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A ROUGH OUTLINE



		"HAL, A Programming System for Automation"



RCB	-I.  Note to the reader
		Disclaimer ... design ideas ... encourage comments
		Acknowledge Bo and Bertrand

RCB	I-I. Introduction
		Automation and Automation Languages
		Our Philosophy ... planning ... world modelling ...
		General Goals ... 
(RHT)   	Automatic Programming ... its philosophy & current state
*	I-ε. Goals
		High level language
		Motions
		Etc. ...
RF(RHT) I.   Block Diagram (General)
		Hardware and associated Software (caricature of typical system)
		Relate it back to the "goals" above
		Short examples showing interaction of pieces for typical tasks
RF	I+.  A Longer, Annotated Example Dialog
		To give a feeling of how a user might interact with such a system
		... glimpse at expressing MOVE's ... glimpse at problems of
		`smart' error messages ...
RF	II.  HAL compiler
		Block diagram ... description of pieces ... with short examples
		of the different types of data (HAL w/ macros, parse trees,
		library `routines', ...) floating around WITHIN the compiler
		HAL source language ... Control, Data, Motion Specs, World, ...
LOU	III. Runtime System
		Point key capabilities (joint servo, dynamic modification, frame
		attachment manipulation ...)
		Block structure of the system ... scheduler ... 
		Relate it back to the desired capabilities
RHT	IV.  Very High Level Language Capabilities
		Typical desires (grasp routine ... global/local optimization ...)
		System support for such things
		Examples of VHL programs (possibly traced thru the system)
		Assertions etc.
RF	V.   System User Features
		Desired ... write, try, error, look around, rewrite, try again ...
		... Access to information ... When and How
	VI.  Etc.
RCB		Incorporating vision into the system ... data, control, servoing
LOU		Standardization & suitability for other hardware &/or tasks
*      		Moving assembly line work ... possible approaches
RCB	VII. Conclusion
		Current state of implementation
		Call for constructive criticism
		List of "problems" ... needing better formulation etc.
RCB	VIII.Bibliography
		(everyone add their favorite references ... industrial assembly
		references ... University arms, assembly projects ... Operations
		research ref ... programming system ref.   ... )

   APPENDICIES:
LOU	A.   Hardware ... computers, arms, cameras, devices ...
BBM	B.   Tentative grammar for the language ... & ... parser status
RCB	C.   A couple of "complete" examples ... showing all of the modes
		ie. VHL: using TASK's, IFW's, (defining a VHL library routine)
		    HL:  using frames attached to frames ... coop arms ...
		    LL:  using graph manipulating operators, "start code≡interpreter
			 code"
		    RLL: using PDP11 or SPS41 routines
LOU	D.   Details of runtime system ... scheduling  algorithms ...
RF	E.   Interpreter commands