Radar Target Tracking for Unmanned Surface Vehicle Based on Square Root Sage-Husa Adaptive Robust Kalman Filter.

Dynamic information such as the position and velocity of the target detected by marine radar is frequently susceptible to external measurement white noise generated by the oscillations of an unmanned surface vehicle (USV) and target. Although the Sage-Husa adaptive Kalman filter (SHAKF) has been applied to the target tracking field, the precision and stability of SHAKF remain to be improved. In this paper, a square root Sage-Husa adaptive robust Kalman filter (SR-SHARKF) algorithm together with the constant jerk model is proposed, which can not only solve the problem of filtering divergence triggered by numerical rounding errors, inaccurate system mathematics, and noise statistical models, but also improve the filtering accuracy. First, a novel square root decomposition method is proposed in the SR-SHARKF algorithm for decomposing the covariance matrix of SHAKF to assure its non-negative definiteness. After that, a three-segment approach is adopted to balance the observed and predicted states by evaluating the adaptive scale factor. Finally, the unbiased and the biased noise estimators are integrated while the interval scope of the measurement noise is constrained to jointly evaluate the measurement and observation noise for better adaptability and reliability. Simulation and experimental results demonstrate the effectiveness of the proposed algorithm in eliminating white noise triggered by the USV and target oscillations.

Exploring Core Microbiota Based on Characteristic Flavor Compounds in Different Fermentation Phases of Sufu.

Sufu, a Chinese traditional fermented soybean product, has a characteristic foul smell but a pleasant taste. We determined the core functional microbiota and their metabolic mechanisms during sufu fermentation by examining relationships among bacteria, characteristic flavor compounds, and physicochemical factors. Flavor compounds in sufu were detected through headspace solid-phase microextraction coupled with gas chromatography-mass spectrometry, and the microbial community structure was determined through high-throughput 16S rRNA sequencing. The results showed that the fermentation process of sufu could be divided into early and late stages. The early stage was critical for flavor development. Seven microbiota were screened based on their abundance, microbial relevance, and flavor production capacity. Five microbes were screened in the early stage: Pseudomonas, Tetragenococcus, Lysinibacillus, Pantoea, and Burkholderia-Caballeronia-Paraburkholderia. Three microbes were screened in the late stage: Exiguobacterium, Bacillus, and Pseudomonas. Their metabolic profiles were predicted. The results provided a reference for the selection of enriched bacterial genera in the fermentation process and controlling applicable process conditions to improve the flavor of sufu.

Encapsulation of curcumin in soluble soybean polysaccharide-coated gliadin nanoparticles: interaction, stability, antioxidant capacity, and bioaccessibility.

BACKGROUND: Gliadin nanoparticles are used as a delivery system for active substances because of their amphiphilicity and bioavailability. However, they are susceptible to destabilization by external agents. In this study, gliadin nanoparticles stabilized by soluble soybean polysaccharide (SSPS) were prepared by antisolvent precipitation. Formed stable complex nanoparticles were applied to protect and deliver curcumin (Cur). RESULTS: Gliadin/SSPS nanoparticles with the smallest particle size (196.66 nm, polydispersity index < 0.2) were fabricated when the mass ratio of gliadin to SSPS was 1:1 at pH 5.0. SSPS-stabilized gliadin nanoparticles had excellent stability at pH 3.0-8.0, 0.02-0.1 mol L-1 NaCl and at 90 °C heat. Gliadin/SSPS nanoparticles were used to encapsulate the Cur. The encapsulation efficiency of the Cur-loaded gliadin/SSPS nanoparticles was 84.59%. Fourier transform infrared spectroscopy and fluorescence spectrophotometry showed that the main forces were hydrogen bonds, electrostatic interactions and hydrophobic interactions between gliadin and SSPS. The X-ray diffraction patterns exhibited that the crystalline form of Cur converted to an amorphous substance. The retention rates of Cur-loaded gliadin/SSPS nanoparticles reached 79.03%, 73.43% and 87.92% after ultraviolet irradiation for 4 h, heating at 90 °C and storage at 25 °C for 15 days, respectively. Additionally, simulated digestion demonstrated that the bioavailability of gliadin/SSPS-Cur nanoparticles was four times higher than that of free Cur. CONCLUSION: This study showed that SSPS improved the stability of gliadin nanoparticles. Gliadin/SSPS nanoparticles have the function of loading and delivering Cur. © 2022 Society of Chemical Industry.

Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances.

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.

Profiling the influence of physicochemical parameters on the microbial community and flavor substances of zaopei.

BACKGROUND: Strong-flavor baijiu is a traditional distilled alcoholic beverage with a long history in China. The fermented grains play a pivotal role in the production of baijiu. The purpose of this study was to evaluate and compare the microbiota and flavor substances present in fermented zaopei (ZP) from pits of different ages. High-throughput sequencing, headspace solid-phase microextraction gas chromatography-mass spectrometry, principal component analysis, community composition analysis, and redundancy analysis were used to analyze and evaluate the impact of environmental factors on microbial communities and flavor substances. RESULTS: Six genera of bacteria (e.g., Caproiciproducens, Syntrophaceticus, Sedimentibacter, Hydrogenispora, Pelotomaculum and Bacillus) and seven genera of fungi (Cladosporium, Debaryomyces, Dipodascus, Auxarthron, Cephalotrichum, unclassified Stachybotryaceae, unclassified Microascaceae and Cephalotrichum) notably affected the production of hexanoic acid (an important flavor compound). Moisture and alcohol content also had considerable effects on the production of the flavor compounds such as ethyl lactate, hexanoic acid, and ethyl hexanoate. The profiles of volatile compounds present in ZP were different between the aged and new pits; these profiles were mainly reflected in the concentration and types of alcohols, aldehydes, esters, and aromatic compounds. CONCLUSIONS: This paper provides a comprehensive overview of the physicochemical parameters, flavor substances, and microbial population distribution of ZP. Characterization of various ZP samples help to elucidate the fermentation mechanisms and offer a theoretical reference to control and enhance the quality of Baijiu. © 2021 Society of Chemical Industry.

Study on preparation of acylated soy protein and stability of emulsion.

BACKGROUND: Protein can be used as an emulsifier to improve emulsion stability at the interface of water-in-oil emulsion. However, natural soybean protein isolate (SPI) does not meet the high demands as an emulsifier in the food industry. The effect of acylation modification by ethylenediaminetetraacetic dianhydride (EDTAD; 0-300 g kg-1 ) on the physicochemical properties of SPI was studied. RESULTS: The results of the Fourier transform infrared spectra analyses showed that carboxyl groups were introduced into the SPI structure by the EDTAD treatment. The carboxyl concentration of SPI was increased by 30-74.07% with an increase in EDTAD addition from 50 to 300 g kg-1 . When 150 g kg-1 EDTAD was added, the surface hydrophobicity, the emulsifying activity, and the absolute value of the zeta potential were increased by 213%, 120%, and 68% respectively, and the particle size decreased to 247 nm. The droplet size of emulsion decreased to 10 µm when pH was 6. At the same concentration of SPI and pH, the absolute value of zeta potential of the emulsion was biggest. A comparison of the emulsions during storage showed the improvement of emulsion stability was related to the increase in the zeta potential and the decrease in the average particle size. The experimental group showed no destabilization on day 21, and no obvious aggregation phenomenon was observed. CONCLUSION: Acylation modification by EDTAD changed the emulsifying properties of SPI and enhanced the stability of the SPI emulsion. © 2021 Society of Chemical Industry.

Heterologous signal peptides-directing secretion of Streptomyces mobaraensis transglutaminase by Bacillus subtilis.

Microbial transglutaminase (MTG) from Streptomyces mobaraensis has been widely used for crosslinking proteins in order to acquire products with improved properties. To improve the yield and enable a facile and efficient purification process, recombinant vectors, harboring various heterologous signal peptide-encoding fragments fused to the mtg gene, were constructed in Escherichia coli and then expressed in Bacillus subtilis. Signal peptides of both WapA and AmyQ (SP wapA and SP amyQ ) were able to direct the secretion of pre-pro-MTG into the medium. A constitutive promoter (P hpaII ) was used for the expression of SP wapA -mtg, while an inducible promoter (P lac ) was used for SP amyQ -mtg. After purification from the supernatant of the culture by immobilized metal affinity chromatography and proteolysis by trypsin, 63.0 ± 0.6 mg/L mature MTG was released, demonstrated to have 29.6 ± 0.9 U/mg enzymatic activity and shown to crosslink soy protein properly. This is the first report on secretion of S. mobaraensis MTG from B. subtilis, with similar enzymatic activities and yields to that produced from Escherichia coli, but enabling a much easier purification process.

Improvement of the activity and thermostability of microbial transglutaminase by multiple-site mutagenesis.

Microbial transglutaminase (MTG) is an enzyme widely used in the food industry. Mutiple-site mutagenesis of Streptomyces mobaraensis transglutaminase was performed in Escherichia coli. According to enzymatic assay and thermostability study, among three penta-site MTG mutants (DM01-03), DM01 exhibited the highest enzymatic activity of 55.7 ± 1.4 U/mg and longest half-life at 50 °C (418.2 min) and 60 °C (24.8 min).

Modeling and Identification for Vector Propulsion of an Unmanned Surface Vehicle: Three Degrees of Freedom Model and Response Model.

This paper presents a complete scheme for research on the three degrees of freedom model and response model of the vector propulsion of an unmanned surface vehicle. The object of this paper is “Lanxin”, an unmanned surface vehicle (7.02 m × 2.6 m), which is equipped with a single vector propulsion device. First, the “Lanxin” unmanned surface vehicle and the related field experiments (turning test and zig-zag test) are introduced and experimental data are collected through various sensors. Then, the thrust of the vector thruster is estimated by the empirical formula method. Third, using the hypothesis and simplification, the three degrees of freedom model and the response model of USV are deduced and established, respectively. Fourth, the parameters of the models (three degrees of freedom model, response model and thruster servo model) are obtained by system identification, and we compare the simulated turning test and zig-zag test with the actual data to verify the accuracy of the identification results. Finally, the biggest advantage of this paper is that it combines theory with practice. Based on identified response model, simulation and practical course keeping experiments are carried out to further verify feasibility and correctness of modeling and identification.

Cell regeneration and cyclic catalysis of engineered Kluyveromyces marxianus of a D-psicose-3-epimerase gene from Agrobacterium tumefaciens for D-allulose production.

D-Allulose as a low-energy and special bioactive monosaccharide sugar is essential for human health. In this study, the D-psicose-3-epimerase gene (DPEase) of Agrobacterium tumefaciens was transferred into thermotolerant Kluyveromyces marxianus to decrease the production cost of D-allulose and reduce the number of manufacturing procedures. The cell regeneration of K. marxianus and cyclic catalysis via whole-cell reaction were investigated to achieve the sustainable application of K. marxianus and the consumption of residual D-fructose. Results showed that DPEase, encoding a 33 kDa protein, could be effectively expressed in thermotolerant K. marxianus. The engineered K. marxianus produced 190 g L-1 D-allulose with 750 g L-1 D-fructose as a substrate at 55 °C within 12 h. Approximately 100 g of residual D-fructose was converted into 34 g of ethanol, and 15 g of the engineered K. marxianus cells was regenerated after fermentation at 37 °C for 21 h. The purity of D-allulose of more than 90% could be obtained without isolating it from D-allulose and D-fructose mixture through residual D-fructose consumption. This study provided a valuable pathway to regenerate engineered K. marxianus cells and achieve cyclic catalysis for D-allulose production.

Formation of macromolecules in wheat gluten/starch mixtures during twin-screw extrusion: effect of different additives.

BACKGROUND: Wheat gluten comprises a good quality and inexpensive vegetable protein with an ideal amino acid composition. To expand the potential application of wheat gluten in the food industry, the effect of different additives on the physicochemical and structural properties of wheat gluten/starch mixtures during twin-screw extrusion was investigated. RESULTS: Macromolecules were observed to form in wheat gluten/starch mixtures during twin-screw extrusion, which may be attributed to the formation of new disulfide bonds and non-covalent interactions, as well as Maillard reaction products. Additionally, the water retention capacity and in vitro protein digestibility of all extruded wheat gluten/starch products significantly increased, whereas the nitrogen solubility index and free sulfhydryl group (SH) content decreased, during twin-screw extrusion. Secondary structural analysis showed that α-helices disappeared with the concomitant increase of antiparallel ß-sheets, demonstrating the occurrence of protein aggregation. Microstructures suggested that the irregular wheat gluten granular structure was disrupted, with additive addition favoring transformation into a more layered or fibrous structure during twin-screw extrusion. CONCLUSION: The findings of the present study demonstrate that extrusion might affect the texture and quality of extruded wheat gluten-based foods and suggest that this process might serve as a basis for the high-value application of wheat gluten products. © 2017 Society of Chemical Industry.

Bacteriocins of lactic acid bacteria: extending the family.

Lactic acid bacteria (LAB) constitute a heterogeneous group of microorganisms that produce lactic acid as the major product during the fermentation process. LAB are Gram-positive bacteria with great biotechnological potential in the food industry. They can produce bacteriocins, which are proteinaceous antimicrobial molecules with a diverse genetic origin, posttranslationally modified or not, that can help the producer organism to outcompete other bacterial species. In this review, we focus on the various types of bacteriocins that can be found in LAB and the organization and regulation of the gene clusters responsible for their production and biosynthesis, and consider the food applications of the prototype bacteriocins from LAB. Furthermore, we propose a revised classification of bacteriocins that can accommodate the increasing number of classes reported over the last years.

Lack of evidence of hepatitis in patients with oral lichen planus in China: A case control study.

BACKGROUND: China has been one of the countries with high prevalence of chronic hepatitis B virus (HBV) and hepatitis C virus (HCV) liver disease. And lichen planus is an extrahepatic manifestation of patients with chronic HCV infection. This case-control study was conducted to investigate the relationship between oral lichen planus (OLP) and HBV/HCV infection in China. MATERIAL AND METHODS: A total of 776 patients, including 150 patients with OLP (Group OLP), 429 inpatients from the Trauma Ward of Oral and Maxillofacial Surgery Department (Group A), 110 patients with other oral mucosal diseases, but without a reported association with HCV infection (Group B) and 87 patients with oral lichenoid lesion (Group OLL), were compared with their seroprevalence of anti-HCV antibody (HCVAb), hepatitis B surface antigen (HBsAg) and the parameters of liver functions. Moreover, the clinical characteristics of OLP were also observed, such as gender, age, chief complaint, course of the disease, clinical type, sites involved and so on. RESULTS: The positive rates of HCVAb and HBsAg in OLP patients were 0.7% and 4%, respectively. Neither HCVAb nor HBsAg was associated with OLP as demonstrated by both the univariate and the multivariate analyses. The clinical features and liver functions of OLP patients with negative or positive HBsAg were nearly the same. CONCLUSIONS: Our findings verify that there is no association between OLP and hepatitis and there is no need to run a screening test for HCV or HBV in OLP patients in China.

Lantibiotic Reductase LtnJ Substrate Selectivity Assessed with a Collection of Nisin Derivatives as Substrates.

Lantibiotics are potent antimicrobial peptides characterized by the presence of dehydrated amino acids, dehydroalanine and dehydrobutyrine, and (methyl)lanthionine rings. In addition to these posttranslational modifications, some lantibiotics exhibit additional modifications that usually confer increased biological activity or stability on the peptide. LtnJ is a reductase responsible for the introduction of D-alanine in the lantibiotic lacticin 3147. The conversion of L-serine into D-alanine requires dehydroalanine as the substrate, which is produced in vivo by the dehydration of serine by a lantibiotic dehydratase, i.e., LanB or LanM. In this work, we probe the substrate specificity of LtnJ using a system that combines the nisin modification machinery (dehydratase, cyclase, and transporter) and the stereospecific reductase LtnJ in Lactococcus lactis. We also describe an improvement in the production yield of this system by inserting a putative attenuator from the nisin biosynthesis gene cluster in front of the ltnJ gene. In order to clarify the sequence selectivity of LtnJ, peptides composed of truncated nisin and different mutated C-terminal tails were designed and coexpressed with LtnJ and the nisin biosynthetic machinery. In these tails, serine was flanked by diverse amino acids to determine the influence of the surrounding residues in the reaction. LtnJ successfully hydrogenated peptides when hydrophobic residues (Leu, Ile, Phe, and Ala) were flanking the intermediate dehydroalanine, while those in which dehydroalanine was flanked by one or two polar residues (Ser, Thr, Glu, Lys, and Asn) or Gly were either less prone to be modified by LtnJ or not modified at all. Moreover, our results showed that dehydrobutyrine cannot serve as a substrate for LtnJ.

Interferon-γ regulates the function of mesenchymal stem cells from oral lichen planus via indoleamine 2,3-dioxygenase activity.

BACKGROUND: Little is known about mesenchymal stem cells (MSCs) in normal or inflammatory oral mucosal tissues, such as in oral lichen planus (OLP). Our objectives were to identify, isolate, and characterize MSCs from normal human oral mucosa and OLP lesions, and to evaluate indoleamine 2,3 dioxygenase (IDO) activity in mediating immunomodulation of MSCs from these tissues. METHODS: Expressions of MSCs-related markers were examined in isolated cells by flow cytometry. Self-renewal and multilineage differentiations were studied to characterize these MSCs. Interferon-γ (IFN-γ), IDO, and STRO-1 were assessed by immunofluorescence. MSCs from oral mucosa and OLP or IFN-γ-pretreated MSCs were co-cultured with allogeneic mixed lymphocyte reaction assays (MLR). Proliferation and apoptosis of MLR or MSCs were detected by CCK8 and the annexin V-FITC apoptosis detection kit, respectively. IDO expression and activity were measured by real-time PCR, Western blotting, and high-performance liquid chromatography. RESULTS: Isolated cells from oral mucosa and OLP expressed MSC-related markers STRO-1, CD105, and CD90 but were absent for hematopoietic stem cell markers CD34. Besides, they all showed self-renewal and multilineage differentiation capacities. MSCs in OLP presented STRO-1/IDO+ phenotype by immunofluorescence. MSCs and IFN-γ-pretreated MSCs could inhibit lymphocyte proliferation via IDO activity, but not via cell apoptosis. Long-term IFN-γ could also inhibit MSC proliferation via IDO activity. CONCLUSIONS: Mesenchymal stem cells can be isolated from human oral mucosa and OLP tissues. Besides self-renewal and multilineage differentiation properties, these cells may participate in immunomodulation mediated by IFN-γ via IDO activity in human OLP.

Research on pear residue dietary fiber and Monascus pigments extracted through liquid fermentation.

Pear residue, a byproduct of pear juice extraction, is rich in soluble sugar, vitamins, minerals, and cellulose. This study utilized Monascus anka in liquid fermentation to extract dietary fiber (DF) from pear residue, and the structural and functional characteristics of the DF were analyzed. Soluble DF (SDF) content was increased from 7.9/100 g to 12.6 g/100 g, with a reduction of average particle size from 532.4 to 383.0 nm by fermenting with M. anka. Scanning electron microscopy and infrared spectroscopic analysis revealed more porous and looser structures in Monascus pear residue DF (MPDF). Water-, oil-holding, and swelling capacities of MPDF were also enhanced. UV-visible spectral analysis showed that the yield of yellow pigment in Monascus pear residue fermentation broth (MPFB) was slightly higher than that in the Monascus blank control fermentation broth. The citrinin content in MPFB and M. anka seed broth was 0.90 and 0.98 ug/mL, respectively. Therefore, liquid fermentation with M. anka improved the structural and functional properties of MPDF, suggesting its potential as a functional ingredient in food.

Advances in the understanding of the production, modification and applications of xylanases in the food industry.

Xylanases have broad applications in the food industry to decompose the complex carbohydrate xylan. This is applicable to enhance juice clarity, improve dough softness, or reduce beer turbidity. It can also be used to produce prebiotics and increase the nutritional value in foodstuff. However, the low yield and poor stability of most natural xylanases hinders their further applications. Therefore, it is imperative to explore higher-quality xylanases to address the potential challenges that appear in the food industry and to comprehensively improve the production, modification, and utilization of xylanases. Xylanases, due to their various sources, exhibit diverse characteristics that affect production and activity. Most fungi are suitable for solid-state fermentation to produce xylanases, but in liquid fermentation, microbial metabolism is more vigorous, resulting in higher yield. Fungi produce higher xylanase activity, but bacterial xylanases perform better than fungal ones under certain extreme conditions (high temperature, extreme pH). Gene and protein engineering technology helps to improve the production efficiency of xylanases and enhances their thermal stability and catalytic properties.

Analysis of metabolic differences between Jiaosu fermented from dendrobium flowers and stems based on untargeted metabolomics.

Dendrobium officinale is an important traditional Chinese medicinal herb containing bioactive polysaccharides and alkaloids. This study characterized metabolite differences between jiaosu (fermented plant product) from Dendrobium flowers versus stems using untargeted metabolomics. The jiaosu was fermented by mixed fermentation of Saccharomyces cerevisiae, Lactobacillus bulgaricus and Streptococcus thermophilus. Liquid chromatography-mass spectrometry analysis identified 476 differentially expressed metabolites between the two Jiaosu products. Key results showed downregulation of flavonoid metabolism in Dendrobium Stems Edible Plant Jiaosu (SEP) but increased flavonoid synthesis in Dendrobium Flowers Edible Plant Jiaosu (FEP), likely an antioxidant response. SEP displayed upregulation of lignin metabolites with potential antioxidant properties. The findings demonstrate significant metabolite profile differences between SEP and FEP, providing the basis for developing functional jiaosu products targeting specific health benefits.

Zirex: a novel zinc-regulated expression system for Lactococcus lactis.

Here, we report a new zinc-inducible expression system for Lactococcus lactis, called Zirex, consisting of the pneumococcal repressor SczA and PczcD. PczcD tightly regulates the expression of green fluorescent protein in L. lactis. We show the applicability of Zirex together with the nisin-controlled expression system, enabling simultaneous but independent regulation of different genes.

Time-varying encounter angle trajectory tracking control of unmanned surface vehicle based on wave modeling.

In this note, a wave simulation method based on the wave spectrum is proposed, and the wave simulation is transformed into external interference to verify the necessity of using variable encounter angle real wave interference. Firstly, A wave simulation method based on wave spectrum and equidistant method is proposed and demonstrated. Secondly, wave modeling is transformed into interference force related to the encounter angle by fully considering the real marine environment. Furthermore, a trajectory tracking controller with variable encounter angles and the actual sea state is designed using the disturbance modeling method. Finally, the necessity and authenticity of considering varying encounter angles and real sea conditions in the motion control of unmanned surface vehicles (USVs) are proved by simulation.