This paper examines the problem of relative attitude observability for formations of three, four and five vehicle formations. The analysis is rooted in within the principles of maximum likelihood estimation insomuch as the metric for observability is the resulting Fisher information matrix for the small attitude errors. For formations of three and four vehicles it is shown that the relative att...

The motivation behind this work is to transfer force-based assembly skills to robots by using human demonstration. For this purpose, we model the skills as a sequence of contact formations (which describe how a workpiece touches its environment) and desired transitions between contact formations. In this paper , we present a method of identifying single-ended contact formations from force senso...

the present study was carried out to determine the possible origins of sediments entering taleghan dam in northern part of iran, in order to avoid further sedimentation and helping in extension of the useful life of the proposed dam. this was performed by xrd analysis. to do so, first of all, sediment sampling points were positioned along the taleghan river. the collected samples, after coding,...

This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2or 3dimensional space. A formation is called rigid if the distance between each pair of agents does not change over time under ideal conditions. Sensing/communication links between agents are used to maintain a rigid formation. Two agents ...

After adopting and extending the “test of truth as effective action” that Newell proposes in “A Theory of Interdisciplinary Studies,” this article proposes “living well” as the goal of knowledge processes. With this in mind, it explores disciplinarity—the unspoken assumption underlying Newell’s argument. Disciplinarity is discovered to be an historical and cultural phenomenon, demonstrating the...

The Jura-Cretaceous coal seams of the Currier, Mist Mountain, &thing and Gates formations generally formed in delta or strand plain environments with little marine influence. The sulphur contents of coal from these formations is therefore generally low, nearly always less than I % and often less than 0.5 %. Coalbearing formations of the Cretaceous Nanaimo and Skeena groups were deposited in coa...