The Astrobee Crew Control Station supports commanding and monitoring of the
Astrobee free-flyers. Astrobees that are awake are commanded via prewritten
Plans, or manually via single commands in Teleoperate mode. Plans consist
of locations called Stations, tasks done at each Station, and Segments that connect the Stations.
The Crew Control Station also commands the Astrobee Docking Station
to wake up Astrobees that are hibernating.
The Overview tab summarizes the states of known Astrobees, and sends wake, grab control, and hibernate
commands.
The Guest Science tab sends Plans and some teleoperate commands to as many as three Astrobees
simultaneously. The Run Plan and Teleoperate tabs allow detailed control and monitoring
of a single Astrobee.
Conditions Necessary for Control of Astrobee
An Astrobee must be awake and have Wi-Fi connectivity in order to connect to the Crew Control Station.
NOTE
An Astrobee that is hibernating must be docked on the Docking Station in order for the Crew Control
Station to wake it up.
Access Control
Control Stations require access control on an Astrobee to send commands to that Astrobee.
An Astrobee that is awake rejects commands sent by Control Stations that do not have access
control on it. When an Astrobee first wakes up, nobody has access control on it.
NOTE
1. Only one Control Station at a time can have access control on an Astrobee.
2. The Crew Control
Station must "grab control" of an Astrobee before sending any commands.
During an activity,
the ground support team may need to grab control of the Astrobee in order to fix a problem. In that
case, the Crew Control Station must grab control again before resuming sending commands.
Astrobee executes Grab Control and Stop commands regardless of whether the
sender has access control. The Docking Station does not track access control, so you do not
need access control to send a Wake command.
Items Common to Multiple Tabs
Tab Panel
The Tab Panel near the top of the Workbench allows you to switch tabs
to move between various tasks. The Tab Panel includes four tabs:
The Overview tab displays the state of each Astrobee and the state of the Docking Station,
and it sends wake, grab control, and hibernate commands.
The Guest Science tab controls and monitors the execution of Plans on up to three Astrobees,
and it sends specific payload commands.
The Run Plan tab controls and monitors the execution of Plans on one Astrobee.
The Teleoperate tab commands one Astrobee manually, outside of Plan execution.
Live Map
The Live Map subtab displays a 3D model of the position of the selected Astrobee
in the USOS, according to the latest telemetry. The Live Map subtab includes:
A model of the USOS, with all rack locations labeled.
Astrobee models at their currently reported locations. Each model has set of red,
green, and blue axes designating the X, Y, and Z directions, respectively, of the Astrobee itself.
Red, or X, designates the front of the Astrobee, and blue, or Z, designates the bottom of the Astrobee.
The Live Map shows a model of each Astrobee that is awake.
X, Y, and Z coordinate axes designating the orientation of the ISS-fixed
coordinate system that the Astrobees use. The Astrobees use the Space Station Analysis coordinate frame,
which has its origin at the truss segment S0.
The Live Map subtab may also display:
Gray keepout zones designating areas Astrobees are not allowed to enter
Blue handrail models
A model of the Astrobee Docking Station
A pastel trace showing the previous path of the Astrobee
When a Plan is loaded on the selected Astrobee, the Live Map subtab displays:
Round Station markers.
Station numbers above each Station. Stations are numbered 0, 1, 2, etc.
Station color codes:
Black: pending
Bright green: active
Gray: completed
Blue: skipped
Lines representing Segments connect the Stations. An arrow along the line
points in the direction of motion. When the Segment is executing, the ID of the
Segment is displayed. Segment IDs list the Stations they connect, for example, Segment 1-2
connects Station 1 to Station 2.
A Camera Controls box floats above the Live Map subtab. If the Crew
Control Station window is moved or resized, you must click on another Control Station
subtab and click again on the Live Map subtab to position the Camera Controls box correctly.
The arrow buttons in the Camera Controls box and on the keyboard
move the camera in the Live Map view.
The magnifying glass buttons zoom in and out.
Reset View returns to the view of the JPM.
Zoom to Bee centers the map on the selected Astrobee.
Leave the cursor over the Camera Controls box
to use the keyboard. During camera movement, the camera stays pointed at the center
of the Live Map view. You can also move the camera by clicking and dragging inside
the Live Map view. To change the center of the view, click and drag using the right
tackpad button.
Top Bar
On the Run Plan and Teleoperation tabs, the Top Bar under the Tab Panel allows the user to select
an Astrobee to monitor and control. The Top Bar also displays summary information.
The Select Astrobee combo displays the names of Astrobees that are awake. Select a name to
connect the Crew Control Station to that Astrobee.
The Comm light is green if the selected Astrobee has communication with the Crew Control Station.
Otherwise the light is cyan, indicating that no telemetry is being received and no commands can be sent.
Est Batt displays the approximate number of minutes that the selected Astrobee
can operate before needing to recharge. If more than one hour is left, the time is displayed as hours and minutes.
Control displays the ID of the Control Station that currently has access control
on the selected robot. When an Astrobee first wakes up, nobody has control on it. If the Control field does not match the
id of the user of the Crew Control Station, only Grab Control and Stop commands can be sent from the Crew Control Station
to that Astrobee.
The Docking Station light is green if the Docking Station is powered and connected.
It is cyan otherwise.
GPS displays the date and time.
Grab Control Button
All tabs have a Grab Control button that grabs access control on the selected Astrobee(s) if the Crew Control
Station does not already have access control.
Health
The Health subtab, on the Run Plan and Teleoperate tabs, displays status information
about the Astrobee selected in the Top Bar. The status information may include the following:
A row, highlighted in orange, indicating if a particular subsystem is disabled. Each system that is unable to function is listed
on a separate row.
The Operating State of the Astrobee may be Ready, Plan Execution, Teleoperation,
Auto Return, or Fault. In some Operating States, some commands are not available.
The Mobility State of the Astrobee may be Drifting (propulsion off), Stopping, Stopped (station keeping),
Flying, Docking, Docked, Undocking, Perching, Perched, or Unperching. Docking, Undocking, Perching, and Unperching states include
a number to indicate the progress of the Astrobee through the process. In some Mobility States, some commands are not available.
Plan Name is the name of the Plan currently loaded on the selected Astrobee. Each Astrobee can load
one Plan at a time.
Plan Status may be Idle, Executing, Paused, or Error. When a Plan is initially loaded, the Plan
Status is Paused. When the Plan finishes executing, the Plan Status is Idle and a new Plan must be loaded.
Live Images
The Live Images subtab displays a succession of images from the selected Astrobee's Dock camera or
Navigation camera. Cameras can be commanded to stream images via Plan or via Teleoperate commands.
The info label on the Live Images subtab displays the sequence number of the image currently displayed. An icon
at the left of the subtab indicates whether the chosen camera points forward (Navigation camera)
or backward (Dock camera). On the Guest Science tab, the Live Images subtab includes a dropdown menu to select
an Astrobee from which to view images.
Live Video
The Live Video subtab streams video from the Science camera
on the selected Astrobee. The Science camera can be commanded to stream images via a Plan or via
Teleoperate commands. On the Guest Science tab, the Live Video subtab includes a dropdown menu to select
an Astrobee from which to view images.
Status Bar
The Status Bar at the bottom of the Crew Control Station displays the latest message
sent or received from any Astrobee or the Docking Station.
Overview Tab
The Overview Tab summarizes the states of known Astrobees, and sends wake commands to the Docking Station.
It includes the following unique subtabs:
Bee Status
The Bee Status subtab displays a status summary
for each connected Astrobee. Each row has the following items:
Name is the name of the Astrobee described by the row.
The Comm light is green if that Astrobee is connected and cyan otherwise.
The Health light is green if all Astrobee systems are functional and orange
if any subsystems are disabled. The health light is cyan if the Astrobee is not connected.
Est Batt displays the approximate number of minutes left
that the Astrobee can operate before needing to recharge.
If more than one hour is left, time is displayed as hours and minutes.
Control shows the ID of the Control Station that has access control on the Astrobee.
An Astrobee
rejects most commands from Control Stations that do not have access control on it.
Only one Control Station can have control of each Astrobee at one time.
Docking Station Status and Commanding
The Docking Station Status and Commanding subtab displays the status of
any Astrobees on the Docking Station, and it sends wake commands to Astrobees hibernating
on the Docking Station.
The Docking Station has two berths. Each berth accommodates one
Astrobee, and that Astrobee may be awake, hibernating, or unpowered. The Berth One and Berth Two subpanels
display the name of the Occupant of that berth (or "Vacant") and the Status of the occupant if the berth is occupied.
If the Astrobee on a berth is powered off, the Docking Station
reports the Occupant of that berth as "Unknown", with Status "Unpowered". An unpowered Astrobee cannot be woken
up by the Control Station.
The Wake Commanding section lists the Astrobees that are hibernating on the Docking Station,
and lets the user select one to wake.
The Hibernate Commanding section lists the Astrobees that are awake on the Docking Station,
and lets the user grab control of or hibernate the selected Astrobee. The Hibernate button
puts the selected Astrobee into a powered down state in which it can accept only
the Wake command.
NOTE
If an Astrobee is hibernated while it is not docked at the Docking Station, it will not be
able to be awakened via the Crew Control Station. It will need to be awakened via the hardware Wake button,
or docked manually.
Guest Science Tab
The Guest Science Tab controls up to three Astrobees simultaneously.
It is used for Guest Science experiments, and unlike the rest of the Crew
Control Station, it is not intended to be operated
without a procedure. It has the following unique subtabs:
Bee Selection and Status
The Bee Selection and Status subtab displays a status summary
for each connected Astrobee. Each row has the following fields:
Name shows the name of the Astrobee described by the row. Check the
checkbox to the left of the name to send commands to that Astrobee.
Est Batt displays the approximate number of minutes remaining
that the Astrobee can operate before needing to recharge.
If more than one hour is left, the time is displayed as hours and minutes.
Control shows the ID of the Control Station that has access control on that Astrobee.
Astrobees reject commands other than Grab Control and Stop from entities who
do not have control. Only one entity can have control of each Astrobee at
one time.
The Health light is green if all the Astrobee's systems are functional and orange
if any subsystems are disabled. The health light is cyan if the Astrobee is not connected.
The Summary field displays messages from Guest Science
Applications that are running on the Astrobee. If Guest Science has not
sent a message, and the Astrobee is running a Plan, the Summary field displays
the title of the current step in the Plan. If no Plan is running and no message has been sent, the field is blank.
Plan shows the name of the Plan currently loaded on the
Astrobee. Each Astrobee can load one Plan at a time.
Plan Status may be Idle, Executing, Paused, or Error. When a Plan is initially loaded, the Plan
Status is Paused. When the Plan finishes executing, the Plan Status is Idle and a new Plan must be loaded.
The Health Details button opens a dialog that displays a Health
listing for each of the selected Astrobees.
Commanding for (Selected Astrobees)
The Commanding for (Selected Astrobees) subtab sends commands to the
Astrobees that are selected in the Bee Selection and Status subtab. The
names of the Astrobees it will send commands to are listed in the title. The
following commands are available:
Grab Control grabs control of the selected Astrobees. If the Crew Control Station
does not have access control on all the selected Astrobees, only the Grab Control
button is enabled.
Select and Load Plans ... opens a dialog box from which to select Plan files from the
file system, to load onto the selected Astrobees.
Run starts execution of the Plans that are loaded on the selected Astrobees. If not
all selected Astrobees have Plans that are currently Paused, this command is not
available.
Station Keep Bee(s) commands the selected Astrobees to cancel any movement commands
and station keep at their current positions. An awake Astrobee always executes a command to station keep
even if the command comes from a Crew Control Station that does not have access control.
The Guest Science Application dropdown selects an application that is
loaded on the selected Astrobee.
The Command dropdown selects a Command to send to the selected
Guest Science application.
Send Command sends the selected command to the selected Guest Science
application on the selected Astrobees.
Run Plan Tab
The Run Plan Tab controls and monitors the execution of Plans on one Astrobee, which is selected from the
dropdown in the upper left. The Run Plan Tab has the following unique subtabs:
Bee Commanding
The Bee Commanding subtab has the following items:
Select Plan ... opens a file dialog from which to choose a
Plan file to load to the selected Astrobee.
When a valid Plan is selected, Load uploads the Plan file to the selected
Astrobee. Once a Plan is loaded, the Load button disables and the Live Plan subtab populates with
a list of the steps in the Plan.
Run starts or resumes execution of the loaded Plan on the selected Astrobee when the
Plan Status is Paused. When a Plan is first loaded to the Astrobee, its Plan Status is Paused.
Pause pauses execution of the Plan on the selected Astrobee.
Skip Step skips a step in the Plan when the Plan Status is Paused. Selecting
Skip Step multiple times skips multiple steps in the Plan. When you click Run, execution
resumes at the step you have skipped to.
The Description box displays a short summary of the selected Plan.
Live Plan
The Live Plan subtab displays details of the Plan that the selected Astrobee is executing.
The Plan Name field shows the name of the plan that is currently loaded on the Astrobee.
The Plan Status field shows the current status of the plan on the Astrobee. If no Plan is loaded,
the Plan Status is Idle.
The Total Elapsed Time field counts the hours, minutes, and seconds that the Plan
has been executing.
The Plan Table displays the contents of the Plan currently loaded on the selected Astrobee.
The Duration column lists the hours, minutes, and seconds each step took to complete. If the
step was momentary, for instance turning on a camera, no duration is listed. The Success
column lists Complete, Failed, or Skipped for each step in the Plan as the Plan is executed.
Teleoperate Tab
The Teleoperation Tab sends single commands to the selected Astrobee. It contains the
following unique subtabs:
Bee Commanding
The Bee Commanding subtab sends commands that move the position and
orientation of the selected Astrobee. It has the following sections:
Initialization
The Initialization section in the Bee Commanding subtab
includes the Grab Control button discussed above.
Locations
The Locations section includes a locations dropdown, from which
to select a named location (coordinate and orientation) in the ISS. When you select a location,
the Manual Move Inputs fields automatically populate with the coordinates and orientation
of the bookmark, eg. x = 1.3 m, y = 0.2 m, z = 0.8, roll = 0 degrees,
pitch = 0 degrees, yaw = 90 degrees.
Manual Move Inputs
The Manual Move Inputs section in the Bee Commanding subtab contains text fields to enter coordinates
of where to send Astrobee when the Move button is clicked. The Aft-Forward, Port-Starboard, and
Overhead-Deck coordinates align with the ISS axes. The Roll, Pitch, and Yaw inputs also use the ISS coordinate
system. The Astrobees use the Space Station Analysis coordinate system, the origin of which is at truss segment S0.
Use the arrow buttons on either side of each text box to make small changes to the position. Linear
measurements are incremented by 0.05 meters and angles are incremented by 15 degrees.
To enter a large number, type the number of meters into the box and adjust the tenths of meters using
the arrow buttons.
Options
The Options section in the Bee Commanding subtab sets the list of options to send to the
Astrobee when the
Apply Options button is clicked. If the checkbox to the left of the option is
checked, the Apply Options button will send a command to turn on that option.
If there is a green checkmark to the right of the option, the Astrobee already has
that option turned on. Options include:
Face Forward requires the Astrobee to face the direction of motion.
Unchecking this option allows the Astrobee to fly sideways or backwards, which may be
desirable to collect specific video or science data. However, the Astrobee does not
have cameras pointing in all directions, so it must be monitored closely when
flying with Face Forward off so that it does not collide with an obstacle.
Check Obstacles requires the Astrobee to stop moving and station keep if
it detects an object in its planned flight path. It may be necessary to turn off
this option if the Astrobee detects a ghost obstacle and gets stuck.
Check Keepouts requires the Astrobee to stop before entering
any keepout zone (keepout zones are designated with gray boxes in the Live Map subtab).
It may be necessary to turn this option off if the Astrobee accidentally gets
knocked into a keepout zone.
Apply Options commands the Astrobee to turn on the options that
are checked in the Options section and turn off the options that are not checked in
the Options section.
NOTE
The Face Forward, Check Obstacles, and Check Keepouts options should usually be turned on.
Commands
The Commands section in the Bee Commanding subtab has buttons to send commands to the selected Astrobee.
It includes these buttons:
Station Keep Bee commands the Astrobee to cancel any movement commands and
station keep at its current position.
Move commands the Astrobee to go to the position specified
in the Manual Move Inputs section.
Perching Arm
The Perching Arm subtab sends commands related to the Astrobee's Perching
Arm. The Perching Arm is designed to grasp a handrail
and secure the Astrobee while it conserves power by turning off its propulsion
system. The Perching Arm subtab includes:
Initialization
The Initialization section in the Perching Arm subtab
includes the Grab Control button discussed above.
Manual Inputs
The Manual Inputs section in the Perching Arm subtab contains text fields
to enter angles for the pan and tilt joints of the arm.
The Pan and Tilt button commands the Astrobee perching arm to move to the
angles specified. The Pan
and Tilt command is intended to be sent only when the Astrobee is perched on a
handrail and providing video. The input may be moved in 10 degree increments by
the arrows on either side of the text field, or the desired angle may be typed into the text field
directly. When pan and tilt are both zero, the arm is fully extended.
Options
The Options section in the Perching Arm subtab includes the Reacquire Position button.
If the Astrobee is accidentally knocked off its perch on a handrail, it may lose its
internal location state. In that case, the Reacquire Position command tells the
Astrobee to recalculate its location from scratch.
Commands
The Commands section in the Perching Arm subtab has buttons to send commands to the selected Astrobee.
It includes:
Station Keep Bee commands the Astrobee to cancel any movement commands and
station keep at its current position.
Perch commands the Astrobee to deploy its perching arm and
grasp a handrail that is directly in front of it. The command
will fail if the Astrobee is not lined up correctly with the handrail.
Docking
The Docking subtab sends commands related to Docking. It includes these sections:
Initialization
The Initialization section in the Docking subtab
includes the Grab Control button discussed above.
Options
The Options section in the Docking subtab includes the Automatically Return to Docking
Station when Battery Low checkbox.
This option causes Astrobee to automatically return to the Docking Station when the following
conditions are met: the Astrobee is out of contact with a Control Station, it
is not perched, and it is running low on power. Disable this behavior by unchecking Automatically
Return to Docking Station when Battery Low
and clicking the Apply Option button. If the Astrobee has the option turned on,
there is a green checkmark to the right of the option title.
Commands
The Commands section in the Docking subtab has buttons to send commands to the selected Astrobee.
It includes:
The Station Keep Bee button commands the Astrobee to cancel any movement commands and
station keep at its current position.
The Send Bee to Docking Station button commands the Astrobee to immediately return
to the Docking Station and dock itself. The Astrobee can execute the Dock Automatically command from
anywhere in the USOS. The Astrobee automatically chooses an unoccupied berth
on the Docking Station. The Astrobee plans a trajectory assuming the
modules are unobstructed. If it detects an obstacle in its planned path, it will
stop and wait for the obstacle to move.
Interactive Map
The Interactive Map subtab, like the Live Map subtab on other tabs,
displays a 3D model of the selected Astrobee in the USOS.
The Interactive Map also includes a white Preview model with
draggable arrows. The Preview shows the pose that is indicated by the Manual Move Inputs section
of the Bee Commanding subtab; i.e., the Preview shows where the Move button will send the Astrobee.
If the Preview intersects a keepout or a wall, and the Check Keepouts
option is checked, the Preview turns orange to indicate a potential collision.
The Preview has color coded arrows and rings that can be dragged to move it to
the desired position. Red indicates Astrobee's forward direction and blue indicates Astrobee's
down direction. The Manual Move Inputs fields will update automatically
when the Preview is dragged by its arrows.
The Camera Controls box in the Interactive Map has these additional buttons:
Show or Hide Preview displays or hides the white Preview model
Zoom to Preview centers the map on the Preview model.
Snap Preview to Bee moves the Preview to the current position of the selected Astrobee.
The coordinates in the Manual Move Inputs section will update accordingly.
Miscellaneous Commands
The Miscellaneous Commands subtab may have different command options, depending
on the activity. The default commands control the camera. Select
the name of the camera (Dock, Navigation, or Science) in the first
dropdown, the desired option in the second dropdown, and send
the command by clicking the Send button at the right of the
row.
Plan Editor Tab
Create A Plan
From the Plan Editor Tab, go to File -> New Plan
Known bug: If you are on a Mac and the top menu bar does not say "FreeFlyer OCU", click on another window (for instance a Finder window) and then select the Workbench again and the menu will appear correctly.
Enter a name for the plan and click Save
Known bug: error about SWT key 13 when you hit enter instead of clicking Save. Ignore the error and continue.
Set inertia and operating limits configuration files for the plan by clicking on the plan name in the table and then selecting from the drop-down menus in the lower left corner.
Add plan elements (see below)
When you have finished making the plan, click the Validate button
The workbench will create trapezoidal waypoints for each segment
The workbench will check that the plan obeys keep-out and keep-in zones.
When the plan has been validated, go to File -> Save Plan. Saving the plan will also validate it, if it is not already validated.
Add Stations
Click the "Add" button. A new Station will be created.
If a Station is selected, the new Station will be between the selected Station and the next Station
If a Segment is selected, the new Station will be created in the middle of the Segment
If the Plan is selected or the last Station is selected, the new Station will be created at the position of the last Station in the plan.
Right-click on an item in the Plan Editor
When the Plan is selected, you can "Append Station" to the end of the plan
When a Station is selected, you can "Append Station" to the end of the plan or "Insert Station" before this Station
When a Segment is selected, you can "Insert Station" in this Segment
Click "Add via 3d View" button. A translucent plane will show in the 3d view.
Click on the plane to add Stations where you click. New Stations are appended to the end of the Plan.
Change the height of the plane using the "Plane Adjustment: Z" text box.
When you are done adding Stations, click "Exit Add via 3d View" button.
Segments are created automatically when you add Stations.
Edit Plan Elements
Plan
Select the Plan itself by clicking the plan name in the Plan Editor table.
When the Plan is selected, you can change the inertia and operating limits configurations
Stations
Select a Station by clicking on the box in the 3D view or on the row in the table in the Plan Editor
When a Station is selected, you can do the following:
Move the station
"Location Based" tab: Set position according to ISS location coding.
"Coordinate Based" tab: use up and down arrows to adjust x, y, z, roll, pitch, yaw, or type numbers directly into the text boxes
"Coordinate Based" tab: select Drag to Translate or Drag to Rotate checkbox to display draggable arrows on the selected station.
"Bookmarks" tab: select the name of a bookmark from the dropdown menu and the Station will jump to the location of the Bookmark.
Add commands to the station
Click on "Commands" tab.
Select a command from the "Select command" dropdown. The selected command will be added to the plan.
You can delete commands with the "Delete" button, and you can reorder or delete them by right-clicking on them in the table.
Delete the Station
Click the "Delete" button
Right click on the row in the Plan Editor, and choose "Delete"
Reorder the station (if the plan has multiple stations)
Right click on the row in the Plan Editor, and choose "Reorder Down" or "Reorder Up"
Insert a Station halfway between the selected and the previous station
Right click on the row in the Plan Editor and choose "Insert Station"
Insert a Station halfway between the selected and the next station
Select the Station and click the "Add" button
Segments
Select a Segment by clicking on the cone in the 3D view or on the row in the table in the Plan Editor
When a Segment is selected, you can do the following:
Change the maximum speed of the segment in the Plan Editor
Uncheck Face Forward to tell the robot it doesn't need to face the direction of motion during this Segment
If you run with -engineering, you can also change acceleration, and angular velocity and acceleration limits.
Commands
Select a command by clicking on the line in the table in the Plan Editor
Undo
Some actions can be reversed by going to Edit -> Undo
Adding a station and deleting a station can be undone
Moving a station via the Coordinate Based tab can be undone.
Manage Bookmarks
Under View menu, select Open Bookmark Manager
To delete a bookmark:
Select the bookmark from the drop-down labeled Delete Bookmark
Click Delete.
To create a new Bookmark:
Open a plan and select a Station in the plan.
Adjust the position of the current station using the Location Based or Coordinate Based tabs
Click on the Bookmarks tab and click "Make Bookmark..."
Enter a name for the new bookmark and click OK.
Terminology
Access Control - Control Stations require access control on an Astrobee to send commands to that Astrobee
Astrobee - One of three free-flying robots
Awake - Astrobee is powered and ready to accept commands
Docking Station - Where Astrobees are recharged
Drifting - Mobility State where Astrobee's propulsion system is turned off
Face Forward - Option that requires Astrobee to face its direction of motion
Guest Science Application - Additional software running on Astrobee for a particular investigation
Keepouts - Areas of the ISS which Astrobee must not enter
Hibernate - Astrobee is powered on but will only respond to the Wake command
Images - Still pictures that are sent from the Navigation and Dock cameras on Astrobee
Location - Preset coordinates with associated orientations to send Astrobee to
Mobility State - Describes whether Astrobee is flying, drifting, station keeping, docking, or perching
Obstacles - Obstructions that Astrobee detects in its path as it is moving. Not displayed in the Crew Control Station.
Operating State - Indicates whether Astrobee is executing a Plan, executing a teleoperate command, or ready to accept commands
Payload - Hardware attached to Astrobee for a specific experiment
Perching Arm - Astrobee's original arm, designed to grasp a handrail
Plan - Sequence of Stations, Segments, and Commands to complete at the Stations
Plan State - Describes the currently loaded Plan, and can be paused, executing, or idle
Preview - Element in the 3D view that shows where the Move command would send the Astrobee
Streaming Video - Video sent from the Science camera on Astrobee
Symbols
Astrobees
Bumble
Honey
Queen
Teleoperate Preview
No Collision
Potential Collision
Plan Stations
Pending
Skipped
Completed
Plan Segments
Pending
Running
Skipped
Completed
Other Objects
Dock
Keepout Zone
Handrail
Coordinate Axes
Hot Keys
F1 - Open Help Document
Ctrl Q - Quit
Ctrl E - Open Overview Tab
Ctrl G - Open Guest Science Tab
Ctrl P - Open Run Plan Tab
Ctrl T - Open Teleoperate Tab


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Books
Books
A list of Software Assurance focused books for use in education and training programs
Attack Patterns, Reverse Engineering
Implementation level issuesExploiting Software: How to Break Code by Greg Hoglund and Gary McGraw, Addison Wesley, 2004
Understanding attack strategies to build better defenses. Case studies for class discussion. http://www.exploitingsoftware.com/
Design Principles and TechniquesHigh-Assurance Design: Architecting Secure and Reliable Enterprise Applications, Clifford J. Berg, Addison-Wesley Professional 2005.
Basic principles and techniques that can be applied to the development of business applications.
Information Security
Building a Secure Computer System, Morrie Gasser, 1988
Good reading for Information Security basics.
Principles and guidelines, Implementation level issues
24 Deadly Sins of Software Security: Programming Flaws and How to Fix Them Michael Howard, David LeBlanc, John Viega, McGraw-Hill Osborne Media, 2009
Identifies the most common design and coding errors, their fixes and avoidance strategies.
Secure Coding in C and C++, Robert Seacord, Addison-Wesley Professional, 2005
Examples of secure code, insecure code, and exploits, implemented for Windows and Linux. http://www.cert.org/books/secure-coding/
Secure Programming for Linux and Unix HOWTO, David Wheeler, 2003
Unix systems-specific guidelines for C, C++, Java, Perl, PHP, Python, Tcl, and Ada95. http://www.dwheeler.com/secure-programs/
Building Secure Software: How to Avoid Security Problems the Right Way, John Viega and Gary McGraw, Addison Wesley, 2002
Software Assurance principles and guidelines and Implementation level issues Possible use as a textbook or additional reference material.
Software Assurance in SDLC
Secure and Resilient Software Development, Mark S. Merkow, Lakshmikanth Raghavan, Auerbach Publications, 2010
A practitioner’s perspective on enterprise assurance programs.
Software Security Engineering: A Guide for Project Managers, Julia Allen, Sean Barnum, Robert J. Ellison, Gary McGraw, Nancy R. Mead, Addison-Wesley, 2008 (ISBN 032150917X).
Software Security Engineering draws extensively on the systematic approach developed for the Build Security In (BSI) Web site. http://www.softwaresecurityengineering.com
The Security Development Lifecycle: SDL: A Process for Developing Demonstrably More Secure Software, Michael Howard, Steve Lipner, Microsoft Press, 2006
Adaptation of Microsoft’s Security Development Lifecycle (SDL) with case-studies on several Microsoft products.
Software Security: Building Security In, Gary McGraw, Addison-Wesley Professional, 2006.
Introduction to Software Security Touchpoints during software development. Possible use as a textbook or additional reference material.
Secure Coding: Principles and Practices, Mark G. Graff and Kenneth R. van Wyk, O’Reilly, 2003
A practical approach to integrating SwA topics into the SDLC. Great for assignment of additional readings that complement classroom materials. http://www.securecoding.org/
Standards-based SwA Solutions
System Assurance: Beyond Detecting Vulnerabilities , Nikolai Mansourov and Djenana Campara, Morgan Kaufmann Publishers, Elsevier, 2011(ISBN: 978-0-12-381414-2
The Object Management Group (OMG) Software Assurance Ecosystem described in this book is a significant step towards collaborative cyber security automation; it offers a standards-based solution for building security and resilience in computer systems.
Static Analysis
Secure Programming with Static Analysis, Brian Chess, Jacob West, Addison Wesley, 2007.
Detailed discussion of security issues in several open source applications; steps in the static analysis process.
Books for SwA education and training
4/5/12


Arguing Liverpool players "drained Aston Villa mentally" says John McGinn
The Reds came from behind to beat Villa 2-1 at Villa Park on Saturday
by Mark Jones, https://www.mirror.co.uk/authors/mark-jones/Liverpool's "relentless" players were arguing with each other during their win over Aston Villa on Saturday, but Villa star John McGinn says they slowly wore their opposition down.
The Reds trailed 1-0 at Villa Park as the match entered the 87th minute, with a first half strike from Egyptian midfielder Trezeguet the difference.
However, a header from McGinn's Scotland international teammate Andy Robertson levelled the scores, before Sadio Mane's glancing header from a Trent Alexander-Arnold corner found the net in the 94th minute to spark delirious scenes in the away end .
McGinn says it could have all been different though.
“A lot of their players were arguing and you could tell they were uncomfortable in the first half," said the midfielder after the game, via the Liverpool Echo .
"When teams start arguing with each other you normally know you’ve got them but at the same time you have to respect they are such a good team, they just regroup, get together and go again.
"Unfortunately for us they did that."
McGinn added that it is Liverpool's "relentless" nature that sets them and title rivals Manchester City apart.
"You’re playing against the champions of Europe and they could be the champions of England this year," he continued.
"They don’t give up, they keep going and they probably tired us out too much right at the end.
“Chances were coming and we were just trying to keep them at bay but the ball just keeps coming back at you.
“It was two sloppy goals from our point of view but teams like Liverpool do that to you.
“They are relentless. It was the same with Man City last week, they just drain you mentally.
"You try your best to press them but they are top teams and full credit to them."


{% extends "base.html" %} {% block content %}
Changed files:
Stop! Have you made all the changes you want to make? Once you submit this PR, you will not be able to edit this branch from here again.
There are no changes to submit. You can add terms to imports or add new terms to OBI and return to this page to create a new pull request.
{% endif %}


|
Table PIT_MAIL_QUEUE Table to buffer mail notifications for later delivery |
| Columns |
| Name | Type | Optional | Default | Comments |
| PMQ_ID | NUMBER | Flag indicating whether the message was processed | ||
| PMQ_PMS_ID | VARCHAR2(50) | Y | Name of the message, used to summarize messages | |
| PMQ_PSE_ID | NUMBER | Y | Severity of the message | |
| PMQ_MESSAGE_TEXT | CLOB | Y | Message text | |
| PMQ_LOG_DATE | DATE | Y | sysdate | Date when the message was set |
| PMQ_IS_PROCESSED | CHAR(1) | Y | 'N' | Flag to indicate whether the mail was successfully sent |
| Primary Key |
| Name | Columns |
| PK_PIT_MAIL_QUEUE | PMQ_ID |
| Foreign Keys |
| Name | Columns | Referencing Table | Columns |
| FK_PMQ_PMS_ID | PMQ_PMS_ID | PIT_MESSAGE | PMS_ID |
| FK_PMQ_PSE_ID | PMQ_PSE_ID | PIT_MESSAGE_SEVERITY | PSE_ID |
| Indexes |
| Name | Columns | Type |
| IDX_FK_PMQ_PMS_ID | PMQ_PMS_ID | Normal |
| IDX_FK_PMQ_PSE_ID | PMQ_PSE_ID | Normal |
| PK_PIT_MAIL_QUEUE | PMQ_ID | Unique |


Vincent Chan
Project Portfolio
Vincent Chan is a first year Master's student in CSE at UCSD. He graduated in '09 with a Bachelor's in Economics/
Mathematics from UCSD and has since worked as a Product Manager in various software projects at Qualcomm and in two
start-ups: Tapioca Mobile and Gimbal. He has experience in Agile software development methodologies and has used
Extreme Programming (XP) in a large software project for many years.
Languages/Frameworks: Ruby on Rails, Java, C, JavaScript (node.js/Express), HTML and CSS
Projects
- CSE218: Eyelluminati
Description
Eyelluminati is a project built to aid patients with Locked-In Syndrome to interact with people
and their environment. It is designed to be used with a low-cost eye tracking device, such as The Eye Tribe, so that
LIS patients can interact with it. In addition to the GUI, we have built eyeQuery.js (modeled after jQuery) to allow
developers to easily enable eye tracking for their web pages.
- Rails Tutorial: Sample Application
Description
This is my current progress on Michael Hartl's excellent Rails Tutorial book.


As a manufacturer of pasteurized cattle, our vision is to be the leader in manufacturing and
licensing of safe pasteurized shell cattle (PSE) and pasteurizing technology
As a manufacturer of pasteurized cattle, our vision is to be the leader in manufacturing and
licensing of safe pasteurized shell cattle (PSE) and pasteurizing technology
As a manufacturer of pasteurized cattle, our vision is to be the leader in manufacturing and
licensing of safe pasteurized shell cattle (PSE) and pasteurizing technology


--- layout: post authors: ["Greg Wilson"] title: "Updating Our Checklists" date: 2014-03-29 time: "10:00:00" tags: ["Teaching"] ---
We have updated our checklists for bootcamp administrators, hosts, instructors (and lead instructors), and helpers. Further improvements are welcome, and we'd appreciate comments on this post suggesting items we could put in a checklist for learners.


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Fieldset Class
The Fieldset class is used to create a form and handle its
validation in an object oriented way. It uses the Form and
Validation classes. This class itself is only meant to model the
fieldset and its fields while the other two classes do the real
work.
The resulting form markup is generated when passing the Fieldset
instance to a View or by calling
build()
.
forge($name = 'default',
$config = array())
The forge method returns a new Fieldset instance.
Note: there can only be one instance per
$name
.
| Static |
Yes |
| Parameters |
| Param |
Default |
Description |
| $name |
'default'
|
Identifier for this fieldset |
| $config |
array() |
Configuration array |
|
| Returns |
\Fieldset Object |
| Example |
$article_form = Fieldset::forge('article');
|
When constructing a Fieldset object, you can pass a
configuration array which allows you to setup the object with a
custom configuration. The following items are supported:
| validation_instance |
Validation object |
null
|
An existing Validation class object you want to use to
validate the fieldset. If not given, a new Validation object
will be constructed for this fieldset. |
| form_instance |
Form object |
null
|
An existing Form class object you want to use to
construct the fieldset form. If not given, a new Form object
will be constructed for this fieldset. |
In addition to these fields, you can pass custom form configuration
to modify the way the fieldset generates the form. For valid
configuration values, have a look at the
form.php
configuration file.
instance($instance =
null)
Returns a specific instance, or the default instance (is
created if necessary).
| Static |
Yes |
| Parameters |
| Param |
Default |
Description |
| $instance |
null
|
Identifier of the fieldset instance you want to
retrieve |
|
| Returns |
\Fieldset Object or false if the
specified instance doesn't exist.
|
| Example |
$article_form = Fieldset::instance('article');
|
validation()
Gets the Validation instance for the current Fieldset.
Creates the Validation instance if it doesn't already exist.
| Static |
No |
| Returns |
\Validation Object |
| Example |
$validation = $article_form->validation();
|
Gets the Form instance for the current Fieldset. Creates the
Form instance if it doesn't already exist.
| Static |
No |
| Returns |
\Form Object |
| Example |
$form = $article_form->form();
|
add($name, $label = '',
array $attributes = array(), array $rules = array())
Creates a Fieldset_Field instance and adds it to the current
Fieldset.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $name |
required |
HTML name attribute, also used for referencing the
field within the Fieldset |
| $label |
''
|
Field label |
| $attributes |
array()
|
HTML attributes as an associative array |
| $rules |
array()
|
Validation rules to be applied to this Field |
|
| Returns |
\Fieldset_Field Object |
| Example |
$title_field = $article_form->add('article_title', 'Title', array('class' => 'pretty_input'));
// Example Radio
$ops = array('male', 'female');
$form->add(
'gender', '',
array('options' => $ops, 'type' => 'radio', 'value' => 'true')
);
// Example Checkbox
$ops = array('male', 'female');
$form->add(
'gender', '',
array('options' => $ops, 'type' => 'checkbox', 'value' => 'true')
);
// Example of an Email input, with validation rules
$form->add(
'email', 'E-mail',
array('type' => 'email', 'class' => 'pretty_input'),
array('required', 'valid_email')
);
// Example of an text input, with array notation for the validation rules
$form->add(
'name', 'Full name',
array('type' => 'name', 'class' => 'pretty_input'),
array(array('required'), array('valid_string', array('alpha-numeric', 'dots', 'spaces')))
);
|
add_before($name,
$label = '', array $attributes = array(), array $rules = array(),
$fieldname = null)
Creates a Fieldset_Field instance and adds it to the current
Fieldset, just before an already defined field identified by $fieldname.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $name |
required |
HTML name attribute, also used for referencing the
field within the Fieldset |
| $label |
''
|
Field label |
| $attributes |
array()
|
HTML attributes as an associative array |
| $rules |
array()
|
Validation rules to be applied to this Field |
| $fieldname |
null
|
Already defined field to which this field must be
prepended |
|
| Returns |
\Fieldset_Field Object |
| Example |
// Radio button field, to be added before the 'location' field.
$ops = array('male', 'female');
$form->add_before('gender', '', array('options' => $ops, 'type' => 'radio', 'value' => 'true'), array(), 'location');
|
add_after($name,
$label = '', array $attributes = array(), array $rules = array(),
$fieldname = null)
Creates a Fieldset_Field instance and adds it to the current
Fieldset, just after an already defined field identified by $fieldname.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $name |
required |
HTML name attribute, also used for referencing the
field within the Fieldset |
| $label |
''
|
Field label |
| $attributes |
array()
|
HTML attributes as an associative array |
| $rules |
array()
|
Validation rules to be applied to this Field |
| $fieldname |
null
|
Already defined field to which this field must be
appended |
|
| Returns |
\Fieldset_Field Object |
| Example |
// Radio button field, to be added after the 'location' field.
$ops = array('male', 'female');
$form->add_after('gender', '', array('options' => $ops, 'type' => 'radio', 'value' => 'true'), array(), 'location');
|
field($name = null)
Gets one or all Fieldset_Field instances for the current
Fieldset.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $name |
null
|
The name of an existing field in this Fieldset or
null to get all fields. |
|
| Returns |
\Fieldset_Field Object or array() of
Fieldset_Fields
|
| Example |
$fields = $article_form->field();
$title_field = $article_form->field('article_title');
|
add_model($class,
$instance = null, $method = 'set_form_fields')
Add a model's fields. The model must have a method
set_form_fields()
that takes this Fieldset instance and adds fields to it.
Orm\Model
have support this build in.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $class |
required |
Either a full classname (including full namespace)
or object instance of the model to get fields from. |
| $instance |
null
|
Array or object that has the exactly same named
properties to populate the fields. (Takes the field names
from the model and fetches the remaining parameters from
this array/object. |
| $method |
'set_form_fields'
|
The name of the method name to call on the model for
field fetching. |
|
| Returns |
\Fieldset Object |
| Example |
$article_form = Fieldset::forge('article');
$article_form->add_model('Model_Article');
|
set_config($config,
$value = null)
Sets a config value on the fieldset.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $config |
required |
Configuration array. |
| $value |
null
|
If specified, sets the item to set from the passed
Configuration array. |
|
| Returns |
\Fieldset Object |
| Example |
$article_form->set_config($config);
// or
$article_form->set_config('key', 'value');
|
get_config($key =
null, $default = null)
Get the configuration array or one or more config values by
key.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $key |
null
|
A single key or multiple in an array, empty to fetch
all. |
| $default |
null
|
A single config value or multiple in an array if
$key input is an array to be returned if the items aren't
found. |
|
| Returns |
array() or mixed |
| Example |
$config = $article_form->get_config();
|
get_name()
Get the identifier of the fieldset instance.
| Static |
No |
| Parameters |
(none) |
| Returns |
string |
| Example |
$article_form = Fieldset::forge('article');
$name = $article_form->get_name(); // 'article'
|
populate($input,
$repopulate = false)
Set initial field values to the given input, optionally set
it to repopulate after that as well.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $input |
required |
An object or associative array of values to assign
to their respective Fields, or a Model instance to take the
values from. |
| $repopulate |
false |
Use the repopulate() method after initial populating |
|
| Returns |
\Fieldset Object |
| Example |
$article_form->populate($model);
|
repopulate()
Set all field values to the input send by a form submission (uses
the form
method
attribute to decide whether to check POST or GET).
| Static |
No |
| Parameters |
None |
| Returns |
\Fieldset Object |
| Example |
$article_form->repopulate();
|
build($action = null)
Alias for $this->form()->build() for this fieldset. Generates the
HTML form markup. See Form.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $action |
null
|
A URL for the action attribute of the
form.
|
|
| Returns |
string HTML markup |
| Example |
$this->template->form = $article_form->build(Uri::create('article/submit'));
|
disable($field)
The
disable
method allows you to disable a field from being build. You can use
this if you want to alter the sequence of fields on the form, or to
create more complex layouts without having to build individual
fields.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $field |
required |
The specific field you want to disable. |
|
| Returns |
\Fieldset Object |
| Throws |
RuntimeException, if the field given is not defined |
| Example |
$fieldset->disable('name');
|
The field is not removed from the fieldset, so
it will still be validated.
enable($field)
The
enable
method allows you to re-enable a field that has been
disable
d before.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $field |
required |
The specific field you want to enable. |
|
| Returns |
\Fieldset Object |
| Throws |
RuntimeException, if the field given is not defined |
| Example |
$fieldset->enable('name');
|
Alias for $this->validation()->input(). Gets an array of validated
input value(s) from either POST data or given input. See Validation.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $field |
null
|
A specific field for which to get the input. |
|
| Returns |
Array of input or string value of specified field |
| Example |
$input_values = $article_form->input();
|
validated($field =
null)
Alias for $this->validation()->validated(). Gets an array of input
value(s) that passed validation. See Validation.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $field |
null
|
A specific field for which to get the input. |
|
| Returns |
Array of input or string value of specified field, or false
if the field isn't found
|
| Example |
$validated_values = $article_form->validated();
|
error($field = null)
Alias for $this->validation()->error(). Gets an array of input
value(s) that did not pass validation. See Validation.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $field |
null
|
A specific field for which to get the input. |
|
| Returns |
Array of input or string value of specified field, or false
if the field isn't found
|
| Example |
$errors = $article_form->error();
|
show_errors(Array
$config = array())
Alias for $this->validation()->show_errors(). Returns all errors in
a list or with set markup from the $config parameter. See Validation.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $config |
array()
|
Uses keys open_list, close_list, open_error,
close_error & no_errors. Overrides the values |
|
| Returns |
Array of input or string value of specified field, or false
if the field isn't found
|
| Example |
$all_errors = $article_form->show_errors();
|
Define an embedded fieldset on a related ORM model to create
a One-to-Many form.
| Static |
No |
| Parameters |
| Param |
Default |
Description |
| $model |
required |
Fully namespaced name of the related model on which
the form must be generated |
| $relation |
required |
Name of the relation of the parent object that
relates to $model |
| $parent |
required |
Parent object that is used to generate the main
form, and contains the related records to be displayed in
the tabular form |
| $blanks |
1
|
Number of empty rows to be displayed in the tabular
form |
|
| Returns |
Fieldset, for chaining |
| Throws |
RuntimeException, if incorrect parameters are passed |
| Example |
See below...
|
The tabular form is displayed in a table, controlled by template
definitions in the
config/form.php
configuration file. You are free to modify these templates, but you
should leave the table structure, as the fieldset class will add
the table headers based on the fields present in each row. This
will generate invalid HTML if you remove the table and row
definition from the template.
Return the name of the defined tabular form.
| Static |
No |
| Parameters |
None |
| Returns |
mixed, the name of the form, or false if the
fieldset is not a tabular form
|
| Example |
if ($name = $form->get_tabular_form())
{
echo '$form is a tabular fieldset named', $name;
}
|
The Fieldset class can be used to create forms from ORM models. The
following example will build a form based on the fields specified
in
$_properties
of your model. In the example, $article is an instance of
Model_Article.
echo Fieldset::forge('article')->add_model($article)->populate($article, true)->build();
If you do not wish every property of the model to be on your form,
you can set the form type of those to
false
and they will not be generated.
This actually uses the
Observer_Validation behind the scenes, but you do not need to add
it as an observer for this to work.
The Fieldset class can also be used to create forms for an
ORM model object and a Many relation. This is done by embedding a
tabular form fieldset into the main form fieldset, specifying the
related model and the name of the relation.
By default, the One-to-Many fieldset is displayed in tabular form,
controlled by the template in the
config/form.php
file.
// We're going to create a one-to-many form of an article, identified by $id, and it's comments
// get the article and it's related comments
$article = Model_Article::find($id, array('related' => array('comments')));
// create the form fieldset for this article using the ORM model's form definition
$form = Fieldset::forge('article')->add_model($article);
/*
* add the tabular form to it to create the one-to-many table.
*
* the data is provided by the relation 'comments' of the $article object, which
* are objects of the class 'Model_Comment'.
*
* you can disable the fieldset tag to avoid embedded fieldsets in your form
*/
$form->add(\Fieldset::forge('tabular')->set_tabular_form('Model_Comment', 'comments', $article)->set_fieldset_tag(false));
This only works for related models that DO NOT
have a compound key!
A tabular form generates HTML input tags that use an array
with the name of the relation specified, and the primary key value
of the record as it's index value. Any blank rows that are added at
the bottom of the table will use the relation name, with a '_new'
suffix. This will allow you to update the parent record, and all
related records, in one go, and process the new lines separately.
In this example, you'll see input tag names like
comments[12][fieldA]
for existing rows (in this case a row with
id = 12
, and
comments_new[0][fieldA]
for a field in the first blank line.
// Process the posted one-to-many form
if (\Input::post())
{
// validate the input
$form->validation()->run();
// if validated, save the updates
if ( ! $form->validation()->error())
{
// update the article record, and any comment record changes
$article->from_array($data);
// do we need to delete tabular form records?
foreach ($data['comments'] as $id => $row)
{
if ($id and ! empty($row['_delete']))
{
unset($article->comments[$id]);
}
}
// do we have a new tabular form record data (assuming we've added only one blank line)?
$data = array_filter($data['comments_new'][0]);
$new_errors = false;
if ( ! empty($data))
{
// check for required fields
if (empty($data['fieldA']) or empty($data['fieldB']))
{
$new_errors = true;
// display an error message about missing required fields here...
}
else
{
// create a new related record
$article->comments[] = Model_Comment::forge(array('article_id' => $article->id, 'fieldA' => $data['fieldA'], 'fieldB' => $data['fieldB']));
}
}
// save the updates
if ( ! $new_errors)
{
if ($article->save())
{
// display a save-succesful message here and redirect away
}
else
{
// display an error message, save was not succesful
}
}
}
else
{
// inform the user validation failed
}
}
The layout of the forms generated by the fieldset is controlled by
the form.php configuration file.
The following configuration values can be defined:
| prep_value |
boolean |
true
|
If true, form values passed to the fieldset will be
escaped using Security::htmlentities().
|
| auto_id |
boolean |
true
|
If true, the id attribute for form fields will be
generated if not assigned to the fields manually. |
| auto_id_prefix |
string |
'form_'
|
When auto_id is true, prefix the generated id attributes
with this string. |
| form_method |
string |
'post'
|
Type of form action to generate. Can be 'get' or 'post'.
|
| form_template |
string |
'\n\t\t{open} \n\t\t
\n{fields}\n\t\t
 \n\t\t{close}\n'
|
String containing the placeholders for opening- and
closing the form, and for the list of input fields. |
| field_template |
string |
'\t\t
 \n\t\t\t {label}{required}	 \n\t\t\t{field} {description} {error_msg} 	\n\t\t
\n'
|
String containing the placeholders for generating a
single input field. |
| multi_field_template |
string |
'\t\t
 \n\t\t\t {group_label}{required}	 \n\t\t\t{fields} \n\t\t\t\t{field} {label} \n{fields}{description} \t\t\t{error_msg}\n\t\t\t	\n\t\t
\n'
|
String containing the placeholders for generating a
single input field with multiple inputs, like a group of radio
buttons or checkboxes. |
| error_template |
string |
'{error_msg}'
|
String containing the placeholders for generating input
error messages. |
| group_label |
string |
'{label}'
|
String containing the placeholders for generating a
label for multi field inputs. |
| required_mark |
string |
'*'
|
String containing the HTML to mark input fields as
required. |
| inline_errors |
boolean |
false
|
If true, validation error messages will be displayed
inline in the form. |
| error_class |
string |
null
|
CSS class name to apply to error messages. |
| label_class |
string |
null
|
CSS class name to apply to field labels. |
| tabular_form_template |
string |
'
{fields}
\n'
|
template for the complete tabular form with all it's
rows. |
| tabular_field_template |
string |
'{field}'
|
Template for embedding a child fieldset in a tabular
form. |
| tabular_row_template |
string |
'
{fields}
\n'
|
Template for generating a single row in a tabular form.
|
| tabular_row_field_template |
string |
'\t\t\t{label}{required} {field} {error_msg}	\n'
|
Template for generating a single field in a row of a
tabular form. |
| tabular_delete_label |
string |
'Delete?'
|
Column header for the row delete checkbox. |
The following macro's can be used in a form template.
| {open} |
Form open tag, generated by Form::open(); |
| {close} |
Form close tag, generated by Form::open(); |
| {fields} |
The block of HTML containing all generated input fields. |
| {label} |
Input field label, generated by Form::label(); |
| {required} |
String indicating the input field is required. |
| {error_class} |
Configured class to be applied to error messages. |
| {field} |
Generated HTML for the individual input field. |
| {description} |
String the field description or a help text to be
displayed. |
| {error_msg} |
String containing the formatted error message as
returned by validation. |
| {group_label} |
Input field label for grouped input fields, generated by
Form::label(); |
Changing the attributes of the
form()
instance in the fieldset can be done in two ways. You can either
provide your options in the
forge()
method's attributes array, or modify the form instance directly.
// Use the form_attributes option in the attributes of the Fieldset object
$fieldset = Fieldset::forge('article', array(
'form_attributes' => array(
'id' => 'edit_article_form',
'name' => 'edit_article'
)
)
);
// Modify the form instance directly
$fieldset->form()->set_attribute('id', 'edit_article_form');
More examples to be written.


| CornerRegion |
class to hold a few details from the creation of corners that
help later to match corners.
|
| CorrespondenceList |
|
| FeatureComparisonStat |
|
| FeatureMatcherSettings |
|
| GradientIntegralHistograms |
algorithm based upon paper
"Integral Histogram: A Fast Way to Extract Histograms in
Cartesian Spaces" by Porikli 2005
Algorithm uses a pattern similar to a summed area table
to cumulatively add the content from one lower pixel in
x and in y with a runtime complexity that is O(N_pixels),
but a space complexity that is O(N_pixels * nBins) where
nBins is the number of bins in a histogram (default is 16 for
default value range of 0 to 255, inclusive).
|
| HCPT |
A class holding histograms of a polar theta color space greyscale image
and methods to extract
features.
|
| HGS |
A class holding histograms of a greyscale image
and methods to extract
features.
|
| HOGRegionsManager |
|
| HOGs |
CAVEAT: small amount of testing done, not yet throughly tested.
|
| HOGsManager |
similar to HOGRegionsManager except that there is only one histogram of each
type for all regions.
|
| HOGUtil |
|
| IntensityFeatureComparisonStats |
|
| MatchingSolution |
|
| NextCorner<T extends CornerRegion> |
A class to serve the purpose of an adjacency matrix (via rules to choose
the "neighbor corner") and the state of "un-visited" for the search
algorithm.
|
| ObjectMatcher |
a class that finds a template object in another image where the
object may have changed poses, may have different lighting, or
may have different foreground or background.
|
| ObjectMatcher.Settings |
|
| PatchUtil |
carries the current integrated histogram from a region of
HOGS, HCPT, or HGS data.
|
| PhaseCongruencyDetector |
An edge detector that uses principles of phase congruency to create an edge
map and orientation and phase angle images - it uses monogenic filters to
decrease the runtime.
|
| PhaseCongruencyDetector2 |
Non-monogenic filter phase congruence edge detector.
|
| PhaseCongruencyParameters |
|
| PixelThetaDescriptor |
|
| PointSampling |
|
| PointValueDistr |
|
| PolarThetaIntegralHistograms |
algorithm based upon paper
"Integral Histogram: A Fast Way to Extract Histograms in
Cartesian Spaces" by Porikli 2005
Algorithm uses a pattern similar to a summed area table
to cumulatively add the content from one lower pixel in
x and in y with a runtime complexity that is O(N_pixels),
but a space complexity that is O(N_pixels * nBins) where
nBins is the number of bins in a histogram (default is 16 for
default value range of 0 to 255, inclusive).
|
| RANSACEuclideanSolver |
uses the RANSAC algorithm on combinations of 3 points to calculate
euclidean transformations and evaluate them against all points.
|
| RANSACSolver |
given matched point lists, determine the best epipolar solution using a
7-point epipolar calculation and random draws of 7 points from the
matched point lists under the assumption that some of the matched points
are not true (correct) matches.
|
| ThetaDescriptor |
|
| UnsupervisedTextureFinder |
class to search for textures within the noise
extracted from PhaseCongruencyDetector.java.
|


TAs are expected to spend 20 hours per week on TA duties. Students who are TAing should plan to take a lighter load than normal. This is especially true for students new to the University of Utah.
TAs must allocate enough time to properly prepare for office hours, including pre-reading and pre-doing the course assignments. When in charge of a discussion section, TAs will be expected to pre-prepare and practice their discussion.
TAs will be expected to finish assigned grading promptly and accurately within 7 days of the due date. Grading takes priority over other academic endeavors.
TAs are expected to be in town the week before school starts.


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$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews
$7956 Step behind the scenes of Havana’s theater
84 reviews


{% extends 'forum/base.html' %} {% block searchbar-class %}hidden{% endblock searchbar-class %} {% block breadcrumbs %}
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An apple is a sweet, edible fruit produced by an apple tree (Malus pumila). Apple trees are cultivated worldwide, and are the most widely grown species in the genus Malus. The tree originated in Central Asia, where its wild ancestor, Malus sieversii, is still found today. Apples have been grown for thousands of years in Asia and Europe, and were brought to North America by European colonists. Apples have religious and mythological significance in many cultures, including Norse, Greek and European Christian traditions.
There are more than 7,500 known cultivars of apples. Cultivars vary in their yield and the ultimate size of the tree, even when grown on the same rootstock.Different cultivars are available for temperate and subtropical climates.
Price = {{ price | currency : "Rs."}}


Index
secondary: intensive: balbalīti
It is not probable that this solitary verb-form has anything to do with the common derivatives (from a √bal 'be strong') bála V.+, bálīyas AV.+, báliṣṭha B.+, baliman U., bālá? S.+


Shannon Dillon
Focused on providing great user experiences and writing clean, functional code using full-stack JavaScript


LEAVE A MESSAGE FOR THE POPE
Artikel 8
During an address at St. Peter's Square in Vatican City last week, the Pope spoke about the importance of eating dinner together as a family — while maintaining vigorous eye contact. "A family that almost never eats together, or that never speaks at the table but looks at the television or the smartphone, is hardly a family," he said, according to the Los Angeles Times.
Sure, sure. For years we've heard variations on this quote from dozens of people, including the stars of all of these frozen pizza commercials. But here's a question for Francis: what if I was trying to stream your upcoming album during dinner?


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IN THE HIGH COURT OF KERALA AT ERNAKULAM PRESENT: THE HONOURABLE MR.JUSTICE THOTTATHIL B.RADHAKRISHNAN & THE HONOURABLE MR.JUSTICE C.T.RAVIKUMAR TUESDAY, THE 21ST DAY OF AUGUST 2012/30TH SRAVANA 1934 WP(C).No. 12150 of 2007 (S) ------------------------------------- PETITIONER(S): ------------------------ MANIMALA RIVER PROTECTION COUNCIL, REPRESENTED BY SECRETARY, GOPINATHA PILLAI KOTTANGAL, KULATHUR, PATHANAMTHITTA. BY ADV. SRI.T.M.ABDUL LATHEEF RESPONDENT(S): -------------------------- 1. STATE OF KERALA, REPRESENTED BY SECRETARY TO GOVERNMENT, FOREST DEPARTMENT THIRUVANANTHAPURAM. 2. CHIEF CONSERVATOR OF FOREST, THIRUVANANTHAPURAM. 3. DISTRICT OFFICER, ERUMELY. 4. DISTRICT FOREST OFFICER, RANNI. 5. DISTRICT COLLECTOR, PATHANAMTHITTA. 6. DISTRICT COLLECTOR, KOTTAYAM. 7. KERALA POLLUTION CONTROL BOARD, REPRESENTED BY ITS SECRETARY, THIRUVANANTHAPURAM. 8. DIRECTOR, MINING AND GEOLOGY DEPARTMENT, THIRUVANANTHAPURAM. 9. KERALA STATE ELECTRICITY BOARD, REPRESENTED BY ITS SECRETARY, VYDHUTHY BHAVAN THIRUVANANTHAPURAM. DCS WP(C).No. 12150 of 2007 (S) 10. KOTTANGAL GRAMA PANCHAYATH, REPRESENTED BY ITS SECRETARY, KOTTANGAL. 11. JOINT CHIEF CONTROLLER OF EXPLOSIVES, CHENNAI. 12. AMU.T.GEORGE, VADAKKEMURIYIL HOUSE, KOLABHAGAM.P.O., THADIYOOR. R1 TO R6 & R8 BY ADV. SRI.M.P.MADHAVANKUTTY, SPL. GOVT. PLEADER FOR FOREST DEPARTMENT R7 BY ADV. SRI. M.AJAY, SC, KERALA STATE POLLUTION CONTROL BOARD BY SRI.M.K.CHANDRAMOHAN DAS, SC, POLLUTION CONTROL BOARD BY ADV. SRI. ASOK M.CHERIYAN, SC, KSEB BY ADV. SRI.PULIKOOL ABUBACKER, SC, KSEB BY SRI.JOSE J.MATHEIKEL, SC, KSEB R10 BY ADV. SRI.T.S.JOHN R12 BY ADVS. SRI.MATHAI M PAIKADAY(SR.) SRI.SIBY MATHEW(SR.) SRI. PHILIP J. VETTIKATTU BY ADV. SRI.SIJU RAJAN BY ADV.  COPY OF THE PICTURE AND NEWS ITEM APPEARED IN DESHABIMANI DAILY DATED 5.4.2004 EXHIBIT-P2. COPY OF THE PHOTOGRAPH SHOWING THE ROCK FORMATION EXHIBIT-P3. COPY OF THE PHOTOGRAPH SHOWING THE ROCK FORMATION EXHIBIT-P4. COPY OF THE PHOTOGRAPH SHOWING THE ROCK FORMATION EXHIBIT-P5. COPY OF THE PHOTOGRAPH SHOWING THE ROCK FORMATION EXHIBIT-P6. COPY OF THE CONSENT NO. PCB/CE/176/2004 DATED 4.08.2006 OF THE 7TH RESPONDENT EXHIBIT-P7. COPY OF THE LICENCE NO.E/SC/KL/22/575(E23624) DATED 12.08.2004 OF THE 11TH RESPONDENT EXHIBIT-P8. COPY OF THE ORDER NO.323/2004-05/5979/M3/04 DATED 18.8.2004 OF THE 8TH RESPONDENT EXHIBIT-P9. COPY OF THE NEWS ITEM APPEARED IN THE HINDU DAILY DATED 1.3.2005 EXHIBIT-P10. COPY OF THE PETITION SUBMITTED BY THE FIRST PETITIONER BEFORE THE 10TH RESPONDENT DATED 24.02.2005 EXHIBIT-P11. COPY OF THE PETITION SUBMITTED BY THE 4TH PETITIONER BEFORE THE FIRST RESPONDENT EXHIBIT-P12. COPY OF THE ORDER G.O. (RT.) NO. 667/05/ID DATED 20.07.2005 EXHIBIT-P13. COPY OF THE REPORT APPEARED IN THE HINDU DAILY DATED 25.02.2005 EXHIBIT-P14. COPY OF THE SURVEY SKETCH SHOWING THE FOREST BOUNDARY EXHIBIT-P17. COPY OF MINUTES BOOK EXHIBIT-P18. COPY OF THE LETTER NO. T.A.(4) 1729/07 DATED 11.04.2007 OF THE PRINCIPAL AGRICULTURAL OFFICER, PATHANMATHITTA DCS WP(C).No. 12150 of 2007 (S) RESPONDENTS' EXHIBITS :- EXHIBIT-R7(1). COPY OF THE 'CONSENT TO ESTABLISH' DATED 05.08.2004 EXHIBIT-R7(2). COPY OF THE 'CONSENT TO ESTABLISH' RENEWAL ORDER DATED 18.11.2006 EXHIBIT-R7(3). COPY OF THE 'CONSENT TO OPERATE' APPLICATION DATED 20.01.2007 EXHIBIT-R10(a). COPY OF THE JUDGMENT DT. 21.02.2005 IN W.P.(C).NO.3698 OF 2005 (M) EXHIBIT-R12(a). COPY OF ROUGH SKETCH OF PROPERTY OWNED BY THE PETITIONER IN SY. NOS. 443/1, 1-2 & 1-3 EXHIBIT-R12(b). COPY OF PROVISIONAL REGISTRATION ISSUED BY THE ASST. DISTRICT INDUSTRIES, OFFICER, THIRUVALLA TO THE PETITIONER EXHIBIT-R12(c). COPY OF PROCEEDINGS NO. PCB/CE/PT/146/2004 DATED 05.08.2004 OF THE KERALA STATE POLLUTION CONTROL BOARD EXHIBIT-R12(d). COPY OF LICENSE NO. E/SC/KL/22.575(E.23624) ISSUED BY THE DEPUTY CONTROLLER OF EXPLOSIVES EXHIBIT-R12(e). COPY OF LETTER NO. CI-9136/04, DATED 10.09.2004 ISSUED BY THE DISTRICT MEDICAL OFFICER, PATHANAMTHITTA EXHIBIT-R12(f). COPY OF LETTER NO. A. E43/04, DATED 9.9.2004 ISSUED BY THE INSPECTOR OF FACTORIES & BOILERS EXHIBIT-R12(f)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(f) EXHIBIT-R12(g). COPY OF ORDER NO. 323/2004-05/5079/M3/04 DATED 18.08.2004 ISSUED BY THE DIRECTOR OF MINING & GEOLOGY EXHIBIT-R12(h). COPY OF LETTER NO. A3-362/04 DATED 24.12.2004 ISSUED BY THE RESPONDENT PANCHAYAT EXHIBIT-R12(h)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(h) EXHIBIT-R12(i). COPY OF LETTER DATED 25.1.2005 ISSUED BY THE RESPONDENT PANCHAYAT EXHIBIT-R12(i)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(i) EXHIBIT-R12(j). COPY OF JUDGMENT DATED 21.02.2005 IN W.P.(C). NO. 3698/2005 PASSED BY THIS HON'BLE COURT EXHIBIT-R12(k). COPY OF COUNTER AFFIDAVIT FILED BY THE RESPONDENT PANCHAYAT IN W.P.(C). NO.3698/2005 DCS WP(C).No. 12150 of 2007 (S) EXHIBIT-R12(l). COPY OF JUDGMENT DATED 07.03.2005 IN W.P.(C). NO. 7606/2005 PASSED BY THIS HON'BLE COURT EXHIBIT-R12(m). COPY OF ORDER NO. GO(RT)67/05/ID, DATED 20.07.2005 ISSUED BY THE GOVERNMENT OF KERALA EXHIBIT-R12(n). COPY OF ORDER DATED 9.5.2005 PASSED BY THE RESPONDENT PANCHAYAT EXHIBIT-R12(n)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(n) EXHIBIT-R12(o). COPY OF DECISION DATED 3.3.2005 IN W.P.(C). NO. 3698/2005 PASSED BY THIS HONOURABLE COURT. EXHIBIT-R12(o)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(o) EXHIBIT-R12(p). COPY OF ORDER DATED 17.01.2007 ISSUED BY THE KERALA SATE POLLUTION CONTROL BOARD EXHIBIT-R12(q). COPY OF APPLICATION DATED 18.01.2007 SUBMITTED BY THE PETITIONER BEFORE THE RESPONDENT EXHIBIT-R12(q)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(q) EXHIBIT-R12(r). COPY OF LETTER DATED 28.02.2007 ISSUED BY THE AGRICULTURAL OFFICER, KRISHI BHAVAN, KOTTUNGAL TO THE RESPONDENT PANCHAYATH EXHIBIT-R12(r)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(r) EXHIBIT-R12(s). COPY OF LETTER NO. TA(4)1729/07, DATED 11.04.2007 ISSUED BY THE PRINCIPAL AGRICULTURAL OFFICER, PATHANAMTHITTA TO THE 10TH RESPONDENT PANCHAYAT EXHIBIT-R12(s)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(s) EXHIBIT-R12(t). COPY OF LICENSE ISSUED BY THE PANCHAYAT TO THIS RESPONDENT EXHIBIT-R12(t)(1). COPY OF ENGLISH TRANSLATION OF EXT. R12(t) RESPONDENTS' ANNEXURES :- ANNEXURE-R2(a). COPY OF LETTER DATED 1.2.2005 ANNEXURE-R2(b). COPY OF LETTER DATED 25.02.2005 DCS WP(C).No. 12150 of 2007 (S) ANNEXURE-A. COPY OF THE CIRCULAR DATED 15.03.2010 ISSUED BY THE LOCAL SELF GOVERNMENT (RC) DEPARTMENT ALONG WITH THE CHECKLIST ANNEXURE-B. COPY OF G.O. (MS) NO. 239/2010/ID DATED 01.12.2010 ANNEXURE-C. COPY OF ANNUAL RETURN STATEMENT SUBMITTED BY THE LESSEE DURING THE PERIOD 2007-08 ANNEXURE-D. COPY OF THE STATEMENT OF RETURN DURING THE PERIOD 2008-09 SUBMITTED BY M/S. AMITY ROCKS PRODUCTS PVT. LTD. ANNEXURE-E. COPY OF THE STATEMENT OF RETURN DURING THE PERIOD 2009-10 SUBMITTED BY M/S. AMITY ROCKS PRODUCTS PVT. LTD. ANNEXURE-F. COPY OF THE STATEMENT OF RETURN DURING THE PERIOD 2010-11 SUBMITTED BY M/S. AMITY ROCKS PRODUCTS PVT. LTD. ANNEXURE-G. COPY OF THE QUARRYING LEASE DATED 13.09.2004 EXECUTED BY THE LESSEE ANNEXURE-H. COPY OF THE QUARRYING LEASE DATED 19.12.2005 ANNEXURE-I. COPY OF THE INSPECTION REPORT DATED 12.04.2007 BY THE ASSISTANT GEOLOGIST, PATHANAMTHITTA ANNEXURE-J. COPY OF THE INSPECTION REPORT DATED 13.06.2008 BY THE ASSISTANT GEOLOGIST, PATHANAMTHITTA ANNEXURE-K. COPY OF THE INSPECTION REPORT DATED 25.03.2009 BY THE GEOLOGIST, PATHANAMTHITTA ANNEXURE-L. COPY OF THE INSPECTION REPORT DATED 25.03.2010 BY THE ASSISTANT GEOLOGIST, PATHANAMTHITTA //TRUE COPY// P.A. TO JUDGE DCS Thottathil B.Radhakrishnan & C.T.Ravikumar, JJ.
= = = = = = = = = = = = = = = = = = = = = = = = WP(C)Nos.12150 of 2007-S, 8448 of 2008-S & 218 of 2009-A = = = = = = = = = = = = = = = = = = = = = = = = Dated this the 21st day of August, 2012.
Judgment Thottathil B.Radhakrishnan, J.
1.The first among the captioned matters is filed by the Manimala River Protection Council. The other two are filed by different inhabitants around the area where a granite quarry and metal crushing unit of the private respondents situates.
2.A quarrying lease was granted to Sri.Anu T.George, Vadakkummuriyil Granites, Chunkappara for extraction of granite building stone from an area of 0.5755 ha. from Avolimala in Sy.No.446/1, 2 of Kottangal Village in Mallappally Taluk in Pathanamthitta District for a period of 10 years as per Proceedings dated 18.8.2004 of Director of Mining & Geology. That will expire on 12.9.2014. WPC12150/97 & con.cases -: 2 :- Subsequently, another lease was also granted to him for extraction of granite building stone from an area of 8.7663 ha. in Sy.Nos.436/1, 443/1, 1- 3, 446/3, 3-1, 4, 447/1, 1-2, 1-3 and 448/2 of the same village as per Proceedings dated 2.12.2005 of the Director of Mining & Geology. That lease will expire on 18.12.2017. Anu T. George transferred the leasehold right to M/s.Amity Rock Products Pvt. Ltd., Chunkappara on 10.6.2008 and got that transfer registered as per the Kerala Minor Mineral Concession Rules. As per the conditions of lease dated 18.8.2004, the lessee can extract 5000 MT of granite from the quarry in an year. As per the lease dated 2.12.2005, the lessee can extract 25000 MT in an year. Thus, the lessee can extract 30000 MT of granite from the two leasehold areas in an year. Anu T. George started quarrying operations during the 1st of April, 2007 and continued till 31.5.2008. He exercised option of compounding under Rule 48P of the Concession Rules during that period. Amity Rock Products Pvt. Ltd. also WPC12150/97 & con.cases -: 3 :- followed the same pattern of operation. To exclude any controversy on the facts, these statements are taken out from the affidavit sworn to on 16th February, 2012 by the Geologist, Mining & Geology Department, District Office, Pathanamthitta in WP(C).No.12150 of 2007. The said affidavit discloses that Anu T.G eorge had recorded extraction of 8452 MT from 1.4.2007 to 31.5.2008 and Amity Rock Products Pvt. Ltd. has recorded extraction of 39300 MT, 77928 MT and 119463 MT respectively for the years 2008-2009, 2009-2010, 2010-2011.
3.The Senior Geologist of the District Office, Department of Mining & Geology, Kollam had sworn to a counter affidavit dated 25.11.2010 stating that the leases were granted in accordance with the Concession Rules and lessee has the licences described in paragraph 3 of that counter affidavit to conduct quarrying operations. Consent with validity till 30.6.2012 to operate the granite quarry is issued under the Water WPC12150/97 & con.cases -: 4 :- (Prevention and Control of Pollution) Act, 1977. Panchayat licence dated 7.4.2009 is granted by the Kottangal Grama Panchayat. Explosive licence with validity till 31.3.2012 is granted by the Joint Controller of Explosives, Chennai as per the provisions of the Explosives Act. The firm has appointed a qualified person holding Manager's IInd Class Certificate of Competency to manage open cast workings. It is also stated in that counter affidavit that on inspection on 9.11.2009, it was found that the averred quarrying operations are being done in accordance with the provisions of the Concession Rules, maintaining proper benches/step cuttings as per the Concession Rules. The said counter affidavit proceeds to state that Rule 29(i) of the Concession Rules provides for distance of 75 metres from certain landmarks, however that, there is no statutory provision prohibiting mining/quarrying operations near to forests and that there is no provision in the Concession Rules barring quarrying operations near to WPC12150/97 & con.cases -: 5 :- forests.
4.When WP(C)Nos.8448 of 2008 and 218 of 2009 were considered by the Bench on 6.10.2009, it was noted that the issue involved relates to whether the quarry and crusher unit being run by Amity Rock Products Pvt. Ltd. at Chungappara within the limits of Kottangal Grama Panchayat are causing any environmental pollution posing threat to the local inhabitants. The Bench dissuading itself from making any elaborate reference to the various allegations and counter allegations recorded that the issue has been kept alive because apparently there has been some resentment among a section of the people of the locality. Noticing that the imbroglio can be given a quietus if a committee of experts is asked to look into the entire aspects of the functioning of the above two units, the Bench accepted the suggestion of the learned Additional Advocate General that a committee could be constituted as suggested by him. Accordingly, a committee was WPC12150/97 & con.cases -: 6 :- constituted with the Chairman of the Biodiversity Board or a nominee proposed by him, Conservator of Forests, Kollam, Environmental Engineer, Kollam and District Geologist, Kollam. The Conservator of Forests, Kollam was to be the Convenor of the Committee. That Committee submitted report dated 15.12.2009, the original of which is along with the paper book in WP(C). No.218 of 2009. During course of arguments before us, that report including the procedure adopted by the Committee and also the contents drew criticism at the hands of the operator; the learned senior counsel appearing for them arguing that it is essentially a one-man report and contains only the particular views of the then Chairman of the Kerala State Biodiversity Board. Suffice for us to say that the said report is signed by all the Members of the Committee and the summary of it is that the study clearly shows that the quarry and crusher unit cause and continue to cause damage to the birds and wildlife in the forests lying close to the site, WPC12150/97 & con.cases -: 7 :- affect the plants and health of people living around, hamper the natural springs and, irrevocably damage the ecology of the area, especially the micro water system.
5.When the three writ petitions came up together for consideration on 10th March, 2011, the aforesaid order dated 6.10.2009 and the report of the Committee were noted. Without stating anything about the contents and findings in that regard, the Bench noticed that the statements therein require clear expression of opinion touching the facts mentioned in that report. With the materials on record, the Bench was of the view that the Executive has to first speak on the issue before any judicial intervention in that regard. It is apposite to quote the following from that order:
"3. Government means, the institution of governance, meaning thereby an establishment with cohesive application of minds by various limbs WPC12150/97 & con.cases -: 8 :- of the executive governance. The Mining and Geology Department, the Environment Department, the Forest Department and other relevant and attendant departments cannot stand on different pedestals and ask the judiciary to resolve the disputes between them.
4. We, therefore, direct the Chief Secretary to the State of
Kerala, to place an affidavit before this court after convening an immediate conference of the relevant officials from all necessary departments, touching the contents of the aforesaid report and place the comprehensive view of the executive before this court..........."
6.Thereupon, the Chief Secretary to the Government of Kerala filed an affidavit dated 2nd April, 2011. That affidavit is a candid admission that there is differential emphasis in the views of the different departments regarding the impact of the mining operations on the environment. There WPC12150/97 & con.cases -: 9 :- is a clear cleavage of opinion noted by the Chief Secretary. The issues raised by the different departments and in particular, the Biodiversity Board, pointing out the provisions of the Metalliferous Mines Regulations, 1961 and the Environment Policy, 2009 of the Government of Kerala where quarrying is not permitted in hillocks, appear to have gained the attention of the Chief Secretary. The Revenue Department had also reported to the Chief Secretary that the unit concerned is holding land in excess of the ceiling area under the provisions of the Kerala Land Reforms Act and that notice is being issued to the company in that regard. The Forest Department has indicated that quarrying operations have to be restricted to a minimum distance of 100 metres from the boundary of the forest. A reading of that affidavit appears to disclose that the anxiety of the Executive to ensure availability of materials for the construction sector has apparently overtaken the more fundamental requirement to provide adequate WPC12150/97 & con.cases -: 10 :- checks and balances to ensure that the environmental impact of such operation is so minimized that it conforms to the required benchmarks to sustain the ecological balance vis- a-vis the need for resources. The petitioners in WP(C).No.218 of 2009 have along with I.A.No.2667 of 2010 produced different precedents of the Hon'ble Supreme Court of India and of this Court containing the repeated statements as to law regarding such matters. We are not making elaborate reference to the legal issues in that regard, having regard to the nature of the directions that we will issue in these cases.
7.During the course of hearing before this Court thereafter, the effect of earlier judgments in favour of the operator was canvassed by its learned senior counsel as precluding any issue in that regard being raised by the petitioners. The learned counsel for the petitioners strongly relying on the aforesaid report of the Expert Committee, argued that the cause of action for WPC12150/97 & con.cases -: 11 :- the earlier writ petitions and the result of those matters have no bearing on the issues that arise on the facts which disclose a continuing wrong to the public and the nature.
8.In so far as the Mines and Minerals (Development and Regulation) Act, 1957 and the Environment (Protection) Act, 1986 are concerned, by now the law is well settled that quarrying and mining of minor minerals have to be done only by ensuring that there is no damage to the eco system. This has to be done with proper environmental impact assessment. In Deepak Kumar v. State of Haryana [(2012) 4 SCC 629], Their Lordships after considering the views of the Ministry of Environment and Forest made particular reference to the constitution of a Core Group by the MoEF to look into the environmental aspects associated with mining of minor minerals. MoEF's attention got thus focused to the need to look into the environmental aspects associated with mining of minor minerals. The terms of reference to the WPC12150/97 & con.cases -: 12 :- Core Group dealt with matters not falling under the environmental impact assessment notification of 1994. The Ministry of Mines, Government of India has sent communication dated 16.5.2011 called "Environmental Aspects of Quarrying and of Minor Minerals-Evolving of Model Guidelines" along with a draft model guidelines. Their Lordships, taking the view that all the State Governments/Union Territories have to give due weight to those recommendations, noticed that the Model Rules of 2010 issued by the Ministry of Mines are very vital from the environmental, ecological and biodiversity point of view. The State Governments were therefore to frame proper rules in accordance with the recommendations under Section 15 of the Mines and Minerals (Development and Regulation) Act, 1957. By that judgment, all the States, Union Territories, MoEF and the Ministry of Mines are required to give effect to the recommendations made by MoEF in its Report of March 2010 and the model guidelines framed by the Ministry of Mines, within a period WPC12150/97 & con.cases -: 13 :- of six months from 27.12.2010, the date of the said order of the Hon'ble Supreme Court. The Central Government was also directed to take steps to bring into force the Minor Minerals Conservation and Development Rules, 2010 at the earliest and the State Governments and the Union Territories were to take immediate steps to frame necessary rules under Section 15 of the Mines and Minerals (Development and Regulation) Act, 1957 taking into consideration the recommendations of MoEF in its Report of March 2010 and model guidelines framed by the Ministry of Mines, Government of India. In the meanwhile, it was ordered that leases of minor minerals, including their renewal for an area of less than five hectares be granted by the States/Union Territories only after getting environmental clearance from MoEF. That direction was issued by Their Lordships obviously on the premise that the recommendations of MoEF included that the minimum size of mine lease should be five hectares [see paragraph 4.2 of the MoEF's recommendation, WPC12150/97 & con.cases -: 14 :- quoted at page 636 of the judgment - Deepak Kumar (supra)].
9.The aforesaid analysis of the fact situation and the efficacy of the Rules now in force would show the bargaining capacity of the local inhabitants of an area and the nature by herself, including the flora and fauna is comparably feeble when pitched against the commercial interest, including under the cover of developmental needs. We say so because, even from the counter affidavit of the Chief Secretary, no anxiety is reflected to ensure the protection and preservation of the environmental scenario and to recoup any loss to the ecological balance. The doctrines of sustainable development, including by operation and employment of the principles like polluter pay and the precautionary principle cannot be operated in the vacuum by the Executive merely being guided by the so-called developmental needs. The statutory rules, though have a backing of the primary legislations, are WPC12150/97 & con.cases -: 15 :- made principally on the basis of such advice, which have with the passage of time, demonstrated themselves to be counter productive to sustainable development and preservation of the environment and ecological balance. Under such circumstances, also taking note of the different materials placed on record along with I.A.No.2667 of 2010 in WP(C).No.218 of 2009, we are of the view that there has to be an audit of the environmental impact of the quarry and the metal crusher unit of the establishment concerned, namely, Amity Rock Products Pvt. Ltd. This is all the more so because, the operations under the leasehold right and by virtue of the quarrying licences are near the forests, however near or far it may be. We cannot forget, as noted by the Chief Secretary in his affidavit dated 2.4.2011, that locating land for mining away from both human settlement and forest boundaries is a difficult task. Therefore, though minerals and raw materials are required for construction sector, a meaningful balance has to be struck. WPC12150/97 & con.cases -: 16 :- Otherwise, there may not be anything to be left behind by this generation for those who are yet earnestly expected as the generations to come.
10.Contextually, we also deem it appropriate to point out that the provision in the Rules for paying royalty at compounded rates does not appeal. We say so because, unlike in the realm of tax, duties etc. the payment of consolidated royalty as now provided in the Concession Rules would be counter productive to the avowed efforts to manage the environment, maintaining the ecological balance and providing for sustainable development. The Rules as they stand clearly show that there would be no regulation by the statutory authorities on the quantity of rubble that will be removed by recourse to such payment of royalty. This would, obviously, lead to indiscreet quarrying. As already noted above, even according to the Chief Secretary, there is dearth of space in the State of Kerala and if excavated areas are available at random, that WPC12150/97 & con.cases -: 17 :- would be dangerous. It is not out of place to recall the good number of incidents where vehicles or people have fallen into such death traps. The geo-physical challenges to the terrains even at the onset of the monsoon would, obviously, have to be treated as an eye opener, subject of course to appropriate advice in that regard by scientists dealing with earth science, water management, forests etc. The effect and impact of mining activity on the environmental scenario is a matter on which there has to be a clear audit to prevent mishaps and calamities of larger order. As noticed by the Apex Court in Deepak Kumar (supra), though there may be need for building and construction materials, that is no excuse to override the larger need to sustain the environment. The principles of law stated in Deepak Kumar (supra) making reference to sand mining equally apply to all minor minerals since the law laid down therein, in its crux, is that the laws relating to minor minerals would apply to sand also.
WPC12150/97 & con.cases -: 18 :- In the aforesaid circumstances, while we approve the views of the Chief Secretary in paragraph 10 of his affidavit dated 2.4.2011 and direct that strict obedience in compliance to those suggestions shall be immediately obtained, it is further ordered that renewal of any among the permits/licences/consents of the operator Amity Rock Products Pvt. Ltd. in the site in question shall be done only after a complete audit by the departments which are found to be relevant by the Ministry of Environment and Forests in the Government of India. The writ petitions ordered accordingly.
Thottathil B.Radhakrishnan, Judge.
C.T.Ravikumar, Judge.
Sha/200812


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