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The two primes, p and q, should both be congruent to 3 (mod 4) (this guarantees that each quadratic residue has one square root which is also a quadratic residue) and gcd(φ(p-1), φ(q-1)) should be small (this makes the cycle length large).
While formal algorithms have existed for millennia (Euclid's algorithm for determining the greatest common divisor of two numbers is still used in computation), it was not until 1936 that Alan Turing, Alonzo Church and Stephen Kleene formalized the definition of an algorithm in terms of computation.