Biological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By comparison, we found an accord between the proposed dynamic model and the experimental behavior of the robot. The attained results can be used to design controllers and optimize performances of the robot propelled by the folding pectoral fins.

This experimental study investigates the effect of a uniform lateral inflow on the aerodynamic characteristics of flapping wings. Seven designated sideward ratios in the hovering condition and in the presence of a contralateral wing and a body were taken into account as variables in order to secure a better understanding of wing–wing and/or wing–body interactions under the lateral inflow. Our results from the single-wing cases clarified that an inflow running from the wingroot strengthened the leading-edge vortex, thereby augmenting the aerodynamic force/moment. The inflow running in the opposite direction drastically bent the leading-edge vortex to the trailing edge, but the cycle-averaged aerodynamic force/moment was barely changed. This led to substantial imbalances in the force/moment on the two wings. The roll moment on a centre of gravity and the static margin suggested flight instability in the lateral direction, similar to previous studies. We found that the wing–wing interaction was not completely negligible overall under a lateral inflow. A massive downwash induced by the wing on the windward side nearly neutralized the aerodynamic force/moment augmentations on the other wing with lower effective angles of attack. The wing–wing interaction also gave rise to a low-lift high-drag situation during the pitching-up wing rotation, resulting in greater side force derivatives than the theory of flapping counterforce. Further calculations of the roll moment and the static margin with the centre of gravity showed that the wing–wing interaction can improve static stability in the lateral direction. This mainly stemmed from both the attenuation of the lift augmentation and the elimination of the positive roll moment of the flapping-wing system.

This paper deals with nonnegative solutions of the one-dimensional degenerate parabolic equations with zero homogeneous Dirichlet boundary condition. To obtain an existence result, we prove a sharp estimate for |ux|. Besides, we investigate the qualitative behaviours of nonnegative solutions such as the quenching phenomenon, and the finite speed of propagation. Our results of the Dirichlet problem are also extended to the associated Cauchy problem on the whole domain ℝ. In addition, we also consider the instantaneous shrinking of compact support of nonnegative solutions.

The Annamite mountains of Viet Nam and the Lao People's Democratic Republic (Lao) are an area of exceptional mammalian endemism but intensive poaching has defaunated much of the region, creating an extinction crisis for the endemic species. To make efficient use of limited conservation resources, it is imperative that conservation stakeholders obtain basic information about poorly known and threatened endemics. We present the first comprehensive information on the ecology, distribution and status of the little-known endemic Annamite striped rabbit Nesolagus timminsi. We used a systematic camera-trapping design to study the species in five areas in Viet Nam and Lao. In 29,180 camera-trap-nights we recorded 152 independent events at 36 of 266 stations. We obtained an additional 143 independent detections across 12 stations from a supplementary non-systematic survey. We analysed activity patterns and social behaviour. We also used single-species occupancy models to assess factors that influence occupancy at the landscape scale. We used N-mixture models to obtain local abundance estimates in one target area. The Annamite striped rabbit was found to be nocturnal and primarily solitary. Species occupancy was best explained by a proxy for past hunting pressure, with no significant relationships to current anthropogenic or environmental factors. Local abundance was 0.57 individuals per camera-trap station for one of our sites, and estimated to be zero at the other site where hunting appears to have been more intense. Our results provide information on priority areas for targeted anti-poaching efforts and give the first conservation baseline for the species.

Soil salinity is a major limitation to legume production in many areas of the world. Identification of the genetic source of salt tolerance is critical in soybean breeding for improving soybean production in salt-affected regions. Vietnam has unique sources of soybean germplasm and varieties are grown in the area where exposure to salinity is frequent. However, there is little research on the identification of salt tolerant sources in the Vietnamese gene pool. The present study compared 18 Vietnamese soybean cultivars for their differences in salt tolerance. Under a range of NaCl stress from 0 to 200 mM NaCl, there was a large variation in salt tolerance among the 18 soybean lines evaluated. The soybean accession PI 675847 A (Vietnamese variety DT2008), was identified as a useful source of salt tolerance. During vegetative growth, PI 675847 A had lower leaf scorch scores, higher cell membrane stability, better photosynthesis and biomass accumulation under NaCl stress than the other 17 strains evaluated. In addition, PI 675847 A maintained better growth and seed yield in salt-affected soils compared with the sensitive lines. Analyses of ion contents in plant leaves under saline conditions showed that PI 675847 A was able to limit uptake and transport of Na+ and Cl−. Because of its higher productivity under saline conditions, PI 675847 A will be a useful germplasm source in soybean improvement programs for salt tolerance.

This paper proposes a detailed investigation on the new neural-based feed-forward PID direct force control (FNN-PID-DF) approach applied to a highly nonlinear 2-axes pneumatic artificial muscle (PAM) manipulator in order to ameliorate its force output performance. Founded on the novel inverse neural NARX model dynamically identified to learn well all nonlinear characteristics of the contact force dynamics of the 2-axes PAM-based manipulator, the novel proposed neural FNN-PID-DF force controller is innovatively implemented in order to directly force control the 2-axes PAM robot system used as a rehabilitation device subjected to internal systematic interactions and external contact force deviations. The performance of the experimental tests has proven the advantages and merits of the new force control method compared to the classical PID force control method. The new neural FNN-PID-DF force controller guides the wrist/hand of subject/patient to successfully generate the predefined desired force values.

The forest of mutations associated to a multitype branching forest is obtained by merging together all vertices in each of its clusters and by preserving connections between them. (Here, by cluster, we mean a maximal connected component of the forest in which all vertices have the same type.) We first show that the forest of mutations of any multitype branching forest is itself a branching forest. Then we give its progeny distribution and we describe some of its crucial properties in terms of the initial progeny distribution. We also obtain the limiting behaviour of the number of mutations both when the total number of individuals tends to ∞ and when the number of roots tends to ∞. The continuous-time case is then investigated by considering multitype branching forests with edge lengths. When mutations are nonreversible, we give a representation of their emergence times which allows us to describe the asymptotic behaviour of the latter, under certain conditions on the mutation rates. These results have potential relevance for emergence of mutations in population cells, particularly for genetic evolution of cancer or development of infectious diseases.

Strongyloidiasis is a neglected tropical disease caused by the roundworm Strongyloides stercoralis affecting 30–100 million people worldwide. Many Southeast-Asian countries report a high prevalence of S. stercoralis infection, but there are little data from Vietnam. Here, we evaluated the seroprevalence of S. stercoralis related to geography, sex and age in Vietnam through serological testing of anonymized sera. Sera (n = 1710, 1340 adults and 270 children) from an anonymized age-stratified serum bank from four regions in Vietnam between 2012 and 2013 were tested using a commercial Strongyloides ratti immunoglobulin G ELISA. Seroreactivity was found in 29·1% (390/1340) of adults and 5·5% (15/270) of children. Male adults were more frequently seroreactive than females (33·3% vs. 24·9%, P = 0·001). The rural central highlands had the highest seroprevalence (42·4% of adults). Seroreactivity in the other regions was 29·9% (Hue) and 26·0% and 18·2% in the large urban centres of Hanoi and Ho Chi Minh City, respectively. We conclude that seroprevalence of S. stercoralis was high in the Vietnamese adult population, especially in rural areas.

Let $\mathscr{F}$ be a holomorphic foliation by curves defined in a neighborhood of $0$ in $\mathbb{C}^{2}$ having $0$ as a hyperbolic singularity. Let $T$ be a harmonic current directed by $\mathscr{F}$ which does not give mass to any of the two separatrices. We show that the Lelong number of $T$ at $0$ vanishes. Then we apply this local result to investigate the global mass distribution for directed harmonic currents on singular holomorphic foliations living on compact complex surfaces. Finally, we apply this global result to study the recurrence phenomenon of a generic leaf.

The lowland area of southern Vietnam contains a high diversity of corticolous, crustose lichens, particularly in the family Graphidaceae. Two species, Acanthothecis verrucosa S. Joshi, Upreti & Hur and Graphis exuta S. Joshi, Upreti & Hur, are described new to science. Acanthothecis verrucosa is characterized by a verrucose, olive green thallus containing irregular to shortly lirellate apothecia, hyaline to brownish proper exciple apically lined by robust periphysoids, muriform ascospores, 30–70 × 15–20 μm, and the presence of psoromic and subpsoromic acids. Graphis exuta is characterized by a smooth, greenish white thallus, simple lirellae lacking thalline margin, entire labia coarsely white pruinose towards slit, muriform ascospores, 20–35×10–13 μm, and norstictic acid in the thallus. A new name, Acanthothecis yokdonensis S. Joshi & Hur, is proposed here for the species Acanthothecis salazinica S. Joshi & Hur, a later homonym of A. salazinica van den Boom & Sipman. In addition, 34 species from Vietnam are newly reported. A world key to the group of Graphis species characterized by short, simple and sessile lirellae lacking or with basal thalline margins (nuda-morph) is presented.

The coverage of health insurance as measured by enrollment rates has increased significantly in Vietnam. However, maintaining health insurance to the some groups such as the farmer, the borderline poor and informal workers, etc. has been very challenging. This paper examines the situation of health insurance drop-out among the adult population in sub-rural areas of Northern Vietnam from 2006 to 2013, and analyzes several socio-economic correlates of the health insurance drop-out situation. Data used in this paper were obtained from Health and Demographic Surveillance System located in Chi Linh district, an urbanizing area, in a northern province of Vietnam. Descriptive analyses were used to describe the level and distribution of the health insurance drop-out status. Multiple logistic regressions were used to assess associations between the health insurance drop-out status and the independent variables. A total of 32 561 adults were investigated. We found that the cumulative percentage of health insurance drop-out among the study participants was 21.2%. Health insurance drop-out rates were higher among younger age groups, people with lower education, and those who worked as small trader and other informal jobs, and belonged to the non-poor households. Given the findings, further attention toward health insurance among these special populations is needed.