00100	  		HARDWARE
00125	-1  HARDWARE PEAK DETECTOR FOR LASER EXPT.  TWO SETS OF 3 BUFFERS.
00150	0  DRAWINGS ARM,TTL I/O BUS,DAC TARGET CONTROL, TURNTABLE CONTROL
00175		TURRET CONTROL,LASER MIRROR CONTROLLER
00187		GET 1 MONTH OF ELECTRONIC DRAFTSMAN FROM JOB SHOP
00200	1	TV
00300	2	FORCE-SENSING
00400	3	MOD FOR LASER EXPT
00500	4	MOVE LASER AND BEAM SWITCHYARD
00600	5	NEW ARM ASSEMBLY
00700	6	NEW ARM SWITCH
00800	7	SEPARATE ELECTRONICS NEW ARM
00850		CLOSED-LOOP, GAIN AND VELOCITY SPECIFIED BY COMPUTER
00875		VELOCITY CONTROL LOOP
00887		MAKE SURE THAT THIS CAN BENEFIT COLLISION REFLEX
00900	8	DEBUG A/D AND POTS FOR ARM
01000		SEPARATE 14 BIT A/D?
01100	9	DEBUG TV DIGITIZER AGAIN
01200	10	NEW HAND W/ REDUNDANT MOTIONS
01300		IMPROVED VERSION
01400	11	SHAFT ENCODERS
01500	12	NEW TOUCH SENSORS
01600	13	TOUCH INTERRUPT
01700	14	5 FINGER HAND 
01800	15	PDP-6 TTL I/O BUS
01900		PDP-6 INTERRUPTS
02000	16	UNDERFLOW MOD FOR PDP-10
02200	17	TOOL HOLDER
02300	18	TACHS ON JOINTS
02400	19	FORCE SENSING ON OTHER JOINTS
02600	21	NEW A/D FOR TV
02700	
02800	22	QUAM ARITHMETIC BOX
02900		NOT PROPERLY IN OUR DOMAIN
03000	23	panel of motor drivers of different power
03100		as standard interface with mechanical devices.
03200	
03300	
03400	1.  construction algorithms (simple)
03500		as Hitachi
03600	    arches and hard things
03700	2.  assemblies
03800	3.  touch and force
03900	    hardware queue
04000	4.  color constancy
04100	5.  laser for hand/eye
04200	6.  world model for curved objectx
04300		manipulation
04400	7. avoidance
04500	8. retrieval of visual memory
04600	
04700	
04800	camera interface
04900		a/d $3k
05000		buffer memory and display 8x256x333x3		$32k
05100		mods to current interface
05200			threshold and code for laser expt	$1k parts
05300	
05400	camera
05500		silicon vidicon for Cohu	$1k
05600		update Cohu			$.7k
05700	
05800	
05900	depth ranging
06000		replace laser if necessary	$1k
06100		new ranging device		$50k
     

00100	
00200		8 BIT DIGITIZER
00300	CODING
00400		1 BIT WHICH DIGITIZER
00500		3 BITS IN DATAO, WHICH TOP BIT
00600	HARDWARE
00700		3 BIT REGISTER RTL DEC CARD
00800		8 BIT SCALER TTL
00850			WITH OFFSET SUPPLY, OR LEVEL CONVERTERS ($49 8 BITS)
00900	DIGITIZER	CHECK EGG, JOHN RADOSAVEC
01000		TTL LEVELS?
01100		BINARY/GRAY?
01200	FILTERING, SAMPLE/HOLD
01300	
01400	SOFTWARE
01500	
01600	QUESTIONS
01700		MATCH TIMING IN TWO DIGITIZERS
01800		TTL SWITCHING NOISE
01900		SEPARATE THE TWO DEVICES, OLD DIGITIZER AND NEW
02000			USE SPARE SHIFT REGISTER