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

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: 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

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

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 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

Non-PEGylated liposomes for convection-enhanced delivery of topotecan and gadodiamide in malignant glioma: initial experience

Convection-enhanced delivery (CED) of highly stable PEGylated liposomes encapsulating chemotherapeutic drugs has previously been effective against malignant glioma xenografts. We have developed a novel, convectable non-PEGylated liposomal formulation that can be used to encapsulate both the topoisomerase I inhibitor topotecan (topoCED™) and paramagnetic gadodiamide (gadoCED™), providing an ideal basis for real-time monitoring of drug distribution. Tissue retention of topoCED following single CED administration was significantly improved relative to free topotecan. At a dose of 10 μg (0.5 mg/ml), topoCED had a half-life in brain of approximately 1 day and increased the area under the concentration–time curve (AUC) by 28-fold over free topotecan (153.8 vs. 5.5 μg day/g). The combination of topoCED and gadoCED was found to co-convect well in both naïve rat brain and malignant glioma xenografts (correlation coefficients 0.97–0.99). In a U87MG cell assay, the 50% inhibitory concentration (IC50) of topoCED was approximately 0.8 μM at 48 and 72 h; its concentration–time curves were similar to free topotecan and unaffected by gadoCED. In a U87MG intracranial rat xenograft model, a two-dose CED regimen of topoCED co-infused with gadoCED greatly increased median overall survival at dose levels of 0.5 mg/ml (29.5 days) and 1.0 mg/ml (33.0 days) vs. control (20.0 days; P < 0.0001 for both comparisons). TopoCED at higher concentrations (1.6 mg/ml) co-infused with gadoCED showed no evidence of histopathological changes attributable to either agent. The positive results of tissue pharmacokinetics, co-convection, cytotoxicity, efficacy, and lack of toxicity of topoCED in a clinically meaningful dose range, combined with an ideal matched-liposome paramagnetic agent, gadoCED, implicates further clinical applications of this therapy in the treatment of malignant glioma

Solar dynamo model with nonlocal alpha-effect

The first results of the solar dynamo model that allows for the diamagnetic effect of inhomogeneous turbulence and the nonlocal alpha-effect due to the rise of magnetic loops are discussed. The nonlocal alpha-effect is not subject to the catastrophic quenching related to the conservation of magnetic helicity. Given the diamagnetic pumping, the magnetic fields are concentrated near the base of the convection zone, although the distributed-type model covers the entire thickness of the convection zone. The magnetic cycle period, the equatorial symmetry of the field, its meridional drift, and the polar-to-toroidal field ratio obtained in the model are in agreement with observations. There is also some disagreement with observations pointing the ways of improving the model.Comment: To appear in Astronomy Letters, 10 pages, 5 figure

Meritocratic aspects concerning civil servant career: comparative study in Central and Eastern European countries

Central and Eastern Europe has known in the last 20 years profound changes. The shift from a dictatorial system to a democratic system forced the states from this area to adopt structural measures for all public institutions. In this context, the institution of "civil servant" could not remain unaffected. In the period of communist regimes, the institution of "civil servant" did not exist, the civil servant being just a simple employee of the state. Work relations were the same as for any employee. The shift to another political system, the democratic one, determined the reconsideration the role and the place of public administration, and implicit of civil servant in the framework of the state system. In this context, it has been a shift from the statute of simple employee to that of civil servant, representing the power of the state. In the process of accession to the European Union, the states from Central and Eastern Europe have been permanently pressured to clearly define a strategy concerning the competitiveness of public administration, concerning the statute and the career of civil servant. In the context of democratisation, we can notice that the principle of meritocracy has become a key principle in the civil servant's career. The term "meritocracy" is often used in order to describe a type of society in which wealth and social position are obtained mainly through competition or through ability or proved competences. A position invested with responsibilities and social prestige has to be acquired and not inherited or obtained by arbitrary criteria. Meritocracy represents also the term used to describe or to criticise a society in competition that accepts inequitable disparities of income, wealth and social position. Taking into account the above considerations, the present paper aims to achieve an analysis of meritocratic aspects in the systems of planning and promotion of civil servant's career in Central and Eastern Europe