http://www.cs.umd.edu/hcil/members/bshneiderman/nsd/

The fascinating history and evolution of structured flowcharts (usually called Nassi-Shneiderman Diagrams or structograms) goes back to 1972. As a graduate student, I got the idea while attending an ACM organized talk in New York by Michael Jackson on structured programming. If GOTOs were to be avoided, then shouldn't the lines in old flowcharts be avoided as well. Fifteen minutes of sketching led to the first ideas of sequence, conditionals and iteration.