Multi-UAV trajectory planning problem using the difference of convex function programming

The trajectory planning problem for a swarm of multiple UAVs is known as a challenging nonconvex optimization problem, particularly due to a large number of collision avoidance constraints required for individual pairs of UAVs in the swarm. In this paper, we tackle this nonconvexity by leveraging the difference of convex function (DC) programming. We introduce the slack variables to relax and reformulate the collision avoidance conditions and employ the penalty function term to equivalently convert the problem into a DC form. Consequently, we construct a penalty DC algorithm in which we sequentially solve a set of convex optimization problems obtained by linearizing the collision avoidance constraint. The algorithm iteratively tightens the safety condition and reduces the objective cost of the planning problem and the additional penalty term. Numerical results demonstrate the effectiveness of the proposed approach in planning a large number of UAVs in congested space.Comment: This paper has been accepted for presentation at the 62nd IEEE Conference on Decision and Control (CDC 2023

In vitro growth and content of vincristine and vinblastine of Catharanthus roseus L. hairy roots in response to precursors and elicitors

Catharanthus roseus L. is a medicinal plant that produces numerous indole terpenoid alkaloids, including vincristine and vinblastine, which are used for cancer treatment. The effect of specified precursors (L-phenylalanine, L-tyrosine) and elicitors (chitosan, methyl jasmonate) on C. roseus hairy roots (CHR) growth has been examined in order to increase the content of vincristine and vinblastine. Our results showed that CHR generated by an Agrobacterium rhizogenes strain isolated in Vietnam was capable of producing both vincristine and vinblastine when subjected to precursors, but only vinblastine when exposed to elicitors. However, both precursors and elicitors were evaluated to have an effect on increasing the accumulation of TIAs in CHR. In particular, the use of elicitors required more time to find the appropriate induction conditions, while the use of precursors gave outstanding efficiency in the treatment with 1 µM phenylalanine. The greatest yields of vincristine (51.99 µg g-1 DW) and vinblastine (699.92 µg g-1 DW) were obtained in the 7th week (with 0.306 g DW biomass). This result is the first time we might boost the levels of vincristine and vinblastine in our CHR clone generated by the Vietnam strain of A. rhizogenes

Ownership Concentration and Accounting Conservatism: The Moderating Role of Board Independence

The purpose of this study is to examine the moderating effect of board independence on the relationship between ownership concentration and accounting conservatism. Using fixed-effect regressions for a sample of 165 Vietnamese listed companies from 2007 to 2017, the results revealed that the proportion of outstanding shares owned by the largest shareholder is negatively associated with accounting conservatism and board independence plays a moderating role in this relationship. Our results are robust after applying alternative measures of the largest ownership and correcting for potential endogeneity using fixed-effects regression with instrumental variables. Overall, our evidence shows that firms with concentrated ownership should keep a high non-executive ratio to maintain accounting conservatism. In other words, increasing the number of non-executive directors on boards in firms with a substantial proportion of shares held by the largest shareholder is likely to strengthen the information environment, giving financial reporting more credibility.JEL Classification: G30; G32. Doi: 10.28991/ESJ-2023-07-01-07 Full Text: PD

Effects of protein levels of commercial diets on the growth performance and survival rate of rabbitfish (Siganus guttatus) at the nursing stage

This study aimed to determine the effect of a commercial diet's protein level on the fry-to-fingerling stage. Thirty days-old fries having the initial length and weight of 18.25 ± 0.15 mm fish-1 and 0.036 ± 0.50 g fish-1 respectively have been used in this study. Diet having three protein levels i.e. 30% (trial 1 as control), 35% (trial 2), 40% (trial 3), and 45% (trial 4), respectively, have been used to evaluate the effect of protein, and each trial has been repeated three times. During the study, stocking density was allocated to 1000 fish per composite tank with a volume of 1 m3. After 30 days of rearing, the weight of fingerlings in trial 1 reached up to 1.50 ± 0.02 g fish-1 and it was recorded as 1.52 ± 0.01g for trial 2, these two were lower than that of trials 3 and 4, where fingerling weight was reported 1.69 ± 0.01 and 1.58g fish-1 respectively and obtained the best weight compared to others. The length of fingerlings at the end of the experimental period was also changed in different trials and it was recorded 47.12; 46.92; 50.97; and 48.89 mm fish-1 for trail 1, 2, 3, and 4 respectively, among the tested combinations lower fingerlings length was recorded for trial 2 (35% CP), but it is not significantly different for trial 1 and 2 and a significant difference (P < 0.05) was reported for trail 2, 3, and 4. The survival rate of fingerlings ranged from 67.27 to 72.33%. Meanwhile, the herd distribution coefficient variation (CVW) in the treatment using 40% protein (trial 3) was the highest at 72.33% (p < 0.05). The results of the study can be concluded that the level of protein has a significant effect on the various growth parameters of fingerlings

Synthesis and Photocatalytic Activity for Toluene Removal of CDs/TiO2 - Zeolite Y

Hydrothermally synthesized carbon nanodots (CDs) were impregnated on TiO2. The product (CDs/TiO2) was mechanically mixed with zeolite Y for application in toluene photocatalytic oxidation reaction under UV radiation. Material properties of the samples were investigated by different methods. Toluene vapor was chosen as a typical volatile organic compound to investigate the performance of CDs/TiO2 – zeolite Y photocatalyst when these technological parameters were changed: toluene concentration, gas flow rate, humidity and UV light intensity. In each reaction, only one parameter was changed and the remaining conditions were fixed. The toluene concentrations at the beginning and the end of each reaction were analyzed with the use of gas chromatography (GC). The results of different reaction conditions show the trends for toluene treatment of the CDs/TiO2 – zeolite Y catalyst, thereby providing specific explanations for these trends. The experiments also show that toluene removal is highest when the toluene concentration in the inlet gas is 314 ppmv, the flow rate is 3 L/h, the humidity is 60%, and the catalyst (CDs/TiO2 – zeolite Y composite with 70% zeolite in weight) is illuminated by 4 UV lamps. Copyright © 2022 by Authors, Published by BCREC Group. This is an open access article under the CC BY-SA License (https://creativecommons.org/licenses/by-sa/4.0).

Synthesis of new simplified hemiasterlin derivatives with α,β-unsaturated carbonyl moiety.

International audienceIn this Letter, we report a convenient and efficient method for the synthesis of new simplified derivatives of hemiasterlin in which the α,α-dimethylbenzylic moiety A is replaced by α,β-unsaturated aryl groups as Michael acceptor. Most of these derivatives have a strong cytotoxic activity on three human tumor cell lines (KB, Hep-G2 and MCF7). Analogs 17b and 17f showed a high cytotoxicity against KB and Hep-G2 cancer cell lines comparable to paclitaxel and ellipticine

Synthesis of new bioisosteric hemiasterlin analogues with extremely high cytotoxicity

International audienceIn this article, we report a convenient and efficient method for the synthesis of new simplified derivativesof hemiasterlin in which the α,α-dimethylbenzylic moiety A is replaced by α,β-unsaturated aryl groupsas Michael acceptor. Most of these derivatives have a strong cytotoxic activity on three human tumorcell lines (KB, Hep-G2 and MCF7). Analogs 17b and 17f showed a high cytotoxicity against KB andHep-G2 cancer cell lines comparable to paclitaxel and ellipticine

Short Tandem Repeats Used in Preimplantation Genetic Testing of Î’-Thalassemia: Genetic Polymorphisms For 15 Linked Loci in the Vietnamese Population

BACKGROUND: β-thalassemia is one of the most common monogenic diseases worldwide. Preimplantation genetic testing (PGT) of β-thalassemia is performed to avoid affected pregnancies has become increasingly popular worldwide. In which, the indirect analysis using short tandem repeat (STRs) linking with HBB gene to detect different β-globin (HBB) gene mutation is a simple, accurate, economical and also provides additional control of contamination and allele-drop-out ADO. AIM: This study established microsatellite markers for PGT of Vietnamese β-thalassemia patient. METHODS: Fifteen (15) STRs gathered from 5 populations were identified by in silico tools within 1 Mb flanking the HBB gene. The multiplex PCR reaction was optimized and performed on 106 DNA samples from at-risk families. RESULTS: After estimating, PIC values were ≥ 0.7 for all markers, with expected heterozygosity and observed heterozygosity values ranged from 0.81 to 0.92 and 0.53 to 0.86, respectively. One hundred percent of individuals had at least seven heterozygous markers and were found to be heterozygous for at least two markers on either side of the HBB gene. The STRs panel was successfully performed on one at-risk family. CONCLUSION: In general, a pentadecaplex marker (all < 1 Mb from the HBB gene) assay was constituted for β-thalassemia PGT on Vietnamese population