00100	JPL proposed sending a programmer here to convert servo software to a
00200	PDP-11.  The period was uncertain; times mentioned were two weeks to two
00300	months.  In conversion of servo software, we would give:
00400			a)  listings
00500			b)  documentation or consult in its preparation
00600			c)  informal advice in recoding.
00700	C.  Cook will be beginning then; his learning about the arm coincides
00800	conveniently with conversion to a PDP-11.  It was  expected  that  he
00900	interface as much as possible with the JPL staff member.
01000	
01100	Construction  of  a  duplicate  of  the  arm  has been conservatively
01200	estimated as a 6 month project, with appropriate safety  factor,  and
01300	assuming  priority.   We are not organized to manufacture and deliver
01400	an arm.  We can  communicate  with  and  advise  a  JPL  engineer  as
01500	follows:
01600			a)  drawings for arm, hand, and electronics
01700			b)  parts list and sources, details of machining bid
01800			c)  informal advice for assembly.
01900	An  attempt  should  be  made  to  maximize  information transfer and
02000	minimize diversion from our research.
02100	
02200	An alternative which cannot be counted upon, is to license production
02300	of  the  arm.     It  is  now  likely  that  we  can license complete
02400	mechanical construction and assembly.   Fabrication of electronics is
02500	completely unexplored.
02600	
     

00100	As  the  basis  for discussion of a proposal, it is essential that we
00200	not be closely tied down to a fixed project.  We must be free to make
00300	changes  as  necessitated  by  laboratory  considerations.   We  have
00400	demonstrated the capabilities of the lab, and what our plans are;  if
00500	these  are useful to NASA, that would be the basis for a contract.  A
00600	presumption is that while we  may  produce  demonstration  systems,we
00700	will not deliver any systems for NASA.
     

00100	PDP-11 system cost including software
00200	
00300	basic system  PDP-11/20, 4k 950 ns core, ASR 33		$10800
00400	
00500	memory	  extra 4k $3000 1.2usec			 $3000
00600	
00700	PDP-10 to PDP-11 interface				$30000
00800	
00900	floating point hardware					 $5000
01000	
01100	A/D with 32 channels 10 bits				 $2900
01200	
01300	D/A							 $1375
01400	
01500	DR-11A I/O register  2@$400				  $800
01600	
01700	
01800	A  minimal  system might assume that we build the necessary PDP-10 to
01900	PDP-11 interface, and  A/D  and  D/A  channels.    That  is  probably
02000	straightforward,  but  we  can't  guarantee  that  we won't encounter
02100	problems.
02200	
02300	minimal 8k PDP-11					$18000-$20000
02400	
02500	hardware interfacing					$4000
02600		parts						$2000
02700	
02800	software interfacing					$5000
02900	
03000	
03100	overhead						$5000
03200	
03300	
03400	total							$34000
     

00100	1 student		$5310
00105	JMC	5%		$2000
00110	investigators		$3400
00115	engineer		$2300
00120	Paul  	10%		$1600
00125	Cook	50%		$5550
00130	system software		$3000
00135	secr	10%		 $720
00140	technician 50%		$5900
00145	admin			$1000
00150	
00155	staff benefits          $4900
00160	
00165	travel			$1500
00170	
00175	hardware parts		$5000
00180	
00185	computer rentals	$4500
00190	
00195	documentation		$1000
00200