In this paper, we present a general purpose manipulator control system. The system is run under the Unix operating system. Manipulator programs are written in the "C " language and make use of primitive functions included in a library. Manipulator control is thus integrated within the language in the same manner as is input-output. The system includes a world modeler and a trajectory generator that are accessed through two sets of primitive functions. The system’s structured world modeler is designed for an easy integration of sensors. The first part of the paper reviews the functional organization of the system, going through world modeling, trajectory generation, force control, and synchronization. The second part describes actual robot programming examples. 1.

Abstract- Efficiency in databases is a major requirement. This paper presents some solutions to cope with this problem. One solution is to execute operations in parallel: this is done in the “Delta Driven Computer ” DDC, which is a multiprocessor machine with distributed memory dedicated to relational and deductive databases. In DDC, relations are distributed among the nodes of the machine, and the data are processed asynchronously in each node. To do that in an efficient way, a coprocessor, specialized for relational operations, is also proposed. It is called pSyC, for “microprogrammable Symbolic Coprocessor”. This paper is divided into two parts. The first part describes DDC, presenting the architecture, the languages, and an original computational model. The second part describes @yC, its architecture, instruction set and the data structures used at the @yC level.

J an Wium is op 15 September 1957 in Johannesburggebore. Reeds op laerskool in Menlopark in Pretoria het hy meer ambisie gehad om ’n profes-sionele tennisspeler te word as ’n professionele inge-nieur, maar toe kies hy die maklike pad en gaan studeer ingenieurswese aan die Universiteit van Pretoria

PAR Thomas Wolf Inge'nieur informaticien diplome ' de l'E'cole Polytechnique Fe'de'rale de Zu"richoriginaire de Thayngen (SH) accepte'e sur proposition du jury: Prof. Alfred Strohmeier, directeur de the`seProf. Hans-Heinrich Na"geli, rapporteur

PAR Xavier DE'FAGO inge'nieur informaticien diplome ' EPFL,de nationalite's franc,aise et suisse (orig. Val d'Illiez, VS) accepte'e sur proposition du jury: Prof. A. Schiper, directeur de the`seProf. D. Malkhi, rapporteur