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旨在为低变性豆粕制备腐竹提供参考，分析了豆粕陈化对豆粕中蛋白质结构性质（溶解度、粒径分布、蛋白质组成）和氧化程度（巯基含量、表面疏水性、羰基含量）的影响。同时，以新鲜豆粕和陈化豆粕为原料制备腐竹，考察豆粕陈化对腐竹制备（产率、基本成分、机械性质、颜色、耐煮性）的影响。结果表明：豆粕中的蛋白质在长时间储藏过程（相对湿度40%~50%，温度16 ℃，储藏时间150 d）中发生疏水聚集导致其溶解度降低，粒径增大和蛋白质组成改变，同时蛋白质氧化导致其游离巯基含量下降，降低了豆粕中蛋白质的共价结合能力；新鲜豆粕制备的腐竹在产率和蛋白质利用率上显著高于陈化豆粕，同时在机械性质、亮度和耐煮性上也显著优于陈化豆粕。综上,豆粕陈化导致豆粕中蛋白质的成膜能力下降，不利于制备高产率和良好品质的腐竹。In order to provide a reference for the preparation of yuba from low-denatured soybean meal, the effects of soybean meal aging on the protein structure properties (solubility, particle size distribution, protein composition) and oxidation degree (sulfhydryl content, surface hydrophobicity, carbonyl content) were analyzed. In addition, fresh soybean meal and aged soybean meal were used as raw materials to make yuba, and the effects of soybean meal aging on the preparation of yuba (yield, basic composition, mechanical properties, color, boiling resistance) were investigated. The results showed that the hydrophobic aggregation of protein in soybean meal during storage (relative humutidy 40%-50%, temperature 16 ℃, storage time 150 d) led to the decrease of solubility, increase of particle size and change of protein composition. Protein oxidation led to a decrease in the content of free sulfhydryl, which reduced the covalent binding capacity of protein in soybean meal. The yield of yuba and utilization of protein prepared by fresh soybean meal were significantly higher than those of aged soybean meal, and the mechanical properties, brightness and boiling resistance of yuba prepared by fresh soybean meal were significantly better than those of aged soybean meal. In conclusion, the aging of soybean meal leads to the decrease of the film-forming ability of protein in soybean meal, which is not conducive to the preparation of yuba with high yield and good quality.

Eddy current pulsed thermography (ECPT) technique has been investigated for steel corrosion detection and evaluation. However, the random interference was not considered and disposed adequately, which bedims the original thermal images and reconstructed feature ones. This paper applied bidimensional empirical mode decomposition (BEMD) method which used to denoise the thermal image sequences, and the contrast between corroded and uncorroded regions in the skewness reconstructed images of 6-months and 12-months samples was improved by 19% and 28%, respectively. By this means, the skewness of the temperature response curve of each pixel was extracted to reconstruct the feature image. Furthermore, the differential skewness and the contrast of reconstructed skewness image are utilised for distinguishing the early corrosion and the moderate corrosion. The results demonstrate that the method provides higher sensitivity and accuracy in corrosion detection with ECPT. [ABSTRACT FROM AUTHOR]

For citrus trees cultivated by dwarf dense planting, the fruits are randomly distributed in space, which poses difficulties for mechanized picking. To improve picking efficiency, a citrus picking system based on dual robot collaboration is designed and a global scanning picking scheme that scans the entire fruit tree to achieve orderly fruit picking is proposed in this research. The dual‐robot calibration with the iterative method and closed‐form method is completed in the research. The picking problem is attributed to the single traveling salesman problem, and the trajectory planning and the picking task are completed with genetic algorithm in the research. The picking experiments are designed in the research. As a result, in the picking experiments, the average time for planning the picking sequence of citrus was 0.1184 s, the longest time is 0.1560 s. In each group of citrus picking experiments, the total picking time averaged 158.9 s, the longest group took 170 s, the picking success rate is 82%. The picking results show that the built dual‐machine system can effectively complete the picking task and meet the real‐time requirement of picking. The proposed dual‐robot picking system can provide a reference for the establishment of other picking robot system. [ABSTRACT FROM AUTHOR]

The relative rotation angle between two cabins should be automatically and precisely obtained during automated assembly processes for spacecraft and aircraft. This paper introduces a method to solve this problem based on distributed vision, where two groups of cameras are employed to take images of mating features, such as dowel pins and holes, in oblique directions. Then, the relative rotation between the mating flanges of two cabins is calculated. The key point is the registration of the distributed cameras; thus, a simple and practical registration process is designed. It is assumed that there are rigid and scaling transformations among the world coordinate systems (WCS) of each camera. Therefore, the rigid-correct and scaling-correct matrices are adopted to register the cameras. An auxiliary registration device with known features is designed and moved in the cameras' field of view (FOV) to obtain the matrix parameters so that each camera acquires traces of every feature. The parameters can be solved using a genetic algorithm based on the known geometric relationships between the trajectories on the registration devices. This paper designs a prototype to verify the method. The precision reaches 0.02° in the measuring space of 340 mm. [ABSTRACT FROM AUTHOR]

Background: Mitochondrial genomes have become a powerful tool for studying molecular genetics and phylogeny of mollusks. Currently, the position of Modiolinae within Mytilidae and the taxonomic and phylogenetic relationships within Modiolinae were still controversial. This study focuses on the complete mitochondrial genomes of two species: Modiolus modulaides (Röding, 1798) and Modiolus auriculatus Krauss, 1848, which have not been sequenced before. Methods and results: We assembled and characterized the mitochondrial genomes of M. modulaides and M. auriculatus and then analyzed the phylogenetic relationships. The mitochondrial genomes of M. modulaides and M. auriculatus were 15,422 bp and 16,027 bp, respectively. Both of them were composed of 36 functional genes, including 12 protein-coding genes, 22 transfer RNAs, and 2 ribosomal RNAs. All protein-coding genes showed A + T bias, positive GC skews, and negative AT skews in nucleotide composition. Phylogenetic analysis based on the mitochondrial genomes showed that Modiolinae and Bathymodiolinae clustered together to form a sister relationship. Seven Modiolinae species were divided into two clades: L1 (M. modulaides, M. auriculatus and Modiolus philippinarum Hanley, 1843) and L2 [Modiolus modiolus (Linnaeus, 1758), Modiolus kurilensis Bernard, 1983, Modiolus nipponicus (Oyama, 1950), and Modiolus comptus (Sowerby III, 1915)]. The divergence time of the two clades was approximately 105.75 Ma. Furthermore, the transfer RNA gene rearrangement, longer genetic distance, and greater genetic differentiation were confirmed between the L1 and L2 clades, as well as differences in the external characteristics of the shells of the two clades. Conclusions: Based on the molecular data, it was speculated that species from the L1 clade might belong to other genera or new genera. This study provides molecular information for further taxonomic and phylogenetic studies of Mytilidae. [ABSTRACT FROM AUTHOR]