This paper first describes the problem of goals nonreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, new repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensures that the goal position is the global minimum of the total potential.

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The effects of dissolved oxygen tension and mechanical forces on fungal morphology were both studied in the submerged fermentation of Aspergillus awamori. Pellet size, the hairy length of pellets, and the free filamentous mycelial fraction in the total biomass were found to be a function of the mechanical force intensity and to be independent of the dissolved oxygen tension provided that the dissolved oxygen tension was neither too low (5%) nor too high (330%). When the dissolved oxygen concentration was close to the saturation concentration corresponding to pure oxygen gas, A. awamori formed denser pellets and the free filamentous mycelial fraction was almost zero for a power input of about 1 W/kg. In the case of very low dissolved oxygen tension, the pellets were rather weak and fluffy so that they showed a very different appearance. The amount of biomass per pellet surface area appeared to be affected only by the dissolved oxygen tension and was proportional to the average dissolved oxygen tension to the power of 0.33. From this it was concluded that molecular diffusion was the dominant mechanism for oxygen transfer in the pellets and that convection and turbulent flow in the pellets were negligible in submerged fermentations. The biomass per wet pellet volume increased with the dissolved oxygen tension and decreased with the size of the pellets. This means that the smaller pellets formed under a higher dissolved oxygen tension had a higher intrinsic strength. Correspondingly, the porosity of the pellets was a function of the dissolved oxygen tension and the size of pellets. Within the studied range, the void fraction in the pellets was high and always much more than 50%.

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Both parallel fermentations with Aspergillus awamori (CBS 115.52) and a literature study on several fungi have been carried out to determine a relation between fungal morphology and agitation intensity. The studied parameters include hyphal length, pellet size, surface structure or so‐called hairy length of pellets, and dry mass per‐wet‐pellet volume at different specific energy dissipation rates. The literature data from different strains, different fermenters, and different cultivation conditions can be summarized to say that the main mean hyphal length is proportional to the specific energy dissipation rate according to a power function with an exponent of −0.25 ± 0.08. Fermentations with identical inocula showed that pellet size was also a function of the specific energy dissipation rate and proportional to the specific energy dissipation rate to an exponent of −0.16 ± 0.03. Based on the experimental observations, we propose the following mechanism of pellet damage during submerged cultivation in stirred fermenters. Interaction between mechanical forces and pellets results in the hyphal chip‐off from the pellet outer zone instead of the breakup of pellets. By this mechanism, the extension of the hyphae or hair from pellets is restricted so that the size of pellets is related to the specific energy dissipation rate. Hyphae chipped off from pellets contribute free filamentous mycelia and reseed their growth. So the fraction of filamentous mycelial mass in the total biomass is related to the specific energy dissipation rate as well. To describe the surface morphology of pellets, the hyphal length in the outer zone of pellets or the so‐called hairy length was measured in this study. A theoretical relation of the hairy length with the specific energy dissipation rate was derived. This relation matched the measured data well. It was found that the porosity of pellets showed an inverse relationship with the specific energy dissipation rate and that the dry biomass per‐wet‐pellet volume increased with the specific energy dissipation rates. This means that the tensile strength of pellets increased with the increase of specific energy dissipation rate. The assumption of a constant tensile strength, which is often used in literature, is then not valid for the derivation of the relation between pellet size and specific energy dissipation rate. The fraction of free filamentous mycelia in the total biomass appeared to be a function of the specific energy dissipation in stirred bioreactors. © 1997 John Wiley & Sons, Inc. Biotechnol Bioeng 55: 715–726, 1997.

Generalizing results from fungal fermentations is difficult due to their high sensitivity toward slight variation in starting conditions, poor reproducibility, and difference in strains. In this study a mathematical model is presented in which oxygen transfer, agitation intensity, dissolved oxygen tension, pellet size, formation of mycelia, the fraction of mycelia in the total biomass, carbohydrate source consumption, and biomass growth are taken into account. Two parameters were estimated from simulation, whereas all others are based on measurements or were taken from literature. Experimental data are obtained from the fermentations in both 2 L and 100 L fermentors at various conditions. Comparison of the simulation with experiments shows that the model can fairly well describe the time course of fungal growth (such as biomass and carbohydrate source concentrations) and fungal morphology (such as pellet size and the fraction of pellets in the total biomass). The model predicts that a stronger agitation intensity leads to a smaller pellet size and a lower fraction of pellets in the total biomass. At the same agitation intensity, pellet size is hardly affected by the dissolved oxygen tension, whereas the fraction of mycelia decreases slightly with an increase of the dissolved oxygen tension in the bulk. All of these are in line with observations at the corresponding conditions. © 1998 John Wiley & Sons, Inc. Biotechnol Bioeng 60: 216–229, 1998.

11With the increased urbanization in most countries worldwide, the urban heat island (UHI) effect, 12 referring to the phenomenon that an urban area has higher ambient temperature than the surrounding 13 rural area, has gained much attention in recent years. Given that Beijing is developing rapidly both in 14 urban population and economically, the UHI effect can be significant. A long-term measured weather 15 dataset from 1961 to 2014 for ten rural stations and seven urban stations in Beijing, was analyzed in 16 this study, to understand the detailed temporal and spatial characteristics of the UHI in Beijing. The 17 UHI effect in Beijing is significant, with an urban-to-rural temperature difference of up to 8℃ during 18 the winter nighttime. Furthermore, the impacts of UHIs on building design and energy performance 19 were also investigated. The UHI in Beijing led to an approximately 11% increase in cooling load and 20 16% decrease in heating load in the urban area compared with the rural area, whereas the urban heating 21 peak load decreased 9% and the cooling peak load increased 7% because of the UHI effect. This study 22 provides insights into the UHI in Beijing and recommendations to improve building design and 23

The genetic algorithm (GA) is an effective method to solve the path-planning problem and help realize the autonomous navigation for and control of unmanned surface vehicles. In order to overcome the inherent shortcomings of conventional GA such as population premature and slow convergence speed, this paper proposes the strategy of increasing the number of offsprings by using the multi-domain inversion. Meanwhile, a second fitness evaluation was conducted to eliminate undesirable offsprings and reserve the most advantageous individuals. The improvement could help enhance the capability of local search effectively and increase the probability of generating excellent individuals. Monte-Carlo simulations for five examples from the library for the travelling salesman problem were first conducted to assess the effectiveness of algorithms. Furthermore, the improved algorithms were applied to the navigation, guidance, and control system of an unmanned surface vehicle in a real maritime environment. Comparative study reveals that the algorithm with multi-domain inversion is superior with a desirable balance between the path length and time-cost, and has a shorter optimal path, a faster convergence speed, and better robustness than the others.