JPRS ID: 8550 TRANSLATIONS ON EASTERN EUROPE

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• Collection: JPRS
• Document Number (FOIA) /ESDN (CREST): CIA-RDP82-00850R000100060061-7
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• Document Page Count: 23
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• Sequence Number: 61
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~ ~

28 JUNE i979 C FO~lO 5~79 ~ i OF i
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~uK urrl~~NL Ust u~~Y
JPRS L/8550
28 June ~979
~
TRANSLATIO~~S ON EASTERN EUROPE
$CIENTIFIC ~FFAIRS
(FOUO 5/79) . ~ r
U. S. JOINT PUBLICATIONS RESEARCH SERVICE
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transmissions and broadcasts, Materia~g from foreign-language
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oCher char~cterisric~ reC~ined,
Headlines, editorial repnrts, and marerigl enclosed in brackeCs
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Unfamiliar nam~s rendered phonetically or transli[eraC~d are
enclosed in parentheses. Words or n~mes preceded by a ques-
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original but havQ been supplied asappropri~te in context,
Other unattributed parenthetical notes within the body of an
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The contents of this publication in no way represent the poli-
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COPYRIC-HT LAWS AND REGUL.ATIONS GOVERNING OWNERSHIP OF
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~ JPRS L/8550
~
28 June 1979
TRANSLATZONS ON EASTERN EUROPE ~
$CIEN1'IFIC AFFAIRS
' (FOUO 5/79)
CONTENl'S pAGE
C~ECHOSLOVAKIA
Data ~n Nuclear Pre~~ure Vesael. F'roduction Qiven L
( ~~Cxrt~cxY ~tD~ti~'rx, ~ t~y 79 ) . . . . . . . . . . . . . . . . . . . . . . i :
Use of Robots for Sma~.l Presawork Prodt~ction Descr:ibed
(Robert Kadrmas; STROJIRIIdSKA 11YFtOBA, No 3, 1.~79) 3
Z-400 Simple-i1C,Fhcing Turret Iathe Detailed
(Jan Zohorna; STROJTRFNSKA VYROBA, No 3, ~979) ~3
- a- IIII - EE - 65 FOUO~
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rox nr~icznL us~ or~Y
cz~cxosLOVAxin
UATA ON NUCLE~t PR~S5UR~ VES5EL PRODUCTION GIVEN
~ Prague TECHNICKY 1'YDENNIK in Czech 1 Mey 79 p 5
[Article by H.A.J.: "Welded RingleCs"J
[Textj This kind of welding cnlls for a first-class specialist trained for
a specific task. It also requires prime phy~ical condition such ag is,
for example, required of profe~aional pilot~. The Power Engineering
Enterprises of the Skoda Works in Plzen hae some 50 welders with these
qualificaeions. It can be said that the number of available welders is
a �actor codeter~nining production.
The ringleta we are talking about (they should properly be called rings,
but that's what Skoda workers call them) in reality have a dinmeter of '
almost 4 meters and each weighs several tons. Joined tngether they conetit~te
the reactor pressure vessel, the most important part of nuclear power plants.
The reactor,pressure vessel houses the complete active zone of the reactor,~
the control devices and the internal reaction monitoring system: It is
made of alloyed steel of t~igh homogeneity, purity, outstanding mechanical
properties and is highly resistant to damage by radiation. In short, it must
offer an absolute guarantee that ehe body of the reactor will remain intact
during operaCion of the power plant. This is why such stringent demands
are pluced on the welciers' akill and Che quality of their work. The safety
nf the nuclear reactor is of the 106 order of magnitude, in other words,
the probability of an accident is 1:1,000,000.
Individual parts of the reactor vessel are forged and then most carefully
machined by exact machine tools. Machining yields up to 4Q percent waste.
When welded the complete reactor vessel is more than 14 meCers high with
140-millimeter-thick walls and weighs 275 tons.
At Plzen we were able to see the construction of the reactor hall where these
products of giant dimensions but of clockwork precision will be produced.
When completed the modern production hall will 1~ave more than 18,000 square
meters of work spacQ representing an area of three soccer fields. Welding,
heat treatment, machining and testing of the pressure vessels and of the -
- 1
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rc~~t r~~,,~tc:TAL ~isi: c~tvt,v
inCernnl pnrCs of Che reactor will t~ke place in two departmen~_'s of the hall
where production hns nlready start~d. Another departmenC will be the
wnrkplgce where liorixoneal and vertical }iardening And programmed horizonrul
dri111ng w~.Ch nutomaC~.c ~001 exchange will ettke place. Premieeg fnr rhe
linenr accelprator �or testing welds on rhe presgur~ vessel by r~dingraphy
_ to a depth of 450 mi111meters and for a gianr electric �urnace for
temp~ratures up eo 850�C wieh a work spnce 7,5 x 1.5 x 15 meterg in siz~
nre also under conseructj.on in the hall. A defecCosc~~pic workplace nnd ~
number of.~unique machines, robuat positionere, devices for Curning presa~ure
_ vessel cnmponenCa weighing up to 150 tons etc, will also find accommodation ~
in the ha11.
According~'Co Josef Pesta, manager of rhe Power Engineering EnCerpri~es,
5 reactors are expected to be built nt P1zen by 1980 and Another 18 in
subsequent year~. The firgC two are destined for HungaYy, the orhers for '
a domestic cusComer, for the GDR, Cuba... The goal ib an ann4al capaciCy
- of four reacCors.
The pressure vessel, seven parts welded together--with the bottom nnd the
top in addition to the rings--must have ~a life expecC~ncy of up eo 40
years. And absolutely no uncontrolled radiation contained by the walls ?nust
escape from it. This is why production calls for absolutely perfect mater-
ials and absolutely exact and reliable workmanship. And the Plzen Skoda Works
are just the place where these condiCions can be met.
' Caption: The socialist work brigade of draftsmen places e~pacings of 1,343
openings on the spherical bottom which will be built into the pressure
vessel. From the left: Rudolf Coufalq Miloglav 5anda, and Foreman Orta
Pasek.
COPYRIGHT: 1979 - VYDAVATELSTVI A NAIU.ADATELSTVI ROH PRACE
8664
CSO: 2G02
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CZECHOSLOVAKIA
US~ OF ROBOTS FOR SMALL PRESSWORK PRODUCTION DESCRIBED
prague STROJIRENSKA VYROBA in Czech No 3, 1979 pp 171-176
LArCicle by Eng Itobert Kadrmas, InstrumenCation and Automation Plants,
Trutnov: "Inatallation of Industrial Robots for the Control and Operation
of ~ccenctric Pressea Used in the Production of Small-acale Flat Components"/
LText~ The inCroduction of auComated production processea
is one of the ways in which iC is poasible to booat labor
productivity. However, there are some workpla~es whoae
nature precludes the introduction of fully automated
systems for instalation NC machinery. This prob~.em ia
especially evident when it comes to the manufacture of
small-scale, flat, metallic pressed pieces on eccentric
preases in conjunction with repeated small- and medium-
lot production processes. For reasons having to do with
plant technologies or plant capacities, the utilization
; of technically advanced mechanisms proves to be imposaible.
Using old technology for the production of these compon-
ents, the annual volume of labor tims expended on
individual eccentric press operations at ZPA-Trutnov
/Instrumentation and Automation Plants in Trutnov/
. rariges between 4 and 5.4 aeconds per workpiece. Forceps .
are uaed to manually insert aemifinished goods into
Che open press machines in which bending, calibrating,
perforating, sinking, and other operations are carried
out.
If we take into account the fact that there is an absolute shortage of
~ workers willing to perform monotonous press operations which are accompanied
by a grest deal of noise and the need to attend uncomfortable work stations
and which entail a relatively greater danger of occupational injury, low
_ skill ratings, and two-shift work schedules, then it becomes quite clear
that we must move ahead with plans for the automated performance of these
kinds of operations.
3
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The~e facts in parC~,cu1~x gave rise to ehe idea o~ install:~ng an induatrial
roboC capable of per~orm~,ng presa operationa that would reduce rhe impact of
th~se negative factors to a minimum.
The deaign plans for ~n "Unattended Work StiaCion" are Che product of a Ceam
pro~ect carried but by apecialia~ts in varioug fielda from ZPA'Trutnov. This
kind of work station ia deaigned along the linea of a"work-envelop'ed robot."
Even though this ~ort of arrangement is not always advantageous, the installa- -
_ tion of a robot equipped~ wi,th three arma is bringing about a r~duction in
the ~ob-operation cycle of the whole system and thereby also enhancing the
time-efficiency of the robot's urilization. This is eapecially important
in the case of brief machine-operaC3on timea such as thoae which obtain in
the operation of eccentric presaes where materials handling ~oba account for
a large part of Che operator's workload. Another virtue of this deaign is
its low capital intensivenesa when combined with the utilization of conventianal
accentric presses and anly one induatrial robot.
This unattended work station consists of. three LENR-40A eccentric preases
(manufactured by the Smeral Engineering Works), a feed uniC (manufactured
by ZPA Trutnov), a I~iU-Junior 305 induatrial robot (manufactured by the
Swedish firm Electrolux), and a central control module (manufactured by
ZPA-Trutnov) (see figure 1).
Figure 1. Machinery Layout for an "Unattended Work StBCion"
~ Key: ~
,
' r.- 1. Feed unit ~
;
~ � 2. LENR-40A presses
6e-"-`y`��~~~~ 3. LENR-40A presses
/ � ~ ' ' / 4. LENR-40A pressea
~ ( 3_ 5. I~iU-Junior robot
" ' 6. 1~iU control module
` ~ ~ I ' `':n; / j
-r....�:.:...:
x c ~;;'Y.: i r
i: , f. :.0.;> , i /
. / ~
~2~ . + .
:i~.3:f. 1
; :i...
;ti,.
.
_
Ways in which piecea are placed in individual vork areas:
(1) work area No 1(feeder u~it) operation: feed vorkpiece;
(2) ~ork area No 2(prese No 1) operation: bending;
(3) work area No 3(prees No 2) operation: calibration;
(4) work area No 4(prese No 3) operation: perforation.
For a two-shift work echedule and a eingle automated ayatem it ie eetimated~
on the basie of setup coets (excluding prese setup coata) and on the baeis
of coneerved manpower, that capital costs can be recovered within a period ~
of slightly lesa than 3 yeare. However, this investment-recovery estimate
ia not final. This system is giving rise to new recommendations for changes
in Che design and technological apecificatians of finished componente that
are commeneurate with the capabilities of this system, and it is to be expected
that 8~i11 greater gains will be made in terms of the conservetion of labor
time, especially eo in aituatioas where several machinee are being operated
simultaneously. In auggesting a flexible produceion system for eimple
pressing operations we have proceeded from an awareaeea of the fact that
the application of induatrial robote must be governed by coat-effective rules
and principlee which apply to the procuremeat of any piece of productive
machinery. In addition, thia kind of induetrial robot muat be able to per-
form its work more cheaply than human aorkera, aingle-purpoae machinea, or
some etate-of-the-art machine tool. For thia reaeon aleo, the inatallation
of such a robot at ZPA-Trutttov ia trictly pragmatic and in line with the
conditione that govern the selection of componenta that are to be maau?factured
as finished products.
In concluaion, we would like to add that the application of induetrial robots
in the area of simple presaing operationa is rather difficult from an
engineering standpoint, eapecially so in view of the,lack of practical
domestic experience and kaowledge in thie field. Aad this is why it ia
11
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necessary eo prom~te good teamwork practicee among rechnologiers, tool
designere, peripherai ~aquipmenti designere~ and t.echnology des~gnere working ~
in tihie field. The practical applicat~on of 3edustrial robots should not be ~
viewed aa a panac~~ that will el~,m3nate all probiemg affecCing the manufac-
ture o� preased pieces, but ratiher strictly ae a new end advanced tschnology :
which will eerve no~ only to enhance productiviey, but also and above a11 to '
contriUute to the humanization of rhe working environment.
~
1. B~rnard, I. "Automatizace manipulace v tvareciCh rocesech" LThe Auto- `
aiation of Mater3als Handling in Forming Proceeeee~, PROGRES Lournal of '
the Engineering Technology and Economics Reeearch Ynetiture LW3TE?), '
No 3, 1978.
2. Havrila, M. "Vyuziti prumyelavych robotu a manipulakoru pro obleluhu ~
, obrabecich stro~u v pruznych eyetemech" LThe Utilization of Industrial
Robota and Materials-handling Devices for tihe Operation of Machine Toole
in Flexible-schedule Production SystemaT~ STROJIRENSKA VYROBA~ Vol 24,
No 11, 19~6. �
3. Kadrmae, R. and aesocietee. "Pro ekt 'Besobeluzne pracoviete LA Deaign
for an "Unattended Work Station!'~ internal publication of 2PA-Trutnov,
1978. ,
4. Ptacek~ V1. "Rozvoi prumpalnWch robotu I--II SIVO 1417" /The Development
of IndusCrial Robots I--II SIVO (expansion unknown) 14177,
Prague, UVTEI ~
11nformation Center for Science, Technology and Econom~,??, 1975. '
5. Valuch and Hruska. "Vyuziti prumyslovych robotu ve etro~irenetvi" ,[,The
Utilization of Induetri~l Robots in the Engineering Induetry]~, WSTB
~ publication, Vol 2 120, 1976. �
COPYRIGHT: SNTL - Nakladatelatvi Technicke Literatury, Prague, 1979
i
11813 ~
CSO: 2~+~
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S
J.G
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~dlt U~I~'~CtAL USC dNLY
CZ~CNOSLOVAKIA
~-4U0 STMPL~-NC ~ACING 'fURR~'r LATN~ U~'~AIL~D
Pragu~ STROJIR~NSKA VYROgA in Cz~ch No 3, 1979 pp 205-208
,~Articl~ by Jan Zohorna, SIGMA natidnal ~nC~rprise, Hranice/
LText% Wirh respect ro their machinability on NC machine~ rotary componEnt~
can be clasgified as:
a) componenta irith complex ahapes, in which cas~ a continuoum Control ~
~y~t~m can be us~d to good advantag~, ~
b) componente with aimpler ahapea, for whose machining on NC machinpg a ~
rect~ngular control sygtem is guitable.
With regard'to componenta in category (b), th~t is, Elang~- or buaing-ghAped
componentg, a prototype model of a eimple NC facing turret lathe was drafted
and produced at the SIGMA national enterprise in Hranice (~ee figure 1). In
the course of desfgning this sygtem the greatest emphasis was placed on the`
model's dependability, effectiveness, and simplicity so aA to avoid the
necessity of setting up lengthy and comp~icated training prog~raams for
engineQrs and electrical maintenance personnel.
The prototype machine is equipped with a left compound elide reet with cross
slide reats pitch~d at an angle of 20� on which rests a tetrahedral electro-
hydraulically controlled toolhead. Movement along any coordiate coordinaCe
axis ia effected by means of a hydraulic roller controlled by a syetem of
conventional linear RSR,1 %expansfon unknown/ awitchboarda and choke valvee.
An important addition to the ~lide rest and ma~or technical innovation in ~
combination ~rith the NC system is the four-station dead-stopa bracket located
~ on both coordinate axes aupplemented by a ti,lting pi,n (see figure 3). Both
of these devices are elect~ohydraulically controlled. The desire position
nf the ~oux-station bracket is slected in the program. Ad~ustable stops with
micrometric crews can be installed on the bracket at varioue positions.
These extra devices can be used to position elide rests Within a powe~ of
resolut:ton that is better than 0.01 cm. ~ihere necessary etabilizing devices
can be used on each coordinate axis.
~3
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In ord~r Co mensure poai,tione ~n HA-321 po~it~,on ~eneor (manufacCur~d vy
Te~1n~Kol~,n) ~,�ae ua~d on th~ prototype mod~l that ~,e attach~d eo th~ elid~ '
r~st by m~an~ of a preeigion geared raak and p3nion~ Th2 eype of pos~tion
- sen~or ehae wae used mak~~ ~,t pos~ible to work w3th pieces oE th~ amall~~t
programmab7,~ dim~neicns, ~,.e., down to 0.1 mm.
Th~ ~ffeceiv~n~~s of th~ ~lid~ r~aet drive mechanigm powered by hydrat~Zic
cylinderg ~nd linear-mot~.on pibeone hag b~en fu11y emdonatrated, and.in th~
c~g~ of thi~ kind of machining work thig ey~tem, when eombin~'d wiCh th~
~top ~ygCpm de~cr3b~d above, serv~s as a replacemenC for expec~~ive ball
- gcrewg equipped with pow~r-asgist unite.
mhi~ kind of feed drtv~ mechaniem also has a dir~et effecC on the control.
~y~e~m by making it poseible to design this eyetem in a much aimplified
vereion.
Bagic Technieal Specifications:
Spindle nose
CSN ,[,Cxechoslovak State
Standard reference number/ -
20 1006 r A1 6-165
Inn~r spindle taper Moree 6
Di~n~ter of epindl~ in nose
beari ng 105 ~arn
Slo~~~e angle of cross slides 2po
Swing over cros~ slide 300 mm ~
Swing over longitudinal slide 550 mm
Nominal max. diameter of lathe
Wark 300 mm
Max. length of facing lathe work 200 mm
Mex. length of boring lathe work 155 n~n
Rotary sp~~eds of working epindle--
total range 63-1,000 rpm
Series A 63-90-125-180 rpm
Series B 90-125-180-250 rpm
Series C 180-250-355-500 rpm
Series D 355-500-710-1,000 rpm
F'eed rates (eight ~tagea) 16-22-32-45-61-90-122-200 mm/min
14
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` FOR OF~IC~AI. US~ ONi.Y
~'aet ~~~d 2 ~ '7 m/mi,n
Spacing gap bet~reen tiop ~aces Cm~,n. ) 214 mm
epindlee and toolheade (max) 424 mm
Stroke of croee elide rest 1.70 mm
Strok~ of longirudinal e~.ide rest 210 mm
Number of turreC toolhead position~ 4
Max. crose-eection of cu'teing tool 2S x 25 nd~~
Diameter of chuck 200 mm
Me~suring device seneor HA-321
Number of controlled axee (x,2) 2
Data inpuC mechaniem: ball-type atep-by-etep slector
(40 columan per ~tep)
Position indication--absolute 0.1 mm
Min. programmable work path 0.1 mm
Number of dead stots:
axia X y
axia Z 4
Max. recurring inaccuracy of starting
position in automatic cycle where:
s',~rate of feed/ 125 mm/min. 0.03 mm
s'~200 mm/min. 0.1 mm
s'~2.7 m/min. 1 ~
at dead etop (s's200 mm/min.) 0.005
Axial fo~ce of slide reeta at oil
preseure of 2.94 t~a 6,200 N
Slide-reet drive mechaniam hydraulic cyclindera
Ad~ustment Procedures
According to the programming sheet, cutting tool holdera with tools clamped
in place are preadjueted in an optical instrua~ent. The stepping cylinder
is set for the appropriatc columns and series by weana of balYs in accordance
aith the coding table (see table 1.)
15
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~ ~oK o~~ici~. us~ oNLY
mgbie i. ~ 400 NC Coding TAble
stouv.e IreM. orounr
~i. ~ Z ~ 2 ) ( 3 ~~ar, ~i.
1~1 STMT ~ KONtC'ROORAMU ( 4~ 1 9
2ebbbk aep~en+u ~~~remu~~ w wnaNatn+ v woMu ~5~ ~ '
Kee~e probromu
�
s-,+ no:ov~t Nuv~ ~ 6)., ~
1 t~ oe~e~w (7) � �
! . . ~ ~ . ~ . . L peleha ~
~..~~.~.~~.oeleha � �
1 oo~ehe �
H d A s C 0 i! 1
~f 10 110 33~ �
t
7... ~0 1!! a!0 !00 �
~ . . . 13! f10 3!! 710 � �
~ . ~a a~o xo ~ooo �
~ , ~ , 0 - tobndine (10~ ~ �
~ , , , o - oeeRe~e 11 � �
o-~: aMtR ~ 12 ) , ~ ~o �
~ +x �
~...,-x �
~ . �
' . �
4 -i ' .
~s.~~ rosw (13) ~ � u a ~s u
t � 11 w~/~IA ~
.
! , �
' ~ a � �
~ a �
s , � ~ -
~ ~o � �
~ � ~ ~ �
~ � ~oo �
r ~�o~� (14 ) , � �
�...e � �
,~Table 1 continued a~ folloWing pag,e/ 16
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T~b].~ 1. continu~d -
11~19 POMOCNE FUNKCE 10 I
Cis) ( -
1 ~ . . . no~Mf na p~r~l~ddroi ~ .
l , , , . ~pwninr pe welneld.net ~ ~.7 ) ~
J ~ ~ ~ ~ lpwninf Po lolnetd~nel ~ �
A
s . n~obat8
~
e....
~
~a 19 ) Nebtke~ e~brn~ ~ s~ ~ z~
1X t. polehA pte o~u X~ 2O~ �
~X Z poloha pro ew X �
ilt . . . . peleAe pro ow X � �
IX 4. oeloho pro e~u X ~ ~
~ 1! 1. oolehe pro ow 2
� �
p2 . Z peleAe pro ow 2
3i . . . . poloAa pro au 2 ~ ~
12 pebha pro ew !
�
2hz3 SMtWLEK OSY t(MoproTUp p t(dkf oa ~ ~21~ ~=y
1.... u~l d~tn~ o~r J~ ~Aodn~ ~ Z 2~ � i
?X....~}i -X....-2
Z.... anf1) ~i~i.'~ni o~ epetm) ~23~ ~
. +X . . . . -t ~X . . . . ~}2
ad.a~ sourt~cNicE s (24) ~ ~ ~ ~ ~ � ~ ~ ~ u ~ ~ ~ ~
D~dA~ wuiedMe pro~aMU)t - - - - -
~ d~Mt1110eH T
~25~ ~ 8 ~ Q ~ ~ � r N �
o C O O
� � ~0 111111 � ~ . Or~
Key:
1. Step selector column ~
2. Function
3. 3tep selector setting
%Key continued on folloWing pa~e/
17
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Key conti.nued ;
4. Pro~xam staxt, ~~,n~,ah ~
5. P~ogram starC and finieh are programmed ind~pendent].y i
during a ~iven step
6. Toolhead
7. Position ~ . -
8. ttpMs ~
- 9. Series
- 10. Brak~ applled
11. Brake released ~
12. Direction
13. Feed rates ~
i
14. Fast Feed ~
15. Auxillary functions
16. impacr with dead atop
1~. poaC-coincidence stabilizati~n
18. Voided
19. Stop drums
20. Position for axis
21. Parallel draw of Z-axis (Guiding X-axis ie progranuned)
22. direction of draw axis ia congruenC
23. directi~n of draw axia is reversed
24. Coordinatea 2
25. Paths of coordinatea are programmed in tenthe of millimentera ~
In a BB 1,expansion unknown7 operational mode one component is turned, and, '
depending on the results, ad~uatments are made by altering the position of
the balls. Ad~uetments oF Coola uaed for precieion lathe work are made
by turnir?g a fine-lead step screw.
So, up to the point where the selected dead atop settings are made; the
manner in which this maschine ia ad~usted does not differ from other kinds
of NC lathes. In view of the fact that on the average only 1 to 3 stop
settings need to be made, aetup delays are negligible, and, moreover, these ~
minor delaxa are amply offset by the low.breakdown rate of the machine as
a whole due to the simplicity of its design.
Typical Workpieces Suitable for Machining on a Z 400 NC Machine
Workpiece specifications: ~
Name of workpiece Wheel hub (see figure 5)
Material cast steel 42 2653
Net w~ight of workpiece 2.7 kg =
Number ~f clamping operations 2
Machine time during clamping
operations 1 and 2 16.20 min.
Name of workpiece Sealer element
Material grey cast iron
gross weighe of workpiece 4.90 kg
Number of clamping.'operationa 2
Machine time during clamping
' operations 1 a.ici 2 18 10.67 min.
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~~.guxe 4. ~~.gure 5.
e nsn~
.
u~ f;5 NI
~ q5 ~ a ~ ~7,5 ~ e y
. ~ ~ ~6~
~ w ~
~ ~ ~ ~
~ ~ a i, ~ ~ ;
~ i
~ ,6 i
?~,s ~eN ssN~ ,
56 ' ~ ~ ~
.e
. , fl A/
, ~ ~ ? 1if
Oba N/Mj OM. i. Uba utp8~kp
Wheel hub Sealer element -
Conclusion
The Crial-run operation of the prototype turreC lathe machine on a two-shift
schedule since April 1976 has confi~med the inherent advantages of this
design concept bearing in mind the maximum dependability of all of the lathe's
componenC parts, their effectiveness, simplicity, and ease of manufacture
(including the manufacture of the control system).
The combination of numerical controls with programmable dead stops and
' hydraulic slide rests shows that it is possible to manufacture a new type
of so-called "NC-program" machine which can do an adequate ~ob of filling
the gap between program-controlled and current-generation NC-type machines.
COPYRIGHT: SNTL--Nakladetelstvi Technicke Literatury, Prague 1979
11813
CSO: 2402 END
~9
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. _ , _
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