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	A full language for planning manipulatory tasks of the
MANIPULATORY
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interrelated goals. 
INTERRELATED
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textual, as opposed to spoken or manual (joystick).  There are levels
JOYSTICK
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initially less structured intuitive ideas. To provide for general
INTUITIVE
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cumbersome to write long programs in any structured way.  We want a
CUMBERSOME
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language which lends itself to a more systematic and perspicuous
PERSPICUOUS
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invaluable feature for avoiding enormous amounts of repetitious
REPETITIOUS
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general mechanism for simultaneity is desired, so that calculation
SIMULTANEITY
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manipulators can be in independent motion. 
MANIPULATORS
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manipulator: excessive force might be exerted, a stopping condition
MANIPULATOR
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of these occurs, for example: to start up a new concurrent process,
CONCURRENT
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away a statistic somewhere in a table.  Therefore, 'AL must allow the
STATISTIC
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wrist force sensors in the servo control loop in a programmable
SENSORS
SERVO
PROGRAMMABLE
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fashion.  Our research has not yet delved into this fascinating
FASCINATING
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.NEWSSS THE DATABASE AND ITS USES
DATABASE
Page 3
perform particular subtasks.  Beyond this, we would like an
SUBTASKS
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telling exactly how some particular subtask is to be accomplished and
SUBTASK
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environment, with repetitive execution of plans at many work
REPETITIVE
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planning should occur on a large time-shared computer, the "maxi"
MAXI
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the control of a small computer, the "mini" (for example, a PDP-11),
MINI
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sort of computing (for example, inventory work or payroll
PAYROLL
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processes.  Several manipulators might be running simultanously, each
SIMULTANOUSLY
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checkers) must be quaranteed service at regular intervals; the
QUARANTEED
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objects.  That means that certain inforation must be carried at
INFORATION
Corrected to: INFORMATION
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unpredictable forms of feedback. Vision would be quite useful in
UNPREDICTABLE
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searching for objects and testing for adequacy of assembly. It is
ADEQUACY
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midstream due to some software-detectable condition.  Pure hardware
MIDSTREAM
DETECTABLE
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status.  Some clearly distinguisable modes of servoing that could be
DISTINGUISABLE