00100				THE STANFORD ARM
00200	
00300	This is a 6 degree of freedom , all electric manipulator.
00400	If features harmonic drives on 4 joints, integral potentiometers,
00500	and permanent magnet d.c. motors.  It can lift a load of 5 kg and
00600	servo from point to point in less than 2 seconds. The hand is a
00700	parallel jaw device with touch sensor equipped finger tips. This
00800	arm was designed in 1969 and has been in use since 1970.  Two
00900	newer versions of this device have been built.  These later
01000	models have longer reach, greater load capability, and increased
01100	stiffness.Any questions?????- ask Vic Scheinman.
01200	
01300	
01400	
01500				THE HYDRAULIC ARM
01600	
01700	This manipulator is a 6 deg. of freedom device with a parallel grip hand.
01800	It is hydraulic fluid powered and features rotary vane actuators operating
01900	at 2000 psi. These actuators are controlled by servo valves. The analog loop 
02000	is closed by potentiometer feedback elements.  Originally developed in 1968 to
02100	test very high speed computer controlled motion, it is now a museum piece.
02200	Any questions?????- ask Vic Scheinman
02300	
02400	
02500	
02600				THE ORM
02700	
02800	The ORM (Norwegian word for snake) is a pneumatic powered device featuring
02900	a stack of binary elements operating open loop. The ORM was developed to
03000	test some theories of computer control of basically binary devices. The 
03100	terminal effector is a light which is tracked by a television camera.
03200	This project was dropped in 1966 when work on the Hydraulic Arm was
03300	started.   Any questions?????  -  ask Vic Scheinman
03400	
03500	
03600	
03700	
03800				THE RANCHO ARM
03900	
04000	
04100	This is a converted prosthetic arm originally developed at Rancho Los
04200	Amigos Hospital in Downey, Calif. It was our first computer controlled
04300	manipulator and starred in several of the early movies made here.  It
04400	is electric motor powered and uses potentiometers for feedback. 
04500	Any questions?????  - ask Vic Scheinman
04600	
04700	
04800	
04900	
05000	
05100	
05200	
05300				THE MUSEUM
05400	
05500	
05600	
05700	Inside here you will find some of our early manipulators and parts
05800	left over from the associated development work.
05900	
06000	
06100	
06200	
06300	
06400	
06500				The SIERRA CAMERA
06600	
06700	
06800	This camera features a 1.5 inch vidicon and 35mm camera optics which give
06900	it high resolution and a low noise signal output.  The camera is mounted
07000	on a project developed pan-tilt head which provides rapid servo controlled
07100	pan, tilt, focus, zoom, and iris for computer controlled tracking tasks.
07200	An integral color wheel allows the computer to select one of up to 6 filters.
07300	
07400	
07500	
07600	
07700	
07800				THE COHU CAMERA
07900	
08000	
08100	
08200	Our "Workhorse" camera.  This 1 inch vidicon camera has been in use for
08300	several years now.  It's been the star of many of our movies.   
08400	The camera system has computer controlled pan, tilt, focus, lens changing,
08500	color wheel,and iris (not installed at the moment).
08600	
08700	
08800	
08900	
09000	
09100	
09200				THE LASER SCANNER
09300	
09400	
09500	This device allows the computer to scan a plane of laser light across
09600	a scene.  A 50 mw. He-Ne laser beam is spread by a cylindrical lens
09700	and directed by a stepping motor driven mirror.   Both the position and
09800	orientation of the plane of light can be controlled by the computer.
09900	This device is used in conjunction with our television cameras to give 
10000	range information in our scene analysis work and display programs.
10100	
10200	
10300	
10400	
10500	
10600				THE NEW STANFORD ARM
10700	
10800	
10900	This is a newer version of the gold arm opposite.  It is larger,
11000	stronger, and stiffer than the older arm.  An even newer version
11100	is nearing completion in our machine shop.  With these three arms
11200	we intend to attempt multiple arm tasks.  Any questions?? ask 
11300	Vic Scheinman
11400	
11500	
11600	
11700				TYPE FONT INPUT CAMERA
11800	
11900	
12000	We place a type font or any other printed material under this camera
12100	and read it into the computer for use with the XGP or on displays, etc.
12200	
12300	
12400	
12500				III DISPLAY TERMINAL
12600	
12700	
12800	We use these fast displays for most of our graphics work and 
12900	our interactive control tasks(i.e.- playing space war,etc.).
12975	  
13000	
13100	
13200	
13300	
13400	
13500	
13600	
13700				I M P 
13800	
13900	This device provides us with a high data rate link with other computer
14000	facilities on the ARPA network. The list below shows the extent of the
14100	network.  The link is CPU to CPU rather than CPU to terminal as in
14200	most remote timesharing systems.
14300	
14400	
14500	
14600	
14700				X G P 
14800	
14900	
15000	The Xerox Graphics Printer is a general purpose paper output device.
15100	A computer controlled scan allows any sort of output, from straight
15200	type, to graphics, to television photolike images.  Some samples are
15300	on the right of the machine.  Other output examples are posted around
15400	the building.
15500	
15600	
15700	
15800	
15900	
16000				THE MUSIC SYSTEM
16100	
16200	
16300	
16400	
16500	This hi-fi component assembly is part of the music-speech system. 
16600	It enables inputs of speech samples to the computer and is the 
16700	output of computer generated tones and music samples.  More 
16800	equipment is located in the room on the other side of the wall in
16900	front of you.  If you are curious- peek in there too.
17000	
17100	
17200	
17300	
17400	
17500				THE SOUND SYSTEM
17600	
17700	
17800	This is the listening room for the music hackers and the 
17900	Autistic Children Project of Dr. K. Colby.  Here he provides
18000	these children with an interactive terminal with which they 
18100	can play numerous learning type games.  Both computer 
18200	controlled sights and sounds are presented to these 
18300	children who have limited desire to relate to or communicate with
18400	people.
18500	
18600	
18700	
18800	
18900				DATA DISK TERMINAL
19000	
19100	
19200	There are about 60 of these terminals around the building.  Through
19300	a multiplexer up to 32 of these terminals can be used at one time.
19400	Several channels are reserved for other exciting functions such as
19500	looking at the output of any one of the t.v. cameras, watching
19600	Star Trek or Watergate (in shades of green of course), etc.  An
19700	audio switch will soon be installed which will provide several channels of 
19800	sound output at each terminal.
19900	
20000	
20100	
20200	
20300	
20400			THE HYDRAULIC ARM CONTROLLER
20500	
20600	
20700	
20800	
20900			THE  ORM  CONTROLLER
21000	
21100	
21200	
21300			THE STANFORD ARM ELECTRONIC SWITCHES
21400	
21600	All the servo equations are solved in the computer, where the servo
21700	loop is closed.  This panel of electronics contains only switches.
21800	The pulse width modulation control is performed entirely by the
21900	computer with no special purpose electronics involved.
22000	
22100	
22200	
22300	
22400	
22500				THE GEOMED CAMERA
22600	
22700	
22800	This is a reference camera whose fixed location is known.  It is
22900	used in some of our work which does not require a moveable camera.
23000	This camera is aimed at the computer controlled turntable which
23100	can move objects into and out of the scene.  The turntable
23200	also serves as an extra degree of freedom for arm-assembly tasks.
23300	
23400	
23500	
23600	
23700	w