Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use

Strict Forest Reserve Research in the Margin of the Carpathians, the Vár-hegy Case-Study

Sixteen forest reserves are situated in the northern part of Hungary which belongs to the Carpathian region according to EURAC delimitation (Ruffini et al. 2006). These Hungarian forest reserves expand the natural forest remnant/forest reserve net of the Carpathians towards the lower hilly region, representing the deciduous beech and oak forest belts near their lower (xeric) distribution limits. This paper outlines the Hungarian forest reserves belonging to the Carpathian region and the preliminary results of current projects in the Vár-hegy Forest Reserve (Bükk Mts., Hungary) as a case study. The alteration of tree species composition was investigated here based on the reconstruction of forest history in the previous 130 years (management period) and analyses of forest stand inventory. In another project CO2 sequestration changes of these forest stands were modeled since the clear-cutting in the 1880th and carbon stored in the forest ecosystem compartments was estimated. Our results show that the forest reserve stands are presently in a transition state from the managed forest towards a more natural mixed forest with several age-classes

Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix A: ROBSIM user's guide

The purpose of the Robotics Simulation Program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotics systems. ROBSIM is program in FORTRAN 77 for use on a VAX 11/750 computer under the VMS operating system. This user's guide describes the capabilities of the ROBSIM programs, including the system definition function, the analysis tools function and the postprocessor function. The options a user may encounter with each of these executables are explained in detail and the different program prompts appearing to the user are included. Some useful suggestions concerning the appropriate answers to be given by the user are provided. An example user interactive run in enclosed for each of the main program services, and some of the capabilities are illustrated

The model of dynamo with small number of modes and magnetic activity of T Tauri stars

The model that describes operation of dynamo in fully convective stars is presented. It is based on representation of stellar magnetic field as a superposition of finite number of poloidal and toroidal free damping modes. In the frame of adopted low of stellar differential rotation we estimated minimal value of dynamo number D, starting from which generation of cyclic magnetic field in stars without radiative core is possible. We also derived expression for period of the cycle. It was found that dynamo cycles of fully convective stars and stars with thin convective envelopes differ in a qualitative way: 1) distribution of spots over latitude during the cycle is different in these stars; 2) the model predicts that spot formation in fully convective stars should be strongly suppressed at some phases of the cycle. We have analyzed historical lightcurve of WTTS star V410 Tau and found that long term activity of the star is not periodic process. Rather one can speak about quasi cyclic activity with characteristic time of $\sim 4$ yr and chaotic component over imposed. We concluded also that redistribution of cool spots over longitude is the reason of long term variations of V410 Tau brightness. It means that one can not compare directly results of photometric observations with predictions of our axially symmetric (for simplicity) model which allows to investigate time evolution of spot's distribution over latitude. We then discuss what kind of observations and in which way could be used to check predictions of the dynamo theory.Comment: 18 pages, 5 figures, accepted to Astron. Let

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix B: ROBSIM programmer's guide

The purpose of the Robotic Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAM 77 and implemented on a VAX 11/750 computer using the VMS operating system. The programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With the manual and the in-code documentation, an experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities