Logo was created in 1967 at Bolt, Beranek and Newman (BBN), a Cambridge, Massachusetts research firm, by Wally Feurzeig, Cynthia Solomon, and Seymour Papert.[5] Its intellectual roots are in artificial intelligence, mathematical logic and developmental psychology. For the first four years of Logo research, development and teaching work was done at BBN. The first implementation of Logo, called Ghost, was written in LISP on a PDP-1. The goal was to create a mathematical land where children could play with words and sentences.[6] Modeled on LISP, the design goals of Logo included accessible power[clarification needed] and informative error messages. The use of virtual Turtles allowed for immediate visual feedback and debugging of graphic programming.