new simplified tectonic models and depositional history of late cretaceous rocks are established in a part of zagros orogenic belt that is located in the northeastern iraq. these rocks constutes the most important cretaceous oil reservoir in the middle east. the dependent tools are petrography, field study and the concept of drowning phases. this concept is relatively new and accurate in explan...

Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints. In this paper, we develop a systematic framework for studying formations of multiagent systems. In particular, we consider undirected formations for centralized formations and directed formations for decentrali...

One of the most important subjects in relation of water resources quality in the many of river is the chemical composition of waters and conservation of water quality in the watershed. Geological formations in any region of the earth are the main surface and foundation that water flows on the bed and strata of formation, which in fact they affect their characteristics on water quality as positi...

New simplified tectonic models and depositional history of Late Cretaceous rocks are established in a part of Zagros Orogenic Belt that is located in the Northeastern Iraq. These rocks constutes the most important Cretaceous oil reservoir in the Middle East. The dependent tools are petrography, field study and the concept of drowning phases. This concept is relatively new and accurate in explan...

vegetation cover as the main factor affecting the water erosion plays an important role in preventingsoil loss. to this end, for better understanding the impact of vegetation cover on soil erosion andsediment yield over the major existing geological formations in the summer rangelands of balade inthe mazandaran province, rainfall simulation studies have been carried out using a portable rainfal...

We present a decentralized, behavior-based approach to assembling and maintaining robot formations. Our approach dynamically grows formations from single robots into line segments and ultimately larger and more complex formations. Formation growth occurs by negotiation when robots are in close proximity. The approach has been validated using simulation as well as experiments with physical robot...