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In 1976, Koren published the world’s first scientific paper on the algorithmic design of interpolators for CNC machines. These interpolators coordinate the motions of machine axes so that non-linear shapes can be cut on machines, thereby facilitating the production of high-precision complex parts. Yoram Koren controls the CNC-AC milling machine that he designed (McMaster University, Hamilton, Canada, May 1973) The control computer of both the CNC and the AC was Hewlett-Packard HP-2100. It was a 16-bit computer with a memory of 4096 words (4K), with cycle time of 1 microsecond and 16 I/O slots that were used to send signals to the three control loops and obtained signals from a force sensor mounted on the spindle

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