Formation shape control for a collection of point agents is concerned with devising decentralized control laws which ensure that the formation will move so that certain interagent distances approximate prescribed values as closely as possible. Such laws are often derived using steepest descent of a potential function which is invariant under translation and rotation, and then critical formation...

This paper presents a geometric approach to multi-robots group formation with connectivity preservation (from a graph-theoretic perspective) among group members. The controller demonstrates consistency among different formations, as well as stability while performing dynamic switching between formations. Inter-robots collision avoidance is delivered through formation preservation, while permitt...

Poetry has become less and preferred by the students. been viewed as a boring subject. This is because process of learning teaching poetry considered routine activity. article seeks ways to make an interesting subject learn examining existing syllabus proposing more interactive syllabus. Ethnography was used in this study gather information. Lecturers students will have work together collaborat...

This Account outlines the recent efforts of developing catalysis under the ambient conditions of air and water for synthetic purposes from the author's laboratory. The discussions are focused on catalytic reactions (mostly C-C bond formations) other than oxidations via late transition metals. It includes the following aspects: (1) copper-catalyzed C-C bond formations; (2) palladium-catalyzed C-...

Dear Editor, Leishmaniasis is an important insect borne infection that is endemic in South America, Africa and the Middle East. However, within the recent few years, the new infection due to Leishmania siamensis is observed in Southeast Asia1,2. This new species of Leishmania can cause both visceral and cutaneous forms of clinical manifestation. Focusing on neurological manifestation, Petersen ...

The Yilgarn Banded Iron Formations of Western Australia are topographical features that behave as terrestrial islands within the otherwise flat, semi-arid landscape. The formations are characterised by a high number of endemic species, some of which are distributed across multiple formations without inhabiting the intervening landscape. These species provide an ideal context for phylogeographic...

The ocean and atmosphere were largely anoxic in the early Precambrian, resulting in an Fe cycle that was dramatically different than today’s. Extremely Fe-rich sedimentary deposits—i.e., Fe formations—are the most conspicuous manifestation of this distinct Fe cycle. Rare Earth Element (REE) systematics have long been used as a tool to understand the origin of Fe formations and the corresponding...