http://www.ixbt.ru/mainboard/download/isa.txt
http://www.sayel.com.tr/hwb/co_ISA_Tech.html
for some additional fun, see also http://www.appliedautonomy.com/gw.html GraffitiWriter tele-operated robot with array of spray cans to write linear text messages on the ground. The printing process is similar to that of a dot matrix printer. GraffitiWriter can be deployed in any highly controlled space or public event from a remote location.