Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

Abstract: The present disclosure is directed to methods, approaches, devices, equipment, and systems for minimizing or reducing contamination in facilities implementing fermentation or distillation processes. In embodiments, the facility is a biofuel plant that produces fermentation product such as product alcohol like butanol. In some embodiments, the methods, approaches, devices, equipment, and systems are operable to implement clean in place contamination (CIP) mitigation techniques that can also include sterilize in place (SIP) mitigation techniques to decontaminate equipment including surfaces of the equipment that come in contact with materials used in the production of product alcohols. Other cleaning and contamination minimizing techniques are also described.

Abstract: The present disclosure is directed to methods, approaches, devices, equipment, and systems for minimizing or reducing contamination in facilities implementing fermentation or distillation processes. In embodiments, the facility is a biofuel plant that produces fermentation product such as product alcohol like butanol. In some embodiments, the methods, approaches, devices, equipment, and systems are operable to implement clean in place contamination (CIP) mitigation techniques that can also include sterilize in place (SIP) mitigation techniques to decontaminate equipment including surfaces of the equipment that come in contact with materials used in the production of product alcohols. Other cleaning and contamination minimizing techniques are also described.

Abstract: Provided herein are processes for adjusting a fermentation medium to reduce the activity of one or more carboxylic acids. The processes comprise (a) providing a recombinant microorganism comprising an engineered butanol biosynthetic pathway, (b) contacting the recombinant microorganism with a fermentation medium whereby butanol is produced and wherein the fermentation medium comprises one or more carboxylic acids, and (c) adjusting the fermentation medium to reduce the activity of the one or more carboxylic acids. Also provided are processes for reducing the activity of one or more carboxylic acids in a feed. The processes comprise (a) providing a feed from a fermentation vessel, wherein the feed comprises a composition produced by a recombinant microorganism comprising an engineered butanol biosynthetic pathway, wherein the composition comprises butanol, water, and one or more carboxylic acids; and (b) adjusting the feed, wherein adjusting the feed reduces the activity of the one or more carboxylic acids.