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\title{Multi-RCCL User's Guide}
\author {John Lloyd and Vincent Hayward}
\date {April 1992}
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\begin{abstract}
This manual is a tutorial-style document which describes the
robot programming system Multi-RCCL, Release 4.0. The primary
sites for this system are McRCIM (McGill University) and the Jet Propulsion
Laboratory (JPL).

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\centerline{\large\bf Acknowledgements}
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Support for the development of RCCL has been provided by 
McGill University (Montreal),
the Jet Propulsion Laboratory (Pasadena), and 
the General Electric Advanced Technology Laboratories (Moorestown, N.J.).
The original version was written at Purdue University in 1983.

I would like to put in a word for the numerous people who contributed to
RCCL over the years.

Foremost mention goes to Vincent Hayward, who wrote the first version
and provided many ideas and suggestions for subsequent releases.

I would also like to thank Mike Parker (McGill University)
for his continual system support, suggestions, quips, and document 
``debugging''.
Samad Hayati (JPL) has provided much of the motivation for further
developments of the system. Paul Backes, Tom Lee, and Kam Tso (JPL)
implemented numerous applications, and thereby 
provided much of the motivation for adding extra features.
Rick McClain (General Electric) participated in the design of the 
multi-robot capabilities, and Jin Lee and Bob Russell (General Electric)
implemented many of the tracking and force feedback applications.
Chafye Nemri (McGill) proof read the latest version of this manual.

Thanks should also be extended to those people at McGill who
helped me bring up RCCL in the ``early days'': to
Thong for (frequent) hardware support, fixing joint 2 when it
``blew'' and helping us ``stretch'' the Q-bus, to Frank for convincing us we
{\it could} stretch the Q-bus, as well as take other liberties with the
hardware,
to Roy for general and moral support, especially the day when we 
``upgraded'' the controller cabinet, to Paul
and Gregory who built the VAX-robot ``FIFO'' 
interface (which, despite darker
forecasts, operated flawlessly), to Rick and David who
took time to disassemble the code for the joint microprocessors,
and to Don Kossman for his trepitude in porting the early system to iRMX.

Thanks is given to Larry Alexander and John Day (Digital Equipment
Corp.), for their help in convincing the rest of DEC that we had, in fact,
found a bug in the microVAX CPU hardware, and special thanks 

Finally, special thanks is given to Isobel Mackie, for her frequent
help with ``last minute'' chores during the dead-line crunches.

\noindent --- J.L.
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