geon". Nanomachines can be manipulated inside the human body to break through biological barriers for drug delivery, [2] diagnosis, [3] and active elimination of tumor cells using mechano-destruction. [4] Efficient conversion of energy into a mechanical motion is the basis for actuating nanomachines to achieve multiple functions. Compared with chemical fuels, [5] external fields, such as magnetic, light, ultrasonic, and electric fields, are considered more appropriate for in vivo applications owing to their high controllability. [6] Among various propelling platforms, magnetically driven nanomachines are promising candidates with biocompatibility and deep-tissue controllability for in vivo applications. [7] A typical magneticfield-actuated method is a magnetic force and torque-powered propulsion under alternating magnetic fields. [8] Using this method, nanomachines generate piconewton forces, and thus they can be utilized for precise cancer cell destruction. [9] Moreover, owing to the complex environment and biological barriers in vivo, achieving an efficient mechanical energy conversion remains a major challenge for designing nanoscale motors. At present, assembly approaches and strong magnetic field setups are typically used to enhance the mechanical energy output in vivo, which put forward high requirements for instrument development. [10] To overcome the viscous bioenvironment, the development of Nanomachines with active propulsion have emerged as an intelligent platformfor targeted cancer therapy. Achieving an efficient locomotion performance using an external energy conversion is a key requirement in the design of nanomachines. In this study, inspired by diverse spiky structures in nature, a photomagnetically powered nanomachine (PMN) with a spiky surface and thermally dependent viscosity tunability is proposed to facilitate mechanical motion in lysosomes for cancer mechanotherapy. The hybrid nanomachine is integrated with magnetic nanoparticles as the core and covered with gold nanotips. Physical simulations and experimental results prove that the spiky structure endows nanomachines with an obvious photomagnetic coupling effect in the NIR-II region through the alignment and orienting movement of plasmons on the gold tips. Using a coupling-enhanced magnetic field, PMNs are efficiently assembled into chain-like structures to further elevate energy conversion efficiency. Notably, PMNs with the thermal control of viscosity are efficiently propelled under simultaneously applied dual external energy sources in cell lysosomes. Enhanced mechanical destruction of cancer cells via PMNs is confirmed both in vitro and in vivo under photomagnetic treatment. This study provides a new direction for designing integrated nanomachines with active adaptability to physiological environments for cancer treatment.

To solve the problems of concrete piston striking cylinder and pumping insufficiency caused by the mismatch between varying loads and system’s open-loop control property, the optimal model of concrete pumping displacement control was built.To be precise, the displacement control signal parameters were taken as control variables, and the location parameter of the main cylinder’s displacement sensor was taken as structure variable. under the physical constraint condition of non-collision between piston and cylinder, the piston stroke maximizing was taken as objective function and the optimal model of concrete pumping displacement control was built.Optimization result shows that piston of concrete pumping system don’t strike cylinder and pump sufficiently under varying loads.This optimal model, which is built in the integration design space of structure variable and control variables, is of guiding significance for solving open-loop system’s engineering control problems.

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To solve the problem of piston striking cylinder and pumping insufficiency, an optimization method of concrete open-loop pumping displacement control is derived and presented. In order to control piston stroke effectively, the optimization model of concrete open-loop pumping displacement control parameters is built based on considering the system’s open-loop characteristics. Satisfying the physical constraint of preventing piston striking cylinder and maximizing piston’s effective stroke are taking as the evaluation criterion during the modeling process. Using this method, simulation and experimental research has been proceeded in a type of concrete pump. The result shows that concrete pumping piston can not only meet the noninterference physical constraint, but also increase the pumping efficiency significantly under variable loads. The optimization model provides a new method that can be used in engineering practice for solving the design problem of concrete pumping open-loop control system under variable loads.

In order to solve the problem of the response time of concrete pump distribution circuit unmatching pumping construcution requirement,which caused by selecting accumulator based on experience, the parameter configuration of the accumulator was quantitatively expressed. The response time of the distribution circuit is divided into switch time of S tube distribution valve and accumulated pressure differential time of the accumulator. In order to meet the requirements of the response time of the pumping construction, based on the existing parameter configuration of the accumulator, with dynamic characteristic equation and gas state equation respectively, the switch time of S tube distribution valve and accumulated pressure differential time of the accumulator is quantitatively calculated, and the parameters of the accumulator is configurated.Compared to the traditional accumulator choice method, namely selecting accumulator according to experience and testing whether the response time of the distribution circuit is reasonable, quantitative calculated parameter configuration of concrete pump accumulator is more accurate, and can fully meet the requirments of pumping construction. This method also provides theoretical basis for design and choice of engineering machinery accumulator.