00100	TEN YEAR PROJECT REPORT
00200	
00300	VISION HARDWARE
00400	flying spot
00500	tv camera interface
00600	image dissector
00700	instrument tv, pan/tilt/color/focus/turret/target
00800	laser
00900	second camera
01000	
01100	VISION SYSTEMS
01200	edge follower
01300	edge operator
01400	accomodation
01500	calibration
01600	simple/complex
01700	visual feedback, corner finding  Wichman,Gill,Davis,Perkins
01800	motion/differencing
01900	motion stereo
02000	representation
02100	displays and geomed
02200	description of curved objects
02300	outdoor scenes  texture, Ruzena and Yoram
02400	Grape
02500	
02600	ARM HARDWARE
02700	Rancho arm
02800	controller, pulse width
02900	hydraulic arm
03000	Scheinman arm
03100	tachs
03200	tools
03300	touch and force
03400	two hands
03500	turntable
03600	
03700	ARM SYSTEMS
03800	computer servo
03900	Pieper-kinematics and collision avoidance
04000	Kahn-dynamics, bang-bang servo
04100	block manipulation (Paul)
04200	hand language-move,wave
04300	Newtonain servo dynamics and trajectory calculation
04400	adaptive control with force and touch
04500	two hands
04600	assembly task
04700	high performance arm control (pre-computing trajectories)
04800	
04900	SYSTEM SOFTWARE
05000	hand/eye system
05100	SAIL
05200	hand/eye library
05300	
05400	
05500	
05600	DEMONSTRATIONS
05700	water pump
05800	instant insanity
05900	screwing and cranking
06000	putting blocks in holes
06100	
06200	
06300	Breaking arm control into servo and planning elements,
06400	and by precomputing trajectories, it is possible to have
06500	intelligent choice of trajectories and still have a small
06600	system which runs on a minicomputer-the mini and maxi systems.
06700	
06800	
06900	The project has progressed from building the lowest level hardware
07000	and software interfaces to the current stage of modest achievements with
07100	curved objects [] and outdoor scenes [], and to sophisticate manipulation
07200	and demonstration of capability in automated assembly [].  The group
07300	has now focussed a major effort on robotics in industrial automation.  That
07400	focus is particularly valuable in uniting work on strategies for assembly,
07500	perceptual strategies, representation of shape and modelling of objects,
07600	visual feedback and manipulation.  ***We are now working on a sequece
07700	of sharply defined assembly tasks, and on construction of a system which
07800	not only incorporates these abilities, but requires them to work together].
07900	Past work has required considerable building of systems.   For example,
08000	the achievement of one year in manipulation research followed three years
08100	of design, construction and programming adequate basic arm hardware and
08200	software; even that effort depended in part upon previous development
08300	work, and dissatisfaction with previous dead-ends.
08400