Maneuverability modeling and trajectory tracking for fish robot

This study develops a 6-DOF mathematical model for a robotic fish that considers surge, sway, heave, roll, pitch, and yaw. The model considers the conditions of a fish swimming in ocean current perturbations similar to the ocean current perturbations of the slender-body autonomous underwater vehicles. For swimming and turning behaviors, a nonlinear, dynamic, carangiform locomotion model is derived by using a planar four-link model. A 2-DOF barycenter mechanism is proposed to provide body stabilization and to serve as an actuating device for active control design. A barycenter control scheme is developed to change the center of gravity of the robot fish body by moving balancing masses along two axes. The projected torque on x and y axes propel pitch and roll angles to the desired settings. A Stabilizing controller, fish-tail mechanism, rigid body dynamics, and kinematics are incorporated to enable the fish robot to move in three dimensional space. Simulation results have demonstrated maneuverability and control system performance of the developed controller which is proposed to conduct path tracking of the robot fish as it swims under current perturbations.     

The determination of the shelf-life of pasteurized and non-pasteurized sardine (Sardina pilchardus) marinades stored at 4 °C

In this study the shelf‐life of sardine marinades was investigated. After the marination process, sardine fillets were packed into glass jars with 2% citric acid, 4% sodium chloride and spices. The effect of pasteurization at 70 °C for 20 min on the shelf‐life of the sardine marinades was determined. At the end of 6 months storage the differences between thiobarbituric acid, free formaldehyde (FA(ex)), free and bound formaldehyde (FA(dest)) and peroxide value of pasteurized and non‐pasteurizated marinades were not significantly (P > 0.05) different, while the difference between total volatile basic nitrogen, trimethylamine, pH, total plate count and lactic acid bacteria count of pasteurized and non‐pasteurized marinades were. The shelf‐life of both pasteurized and non‐pasteurized sardine marinades was found to be 5 months at 4 °C.     

Stabilisation of protein and oil in fish silage for use as a ruminant feed supplement

Fish silage was prepared from 96.5% offal obtained from Atlantic cod fillet processing and 3.5% (by wt) formic acid. The fish silage became an homogeneous liquid of low viscosity in 36–58 h at 20°C; however, the oil and protein components continued to be hydrolysed for several months. Addition of formaldehyde to fish silage (0.25 or 0.39% by wt) after liquefaction was complete, served to prevent continued protein hydrolysis and oxidative rancidity of the oil. It also decreased the development of ‘off-odours’, and the formation of total volatile bases. Fish silage was readily absorbed by hay at a ratio of 1.5 parts silage to 1.0 parts hay by weight; the product is referred to as ‘haylage’. Voluntary intake by wethers of ‘haylage’ prepared from de-oiled, formaldehyde-treated fish silage was better than for ‘haylage’ prepared from untreated fish silage. The crude protein content of ‘haylage’ rations was more than satisfactory for fattening lambs, although the energy content of ‘haylage’ rations may be a limiting factor. Retention of fish oil in the silage to increase the energy content of rations was unsuccessful because voluntary feed intake was depressed. The addition of formaldehyde to fish silage is advantageous when the product is to be fed to ruminant livestock since protein and lipid degradation in the feed, and also possibly in the rumen, are minimised and voluntary intake of ‘haylage’ by sheep is increased.     

降低过滤机滤饼水分和细粒煤脱水浅析

根据对选煤厂细粒煤样的实验室优化脱水试验、工业试验及分析结果 ,对真空系统、气水分离器和分配头实施了技术改造 ,细粒煤脱水系统的运行状况得到显著改善 :圆盘真空过滤机滤饼水分降到 2 0 %左右 ,脱饼率在 95 %以上 ,每年的直接经济效益可达 30 0多万元     

FAST MEASUREMENT OF ASH CONTENT IN COAL WASHING PLANT

The coal filter cake is a product of fine coal after floatation which has an ash content of 7-13%, water content of 30±2%, and a particle size of less than 1 mm. The ash content was measured by the intensity of the single backscattered gamma-ray, and its accuracy is mainly dependent on the energy of the gamma-ray. The 238Pu low energy photon source is selected in this work. The energy of its gamma-ray is 15 keV, which can result not only in the best sensitivity, but also in the lowest contribution to the environment radiation. The root mean square deviation of the ash measurement is±0.33% (±1σ).     

Colour extension properties of individual pigments and effects on shades of foundations in cake form

The mechanism of colour change during the pigment dispersion process and during powder application to the skin surface was studied by examining the colour extension properties of Yellow. Red , and Black iron oxides in white powder bases. A new measure for the evaluation of the degree of colour extension was devised. This measure corresponded well with human visual sensation, and was found to be useful for comparing the rates of colour extension of pigments. The rate of colour extension of pigments was found to vary in the order: Yellow acicular Red granular Red Black. This result explains colour darkening and the change towards reddish tones during the pigment dispersion process, because Yellow extends fully in the early stage of the process but Red , especially in granular form, and Black continue to extend even in the later stage. Acicular Red iron oxide is more favourably employed than the granular form to attain sufficient colour extension of foundations with lower energy expenditure, and to decrease the discrepancy between the cake colour and the colour of applied powder.
Le développement des oxydes de fer et effet sur les nuances des fonds de teint compacts     

"米邦塔"仙人掌面包、蛋糕的研制

对仙人掌蛋糕、面包制作的可行性进行了研究。分别采用海绵蛋糕制作方法和一次发酵法制作仙人掌蛋糕和面包，并对它们的感官质量进行了评定。结果表明：仙人掌焙烤食品的感官质量符合相关国家标准，与普通焙烤食品相比，在外观形态、内部组织结构等方面无明显差异，且剖面呈绿色，略带仙人掌清香。仙人掌面包、蛋糕的开发，为仙人掌资源的开发利用提供了一条新的途径。     

Colour measurement of fish minces using hunter L,a, b values

Hunter L, a and b values are used to order fish mince colour according to species or processing parameters. Mince colour difference (ΔE) or statistical examination of L, a and b values are used to establish a 3-dimensional plot to illustrate colour differences between samples.