Palmitic acid form of caustic soda or lye), which causes hydrolysis of the ester groups, yielding glycerol and sodium palmitate. Because it is inexpensive and adds texture and "mouth feel" to processed foods (convenience food), palmitic acid and its sodium salt find wide use in foodstuffs. Sodium palmitate is permitted as a natural additive in organic products. The aluminium salt is used as a thickening agent of napalm used in military actions. Hydrogenation of palmitic acid yields cetyl alcohol, which is used to produce detergents and cosmetics. Recently, a long-acting antipsychotic medication, paliperidone palmitate (marketed as INVEGA Sustenna), used in the treatment
Weapon target assignment problem problem has received more attention. In spite of the name, there are nonmilitary applications of the WTA. The main one is to search for a lost object or person by heterogeneous assets such as dogs, aircraft, walkers, etc. The problem is to assign the assets to a partition of the space in which the object is located to minimize the probability of not finding the object. The "value" of each element of the partition is the probability that the object is located there. The weapon target assignment problem is often formulated as the following nonlinear integer programming problem: subject to