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The increasing demand for functional foods has pushed the food industry to produce fiber-enriched products. In this study, rheological, microstructural, physicochemical, and functional characteristics were investigated for whole proso millet dough and cake, fortified with fermented proso millet bran dietary fiber flour (F-DF). Results showed that proso millet flour is less absorbent and stable than the control group. Adding proso millet flour and F-DF reduced the elasticity of the dough and increased its hardness, but had no significant effect on viscosity, cohesion, and resilience. The microstructure analysis exhibited an unformed continuous network formation in proso millet dough. Analyses suggested that proso millet flour combined with the fermented dietary fiber group had significantly higher total phenol content (0.46 GAE mg/g), DPPH• scavenging activity (66.84%), and ABTS•+ scavenging activity (87.01%) than did the other group. In addition, F-DF led to a significant reduction in the predicted released glucose contents of reformulated cakes. In summary, cakes prepared with the involvement of whole proso millet flour and F-DF exhibited less adverse sensory impact and possessed the potential to decrease postprandial blood glucose levels resulting purely from cake consumption. [ABSTRACT FROM AUTHOR]

A hyper-redundant flexible manipulator is characterized by high degree(s) of freedom (DoF), flexibility, and environmental adaptability. It has been used for missions in complex and unknown spaces, such as debris rescue and pipeline inspection, where the manipulator is not intelligent enough to face complex situations. Therefore, human intervention is required to assist in decision-making and control. In this paper, we designed an interactive navigation method based on mixed reality (MR) of a hyper-redundant flexible manipulator in an unknown space. A novel teleoperation system frame is put forward. An MR-based interface was developed to provide a virtual model of the remote workspace and virtual interactive interface, allowing the operator to observe the real-time situation from a third perspective and issue commands to the manipulator. As for environmental modeling, a simultaneous localization and mapping (SLAM) algorithm based on an RGB-D camera is applied. Additionally, a path-finding and obstacle avoidance method based on artificial potential field (APF) is introduced to ensure that the manipulator can move automatically under the artificial command in the remote space without collision. The results of the simulations and experiments validate that the system exhibits good real-time performance, accuracy, security, and user-friendliness. [ABSTRACT FROM AUTHOR]