Microneedle technology has undergone a paradigm shift from basic transdermal drug delivery to intelligent,closed-loop theranostic systems.Hydrogel materials have emerged as core carriers due to their excellent biocomp...Microneedle technology has undergone a paradigm shift from basic transdermal drug delivery to intelligent,closed-loop theranostic systems.Hydrogel materials have emerged as core carriers due to their excellent biocompatibility,efficient drug loading capacity,and improved patient compliance.Moreover,critical bottlenecks in hydrogel microneedles,including poor mechanical strength,burst release of drugs,and delayed response to treatment,can be addressed via cross-scale integration of nanomaterials.This review systematically outlines several multiscale engineering strategies to overcome these limitations.The construction of nanotopological networks coupled with dynamic crosslinking modulation synergistically enhances the mechanical properties,stability of drug loading,and conductivity of hydrogel microneedles.Furthermore,responsive nanocarriers equipped with biosensors help establish a closed-loop linkage between monitoring and therapeutic functions.We highlight their synergistic theranostic advantages in scenarios such as wound regulation and tumor-immune microenvironments,while revealing the role in integrating flexible electronics with wearable systems in intelligent medicine.We also summarize the research advances on the biosafety and scalable manufacturing processes of nanocomposite hydrogel m icroneedles(NHMNs),providing examples of clinical translation to elucidate the path from fundamental research to industrial implementation.As a convergence of nanotechnology,biomaterials,and flexible electronics,NHMNs provide new standards for transdermal theranostics as well as a roadmap for iterative advancement of intelligent theranostic devices in personalized medicine.Their cross-scale collaborative design,which spans from the properties of materials to the functional integration of macroscopic devices,can facilitate potential breakthroughs in next-generation closed-loop theranostic systems.展开更多
Prosthetic devices designed to assist individuals with damaged or missing body parts have made significant strides,particularly with advancements in machine intelligence and bioengineering.Initially focused on movemen...Prosthetic devices designed to assist individuals with damaged or missing body parts have made significant strides,particularly with advancements in machine intelligence and bioengineering.Initially focused on movement assistance,the field has shifted towards developing prosthetics that function as seamless extensions of the human body.During this progress,a key challenge remains the reduction of interface artifacts between prosthetic components and biological tissues.Soft electronics offer a promising solution due to their structural flexibility and enhanced tissue adaptability.However,achieving full integration of prosthetics with the human body requires both artificial perception and efficient transmission of physical signals.In this context,synaptic devices have garnered attention as next-generation neuromorphic computing elements because of their low power consumption,ability to enable hardware-based learning,and high compatibility with sensing units.These devices have the potential to create artificial pathways for sensory recognition and motor responses,forming a“sensory-neuromorphic system”that emulates synaptic junctions in biological neurons,thereby connecting with impaired biological tissues.Here,we discuss recent developments in prosthetic components and neuromorphic applications with a focus on sensory perception and sensorimotor actuation.Initially,we explore a prosthetic system with advanced sensory units,mechanical softness,and artificial intelligence,followed by the hardware implementation of memory devices that combine calculation and learning functions.We then highlight the importance and mechanisms of soft-form synaptic devices that are compatible with sensing units.Furthermore,we review an artificial sensory-neuromorphic perception system that replicates various biological senses and facilitates sensorimotor loops from sensory receptors,the spinal cord,and motor neurons.Finally,we propose insights into the future of closed-loop neuroprosthetics through the technical integration of soft electronics,including bio-integrated sensors and synaptic devices,into prosthetic systems.展开更多
Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the p...Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the pushing force acting on the wellbore in different sizes and directions within a circular range,ultimately allowing the wellbore trajectory to be drilled in a predetermined direction.By analyzing its mathematical principles and the actual characteristics of the instrument,a vector force closed-loop control method,including steering and holding modes,was designed.The adjustment criteria for the three hydraulic modules are determined to achieve rapid adjustment of the vector force.The theoretical feasibility of the developed method was verified by comparing its results with the on-site application data of an imported rotary guidance system.展开更多
Conventional open-loop deep brain stimulation(DBS)systems with fixed parameters fail to accommodate interindividual pathological differences in Parkinson's disease(PD)management while potentially inducing adverse ...Conventional open-loop deep brain stimulation(DBS)systems with fixed parameters fail to accommodate interindividual pathological differences in Parkinson's disease(PD)management while potentially inducing adverse effects and causing excessive energy consumption.In this paper,we present an adaptive closed-loop framework integrating a Yogi-optimized proportional–integral–derivative neural network(Yogi-PIDNN)controller.The Yogi-augmented gradient adaptation mechanism accelerates the convergence of general PIDNN controllers in high-dimensional nonlinear control systems while reducing control energy usage.In addition,a system identification method establishes input–output dynamics for pre-training stimulation waveforms,bypassing real-time parameter-tuning constraints and thereby enhancing closed-loop adaptability.Finally,a theoretical analysis based on Lyapunov stability criteria establishes a sufficient condition for closed-loop stability within the identified model.Computational validations demonstrate that our approach restores thalamic relay reliability while reducing energy consumption by(81.0±0.7)%across multi-frequency tests.This study advances adaptive neuromodulation by synergizing data-driven pre-training with stability-guaranteed real-time control,offering a novel framework for energy-efficient and personalized Parkinson's therapy.展开更多
This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working...This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.展开更多
A novel closed-loop control strategy of a silicon microgyroscope （SMG） is proposed. The SMG is sealed in metal can package in drive and sense modes and works under the air pressure of 10 Pa. Its quality factor reach...A novel closed-loop control strategy of a silicon microgyroscope （SMG） is proposed. The SMG is sealed in metal can package in drive and sense modes and works under the air pressure of 10 Pa. Its quality factor reaches greater than l0 000. Self-oscillating and closed-loop methods based on electrostatic force feedback are adopted in both measure and control circuits. Both single side driving and sensing methods are used to simplify the drive circuit. These dual channel decomposition and reconstruction closed loops are applied in sense modes. The testing results demonstrate that useful signals and guadrature signals do not interact with each other because of the decoupling of their phases. Under the condition of a scale factor of 9. 6 mV/（（°） .s）, in a full measurement range of±300 （°）/s, the zero bias stability reaches 28 （°）/h with a nonlinear coefficient of 400 × 10^-6 and a simulated bandwidth of more than 100 Hz. The overall performance is improved by two orders of magnitude in comparison to that at atmospheric pressure.展开更多
Wearable ultrasound devices represent a transformative advancement in therapeutic applications,offering noninvasive,continuous,and targeted treatment for deep tissues.These systems leverage flexible materials(e.g.,pie...Wearable ultrasound devices represent a transformative advancement in therapeutic applications,offering noninvasive,continuous,and targeted treatment for deep tissues.These systems leverage flexible materials(e.g.,piezoelectric composites,biodegradable polymers)and conformable designs to enable stable integration with dynamic anatomical surfaces.Key innovations include ultrasound-enhanced drug delivery through cavitation-mediated transdermal penetration,accelerated tissue regeneration via mechanical and electrical stimulation,and precise neuromodulation using focused acoustic waves.Recent developments demonstrate wireless operation,real-time monitoring,and closed-loop therapy,facilitated by energy-efficient transducers and AI-driven adaptive control.Despite progress,challenges persist in material durability,clinical validation,and scalable manufacturing.Future directions highlight the integration of nanomaterials,3D-printed architectures,and multimodal sensing for personalized medicine.This technology holds significant potential to redefine chronic disease management,postoperative recovery,and neurorehabilitation,bridging the gap between clinical and home-based care.展开更多
Recovering LiFePO_(4) extraction slag(LES)-the FePO_(4)-rich residue formed after Li leaching from spent LiFePO_(4)-has become pivotal to minimizing resource losses,mitigating environmental risks,and advancing circula...Recovering LiFePO_(4) extraction slag(LES)-the FePO_(4)-rich residue formed after Li leaching from spent LiFePO_(4)-has become pivotal to minimizing resource losses,mitigating environmental risks,and advancing circularity in lithium-ion battery value chains.However,integrative frameworks that link closed-loop routes(returning to battery precursors/cathodes)with non-closed-loop upcycling are still limited,constraining process optimization and scale-up.This review synthesizes current progress in LES recycling with emphasis on maximizing recovery efficiency and product value.In closed-loop pathways,hydrometallurgical purification removes impurities to yield battery-grade FePO_(4) as an LiFePO_(4) precursor,while direct relithiation(e.g.,solid-state sintering aided by Li sources and reductants)restores Li and reduces Fe^(3+)to Fe^(2+),thereby regenerating LiFePO_(4) cathodes from LES.In non-closed-loop pathways,compositionally guided upcycling converts LES into advanced materials(e.g.,high-performance electrodes,highcapacity adsorbents),thereby broadening the techno-economic value propositions.We also distill lessons from early industrial practice,identifying constraints arising from feedstock variability,energy-cost coupling(thermal/chemical utilities),and product-quality assurance(battery-grade specifications).Finally,we map research directions-including data-driven feed characterization and process control,defecthealing relithiation strategies and interfacial engineering,quality grading and market pathways,and multi-scenario deployment-to enhance the technical and economic sustainability of LES recycling and accelerate its contribution to a circular battery economy.展开更多
Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predica...Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures,existing direct generation approaches exhibit severe performance degradation.This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement.The system implements a complete generate-verify-repair cycle through six core processing components:semantic comprehension extracts structural constraints,language planner generates text plans,symbol translator performs structure-preserving mapping,consistency checker conducts static screening,Stanford Research Institute Problem Solver(STRIPS)simulator executes step-by-step validation,and VAL(Validator)provides semantic verification.A repair controller orchestrates four targeted strategies addressing typical failure patterns including first-step precondition errors andmid-segment statemaintenance issues.Comprehensive evaluation on PlanBench Mystery Blocksworld demonstrates substantial improvements over baseline approaches across both language models and reasoning models.Ablation studies confirm that each architectural component contributes non-redundantly to overall effectiveness,with targeted repair providing the largest impact,followed by deep constraint extraction and stepwise validation,demonstrating that superior performance emerges from synergistic integration of these mechanisms rather than any single dominant factor.Analysis reveals distinct failure patterns betweenmodel types—languagemodels struggle with local precondition satisfaction while reasoning models face global goal achievement challenges—yet the validation-driven mechanism successfully addresses these diverse weaknesses.A particularly noteworthy finding is the convergence of final success rates across models with varying intrinsic capabilities,suggesting that systematic validation and repair mechanisms play a more decisive role than raw model capacity in lexical-prior-free scenarios.This work establishes a rigorous evaluation framework incorporating statistical significance testing and mechanistic failure analysis,providingmethodological contributions for fair assessment and practical insights into building reliable planning systems under extreme constraint conditions.展开更多
To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative t...To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.展开更多
Recycling spent lithium-ion(Li+)batteries is critical for achieving environmental conservation and the strategic recovery of essential resources.Compared with conventional methods for recovering cathode materials,whic...Recycling spent lithium-ion(Li+)batteries is critical for achieving environmental conservation and the strategic recovery of essential resources.Compared with conventional methods for recovering cathode materials,which are energy-intensive and prone to secondary pollution,the direct regeneration approach has emerged as a rapid and highly efficient method,gaining widespread attention in recent years.However,this approach faces major challenges,including degraded electrochemical performances and limited economic value.This study,therefore,proposes a high-value direct regeneration strategy to convert degraded spent LiFePO_(4)(S-LFP)into a gradient manganese(Mn)-doped regenerated LiFe_(0.7)Mn_(0.3)PO_(4)/C(R-LFMP)composite.This method leverages the inherent microcracks and Li vacancies present in S-LFP,likely acting as diffusion channels for the Mn^(2+)/Li^(+)ions.Through a two-step mechanochemical ball-milling and carbothermal reduction process,this approach achieves simultaneous Li replenishment and surface-localised Mn gradient doping with enhanced structural control.Notably,the R-LFMP exhibits an exceptional electrochemical performance.At 0.1 C,it delivers a discharge capacity of 161.4 mA h g^(−1)and an energy density of 563.5 Wh kg^(−1)(representing a 60.5%improvement over S-LFP).Additionally,it maintains 83%capacity retention after 900 cycles at 0.5C,a considerable enhancement compared to commercial LFMP(62%).Furthermore,the regenerated cathode material generates a net profit of$7.102 kg^(−1),surpassing the profitability of conventional recycling methods by 90%.Overall,this study introduces a transformative and sustainable LFP regeneration technology,achieving breakthroughs in electrochemical restoration and high-value recycling,while paving the way for the closed-loop utilisation of LFP-based energy storage systems.展开更多
Owing to the presence of a low-energy,long-lived nuclear isomeric state,^(229)Th is an ideal candidate for developing the next generation clock—the nuclear clock—holding great promise for both applied and fundamenta...Owing to the presence of a low-energy,long-lived nuclear isomeric state,^(229)Th is an ideal candidate for developing the next generation clock—the nuclear clock—holding great promise for both applied and fundamental physics.The^(229)Th ionic nuclear optical clock has garnered considerable attention,attributed to its high precision with a relative uncertainty of≤1.5×10^(-19)and the potential for common-mode noise cancellation via self-comparison between the nuclear transition and the electronic transition of thorium ions.In this article,we focus on Th^(n+)ions(n=1,2,3)and present a comprehensive review of the current progress in the development of ionic nuclear clocks,covering essential steps such as ion generation,trapping,and cooling.Furthermore,we discuss the realization of a closed-loop clock cycle,addressing key aspects including stable isomer excitation and efficient isomer deexcitation.展开更多
Efficient recycling technology for the rapid growth of spent lithium-ion batteries(LIBs)is essential to tackle the resources and environmental crisis.Hydrometallurgical approach has attracted extensive research due to...Efficient recycling technology for the rapid growth of spent lithium-ion batteries(LIBs)is essential to tackle the resources and environmental crisis.Hydrometallurgical approach has attracted extensive research due to its potential to reduce the consumption of energy and threat to the environment.However,the simultaneous realization of green,efficient and closed-loop recycling is still challenging.Herein,we report a closed-loop and highly efficient approach to recycle lithium cobalt oxide from spent LIBs based on a choline chloride:oxalic acid(ChCl:OA)type deep eutectic solvent(DES).An ultrafast leaching process is observed at 180°C for 10 s with no observable residues.The energy barrier during leaching is calculated to be 113.9 kJ/mol.Noteworthy,the solubility of cobalt ions can be reversibly tuned by simply adding/evaporating deionized water,thus avoiding the addition of precipitant and enabling the easy recovery of the leaching solvent for realizing a closed-loop recycling process.The simultaneous realization of high efficiency,green and closed-loop process is expected to push the DES into practical application for recycling the electrodes of LIBs.展开更多
Worm grinding has been applied to manufacture gears to pursue high accuracy and fine surface finish.When the worm used to grind face gears is manufactured with multi-axis computer numerical control(CNC)machining,the m...Worm grinding has been applied to manufacture gears to pursue high accuracy and fine surface finish.When the worm used to grind face gears is manufactured with multi-axis computer numerical control(CNC)machining,the machining accuracy is usually improved by increasing the number of tool paths with more time cost.Differently,this work proposes a generated method to improve the efficiency by dressing the worm surface with only one path,and a closed-loop manufacturing process is applied to ensure the machining accuracy.According to an advanced geometric analysis,the worm surface is practically approximated as a swept surface generated by a planar curve.Meanwhile,this curve is applied as the profile of a dressing wheel,which is used to dress the worm surface.The practical machining is carried out in a CNC machine tool,which was originally used to grind helical gears.Finally,a closed-loop manufacturing process including machining,measurement,and modification is proposed to compensate the machining errors.The proposed method is validated with simulations and practical experiments.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of c...As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of closed-loop supply chain was selected as fitness function, and a unique and tidy coding mode was adopted in the proposed algorithm. Then, some mutation and crossover operators were introduced to achieve discrete optimization of RCSCN structure. The simulation results show that the proposed algorithm can gain global optimal solution with good convergent performance and rapidity. The computing speed is only 22.16 s, which is shorter than those of the other optimization algorithms.展开更多
Maneuverability is a key factor to determine whether a helicopter could finish certain flight missions successfully or not. Inverse simulation is commonly used to calculate the pilot controls of a helicopter to comple...Maneuverability is a key factor to determine whether a helicopter could finish certain flight missions successfully or not. Inverse simulation is commonly used to calculate the pilot controls of a helicopter to complete a certain kind of maneuver flight and to assess its maneuverability.A general method for inverse simulation of maneuver flight for helicopters with the flight control system online is developed in this paper. A general mathematical describing function is established to provide mathematical descriptions of different kinds of maneuvers. A comprehensive control solver based on the optimal linear quadratic regulator theory is developed to calculate the pilot controls of different maneuvers. The coupling problem between pilot controls and flight control system outputs is well solved by taking the flight control system model into the control solver. Inverse simulation of three different kinds of maneuvers with different agility requirements defined in the ADS-33 E-PRF is implemented based on the developed method for a UH-60 helicopter. The results show that the method developed in this paper can solve the closed-loop inverse simulation problem of helicopter maneuver flight with high reliability as well as efficiency.展开更多
The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-...The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.展开更多
Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. Th...Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.展开更多
基金supported by the National Key R esearch and Development Program of China(No.2023YFF0724300)the National Natural Science Foundation of China(No.32171373)+1 种基金the Fundamental Research Funds for the Central Universities(No.YG2025QNB08)the Natural Science Foundation of Shanghai(No.23ZR1414500).
文摘Microneedle technology has undergone a paradigm shift from basic transdermal drug delivery to intelligent,closed-loop theranostic systems.Hydrogel materials have emerged as core carriers due to their excellent biocompatibility,efficient drug loading capacity,and improved patient compliance.Moreover,critical bottlenecks in hydrogel microneedles,including poor mechanical strength,burst release of drugs,and delayed response to treatment,can be addressed via cross-scale integration of nanomaterials.This review systematically outlines several multiscale engineering strategies to overcome these limitations.The construction of nanotopological networks coupled with dynamic crosslinking modulation synergistically enhances the mechanical properties,stability of drug loading,and conductivity of hydrogel microneedles.Furthermore,responsive nanocarriers equipped with biosensors help establish a closed-loop linkage between monitoring and therapeutic functions.We highlight their synergistic theranostic advantages in scenarios such as wound regulation and tumor-immune microenvironments,while revealing the role in integrating flexible electronics with wearable systems in intelligent medicine.We also summarize the research advances on the biosafety and scalable manufacturing processes of nanocomposite hydrogel m icroneedles(NHMNs),providing examples of clinical translation to elucidate the path from fundamental research to industrial implementation.As a convergence of nanotechnology,biomaterials,and flexible electronics,NHMNs provide new standards for transdermal theranostics as well as a roadmap for iterative advancement of intelligent theranostic devices in personalized medicine.Their cross-scale collaborative design,which spans from the properties of materials to the functional integration of macroscopic devices,can facilitate potential breakthroughs in next-generation closed-loop theranostic systems.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korean government(MSIT)(No.2020R1C1C1005567)supported by the NAVER Digital Bio Innovation Research Fund,funded by NAVER Corporation(Grant No.[37-2023-0040])+3 种基金supported by Institute of Information&communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(No.2020-0-00261,Development of low power/low delay/self-power suppliable RF simultaneous information and power transfer system and stretchable electronic epineurium for wireless nerve bypass implementation)supported by Institute for Basic Science(IBS-R015-D1,IBSR015-D2)supported by a grant of the Korea-US Collaborative Research Fund(KUCRF)funded by the Ministry of Science and ICT and Ministry of Health&Welfare,Republic of Korea(Grant Number.RS-2024-00467213)。
文摘Prosthetic devices designed to assist individuals with damaged or missing body parts have made significant strides,particularly with advancements in machine intelligence and bioengineering.Initially focused on movement assistance,the field has shifted towards developing prosthetics that function as seamless extensions of the human body.During this progress,a key challenge remains the reduction of interface artifacts between prosthetic components and biological tissues.Soft electronics offer a promising solution due to their structural flexibility and enhanced tissue adaptability.However,achieving full integration of prosthetics with the human body requires both artificial perception and efficient transmission of physical signals.In this context,synaptic devices have garnered attention as next-generation neuromorphic computing elements because of their low power consumption,ability to enable hardware-based learning,and high compatibility with sensing units.These devices have the potential to create artificial pathways for sensory recognition and motor responses,forming a“sensory-neuromorphic system”that emulates synaptic junctions in biological neurons,thereby connecting with impaired biological tissues.Here,we discuss recent developments in prosthetic components and neuromorphic applications with a focus on sensory perception and sensorimotor actuation.Initially,we explore a prosthetic system with advanced sensory units,mechanical softness,and artificial intelligence,followed by the hardware implementation of memory devices that combine calculation and learning functions.We then highlight the importance and mechanisms of soft-form synaptic devices that are compatible with sensing units.Furthermore,we review an artificial sensory-neuromorphic perception system that replicates various biological senses and facilitates sensorimotor loops from sensory receptors,the spinal cord,and motor neurons.Finally,we propose insights into the future of closed-loop neuroprosthetics through the technical integration of soft electronics,including bio-integrated sensors and synaptic devices,into prosthetic systems.
基金supported by the Opening Foundation of China National Logging Corporation(CNLC20229C06)the China Petroleum Technical Service Corporation's science project'Development and application of 475 rotary steering system'(2024T-001001)。
文摘Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the pushing force acting on the wellbore in different sizes and directions within a circular range,ultimately allowing the wellbore trajectory to be drilled in a predetermined direction.By analyzing its mathematical principles and the actual characteristics of the instrument,a vector force closed-loop control method,including steering and holding modes,was designed.The adjustment criteria for the three hydraulic modules are determined to achieve rapid adjustment of the vector force.The theoretical feasibility of the developed method was verified by comparing its results with the on-site application data of an imported rotary guidance system.
基金supported by the National Natural Science Foundation of China(Grant Nos.12372064 and 12172291)the Youth and Middle-Aged Science and Technology Development Program of Shanghai Institute of Technology(Grant No.ZQ2024-10)。
文摘Conventional open-loop deep brain stimulation(DBS)systems with fixed parameters fail to accommodate interindividual pathological differences in Parkinson's disease(PD)management while potentially inducing adverse effects and causing excessive energy consumption.In this paper,we present an adaptive closed-loop framework integrating a Yogi-optimized proportional–integral–derivative neural network(Yogi-PIDNN)controller.The Yogi-augmented gradient adaptation mechanism accelerates the convergence of general PIDNN controllers in high-dimensional nonlinear control systems while reducing control energy usage.In addition,a system identification method establishes input–output dynamics for pre-training stimulation waveforms,bypassing real-time parameter-tuning constraints and thereby enhancing closed-loop adaptability.Finally,a theoretical analysis based on Lyapunov stability criteria establishes a sufficient condition for closed-loop stability within the identified model.Computational validations demonstrate that our approach restores thalamic relay reliability while reducing energy consumption by(81.0±0.7)%across multi-frequency tests.This study advances adaptive neuromodulation by synergizing data-driven pre-training with stability-guaranteed real-time control,offering a novel framework for energy-efficient and personalized Parkinson's therapy.
基金supported by Liaoning Provincial Department of Education 2023 Basic Research Projects for Universities and Colleges(Grant No.JYTQN2023131)Liaoning Provincial Science and Technology Program:Cooperative Control and Recognition of Unmanned Vessels for Fishing Vessel Operation Scenarios(Grant No.600024003)Liaoning Provincial Department of Education Scientific Research Funding Project(Grant No.LJKZ0726).
文摘This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.
基金The National High Technology Research and Development Program of China (863Program)(No.2002AA812038)the National Defense Pre-Research Support Program (No.41308050109)
文摘A novel closed-loop control strategy of a silicon microgyroscope （SMG） is proposed. The SMG is sealed in metal can package in drive and sense modes and works under the air pressure of 10 Pa. Its quality factor reaches greater than l0 000. Self-oscillating and closed-loop methods based on electrostatic force feedback are adopted in both measure and control circuits. Both single side driving and sensing methods are used to simplify the drive circuit. These dual channel decomposition and reconstruction closed loops are applied in sense modes. The testing results demonstrate that useful signals and guadrature signals do not interact with each other because of the decoupling of their phases. Under the condition of a scale factor of 9. 6 mV/（（°） .s）, in a full measurement range of±300 （°）/s, the zero bias stability reaches 28 （°）/h with a nonlinear coefficient of 400 × 10^-6 and a simulated bandwidth of more than 100 Hz. The overall performance is improved by two orders of magnitude in comparison to that at atmospheric pressure.
基金the support from the start-up of the University of Missouri-Columbia。
文摘Wearable ultrasound devices represent a transformative advancement in therapeutic applications,offering noninvasive,continuous,and targeted treatment for deep tissues.These systems leverage flexible materials(e.g.,piezoelectric composites,biodegradable polymers)and conformable designs to enable stable integration with dynamic anatomical surfaces.Key innovations include ultrasound-enhanced drug delivery through cavitation-mediated transdermal penetration,accelerated tissue regeneration via mechanical and electrical stimulation,and precise neuromodulation using focused acoustic waves.Recent developments demonstrate wireless operation,real-time monitoring,and closed-loop therapy,facilitated by energy-efficient transducers and AI-driven adaptive control.Despite progress,challenges persist in material durability,clinical validation,and scalable manufacturing.Future directions highlight the integration of nanomaterials,3D-printed architectures,and multimodal sensing for personalized medicine.This technology holds significant potential to redefine chronic disease management,postoperative recovery,and neurorehabilitation,bridging the gap between clinical and home-based care.
基金financially supported by the National Key Research and Development Program of China(Nos.2023YFC3904800)the National Outstanding Young Scientists Fund(No.52125002)+6 种基金the National Science Foundation of China(No.22476073 and U24A20194)the Key Project of Jiangxi Provincial Research and Development Program(Nos.20223BBG74006and 20243BBI91001)the Jiangsu Special Fund on Technology Innovation of Carbon Dioxide Peaking and Carbon Neutrality(No.BT2024011)the China Postdoctoral Science Foundation(Nos.2024M751282 and 2025T180353)the“Thousand Talents Program”of Jiangxi Province(S2021GDQN2161)the Key Project of Ganzhou City Research and Development Program(No.2023PGX17350)the Key Laboratory of Jiangxi Province for Functional Biology and Pollution Control in Red Soil Regions(No.2023SSY02051)。
文摘Recovering LiFePO_(4) extraction slag(LES)-the FePO_(4)-rich residue formed after Li leaching from spent LiFePO_(4)-has become pivotal to minimizing resource losses,mitigating environmental risks,and advancing circularity in lithium-ion battery value chains.However,integrative frameworks that link closed-loop routes(returning to battery precursors/cathodes)with non-closed-loop upcycling are still limited,constraining process optimization and scale-up.This review synthesizes current progress in LES recycling with emphasis on maximizing recovery efficiency and product value.In closed-loop pathways,hydrometallurgical purification removes impurities to yield battery-grade FePO_(4) as an LiFePO_(4) precursor,while direct relithiation(e.g.,solid-state sintering aided by Li sources and reductants)restores Li and reduces Fe^(3+)to Fe^(2+),thereby regenerating LiFePO_(4) cathodes from LES.In non-closed-loop pathways,compositionally guided upcycling converts LES into advanced materials(e.g.,high-performance electrodes,highcapacity adsorbents),thereby broadening the techno-economic value propositions.We also distill lessons from early industrial practice,identifying constraints arising from feedstock variability,energy-cost coupling(thermal/chemical utilities),and product-quality assurance(battery-grade specifications).Finally,we map research directions-including data-driven feed characterization and process control,defecthealing relithiation strategies and interfacial engineering,quality grading and market pathways,and multi-scenario deployment-to enhance the technical and economic sustainability of LES recycling and accelerate its contribution to a circular battery economy.
基金supported by the Information,Production and Systems Research Center,Waseda University,and partly supported by the Future Robotics Organization,Waseda Universitythe Humanoid Robotics Institute,Waseda University,under the Humanoid Project+1 种基金the Waseda University Grant for Special Research Projects(grant numbers 2024C-518 and 2025E-027)was partly executed under the cooperation of organization between Kioxia Corporation andWaseda University.
文摘Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures,existing direct generation approaches exhibit severe performance degradation.This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement.The system implements a complete generate-verify-repair cycle through six core processing components:semantic comprehension extracts structural constraints,language planner generates text plans,symbol translator performs structure-preserving mapping,consistency checker conducts static screening,Stanford Research Institute Problem Solver(STRIPS)simulator executes step-by-step validation,and VAL(Validator)provides semantic verification.A repair controller orchestrates four targeted strategies addressing typical failure patterns including first-step precondition errors andmid-segment statemaintenance issues.Comprehensive evaluation on PlanBench Mystery Blocksworld demonstrates substantial improvements over baseline approaches across both language models and reasoning models.Ablation studies confirm that each architectural component contributes non-redundantly to overall effectiveness,with targeted repair providing the largest impact,followed by deep constraint extraction and stepwise validation,demonstrating that superior performance emerges from synergistic integration of these mechanisms rather than any single dominant factor.Analysis reveals distinct failure patterns betweenmodel types—languagemodels struggle with local precondition satisfaction while reasoning models face global goal achievement challenges—yet the validation-driven mechanism successfully addresses these diverse weaknesses.A particularly noteworthy finding is the convergence of final success rates across models with varying intrinsic capabilities,suggesting that systematic validation and repair mechanisms play a more decisive role than raw model capacity in lexical-prior-free scenarios.This work establishes a rigorous evaluation framework incorporating statistical significance testing and mechanistic failure analysis,providingmethodological contributions for fair assessment and practical insights into building reliable planning systems under extreme constraint conditions.
文摘To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.
基金supported by the National Key Research and Development Program of China(2023YFB3809300).
文摘Recycling spent lithium-ion(Li+)batteries is critical for achieving environmental conservation and the strategic recovery of essential resources.Compared with conventional methods for recovering cathode materials,which are energy-intensive and prone to secondary pollution,the direct regeneration approach has emerged as a rapid and highly efficient method,gaining widespread attention in recent years.However,this approach faces major challenges,including degraded electrochemical performances and limited economic value.This study,therefore,proposes a high-value direct regeneration strategy to convert degraded spent LiFePO_(4)(S-LFP)into a gradient manganese(Mn)-doped regenerated LiFe_(0.7)Mn_(0.3)PO_(4)/C(R-LFMP)composite.This method leverages the inherent microcracks and Li vacancies present in S-LFP,likely acting as diffusion channels for the Mn^(2+)/Li^(+)ions.Through a two-step mechanochemical ball-milling and carbothermal reduction process,this approach achieves simultaneous Li replenishment and surface-localised Mn gradient doping with enhanced structural control.Notably,the R-LFMP exhibits an exceptional electrochemical performance.At 0.1 C,it delivers a discharge capacity of 161.4 mA h g^(−1)and an energy density of 563.5 Wh kg^(−1)(representing a 60.5%improvement over S-LFP).Additionally,it maintains 83%capacity retention after 900 cycles at 0.5C,a considerable enhancement compared to commercial LFMP(62%).Furthermore,the regenerated cathode material generates a net profit of$7.102 kg^(−1),surpassing the profitability of conventional recycling methods by 90%.Overall,this study introduces a transformative and sustainable LFP regeneration technology,achieving breakthroughs in electrochemical restoration and high-value recycling,while paving the way for the closed-loop utilisation of LFP-based energy storage systems.
基金Project supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDB0920000)the National Natural Science Foundation of China(Grant No.12341401)。
文摘Owing to the presence of a low-energy,long-lived nuclear isomeric state,^(229)Th is an ideal candidate for developing the next generation clock—the nuclear clock—holding great promise for both applied and fundamental physics.The^(229)Th ionic nuclear optical clock has garnered considerable attention,attributed to its high precision with a relative uncertainty of≤1.5×10^(-19)and the potential for common-mode noise cancellation via self-comparison between the nuclear transition and the electronic transition of thorium ions.In this article,we focus on Th^(n+)ions(n=1,2,3)and present a comprehensive review of the current progress in the development of ionic nuclear clocks,covering essential steps such as ion generation,trapping,and cooling.Furthermore,we discuss the realization of a closed-loop clock cycle,addressing key aspects including stable isomer excitation and efficient isomer deexcitation.
基金supported by the Talented Program of Guizhou University(702759203301)the Natural Science Foundation of Guizhou Science and Technology Department(QKHJC-ZK[2021]-YB257)。
文摘Efficient recycling technology for the rapid growth of spent lithium-ion batteries(LIBs)is essential to tackle the resources and environmental crisis.Hydrometallurgical approach has attracted extensive research due to its potential to reduce the consumption of energy and threat to the environment.However,the simultaneous realization of green,efficient and closed-loop recycling is still challenging.Herein,we report a closed-loop and highly efficient approach to recycle lithium cobalt oxide from spent LIBs based on a choline chloride:oxalic acid(ChCl:OA)type deep eutectic solvent(DES).An ultrafast leaching process is observed at 180°C for 10 s with no observable residues.The energy barrier during leaching is calculated to be 113.9 kJ/mol.Noteworthy,the solubility of cobalt ions can be reversibly tuned by simply adding/evaporating deionized water,thus avoiding the addition of precipitant and enabling the easy recovery of the leaching solvent for realizing a closed-loop recycling process.The simultaneous realization of high efficiency,green and closed-loop process is expected to push the DES into practical application for recycling the electrodes of LIBs.
基金Project(2019 YFB 2004700)supported by the National Key R&D Project of ChinaProject(HTL-O-19 K 02)supported by National Key Laboratory of Science and Technology on Helicopter Transmission,Nanjing University of Aeronautics and Astronautics,China。
文摘Worm grinding has been applied to manufacture gears to pursue high accuracy and fine surface finish.When the worm used to grind face gears is manufactured with multi-axis computer numerical control(CNC)machining,the machining accuracy is usually improved by increasing the number of tool paths with more time cost.Differently,this work proposes a generated method to improve the efficiency by dressing the worm surface with only one path,and a closed-loop manufacturing process is applied to ensure the machining accuracy.According to an advanced geometric analysis,the worm surface is practically approximated as a swept surface generated by a planar curve.Meanwhile,this curve is applied as the profile of a dressing wheel,which is used to dress the worm surface.The practical machining is carried out in a CNC machine tool,which was originally used to grind helical gears.Finally,a closed-loop manufacturing process including machining,measurement,and modification is proposed to compensate the machining errors.The proposed method is validated with simulations and practical experiments.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金Project(2011ZK2030)supported by the Soft Science Research Plan of Hunan Province,ChinaProject(2010ZDB42)supported by the Social Science Foundation of Hunan Province,China+1 种基金Projects(09A048,11B070)supported by the Science Research Foundation of Education Bureau of Hunan Province,ChinaProjects(2010GK3036,2011FJ6049)supported by the Science and Technology Plan of Hunan Province,China
文摘As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of closed-loop supply chain was selected as fitness function, and a unique and tidy coding mode was adopted in the proposed algorithm. Then, some mutation and crossover operators were introduced to achieve discrete optimization of RCSCN structure. The simulation results show that the proposed algorithm can gain global optimal solution with good convergent performance and rapidity. The computing speed is only 22.16 s, which is shorter than those of the other optimization algorithms.
基金co-supported by the National Natural Science Foundation of China (No. 61503183)the Aeronautical Science Foundation of China (No. 2015ZA52002)
文摘Maneuverability is a key factor to determine whether a helicopter could finish certain flight missions successfully or not. Inverse simulation is commonly used to calculate the pilot controls of a helicopter to complete a certain kind of maneuver flight and to assess its maneuverability.A general method for inverse simulation of maneuver flight for helicopters with the flight control system online is developed in this paper. A general mathematical describing function is established to provide mathematical descriptions of different kinds of maneuvers. A comprehensive control solver based on the optimal linear quadratic regulator theory is developed to calculate the pilot controls of different maneuvers. The coupling problem between pilot controls and flight control system outputs is well solved by taking the flight control system model into the control solver. Inverse simulation of three different kinds of maneuvers with different agility requirements defined in the ADS-33 E-PRF is implemented based on the developed method for a UH-60 helicopter. The results show that the method developed in this paper can solve the closed-loop inverse simulation problem of helicopter maneuver flight with high reliability as well as efficiency.
基金Supported by Wuhan Technical College of Communications Fund(Q2018001)China Institute of Communications Education Fund(1602-248)Wuhan Technical College of Communications Innovation Team(CX2018A07)
文摘The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.
基金supported by the National Natural Science Foundation of China(Nos.61074027,61273083)
文摘Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.
