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C⊗;
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.NEXT SUBSEC;FIGURE←0;TABLE←0;
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%5{SECID} {SECTION!}%*
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{SECTION!}  TITLE →{PAGE!}
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.MACRO NEWSS(TITLE,ID,LAB) ⊂
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.SSECNAME←"ID";
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%5{SUBSEC!}      TITLE%*
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.BEGIN 
.NEXT PAGE
{SECID}→PAGE
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    {SUBSEC!}  TITLE →{PAGE!}
.⊃
.⊃

.MACRO NEWSSS(TITLE,LAB) ⊂
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%4{SUBSUBSEC!}     TITLE%*
.BREAK
.SEND CONTENTS ⊂IF LINES<3*SPREAD+1 THEN
.BEGIN 
.NEXT PAGE
{SECID}→PAGE
.END
	{SUBSUBSEC!}  TITLE →{PAGE!}
.⊃
.⊃


.COUNT EQUATION INLINE IN SECTION PRINTING "!.1"

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.STOREPIC(|TITLE|,LINES,TEMP) ⊃;

.MACRO MAKEFIG(TITLE,εLINES,LABEL) ⊂
.FIGURE←FIGURE+1;LABEL TEMP←SECTION&"."&FIGURE;
.STOREPIC(|TITLE|,LINES,TEMP) ⊃;

.PICLIN←PICNUM←PICTLEN←PICTIT←NULL
.MACRO SMALLPIC⊂⊃
.MACRO ALLPIC⊂⊃

.MACRO NEWTABLE(TITLE,LABEL)⊂
.TABLE←TABLE+1; LABEL TEMP←SECTION&"."&TABLE;
.BEGIN NOFILL CENTER GROUP

Table {TEMP}

TITLE
.⊃;

.IF FIGS THEN START

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.PICLIN←PICLIN[3 TO ∞]; PICNUM←PICNUM[5 TO ∞];
.PICTLEN←PICTLEN[3 TO ∞]; PICTIT←PICTIT[C+1 TO ∞];
.GROUP SKIP A;
Figure {B}
{D}
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.END⊃

.RECURSIVE MACRO RSPIC ⊂
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.	END;
.IF PICLIN≠NULL THEN RSPIC⊃

.RECURSIVE MACRO SMALLPIC ⊂
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.  ELSE SKIP SPREAD⊃;

.BEFORE PAGE ⊂STANDARD TITLES;
.    IF PICLIN≠NULL THEN SMALLPIC ⊃

.END COMMENT PICTURE MACROS;
 



.BOTTOM←50;
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.MACRO HALF⊂BOTTOM/2-3*SPREAD⊃
.MACRO THIRD⊂BOTTOM/3-3*SPREAD⊃

.SECNAME←NULL
 

.device xgp
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.NEXT PAGE
.SSECNAME←NULL;
.PORTION TITLEPAGE
.BEGIN NOFILL;turn on "↑";
.AREA TEXT LINES 1 TO 53 CHARS 1 TO 80
.NEXT PAGE
.GROUP SKIP 1
%1STANFORD ARTIFICIAL INTELLIGENCE LABORATORY →NOVEMBER 1974
MEMO AIM-243
.GROUP SKIP 2
COMPUTER SCIENCE DEPARTMENT
REPORT CS-456
.GROUP SKIP 4
.NOFILL CENTER
%6'AL, A Programming System for Automation
.GROUP SKIP 4
%1Raphael Finkel, Russell Taylor, Robert Bolles, Richard Paul, Jerome Feldman↑*


.GROUP SKIP 5
.FILL ADJUST COMPACT
.NARROW 8,8
	'AL, a new language for specification of manipulatory actions, is
described.  It is the most recent in a series of efforts in this direction,
a series including, 
in particular, APT and WAVE.  The 'AL system includes a source language with
advanced features for describing individual motions of manipulators and
complex series of motions making up an entire assembly, and the runtime
system necessary for execution of programs.
.WIDEN
.NOFILL SKIP TO LINE 37
.FILL
∞_→#
.BREAK
%4↑* Jerome Feldman is now at the University of Rochester.

This research was supported in part by the
National Science Foundation under contract No. GIα-42906 and in part by
the Advanced Research
Projects Agency of the Office of Defense under Contract No. DAHC-15-73-C-0435.

The views and conclusions in this document are those of the authors and 
should not be interpreted as necessarily representing the official policies,
either expressed or implied, of the
funding agencies.

Reproduced in the USA. Available from the National Technical Information
Service, Springfield, Virginia 22151.%*
.END

.ADJUST COMPACT
.SECNAME←NULL
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.INSERT CONTENTS
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.COUNT PAGE FROM 1 TO 999 PRINTING ⊂PAGE⊃;
.EVEN HEADING(Page {PAGE!},{SSECNAME},{SSSNUM});
.ODD HEADING({SSSNUM},{SSECNAME},Page {PAGE!});
.NEXT PAGE
.REQUIRE "MINTRO.PUB" SOURCE_FILE; <<MEMO25(2) Introduction>>
.REQUIRE "MGOALS.PUB" SOURCE_FILE; <<MEMO25(3:6) Goals>>
.REQUIRE "MSYSOL.PUB" SOURCE_FILE; <<MEMO25(7),61(2) System outline>>
.REQUIRE "MUSER.PUB"  SOURCE_FILE; <<MEMO8(2) User features>>
.REQUIRE "MDATST.PUB" SOURCE_FILE; <<MEMO61(8:11) Data structures>>
.REQUIRE "MMOTNS.PUB" SOURCE_FILE; <<MEMO61(12:17) Motion specs>>
.REQUIRE "MGRAPH.PUB" SOURCE_FILE; <<graph structures (subsection) >>
.REQUIRE "MCTRST.PUB" SOURCE_FILE; <<MEMO61(3:7) Control structures>>
.REQUIRE "MCTCST.PUB" SOURCE_FILE; <<MEMO61(18,19),63(2:7) Compile time constructs>>
.REQUIRE "MLIBRT.PUB" SOURCE_FILE; <<MEMO63(8) Library routines>>
.REQUIRE "MVHL.PUB"   SOURCE_FILE; <<MEMO64 Very high level>>
.REQUIRE "MRUNTM.PUB" SOURCE_FILE; <<MEMO7 Runtime overview>>
.REQUIRE "MEXTEN.PUB" SOURCE_FILE; <<MEMO9 Extensions>>
.REQUIRE "MBIB.PUB"   SOURCE_FILE; <<MEMO10 Bibliography>>

.PORTION APPENDIX
.SECID←"APPENDIX";
.SEND CONTENTS ⊂

APPENDICES
.⊃
.COUNT SECTION FROM 1 TO 99 PRINTING  "I";
.COUNT SUBSEC FROM 0 TO 9 IN SECTION PRINTING "!.1";
.COUNT SUBSUBSEC FROM 0 TO 99 IN SUBSEC PRINTING "!.1";
.REQUIRE "MDIALG.PUB" SOURCE_FILE; <<MEMO8(3) Dialog>>
.REQUIRE "MXMPLS.PUB" SOURCE_FILE; <<XMPLES Examples:  appendix>>
.REQUIRE "MRTAPP.PUB" SOURCE_FILE; <<RUNTIM Runtime details:  appendix>>

.PORTION CONTENTS
.COUNT PAGE FROM 2 PRINTING "i";
.SSECNAME←"FOREWORD";
.SSSNUM ← NULL;
.SECNAME←"FOREWORD";
.NEXT PAGE
	This document describes  the new hand  language, 'AL.   It is
not intended to be a final language specification or a user's manual.
Rather, it is  a working document presenting a number of  related
ideas concerning a  system for programmable automation.   These ideas
cover  a broad range  of topics: arm servoing,   parallel processing,
assembly world modelling,  strategists, and language design.  We have
tried to combine these into  a coherent system.  However, as you read
this document you  will notice  that some topics  have been  explored
more than others, some explanations contain more detail than others,
and  some questions  are left  unanswered.   Various portions  of the
system have already been implemented. 

	Interested persons unfamiliar with the background for this work
will find it useful to read %4The Use of Sensory Feedback in a 
Programmable Assembly System%* [Bolles and Paul].

	We would  like to thank  those people  who have  made
numerous suggestions  and have helped implement  various parts of the
system.   
In particular, we  would to  thank Bertrand  Meyer, who  
implemented  the   scanner  and  parser,   Botond Eross,   who  is
implementing  the PDP11  runtime monitor,
Bruce Baumgart, who assisted with the illustrations,
and Larry Tesler, whose document preparation program PUB was used
to prepare this paper.
We also wish to thank D. Whitney, J. Nevins, and D. Killoran of
Draper Labs and W. Park of Stanford Research Institute for their
helpful criticisms and suggestions.


During the period in which the work reported here was performed,
Russ Taylor was supported in part by a grant from the Alcoa Foundation,
Raphael Finkel was supported by a NSF fellowship, and Robert Bolles
was supported in part by the Hertz Foundation.  We would like to
thank all these agencies for their kind assistance.

	The English language has no genderless personal pronoun; without
any implication of sexism we use arbitrary forms in its place.


.SSECNAME←"TABLE OF CONTENTS";
.SECNAME←"TABLE OF CONTENTS";
.NEXT PAGE
.INDENT 0
.NOFILL
.TURN ON "∞→"
CHAPTER →PAGE
.RECEIVE