@conference{151151,
  author = {Ronald Lumia},
  title = {The Enhanced Machine Controller Architecture},
  year = {1994},
  month = {1994-08-18},
  publisher = {Proceedings of the Fifth International Symposium on Robotics and Manufacturing, Maui, HI},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820483},
  language = {en},
}