In the marine environment, underwater targets are often affected by interference from other targets and environmental fluctuations, so traditional target tracking methods are difficult to use for tracking underwater targets stably and accurately. Among the traditional methods, the Kalman filtering method is widely used; however, it only has advantages in solving linear problems and it is difficult to use to realize effective tracking problems when the trajectory of the moving target is nonlinear. Aiming to solve this limitation, an LSTM–Kalman filtering method was proposed, which can efficiently solve the problem of overly large deviations in underwater target tracking. Using this method, we first studied the features of typical underwater targets and, according to these rules, constructed the corresponding target dataset. Second, we built a convolutional neural network (CNN) model to detect the target and determine the tracking value of the moving target. We used a long-term and short-term memory artificial neural network (LSTM-NN) to modify the Kalman filter to predict the azimuth and distance of the target and to update it iteratively. Then, we verified the new method using simulation tests and the measured data from an acoustic sea trial. The results showed that compared to the traditional Kalman filtering method, the relative error of the LSTM–Kalman filtering method was reduced by 60% in the simulation tests and 72.25% in the sea trial and that the estimation variance was only 4.79. These results indicate that the method that is proposed in this paper achieves good prediction results and a high prediction efficiency for underwater target tracking.

Three-dimensionally printed vascularized tissue, which is suitable for treating human cardiovascular diseases, should possess excellent biocompatibility, mechanical performance, and the structure of complex vascular networks. In this paper, we propose a method for fabricating vascularized tissue based on coaxial 3D bioprinting technology combined with the mold method. Sodium alginate (SA) solution was chosen as the bioink material, while the cross-linking agent was a calcium chloride (CaCl₂) solution. To obtain the optimal parameters for the fabrication of vascular scaffolds, we first formulated theoretical models of a coaxial jet and a vascular network. Subsequently, we conducted a simulation analysis to obtain preliminary process parameters. Based on the aforementioned research, experiments of vascular scaffold fabrication based on the coaxial jet model and experiments of vascular network fabrication were carried out. Finally, we optimized various parameters, such as the flow rate of internal and external solutions, bioink concentration, and cross-linking agent concentration. The performance tests showed that the fabricated vascular scaffolds had levels of satisfactory degradability, water absorption, and mechanical properties that meet the requirements for practical applications. Cellular experiments with stained samples demonstrated satisfactory proliferation of human umbilical vein endothelial cells (HUVECs) within the vascular scaffold over a seven-day period, observed under a fluorescent inverted microscope. The cells showed good biocompatibility with the vascular scaffold. The above results indicate that the fabricated vascular structure initially meet the requirements of vascular scaffolds.

The main aim of this paper is to achieve the suitable SA-GEL (sodium alginate and gelatin) porous cartilage scaffold by 3D printing technology with optimal prediction parameters. Firstly, the characteristics of SA-GEL were analyzed, the influence of calcium chloride on the gel was explored, and the optimal cross-linking concentration and gelation temperature were determined. Secondly, a prediction model of the extrusion line width of SA-GEL was established, in which the printing pressure, the moving speed of the needle and the fiber interval were the important parameters affecting the printing performance of the SA-GEL composite material. Thirdly, the SA-GEL composite scaffolds were printed on the Bio-plotter platform, the C5.18 chondrocytes cells were cultured in the SA-GEL biomaterial scaffold, and the results show that the cells could survive well. These results show that, under the control of the printing parameters pressure 1.8 bar, moving speed 10.7 mm/s and the internal structure parameters of the scaffold is 0/45-1.2 (Printing interval: 1.2 mm, angle value: 45 degree), SA-GEL scaffold printing results can be obtained which have good mechanical properties and biocompatibility.

It is well known that three-dimensional (3D) printing is an emerging technology used to produce customized implants and surface characteristics of implants, strongly deciding their osseointegration ability. In this study, Ti alloy microspheres were printed under selected rational printing parameters in order to tailor the surface micro-characteristics of the printed implants during additive manufacturing by an in situ, controlled way. The laser path and hatching space were responsible for the appearance of the stripy structure (S), while the bulbous structure (B) and bulbous–stripy composite surface (BS) were determined by contour scanning. A nano-sized structure could be superposed by hydrothermal treatment. The cytocompatibility was evaluated by culturing Mouse calvaria-derived preosteoblastic cells (MC3T3-E1). The results showed that three typical microstructured surfaces, S, B, and BS, could be achieved by varying the 3D printing parameters. Moreover, the osteogenic differentiation potential of the S, B, and BS surfaces could be significantly enhanced, and the addition of nano-sized structures could be further improved. The BS surface with nano-sized structure demonstrated the optimum osteogenic differentiation potential. The present research demonstrated an in situ, controlled way to tailor and optimize the surface structures in micro-size during the 3D printing process for an implant with higher osseointegration ability.

An ideal artificial bone implant should have similar mechanical properties and biocompatibility to natural bone, as well as an internal structure that facilitates stomatal penetration. In this work, 3D printing was used to fabricate and investigate artificial bone composites based on HA-ZrO₂-PVA. The composites were proportionally configured using zirconia (ZrO₂), hydroxyapatite (HA) and polyvinyl alcohol (PVA), where the ZrO₂ played a toughening role and PVA solution served as a binder. In order to obtain the optimal 3D printing process parameters for the composites, a theoretical model of the extrusion process of the composites was first established, followed by the optimization of various parameters including the spray head internal diameter, extrusion pressure, extrusion speed, and extrusion line width. The results showed that, at the optimum parameters of a spray head diameter of 0.2 mm, extrusion pressure values ranging from 1–3 bar, a line spacing of 0.8–1.5 mm, and a spray head displacement range of 8–10 mm/s, a better structure of biological bone scaffolds could be obtained. The mechanical tests performed on the scaffolds showed that the elastic modulus of the artificial bone scaffolds reached about 174 MPa, which fulfilled the biomechanical requirements of human bone. According to scanning electron microscope observation of the scaffold sample, the porosity of the scaffold sample was close to 65%, which can well promote the growth of chondrocytes and angiogenesis. In addition, c5.18 chondrocytes were used to verify the biocompatibility of the composite materials, and the cell proliferation was increased by 100% when compared with that of the control group. The results showed that the composite has good biocompatibility.