E, F). The most likely explanation is the rise of Cl concentration in the disk-pore wall space (Fig. 8B).

At High External Ion Concentrations, Ion Current is More ro-Dependent

As external concentrations increase the Itot rises (Fig. 5H), but it is unclear whether, and if so how, its ro-dependence may change. The Vu remained +1 V but the σo(+ 160 mC/m2) and σw(− 160 mC/m2) differed in sign (unlike in Fig. 8). At two comparatively low but different external concentrations (20 and 100 mM), the Iconv diminishes as ro increases regardless of external concentrations, but its ro dependence is greater at high concentrations (Fig. 9A). In contrast, the Idiff (also small) rises as ro increases but is concentration independent (Fig. 9B). This is most likely because the axial concentration gradients in the disk-pore wall space–the K+ (near the pore wall) and Cl (near the disk)–increased. Finally, the Imig (the largest current at any ro; Fig. 9D) is not ro-dependent at low concentration but at high concentration it is not only larger, but becomes moderately ro-dependent, rising as ro increases except when the disk gets very near the pore wall (Fig. 9C).

Fig. 9.

Fig. 9

Ion current is more ro-dependent at high ion concentrations. The color-coded 2D distributions of ion current densities (the disk whose radius ro was either 0.5 nm or 3.0 nm) are shown on top. AD The ro dependence of Iconv, Idiff, Imig, and Itot for coK,u and coCl,u of 20 mM or 100 mM. The Vu was +1 V, σo was +160 mC/m2 and σw was −160 mC/m2

Discussion

Background

The size of cells and generally micro-particles traversing through a micro-pore is often evaluated by measuring how much their transit reduces the current [2, 46, 47]. A basic idea is that a bigger cell (which leaves smaller cross-sectional area for the passage of ions) leads to smaller current. The cell shape can also be assessed (with irregular micro-pores) from current fluctuations produced by cell rotation [21]. However, it is still not clear why axial irregularity may be critical in inducing object rotation, whether the object would rotate in nanopores, and whether its rotation would be detectable [1921]. Given that many viruses are at the nanoscale and that thus nanopores will have to be used for their detection a systematic evaluation of what controls the current and current-object size relationship in nanopores is clearly needed.

In this study, we determine using simulations how external factors (electric field and ion concentrations), and pore properties (pore wall charge density) affect the current and object (disk) radius-current relationship in cylindrical nanopores. Three components of axial ionic current are dissected above the disk and in the disk-pore wall space–diffusive (due to concentration gradient; Idiff), convective (due to water movement; Iconv), and migratory (due to electric field; Imig), as each component is controlled differently. Finally, we dissected the corresponding radial currents and estimate them just above the disk. Note that we do not consider osmotic gradient term in the interaction between ions and the fluid. This will be a part of our future study.

Effect of External Electric Field on the Current Flow

The effect of external electric field (Eex) on ion currents was tested in a negatively charged nanopore with a positively charged large disk. The voltages applied at the controlling edges resemble those considered previously (ranging from −1 to +1 V; [48]). Greater Eex leads to a proportionally greater Imig, but much smaller Iconv and Idiff also depend on the Eex. Note that not only at high voltages, but over a wide range of voltages (and thus over a wide range of Eex values), the Imig is the largest current and determines the Itot. At any point within the nanopore, the Imig is determined by two factors: (a) Eax and (b) ion concentrations. We tested the Eex effect above the disk and in the disk-pore wall space. The Eax radial profiles are uniform. The Eax depends (linearly) on the Eex, but its dependence is greater in the pore wall-disk space. As in conically shaped nanopores, the Eex influences the coK and coCl [25, 49, 50], which rise with greater Eex regardless of tested location, and independently of Eex polarity. Finally note that the disk presence within nanopore leads to greater Vu-dependence of the Itot,u (and Imig,u), but that of the Iconv,u diminishes.

Effect of External Ion Concentrations on Ion Currents and Their ro Dependence

External K+ and Cl concentrations influence those within nanopore, but unequally. The concentrations varied over a significant range (from 10 to 400 mM)–i.e., beyond values used experimentally (100–300 mM; [20]), and if they rise, the nanopore concentrations increase. Given that in these simulations the pore wall is negatively charged, and disk is positively charged K+ ions are counter-ions for the pore wall and co-ions for the disk surface. Opposite is the case for Cl ions. As expected near the pore wall, the coK is high (but more so above the disk than in the disk-pore wall space), whereas in the pore center it is low but even lower near the disk in the disk-pore wall space. The coCl is opposite–low near the pore wall above the disk and in the disk-pore wall space. In the pore center, it is high (moderately) but higher near the disk in the disk-pore wall space. As the external concentrations rise, both coK and coCl rise regardless of location tested. The coK increases little near the pore wall above the disk, but more so in the disk-pore wall space. The coCl remains low near the pore wall, but in the pore center and especially near the disk in the disk-pore wall space, it rises significantly.

The Eax was negative (Vu was +1 V and Vd 0 V) except at low external concentrations in the center of the nanopore. It becomes progressively more negative as external concentrations increased, especially in the pore wall-disk space (near the pore wall or the disk). This is not entirely surprising because in that space the ion concentrations change greatly both radially and axially, especially when the disk almost reaches the pore wall. All current components increase–the Imig (the greatest), the Iconv (that adds to the Imig), and the Idiff (that opposes it) owing to elevate charges near the pore wall and greater Eax. The Itot, which is ro independent at low concentration, becomes ro dependent at high concentration, but only modestly. It is also worth pointing that if the disk is present within the nanopore the concentration dependence of the Itot,u and Imig,u rises but that of the Iconv,u diminishes.

Effect of Pore Wall Charges on Ion Concentrations and Currents and Current ro Dependence

In this study, the σw changed from −160 to +160 mC/m2. These values are equivalent to 1 e/nm2–thus equal or beyond those observed biologically or used experimentally. At the surface of biological membranes, the σw has been estimated at 40–160 mC/m2 or 0.25 to 1 e/nm2 [51, 52], and at the surface layer of SiO2 membrane at 26 mC/m2 [53]. As expected the σw influences the ion concentrations greatly near the charged pore wall or disk surfaces. We find it surprising how large the σw influence is throughout the nanopore including in the pore center. It is also notable how different the counter-ion and co-ion concentrations could be above and below the disk. The effect on the Eax is also difficult to predict–pronounced and complex in the disk-pore wall space, but also present though limited above the disk.

How σI radial profiles and corresponding currents should depend on the σw is sometimes possible to assess but not always. As expected the σI,diff and σI,conv are confined near the pore wall regardless of the σw value or its sign. However, the σI,mig, though greater near the pore wall, is not insignificant near the pore center. The σI,mig rises greatly as σw increases but its direction is independent of the σw sign. The Imig-σw relationship is thus almost parabolic. Greater concentration of counter-ions near the pore wall contributes to greater Imig at higher σw. It however does not affect its direction (K+ movement in one direction is the same as Cl movement in the opposite direction). The Eax also changes (especially in the pore wall-disk space) influencing the Imig, but the Eax-σw relationship is complex.

Given that the nanopore does not have current sources or sinks, the Itot has to be independent of where axially it is estimated and it is. The Imig which clearly makes the largest contribution to the Itot should thus depend very little on where they are axially estimated, and that is also the case. On the other hand much smaller Idiff and Iconv may differ significantly depending on where axially they are estimated, and they clearly do. It has been suggested that the (a) presence of an object within nanopore leads to volume exclusion of electrolyte solution thus reducing the axial current flow and (b) charged object induces screening charges leading to larger axial currents, finally producing multi-level current changes [26]. However, this study clearly demonstrates that the Itot,u (and Imig,u) become larger and not smaller (regardless of σw sign) at high σw if disk is present within the nanopore. However, if the σw is low (or zero), the Itot,u (and Imig,u) become smaller.

To show how the σw influences the I-ro relationship we chose two σws (0 and +160 mC/m2). In an uncharged nanopore, the Imig decreases in value (rather than increasing) with greater ro but remains the largest current contribution. The Iconv (negative and small for positive σw) becomes almost zero for all ros. The Idiff is positive and near zero for small ro regardless of σw. It rises in value with greater ro but more so in an uncharged nanopore. Should the Idiff be positive or negative and how should it change in value as the ro rises? Consider the Cl (counter-ion) concentration near the disk in an uncharged pore. It is elevated near the disk but diminishes upwards. It thus produces a positive Idiff. Greater Idiff at larger ro is also not unexpected. Larger ro leads to more fixed (and thus also more mobile) charges. Whereas a positively charged pore would lead to more charges (Cl ions) the axial gradient is likely smaller. Overall, in an uncharged nanopore, the Itot decreases significantly in value with greater ro, instead of increasing modestly as observed when σw is positive and high. A comparison of I-ro relationships with σws that are either negative or positive but high (the σo was +160 mC/m2 in both cases) is also interesting. The Itot-ro relationship depends on the σw value but is largely independent of its sign (i.e., whether the σw and σo have the same or opposite signs). However, if the σw and σo have the same sign, larger Itot at greater ro is due to higher counter-ion accumulation in the object-pore wall space as suggested before [26]. In contrast, if the σw and σo are of opposite sign, similarly greater Itot is largely due to an elevated Eax in that space.

It is clear from the above that the uncharged nanopores would make better sensors of size and shape of nano-size objects (such as viruses). Note also, that in a charged nanopore (and to a lesser extent in an uncharged nanopore too), the Itot is almost ro-independent for ros ranging from 0 to 2–2.5 nm in a 3.5 nm radius nanopore. Suggestions that the Itot block is due to the volume exclusion of electrolyte solution by the object thus cannot be universally accepted. If the object does not get very close (< 1 nm) to the pore wall, it will not reduce the Itot significantly, because the ion current flows largely in 1 nm space near the pore wall.

Our simulations are three-dimensional based on axial symmetry. True three-dimensional simulations can evaluate radially asymmetrical situations whereby one side of the disk is closer to the pore wall than the opposite side. Given that the Itot depends relatively little on the ro the Itot should not depend greatly on how asymmetrical the radial position of the disk is. The cross-sectional area for the current flow remains constant. However, if the disk is positioned non-centrally (i.e., if it is axially asymmetrical), the Itot changes. It diminishes linearly if the disk is positioned more upwardly (15 nm change in axial position leads to Itot reduction of 39%; not shown).

Comment on Continuum Poisson-Nernst-Planck and Navier–Stokes Simulations

Continuum PNP-NS simulations do not capture all features of the nanopore ion and water system. As shown by the molecular dynamics simulations water density and viscosity are greater near the pore wall due to non-electrostatic (described by Lennard–Jones potentials) and electrostatic interactions [54], whereas the Navier–Stokes equations assume that the water is incompressible. The ions are also layered near the pore wall and show a peak near, but not at its surface, because the ions cannot get closer to the surface than an ionic radius [54]. This is also not predicted by the continuum simulations. Nevertheless, most properties of the nanopore ion and water system are well described by the continuum PNP-NS equations for water and ion transport [55].

Conclusions

In a charged cylindrical nanopore with a charged disk elevated Eex leads to higher Eax, coK, coCl, and Itot (which is largely determined by the Imig regardless of the Eex value). The coK and coCl rise (estimated above the disk or in the disk-pore wall space) is largely Eex polarity independent. The Itot also rises with greater σw and interestingly it is σw sign independent. If the σw and σo have the same sign, larger Itot is due to higher counter-ion accumulation in the object-pore wall space, but if their signs are opposite similarly larger Itot is mainly due to greater Eax in the object-pore wall space. Elevated external ion concentrations lead to greater coK and coCl (mainly away from the pore wall), raise the Eax (especially in the disk-pore wall space), and lead to larger Itot. The Itot is not ro-dependent at low concentrations, but at high concentrations it is, though only modestly. Surprisingly, at high concentrations the Itot rises modestly when disk becomes bigger. Regardless of external concentrations the Itot depends very little on the ro if it is < 2 nm. The ro-independence of Itot for small disks is not surprising because the current flow is largely confined to the space near the pore wall. Smaller cross-sectional area for current flow (size-exclusion principle) or volume exclusion of electrolyte solution by the object thus cannot be universally accepted as explanations of current blockage. However, the radial currents near the charged disk surface due to screening charges and Erad can contribute to axial currents. Finally, if the pore wall is uncharged, the Itot diminishes significantly as ro increases due to progressively smaller Imig, and larger Idiff, which opposes it. Though smaller than the Imig, the Idiff is not insignificant.

Author Contribution

MIG: conceptualization, simulations, analysis, and writing. MT: model development and writing.

Funding

This work was supported by the grant from the Natural Sciences and Engineering Research Council of Canada to M.I.G (Grant no. 24776).

Declarations

Ethics Approval

Not applicable.

Competing Interests

The authors declare no competing interests.

Footnotes

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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