MASTER: The Mobile Astronomical System of Telescope-Robots.
\noindent A.V.Krylov\inst{1}
V.G.Kornilov\inst{1}
D.A.Kuvshinov\inst{1}
A.A.Belinsky\inst{1}
M.V.Kuznetsov\inst{1}
S.A.Potanin\inst{1}
G.A.Antipov\inst{2}
N.V.Tyurina\inst{1}
We present the first russian robot-telescope designed to make prompt observations of gamma-ray bursts (http://observ.pereplet.ru). The telescopes are near Moscow. The system of telescopes with prompt pointing rates connects to the internet. The main parameters are the following: Richter-Slefogt system telescope (355 mm, f/d=2.4); Richter-Slefogt system telescope (200mm, f/d=2.4); Flugge system telescope (280mm, f/d=2.5); TV-camera with 20x40 degree objective; Two CCD cameras (Pictor 416); One CCD Apogee Camera AP16E. The type of mount is German with 8 grad/sec slew rate. MASTER images stars down to 19 magnitude in a 1 min exposure covering 6 square degrees. \keywords{telecopes:robots gamma-ray bursts}
lipunov_master_potsdam.tex
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\begin{document}

% -------------- Title and affiliation
%                (please edit accordingly)

\title{MASTER: The Mobile Astronomical System of Telescope-Robots.}

\author{V.M.Lipunov\inst{1,}\inst{2}\fnmsep \thanks{lipunov@sai.msu.ru,
http://observ.pereplet.ru},\noindent A.V.Krylov\inst{1},%\fnmsep\thanks{krylov@sai.msu.ru},
V.G.Kornilov\inst{1},%\fnmsep\thanks{victor@sai.msu.ru}
G.V.Borisov\inst{1},%\fnmsep\thanks{borisov@sai.crimea.ua},
D.A.Kuvshinov\inst{1},\\%\fnmsep\thanks{dmitriyk@genphys.phys.msu.su},
A.A.Belinsky\inst{1},%\fnmsep\thanks{aleks@sai.msu.ru},
M.V.Kuznetsov\inst{1},%\fnmsep\thanks{mihailo@sai.msu.ru},
S.A.Potanin\inst{1},%\fnmsep\thanks{potanin@sai.msu.ru},
G.A.Antipov\inst{2},%\fnmsep\thanks{antipov@sai.msu.ru},
N.V.Tyurina\inst{1},\\%\fnmsep\thanks{tyurina@sai.msu.ru}
E.S.Gorbovskoy\inst{2},%\fnmsep\thanks{gorbovskoy@sai.msu.ru}
I.Chilingaryan\inst{2}}

\institute{Sternberg Astronomical Institute, Moscow State University, Universitetskij pr-t, 119992, Moscow, Russia
 \and Physical Department of Moscow State University, Vorob'evy Gory, 1, 119992, Moscow, Russia}

\date{Received; accepted; published online}

\abstract{We present the first russian robot-telescope designed to
make prompt observations of gamma-ray bursts
(http://observ.pereplet.ru). The telescopes are near Moscow. The
system of telescopes with prompt pointing rates connects to the
internet. The main parameters are the following: Richter-Slefogt
system telescope (355 mm, f/d=2.4); Richter-Slefogt system
telescope (200mm, f/d=2.4); Flugge system telescope (280mm,
f/d=2.5); TV-camera with 20x40 degree objective; Two CCD cameras
(Pictor 416); One CCD Apogee Camera AP16E. The type of mount is
German with 8 grad/sec slew rate. MASTER  images stars down to 19
magnitude in a 1 min exposure covering 6 square degrees.
 \keywords{telecopes:robots gamma-ray bursts} } \maketitle
% -----------------------------------------------------------------

\section{Introduction}


The creation of robotic observatories  is a leap forward for
modern astronomy. These complexes are especially indispensable in
survey work, being devoted to the discovery of new and known
transient phenomena, like gamma-ray bursts, supernova and nova
bursts, microlens events, comets, asteroids, etc. The position and
time of these phenomena can't be predicted. So observations from
several tens of longitudes (which Russia has) can increase the
effectiveness of new astronomical object detections.

%the goal to cover the latitudes and longitudes in the mostly in
%longitudes country can essentially raise the efficient of
%discovery and observations of new astronomical objects.

The MASTER system %$(http://observ.pereplet.ru)$
 is located 30km from Moscow. It is the first robotic telescope of its type and unique  in Russia.
  It was built to provide the rapid response necessary in the follow-up observations of gamma-ray bursts (GRBs).
   Multicolor photometry of GRB optical emission in the first
minutes after their detection gives us an opportunity to  study
the  physical processes taking place at the beginning stage of
these most powerful  radiation events in the Universe. We should
point out that up to now optical afterglows have only been
observed after delays of tens of seconds. There are no  light
curves (LC), taken in the first seconds and  extending to several
hours, taken by one instrument and  in one photometric system. The
shape of the LC will permit us to study the dynamics of
relativistic sphere expansion and to draw conclusions about the
nature of GRBs.


The second goal of the MASTER project relies on the fact  that the
optical GRB afterglow can be more isotropic then gamma-ray one and
consequently can be detected more often, since the polar pattern
in such different wavelengthes can not concur. Optical emission
can have more isotropic distribution. MASTER allows us to make a
constant sky survey in order to discover optical bursts without
gamma-ray radiation, but produced by the same physical process. We
 can survey 50 square degrees per hour to a $19.5^m$ limiting magnitude.
%higher of$19^m$ %of %than %%$19^m$.


Our third goal is  to make wide-field observations synchronously
with gamma-ray telescopes (for example, HETE).


In summary, MASTER can carry out
 \textit{early afterglow research into GRB, triggered by alert from gamma-ray telescopes},
 \textit{make synchronous observations of the region of a GRB} and \textit{ make sky surveys}.

Let's consider the main principles of the work of such robotic systems.


\section{Robot telescopes}


A robotic telescope is an autonomous instrument, that can both
point to, and make observations of a sky region by itself, then
automatically reduce the images, perform image quality checks, and
point to discovered objects. Such telescope, designed to detect
the optical radiation from a gamma-ray burst's source, works by
the following scheme:

\noindent \fbox{\parbox[b][1\height]{3.3cm}{Gamma-ray bursts Center Network(GCN) ~ sends an
Alert}}$\Rightarrow$ \fbox{\parbox[b][1\height]{2.7cm}{Robot-telescope points to received
coordinates}} $\Rightarrow$ \fbox{\parbox[b][1\height]{1.1cm}{GRB observations}}

$\Rightarrow$\fbox{\parbox[b][1\height]{2.5cm}{Image reduction
}}$\Rightarrow$\fbox{\parbox[b][1\height]{3.9cm}{GCN circular publication }}


The publication in GCN circulars is the next step in minimising the error-box boundaries for the
newly-discovered object \footnote{http://gcn.gsfc.nasa.gov/gcn3$\_$archive.html}, that makes them
observable by large telescopes %(becouse the new error-box is now enough small).


%The efficiency of telescopes-robots was demonstrated in the programs of SuperNova, asteroids and comets search.
% These systems are indispensable for synchronous and follow-up to the gamma-burst moment.


There are  about 20 autonomous observatories, MASTER included,
directed to GRB observations in optical wavelength,
%like%ROTSE, NEAT, KAIT, REM, MERCATOR and other
registered in GCN %\footnote{(http://gcn.gsfc.nasa.gov/gcn\_sites.html)}.

%\textbf{GROCSE (LLNL \& U.Mich.)} http://www-phys.llnl.gov/V\_Div/GROCSE
%\textbf{LOTIS (LLNL \& Clemson)} http://compton.as.arizona.edu/LOTIS
%\textbf{ROTSE} http://www.umich.edu/~rotse/index.html
%\textbf{TAROT} http://www.cesr.fr/~boer/tarot
%\textbf{LOTOSS/KAIT} http://astron.berkeley.edu/~bait/kait.html
%\textbf{ETC (MIT)} http://space.mit.edu/ETC/ NEAT http://neat.jpl.nasa.gov/
%\textbf{NEAT} http://neat.jpl.nasa.gov/
%\textbf{The ~BRADFORD ~ telescope ~(~U.of Bradford, England)}  http://www.telescope.org/index.php
%\textbf{Wyoming IR Obs (S.Howell)} http://physics.uwyo.edu/~mpierce/WIRO/
%\textbf{LONEOS} http://www.lowell.edu/users/elgb/loneos\_disc.html
%\textbf{Beijing Xinglong Observatory} http://www.bao.ac.cn/bao/station/xl/index-e.html
%\textbf{BOOTES (Spain, Castro-Tirado)} http://www.laeff.esa.es/BOOTES/
%\textbf{APT (Australia)} http://www.phys.unsw.edu.au/~mcba/apt.html
%\textbf{NYTT (Finland)} http://www.phys.unsw.edu.au/~mcba/apt.html
%\textbf{ASAS} http://archive.princeton.edu/~asas/
%\textbf{MERCATOR (La Palma)} http://www.mercator.iac.es/
%\textbf{REM (Italy)} http://golem.merate.mi.astro.it/projects/rem/
%\textbf{BART (Czech Rep.)} http://lascaux.asu.cas.cz/en/
%\textbf{Grove Creek Obs (Australia)}  http://www.gco.org.au/
%\textbf{ Liverpool Telescope (La Palma)} http://telescope.livjm.ac.uk/
%


The ROTSE-III (Ackerlof, 2000) instruments  are the most similar to MASTER. %ROTSE is mounted in USA, Australia, South Africa.
ROTSE-III has made follow-up observations of about 5 bursts (from
60 up to 500 sec) since the first observations of synchronous
optical afterglow of a GRB in 1998. We should point out a feature
of MASTER and ROTSE-III. These systems are able to make a rapid
response to GRB alerts in addition to an ongoing survey of the
whole available sky. The major feature is the depth of the
surveys: MASTER can measure $19^m$ objects with a 1.5 min
exposure. Furthermore  MASTER has a wide-field camera, that allows
us to make  observations synchronously with gamma-ray telescopes
in the magnitudes range $9^m$ %(when this camera staysindependently) - $13^m$(when camera is on the telescope focus) ingood weather.


\section{The MASTER main parameters}% and work principles.  }


The MASTER system includes 3 wide-aperture telescopes. These
 are
mounted on a robotic German parallax mount, which can slew at a
rate of 8$ \circ/sec$. The main MASTER Richter-Slefogt telescope
(diameter = 355mm, D:F = 1:2.4) can obtain  unfiltered images of
$19^m$ objects over 6 square degrees in a 1.5 min co-added
exposition (3 exp. of 30sec). Additionally, there is a modified
Richter-Slefogt telescope (200mm, D:F = 1:2.5) and a Flugge system
telescope (280mm, D:F = 1:2.8). All three telescopes are mounted
parallel to one another on the same mount, which allows us to make
a simultaneous  observations in R and V filters. There are 2 CCD
cameras: an AP16E camera with Kodak KAF-16801E CCD (4096 x 4096
pixels, front illuminated, 30 sec download time) on the  355mm
telescope, and a Pictor-416 (700 x 500 pixels) on the 200mm one.


There is also a wide field video camera (fov = 30x40 deg). This
camera allows us to work synchronously with space-based gamma-ray
telescopes (being pointed to the region of the GRB), giving a
magnitude limit of $8^m$. This was used for making a film of an
aurora \footnote{http://observ.pereplet.ru/indexr.shtml}, which
was observed over
Moscow on 2003/10/30. %One can see a thin structure of this phenomena in these frames.

MASTER is permanently connected to the internet and receives alerts from GCN.

MASTER works in the following way:

\fbox{\parbox[b][1\height]{1.1cm}{manager
server}}$\Rightarrow$\fbox{\parbox[b][1\height]{3.4cm}{programm block(PB) of telescope management}}
$\Rightarrow$ \fbox{\parbox[b][1\height]{1.5cm}{PB to get images}}

$\Rightarrow$\fbox{initial image reduction PB} $\Rightarrow$\fbox{the database}.


To obtained a fast and precise telescopes pointing, two identical
drives were mounted on the mount, one on the declination axis, and
one on the  polar axes. Each  drive consists of a step-motor and
intelligent controller, connected to manager computer through the
RS485 interface.
%Controller provides the travel to set distance with set velocity
%and acceleration and braking parameters.


The managing program (run on a Linux operating system) executes
telescope pointing commands from the managing server. The program
converts from astronomical object coordinates to the instrumental
coordinate system. It also calculates the optimal route of
telescope displacement (if the object is available at the current
time) keeping within the limits accessible to the telescope.
% The last circumstance is especially actual, because of the German mount, so as pointing to chance
%coordinates needs the telescope transposition in $30\%$ cases.

The rough calibration  of the instrumental coordinates system is
supplied by zero-points sensors. This approximate correction is
applied to objects with known coordinates. This simple system
supplies a pointing with a precision of 5", which is adequate
given the instruments field of view.


\section{MASTER optical observations of GRB}

MASTER began surveying for  GRB optical afterglows  at the end of
2002. Our main results are summarized in Table 1. We should note
that no  GRB with an optical afterglow occurred during local
nighttime from Dec 2002  to May 2004.


We publish only the first observation of the GRB error-box (if
anyone observes the alert error-box before us and there was no
optical afterglow, we do not observe it again). GRB030329
excludes, we present  only upper limits on the magnitude (i.e.
there is no afterglow to these mag). The main time delay is the
time required for data reduction and transmission by the gamma-ray
telescope (HETE in our case). The MASTER telescopes can slew into
position in 10-15sec.


\begin{table*}[] \centering \small
  \caption{ Observations of GRB error-boxes.}\label{Tab1}
\begin{tabular}{|c|c|c|c|c|}
\hline GRB     &  Number of GCN       & Time $t-t_0$ from& Optical mag & Comments\\
&circular publication& GRB alert &image limits & to observations\\

\hline GRB040308 & GCN 2262&  48h &  $21.2$& Unfiltered\\

\hline GRB030913& GCN 2394  & 43 min& $17.5$ & Clouds present for 120 seconds after GRB alert .\\
& GCN 2385&&&The first image was taken only 43 minutes after  GRB alert.\\
%There were clouds in 120 seconds after GRB time .\\
% So the first image was only 43 minutes later than GRB time.\\
%OT limit - 17.5 unfiltered instrumental magnitude.\\

\hline GRB030601 & GCN 2262& 55 min&$12.0$&Pointing in 105 seconds. There're clouds first 55min \\
%& & &&There were clouds in first 55 min\\
 %seconds after trigger time. Clouds.  First measurable image of the error box area was taken 55 minutes after the burst. OT limit 12.0.\\

\hline GRB030414& GCN 2157&8h&$13.3 - 14.5$&First observations. Almost full Moon, clouds.\\
%First observation . 8 hours after the GRB. OT limit 13.3 - 14.5. Background level was high due to cirrus\\
% clouds illuminated by Moon (almost full).\\

\hline GRB040308 &GCN 2543&48h&$21.2$&First observations\\

\hline GRB030418&GCN 2158&11h&$16.5$&First observations\\

\hline GRB030416 &GCN 2154&33h&$15.0$&Full Moon. First observations\\

\hline GRB030328 & GCN 2103& 5h&$18.3$&First observations\\

\hline GRB030329 &GCN 2091, GCN 2035   &5.2h&&First observations  in Europe.\\
& GCN 2002&&& R-filter brightness curve for 8.8h\\

\hline GRB021219 &GCN 1770& 7.5h&$13.7$&First observations of first INTEGRAL GRB, clouds. \\
%&&&& INTEGRAL GRB, clouds.\\

% 5,5 hours after GRB time (first observation in Europe), R-light curve during 7 hours.\\

 \hline

\end{tabular} \normalsize  \medskip
\end{table*}


The scientific mean of the limits on found  optical flux can be estimated in the following way. All
the published  GCN observations of GRB optical afterglows  (unfiltered and R) are in the Figure 1.
Stellar magnitudes limits of the observed error-boxes were reduced to the gamma wavelength fluence
of GRB030329% by the following
: $m = m_{obs} + 2.5 log (F_\gamma / F_{030329})$. The dashed-lines at the Figure 1 are the bounds
of normal fluences. If the light of the optical afterglow is less than
low limit, we'll be able to detect "dark"-GRB. %There
%are our upper limits of GRB021219, GRB030414, GRB030416 in this region. %The first point is by Akerlof(1999) at the
%burst-time.



\section{GRB030329 observation.}

Images of optical transient GRB030329 (Peterson,Price,2003) were
taken by MASTER (Lipunov et al.,GCN2002, GCN2035) on the
2003/03/29. We note that MASTER was the first instrument in Europe
to start observations of this event. Figure 2 presents the optical
light curve for this GRB event
\footnote{http://observ.pereplet.ru/lightcurve.txt}, consisting of
more than 200 frames. To increase the  signal/noise ratio and to
reduce instrumental errors we averaged ? times of exposure span,
resulting in 64 data points. The magnitude calibration was
performed in accordance with GCN2023 (Henden,2003) using 4 stars.
The large errors on some of the  magnitudes are due to weather
conditions; the first data points were obtained during sunset with
high sky illumination, while the last data points were affected by
cirrus cloud.


An analysis  of our light curve gives the following approximation during 8.8h of observations
($t-t_0$ in days from 5.2h to 14.0h)


$F \sim t^{-\alpha},$ ~~~~~ $\alpha=1.22 \pm 0.03$.

$R_{mag} = 15.8 + 1.2*2.5*log(t - t_0)$

The power index of our light curve corresponds to the observations
made by Burenin et al., 2003 within error-limits.

\begin{figure}[t]
%   \centering
   \includegraphics[angle=270,width=9cm]{lipunov_r1.eps}
   \caption{"Synthetic" brightness curve. Y-axis is R or unfiltered magnitude, X-axis is the time from the burst moment in hours.
   Triangles are the optical limits, found by MASTER.
   The dashed-line inclination corresponds to the low of light of
   optical afterglow of GRB030329, $t^{-1.2}$. The circular are the observational data of almost all GCN circulars.}
\end{figure} \begin{figure}[t]
   \centering  \includegraphics[angle=90,width=8.5cm]{lipunov_r2.eps}
   \caption{Brightness curve of GRB030329 measured by MASTER. Y-axis is R-magnitude, X-axis is the time from the burst in days.}
   \label{F1}
\end{figure}



%\textit{ Here we represent pre-final light curve of the OT. We used more than 200 direct images to obtain field
%photometry. Several groups of images were summarized to achieve better S/N ratio and smaller uncertanities of
%measurements. As the final result, we represent 64 points. Magnitude calibration was made according to the data,
%presented in GCN 2023 (A. Henden). 4 stars were used to do the calibration. Big uncertainties of magnitude
%measurements are caused by weather conditions. First points were made just after sunset on the blue sky, last points
%were made through cirruses near the horizont. From these data we obtained power law flux decreasing during 8 hours of
%observations ($t-t_0$ from 5.2h to 13.5h): New light curve plots available at old locations:http...}GRB030329_R_lc


\section{Conclusions}

The MASTER system of robotic telescopes was designed to make
follow up and synchronous observations of  gamma-ray burst events.
Such systems allow us to study the earliest stages of GRB optical
emission and also allow us to find supernova and  new transient
optical phenomena in the Universe. At the same time, we can
discover minor planets, comets and space garbage. It's especially
important to address this problem using small telescopes since
observations can only be made by large telescopes some hours after
the alert.

We present our light curve of GRB030329 taken in the R-filter.

Synthetic light curve of GRB  observations is introduced. One can estimate received optical limits
on observed error-boxes of GRBs. There are regions for normal GRB and for "dark" GRB.

 \acknowledgements Authors are deeply indebted to S.M.Bodrov, A.V.Bagrov, E.Yu.Osminkin, T.D.Krylova, D.K.Magnitsky. This work is partly supported by RFFI
04-02-16411.


\begin{thebibliography}{}


\bibitem[2002]{l1} Lipunov, V., Krylov, A., Kornilov, V., Borisov, G., Kuvshinov, D., Kuznetcov, M., Potanin, S.:
%    GRB021219, optical observation by MASTER.
2002, GCN, \textbf{1770}


\bibitem[2002]{l1} Lipunov, V. et al.: 2003, GCN, \textbf{2002, 2035, 2091, 2103, 2154, 2157, 2158, 2262, 2385, 2394}

\bibitem[2003]{h} Henden, A.: 2003, GCN, 2023, 1  %(2003) http://gcn.gsfc.nasa.gov/gcn3/2023.gcn3

\bibitem[2003]{p} Peterson, B., Price, P.: 2003, GCN, \textbf{1985}, 1 %(2003) http://gcn.gsfc.nasa.gov/gcn3/1985.gcn3

\bibitem[2000]{a} Akerlof, C. et al.: 2000, ApJ, 532, L25

\bibitem[1998]{m} McKay, T. et al.: 1998, BAAS, 30, 874

\bibitem[2003]{b} Burenin, R. et al., 2003, AstL, 29, 587

\end{thebibliography}
\end{document}
% Evolution of Supernova Explosion Rates in the Universe, Jorgensen H., Lipunov.M., Panchenko I.E., Postnov K.A.,
%Prokhorov M.E.             ApJ, 1997, v.486,p.110


 \bigskip

\bigskip


\small

 GRB 990123
 R. M. Kippen et al., \textbf{GCN 224};
 M. Feroci, L. Piro et al., \textbf{IAUC 7095};
 C. W. Akerlof and T. A. McKay \textbf{GCN 205};
 N. Masetti et al., \textbf{GCN 233};
 A. Maury et al.,\textbf{ GCN 220};
 R.Sagar et al., \textbf{GCN 227};

GRB 020405
 K. Hurley et al., \textbf{GCN 1325};
 P.A. Price et al., \textbf{GCN 1326, 1333};
 J. Hjorth et al., \textbf{GCN 1329, 1336};

GRB 030725
 Y. Shirasaki et al., \textbf{GCN 2322};
 Berto Monard et al., \textbf{GCN 2324};
 C. Vinter et al., \textbf{GCN 2335};
 S. F. Jorgensen et al., \textbf{GCN 2344};
 A. Dullighan et al., \textbf{GCN 2384};

GRB 980613
 P. Woods et al., \textbf{GCN 112};
 J. P. Halpern et al., \textbf{GCN 134};

GRB 990712
 Filippo Frontera et al., \textbf{GCN 102};
 Gaspar Bakos et al., \textbf{GCN 387};
 J. Hjorth et al., \textbf{GCN 389, 403};
 J. Kemp, J. Halpern et al., \textbf{GCN 402};

GRB 991216
 R. M. Kippen et al., \textbf{GCN 463};
 Robert Uglesich et al., \textbf{GCN 472};
 P. Garnavich et al., \textbf{GCN 495};

GRB 000418
 K. Hurley et al., \textbf{GCN 642};
 N. Mirabal et al., \textbf{GCN 650, 646, 653};
 M. R. Metzger and A. Fruchter, \textbf{GCN 669};
 A. Henden et al., \textbf{GCN 652};

GRB 000911
 K. Hurley et al., \textbf{GCN 791};
 E. Berger et al., \textbf{GCN 795};
 P.A. Price et al., \textbf{GCN 796};
 D. Lazzati et al., \textbf{GCN 822};

GRB 001007
 K. Hurley et al., \textbf{GCN 841};
 P.A. Price et al., \textbf{GCN 843};
 Alberto J. Castro-Tirado et al., \textbf{GCN 845};

GRB 980519
 V. Connaughton et al., \textbf{GCN 86};
 The MDM Observatory GRB team (J. Kemp and J. Halpern), \textbf{GCN 80};
 A. Diercks, C. Stubbs et al., \textbf{GCN 82};
 The U. S. Naval Observatory GRB team (F. J. Vrba et al.),\textbf{ GCN 83};
 Alain Maury et al., \textbf{GCN 85};
 R. R. Gal et al., \textbf{GCN 88};

GRB 980326
 M. S. Briggset et al., \textbf{IAUC 6856};
 P.J. Groot et al., \textbf{GCN 32};
 A. C. Eichelberger et al., \textbf{GCN 3};
 Bruce Grossan et al., \textbf{GCN 34};

GRB 980703
 L. Amati et al., \textbf{GCN 146};
 D. A. Frail et al., \textbf{GCN 128};
 M.R. Zapatero Osorio et al., \textbf{GCN 130};
 The U. S. Naval Observatory GRB team (A. A. Henden et al.), \textbf{GCN 131};
 M. R. Zapatero Osorio et al., \textbf{IAUC 6997};
 J. S. Bloom et al., \textbf{GCN 136};
 H.Pedersen et al., \textbf{GCN 142};
 James Rhoads et al., \textbf{GCN 144};

GRB 030429
 K. Hurley et al., \textbf{GCN 2181};
 A. Gilmore et al., \textbf{GCN 2184};
 Johan P. U. Fynbo et al., \textbf{GCN 2185};
 V.Rumyantsev et al., \textbf{GCN 2218};

GRB 980329
 M. S. Briggs et al., \textbf{IAUC 6856};
 S. A. Ilovaisky and C. Chevalier, \textbf{IAUC 6856};
 S. G. Djorgovski et al., \textbf{GCN 41};
 E. Palazzi et al., \textbf{GCN 48};


 GRB 020124
 G. Ricker et al., \textbf{GCN 1220};
 P.A. Price et al., \textbf{GCN 1221};
 J. Gorosabel et al., \textbf{GCN 1224};
 K. Torii et al., \textbf{GCN 1378};
 J. S. Bloom et al., \textbf{GCN 1389, 1452};

GRB 030723
 G. Prigozhin et al., \textbf{GCN 2313};
 D.B. Fox et al., \textbf{GCN 2323};
 A. Dullighan et al., \textbf{GCN 2326, 2336};
 Howard E. Bond et al., \textbf{GCN 2329};
 J. P. U. Fynbo et al., \textbf{GCN 2345};

GRB 020305
 K. Hurley et al., \textbf{GCN 1263};
 D.W. Fox et al., \textbf{GCN 1270, 1267};
 Y. Ohyama et al., \textbf{GCN 1271};
 B. C. Lee et al., \textbf{GCN 1275};

GRB 030418
 Y. Shirasaki et al., \textbf{GCN 2210};
 P.A. Price et al.,\textbf{ GCN 2148, 2150};
 Smith, D. A. et al., \textbf{GCN 2153};
 A. Dullighan et al., \textbf{GCN 2168};
 P. Ferrero et al., \textbf{GCN 2284};

GRB 990510
 L. Amati et al., \textbf{GCN 317};
 P.M. Vreeswijk et al., \textbf{GCN 310, 313};
 Tim Axelrod et al., \textbf{GCN 315};
 K. Z. Stanek et al., \textbf{GCN 318};
 J. S. Bloom et al.,\textbf{ GCN 323};
 S. Covino et al., \textbf{GCN 330};

GRB 000301C
 D. A. Smith et al., \textbf{GCN 567};
 J. P. U. Fynbo  et al., \textbf{GCN 570};
 P. Garnavich et al., \textbf{GCN 573, 581};
 J. P. Halpern et al., \textbf{GCN 578, 582, 604};
 Alberto J. Castro-Tirado et al., \textbf{GCN 579};
 A. Gal-Yam et al., \textbf{GCN 593};
 R. Mujica et al., \textbf{GCN 597};
 A. Fruchter et al.,\textbf{ GCN 602};

 GRB 011121
 K. Hurley et al., \textbf{GCN 1148};
 Lukasz Wyrzykowski et al., \textbf{GCN 1150, 1152};
 K. Z. Stanek et al., \textbf{GCN 1151, 1273};
 K. Olsen et al.,\textbf{ GCN 1157};
 M. Brown et al., \textbf{GCN 1158};

GBB 991208
 K. Hurley et al., \textbf{GCN 450};
 Alberto Castro-Tirado et al., \textbf{GCN 452};
 B. L. Jensen et al., \textbf{GCN 454};
 Peter Garnavich et al., \textbf{GCN 456, 199};
 J. P. Halpern, D. J. Helfand et al., \textbf{GCN 458};
 S. Dodonov et al., \textbf{GCN 461};
 N. Masetti et al.,\textbf{ GCN 462};
 A. J. Castro-Tirado et al., \textbf{IAUC 7332};

GRB 991216
 R. M. Kippen et al.,\textbf{ GCN 463};
 P. Garnavich et al.,\textbf{ GCN 469, 495};
 Robert Uglesich et al.,\textbf{ GCN 472};
 S. Jha et al., \textbf{GCN 476};
 Chris Dolan et al., \textbf{GCN 486};
 John Mattox et al.,\textbf{ GCN 487};
 B. L. Jensen et al.,\textbf{ GCN 489};

GRB 000926
 K. Hurley et al.,\textbf{ GCN 801};
 J. Gorosabel et al.,\textbf{ GCN 803};
 J. Gorosabel et al., \textbf{GCN 803};
 T. Dall et al., \textbf{GCN 804};
 J. P. Halpern et al., \textbf{GCN 806, 824, 829};
 J. Hjorth et al., \textbf{GCN 809, 814};
 P.A. Price et al., \textbf{GCN 811};
 Taichi Kato, \textbf{GCN 813};
 Christian Veillet \textbf{GCN 826, 831};
 F. Vrba and B. Canzian \textbf{GCN 819};
 J. P. U. Fynbo et al., \textbf{GCN 820, 825};
 J. P. U. Fynbo et al., \textbf{GCN 840};

GRB 010222
 K. Stanek et.al.,\textbf{ GCN 967};
 K. Z. Stanek et al., \textbf{GCN 970};
 P.A. Price et al., \textbf{GCN 973};
 J. P. U. Fynbo et al.,\textbf{ GCN 975};
 N. Masetti et al., \textbf{GCN 985};
 A. Oksanen et al., \textbf{GCN 990};
 Christian Veillet, \textbf{GCN 1000, 1003};
 Stephen Holland et al., \textbf{GCN 1002};

GRB 021211
 G. Crew et al., \textbf{GCN 1734};
 P.A. Price and D.W. Fox \textbf{GCN 1733};
 H.S. Park et al., \textbf{GCN 1736};
 W. Li et al., \textbf{GCN 1737};
 K. Kinugasa et al., \textbf{GCN 1749};
 B. McLeod et al., \textbf{GCN 1750};
 P. Wozniak et al., \textbf{GCN 1757};
 V. Testa et al., \textbf{GCN 1821};

GRB 020813
 K. Hurley et al., \textbf{GCN 1483};
 W. D. Li et al., \textbf{GCN 1473, 1491};
 James Rhoads et al., \textbf{GCN 1474};
 G. Masi et al., \textbf{GCN 1484};
 U. Kiziloglu et al., \textbf{GCN 1488};
 G.G.Williams et al., \textbf{GCN 1492};
 T. Kawabata et al., \textbf{GCN 1501};
 A. Di Paola et al., \textbf{GCN 1505};
 Mike Gladders and Pat Hall, \textbf{GCN 1513};

GRB 030226
 M. Suzuki et al.,\textbf{ GCN 1888};
 D.W. Fox et al., \textbf{GCN 1879};
 K. von Braun et al., \textbf{GCN 1881};
 J. E. Rhoads et al.,\textbf{ GCN 1893};
 A. Guarnieri et al., \textbf{GCN 1892};
 M. C. Nysewander et al.,\textbf{ GCN 1921};
 M. Ando et al., \textbf{GCN 1884};
 P. Garnavich et al., \textbf{GCN 1885};
 P.A. Price and B.E. Warren, \textbf{GCN 1890};
 J. Greiner et al., \textbf{GCN 1894};
 K. von Braun et al., \textbf{GCN 1902};
 V.Rumyantsev et al., \textbf{GCN 1908};
 S. Covino et al., \textbf{GCN 1909};
 T. Fatkhullin et al., \textbf{GCN 1925};
 V.Rumyantsev et al., \textbf{GCN 1929};
 E. Maiorano et al., \textbf{GCN 1933};
 E. Semkov, \textbf{GCN 1935};

GRB 021004
 D . Lamb et al., \textbf{GCN 1600};
 D.W. Fox et al., \textbf{GCN 1564};
 M. Uemura et al., \textbf{GCN 1566};
 K. Matsumoto et al.,\textbf{ GCN 1567};
 A. Oksanen and M. Aho et al., \textbf{GCN 1570};
 M. Weidinger et al., \textbf{GCN 1573};
 J. Winn et al., \textbf{GCN 1576};
 S. Balman et al., \textbf{GCN 1580};
 S. Holland et al., \textbf{GCN 1585, 1597};
 D. Bersier et al., \textbf{GCN 1586};
 D.K. Sahu et al., \textbf{GCN 1587};
 K. Matsumoto et al., \textbf{GCN 1594};
 S. Zharikov et al.,\textbf{ GCN 1577};
 K. Z. Stanek et al., \textbf{GCN 1598};
 E.A.Barsukova et al., \textbf{GCN 1606};
 Malesani D. et al., \textbf{GCN 1607};
 A. Klotz et al., \textbf{GCN 1615};
 N. Mirabal et al., \textbf{GCN 1618};
 Stefanon M. et al., \textbf{GCN 1623};
 Malesani D. et al., \textbf{GCN 1645};
 G. Williams et al., \textbf{GCN 1652};
 N. Mirabal et al., \textbf{GCN 1602, 1593};
 Kevin Lindsay et al., \textbf{GCN 1628};
 A. Klotz and M. Boer, \textbf{GCN 1614};
 Arto Oksanen et al., \textbf{GCN 1591};
 R. J. Cool et al., \textbf{GCN 1584};
 D.K. Sahu et al., \textbf{GCN 1581};
 J. P. Halpern et al., \textbf{GCN 1578};

 GRB 030329
 R. Vanderspek et al., \textbf{GCN 1997};
 Rykoff et al., \textbf{GCN 1995};
 S. Klose et al., \textbf{GCN 2000};
 S. Zharikov et al., \textbf{GCN 2022};
 C. Bartolini et al., \textbf{GCN 2030};
 R. Burenin et al., \textbf{GCN 2054};
 J. Brodney Fitzgerald and Jerome A. Orosz, \textbf{GCN 2056, 2065, 2070};
 A. Price et al., \textbf{GCN 2058};
 Weidong Li et al., \textbf{GCN 2063};
 M. Cantiello et al., \textbf{GCN 2074};
 S. Zharikov et al.,\textbf{ GCN 2075};
 M.A. Ibrahimov et al.,\textbf{ GCN 2077};
 R. Sato et al.,\textbf{ GCN 2080};
 M.A. Ibrahimov et al., \textbf{GCN 2098};
 Y. Urata et al., \textbf{GCN 2106};
 I. Khamitov et al., \textbf{GCN 2108, 2198};
 V.Lyuty and V.Metlov \textbf{GCN 2113};
 L. Kindt et al., \textbf{GCN 2193};
 V. Lipunov et al., \textbf{GCN 2091};


\clearpage
 \begin{figure}
\clearpage
   \centering
   \includegraphics[angle=90,scale=0.6]{lipunov_r1.eps}
%      \caption{  ������ ������  GRB030329 � ������� R, ���������� ��������.            }
            \end{figure}

\clearpage
 \begin{figure}
   \centering
   \includegraphics[angle=270,scale=0.6]{lipunov_r2.eps}
%      \caption{      }
      \end{figure}




\end{docume

astro-ph0411757.extracted_bib
\begin{thebibliography}{}


\bibitem[2002]{l1} Lipunov, V., Krylov, A., Kornilov, V., Borisov, G., Kuvshinov, D., Kuznetcov, M., Potanin, S.:
%    GRB021219, optical observation by MASTER.
2002, GCN, \textbf{1770}


\bibitem[2002]{l1} Lipunov, V. et al.: 2003, GCN, \textbf{2002, 2035, 2091, 2103, 2154, 2157, 2158, 2262, 2385, 2394}

\bibitem[2003]{h} Henden, A.: 2003, GCN, 2023, 1  %(2003) http://gcn.gsfc.nasa.gov/gcn3/2023.gcn3

\bibitem[2003]{p} Peterson, B., Price, P.: 2003, GCN, \textbf{1985}, 1 %(2003) http://gcn.gsfc.nasa.gov/gcn3/1985.gcn3

\bibitem[2000]{a} Akerlof, C. et al.: 2000, ApJ, 532, L25

\bibitem[1998]{m} McKay, T. et al.: 1998, BAAS, 30, 874

\bibitem[2003]{b} Burenin, R. et al., 2003, AstL, 29, 587

\end{thebibliography}