This work investigated the influence of enzymatic tenderization on digestibility changes of beef semimembranosus proteins using peptidomics methods. Hydrolysis by proteinase K and bromelain elevated the average bitterness index of identified peptides by generating high-Q values peptides (1714–1790 Cal/mol), including KDLFDPIIQ, LIDDHFLFDKPVSPL, and QLIDDHFLFDKPVSPLLL. Proteolysis during enzymatic tenderization acted as a “pre-digestion” step and significantly elevated the degree of hydrolysis of beef protein (by 4.5–17.3%) in subsequent simulated gastrointestinal digestion. Peptidomics analysis of digests revealed large variations in the peptide composition, which was positively correlated with the degree of proteolysis during enzymatic tenderization. Enzymatic tenderization with proteinase K- (for 0.5 h) or bromelain-treated samples largely increased the survival rate (by 65.5 or 82.8%) of peptides during simulated digestion, possibly because of the “secondary enzyme–substrate interaction” effect. This work could provide a new sight into the possible influence of enzymatic tenderization on meat nutrition.

A novel elastic body design idea of six-axis wrist force sensor with a floating beam was raised based on the analysis of the robot six-axis wrist force sensor with a floating beam. The design ideas improve the sensor’s dynamic performance significantly, while not reducing its sensitivity. First, the design ideas were described in detail, which were analyzed by mechanical modeling and were verified by finite element analysis. Second, the static simulation analysis of the novel elastomer of sensor was carried out. According to the strain distribution performance, the position of the strain gauges pasted and the connection mode of the full-bridge circuits were decided, which can achieve theoretical decoupling. Finally, the comparison between the static and dynamic performance of the novel sensor and the original sensor with floating beams was done. The results show that the static and dynamic performance of the novel six-axis wrist sensor are all better than the original sensor.

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A combined measurement method on the basis of liquid compressibility and the characteristics of deep sea pressure compensators and pistons is proposed to solve the difficulty in measuring the large pressure of several kilometers of water depth and the small fluctuation pressure of several centimeters of water depth in ocean pressure detection. First, the working principle of the proposed method is introduced. Second, the force of piston is evaluated under static and dynamic pressure measurement conditions, and the corresponding mathematical models are established. Third, the measurement accuracy of static and dynamic pressures is analyzed. Finally, a test platform is built. The results show that the maximum dynamic pressure of 0.025 bar is realized at a pressure changing speed of 0.2 bar/s, and the small fluctuation pressure of 2.8 × 10−3 bars is realized at a pressure of 20 bars. The measurement system can track the changing ambient pressure in real time, and the measurement accuracy of the small fluctuation pressure is only related to the characteristics of the measurement system itself but not to the external large pressure. The accuracy and feasibility of the proposed method are verified. This study provides a new approach for measuring deep sea large pressure and its small fluctuation pressure.