Raymond Goertz's 1949 Argonne report (ANL-4311) documents "the first completely master-slave manipulator known to exist," and never once uses the word "waldo"

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Raymond C. Goertz's technical report ANL-4311, "Master-Slave Manipulator" (Remote Control Engineering Division, Argonne National Laboratory, dated March 7, 1949, declassified by the AEC on June 24, 1949), describes "a device for manipulating a pair of tongs behind a shielding barrier," built and tested, "called a Master-Slave Manipulator because the slave tongs move in exact correspondence with a master handle." The report closes: "This is the first completely master-slave manipulator known to exist and has proved that this type of manipulation is very successful when the unit is properly engineered and built." The device used seven independent mechanical linkages (three lineal, three rotational, one squeeze-to-close) between a master handle and slave tongs displaced roughly three feet away, operable "behind a barrier such as a lead glass window." The report's body never uses the word "radioactive"; the AEC contract number, the declassification stamp, and the shielding-barrier language support but do not verbatim-state a radiological-handling purpose — worth flagging rather than silently upgrading.

A full read of the document turns up no instance of the word "waldo" anywhere — the device and its parts are named "Master-Slave Manipulator," "master handle," and "slave tongs" throughout. This is a direct-primary confirmation that the nickname now generically attached to remote manipulators, per the Wikipedia-sourced etymology in claim-waldo-coinage-heinlein-1942-to-nuclear-teleoperators ("the real-life remote manipulators that were later developed also came to be called waldos, some even by NASA"), was applied to Goertz's device from outside, sometime after 1949, rather than by Goertz himself.

This report is the earliest Tier-1-documented instance of the device class the word "waldo" later attached to, and upgrades to Tier 1 the previously cyberneticzoo.com-sourced Goertz/Argonne detail in claim-waldo-coinage-heinlein-1942-to-nuclear-teleoperators.