Abstract: An adaptive vision based controller for controlling a robot arm comprises a camera, a segmenter for analyzing images from the camera, a tracker, sketcher and ranger responsive to information from the segmenter for creating a three dimensional segmented data list, a recognizer for receiving the data list and comparing data in the list against a database of plausible objects, and a planner interactive with the recognizer and responsive to task definitions for developing control outputs. The recognizer uses scenic information such as feature maps produced by the segmenter in conjunction with a knowledge base to construct a world model. The planner uses the world model and the task definitions to construct a plan in the form of a set of actions for accomplishing the defined task. By way of the control system, information about how the robot arm is actually performing a task can be compared with the desired task and the task can be updated if necessary.

Abstract: Antibacterially active 11,12-carbonate derivatives of erythromycin 9-(optionally substituted)oxime and 9-imino compounds and their pharmaceutically acceptable ester or acid addition salt thereof: ##STR1## wherein R.sup.1 denotes an oxime group, a substituted oxime group, or an imino group;R.sup.3 denotes a hydrogen atom or an unsubstituted or substituted alkyl group;R.sup.7 denotes hydrogen or methyl;one of R.sup.8 and R.sup.9 denotes hydrogen, hydroxy, alkoxy, alkanoyloxy, amino, substituted amino, or a group of the formula R.sup.A --SO.sub.2 --O--, in which R.sup.A denotes an organic group, and the other of R.sup.8 and R.sup.9 denotes hydrogen, orR.sup.8 and R.sup.9 together denote an oxo group, an oxime group, or a substituted oxime group.