A class F of universal algebras is called a formation if the following conditions are satisfied: 1) Any homomorphic image of A ∈ F is in F ; 2) If α1, α2 are congruences on A and A/αi ∈ F , i = 1, 2, then A/(α1∩ α2) ∈ F . We prove that any formation generated by a simple algebra with permutable congruences is minimal, and hence any formation containing a simple algebra, with permutable congruen...

This paper describes the optimization of a compliant motion task plan which guarantees the estimation of the inaccurately known position and orientation of the contacting objects to the required accuracy (“active sensing”). The task plan consists of (i) the desired sequence of contact formations and (ii) the compliant path to execute during each of these contact formations. The plan is optimize...

The coordinated flight of bird flocks is a pleasant and attractive sight. While most previous approaches have focused on animating cluster formations, this paper introduces a technique for animating flocks that fly in certain patterns (socalled line formations). We distinguish between the behavior of such flocks during initiation and their behavior during steady flight. We provide a biologicall...

In this paper, we provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on the notion of graph rigidity as a means of identifying the shape variables of a formation. Using this approach, we can formally define formations of multiple vehicles and three types o...

Recent research projects have demonstrated that it is possible to make robots move in formation. The approaches di er by the various assumptions about what can be perceived and communicated by the robots, the strategies used to make the robots move in formation, the ability to deal with obstacle and to switch formations. After suggesting criteria to characterize problems associated with robot f...

To demonstrate biofilm formations on a cochlear implant magnet of a pediatric patient suffering from a methicillin-resistant Staphylococcus aureus (MRSA) infection. The appearance of biofilm colonies was analyzed on different magnet sections. The appearance of MRSA biofilms on the surface of an explanted cochlear implant was analyzed by scanning electron microscopy (SEM), focusing on the patter...

The litho-and biostratigraphy of Upper Cretaceous (Gurpi Formation) has been investigated within a well-exposed section at the northern limb of Pey zard anticline, Abnow area, Southern Iran. The studied section consists mainly of grey marl, calcareous pyritic shale, and argillaceous limestones. The Formation unconformably overlies Sarvak Formation and the Tarbur Formation overlies it unconforma...

Most of existing crowd simulation algorithms focus on the moving trajectories of individual agents, while collective group formations are often roughly learned from video examples or manually specified via various hard constraints (e.g., pre-defined keyframes of exact agent distributions). In this paper, we present an intuitive yet efficient approach to generate arbitrary and precise group form...

1.1 Carbon dioxide sequestration in sub-seabed geological formations is a process consisting of separation of carbon dioxide from industrial and energy-related sources, transport to an offshore geological formation, and long-term isolation from the atmosphere. This process is one option in a portfolio of mitigation actions for stabilization of atmospheric greenhouse gas concentrations with the ...