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C00002 00002		During  1973,   the hand/eye  group  assembled an  automobile
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	During  1973,   the hand/eye  group  assembled an  automobile
water  pump using the  arm, tools,  touch, force sensing  and vision.
The task  was programmed using  a relatively  general hand  language.
The  group  then made  progress  on  sub-assemblies of  a  two-stroke
gasoline  engine,  and  chose tasks from  that, to design  a new hand
language and as  examples for a first  version of a vision  language.
Strategy  programs have written  programs for  the sequence  of steps
involved in the pump assembly.  A few objects have been described  in
our representation for complex objects,  and displayed using computer
graphics technique.

	The following devices are now operational: second arm, PDP-10
to  PDP-11  interface,  SPS-41  signal  processor,  16k  MOS  memory,
improved laser scanner,  tools and tool changer  for arm. Description
of complex objects has progressed from describing parts of objects to
complete descriptions of dolls, tools and toy horses, and matching of
objects  for recognition is  at an  advanced stage (Nevatia).   Model
driven perception of outdoor scenes  and cardiac angiograms has  been
implemented  in  Yakimovsky  thesis,   and  the  use  of  models  for
perception of polyhedral scenes was accomplished in Grape's thesis.