This Article describes and analyzes the role that various supranational actors from the European level play in the rise of formalization in the European states of the legal framework surrounding their judiciary. It starts from the observation that those supranational actors act as a driving force towards increased formalization via a variety of recommendations, reports, or decisions. It first provides several concrete examples of where the supranational actors act as such a driving force towards more formalization. In a second step, the Article looks more generally at how the various supranational actors think about informality surrounding the judiciary and tries to discern the rationales that underlie their position. In a third step, it assesses the various advantages and disadvantages of the rise in formalization that is propagated by the supranational actors. In doing so, the Article shows how the topic of informal judicial rules and practices cannot be understood fully without having due regard to the supranational level and contributes to the literature on the relationship between formal and informal institutions.

The dynamic model of a new class of underwater robot is derived and the validity of the model is checked experimentally. Close agreements between theory and experiment are attained. The interaction between the buoyancy and gravity forces acting on the robot arm, present in the underwater environment, is used to generate torques necessary to move the arm. The mathematical model of a multi-arm robot is developed to define the interaction between the dynamics of the moving weight and the robot links under the action of the resisting water drag and other external forces. The Lagrangian method is used in the formulation of the arm dynamics. The developed dynamic equations serve as means for designing the control laws necessary for controlling the position of the different joints of the robots. The study indicates that the buoyancy and gravity-driven robot can position a payload accurately as well as at a fairly fast speed of response. It is indicated from the theoretical and experimental study that the arm motion is created by a small displacement of moving weight on the power screw. Therefore, power requirement of this type of robot is just as enough to overcome the friction between the power screw and the moving weight. This features emphasize the potential of the concept as a viable means for driving underwater robots