Operational Flexibility Research Articles

Optimal dispatch of integrated electricity and heating systems considering the quality-quantity regulation of heating systems to promote renewable energy consumption

The integrated electricity and heating system (IEHS) can improve energy efficiency and promote renewable energy consumption. When quality-quantity regulation (QQR) is adopted, namely adjusting hydraulic and thermal conditions of heating system, the increase in operation flexibility is more remarkable. However, present IEHS dispatch models considering QQR overlook hydraulic characteristics of valves and variable frequency pumps resulting in inexecutable dispatch results easily and hindering IEHS's flexibility potential. Furthermore, loop networks and the access of multiple heat sources in heating systems may lead to flow reversal, but current research adopts a fixed flow direction which suppresses the potential of flow reversal to improve flexibility. In this paper, we propose an IEHS dispatch model considering QQR to promote renewable energy consumption, which considers hydraulic characteristics of valves and variable frequency pumps, and flow reversal. Specifically, we introduce two binary flow direction labels for every branch in heating system model and then the IEHS dispatch model which can deal with flow reversal is established. A sequential solution process combining linear and nonlinear optimization is formulated to overcome the non-convex feature of IEHS dispatch model. Specifically, piecewise linearization and piecewise McCormick relaxation are combined to handle complex nonlinear terms in the dispatch model. Therefore, a mixed integer linear programming model is obtained and solved, of which results are used as initial values for nonlinear optimization. Results in the case study show that operation cost is decreased by 0.97 % and renewable power consumption rate is increased from 83.31 % to 84.42 % after considering valve adjustment. Operation cost is further decreased by 6.06 % and renewable power consumption rate is increased to 94.04 % after considering flow reversal.

Multi-AUV underwater static target search method based on consensus-based bundle algorithm and improved Glasius bio-inspired neural network

This research introduces a hierarchical strategy for static target searches with multi-autonomous underwater vehicles (AUVs) to optimize cumulative search rewards. The approach comprises two primary elements: task allocation and path planning. A Voronoi diagram segments regions based on peak detection via a maximum filter in the task allocation stage. Then, a consensus-based bundling algorithm ensures the load-balanced distribution of peak sub-regions across AUVs, while a dynamic cooperation mechanism allows for dynamic adjustment of task allocation, thereby increasing the system's operational flexibility. Path planning employs an improved Glasius bio-inspired neural network, leveraging analogies to convolution processes and incorporating mean pooling, multiple convolutions, and resampling. This method enhances global information propagation and optimizes path point selection through a discounted reward function evaluating adjacent nodes, thus boosting the search efficiency of individual AUVs. Simulation experiments validate the method's effectiveness and robustness in multi-AUV static target searches, demonstrating its potential to improve search efficiency.

Energy saving and flexibility analysis of combined heat and power systems integrating heat-power decoupling technologies in renewable energy accommodation

World energy is undergoing a decarbonization transformation with the rapid growth of renewable energy. Combined heat and power, with its abundant stock and efficient characteristics, can support decarbonization. This study focuses on enhancing the energy saving and flexibility of combined heat and power systems decoupled by the vapor compression heat pump and electric boiler. The characteristics of the governing valves and the governing stage are confirmed as key factors influencing energy saving. A general modeling method is proposed to accurately determine the characteristics of the governing valves and the governing stage. The valve-point effect is obtained from the formation mechanism. With a reference case, applying the heat-power decoupling technologies results in a maximum reduction of power load of up to 70 MW, greatly enhancing the operation flexibility. The fuel saving per unit peak shaving ranges from 0.1355 kg·kWh−1 to 0.1382 kg·kWh−1 in the system decoupled by the electric boiler and from 0.2284 kg·kWh−1 to 0.2481 kg·kWh−1 in the system decoupled by the vapor compression heat pump. The maximal variation ranges of fuel saving per unit peak shaving, with and without the valve-point effect, are 0.0197 kg·kWh−1 and 0.0055 kg·kWh−1, respectively. After considering the valve-point effect, the range of fuel saving per unit peak shaving is tripled. Additionally, there are higher energy-saving regions near valve points. It is recommended to operate the decoupling systems under these working conditions, with governing valves opened at an appropriate opening degree. The energy-saving potential of these systems can be further exploited by accommodating the valve-point effect in the integration of renewable energy.

Flexible head-following motion planning for scalable and bendable continuum robots

Continuum robots, which are characterized by high length-to-diameter ratios and flexible structures, show great potential for various applications in confined and irregular environments. Due to the combination of motion modes, the existence of multiple solutions, and the presence of complex obstacle constraints, motion planning for these robots is highly challenging. To tackle the challenges of online and flexible operation for continuum robots, we propose a flexible head-following motion planning method that is suitable for scalable and bendable continuum robots. Firstly, we establish a piecewise constant curvature (PCC) kinematic model for scalable and bendable continuum robots. The article proposes an adaptive auxiliary points model and a method for updating key nodes in head-following motion to enhance the precise tracking capability for paths with different curvatures. Additionally, the article integrates the strategy for adjusting the posture of local joints of the robot into the head-following motion planning method, which is beneficial for achieving safe obstacle avoidance in local areas. The article concludes by presenting the results of multiple sets of motion simulation experiments and prototype experiments. The study demonstrates that the algorithm presented in this paper effectively navigates and adjusts posture to avoid obstacles, meeting the real-time demands of online operations. The average time for a single-step solution is 4.41×10−5 s, and the average tracking accuracy for circular paths is 7.8928 mm.

R&D in advanced technology fuels (ATFs) in Spain

Accident Tolerant Fuels, also known as Advanced Technology Fuels (ATFs), have the potential to improve the safety and economic performance of commercial nuclear reactors as well as to provide additional operational flexibility for responding to variations in system energy demand.The design, fabrication and in-pile behaviour of currently operating and innovative nuclear fuels to enable a reliable and safe operation of nuclear power plants is a priority for the nuclear industry. The Spanish nuclear professionals (public and private companies, academia, and research centres) have achieved significant advances in this area. Both irradiation programs in commercial reactors, along with experimental and modelling activities, were focused into comprehending and modelling different ATF concepts to understand and predict the behaviour under normal and off-normal conditions.The International Atomic Energy Agency (IAEA) sub-program “Nuclear Power Reactor Fuel Engineering” is strongly involved in the development and validation of computer codes for ATF fuel design and the valuable Spanish contribution to this sub-program is described in this article.The future Spanish R&D in this field is expected to be focused on further improvements on ATF product development and performance knowledge.

A bilevel fast-convergent optimizer via high-fidelity convex models: Application on optimal operation of all-parallel heterogeneous chiller-pump systems

To cope with buildings’ growing and diverse cooling demand, heterogeneous multi-chiller systems with non-dedicated pumps are commonly applied in large-scale centralized chiller plants. All-parallel heterogeneous systems offer high operation flexibility but pose challenges to optimal operation planning. For the deficiencies in convexity tractability, the classical neural networks (NNs) achieved great success in system identification yet were restricted in model-based optimization. In this study, an optimization-oriented convex modeling approach based on input convex neural networks (ICNN) to identify energy consumption models for energy units of chiller-pump systems was presented, which provides convex input–output mappings while leveraging the high-fidelity capability of NNs. Using the convex models, the energy minimization issue subjected to multiple constraints was formulated, the optimality of which was mathematically proven. A bilevel deterministic optimizer was developed to determine the global optimal. Comprehensive data experiments were conducted using practical and simulated operation data to evaluate the modeling and optimization performances of the proposed methods compared with conventional candidates. Numerical results suggest that the ICNN-based convex models exhibit superior modeling performances than physics-based models. A better overall energy saving ratio of 8.86 % and faster convergence time of 3.53 s for average achieved by the proposed bilevel optimizer compared with rule-based and meta-heuristic optimizers under identical external conditions.

Composite convolution: A flexible operator for deep learning on 3D point clouds

Deep neural networks require specific layers to process point clouds, as the scattered and irregular location of 3D points prevents the use of conventional convolutional filters. We introduce the composite layer, a flexible and general alternative to the existing convolutional operators that process 3D point clouds. We design our composite layer to extract and compress the spatial information from the 3D coordinates of points and then combine this with the feature vectors. Compared to mainstream point-convolutional layers such as ConvPoint and KPConv, our composite layer guarantees greater flexibility in network design and provides an additional form of regularization. To demonstrate the generality of our composite layers, we define both a convolutional composite layer and an aggregate version that combines spatial information and features in a nonlinear manner, and we use these layers to implement CompositeNets. Our experiments on synthetic and real-world datasets show that, in both classification, segmentation, and anomaly detection, our CompositeNets outperform ConvPoint, which uses the same sequential architecture, and achieve similar results as KPConv, which has a deeper, residual architecture. Moreover, our CompositeNets achieve state-of-the-art performance in anomaly detection on point clouds. Our code is publicly available at https://github.com/sirolf-otrebla/CompositeNet.

Research on Thermal Adaptability of Flexible Operation in Different Types of Coal-Fired Power Units

The flexible mode of operation of coal-fired units can accommodate large-scale renewable power integration into the grid, providing more grid capacity. The flexibility transformation of coal-fired units in thermal power plants can be achieved through main steam extraction and reheated steam extraction. A 300 MW subcritical unit, 600 MW subcritical unit and 660 MW ultra-supercritical unit with six flexible operation modes were chosen as the research model to investigate the thermal adaptability for flexible operation. The results show that from the perspective of the source of steam extraction, the main steam extraction scheme is suitable for the flexible adjustment of peak load capacity, and the reheated extraction scheme is suitable for the flexible operation of low load and high thermal efficiency. Moreover, from the perspective of thermal performance adaptability, the 600 MW unit has a wider load regulation capacity than the 300 MW and 660 MW units, and is suitable as the peak shaving unit. This work can provide theoretical guidance for different types of coal-fired units in choosing flexible operation schemes.

Reengineering the RHIC helium cooled current leads for EIC

The electron ion collider (EIC) Hadron Storage Ring (HSR) will reuse most of the existing superconducting magnets (SC) from the RHIC storage ring. However, for some sectors of the machine, a modification of the accelerators optics will be required. To do this, the existing RHIC magnet electrical circuits will have to be modified and some superconducting current leads will need to be used at higher current. A work has been conducted to understand the current leads design parameters and their operational flexibility around these parameters, in particular for use at higher current.This paper details the study of the existing RHIC current leads, their potential for use at higher current and where required the modifications to extend their operational range.

Optimization design of an innovative francis draft tube: Insight into improving operational flexibility

Hydropower has transitioned from base-load generation into an energy regulator in the hydro-wind-solar integrated systems, resulting in prolonged turbine operation under off-design conditions. Inspired by the new requirements of operation mode, an innovative Francis draft tube with inclined conical diffuser is presented to mitigate the pressure fluctuations and fatigue damage induced by flow instabilities. The design is optimized and comprehensively investigated to improve the operational flexibility. Computational fluid dynamics combined with design of experiments, artificial neural network and multi-objective optimization process lead to two optimal designs denoted as Opt-1 and Opt-2 from the Pareto fronts. Corresponding maximum pressure fluctuation amplitude is reduced by 15 % and 20 % compared to the traditional, respectively. An 81 % decrease of the fluctuating pressure recovery for the modified draft tube is obtained, leading to a steadier runner torque and consequently lower power swing. The asymmetric design of inclined daft tube is mainly targeted at the mitigation of the synchronous component as well as the attenuation of interaction between the swirling flow and elbow, accompanied with the mitigated energy of first-order vortex structure. The proposed innovative draft tube and optimization technique are found useful to broaden the operating range of hydraulic turbine in a computationally affordable way.

A Study on E-Commerce Warehousing Dynamics Navigating Order Fulfilment and Returns

The e-commerce over the past decade has experienced remarkable growth, reshaping shopping habits and challenging traditional supply chain methods. This surge in online shopping has compelled e-commerce firms to enhance their warehousing and order fulfilment strategies to meet rising consumer expectations for swift deliveries and hassle-free returns. Effective management of order fulfilment and reverse logistics has become essential for competitiveness in this industry. This study investigates e-commerce warehousing dynamics, emphasizing the optimization of order speed, delivery times, operational costs, and return management. Through industry reports, academic literature, and case studies, we identify best practices in five key areas: warehouse design and automation, demand forecasting, inventory control, order picking and packing processes, transportation strategies, last-mile delivery models, and reverse logistics for returns. Our research underscores the significance of highly automated warehouses equipped with advanced technologies such as robotics, automated storage and retrieval systems (ASRS), automated guided vehicles (AGVs), and intelligent software for material flow management. These innovations empower e-commerce firms to boost throughput, enhance operational flexibility, and adapt to changing demands effectively.

Optimally integrated waste heat recovery through combined emerging thermal technologies: Modelling, optimization and assessment for onboard multi-energy systems

This paper investigates waste heat (WH) valorisation on maritime vessels from a systemic perspective. It aims to demonstrate how a set of innovative waste heat recovery (WHR) technologies can synergistically work together to valorise waste heat in multiple ways. It proposes and develops a dedicated techno-economic analysis framework and model, surpassing previous literature that focused on individual technologies or specific combinations. Employing a Mixed Integer Linear Programming (MILP) approach, this study evaluates the dynamic and flexible operation of the WHR system throughout the round-trip journey of a vessel. Identifying the most profitable WHR system layout, determining the capacity of technologies, optimising the interconnections between technologies, and establishing strategic WH dispatching are all among the key objectives of the study.An average-scale vessel with a 36 MW diesel engine, is selected for this study which involves a 17-day journey with multiple stops in Northern Europe. The vessel adequately represents the complexity of onboard energy systems in terms of types and variability of demands, as well as WH availability. The proposed WHR system, which is tailored for the selected vessel, integrates three active technologies: an isobaric expansion engine (IEE) to contribute to mechanical power demand, a sorption system for providing cooling, and an advanced Organic Rankine Cycle (ORC) for trigeneration of power, heating, and cooling. All technologies are supported by the passive WHR technology of Thermal Energy Storage (TES). The results show that deployment of the optimised WHR system onboard the selected vessel enhances energy efficiency by 5 to 7.5 percentage points and reduces fuel consumption by 13%. The study also explores economic key performance indicators (KPIs), such as the Internal Rate of Return (IRR) which is found at about 15%, clearly evidencing a compelling solution to ship owners. Additionally, the discussion includes a detailed analysis of the contribution of individual technologies in covering onboard demands, as well as their synergistic interactions.This work clarifies the role, value, and benefit of WHR technologies onboard, advancing the understanding from individual WH recovery interventions to a system-level approach. This is especially valuable in practice, considering its adaptability across various vessel types within the global fleet.

Comparative investigation on the thermodynamic performance of coal-fired power plant integrating with the molten salt thermal storage system

One of the most critical challenges facing China is enhancing the operational flexibility of coal-fired power plants (CFPPs), given the increasing reliance on renewable energy for power generation. This study focuses on analyzing and comparing the molten salt thermal storage systems integrated in CFPP in consideration of peak-shaving capacity, equivalent round-trip efficiency, heat consumption rate, and exergy efficiency. Five charging schemes integrating thermal energy storage (TES), power to heat (P2H) and combination of TES and P2H are proposed and tested via their thermodynamic models. Results show that all five integrated molten salt thermal storage systems can enhance the peak shaving capability of the CFPP. When integrating P2H system, CFPP has the potential to achieve a zero-power output. Furthermore, comparing to the other four schemes, P2H-only integrating scheme has the highest equivalent round-trip efficiency of 36.23 % and the lowest heat consumption rate of 8288.87 kJ·(kW·h)−1. However, its exergy efficiency decreases to 36.51 % due to the electric heater experiencing the highest exergy loss of 132.56 MW, in contrast to the TES-coupled system which shows a higher exergy efficiency of 39.58 %. The P2H-only scheme boasts the largest investment of $33,353,100 and the longest repayment time, while also earning the highest compensation for peak shaving. This study provides a promising approach for molten salt thermal storage system designs in enhancing flexibility for CFPPs.

Off-design operation of supercritical CO2 Brayton cycle arranged with single and multiple turbomachinery shafts for lead-cooled fast reactor

The lead-cooled fast reactor (LFR) engenders novel requisites for the energy conversion system when applied to maritime ships and distributed energy supply systems. The supercritical carbon dioxide (sCO2) Brayton cycle, with the advantages of high efficiency, space-saving, simplicity, and flexibility, is a promising candidate for LFR. Here, we present the first study on the off-design operation of the sCO2 cycle for LFR, with the turbine and compressor arranged on a single shaft (coaxial-shaft) or two shafts (split-shaft). The off-design performances of the system are investigated using four rotational speed (RS) control-based hybrid control strategies. We showed that the split-shaft system controlled by separate turbine speed and compressor speed has a wider operating space of power load than the coaxial-shaft system. Among the four investigated control strategies, the RS-inventory hybrid control can achieve the best thermal efficiency during load variation by operating at the turbine speed and mass flow rate corresponding to the optimal turbine isentropic efficiency. The maximum operating space of power load (0%–100 %) can be achieved by the RS-turbine inlet pressure hybrid control and the RS-bypass hybrid control. Our study can provide guidance for the flexible and safe part-load operation for small-scale modular Gen-IV nuclear reactors.

From words to pictures: Row-column combinations and Chomsky-Schützenberger theorem

The row-column combination RCC maps two (word) languages over the same alphabet onto the set of rectangular arrays, i.e., pictures, such that each row/column is a word of the first/second language. The resulting array is thus a crossword of the component words. Depending on the family of the components, different picture (2D) language families are obtained: e.g., the well-known tiling-system recognizable languages are the alphabetic projection of the crossword of local (regular) languages. We investigate the effect of the RCC operation especially when the components are context-free, also with application of an alphabetic projection. The resulting 2D families are compared with others defined in the past. The classical characterization of context-free languages, known as Chomsky-Schützenberger theorem, is extended to the crosswords in this way: the projection of a context-free crossword is equivalent to the projection of the intersection of a 2D Dyck language and the crossword of strictly locally testable language. The definition of 2D Dyck language relies on a new more flexible so-called Cartesian RCC operation on Dyck languages. The proof involves the version of the Chomsky-Schützenberger theorem that is non-erasing and uses a grammar-independent alphabet.

Concave and convex small radius bending behavior of single and multiple layers reinforcement fabrics

Multilayer reinforcement fabrics are increasingly used for manufacturing structural polymer composites. In liquid molding processes, dry reinforcement fabrics are draped on a mold first, and infused with a liquid resin such as an epoxy in a subsequent manufacturing step. This presents major advantages in terms of operational flexibility and costs. However, draping multilayer reinforcement fabrics on complex mold geometries is challenging. Small radius mold corners constitute a major manufacturing challenge as they lead to variability in dry fabric positioning and resin-rich corners in polymer composite parts. Spring-back of fabrics bent over or into single curvature mold corners is a widespread industrial concern. However, contrary to draping over double-curvature surfaces, bending spring-back from convex or concave single-curvature corners has received very limited attention. No testing method is available. This paper quantifies reinforcement fabric bending spring-back. Single and multiple layer stacks were bent along three directions over convex and into concave 90° corners with five radii spanning 1.59 mm to 12.70 mm. In all cases, five replicated tests enabled variability quantification. Fabric stacks were also quantified using cantilevered bending tests for comparison purposes. Mold radius was found to affect the behavior to a larger extent than testing direction, number of layers or use of a binder.

Менеджмент «удобного флага» при формировании флота РФ

The management of fleets, especially as part of the state-private interaction, is a complex endeavor influenced by economic, political, and strategic factors. This article delves into the concept of the “convenience flag” as a mechanism for optimizing fleet management, exploring its implications within the evolving landscape of mari-time industries. It analyzes optimization mechanisms for fleet management through the utilization of “conven-ience flags” and offshore zones. The current optimization mechanisms are scrutinized against the backdrop of modern transformations in strategic economic sectors, particularly shipbuilding and maritime transport fleet development. Approaches to financing and balancing state-private interests amid heightened international re-lations are examined in greater detail. Through identifying causal relationships between elements of optimiza-tion mechanisms, particularly in financial operations, asset transactions, and the increased risk of fleet vessel loss, the necessity of upholding state interests in these processes is substantiated. Principles of organizational measures to prevent vessel loss and, consequently, the entities operating under “convenience flags” and off-shore zone jurisdictions, are proposed. In conclusion, the management of fleets through “convenience flags” represents a complex interplay of economic, political, and regulatory considerations. While offering potential benefits in terms of cost efficiency and operational flexibility, it also poses inherent risks to state sovereignty and maritime security. Moving forward, a balanced approach that prioritizes transparency, accountability, and stakeholder engagement is essential to ensure the sustainable and responsible management of fleets in the Russian Federation and beyond.

A flexible and deep peak shaving scheme for combined heat and power plant under full operating conditions

Improving the flexible and deep peak shaving capacity of combined heat and power (CHP) plant under full operating conditions to facilitate renewable energy consumption is the main choice of novel power system. Accordingly, a dry/wet state automatic conversion control scheme fuses the precise mechanism structure, reinforcement learning and multi-objective model predictive control (MPC) algorithms is designed to promote the deep peak shaving ability of CHP plant in this paper. Firstly, the detailed mechanism models of once-through boiler at dry and wet state are presented by analyzing the dynamic characteristics of steam-water flow. Secondly, the large-scale unknown parameters in mechanism models are identified via the Takagi-Sugeno fuzzy modeling, reinforcement learning algorithms and actual dry/wet state conversion data. Thanks to the proposed hybrid modeling strategy, the high-precision boiler-steam unit models at dry and wet state are rapid obtained. Then, to meet different peak shaving demands, the multi-objective MPC algorithm is respectively constructed under dry and wet state with the comprehensive consideration of operational constraints, load tracking error, algorithm stability, power generation cost, CO2 and NOx emission costs. Aiming at maximizing the peak shaving efficiency and flexible operation ability of plant, a dry/wet automatic control scheme combined the designed multi-objective MPC algorithms and identified dry/wet state models is proposed. Finally, the load variation rate of 5 % and 2 % RCM/min is respectively achieved in the dry/wet state conversion tests on a 350 MW CHP plant based on the proposed control scheme. Thus, the rapid and thorough dry/wet state conversion performance of once-through boiler has successfully improved the operational flexibility of CHP plant under full operating conditions.

Comparing the Efficacy and Safety of Unilateral Biportal Endoscopic Decompression with Percutaneous Endoscopic Lumbar Decompression for Lumbar Degenerative Diseases: A Meta-Analysis

Unilateral biportal endoscopic decompression (UBED) offers the advantages of minimal tissue damage, operational flexibility, and clear visualization, positioning it as an innovative and minimally invasive endoscopic technique. Nevertheless, the clinical evidence supporting the use of UBED in the treatment of degenerative lumbar diseases is limited and conflicting. As of October 1, 2023, a comprehensive search was conducted across databases including Web of Science, PubMed, Embase, and the Cochrane Library to identify all published studies on minimally invasive UBED for the treatment of degenerative lumbar diseases. Data pertaining to patient demographics, fluoroscopy time, operative duration, intraoperative hemorrhage, hospitalization length, visual analog scale (VAS) score for back and leg pain, MacNab criteria, Oswestry Disability Index (ODI), and complication rates were extracted. The Newcastle-Ottawa scale was utilized to assess the quality. Twelve articles were included, involving 816 patients. The back VAS score (95% confidence interval [CI]:-0.09-0.07, P= 0.75), MacNab criteria (95% CI: 0.52-2.3, P= 0.82), fluoroscopy time (95% CI:-7.03 to -0.4, P= 0.08), and the incidence of complications (95% CI: 0.5-1.73, P= 0.82) were not significantly different, while the leg VAS score (95% CI: 0.01-0.18, P= 0.03), ODI score (95% CI:-1.03 to -0.09, P= 0.02), operation time (95% CI: 5.76-20.62, P= 0.0005), hospitalization length (95% CI: 0.41-2.76, P= 0.008), and intraoperative hemorrhage (95% CI: 21.92-72.44, P= 0.0003) were significantly different. UBED offers superiority in ODI, flexibility, and visual field clarity. Conversely, percutaneous endoscopic lumbar decompression presents advantages in terms of operation duration, blood loss, hospitalization length, and leg VAS score. These factors should be thoroughly considered when selecting a surgical approach.

Target-induced DNA nanomachine operation for the detection of proteins

Accurate and sensitive detection of disease-associated proteins in early stage of patients plays an important role in timely treatment and successfully extending patients' lives. To meet this demand, we herein rationally designed a flexible target-induced DNA nanomachine operation (TIDNMO) sensor for the detection of proteins. The TIDNMO system was composed of DNA nanoswitch and DNA walker. Triplex DNA nanoswitch was triggered by specific target, followed by the release of the walking strand, which initiated the DNA walker amplification as signal output. In addition, the Exo III could drive walking strand autonomously move on gold nanoparticle surface to realize 2 orders of magnitude signal amplification. What's more, this sensor could transform its suitable functional recognition element of DNA nanoswitch to recognize other specific molecule and realize different targets sensing based on identical walking tracks. Considering the facile reporter elements and efficient amplification performance, the present DNA nanomachine as a sensor could achieve a detection limit of 68 pM for anti-Dig antibody, 0.95 pM for mucin-1 respectively, along with a superb specificity. Furthermore, the method reported here opened a new chapter in disease-related protein sensing for the development of clinical early diagnosis.