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AUTOMATION  Industrial Assembly		
  Language-AL			 
  Sensing-touch,force,visual	    
  Planning
    very high level language
  Analysis of Assembly
    Task Execution
  Visual Feedback
    Execution Program
    Strategy Program

PERCEPTION  Description not Recognition
  Representation-"Generalized Cones"
    Part/whole, primitives--smoothly changing cross sections
    Formalism "generalized translational invariance"
    Spine, Cross Section
  Descriptive Mechanisms--dictated by representation
    description of parts: Axis, cross sections on boundaries
    description of wholes: joint descriptions
  Indexing into visual memory--Using very large visual memory
    Summary description to index to subclass of similar objects
  Recognition-detailed matching of models vs description
    dolls, toy horses

VISION LANGUAGE - semantics of problem domain and language
  representation
    image domain (2d), object domain (3d), relations and control (graph)