This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance approach is tailored to generate optimal collision-free trajectories for the vehicle to track. To steer the vehicle towards and stay within the neighborhood of the generated collision-free trajectory, a nonlinear model predictive controller is designed. Experimental results are presented to validate the efficiency of proposed method, showing that the unmanned surface vehicle is able to track the leader ship without colliding with the surrounded static obstacles in the considered experiments.

Using culture-independent 16S rRNA gene-based methods, we previously observed that Geobacteraceae were a major component of the microbial communities in the iron-reducing aquifer polluted by the Banisveld landfill, The Netherlands. However, phylogenetic information does not tell about the functional potential of the detected Geobacteraceae, nor can phylogenetic information easily beused to establish the presence of other iron-reducers. Therefore, we enriched for iron-reducing consortia using a range of culturing media, with various electron donors and acceptors and varying incubation conditions (pH, temperature), and by applying dilution-to-extinction culturing. Enrichments and strains isolated from these enrichments were characterized by 16S rRNA gene-based methods.The number of culturable iron-reducers was less than 110 iron-reducing bacteria per gram of sediment. The Geobacterphylotypethat was previously found to constitute a major part of the microbial communities in a part of the aquifer where organic matter was attenuated at a relatively high rate, was not isolated. The isolation of another Geobacterstrain and Serratia, Clostridium, Rhodoferaxand Desulfitobacterium strains suggest the presence of a diverse iron-reducing community. Physiological capabilities of the isolatesare described and discussed in relation to the hydrogeochemistryand the high abundance ofGeobacteraceaein the aquifer pollutedby the Banisveld landfill.