不确定动态环境下移动机器人的完全遍历路径规划

基于生物激励神经网络、滚动窗口和启发式搜索,提出了一种新的完全遍历路径规划方法．该方法用Grossberg的生物神经网络实现移动机器人的局部环境建模,将滚动窗口的概念引入到局部路径规划,由启发式算法决定滚动窗口内的局域路径规划目标．该方法能在不确定动态环境中有效地实现机器人自主避障的完全遍历路径规划．仿真研究证明了该方法的可用性和有效性．     

太阳能灯专用高温氢镍电池的研制

介绍了一种太阳能灯专用的高温MH-Ni电池的研制情况。试验结果表明:研制电池在高温下的充电能力、荷电保持能力以及耐过充电能力均有明显的改进。高温45℃、60℃条件下充电,0.2C可以放出100%的额定容量;常温28d自放电仅为9%;高温60℃0.1C充电48h,0.2C放电至1.0V,连续循环120次性能无衰减。     

Physicochemical Properties,Lipid Oxidation,and Fatty Acid Composition of Sausage Prepared with Meat of Young Nellore Bulls Fed a Diet with Lauric Acid

This study evaluates the quality of sausage obtained from the meat of Nellore cattle fed diets containing different levels (0, 5, 10, and 15 g per kg total DM) of lauric acid (C12:0) from palm kernel cake. A linear reduction (p ≤ 0.05) in lipid oxidation, as reflected by linear decreases in the lightness (L*), yellowness (b*), and saturation (C*) color parameters, is observed on days 7, 14, and 21 of maturation of sausage, and these decreases are accompanied by linear increases in the redness (a*) color and the linoleic (C18:2n–6) and linolenic (C18:3n–3) fatty acid contents. The inclusion of lauric acid in the diet induces linear reductions in the shear force and cooking loss and does not significantly affect various indices, including the centesimal composition, water activity, water holding capacity, composition of most fatty acids (FA), hypocholesterolemic‐to‐hypercholesterolemic FA ratio, atherogenicity, thrombogenicity, and desirable fatty acids. The use of dietary lauric acid from palm kernel cake is recommended at doses up to 15 g per kg because its presence reduces lipid oxidation and improves color parameters, softness, and linoleic and linolenic FA without affecting the FA composition of sausage from Nellore bull's meat. Practical applications : Sausages are products manufactured from chopped or ground meats packaged into animal casings. This product appeared in Brazil through the adaptation of traditional recipes brought by German and Italian immigrant families to weather conditions and the national palate. However, due to its production characteristics, sausage can become a product with lipid characteristics that are undesirable for human consumption. The inclusion of lauric acid (C12:0) in the animal diet might change the biohydrogenation process in the rumen, improve the quality of the deposited FA and reduce lipid oxidation in sausage manufactured from meat. The FA composition and physicochemical properties of sausage predict its acceptance by the consumer market. An optimal advantage would be achieved if these products can be used as not only preservatives but also functional ingredients with antioxidant properties and products for the treatment of metabolic syndrome and cardiovascular diseases through atherogenic action.     

The impact of powder oxygen content on formability of 12CrNi2 alloy steel fabricated by laser melting deposition

Three various 12CrNi2 alloy steels were successfully fabricated on 35CrMo alloy steel by laser melting deposition with the aim of investigating the effect of powder oxygen content on formability of 12CrNi2 alloy steel. The phase constituents, macroscopic morphology, microstructure, and microhardness of powders and samples were studied by some modern analysis methods. The experimental results showed that with the increase of the oxygen content from 220 to 600?ppm, the sphericity and density of the powders gradually decreased which led to the appearance of pores in the as-deposited samples. The phase constituent of three as-deposited samples with different oxygen contents was α-Fe(M) phase. The percentage porosity in the macroscopic morphology increased with the increase of the oxygen content. Meanwhile, the high oxygen content contributed to more pores and the crack formation in the microstructure. With the increase of oxygen content, the microhardness of the as-deposited samples would decrease.     

Instrumental evaluation of defective texture in dry-cured hams

In the first experiment, the effect of the stress relaxation time on texture evaluation of biceps femoris (BF) muscle from dry-cured hams was studied. The specimens were compressed to 25% of their original height and the crosshead speed was 5mm/s. The force decay versus time was recorded and Peleg's model was fitted with different relaxation times. Whatever relaxation time was used, Peleg's model did not describe simultaneously the initial fall of force and the asymptotic tendency of force decay correctly. The initial force and force decay at 2s and at 90s are proposed to assess texture in dry-cured ham. In the second experiment, stress relaxation (SR) and texture profile analysis (TPA) tests were performed on BF and semimembranosus (SM) muscles of 10 hams with abnormal softness and 10 hams with normal texture, at different assay conditions: sample temperature (4°C or 20°C); compression crosshead speed (1mm/s or 10mm/s). The instrumental texture test and the assay conditions that detected defective textures better depended on the muscle considered: for BF muscle the SR test at 4°C and at 1mm/s and for SM muscle the TPA test at 10mm/s at both 4°C or 20°C.     

Application of a Depth Sensing Indentation Hardness Test to Evaluate the Mechanical Properties of Food Materials

ABSTRACT: A depth sensing indentation hardness test with an associated analysis is described as a convenient and simple technique for characterizing mechanical properties of food materials, such as hardness (H), elastic modulus (E), and an elasticity index (I_E), which represents the ratio of elastic to total deformation. Storage modulus (G') and loss tangent (tan§) of the selected model food material, a whey protein concentrate (WPC) gel, have also been determined using an oscillatory dynamic testing. Fractal dimension (D) and strain rate (or frequency) exponent (n) of the WPC gels were determined using both the indentation and dynamic test results. A good correlation between the results from the indentation and the dynamic tests was established. The effects of protein concentration, deformation rate, and chemical treatment on the mechanical properties of the WPC gels were clearly illustrated using the indentation test.     

High percentage inorganic arsenic content of mining impacted and nonimpacted Chinese rice

Two approaches were undertaken to characterize the arsenic (As) content of Chinese rice. First, a national market basket survey (n = 240) was conducted in provincial capitals, sourcing grain from China's premier rice production areas. Second, to reflect rural diets, paddy rice (n = 195) directly from farmers fields were collected from three regions in Hunan, a key rice producing province located in southern China. Two of the sites were within mining and smeltery districts, and the third was devoid of large-scale metal processing industries. Arsenic levels were determined in all the samples while a subset (n = 33) were characterized for As species, using a new simple and rapid extraction method suitable for use with Hamilton PRP-X100 anion exchange columns and HPLC-ICP-MS. The vast majority (85%) of the market rice grains possessed total As levels < 150 ng g(-1). The rice collected from mine-impacted regions, however, were found to be highly enriched in As, reaching concentrations of up to 624 ng g(-1). Inorganic As (As(i)) was the predominant species detected in all of the speciated grain, with As(i) levels in some samples exceeding 300 ng g(-1). The As(i) concentration in polished and unpolished Chinese rice was successfully predicted from total As levels. The mean baseline concentrations for As(i) in Chinese market rice based on this survey were estimated to be 96 ng g(-1) while levels in mine-impacted areas were higher with ca. 50% of the rice in one region predicted to fail the national standard.     

Short communication: Microbiological quality of raw cow milk and its association with herd management practices in Northern China

Contamination of raw milk with bacterial pathogens is potentially hazardous to human health. The aim of this study was to evaluate the total bacteria count (TBC) and presence of pathogens in raw milk in Northern China along with the associated herd management practices. A total of 160 raw milk samples were collected from 80 dairy herds in Northern China. All raw milk samples were analyzed for TBC and pathogens by culturing. The results showed that the number of raw milk samples with TBC <2 × 10⁶ cfu/mL and <1 × 10⁵ cfu/mL was 146 (91.25%) and 70 (43.75%), respectively. A total of 84 (52.50%) raw milk samples were Staphylococcus aureus positive, 72 (45.00%) were Escherichia coli positive, 2 (1.25%) were Salmonella positive, 2 (1.25%) were Listeria monocytogenes positive, and 3 (1.88%) were Campylobacter positive. The prevalence of S. aureus was influenced by season, herd size, milking frequency, disinfection frequency, and use of a Dairy Herd Improvement program. The TBC was influenced by season and milk frequency. The correlation between TBC and prevalence of S. aureus or E. coli is significant. The effect size statistical analysis showed that season and herd (but not Dairy Herd Improvement, herd size, milking frequency, disinfection frequency, and area) were the most important factors affecting TBC in raw milk. In conclusion, the presence of bacteria in raw milk was associated with season and herd management practices, and further comprehensive study will be powerful for effectively characterizing various factors affecting milk microbial quality in bulk tanks in China.     

Combined speciation analysis by X-ray absorption near-edge structure spectroscopy, ion chromatography, and solid-phase microextraction gas chromatography-mass spectrometry to evaluate biotreatment of concentrated selenium wastewaters

In this study we evaluate the potential of anaerobic granular sludge as an inoculum for the bioremediation of selenium-contaminated waters using species-specific analytical methods. Solid species formed by microbial reduction were investigated using X-ray absorption near-edge structure (XANES) spectroscopy at the selenium K-edge. Furthermore, dissolved selenium species were specifically determined by ion chromatography (IC) and solid-phase microextraction gas chromatography-mass spectrometry (SPME-GC-MS). Least-squares linear combination of the XANES spectra for samples incubated with the highest selenate/selenite concentrations (10(-3) M) show the predominance of elemental selenium and a Se(-I) selenide, such as ferroselite, the thermodynamically most stable iron selenide. In contrast, elemental selenium and Se(-II) selenides are the main species detected at the lower selenate/selenite concentrations. In each repeated fed batch incubation, most aqueous selenite anions were converted into solid selenium species, regardless of the type of electron donor used (acetate or H(2)/CO(2)) and the selenium concentration applied. On the other hand, at higher concentrations of selenate (10(-4) and 10(-3) M), significant amounts of the oxyanion remained unconverted after consecutive incubations. SPME-GC-MS demonstrated selenium alkylation with both electron donors investigated, as dimethyl selenide (DMSe) and dimethyl diselenide (DMDSe). Selenite was even more alkylated in the presence of H(2)/CO(2) (maximum 2156 μg of Se/L of DMSe + DMDSe) as compared to acetate (maximum 50 μg of Se/L). In contrast, selenate was less alkylated using both electron donors (maximum 166 and 3 μg of Se/L, respectively). The high alkylation potential for selenite limits its bioremediation in selenium laden waters involving H(2)/CO(2) as the electron donor despite the fact that nontoxic elemental selenium and thermodynamically stable metal selenide species are formed.