We present a fast and robust path planning algorithm for generic static terrains with polygonal obstacles. Our algorithm finds shorter, and therefore more intuitive paths than a traditional A* approach with a similar underlying graph. The presented algorithm is derived from A* and is modified to circumvent undecidable situations and unintuitive results. Additionally, we present two post-processing steps to enhance the quality and visual appearance of the resulting paths. The first method minimizes the number of waypoints in a path while the second method takes the slope of the terrain into account in order to generate visually more pleasing paths. We show that our algorithm is fast and, therefore, well suited for realtime applications, such as games or virtual environments.

The photodecolourisation of textile dye Reactive Blue 19 (RB 19), an anionic anthraquinone dye of the reactive class, was investigated using UV radiation in the presence of H 2 O 2 in a batch photo-reactor with low-pressure mercury lamps. The effects of the system parameters: initial pH, initial dye concentration, concentration of peroxide and radiation intensity, as well as the presence of salts, (NaCl, Na 2 SO 4 , NaNO 3 , NaH 2 PO 4 ) on dye decolourisation was examined. Increasing the initial pH resulted in an increase in decolourisation efficiency. Results showed that with an increase of dye concentration from 10 to 100 mg•ℓ This study has shown that the UV/H 2 O 2 process is a promising technology for degradation of RB 19 in water and wastewater.

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