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Known as the creator of TV's Basil Brush and for his collaborations (as writer/producer/director/animator) with Oliver Postgate. He and Postgate set up 'Smallfilms' in 1958 and produced such children's classics as Noggin the Nog (1959), Pogle's Wood (1965), The Clangers (1969), Bagpuss (1974) and Ivor the Engine (1976). His daughter Emily Firmin played the part of the little girl Emily in Bagpuss, whilst his wife Joan and another of his six daughters, Charlotte, also made contributions.