Abstract: A micro-robot magnetic drive device and a control method based on double closed loop three-dimensional path tracking are disclosed. The method includes: inputting a desired tracking path, obtaining current pose information of a magnetic micro-robot through a camera, and then calculating a position of a center of mass, an actual axial direction, coordinates of a desired position point with the shortest distance from the center of mass on a desired tracking path, and a tangent direction of this point; calculating a horizontal distance, a vertical distance, a direction angle error, and a pitch angle error of the two points according to the actual axial direction, the tangent direction, and disturbance compensation; and obtaining a required rotating magnetic field according to a designed position closed loop controller.

Abstract: The present disclosure discloses ?-carrageenase mutant OUC-CglA-DPQQ, which has an amino acid sequence as set forth in SEQ ID NO. 1 and an encoding gene as set forth in SEQ ID NO. 2. The ?-carrageenase mutant OUC-CglA-DPQQ is applied to degradation of carrageenan/preparation of ?-carrageenan oligosaccharides with high polymerization degree. The present disclosure further discloses a method for degrading carrageenan/preparing ?-carrageenan oligosaccharides with high polymerization degree by using the ?-carrageenase mutant OUC-CglA-DPQQ. The ?-carrageenase mutant OUC-CglA-DPQQ of the present disclosure can act on low viscosity carrageenan, and the polymerization degree of final product ?-carrageenan oligosaccharides is 10-20. The ?-carrageenase mutant of the present disclosure is excellent in enzymatic properties and specificity, and has important industrial application value and economic value in the preparation of ?-carrageenan oligosaccharides via an enzyme method.

Abstract: A micro-robot magnetic drive device and a control method based on double closed loop three-dimensional path tracking are disclosed. The method includes: inputting a desired tracking path, obtaining current pose information of a magnetic micro-robot through a camera, and then calculating a position of a center of mass, an actual axial direction, coordinates of a desired position point with the shortest distance from the center of mass on a desired tracking path, and a tangent direction of this point; calculating a horizontal distance, a vertical distance, a direction angle error, and a pitch angle error of the two points according to the actual axial direction, the tangent direction, and disturbance compensation; and obtaining a required rotating magnetic field according to a designed position closed loop controller.