QoS metrics-in-the-loop for endowing runtime self-adaptation to robotic software architectures

Multimedia Tools and Applications - The design of robots capable of operating autonomously in changing and unstructured environments, requires using complex software architectures in which,...     

The Central Lyapunov Limit Theorem and the Property of the Asymptotic Normality of the Sequence of Stable Polynomial Coefficients

Journal of Computer and Systems Sciences International - It is shown that the Lyapunov theorem on the distribution properties of the sum of random variables with different distribution densities...     

Calculating the Sum of Multidigit Values in a Parallel Computational Model

Cybernetics and Systems Analysis - The authors propose a new method for finding the sum of two or more multidigit values in a parallel computational model. The method reduces finding the sum of a...     

Algorithm for Solving the Cauchy Problem for a Two-Dimensional Difference Equation with Initial Data Defined in a “Strip”

Programming and Computer Software - In this paper, we propose an algorithm for solving the Cauchy problem for a two-dimensional difference equation with constant coefficients at a point, based on...     

Motion of a Robot Mower with Directional Control

Russian Engineering Research - The stability of robot-mower motion in a specific direction is considered. The direction is regulated by means of an angular sensor and a programmable controller...     

Extremum Strategies of Approach of Controlled Objects in Dynamic Game Problems with Terminal Payoff Function

Cybernetics and Systems Analysis - The authors propose a method for solving the problem of approach of controlled objects in dynamic game problems with a terminal payoff function. The method is...     

Torque Transfer to a Conducting Particle Using the Lorentz Force

Semiconductors - In this work, we discuss for the first time the principle of rotation in the constant electric field of a conducting particle with participation of the Lorentz force, which ensures...     

Bovidae-based gelatin: Extractions method,physicochemical and functional properties,applications, and future trends

Gelatin is one of the most important multifunctional biopolymers and is widely used as an essential ingredient in food, pharmaceutical, and cosmetics. Porcine gelatin is regarded as the leading source of gelatin globally then followed by bovine gelatin. Porcine sources are favored over other sources since they are less expensive. However, porcine gelatin is religiously prohibited to be consumed by Muslims and the Jewish community. It is predicted that the global demand for gelatin will increase significantly in the future. Therefore, a sustainable source of gelatin with efficient production and free of disease transmission must be developed. The highest quality of Bovidae-based gelatin (BG) was acquired through alkaline pretreatment, which displayed excellent physicochemical and rheological properties. The utilization of mammalian- and plant-based enzyme significantly increased the gelatin yield. The emulsifying and foaming properties of BG also showed good stability when incorporated into food and pharmaceutical products. Manipulation of extraction conditions has enabled the development of custom-made gelatin with desired properties. This review highlighted the various modifications of extraction and processing methods to improve the physicochemical and functional properties of Bovidae-based gelatin. An in-depth analysis of the crucial stage of collagen breakdown is also discussed, which involved acid, alkaline, and enzyme pretreatment, respectively. In addition, the unique characteristics and primary qualities of BG including protein content, amphoteric property, gel strength, emulsifying and viscosity properties, and foaming ability were presented. Finally, the applications and prospects of BG as the preferred gelatin source globally were outlined.