机器人柔性触手形状的光纤传感及重构方法

为了解决机器人与外界交互时形状感知的需求,本文提出了一种基于FBG的用于解决机器人触手形状感知的方法。采用无粘结剂的形式将光纤光栅植入柔性硅胶片中固定,当柔性硅胶片紧贴所测物体表面时,硅胶片发生的形状变化将带动植入光纤的形状变化。通过光纤波长漂移量和弯曲曲率的关系,结合曲面重构算法构建出所测物体的表面形状,同时对柔性传感器的灵敏度进行了分析。实验证明了形状感知系统的可行性及稳定性,其灵敏度为65.822 pm/m-1,空间分辨率为3 cm,测量误差在2.9 %左右。该传感器结构简单,抗干扰性能良好,可通过改变光纤植入的深度及光栅之间的距离调节其灵敏度和空间分辨率以适应不同的情景,为执行机器人触手形状感知提供了参考。     

响应面优化鱿鱼须酶法脱皮工艺及其质构特性

采用不同蛋白酶进行鱿鱼须脱皮实验,以白度值和原料保留率为指标,筛选出最适蛋白酶。在单因素试验基础上,采用Box-Behnken试验设计优化秘鲁鱿鱼须酶法脱皮工艺参数,并通过挥发性盐基氮（total volatile basicnitrogen,TVB-N）含量、质构与显微组织分析样品的新鲜度及质构特性。结果表明,回归模型能较好反映因素水平与响应值的关系,并确定最适酶法脱皮工艺为胰酶添加量0.25%、料液比17∶20（g/mL）、酶解时间20 min,在此条件下,样品的白度值为63.95±0.31,原料保留率为（81.22±0.28）%,TVB-N含量为（27.60±0.34） mg/100 g,且质构特性与肌纤维组织均无显著变化。脱皮后的秘鲁鱿鱼须TVB-N含量符合GB 2733-2005《鲜、冻动物性水产品卫生标准》规定,色泽鲜亮、肉质有弹性、原料保留率高,该工艺适合生产实际需求。     

Lysyl oxidase from jumbo squid (Dosidicus gigas) muscle: detection and partial purification

Lysyl oxidase (LOX) was detected and partially purified from jumbo squid (Dosidicus gigas) muscle, for the first time. A procedure for the purification of LOX from jumbo squid muscle which consisted of urea extraction, Sephadex G‐75 and anion exchange chromatography was developed. Activity of partially purified LOX was 390‐fold higher than the original extract. Two protein fractions with 32 and 24 kDa were detected by SDS‐PAGE. The enzyme was strongly inhibited by β‐aminopropionitrile fumarate, a specific LOX inhibitor. LOX was purified with 3.8% yield, showing a specific activity of 0.078 IU mg^?1 protein. This knowledge will help understand the behaviour of jumbo squid protein during cool storage or manufacture.