Abstract: Disclosed is a system and method for onboard optimal estimation of heading, pitch, and roll through real-time measurement of magnetic field, acceleration and angular motion in three dimensions. Magnetometer information is used to create an initial reference from which movement is measured. Thus, the process does not have to start when the body is in a known position. Further, the device does not have to continually rely on accelerometer data to get roll and pitch. To do this magnetic field data is used to complement gyro information. The magnetic data is used to estimate pitch, roll, and heading.

Abstract: Plant material may be treated for the removal of gossypol therefrom to provide a protein-rich product and/or oil relatively free of gossypol. The process includes the steps of:a. grinding the plant material to form a meal,b. adding an amine and a buffer to the meal and mixing to form a slurry and react the gossypol in the plant material with the amine and buffer to form a gossypol/amine/buffer complex,c. allowing the slurry to form a crystal layer of the complex above a layer of the meal having gossypol removed therefrom,d. separating the crystal layer from the layer of meal.The gossypol containing complex recovered also possesses insecticidal activity.