JPRS ID: 8516 TRANSLATIONS ON EASTERN EUROPE SCIENTIFIC AFFAIRS

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iS JUNE i979 CFOUO 4179~ . i Q.F i
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F0~ O~h~l;1N~ USE (NV~Y
L/a5L6
i5 Jur~a 19'19
.
.
~ TRANSlATIOVS OK EASTERN EUROPE
$CIEN'CI~IC AFFAIRS
r ~ ~
(FOUO 4/79)
,
~
U. S. JOINT f~tlBLICATIONS RESEARCH SERVICE
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' JPR5 L/85].6
15 Jun~ 19 79
TRANSLATZONS ON EASTERN El1ROPE
SCIENI'ZFIC AFFAIRS
~ (FOVO 4/79)
CONTEN7S PAGE
, C2ECHOSLONAKIA
Work of SSR Geodetic and Cartographic Office, Inetitute
Reviewed ~
(Ondre~ Michalko, Daniel Lenko; GEODETICKY A
KARTOGRAFICKY OBZOR, No 2, 1979) 1
Testing the EC 1025 Computer in the DOS 3 EC Operating
Syatem
(Josef Klouda; AUTOMATIZACE, No 3, 1979) 12
Arikma Begina Production of EC 5075 Floppy-Disc Unit
(Jan Libensky; AUTOMATIZACE, No 3, 1979) 15
POLAND
Induatrial Robots Developed by Warsaw InaCitute Described
(Henryk Andrze~ewski; STROJIRENSKA VYROBA, No 3, 1979) 18
- 8- IIII - EE - 65 FOUOJ
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cz~cHOSr.ovAxxA
~
WORK OF SSR GEODETIC AND CARTOGRAPHIC O~rICE, INSTI~UTE REVIEWED
' Prague GEODETICKY A KARTOGRAFICKY OBZOR in Czech/Slovak No 2, 1979 pp 33-40
(Artiicle by Engr Ondre~ Michalko, ~hairman, and Engr Daniel Lenko, c9eputy
chairman of the Slovak Geodetic and Cartographic Offices "'I`wenty-Five
Yeara of Succesaful Activtty by tihe Centiralized Geodetic and Cartographic
Service in the Slovak Socialist Republic, a Solid F'oundation for the Fur-
ther Development of ~he Slovak Geodetic and Cartographic Office"~
(Excerpt] 3. Fulfillment of Tasks Assigned by State Central Agencies
The largest customer for geodetic and cartographio work in our coun~ry is
the state. Fulfillment of the tasks a~signed by state central agencies
accounts for more than 50 percent of the volume of work performed by the
economic orqanizations of the SUQC [Slovak Geodetic and Cartographic Of-
fice]. Such tasks are ensured in a p?anned manne.r, on the basis of a
long-range outlook; in accordance with the needs of the most diverse tech-
nical undertakings and capital cor.struction, a~,~d with the requirements of
practically all branches of the natiional economy.
The Czechoslovak triangulation net, which comprises aY~,out 16,000 points,
was completed in Slovakia already in 1~957. It has a high level in terms
of quality and accuracy, and it serves scienti.fic as well as engineering
" purposes. This net is being maintained systematically at preaent, and
higher-order nets have been or are being developed locally fo.r special in-
vestment projects, for example, for the construction of dams on the Danube,
for highway, expressway and railway brfdges accross the Danube, for areas
exposed to landslides such as the Handlova region, etc.
The eastern part of the Czechoslovak ve.r.,tical control survey net, which ~
has more than 30,000 m~numented bench marks, was develope3 prior to 1960.
In 1957-1960, the evalations were recomputed from the Adriatic to the
Baltic datum. The levelings that have been rerun since 1961 also serve
to research recent motions of the earth's crust, amonq other localities
also along the Bratislava geodynamic polygon, in the Novaky-Han6lova-Cigel
mining region, on the Danube lowland and elsewhexe. The levelinga rerun
since 1974 have been included in the system of the international program
. for repeated levelings (Hungary, Poland, the Soviet Union).
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The firsti-~ and second-order Czechoslovak s~ate gr.avime~ric netia in tihe
1964 gystiem were developed in ],958-1964. important in tik~is aotiivity was
international cooperatiion to in~erconnect the natiional gravity reference
polyqong and the gravimetiric n~ta of Hunqary and Paland. The same is _
true of work on the Carpatihian polyqon to investiiga~e sacular changee in
gravity. =n 1977, with~n tihe framework of interna~ional cooperation, the
- Lomnice Peak vertical grevimetiric bench mark wae aeveloped and measured,
and the absolute measurement of gravity was perf~r?ned at the Zilina gravi-
metric point. Gravimetry in our country serves primarily scientiific pur-
poses, in con~unctiion with re�ining and modernizing tihe astironomic-geodetic
neti.
We are achieivng significant reaults in developinq state cartographic work,
particularly during the past decade. The fisaal nature of the �ormer land
cadaster provlded an incentive far preparing ~:adastral maps only of those
regiona of Slovakia where fertile soil meant high tax revenue for the state
~ treasury. For such regions of Slovakia we have relatively good large-scale
ma~s, although only with planimetric data. But postwar capital construc-
tion and planning created a demand for topographic maps. The industrial-
ization af 5lovakia, as ordered by the resolutions of party congresses, pro-
ceeded very rapidly. The construction of factories, enterprises and power
plants was localized in regions suftable from the viewpoint of the influx
of manpower, supply of raw materials, and advantageous terrain configura-
tions. But these were mostly localities for which no maps were avaflable
at all. TQrritorial and regional planning deveYoped, and roads, express-
ways, transmission lines, gas and petroleum pipelines were designed. A de-
rived state map on the scale of 1:5000 was produced in 1950-1957, and its
1a,110 sheeta covered the entire territory of Slovakia. Despite certain
shortcominqs sten~.ng from the quality of the data, and from the method
' and speed of~processing, this map is used to a considerable extent ever? to-
day, mostly in~planning.
By its resolution No 43 of 1962, the Czechoslovak government ordered the
preparation by 1952 of technical-economic maps on the scales of 1:1000,
1:2000 and 1:5000, with detailed planimetric and relief data. This state �
c~rtographic work is continuinq essentially also at present, with certain
modifications, pursuant to the Slovak government's resolution No 134 of
1971. The large-scale mapa are to be completed and revised by 1985, so
that the entire territory of Slovakia will be covered with maps that will
satisfy the~requirements of not only real-estate records but also of every
' type of technical undertaking. Within the historically short period of
three five-year p].ans it will~~be necessazy to map 20.3 percent of Slovakia's
territory, and to revise the maps for 13.4 percent of its territorf. The
mastering of this exceptionally demanding task requires special oxqaniza-
tional measures, the application of new equipment and technology, parti-
cularly the wider use qf photogrammetry and automation in all organiza-
tions of the geodetic and cartographic branch. This at present is the
basis of our branch tas~C, fulfillmer~t of which will signiffcantly uagrade
real-esta~Ge records. However, the various branches' constantZy increasing
requirements, urg~nt from the viewpoint of society as a whole, far exceed
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' tihe capaoitiies af tihe SUGK's or~aniza~tons. Therefora we are gratieful
~ for the understand�,ng of the Czech Geodetiio ana Car~ographio Office'e
me~nagemen~ end itie oz~,dr+,lza+;ione which are qiving ue eubetantiial eeeieti-
~nce in mappinq ~he okreses of Centrai Slovakia Kra~, deepite tihe conei-
dereble diffi~ultiies in ful~`illing their tasks in their own kra~~. We
regard tihia ar. a certain man~festation of intiernational aeaietance 3n
fill~.ng in the collec~ion of n;aps the gaps ~ha~ were cauaed by tihe pre-
ceding generations, partiicular~f by tihe conditiiona thati exieted in former
bc~urgeois Czechoslovakia. betermina~ion to fulfill on schedule such an
extensive tiask witihin a relatively ahorti time car~ be expected oniy of peo- ~
ple dedicated to tihe ideas of socialism, people who documenti their atti-
tude to social tasks and duties by,enorcnous effort to fulfill the tiask
and tio exceed the plan.
Our organizatiiona are exer~ing equaily qreat effort tio fuifill ~heir tasks
also in the area of real-estate records. Work here i~ often hampered by
the poor quality of the cartoqraphic data, by the fact thati the work per-
form~d by tihe former cadastrP.l survey and ti;he land register was not recon-
ciled, by the use of provisional mapa in mountainous and piedmonti regions,
and by the multitude of changes atemming~moatly Erom capital construction,
Not even the preparation of 16,000 to 20,OOC cadastra~ maps a year would
be sufficient under these conditions to upda~e all the changes in the real-
estate records, especially not whez~ the work ia hampered temporarily by
the economic and technical rearrangemen~ of the parcels, and compicated by
confusion regarding ownership and user rights. Even tu~der theae complex
conditiona, the organizations of uur branch ars successfully aidinq agri-
culture in establishing the ~and records of 76~ a~ricultural enterprises,
in preparing inventories of the farms' land, in safequarding the stock of
farmland and forests, and ale,o by providing technical assistance to the
national committees on questiuha of reporting changes of the data in the
real-estate records. The safeg~u.~rdinq of the stock of farmland in certain-
ly enhancing by reportinq to the brgar.s concerned the unauthorized changes
in land use (there were 3544 such cases ~n 1977 alone) or by quickly pre-
paring and issuing extracts from the files of the former cadastral survey
regarding the quality of the soil and other da~a from the real-estate re-
cords. Regrettably, ft~lftllntent ~f the task of clarifying title to land
is not proceeding satisfactorily: there are communities where merely 40
to 50 percent of the cases can be clarified to establish title pages. The
� one million title pages established so far represent only one-half of the _
total number of title pages anticipated in the Slovak Socialist Republic
An improvement of the overall situation can be expected only after the
enactment of an amendment to the Law on Real-Estate Records. This amend-
mer.~ is now in the drafting stage.
The carto~raphic works prepared and published by the Slovak Cartoqraphy
Enterprise also play a role on the educational, cultural and ideoloqical
front of our society's transformation. Sinc.e the beginninqs of Slovak
cartography's development, which date back to the printing of cadastral
maps in Turciansky Martin, through the firs~t steps in conjunction witl~
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p~eparing and publishing topoqzaphic mape in ~he Modra Harmonia, thQre
arose in Sra~ialava.a nadern plant for publishinq all tiypes oE mapa and
atilages, to sys~ematically supply the schoc~ls' and public's demancl for
atiases of varioue topical orienta~ion, soh~~ol wali maps, touri~t maps ~
on differenti acales and varying in their arr~angement and contenti, road
maps and road a~lases, tirail markers ancl si~+:lpos~s, mur~icipai street maps,
political-educatiion maps, as well as for ~hree-dimensional mapa and globes.
Meditun- and small-acale road maps, geological maps, water-conservation maps
and maps of Czechoslovakia's adminiatrative subdivision are published in
sufficient quantity and variety for the needs of the state organa and so-
cialist organizatiions~ also large-scale maps, primarily for the needs of
planning and capital construction.
Slovak cartography in ~hese years is "~assing the final examination" of
its political, profeasional and artiis~ic ekills, in conjunction with pro-
ducing and publiahing "Atilas SSR" (Atlas of the Slovak Socialiat Republic).
As a peak scientific and technical work, "Atlas SSR" documents the qualita- ~
tive dF+velopment of the Slovak Cartography Enterprfse, and the capabilities
of its workers. Decipherability of the professional content, positiona~. '
accuracy, perspecuity, reconciliation of the profess,tonal conten~ and of
the base map in each chapter and in the entire atlas mutually--all this re-
quires the cartographer's irreplacable systematic work. The six chapters
publiahed so far out of A total of 15 (the atlas as a whole wfZl be pub- ~
lished in 1980) are proof that the atlas meets high international stand-
az~ds not only in terms of content, but also cartographically and from the
viewpoint of printinq:
The outstanding quality of the cartogra~hic products, and the rEnewal of
the assortment are opening up foreign markets. Progress in this direction,
however, is partially hampered by a shortage of a suitable forming materi-
al for three-dimensional maps and globes. Further development and quali-
tative improvement of Slovak cartographic production are enhanced also by
modernization of the stock of equipment and the use of automation, ~arti- ,
cularly in cartography and r~~::�;ing, as well as by the high-quality ser-
vices provided by the statt~wide Sectoral Information Center for Cartography,
newly established at the Slovak Cartography National Enterprise.
4. Tasks Specifically Requested by Various Branches
- On the request of socialist organizations, the geodetic and cartographic
branch supplies significant works related to the development of our nation-
al economy. Requests to provide maps for planning purposes, and special
geodetic work for capital construction and the documentation ~f the pro-
jects once they are completed, as well as work for agriculture and other
branches, are increasing year ry year. In 1979, such requests exceed.20
percent of the present capacity of our branch. Here again the situation
is hampered by the unsatisfactory map collections in certain regions of
Slovakia.
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Pre~erenceis given to implemen~ing the resolurions of par~y and govert~-
ment organa regarding developmen~ in tihe guel and power indus~ry, ~he
construction induatry, ~.n planning and building large hyd~aulia engineer-
ing etruc~uras, and in ~he conatruation of the expreasway network~ also
to the neede of regional and ~erritiorial planning, to produaing muniaipal
~ engineering mapa, and ~o preparing base m~ps of indus~ridl plan~s, e~c.
in recent years, for example, the organiza~iona of our branch prepared base
maps of plan~s, for ~he Eas~ Slovakia lron and 8~ee1 Worka, Koeice, for
8lovna~t, Bratiislava, for Hemko in Humenne, and for aeveral other enter-
prisea. Geodetic work is being provided a~ preaent �or ~he constiructiion
of a nuclear power plan~, of relay ata~ions and of gas pipelines, and also
de�orma~ion of various atructures is being monitored.
~ By aupplying geodetic da~a and maps for geological exploration and the min-
ing of minerals, as well as by preparing mine-aurvey documentation and by
publishing geological maps, we are ac~ively influencing the development
of these importan~ branches o� tha na~ional economy. Slovak cartography
has appeared also on the intierr.ational forum, by partiicipating in the pro-
duction of ~he ~ectonic map of the Carpathian, Balkan and Dinaric region,
on the scale of 1:500,000.
Maps on the acale of 1:500,000 and 1:200,000 were produced, pnd alao other
assistance was provided in preparing the graphic supplements ~o the maps,
for the project of Slovakia's urbanization. Maps oF ~he municipal-planning
districts and localities are being prepared, for the 1980 census of tha
population, housas and apartments. In acaordan~ce with the epecifications
of the Slovak Ministry of Development and Technology, a 1:10,U00 base map
is being prepared of the entire territory of the Slovak Socialis~ Repui~lic,
with special attention to the reqion of the High Tatra and the Small Car-
pathian mountains, and certain localitie.,3 of Central and East Slovakia
krajs. The engineering map of the city of Bratislava is nearing comple-
tion, the enrfi~ineering map of Presov is partially ready, and there are de-
mands for similar maps of Kosi~e, Zilina, and Banska Bystrica.
During the past 20 years, about four million atlases and other cartagraphic
works were published for the needs of school instruction. Furthern~ore,
about 70 kinds o~` three-dimensional maps and s~udy aids, differing in their
subject matter and format, were produced for the domestic market and export,
in a combined total run of more than 300,0~0 castings.
Cartographic products find wide application not only within the organs of
state administration and varfbus branches of the national economy, but also
in the area of propaganda and political education. Publication of '~SNP na
Mapach" (The Slovak National Uprising on Maps), also the three-dimensional
map of Slovakia illustrating the Slovak National Uprising, or the
three-dimensional map of the Czechoslovak Socialist Republic illustrating
the advance of the liberating Soviet Army, as well as the entire edition
~ of political-educational cartographic works in the form of
form the wide ublic about the posters that in-
p poli~ical division of the world, and about
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= the econom3c conditions and development in the individual countiries, aro
cer~ainly contiributing to a coneiderable extent toward intensifying ~he
pol~,tiiaal and also cultural li�e of wide po~ulation masses.
An important part o� the work performed by ~he organizatione within our
branah was �or the benefi~ o� agricultiure, primarily in ~ha process of
tranaition to higher �orms of �arming, in accord with the 3ntroduction -
of tihe economy's planned management and the building os socialism in our
country. This was work to integrate the holdingg of the cooperative
farms, which was done within tihe framework of the economic and ~achnical
rearrangementi of parcala. 5ubsequent work was related to improving ~he
stock of farmland and involved the preparatiion of maps for the planning
of soil-improvement, irriga~ion, drainage and terrain-modification pzo-
~ects.
Land records are indispensable to the aevelopment and managemant of farm
production. The branch maintains such re~ards pursuan~ to the Law on
Real`Estate Records, and each year it prepares appropr~ate swmnaries for
the managing party and econotnic organs.
In the spirit of the Law on Geodesy and Cartography, the organizations of
our branch are cooperatinq conatantly with the national committees at
every level, particularly by providing planimetric and topographic maps
that are necessary for the realizat3on of multi-dwelling housing construc-
tion and for providing civic amenities in the settlementis. The orqaniza-
tions of our branch prepare cadastral maps for the purpose of clari�ying
the ownership and user rights to land, and they also issue excerpts from
the real-estate records. Socialist organizations and the population order-
ed 100,000 cadastral maps under the Fifth Five-Year Plan, and the trend of
such orders is constantly rising.
The few mention.ed examples of the successful activity of our branch in
serving ent ire socialist society illustrate the broad and diverse range of
our economic organizations' production activity. To th3s we may add the
no-less-significant activity of the orqans of state administration in t~~e
krajs and okreses. Their contributions are primarily the conscientiou:;
supervision of geodetic and cartographic work in organizations authorized
to do such work, coordination in the interest of incorporating and using
geodetic and cartographic works in state maps, and documentation of the re-
sults of geodetic and cartographic work performed within their jurisdiction.
noteworthy results are achieved primarily in the function of state supervi-
sion and control of fulfilling the orders of state central agenaies, and
direct proo f of this is the significant improvement in the quality of the
wdrk performed by the enterprises wifhin our branch, and by the geodetic
units of other branches. Control and coordi.nation are exercised also at
114 organi~ations outside our branch where geodetic work stations have been
established employinq 587 professionals.
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, 5. Factors Aiding the Further Developmenti n� Geodatic and Cartogra~hic Work
~ Tha organiza~ions of our branch are �ulfilling the increasingly demanding
~ ~asks of the economic plan, thanks tio the application oE modern equipmen~
and technology, mechaniza~ion and autamation. The principle o� syatematia
innovation, o� continuously perfecting the organization o� production, work
and management, is being introduced into specific managerial work. Plan-
conforming realiza~ion of ~he tasks of complex socialist rationalizatiion,
for example, saved 17~3 million korunas in the entiire branch during the
Fi�th Five-Year Plan, and the ac~ual savings during the first two yeara of
the Sixth Five-Year Plan amounted ~0 11.9 million korunas. Short-term ra-
, ~ionalization n~easurea are oriented orimarily on improving internal admini-
~ strat3ve activity and reduG~ing the number of adminis~rative workera: and
in th~s production sphere, on eliminating the backlog of geodetic work, on
making the technological processes more ef�ective, and on utilizing man-
power and production capacity more efficiently. Long-term rationalization
measures are aimed at improving the lag and fulfillment of the five-year
plans; these measures are of branchwide importance or invo~ve exceptional-
ly demanding interaectoral commitcnents, or posaibly require internation co-
operation. They concern, for example, the more efficient planning o� in-
vestments in conjunction ~~vith~.automating geodetic and cartographic work,
thoroughly utilizing the technical parameters of the photogrammetric and
polygraphic instruments and equipment, etc. The long-term rationalization
progra~t, elaborated into individual drives and technical-organizational
measures, are a decisive factor in fulfillinq the demanding tasks of the
annual plans and provide a good foundation for fulfilling the tasks in the
coming period. The program of complex socialist rationalization will be
perfected further, in the planning phase as well as in the realization
stage, and at the same time the obligatory performance norms within our
branch will be utilized effectively.
Performance norms must become also a means for perfecting intra-enterprise
management within the economic organizations. They must be used effective-
ly in the intra-enterprise planning process, as an instrument for properly
measuring performance, and hence also as an instrument for just remuner-
~tion.
The Research Institute of Geodesy and Cartography (WGK), established in .
1970, has played an important role in the development of Slovak geodesy
and cartography. As the principal scientific-research work station within
the branch, it has solved up to now more than 70 tasks of the plan for the
development of science and technology. Many of these tasks were of branch-
wide importance, involving research, planning, technology or realization.
Two tasks of the state plan not included in the programs, namely "Research
of Recent Movements of the Earth's Crust" and "Research of the Technology
of Establishing Geodetic Nets, From.thh.Aspects of Optimality C~iteria,"
have already had a noteworthy impact, through their partial results, on
scientific work stations concerned with basic, theoretical geodesy, and
they have found also practical application, for example, in the construc-
tion of the large dams on the Danube.
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Moat sol.ved taska of applied research are realixed within ~he organiza-
tiona of ~he branch, and their aubstantial con~ribution is evident in
the quantity and c~uali~y o� ~he work performed. Yn this area, however,
it is necessary to de~~ote cl.oaer attention to ~he ques~ions o� calculat-
ting the economic con~ributions of ~he realiz~d rasearch tasks, of the
utilized innovation proposals, and of new technology in general. The
branchwide performance norms must provide effective help also in this
' area.
The innovat3on movement that is developing in an organized manner effec-
tively aids the solution bf minor urgent problems at the work stations.
A tiotal o� 565 innovation proposals were submitted during the ten-year ex-
istience of the SUGK. Within this total, the 314 proposa~s tha~ were real-
izad contributad about three million korunas to society. The program plan- '
ned under the Sixth Five-Year Plan �or tha development of the inventor and
innova~or movement is being overfulfilled each year, in terms of the num-
ber of inventions and innovation proposals, as well as in ~erms of the to-
tal contribution to society. A proven method of developing the innovation
movement is to designate May of each year as ~he month of inventors and in-
novators, which helps to activize the innovators.
The WGK successfully performs also other activities that are of branchwide -
and statewide importance. For example~, it develops the system of scienti-
fic and technical information within the statewide Sectoral ~nformation
Center for Geodesy, and it functions as the branch center fur the education
~f workers. More recently, it has also become a center for postgraduz~e
study. Particularly this last a.tivity leaves the question of the insti-
tute's competence open, becau~a it is neceasary to ensure the realization
o� the branch concept for"the education of scientific workers. This con-
cept is fairly demanding in terms of the number of scientific workers who
must be trained for the central agency and its organizations.
In agreement with the concept of developing geodesy and cartography in ~he
S'lovak Socialist Republic, the WGK is solving tasks of the plan for the
development of science and technology, on the basis of it~ specializa~ion
agreement with the Research Institute of Geodesy, mopography and Carto-
graphy, Prague, and the No 090 Research Center, Prague. It concentrates
particularly on the problems of perfecting the methods of planning and man-
aging geodetic and cartographic work, on the mechanization and automation
of geodetic work in conjunction with the realization of the ISGK [Geodetic
and Cartographic Information Center~, on the production of maps for the na-
tional economy, on research to optimize determination ~f the coordinates
and elevations of points on the earth's surface, and on comprehensively
utilizing satellite photographs for cartographic purposes. The mentioned
orientation of research unquestionably contributes not only toward improv-
ing, but also toward speedinq up and increasing the capacities of the pro- ~
duction organizations.
The persisting conflict between the growing deman3 for geodetic and carto-
graphic work on the one hand, and the inadequate production capacities of
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'I ~ the branch's organization on the othar, demands that we preferentially
orien~ research and production toward the 3ntensive application of inechan-
~ iza~ion, and particularly toward the au~oma~ion of f3eld and office work
~ ~,n geocle:;y and cartography. Theae directions are defined very speci�ical-
ly in the ~ranch concept of automation in 1979-1985, and als4 in ~he con-
~ cept of introducing micrography within the SUGK. Realization of these docu-
ments requ3res the p7.anned training of caclrea and the acquisition of auto-
mation ec~uipment, in accordance with the approved technicaJ.-organizational
i measures. This will 3nvolve expansion o� the computer center a~ the In-
stitu~Ge of Geodesy, and o� the automation centers at all enterprises with-
3n the branch. The.ir �ul1 3.nclusion in the production process will substan-
I tially raise labor productivity.
~
The professional and organizational level of our geodesy and cartography
~ can best be evaluated by comparing it with the level abroad. in the course
( of exchanging experience in this field, wh3ch is realized an the basis o�
bilateral scientiPic-technical cooperation agreements with the geodetic
services of the socialist countries, and also during the joint solu~ion of
, tasks, our experts a~Q not only equal partners but even rank first in cer-
ta3n activities. Through the integration of the scientific and research
i capaoities of the socialist countries' geodetic services, tasks are solved
that interest all or most services. Active participation of our specialists
i is developing within the framework of permanent international nongovernmes~t-
~ al organizations as well as within the organs of the United Nations.
i
An example of international assistance is also the sending of specialists
~ to Cuba as consultants and educators, in conjunction with establishing the
Cuban land register and developing cartographic pr~duction there. But it
is regrettable that the persisting shortage of specialists for the fulfa.ll-
ment of tasks at home does not permit meeting the constant demand to export
geodetic and cartographic work, particularly as aid to developing countries.
There has been ample evidence during the past 25 years that the results
which the branch aahieved can be credited also to the development of the
workers' initiative and to properly employed socialist com~etition. Valu-
able are the workers' pledges to accept stepped-up plans, to shorten the
production time, to improve the quality of the work performed, to save ma-
terial, to reduce production costs, to sponsor students, to provide politi-
cal and professional assistance f~r socialization, etc. The drive to form
, brigades of socialist labor and complex rationalization brigades has be-
come the core of the expansion of socialist competition. The number of
such brigades is increasing year by year. Within the branch, 139 brigades
of socialist labor were competing in 1978, and the collectives of 97 of
them were awarded the honorary title of brigade of socialist labor. In
the collectives there ~~re 1155 members who wear first-class badges, eind
129 who have been awarded second-class badges. The number of complex ra-
tionalization brigades funetioning successfully in 1978 was 17.
An effective form of upgrading the development of the workers' initiative
is the annually held branchwide aktiv attended by the top officials of the
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orqanizatiion~, party, trade-union and youth-orqanizatiion oFficials, and
the bes~ worl~era of the organizatiione. Varioua drives are deveJ,oping suc-
cesafu~ly to upqrzd~a the quality of geodetic and cartoqraphic work. An
exempl~ of thie ie the Geodeey National Enterprise, Pre~ov. in 1978,
thi~ anterprise hostisd tihe brnnchwide nktiv o~ the briqndee o~ eocialieti
labor, aimed at improving the qualitiy of all work.
Thg ioint socialisti pledgee tnade by the branch's orqanizatiions in the
krajg and okreees, and by kraj ar~d okres etat~ ~rgans, have a favorabte in- .
flu~suce ~n managerial and organizing work. The substiar?tiial resuit8 of the
totai of 55 joint piedges are refiectefl favorably in the long-rar~ge plen-
ninq of the caap coliec~ion'a renewnl, and in the eree of reel-estate rec~
orfls and s~rvi.es for the population. ~
intensification of the developme~ti of the workprs' initiiative 8irectly in-
fiuences fulfiilment of the econanic tasks of the brench. Enterprise,
branch and state decorationg are awarded to the workera who are succegeful
in socialf,st competition and in �ulfilla?ent of their tneke. They receive
also other forn?s of materiai and moral appreciatiion.
Development of the workera' initiative remains perman~ntly an abundant
source of a rise in labor productivity, and we will have to constantly de-
vote a~aximum attention to iti.
6. Conciusion
When looking back on the elapsed 25 years of the cer~tralized geodetic and
cnrtoqraphic service,in our country, we may note with satisfection that geo-
desy and cartoqraphy have cantributed by their w~rk toward buildinq an ad-
vanced socialist society, and that also the branch of qeodesy and carto-
graphy has helped convert our country ir~to one with dgveloped industry,
mo8ern aqriculture, and a hiqh cultural level. Toc'!ay it can be establish-
ed that favorable condiLions have beer? created for the f+srther development
of qeodesy and cartography, far the fulfiilment of their responsibie tasks
to promote the develop~aent of our national economy.
The trends in the further development of our qeodesy and cartoqraphy will
be the sysCematic perfection of management with special attention to up-
gradinq particularly intra-enterprise manaqement, the further perfection
of the process of planninq, and of fir~ancial and waqe policy, and also the
analysis of the results of all activity and their adaptation to the lonq-
ranqe and aare-demandinq conditione of development. The expansfon of pro-
duction and its greater efficiency will be achieved throuqh the systesnatic
application of automation, the uncoverinq of reserves, the efficient use of
fixed capital, particularly of new equipment acquired throuqh import. At
the same time emphasis aill be on reducing the demand for foreign exchanqe.
Proper orientation of research activfty, rapid practical application of
. reseasch results, systematic ~ipgradinq of the w~orkers' qualificatfons, and
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ouitabl~ guidance of the davelopment of the worker~' initiatiive, and of
tiheir efforto to impien?ent the principles i~aue8 for compraheneively man-
aqir?q the quelitiy of aii work, will certainiy be deoisive fectors in meet-
- ir~q the constantiy growing flemand for geodetic an8 cartographtc work, not
oniy dvsing tihe last two years of the Sixth Five-Year Pien but aiso in tihe
tutiure.
The barfc gtrategy of our economic policy is to improve the efftcier?cy and
qualitiy of all work, and to utiilize all the intensive qror?th factors.
in this conviction, on the 25tih anniveraary of the forn~ntion of our branch,
we wieh to expre8s our apprecintion to aii conscien~ious workerg of the geo-
d~tiic and cartoqrnphic branch for their work tio datie, which we hiqhiy valu~.
CQPYRiGHT: SNTL - State Publiahing House for Technicai Literature, Praque,
1979
1Q14
CSOs 2402
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C'L~CHI~'otAVAKiA
TESTING THE EC 1025 COMPt~TER IN THE DOS 3 EC OPERATING SYSTEM
Praque AtM'OMATiZACE in Czech No 3, 1979 pp 67-68
[Artiicle by Engr Josef Klouda: "Internatio�ai Teste of the Czechos~ovak
EC i025 Computier and DOS 3 EC Operating System Witihin the Unified Sysrem
of Electronic Computers"~
(Texti~ After the Czechoslovak Socialist Republic joined in 1969 the so-
ctalist oou~ntries' internationai oooperation in oomputer enqineerinq, a
purposeful an8 plan-oonforminq expansior~ beqan in the research, 8evelop-
~ ment and production of ocmputers and p~.ripherals. Durinq the past ten
years, rrorkers in the fiei~d of oomputer enqineering could boast of many _
noteworthy resuits. One of their aast importenti achievements in the first
haif of the 1970's was aas the EC lOZi oomputer system thati became the
main vehicie of computer technol4qy'a introduction in the Czechosiovak
economy. Tens of auch systems are nos~ in operation throuqhnut entire
Czechoslovakfa.
When it was decided aithin the fram~ork of the socialist oountriee' inter-
national cooperation to build a new sertea of 3.5-th qeneration computers,
the Czechosiovak Socialist Repubiic wa~ assiqned the principal task of re-
searchinq, developing and producinq the EC 1025 oomputer.
The L�ype of oomputer and its required parameters were decfded on the basis
of the specific conditions of the Czechoslovak enterprise sphere's struc-
ture. Computer systems for automatea manaqement eystems and for the compu-
ter service enterprises aceount for the bulk of the stateafde demand for
oomputerss therefore the functional characteristics of the oomputer must
conforoa t~o aut,omatic data pra~essing at the enterprise level, and partialiy
also to the requirements of the supra-enterprise inteqratfons.
Liker~ise important f.s the future feasibflity of r~alizinq remote data pro-
cessiaq aith the help of tera~inal systems, and ot the ccmputer's inteqra-
tion as a subordinate system into hiqher-level oomputer nete~orks.
After an analysis of these aspects, it was decided to develop a universal _
eomputer wfth capacities and perlormance parameters in the lower ranqe of
the JSEP [Unified System of Electroaic Computers~ Series 2, and at the same
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time to design a set of peripherale in e ccmposititon euch tihati will per-
mit buildinq a major portiot~ of the flesigned eygtem'e basic congiquratiion.
Thie deei.gn eimuitaneouely took into account also the lonq-standinq tira~Ii-
tions of computer enqineering's developmenti in Czachoslovakia, oriented
frocn the very beginning on the research, developmenti anfl productiion of
mini and intermefliate computers such as, for exampie, computers og tihe
EPOS, MSP and 2PA 600 eerieg, and tihe EC 1021 computer. Thia procedure
and ecope of desiqn were in accord also with the capabiliti!es of the
Czechosiovak research, Qevelopmer?ti and production base and were caneiseenti-
ly qaarsd to close internationai oooperatiion with the aocialist countries
~ partiaipatinq in ~he JSEP S~riea 2 progrem.
The EC 1025 conputer, and the DOS 3/EC diec-orientie8 operating system, in-
tended for mini and interme3iate computers of the JSEP Series 2, underwen~
gucceesful internatiionai tiestis from 28 November through 7 Dacember 1978, at
the Research 2nstitiute of Mathematicai Machines (WMS), Prague.
An internationai comniaeion headeA by Cotarade G. Smirnov (deputy director
og the NiiEVM, Scientific-Research institute of Electronic Computera,
Miaek) oonclucted the internetionai tests of the computer. The membere of
the comaission were deleqates from Sulqaria, Hunqary, East Gerciany, the
Sovieti Union, C~echoslovakia, and from the Coordination Center of the in-
terqovernmental Co~mission for Computer Enqineerinq, Moscoa.
THE EC 1025 oomputer wae testec9 in the following confiquration:
The EC 2025 processor with ~.n immediate-access memory of 256 kilobytes,
equipped with'an operator's vontrol panel and Ct3T display, with an EC 0101
keyboard, an EC 7934 matrix serial printer, and tr+o EC 5074 floppy-c]iac
unitst
21~o maqnetic-disc memories with a capacity of 2 x 100 meqabytess
Four EC 5004 magnetic-tape memories (120 kilobytes/sec)s
Zwo EC 6016 controller-equipped card readers (1000 cards/minute)j
Z1~ro EC 7014 controller-equipped card punches (120 charactiers/sec)j
Two EC 7034 controller-equipped lfne printers (1000 liries/minute)s
_ ~ro EC 9080 card reader-punches.
The tests dem~nstrated that the Czechoslovak EC 1025 oomputer was fully
equipped to operate in the virtual adressinq mode with a virtual address
space of up to 16 meqabytes. The modular desiqn of the processor, ahich
consists of six independen~ processors and in~ediate-access-memory blocks,
is a significant step toward the architecture of newer-qeneration compu-
ters. Likewise the ~odern design of the operator's control panel, with
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CRT aisplay, wag ratied highly ~rom tihe viewpointi o� facil~,.atiing man-
machine intieractien. It was con~irmed thet the computer attain~ the re-
qutred performance of its processor (in a tiesti usinq tihe Gib~on Z mix,
ti.he processor's perforn?ance waa 33,200 operatiions/sec). 8ecause ~he tes~
reeuite were succeesful, Ee 1025 computer was recommended for seriea pro-
duction, anfl for use witihin.the Unified System of Electrnnic Computers.
The intiernational testis of tihe DOS 3/EC operating ~ystiem were conductied
by a commi~8ion whose chaisznan was Profeseor M. 3hur-Bura, DrSc (Academy
of Sciancea ~SSR). The~members of tihe commi~sion were deleqetiea from Sui-
garis, Hunqary, ~ast Germar?y, the Sovieti Union, Czechosiovakia, and from
the Coordination Center. The DOS 3/EC operatiing system, developed in
Czechogiovakia tn rooperation wl.th Hungary, was submitted for the Cssts. -
, The commi~sion established that thie was a multiipragramming eystem of mod-
ern desiqn, one that enaured effecttve contacti with tihe inputi/outiputi de-
vices and incorporated testing, service and diaqnostic functions. Opera-
tion with a library is ensured. Compilers from Assembler, Fortran iV,
Cobol, PL/S, Pagcal, Simscript, and RPG iI with Autoreporti languagea also ~
were tiested. in additiion to the problems to test operation with the har8- '
war~ of tihe EC 1025 computer, the functions of DOS 3/EC were testec] aleo
on 140 examples prepared at the Reaearch Instiitute of Mathematical Ma- �
chines, and on 20 additfonal examples that the individual deleqations spe-
cified at the commencement of the tests. The cononiasion ratect the
DOS 3/EC as the JSEP's first operatinq system submitted for international
testing, one that ensured effective operatfon wlth a 16-megab}�~e virtual
n~emory~Eor each user and serviced an external mem~ry with a bus capacity
of 100 meqabytes. Campatibility with the earlier DOS 1 and LOS 2 operat-
inq systems was rated highly. The documentation fo: proqram maintenance
and the user's manuals were reviewed, and it was fou~-~d that they fully met
the specificationa. Use of the DOS 3/EC system for JSEP Series 2 o~mpu-
ters was approved. ~
The two commissions established that the EC 1025 computer and the ppS 3/r.C
operating system comprised a well-balanced unit whose concept conformed to
the present world level, and that is was a valuable Czechoslovak contribu-
tion to the Unified System of Electronic Computers.
After the successful cpmpletion of the tests, it is in the interest of the
Czechoslovak national economy to supply the developed computer to their '
users as soon as possible. Thanks to fulfillment of the "Joint 5ocialist
Pledqe of the Workers of the Research Institute of Mathematical Machines,
and of the Industrial Autaaation Plar?ts, Cakovice," the research-develop-
ment-production-use cycle has been shortened and, in addition tfl the tested
prototype, tw~o more EC 1025 oomputers were built by the end of 1978, as the
foundation for series production in the coming years.
~oPURIGHT: SNTL - State Publf.shinq House for Technfcal Lfterature, Prague,
1979
1014
CSO: 2402
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C2~CHOSIAVAKIA
ARI:MA BEGIN3 PRO~UCTION OF EC 5075 FIAPPY-DISC UNIT
Praque AUTOMATI2ACE in Czech No 3~ 1979 p 69
(Artiicle by Engr Jan Libensky: "Floppy Diece From Aritma")
[Text~ In 1979, the Aritma National Enterpriae has begur~ production of
the Aritma EC 5075 ~loppy-diak input/output unit intended for 3.5-th gen-
~ eration computera, respectively for the 0'SEP (Unified Syetem of Electronic
Computera~ Series 2 computers, to directly enter data in the computer and
convereely, to record ddta on discs. The Aritma EC 5075 unit can be con-
nacted to 3,standard multiplexer, aelector or block multiplexer chainnel.
~n comparieon with the tiraditionei punched-card peripherals, the Aritm~+
EC 5075 floppy-diec input/output unit percnits aubstantially faster input
and output of computer data and is less demaridinq in terms of equipment
size and data carriers.
The floppy disc itself is a thin maqnetic disc 200 am in diameter, placed
in a plastic holder 203 by 203 by 1 mm in size. The disc weighs 40 grame
arid has the same recordinq capacity as a box of 2000 punched carda weiqh-
inq about 6 kg. information is recorded on the ciisc in seriea on 77 cir-
cular tracka, each track divided into 26 sectora. The capacity of a track
is 3328 bytes. The capacity of the entire disc, with two reserve tracks
left empty, is 242,944 bytesj each block has 128 blocks reeerved for data.
A read/write head performs the readinq and recordinq by the oontact method.
The base of the EC 5075 ur~it mea9ures 1160 by 695 mm, and it is 940 mm
hiqh. it contains one or two EC 5074 automatfc floppy-dfsc changers.
With one changer, the unit w~eiqht 180 kqi with two chanqers, its weiqht is
205 kq. The automatic floppy-disc chanqer permits the chanqing of up to
- 20 floppy discs in the maqazine, aithout the operator's interventioa, mere-
ly on oomputer oommaand. Upon the completion of recordinq or readinq, the
floppy disc is released from the reoordinq.unit and filed in the file part
of the magazine, after which the next floppy diac is aut~matically fed.
The feed/file cycle takes abaut 5 seoonds. The floppy diacs are fed only
in the same sequence as the one in which they were placed in the magazine.
If the Arita~ EC 5075 floppy-disc ir~putfoutput unit is equipped with two
EC 5074 automatic floppy-disc chanqers, the two may operate independent2.y
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of each otiher= for example, one may read while tih~ other records, botih
may read, etc. mhe control unit of the ~C 5075 processes computer instruc-
tiione and controla datia tiransmission in tihe channel as well as both floppy-
diac changere. It also permitis commuriication witih tihe operator's panels
dnd with the engineer's panel. 'i'he microprogram conrrolier has its con-
trol proqzam stored in a reac]-only memory with a capacitiy of ].536 ad- �
dreages and a word lenqth of 18 bita. The channel part en8ures communica-
tiion be~ween the external registers and the standard channel intierface.
The control panel permi~s autonomous shiftiing of the floppy disc from ;
the magazine into tihe memory and conversely, anc] it aiso dispiays tihe num-
bers of the poesible Qrrors. The engin~er's panel permi~s mon3tioring of
tihe equipment in autionomous operation.
Each EC 5074 recording uni~ tranemits the read datia a~ a rate of 3600 sec-
tors/minute. In comparison with ~he EC 6016 card reader (it reads 1000
cards per minute), reading from floppy discs is 3.6 times faster= if both
units are used far reading, the reading rate is 7.2 times faster. The re-
cording rate is 2200 sectors/minute.on each EC 5074 unitj fn comparison
with tihe EC 7014 card punch (it punches 3500 to 7000 cards per hour), each
EC 5074 unit is 19 to 38 times faster. At the same time, a punched card
contains 80 or at most 90 characters, while a floppy-disc sector may have
up to 128 bytes.
. In accordance with the requirements of the Uniffed Syatem of Elctronic Com-
puters, the technical specffications guarantee on average at least 500
hours of trouble-free operation for the EC 5075 unit. The Aritma EC 5075
floppy-disc input/output unit is able to operate continuously within a
temperature range of 5 to 40�C and a relative humidity ranqe from 40 to 95
percent. The reconanended opera~inq conditiions are as follows: ambient air
temperature, 25 � 10�C= relative humidity (at 30�C), 65 t 15 percentj at-
mospheric pressure, 84 to 107 kPa. Maximum permissible dust contenti of the
environment is 1 mq/m3, and the maximum permissible size of the dust parti-
cles is 3 microns. The uniti's required power input is 0.8 kVA at 220 V+
+ 10 percent to - 15 percent. The capacity of the feed and file magazine
is 20 floppy dise:s for each changer. The discs rotate at a speed of 360
revc~lutions per minute.
THE EC 5075 unit successfully underwent international tests in December
1978 and has been included in the nomenclature of the Unified System of
ElectroniG Computers. The professional public :irst became acquainted with
the unit at the 20th Jubilee International Enqineering Fair in Brno, in the
autumn of 1978, when the unit was entered in the competition for the gold
medal. Becau$e the modern component base of the 3.5-th qeneration JSEP
computers uses high-speed semiconductor memories of the PROM type and
high-speed medium-scale-integration circuits, high operatiqnal reliability
is ensured. Therefore it is assumed that the EC 5075 floppy-disc input/
output unit will not only be connected to the 3.5-th generation EC 1025 com-
puters, but that also other CEMA countries Will show an interest in this
unit. The proposed price should not exceed 400,000 korunas. The manu-
facturer provides an extended 12-month warranty. _
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The modern high-epeed computer inputi/outiput unit of nonconventional de-
aiqn, ueinq floppy diacs, is a furtiher significan~ contributiion by the
Arttma National Enterpr~.se to the Unified Syatem of Eleatronic Comput~;:a
produced by tihe CEMA countries. This ie already tihe tien~h peripherai tihaz
~he Aritma Natiional Enterprise has developed for tihe Unified Sys~em of
Elsc~r�~nic Computiera, and most of tiheee peripherais are being produced in
large series ancl successfully expoxtied.
COPYRIGHT: SNTL - Sta~e Publishing House for Technical Literature,
Prague, 19~9
1014
CSOs 2402
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,
I'OLAND
TNDUSTRIAL ROli0T8 DEVELOPID BY WARSAW IN3TITUT~ DE3CRIBED
Prague BTROJYRENSKA VYROBA in Czecli No 3, 1979 pp 212-218
jArticle by Eng Henryk Andrze~ewaki, M. A., Institute of Precision Mechanics,
Warsaw: "Industrial Robote Developed by the Tnstitute of Precision Mechanics"]
[Text] The Institute of Precision Mechanics in Warsaw~began uork related to
the development, design, production and application of induatrial robots in
1976. Since then it has produced the RI1~-401 series of aimple robota and
the RIN~-1000 fir~t-generation robot.
, The RII~-401 Robot
The RIN~-401 industriaZ robot is an automatic program-controlled manipulator
designed to replace operationa by humans such as transfer, feed and removal
of workpiecea in the production process. Its handling capabilities enable it
to be effectively used in connection vrith:
--trimmtng, bending and drawing presses for metal products;
--presses for plastics;
--machine tools;
--production lines and sections;
--preasure casting equipment;
--induction hardening equipment;
--drop Porges;
--equipment for interoperation transport end the like.
The RIN~-401 industrial robot consists of a fr.ame, a rotary column and one or
~ two horizontal arms with ~aws at the ends, and a control box xhich is either
incorporateC into the fr.ame or free-standing. :
The robot has 4 degrees of freedom:
--rotation of the colums and the arm(s) axound the vertical axis;
--e~ctension of the arms;
--raising of the colums and the arms;
--rotation of the ~aws around the axis of the arma.
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Zn addition to these basic movementa, the ~a,wa can be c~osed.
The ~~,wa ~an be replaced by suct3on or e~ec~romagnetic hol.der~.
The robot nas pneumatic and hydraulic drive for raising and rotating the arme
and pneumatic drive for the other movements~
Th~e robot's control syatem allowa programming and then automatia performance
oP the basic movemente in coordination with external equipment (either pro-
cessir~g or auxil3ary equipment).
Th~ eontro], block conaiste of the following functional assemblies: the timing,
receiver, operating and relay units. Theae units are designed as independent
modules. Th~e control elements are in separate design blocka (progremming
plugboarda~ or in control consolea (main and auxiliary). The auxillary con-
sole has puahbuttone for manual control of ~he main movements of the robot
and the auxiliary equipmient.
Remote control is possible through a movable console.
The RIMP-401 robot is a two-position deaign. The extreme poeitions of the
~main movements are governe8. by the poaitions of inechanical. stops.
The duration of the basic clock pulse is 100 msec, but it may be increased to
as much as 400 msec.
The maximum progxam length ia 36 ateps, each of which may consist of a speci-
Pied number of basic movements of the robot (up to 5) and the Quxiliary equip-
men~ (up to 6).
Main Technical Data for the RIN~-401 Robot
Maximum exten~sion of ar,n( s) 400 600
- Number of degrees of freedom 3 or k(plus
,~aW movement)
Number of arms 1 or 2
Range of working movements:
rotation of erms (deg) 0-120
raising of arms (ami) 10-150
Load capacity at maximum arm extension (kg):
xith one arm . 4 ~
with tWO arms 2 x 2.5 2 x 1.5
Maximtun working range (mm) 1200 1600
Rotation of ~aws about axis of arm (deg~ 90-180
Duration of working movements at maximum range (sec):
rotation of arms 1 1
raising oP arms 0.5 0.5
loWering of arms 0.6 0.6
extension of arms 0.8 1.0
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- retraction of arms d�9 i~~
rotation of ~e~ws 0.3 0,3
cl.osing of ~sws 0.2 0.2 ~
opening of ~awg 0.3 0.3
Poeition accuracy (mm) ~0.3
Programming aystem P1.ugboard, ~
' 30 x 50 poeitione
Control system Two-pos3tion
Ex~ernal a3gnals:
number of inputs 9
number of outpute 7
PBwer supply:
' ~ol~ege (V) 220
frequency (Hz) S~
Compresaed air (NIl'a) 0.5 ~0.05
Weight (kg): ~
robot with one arm 1~75 480
robot with trro arms 500 510
Dimensions (mm~:
depth 1767 1967
width 1030 1030
height 1069 1069
The simple RIN~-401 robota have alreac~y found a good mar~y uses, for example
in servicing machineay for induation hardening (Fig. 1) and in production
sections for forming (Fig. 2).
.
,
~
Fig. 1. RII~-401 Industria7. Robot Fig. 2. RII~-401 Induatrial Rbbot
Used xith Equip~tent for Induction Used in Metal Forming
Hardening of Shaf'ta.
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; '~he RIMP-1000 Robot
~ ~'he RIMP-1000 robot ie ~ firet-genera~ion robot with a memory with works in
~ the polar coordinate ey~tem. Tt is designed to c~,rry out automatic~~.l.y the
f'une~ions of the human upper extremities, particularly in such work as:
--welding and heat cutting;
; --].oading and unloading of transport equipment;
--p~eseure cas~3ng;
--painting and application of protective coatings;
--interoperation transport;
--simple assembly work.
The RII~-].000 robot can replace humans in ex~remely difficul.t working condi-
tions auch as laxge temperature fluctuations, duaty of toxie atmospheres, or
high- or low-frequency vibrations.
The design of the robot consis:;s of two bQSic parts:
a., the fluictiona]. mechaniam,
b. tt:e control box.
The functional mechaniam consists of a frame with a rotary column and a tele-
scoping arm to which ia attached a tool head. Kinematically, the robot m~y
have from 3 to 6 degrees of freedom, as apecified when it is ordered.
The rotary coluain and arm provide three basic movements of the tool head,
xhi,le the head itaelf has (.depending on the design) two or three degrees of
f~eedom.
The individual parts of the robot which move the tool in the working area are
moved by atraight-line hydraulic motors. The motors are controlled by servo-
valvea, making it possible to perForm the motiona at different speeda and to
fix the tool in ar~y preselected position.
The hydraulic fluid is fed to the Y~y3:aulic motors by a Y~ydraulic generator
located either in the body of the robot or externally to it.
The hydraulic generator, the servo-valves and the memory system are controlled
from the control board, which is'connteced to the robot by a multi-conductor
cable. This makes it possible to locate the control box at some distance from
the operating mechanism, so as to eliminate unfavorable effects on the elec-
tronic system resulting from rotation.
The electronic system is controlled from a control console on the control box.
Manual control is used while training the robot; the connection to the control
~ box is by a long cable. This eaables the operator xho is training the robot
to be located at the place where the tool attached to the tool head is in
operation, and to monitor its operation visually.
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~nx o~~rcitw vs~ orn.Y
'Che corrf.rol, ay stem f'c~r the robot ha~ c~n udditiann,l. outht~t to make p~n~lb:l.~
~:onrdlnrii~ic~n nt' iba mov~ment with auxilitlry equipmer~L f~l.1CI1 c~n na~emb.ly
.Lin~, ~ we~d3ng un~t e.nd the like.
'rool movements ere summarized 3n.Fig. 3. The a~raight-~.ine movemen~s uf the
too]. performed by individual design components are:
--movement of the tool head by extens3on o~ retraction of' the arm;
--rais~.ng of the tool head by incllning the arm;
--movement in the horizontal plane by rotating the column and arm.
The o~her three movements are:
--rotation of the tool head around the horizontal axis; �
--rotation of the tool head around the axis of the arm;
--rotation of the tool head around the vertical axis.
~
~ ' ~ r~ ,'��r'~, .
- ~ . - .~:_:s r _
- - _
_
_ ' - = ~ 1~ ! ~
~ ( I i .~/�'"'r
' ~ . ~r~.
t.
JI~
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( . ~ - ~Y ~a ~ " ~ R
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Fig. 3. Range of Movements of the RIMP-1000 Industrial Robot.
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FOR OFFICIAL IISE ONLY
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BQSic Teclanical Data for the RII~-1000 Robo~
' Number of degreee of freedom 6
~ Re?nge of working mo~remente ;
~ extension of arm (mm) 900
rotr~tion of arm (deg) �110
raising of arm (deg) ~30
rotation of tool head about horizontal axis (deg) ~110
' rotation o~ tool head about axia of arm (deg) ~100
" xotation of tool head about vertical axis (deg) ~15p
Drive (all movementa) Hydraulic
Movement of ~awa or other tool mechaniam Pneumat3c
Maximum load (~cg~ 60
' Maximum torsional stresa for tool head (N-m):
~ rotation around horizontal ax3s 100
rotatian around axis of arm 60
' rotat3on around vertical axis 80
Coordinates of working movements ,Polar
Accuracy of positioning �1.5
Method of programming Teaching
Control system Point to point
Pawer supply:
_ voltage (V) 3 x 38U
~ frequency (Hz) 50
~ Nominal Y~rdraulic pressure (?.~a~ 6.3 '
Compressed air pressure (MPa) 0.3-0.7
Weight of robot (kg) 1100
Weight of control box (kg~ ' S00
The RIN~'-1000 industrial robot has been uaed for weldin~ in the production of
special motor vehicles (F~ig.
' ~ ~ ~i'"
Y ;
w~~,.
~
~il~:
Fig. 1+. Use of Industrial Robot in Welding of Parts of Special Motor Vehicle.
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Furtiher D~velnpn~ent~
Th~ ~ci~ntifi~ and praducbion aork of tih~ In~titut~ of pr~ci~ton M~ch~r~ic~
dealing r?ith induetri~l. rAbote i~ curr~ntiy proceeding in two m~in directiond:
--producb~on of 8e0igne Por robote ~nd ~uxiliary equipment;
--utilizetion of robots in m~nufacturing procesae~.
A prototype robot based nn ~he RIMP-40]. robot, aith a load c~p~city ~f 15
ltg and speciaily r~inforced arme hae b~en flev~lop~d~ In acldition, ~peci~l
robotg f~r apecifSc operations ~d xork ~rith differenL kinds of Qquipment,
' for zx~mple pres~eg for pl~stice, are b~ing dev~lop~d. These robota vi11 be
characterized by their ~me11 number of degrees of Preedom ~3), simpiified
design, and loW production ~nd opersting cogtB.
A~other direction of flevelopment is Lhe flegign of Q modu]~r Bystem of robota
in r?nich varioua typea of robots uith bheir oun drive and control uniLo c~n
be ingta].led.
Three different variebies oP robots uill be developed for varioug uses:
stationary, mobile and suapended; theae vill be used primarily in welding,
painting and interoperationel transportation.
The auxiliary equipment xi11 develop in the direcLion of expanded technicul
capabilitiea tor lines or manufacturing sections through the development of
nes+ typea of fee~ers, apacers and transporters xhich orient the semiproducts
relative to the robot or me~chine.
COPYRI(3HT: SNTI~--Nakladatelstvi Technicke Literatury. Praha 1979
9~+~7
CSO: 2402 END
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