Eliot, 

Many years ago, I made the acquaintance of a fellow Smalltalker named Jon
Hylands. We was working on and gave a demonstration of an autonomous
underwater submarine that was written in Smalltalk then translated to
assembly. He showed us the Smalltalk code and logic seemed pretty
sophisticated and able to function similar to a RTOS. 

Here's a link, on Smalltalk.org for some of his work (not sure that he's
working on this anymore though):  smalltalk.org-PICSmalltalk
<http://www.smalltalk.org/versions/PICSmalltalk.html>  

Brad Selfridge 



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Brad Selfridge
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