Robust Trajectory and Communication Design for Angle-Constrained Multi-UAV Communications in the Presence of Jammers

This paper studies a multi-unmanned aerial vehicle(UAV)enabled wireless communication system,where multiple UAVs are employed to communicate with a group of ground terminals(GTs)in the presence of potential jammers.We aim to maximize the throughput overall GTs by jointly optimizing the UAVs’trajectory,the GTs’scheduling and power allocation.Unlike most prior studies,we consider the UAVs’turning and climbing angle constraints,the UAVs’three-dimensional(3D)trajectory constraints,minimum UAV-to-UAV(U2U)distance constraint,and the GTs’transmit power requirements.However,the formulated problem is a mixed-integer non-convex problem and is intractable to work it out with conventional optimization methods.To tackle this difficulty,we propose an efficient robust iterative algorithm to decompose the original problem be three sub-problems and acquire the suboptimal solution via utilizing the block coordinate descent(BCD)method,successive convex approximation(SCA)technique,and S-procedure.Extensive simulation results show that our proposed robust iterative algorithm offers a substantial gain in the system performance compared with the benchmark algorithms.

Alleviative effects of a novel strain Bacillus coagulans XY2 on copper-induced toxicity in zebrafish larvae

Copper (Cu) is a kind of micronutrient element that is essential for human metabolism.However,it is also considered as an environmental pollutant which is toxic to organisms at a high concentration level.Probiotics,regarded as beneficial microorganisms for promoting human health,have functions of antioxidant capacity,immune-enhancing properties,intestinal barrier protection and regulation.Several studies have reported that probiotics show positive effects on alleviating and intervening heavy metals toxicity.However,evidence for relieving copper-induced toxicity by probiotics is still limited.In this study,we firstly conducted a zebrafish larvae model to screen out microorganisms which are helpful for CuSO_(4)toxicity resistance and one novel strain named as Bacillus coagulans XY2 was discovered with the best protective activity.B.coagulans XY2 significantly reduced the mortality of zebrafish larvae exposed to 10μmol/L CuSO_(4)for 96 hr,as well as alleviated the neutrophils infiltration in the larvae lateral line under a 2 hr exposure.B.coagulans XY2 exhibited a high in vitro antioxidant activity and against CuSO_(4)-induced oxidative stress in zebrafish larvae by up-regulating sod1,gstp1 and cat gene transcriptional levels and relevant enzymatic activities.CuSO_(4)stimulated the inflammation process resulting in obvious increases of gene il-1βand il-10 transcription,which were suppressed by B.coagulans XY2 intervention.Overall,our results underline the bio-function of B.coagulans XY2 on protecting zebrafish larvae from copper toxicity,suggesting the potential application values of probiotics in copper toxicity alleviation on human and the environment.