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In order to promote the high-quality and sustainable development of marine economy, the paper selected the panel data of ocean economy in terms of inputs and outputs, used the super-efficiency model to analyze the temporal and spatial pattern evolution and dynamic mechanism of China′s marine economic efficiency, and put forward development suggestions. The results showed that during the period from 2001 to 2019, China′s marine economic efficiency curve presented the phenomenon of overall forward development, stage twists and turns, peaks and valleys alternate. The 10th 5-Year Plan period was the extensive development stage, the 11th 5-Year Plan period was the transformation and upgrading stage, and the 12th 5-Year Plan and the 13th 5-Year Plan periods were the sustainable development stage. The regional development of marine economic efficiency was unbalanced, and its evolution types included stable, fluctuating and rising. Among them, Shanghai had maintained an upward momentum, while Guangxi and other regions had been low for a long time. The dynamic mechanisms of the evolution of the marine economic efficiency pattern were as follows: the 10th 5-Year Plan period was driven by resources, the 11th 5-Year Plan period was driven by technology, the 12th 5-Year Plan and 13th 5-Year Plan periods were driven by 2 wheels of policy and technology. In the future, some measures should be taken in the coordinated development of marine economy and ecological civilization, optimization of marine industrial structure, coordinated development of regional marine economy, and innovation-driven development of marine science and technology.

Fixed morphology cleaning robots mostly face significant challenges in cleaning the narrow spaces in the environment. To overcome this, a new class of self-reconfigurable floor cleaning robot, hTetrakis, made of four triangular blocks, is built. This paper focuses on the modeling and controller design of the locomotion and reconfiguration mechanism of the platform. The locomotion of the platform with respect to the velocity of the wheels is formulated based on the kinematic analysis. By modeling the system in Simscape multibody toolbox of Matlab, the maneuverability of the platform is studied. The reconfiguration of the platform is studied based on the dynamics of individual block about the hinged joint. The control architecture of this platform has two distinct Proportional-Integral-Derivative (PID) controllers to eliminate the position error during reconfiguration, and to maintain the platform's velocity. The coverage path planning of the platform is based on the classical Travelling Salesman Problem which finds the optimal sequence of waypoints as per the minimal energy consumption. Real time experiments are carried out to validate the effectiveness of the proposed control schemes in terms of eliminating the velocity errors, and maintaining the desired trajectory.

The effect of antifreeze protein (AFP) on the water-holding capacity (WHC) and texture properties of the Patinopecten yessoensis adductor muscles during freeze–thaw cycles (FTCs) were evaluated based on three impregnation methods: general impregnation (GI), vacuum impregnation (VI), and ultrasound-assisted VI (US-VI). The WHC, texture properties, and tissue microstructure were all evaluated. Results showed that the WHC and texture properties of adductor muscle were significantly improved in the VI and US-VI groups during FTCs (p < 0.05). The WHC of the adductor muscle in the US-VI group was maximally enhanced in terms of yield (6.63%), centrifugal loss, cooking loss, and T22. The US-VI group of the adductor muscle had the optimal chewiness and springiness compared to others, and the shear force and hardness were most effectively enhanced by VI. The growth and recrystallization of ice crystals in the frozen adductor muscle were significantly inhibited by VI and US-VI. The average cross-sectional area and roundness of ice crystals in the US-VI group were decreased by 61.89% and increased by 22.22% compared with those of the control, respectively. The partial least squares regression (PLSR) model further confirmed that the WHC and texture properties of the adductor muscle were correlated appreciably with the degree of modification of ice crystal morphology through the AFP.

Radio frequency (RF) tempering has been proposed as a new alternative method for tempering frozen products because of its advantages of rapid and volumetric heating. In this study, the texture of RF-tempered frozen tilapia fillets was determined under different RF conditions, the effects of related factors on the texture were analyzed, and the mechanisms by which RF tempering affected the texture of the tempered fillets were evaluated. The results show that the springiness (from 0.84 mm to 0.79 mm), cohesiveness (from 0.64 mm to 0.57 mm), and resilience (from 0.33 mm to 0.25 mm) decreased as the electrode gap was increased and the power remained at 600 W, while the shear force increased as the power was increased for the 12 cm electrode gap (from 15.18 N to 16.98 N), and the myofibril fragmentation index (MFI) values were markedly higher at 600 W than at 300 W or 900 W (p < 0.05). In addition, the tempering uniformity had a positive effect on hardness and chewiness. The statistical analysis showed that the texture after RF tempering under different RF conditions correlated relatively strongly with the free water content, cooking loss, and migration of bound water to immobilized water. The decrease in free water and bound water migration to immobilized water resulted in a significant increase in cohesiveness and resilience.

Professional cleaning and safe social distance monitoring are often considered as demanding, time-consuming, repetitive, and labor-intensive tasks with the risk of getting exposed to the virus. Safe social distance monitoring and cleaning are emerging problems solved through robotics solutions. This research aims to develop a safe social distance surveillance system on an intra-reconfigurable robot with a multi-robot cleaning system for large population environments, like office buildings, hospitals, or shopping malls. We propose an adaptive multi-robot cleaning strategy based on zig-zag-based coverage path planning that works in synergy with the human interaction heat map generated by safe social distance monitoring systems. We further validate the proposed adaptive velocity model’s efficiency for the multi-robot cleaning systems regarding time consumption and energy saved. The proposed method using sigmoid-based non-linear function has shown superior performance with 14.1 percent faster and energy consumption of 11.8 percent less than conventional cleaning methods.

hHoneycomb, a self-reconfigurable cleaning robot, is designed based on tiling theory, to overcome the significant challenges experienced by the fixed morphology cleaning robot. It consists of four regular hexagonal units and the units are connected by a planar revolute joint which helps in reconfiguration. This platform attains six distinct configurations (bar, bee, arch, wave, worm, and pistol) and these configurations have circular arcs and irregular concave and convex boundary that would help in accessing various obstacles in the cleaning space. This work addresses the mechanical design, system-level modeling, reconfiguration of the platform via hinged joint mechanism, mobility of the platform, polyhex based tiling set, and power consumption during reconfiguration. The strength of the mechanical structure is studied based on the structural analysis of the system using finite element method. Based on the natural frequency and deformation pattern, the proposed design is validated and proven to overcome structural failure and system resonance. The kinematics formulation of the platform during locomotion and dynamics of each block during reconfiguration are derived. The robotic system is modeled in Simscape multibody toolbox of Matlab and the mobility of the platform is studied using the numerical simulation. Based on the real-time current consumption of each joint during reconfiguration, the energy efficient configuration and tiling set are addressed.

The efficiency of energy usage applied to robots that implement autonomous duties such as floor cleaning depends crucially on the adopted path planning strategies. Energy-aware for complete coverage path planning (CCPP) in the reconfigurable robots raises interesting research, since the ability to change the robot’s shape needs the dynamic estimate energy model. In this paper, a CCPP for a predefined workspace by a new floor cleaning platform (hTetro) which can self-reconfigure among seven tetromino shape by the cooperation of hinge-based four blocks with independent differential drive modules is proposed. To this end, the energy consumption is represented by travel distances which consider operations of differential drive modules of the hTetro kinematic designs to fulfill the transformation, orientation correction and translation actions during robot navigation processes from source waypoint to destination waypoint. The optimal trajectory connecting all pairs of waypoints on the workspace is modeled and solved by evolutionary algorithms of TSP such as Genetic Algorithm (GA) and Ant Optimization Colony (AC) which are among the well-known optimization approaches of TSP. The evaluations across several conventional complete coverage algorithms to prove that TSP-based proposed method is a practical energy-aware navigation sequencing strategy that can be implemented to our hTetro robot in different real-time workspaces. Moreover, The CCPP framework with its modulation in this paper allows the convenient implementation on other polynomial-based reconfigurable robots.