There are several popular methods for effecting global path planning such as visibility graphs, voronoi diagrams, cell decomposition and potential field methods select one of these and fully describe how it works and what its advantages and disadvantages may be.

Water vapor initially at 10 bar and 400 °c is contained within a piston-cylinder assembly. the water lost heat to the surrounding according to isochoric (iso-volumetric) process until its temperature is 150 °c. the water is then condensed isothermally to saturated liquid. for the water as a system, calculate the work in kj/kg