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. 2022 Aug 15;13:4654. doi: 10.1038/s41467-022-31985-y

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© The Author(s) 2022

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — a The six major steps in the feedback pipeline enable online parameter updates from images of the extrusion process. b Table containing θ_mode (mode threshold), L (sequence length), I_min (interpolation minimum), A⁺ (the largest increase), A⁻ (largest decrease) for each printing parameter along with the possible levels of update amounts. c Simple example single layer geometry illustrating toolpath splitting into equal smaller segments. 1 mm lengths are used in the feedback process to enable rapid correction and reduce response time.