SEL: Robotic sensor/Effector programming language

This paper describes SEL (Sensor Effector Language), a High Level, Concurrent, Sensor/Effector Control Language designed for programming devices peripheral to Robots, such as linear actuators, positioning tables, force/torque sensors, tactile sensors and instrumented grippers. SEL applies Concepts derived from ADA and Concurrent Pascal to provide the high degree of flexibility and functionality required for industrial applications. In addition, the SEL package contains several application development utilities which can simplify and speed up industrial programming.