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From: nivek@frc.ri.cmu.edu (Kevin Dowling)
Subject: comp.robotics FAQ part 1/2 (Frequently Asked Questions)
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Date: Thu, 04 Jun 92 02:40:50 GMT
Organization: Robotics Institute, Carnegie Mellon
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This is part 1 of 2 of the comp.robotics Frequently Asked Questions (FAQ) list.
This FAQ addresses commonly asked questions relating to robotics.

Topics covered:

Part 1
	Professional organizations
	Conference listings
	Publications

	Mobile robot companies
	Manipulator companies
	Other organizations doing robotics
	Graduate Programs in Robotics

Part 2
	Sensors
	Suppliers and sources for Parts
	Hero Robots
	Puma Manipulators
	Simulators
	Real-Time Operating Systems

	Acknowledgements

Changes, additions, comments, suggestions and questions to:
	nivek@ri.cmu.edu
aka: 	Kevin Dowling
     	Robotics Institute
	Carnegie Mellon University
	Pittsburgh, PA 15213
____________________________________________________________________________
Robotics Related Organizations:

IEEE 
Institute of Electrical and Electronics Engineers
Service Center
445 Hoes Lane
Piscataway, NJ 08854-4150
(201) 981-0060
A large organization with hundreds of publications including journals,
transactions, Spectrum, sponsoring conferences, workshops and meetings.

Society of Manufacturing Engineers, (SME)
One SME Drive
PO Box 930
Dearborn, MI  48121
(313) 271-1500

American Society of Mechanical Engineers, (ASME)
345 E. 47th Street
New York, NY 10017
Mechanical Engineering magazine, like the IEEE's Spectrum, is an
excellent general publication on aspects of mechanical engineering.
There are often publications on robotics and the ASME sponsors a 
number of other publications and conferences that are relevant to
robotics.

National Service Robots Association (NSRA)
900 Victors Way
PO Box 3724
Ann Arbor, MI 48106
(313) 994-6088

Robotics Industry Association (RIA)
(same address as NSRA)

SPIE (The International Society for Optical Engineering)
P.O.Box 10
Bellingham, Washington 98227-0010.
They have publications, meetings and Conferences in the
field of Intelligent robots, Mobile robots, teleoperation,
Machine vision, .... etc.

Advanced Robot Technology Research Association (Japan)
Kikai-shinko Bldg
3-5-8 Shiba-Kohen, Minato-ku, Tokyo
(03) 434-0532
fax (03) 434-0217
Has joint research programs with member companies.
Members are 20 or so Japanese companies including:
Ishikawajima-Harima, Oki Electric, Kawasaki Heavy Industry, Kobe
Steel, Komatsu, Sumitomo Electric Industries, Toshiba, JGC, NEC,
Hitachi, Fanuc, Fujitsu, Fuji, Matshushita Research Institute, Mitsui,
Mitsubishi Heavy Industries, Mitsubishi Electric, Yaskawa

Center for Autonomous and Man-controlled Robotic and Sensing Systems
Charles Jacobus, CAMRSS director
ERIM
PO Box 8618
Ann Arbor, MI 48107
(313) 994-1200 X2457
Member companies include: Ball Aerospace, Coulter Electronics, ERIM,
Fairchild, Ford Aerospace, Geospectra, Grumman, Industrial Technology
Institute, KMS Fusion, Michigan State, UofM.

AIAA
American Insitute of Aeronautics and Astronautics
370 L'Enfant Promenade, SW
Washington, DC 20024
(202) 646-7400
Technical Information Service (212) 247-6500
Conferences and publications, several cover automation technologies
for servicing on the ground and in space as well as exploration.
__________________________________________________________________________
Robotics Conferences:

Proceedings should be available in most good libraries or by
interlibrary loan.

Annual Conference of IEEE, Robotics and Automation

Annual Conference on Intelligent Robots and Systems

Annaul Symposium on Industrial Robots

Biannual Symposium International Symposium of Robotics Research

Biannual Autonomous Intelligent Systems

___________________________________________________________________________
Robotics Publications:

	IEEE Transactions on Systems, Man and Cybernetics
	IEEE Transactions on Robotics and Automation
	IEEE Control Systems Magazine
	IEEE Computer Magazine
	IEEN Transactions on PAMI
	IEEE Transactions on Industrial Electronics
	Cost: Have to join IEEE and then subscribe. Student rates are low.

	International Journal of Robotics Research
	MIT Press
	28 Carleton Street
	Cambridge, MA 02142
	Cost: $50/year to individuals

	International Journal of Robotics and Automation

	Robotics and Autonomous Systems

	Robotics and Computer Integrated Manufacturing

	Robotics Today

	Robotics World

	Robotica - British journal

	(NEW) Automation in Construction
	Publisher: Elsevier Science Publisher B. V., Amsterdam.
        Desk Editor: Erik de Vries
	The Editor of the journal is
	Dr. T. Michael Knasel
	10324 Lake Avenue
	Cleveland, OH 441102-1239.
	Fax. (216) 651-5136.


Useful and relevant trade magazines:

	Usually free, mostly ads or industry news. Many articles written by
	advertisers. Great sources of product information. Our lab at
	CMU receives 40-50 trade magazines and journals and while no
	one reads all of them articles and pointers are passed
	on to people around the lab. This keeps the group abreast of
	new products and developments.

	Sensors
	Helmers Publishing
	174 Concord Street
	PO Box 874
	Peterborough, NH 03458-0874
	(603) 924-9631
	Trade magazine devoted to sensing devices. Publishes annual directory.
	Cost: Free to qualified subscribers, $55/yr otherwise
	
	Machine Design
	Design News
	Motion Control
	GPS World
	RF Design
	Sea Technology
	Laser Focus
	POB
	Broadcast Engineering
	Embedded Systems
	EE Times

Other very useful resources that every laboratory or company should
have are the Thomas Register and the EEM. The Thomas Register is $250
for a complete set and they issue new ones every year - usually is
isn't necessary to get new ones every year.
_____________________________________________________________________________
Mobile robot companies:

TRC
15 Great Pasture Road
Danbury, CT 06810
(203) 798-8988
  Labmate research platform - $7500, plus additional optional sensors
  etc. Other prodcuts for hospital markets and floor cleaning machines.
  (Helpmate and RoboKent respectively)

Denning Mobile Robotics Inc.
21 Concord Street
Wilmington, MA 01887
(508) 658-7800
  Mobile robots - synchronous drive bases for research platforms.
  Building automated camera platforms for newsrooms, working on
  floor cleaning machines with an industrial partner.
  Denning also has a number of products including a position scanner, 
  and IR beacons.  A Denning wet scrubber (each) is working in a post
  office in Pittsburgh, Denver and Washington, and at a UPS site.

Real World Interface (RWI)
New Hampshire
  Small synchronous drive bases, primarily for research purposes. Approx $6K

Cybermotion
5457 Jae Valley Road
Roanoke, VA 24014
(703) 982-2641
  John Holland's company. Mobile K2 bases making use of ingenious
  torque-tube synchronous drive system. Security markets and research
  platforms, manipulators for base as well. Map building software too.

Yamazaki Construction Company, Tokyo Japan.
Intelligent Robot Lab
Kaika Building 
2-7-1 Sotokanda
Chiyoda-ku 101 Tokyo
Japan
phone:  81-3-5256-0715
  LR1 robot - small research robot, basically a VME cage on wheels with
  some ultrasonic sensors and a nice constant force suspension. Has
  shown up at IEEE R&A conferences $30K.

Nomadic Technologies
858 La Para Avenue
Palo Alto, CA 94306
(415) 493-7700
fax (415) 493-7064
  Mobile base and sensors (IR, Laser ranging, touch, GUI software
  development)

IS Robotics
4353 Park Terrace Drive
Westlake Village, CA 91361 USA
email:  robots@isx.com
phone:  (818) 597-1900

"mecos Robotics" is a new company formed as a spin off of
the Institute of Robotics, ETH (Swiss Federal Institute
of Technology). "mecos Robotics" specialises in modular
and adaptive robot manipulators and robot vehicles (mobile
robots). All "mecos Robotics" systems uses the same type
of controller, a VME based computer. This system comes
with high level development tools, and for research
institutions the systems have the advantage of being
open. The overall goals of all "mecos Robotics" systems
are flexility and modularity.
	The mobile robot program from "mecos Robotics" follows this
principle. The physical size and the mechanical configuration
can be altered. The standard configuration has three wheels
with air tyres and independant suspension. One wheel is
used for steering and propulsion (imagine a kids tricycle).
The overall size is 0.7 m (W) * 1.0 m (L) * 0.5 m (H). The
price depends on configuration and starts around the 70.000,-
Swiss Franks mark.
	Contact: S. J. Vestli
         mecos Robotics AG
         Gutstrasse 38
         8400 Winterthur
         Switzerland
         Telephone: int + (0)52 29 58 28
         Telefax: int + (0)52 29 96 53
         E-mail: mecos@ifr.ethz.ch 
         
Robosoft, Asnieres, France

Odetics,
Anaheim, CA
  Six-legged, (pantograph) Walking machine.
_____________________________________________________________________________
Robot manipulator companies:

CRS Plus,
830 Harrington Court
Burlington, Ontario
Canada L7R 3Y2
(416) 639-0086
fax (416) 639-4248
  Sells several manipulators. 5-DOF around $25K, 6DOF around $33K.
  Sell end-effectors as well (electric, vacuum and penumatic)
  Wrist can be bought separately. Controllers use RAPL, a VAL-like
  language. Fairly open architecture. 3Kg payloads +/- 0.05mm
  repeatability.

Sony Corporation of America
Factory Automation Division
542 Route 303
Orangeburg, NY 10962
(914) 365-6000
fax (914) 365-6087
Several SCARA type manipulators including a double armed manipulator. 
This model is used for the assembly of 8mm camcorders!

Motoman [Hobart/Yaskawa]
3160 MacArthur Boulevard
Northbrook, IL 60062-1917
(708) 291-2340, fax (708) 498-2430
  Large industrial manipulators for welding, painting, palletizing,
  dispensing, etc. Can be floor, ceiling or wall mount units. Payloads
  for the 8 robots in the K-series range from 3kg to 100kg and
  repeatability of 0.1 to 0.5 mm over that same range. They are vertical
  jointed-arm type manipulators. (i.e. 4 bar linkage to reduce arm
  intertias). 3 S-series robots are SCARA-type manipulators with
  payloads of 50-60kg and varying workspace sizes

  Yaskawa also has bought the rights to RobotWorld, Vic Schienman's unique
  gantry design robot system. This system allow a number of mobile
  modules in the same workspace to zip around at speeds up 80"/sec (3G
  accel). RAIL and C can be used in a multilevel programming
  environment. 0.002" Accuracy, 0.0005" repeatability. Neat stuff.

Adept Technology
150 Rose Orchard Way
San Jose, CA 95134
(408) 432-0888
fax (408) 432-8707
  High speed direct-drive and harmonic-drive SCARA style arms. 0.001"
  (.025mm) repeatabiliy. Payloads from 4-25kg Can be used in clean room
  and food applications as well. Adept sells vision systems and
  controllers also.

Antenen Research
PO Box 95
Hamilton, OH 45012
(800) 323-9555
(513) 887-4700
fax (513) 887-4703
  New and used robots for manufacturing, research and training.
  Used at savings of 40% - 70%. Also lots of parts and accessories.

Zebra Robotics
Jeff Kerr
Palo Alto
  Small manipulators with integral force control

Sarcos Research Corporation
261 East 300 South Suite 150
Salt Lake City, Utah 84111

  Their manufacturing is done by:

Animate Systems Inc.
1780 West 2300 South
Salt Lake City, Utah 84119
  Spinoff of University of Utah, (CED). teleoperated systems,
  manipulators. Audio-animatronic work as well. Beautiful force
  reflecting work and systems. High performance and small hydraulics.

Kraft Telerobotics
Kansas

Schilling

Asea Brown Boveri (ABB), Vesteraas, Sweden

mecos Robotics, Winterthur, Switzerland
"mecos Robotics" is a new company formed as a spin off of
the Institute of Robotics, ETH (Swiss Federal Institute
of Technology). "mecos Robotics" specialises in modular
and adaptive robot manipulators and robot vehicles (mobile
robots). All "mecos Robotics" systems uses the same type
of controller, a VME based computer. This system comes
with high level development tools, and for research
institutions the systems have the advantage of being
open. The overall goals of all "mecos Robotics" systems
are flexility and modularity.

The robot manipulators reflect this principle. The mechanical
configuration can be changed at will (number and type
of joints, length of links, etc.). The controller takes
advantage of this principle. With this principle of modularity
and flexibilty hybrid force / position controllers
have been realised on "mecos Robotics" arms. Price depending
on configuration (50.000,- Swiss Franks and upwards).

Contact: E. Nielsen
         mecos Robotics AG
         Gutstrasse 38
         8400 Winterthur
         Switzerland
         Telephone: int + (0)52 29 58 28
         Telefax: int + (0)52 29 96 53
         E-mail: mecos@ifr.ethz.ch 

_____________________________________________________________________________
Other organizations doing robotics:

Most large aerospace companies have groups working in or looking
into robotics. Martin Marietta (Denver), Rockwell International
(Downey, CA), Boeing (Seattle) to name a few.

Redzone Robotics
2425 Liberty Avenue
Pittsburgh, PA 15222-4639
(412) 765-3064
  A spin-off of CMU, Redzone has focused
  on hazwaste and nuke manipulator applications but is branching out into
  mobile applications. Primarily protoypes and not multiple unit manufacturing.

Vision Applications
NY, NY
  Small, low cost fovial camera systems. Development stages. Unique
  integrated, super small camera/pan/tilt device. Miniature active
  vision systems, video telephones.

Mechanical Engineering Lab (MEL)
Tsukuba City
  Kazuo Tanie: Robotics and cybernetics

--NASA Centers
Jet Propulsion Labs (JPL)
Pasadena, CA
  Hazardous-environment robots, teloperation, control, space and
  planetary missions.
  Tony Bejczy, Chuck Weisbin, Brian Wilcox, Larry Mathies,
  Henry Stone, David Miller

Ames Research Center (ARC)
CA

Goddard Space Flight Center (GSFC)
MD
  Since the cancellation of the Flight Telerobotic Servicer (FTS), the Robotics
  Lab has been concentrating on work in the area of automated space craft
  servicing.  The goal is to replace or supplement Extra Vehicular Activity
  (EVA) with teleoperated or semiautonomous robotic systems for external
  vehicle maintenance.

Johnson Space Center
Houston, TX
  More of an operations house but lots of shuttle RMS work. Becoming
central site for Artemis (lunar explorer) work.

Kennedy Space Center
Robotics Group
Like JSC, KSC is an operations house with responsibility to keep
shuttles flying and integrating payloads. There is a small but
growing robotics group that is emplacing ground support robotics
applications. Recent work includes filter inspector for launch pad
payload areas, shuttle radiator inspector and a mobile system for
thermal protection system tasks.

Langley Research Center, (LaRC)
VA
  Jack Pennington - vision, inspection, 3-D sensors

Southwest Research Institute
San Antonio, TX
Robotics and Automation Department
Some large systems for servicing aircraft (painting, spraying,
deriveting etc)
______________________________________________________________________________
Graduate Program in Robotics:

Preface - Any good school will undoubtedly offer some robotics courses within
the engineering programs. Departments of Mechanical and Electrical
engineering and Computer Science are all good candidates for coursework
in Robotics. However, a number of schools have established track records and
a focus on robotics and those are listed here.

Massachusetts Institute of Technology (MIT)
  Mechanical Engineering and Computer Science both have strong
  robotics efforts. Asada, Slotine, Brooks, Raibert and others
  are known and respected for their work in direct-drive arm, control 
  techniques, architectures, running machines etc.

Carnegie Mellon University (CMU)
  The Robotics Institute is a 150 person organization that offers
  a PhD in Robotics but students from other programs (engineering and
  computer science mostly) do research in the Institute as well. Lots
  of mobile robot work, computer integrated manufacturing, rapid
  prototyping, sensors, vision, navigation, learning and architectures.
  Program is taking four qualifiers and a program of research leading to
  a thesis and the degree.
  Facilities include about 10 mobile systems with more under design and
  construction. Many manipulator systems and lots of compute
  cycles/person.
	Hans Moravec - Mobile Robots Lab
	Takeo Kanade - Vision and Autonomous Systems Center
	Red Whittaker - Field Robotics Center
	Steve Shafer - Calibrated Imaging Laboratory
	Pradeep Khosla - Advanced Manipulator Laboartory
	Matt Mason - Manipulation Laboratory
	Tom Mitchell - Learning Robots Lab
	Mel Seigel - Sensors Laboratory (non vision)
and others.....
Graduate program contact:
Graduate Admissions Coordinator
The Robotics Institute
Carnegie Mellon University
Pittsburgh, PA 15213

University of Pennsylvania.
  UPenn offers Masters and PhD programs in Robotics and Robotics related
  fields of study. These programs are offered through the Departments of
  Computer and Information Science, Systems Engineering, and Mechanical
  Engineering and Applied Mechanics. The bulk of the robotics research
  is conducted in the inter-disciplinary General Robotics and Active
  Sensory Perception (GRASP) laboratory. Active areas of research are
  Telerobotics, Multiple Arm Control, Robotic Vision, Leanring Control,
  Multi-agent Robotics and Mechanical Design. Leding Faculty members 
  are Drs. R. Bajcsy and R.P. Paul.

University of Michigan
Ann Arbor, MI
  Artificial Intelligence Lab (Elec. Eng. and CS) relevant to robotics
  includes machine vision, systems and control, multiple cooperating
  agents (arms and mobile), and application of SOAR to robots (arms and
  mobile). (in conjunction with SOAR groups at CMU and elsewhere)

Stanford University
  Palo Alto, CA
  Mechanical Engineering:
	Bernard Roth (kinematics of manipulators)
	Mark Cutkosky: destrous manipulation and concurrent manufacturing
	Larry Liefer (rehabilitation, user interfaces)
  CS Department:
	Nils Nilsson
	Mike Genesereth
	Jean-Claude Latombe (path planning and geometric reasoning)
	Leo Guibas (geometric reasoning)
	Tom Binford (vision)
	Yoav Shoham (agents)
	Oussama Khatib
  Aerospace Robotics Laboratory:
	Bob Cannon (teleoperation, free flyers, space robotics,
	flexible manipulators)

University of Southern California (USC)
  Long history of robotics with interested faculty in CS, EE, ME, and ISE.
  People include: 
	George Bekey - founder of IEEE R&A
	Michael Arbib - head Brain Simulation Laboratory
	Ram Nevatia - Computer Vision Laboratory
	Ari Requicha - Programmable Automation Laboratory
  About twenty other faculty member associated with the Institute for
  Robotics and Intelligent Systems and many others associated with 
  USC's Information Sciences Institute (ISI).
  Brochure can be obtained from: 
	Ken Goldberg, Asst Professor
	IRIS, Dept of Computer Science
	Powell Hall Room 204
	University of Southern California
	Los Angeles, CA 90089-0273
	Internet: goldberg@usc.edu

University of Maryland
  Space Systems Laboratory. Large Neutral Bouyancy Tank,
  teleoperations research, 
	Dave Akin - director
  Dave has flown shuttle experiments.	

New York University (NYU)
  Courant Institute of Mathematical Sciences.
	Zexiang Li - Dextrous Manipulation

Yale University - Vision and Robotics Group
  There is a broad spectrum of research activities in vision and robotics at
  Yale.  The members of this group include faculty from Computer Science, 
  Electrical Engineering, Psychology, Neuroscience, and the Yale Medical
  School. Active areas of research include machine vision, human and computer
  object recognition, geometric reasoning, mobile robotics, sensor-based
  manipulation, control of highly dynamic nonlinear systems, planning, and
  learning.  There is also a wide spectrum of interdisciplinary work
  integrating robotics and machine vision.
Faculty:
  James S. Duncan: Geometric/physical models for analysing biomedical images.
  Gregory D. Hager: Sensor-based/task-directed decision-making and planning.
  David J. Kriegman: Model-based object recognition, mobile robot navigation.
  Drew McDermott: Planning and scheduling reactive behavior, knowledge
	representation, cognitive mapping.
  Eric Mjolsness: Neural network approaches to vision and visual memory.
  Dan Koditschek: Application of dynamical systems theory to machine dexterity.
  Pat Sharpe: Computational models of hippocampal spatial learning.
  Michael J. Tarr: Behavioral and computational approaches to visual cognition.
  Kenneth Yip: Automated reasoning about complex dynamical systems.

California Institute of Technology (Caltech)
  Pasadena, CA
	Joel Burdick - serpentine manipulation, control

Rennsalear Polytechnic Institute (RPI)-?
  Center for Intelligent Robotic Systems for Space Exploration (CIRSSE)
	George Saridis
	Arthur Sanderson
	Jon Wenn
  Appro. 20 PhD and 30 MS students working in the center. Path
  planning and multi-arm control are current focus.

University of Utah
Salt Lake City, Utah 84112
Steve Jacobsen
Center for Engineering Design
3176 MEB
Hands, manipulators, biomedical applications, teleoperation
Micro electro-mechanical systems design.

University of Kentucky
Center for Robotics and Manufacturing Systems
(founded 1990)

University of Alberta
Center for Machine Intelligence and Robotics

Univeristy of Wisconsin
Center for Space Automation and Robotics (WCSAR)

University of Kansas
Space Technology Center (Telerobotics)

University of Paris
  INRIA (Nice) just started a Phd program in Robotics.

University of California at Berkeley
Faculty in Robotics at UC Berkeley

Dept. of EE&CS
Prof. J. Canny: motion planning
Prof. R. Fearing: tactile sensing, dextrous manipulation
Prof. J. Malik: computer vision
Prof. S. Sastry: multi-fingered hands, control

Dept. of Optometry/EE&CS
Prof. L. Stark: telerobotics

Dept. of Mechanical Engineering
Prof. R. Horowitz: control of robotic manipulators
Prof. H. Kazerooni: man-robotic systems
Prof. M. Tomizuka: control of robotic manipulators
Richard Muller - micro mechanisms

Harvard
	Roger Brockett

Oxford
	Oxford has a large robotics group. Mobile robots, path planning etc.
	Mike Brady

Salford University, UK
Advanced Robotics Research Centre
  Ultrasonic wrist sensor for collision avoidance
  Controller design
  Stereo Vision
Dr Francis Nagy
  Speech Control of a Puma-560
  Control of an 'Inverted Pendulum'
  Miniature tactile sensors

Reading University, UK
  Prof Kevin Warwick
  Using Neural Nets in Robotics 
  Novel control algorithms

Bristol Polytechnic, UK
 Mr Khodlebandelhoo
  Bi arm research
  Path planning for redundant robots
  Wall climing robots

Hull University, UK
  Prof Alan Pugh
  Garment Manufacturing
  Arm/controller design

Swiss Federal Institute of Technology
  The Institute of Robotics
  Postgrad diploma in Mechatronics
The Institute of Robotics at the Swiss Federal Institute of
Technology (ETH) constitutes about 40 members of staff (including
Ph.D. students). The main research theme is Intelligent
Interactive Mechines. That is to say developing intelligent
robots that in cooperation with man solves difficult tasks.
The institute takes its students from the departments of
Electrical Engineering, Mechanical Engineering and Computer
Science. Robotics lectures and project work is offered to
undergraduate students. In addition there is the "Nachdiplom"
in mechatronics (somewhere near a M.Sc.) where robotics is
a central theme. For further details on the "Nachdiplom" see
below. Finally there are about 30 Ph.D. students curently
registered working on a variety of themes and projects.
Institute facilities include: several different robot arms
including the in house developed modular robot arm (MODRO),
mobile vehicles including the in house developed modular
mobile robot, walking machines, supercomputing facilities,
dedicated vision and signal processing hardware, etc.

The head of the group is Professor G. Schweitzer.
Address:
  Institute of Robotics
  ETH-Center, LEO,
  8092 Zurich
  Switzerland
  telephone: (01) 256 35 84 (secretary)
  telefax: (01) 252 02 76.

The "Nachdiplom" in mechatronics runs over two semesters plus
three monts project/thesis work. The lectures covers:
robotics, mobile robotics, micro robots, computer based
kinematics and dynamics of multibody systems, control
theory, magnetic bearings, real time software techniques,
information processing with neural networks, computer
vision, and artificial intelligence. The fees are 2400,-
Swiss Franks, founding is available. Contact:
  H.-K. Scherrer
  Mechatronics postgraduate course
  ETH-Centre, LEO B3
  8092 Zurich
  Switzerland
  email: scherrer@ifr.ethz.ch

Cornell
  Ithaca, NY
  Mechanical Engineering
	Sam Landsberger
	Jeff Koechling
	Bruce Donald

Purdue ?


----------------
--

aka: Kevin Dowling			Carnegie Mellon University
tel: (412) 268-8830			The Robotics Institute
adr: nivek@rover.ri.cmu.edu		Pittsburgh, PA 15213
