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\F3\C523 Hillside Drive
\CWoodside, CA. 94062
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-851-3241
\F1\CSeptember 20, 1979

Mr. Joseph F. Engelberger
President 
Unimation Inc.
Shelter Rock Lane
Danbury, Conn. 06810

Dear Joe:

\J Thank you very much for the gift for Tenaya. Bonnie and I like it,
so I am sure she will when she is old enough to appreciate it. We are all
doing fine, although the rings around my eyes have not yet faded.  Daily,
we are getting closer to a livable feeding and sleeping schedule.  Many
people have asked where we got the name Tenaya.  It's the name of a
beautiful lake and canyon in the Yosemite National Park area.  In
California indian language it means "shining rock". I'm sure Marge will
like to know that.

I have not yet picked a specific thesis topic.  This summer was spent
waiting for the big event to happen, and now that its passed I am getting
down to serious work.  My current schedule is to have a definite topic
selected by the end of October or mid November.  As I mentioned to you my
interests are all in the area of advanced robotics topics.  Specifically
new manipulator configurations, advanced concepts actuators, and advanced
assembly systems concepts.  New robot hands are also a consideration.

I am finding it difficult to NOT try to take on too much, and yet pick a
topic area in which I have a reasonable chance of making a significant new
contribution to the art.  Thus, I am currently doing design and senario
studies on several of these thesis areas.  I will try to keep you posted
on my progress.

I have had some recent contact with Brian, Bruce and the others at
Unimation West.  I have noticed that progress is being made on all fronts
with the 250 nearing pre-production and the 2000/4000 controller decisions
finalized.  Later this week I will be giving a talk at a local chapter
meeting of the ACM.  Unimation will be supplying a movie and possibly the
latest version of the Model 250 for an informal demonstration.

I have been pleased with the agreement we made 2.5 years ago, and I am
sure that you have been too.  As you know, a part of this agreement called
for a royalty to be paid to me on Vicarm components or derivatives of
Vicarm components which Unimation might market.  During the past 2 years,
these related sales have been minimal and thus I have not concerned myself
with this part of our agreement.  These last six months have seen
Unimation ship several PUMA systems and Unimation West deliver one force
balance and touch sensor unit.  I feel that all or part of these shipments
qualify for payments under the royalty part of my agreement with you.
Could you please review or have someone review our agreement and set up
the proper accounting within Unimation so that the payments can begin.
Should you have any questions regarding the arrangement, have whoever is
handling this matter call or write me at home at the above address.\.
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\←L\→.Yours sincerely,


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