Zielinski's paper on MRROC++

I've put a PDF copy of the following paper by Cesary Zielinski on the
web page
 <http://www.orocos.org/documents/ROMOCO99.pdf>
It's about their MRROC++ System:
``The paper proposes a structure for open, hierarchical,
multi-device controllers. The proposed structure takes
into account that the system may contain several robots
of different type, a certain number of cooperating de-
vices, diverse sensors and also the fact that the task,
the system has to execute, and the number and type of
its components may vary considerably over time. The
concept has been verified by designing a controller for a
prototype RNT robot and an ASEA IRb-6 type robot.
The exibility of the system is due to the software, so
the programming aspect is treated comprehensively in
the paper.''

Herman