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\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\F1\COctober 15, 1976
Mr. Peter Christy
Engineering Development Lab..
101 Beech Street
Wilmington, Del. 19898

Dear Pete:

\J	Enclosed is some of our recent literature on Vicarm manipulators.  Our
current price list is valid until the end of the year.  You will note that
there are  two  types  of  software offered.   The  PDP-11/45  version  is
available only for the  large arm, and  is an older  type. Source code  is
included in this price.   Our latest software is  useable on a  PDP-11/03,
11/40,  11/34,  11/45,  and  LSI-11  with  the  extended  arithmetic  chip
installed.  Other special requirements are that  you have at least 12k  of
memory. For  use with your  PDP-11/03 you  will need room for a DRV-11 module and
you will also need some way of loading the program...a paper
tape reader and interface, or floppy disk, or link  to a larger machine.  A clock is  also
needed. We have our own which runs at 100hz., but I believe we can  change
our code to use the DEC line time clock supplied with the 11/03. You  will
also need a standard terminal (TTY, VT05,etc) for I/O.

	Our current software instruction list  is enclosed.  We are  currently
adding instructions so the  software we would  deliver would include  more
than this list shows.  The software included with the LSI-11 based  system
is object code only.   This is what  is needed to run  the arm and  write,
store and save programs in our VAL language.  Should you be interested  in
doing furthur program development, we offer the source code.  This is well
commented and documented, but would only be of value to a software  hacker
who wants to  add his own  custom instructions.  With  respect to  special
instructions, we would be happy to  entertain your list of what you  would
like which we dont have at the moment.  If your list is resonably close  to
our list, we could shift priorities to enable us to deliver an arm to you
with some of these instructions already included. Current software development is
in the area of relative trnsforms, working in moving coordinate systems, search 
routines, utilization of external inputs...from force sensors, touch sensors, vision, etc.

	Our delivery schedule is  still about 4-6 months  ARO.  I mentioned  a
cancellation clause  we  were inserting  in  our contracts...well forget it, we  will
deliver an arm unconditionally.

	I will have one of our MIT model arms at the Robotics show in Chicago.
It will be running on the LSI-11, and will have the instruction set on the
enclosed list.

	I have been taking  the top down  approcach to assembly  manipulators,
and although I  do not claim  to have an  industrial grade assembly  robot
yet, I do feel that if you  want to do assembly research and  experiments,
our current offerings are good candidates.\.
Yours sincerely,

Victor Scheinman