I studied computer graphics and rendering under Dr. Bob Sproull, of "Newman & Sproull", the foundational book on computer graphics for more than a decade, in 1980. In 1981 I created a 3D world with not only graphics but spatial collision detection for path planning for an actual robot.

I extended my 3D-world animated robot research at SRI International (Stanford Research Institute) during the 80's. I created environments for the robots, and planned collision-free paths in simulation that were then sent to the actual robots to execute. I also wrote all the graphics routines, including the rendering engine, from the ground up.

Here is a robotic testbed built by JPL, the primary basic research branch of NASA. A hexagonal satellite mockup is hung from the ceiling on a special constant-force spring that keeps it "floating". The two front robots are on rails that allow them to travel back and forth, while the rear robot employs twin cameras to get a wide stereo view of the situation. This physical installation was designed and built by the JPL researchers.

I designed and built this virtual-reality model of the robot testbed for JPL for use in action planning. Like all of the other models, it incorporates full solid-to-solid collision detection. It used my animation and rendering engines. I negotiated and sold the system to JPL NASA. This research was performed around 1985.

This is a photograph of the insides of the NASA Space Station. It's a long rectangular box, almost a corridor. The panels on the side walls contain computers.	This is a virtual world simulation I created of the insides of the NASA Space Station. SRI was proposing putting robots on rail tracks on the "ceiling", which were not adopted in use on the actual Station. The animation and rendering engines again were mine. Circa 1986 or so.

Design of Avatars, circa 1996.	Virtual "Frank Frazetta painting" test concept, circa 1996.