The Programmable Automation Laboratory is located in the Henry Salvatory Computer Science building, room SAL 110. It is supported primarily by a network of workstations running the Unix operating system and linked through Ethernet. The laboratory has access to other machines on the USC campus and elsewhere through Ethernet and the Internet. The major machines in the lab are a SUN Ultra-1 170 E with 128 MB of main memory, 2GB disks and Creator 3D graphics, and a SPARCstation 10/30 with 96MB of main memory and 3.5GB disks. A SPARCstation 2, several SUN color IPCs and a network of Macintoshes are also available. Software includes C, C++, the ObjectCenter C++ programming environment, FORTRAN, Common LISP and Java. Geometric computation facilities are provided by an experimental, enhanced version of the PADL-2 solid modeler. The Unigraphics, Parasolids, ACIS, and AutoCAD CAD/CAM systems also are available. These solid modelers function as geometry servers, and are accessible through a uniform, lab-standard Application Programming Interface implemented mainly through Unix Remote Procedure Calls.