A cryogen-blanching technique involves brief exposure of an oyster shell to a cryogen. A bus identifier, bus device identifier and bus function identifier corresponding to the received message and which identifies a particular one of the integrated Ethernet controllers may be determined. The phoneme and word lattice comprises a plurality of time-ordered nodes, and a plurality of links extending between the nodes. In addition, the method includes retrieving help information using the help index value and presenting the retrieved help information to the user. The infrared signal and the ultrasonic signals are received, a time difference between the received infrared signal and the ultrasonic signals, and then, a position of a mobile robot is detected on the basis of the calculated time difference value and a distance value previously stored between ultrasonic wave generators generating the ultrasonic signals. In this way, the frothing element can perform an up and down motion superimposed on the rotational motion thereof along the longitudinal direction.