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\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\F1\CApril 8, 1975

Dr. Wes Snyder
Coordinated Sciences Laboratory
University of Illinois
Urbana, Ill.

Dear Wes:

	I  hope  you  have recieved  the  shipment  of  potentiometer
elements for joints 4,5,and 6 plus some extra little parts.  There is
still one more  shipment to come.   This will include  the electrical
connectors and  a few other  assorted goodies.   I have also  not yet
sent  the encoder for joint  #3.  This is because  the ones we bought
have  proven  unsuitable  for  the  application.     I  am  presently
attempting to have them changed to a different type.  This may take a
couple of weeks.  If it turns  out that this is not possible, I  will
send you potentiometers for joints 1 2 and  3 instead.  Actually, you
may  do  well to  start with pots, as they will  be a  bit  easier to
interface and employ in  your servo system.  Later you can switch  to
encoders.  I'll let  you know in a short while  about the #3 encoder.
In  any event, the encoder just bolts  onto the finished arm, lack of
it will not hold up anything for the present.

	With this last shipment I believe I have  sent you everything
checked off  on the accompanying parts  list.  Some of  the parts are
part of assemblies, and others may  possibly be a bit different  than
specified.  I also believe  that I have included all the  "S" parts I
promised execpt for the cable clamps and mounting hardware which will
be along shortly.  

	I  am  also  enclosing  an  invoice  for  the  first  set  of
shipments.  I feel that I have sent you the equivalent of about $5500
out of the $6500 order so far.  The remaining $1000 is evenly divided
among unshipped parts  and unused  consulting time.   I also owe  you
more written directions and instructions.  They are in the process of
being recorded.  Of course if you wish to process the whole  payment,
I won't complain. 

	Keep up your patience... I'm working hard.\.


Yours sincerely,

Victor Scheinman